CN219166637U - Main end manipulator of interventional operation robot - Google Patents
Main end manipulator of interventional operation robot Download PDFInfo
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- CN219166637U CN219166637U CN202222931122.5U CN202222931122U CN219166637U CN 219166637 U CN219166637 U CN 219166637U CN 202222931122 U CN202222931122 U CN 202222931122U CN 219166637 U CN219166637 U CN 219166637U
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- 230000006698 induction Effects 0.000 claims abstract description 30
- 230000000903 blocking effect Effects 0.000 claims description 63
- 239000012636 effector Substances 0.000 claims description 13
- 230000001939 inductive effect Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000013152 interventional procedure Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 5
- 230000002349 favourable effect Effects 0.000 abstract description 4
- 230000003287 optical effect Effects 0.000 description 18
- 230000033001 locomotion Effects 0.000 description 8
- 230000001960 triggered effect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001976 improved effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The utility model discloses a main end manipulator of an interventional operation robot, which comprises a rack, wherein the rack is provided with a plurality of guide rails; the operating rod is arranged on the frame and can slide along a straight line between an initial position and a non-initial position relative to the frame; the triggering structure is fixedly arranged relative to the operating rod, and when the operating rod slides along a straight line, the triggering structure is driven to synchronously move; the induction sensor is fixedly arranged relative to the frame and is positioned on the moving path of the trigger structure; the trigger structure is in non-contact with the induction sensor, and when the position between the trigger structure and the induction sensor reaches a preset state, the induction sensor generates a corresponding signal. In the utility model, when the operating rod drives the trigger structure to move, the trigger structure can trigger the induction sensor arranged on the moving path in a non-contact manner, so that the resistance in the operation process is reduced, the fatigue of an operator is reduced, and more favorable conditions can be provided for carrying the later-stage force feedback function of the interventional operation robot.
Description
Technical Field
The utility model relates to the field of medical instrument robots, in particular to a main end manipulator of an interventional operation robot.
Background
When the interventional operation robot is used for the interventional operation, a doctor remotely controls the delivery of the slender medical instruments such as a guide wire, a catheter and the like from the end driver through the main end manipulator to complete corresponding operation actions in the blood vessel.
In the prior art, a master end operator comprises an operating rod, a linkage assembly and the like, the operating rod drives the linkage assembly to act, and the linkage assembly can trigger a preset micro switch to send corresponding control signals to a slave end driver.
The inventor finds that when the linkage assembly triggers the micro switch, certain resistance needs to be overcome, and a doctor needs to trigger the micro switch for a plurality of times in one interventional operation, so that the fatigue of the doctor can be improved.
Disclosure of Invention
The utility model mainly aims to provide a main end manipulator of an interventional operation robot, which aims to solve the technical problem that a micro switch needs to be triggered to generate resistance in the prior art.
In order to achieve the above object, the present utility model provides a main end effector of an interventional surgical robot, comprising:
a frame;
the operating rod is arranged on the rack and can move relative to the rack along the axial direction of the operating rod between a preset initial position and a non-initial position;
the triggering structure is fixedly arranged relative to the operating rod, and when the operating rod slides along the straight line, the triggering structure is driven to synchronously move;
the induction sensor is fixedly arranged relative to the frame and is positioned on the moving path of the trigger structure;
the trigger structure is in non-contact with the induction sensor, and when the position between the trigger structure and the induction sensor reaches a preset state, the induction sensor generates a corresponding signal.
Further, the triggering structure is a light blocking sheet, and the sensing sensor is a photoelectric sensor.
Further, the photoelectric sensor comprises a first photoelectric sensor and a second photoelectric sensor; the light blocking sheet comprises a sheet; when the operating rod is located at the initial position, the light blocking sheet is located between the first photoelectric sensor and the second photoelectric sensor.
Further, the photoelectric sensor comprises a first photoelectric sensor and a second photoelectric sensor; the light blocking sheet comprises a first light blocking sheet and a second light blocking sheet; when the operating rod is located at the initial position, the first light blocking sheet blocks the light path of the first photoelectric sensor, and the second light blocking sheet blocks the light path of the second photoelectric sensor.
Further, the photoelectric sensor comprises a first photoelectric sensor and a second photoelectric sensor; the light blocking sheet comprises a first light blocking sheet and a second light blocking sheet; when the operating rod is located at the initial position, the first light blocking sheet is located at one side, far away from the second photoelectric sensor, of the first photoelectric sensor, and the second light blocking sheet is located at one side, far away from the first photoelectric sensor, of the second photoelectric sensor.
Further, the main end effector of the interventional surgical robot further includes:
the triggering structure is fixed on the linkage assembly;
one end of the linkage assembly is fixedly connected with the operating rod, and the other end of the linkage assembly is slidably mounted on the frame and used for driving the trigger structure to move.
Further, the main end effector of the interventional surgical robot further includes:
the return assembly is fixedly arranged on the frame, is in transmission connection with the linkage assembly and is used for driving the linkage assembly to reset.
Further, the frame comprises a bottom plate and a bracket fixed on the bottom plate;
the operating rod penetrates through the support, and moves relative to the support along the axial direction of the operating rod;
the linkage assembly is slidably mounted on the base plate.
Further, the method further comprises the following steps:
the mounting plate is mounted on the bottom plate, and the induction sensor is mounted on one side of the bottom plate corresponding to the triggering structure.
Further, the mounting plate includes a vertical plate and a horizontal plate;
the vertical plate is vertically arranged on the bottom plate, and the horizontal plate is arranged at one end of the vertical plate far away from the bottom plate and extends towards one side of the triggering structure; the induction sensor is mounted on the lower side of the horizontal plate.
The main end manipulator of the interventional operation robot comprises a rack; the operating rod is arranged on the rack and can slide along a straight line between an initial position and a non-initial position relative to the rack; the triggering structure is fixedly arranged relative to the operating rod, and when the operating rod slides along the straight line, the triggering structure is driven to synchronously move; the induction sensor is fixedly arranged relative to the frame and is positioned on the moving path of the trigger structure; the trigger structure is in non-contact with the induction sensor, and when the position between the trigger structure and the induction sensor reaches a preset state, the induction sensor generates a corresponding signal. In the utility model, when the operating rod drives the trigger structure to move, the trigger structure can trigger the induction sensor arranged on the moving path in a non-contact manner, so that the resistance in the operation process is reduced, the fatigue of an operator is reduced, and more favorable conditions can be provided for carrying the later-stage force feedback function of the interventional operation robot.
Drawings
FIG. 1 is a schematic view of the main end effector of an interventional surgical robot according to an embodiment of the present utility model;
FIG. 2 is a schematic diagram of the trigger structure and the position structure of the inductive sensor according to an embodiment of the present utility model;
FIG. 3 is a schematic view of the trigger structure and the position structure of the inductive sensor according to another embodiment of the present utility model;
FIG. 4 is a schematic view of the trigger structure and the position structure of an inductive sensor according to yet another embodiment of the present utility model;
fig. 5 is a schematic view of the trigger structure and the position structure of the inductive sensor according to yet another embodiment of the present utility model.
The achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.
Referring to fig. 1, a main end effector of an interventional surgical robot according to an embodiment of the present utility model is presented, including:
a frame 10;
an operation lever 20 disposed on the frame 10 and capable of moving relative to the frame 10 along an axial direction of the operation lever 20 between a preset initial position and a non-initial position;
the triggering structure 30 is fixedly arranged relative to the operating rod 20, wherein when the operating rod 20 slides along the straight line, the triggering structure 30 is driven to synchronously move;
the induction sensor 40 is fixedly arranged relative to the frame 10 and is positioned on the moving path of the trigger structure 30;
the triggering structure 30 is not in contact with the sensing sensor 40, and when the position between the triggering structure 30 and the sensing sensor 40 reaches a preset state, the sensing sensor 40 generates a corresponding signal.
The frame 10 is a carrying structure of each structure on the main end effector, and may be any combination of structures such as a base plate 11 and a bracket 12, and may be set according to practical situations.
The operation lever 20 is configured to issue an operation command, and an operator performs operations such as turning, linear pushing, etc. on the operation lever 20 to control the slave end of the interventional operation robot, such as rotation, advancement, retraction, etc. of the elongate medical instrument such as a control catheter or a guide wire. The initial position is a preset standard position, and the non-initial position is other positions relative to the initial position, and the operating rod 20 can move along the axial direction of the operating rod 20 between the initial position and the non-initial position under the driving of an operator. Typically, when the lever 20 is in the initial position, the controlled slave end will control the advancement or retraction of the elongate medical device such as a catheter, guidewire, etc.; the slave end controls the advancement or retraction of the elongate medical device such as a catheter, guidewire, etc. when moving to a non-initial position, wherein the non-initial position includes two different opposite directions at the initial position, and if the slave end controls the advancement of the elongate medical device after the lever 20 is moved to one of the directions, the slave end controls the retraction of the elongate medical device after the lever 20 is moved to the other direction.
The triggering structure 30 is used for triggering the induction sensor 40, and is fixedly arranged relative to the operation rod 20, and the linear movement of the operation rod 20 drives the triggering structure 30 to perform synchronous linear movement, so that the triggering structure 30 can truly reflect the operation of the operation rod 20 to trigger the corresponding induction sensor 40. The triggering structure 30 is correspondingly arranged according to the type and structure of the induction sensor 40. For example, the inductive sensor 40 is a hall sensor, and the triggering structure 30 may be a magnet-mounted structure or the like.
The inductive sensor 40 is a sensor that can be triggered by the triggering structure 30 without contact, such as a hall sensor, a photoelectric sensor, etc.
In this embodiment, since the trigger structure 30 and the inductive sensor 40 are not in contact, there is no frictional resistance or the like, reducing fatigue of the operator, and providing more favorable conditions for the mounting of the post-force feedback function of the interventional surgical robot. Specifically, the force feedback function is to feed back the stress condition of the slender medical instrument at the slave end to the operation rod 20, if there is more resistance interference on the operation rod 20, the accuracy of force feedback and the like will be affected, and the triggering structure 30 and the induction sensor 40 of the embodiment are not contacted, so that no corresponding resistance exists, thereby providing more favorable conditions for carrying the force feedback function at the later stage of the interventional operation robot.
In one embodiment, the triggering mechanism 30 includes a light blocking sheet 31, and the sensor 40 is a photoelectric sensor.
As described above, the photoelectric sensor includes a transmitting terminal and a receiving terminal, and generates different signals according to whether the receiving terminal receives an optical signal of the transmitting terminal. The light blocking sheet 31 can pass through or stay between the transmitting end and the receiving end under the driving of the operating rod 20, so that the photoelectric sensor generates different signals, and different control signals are sent to the slave end. The triggering mechanism 30 will generally further include a connecting plate 32 having one end fixed relative to the operating lever 20 and the other end fixedly connected to the light blocking plate 31. The transmitting end and the receiving end of the photoelectric sensor in this embodiment are disposed opposite to each other, and in other embodiments, the transmitting end and the receiving end may be disposed on the same side.
Referring to fig. 2, in a specific embodiment, the above-mentioned photosensors include a first photosensor 41 and a second photosensor 42; the light blocking sheet 31 includes one sheet; wherein, when the operation lever 20 is positioned at the initial position, the light blocking sheet 31 is positioned between the first photoelectric sensor 41 and the second photoelectric sensor 42.
As described above, when the operation lever 20 is located at the initial position, the light blocking sheet 31 is located between the first and second photosensors 41 and 42, so that when the operation lever 20 moves in a straight line, different signal combinations are generated by triggering the first and second photosensors 41 and 42, specifically: when the operation rod 20 moves towards the direction where the first photoelectric sensor 41 is located, the light blocking sheet 31 triggers the first photoelectric sensor 41, and the second photoelectric sensor 42 keeps the signal unchanged; when the operation rod 20 moves towards the direction of the second photoelectric sensor 42, the light blocking sheet 31 triggers the second photoelectric sensor 42, and the first photoelectric sensor 41 keeps the signal unchanged; when the operating lever 20 is in the initial position, neither the first photosensor 41 nor the second photosensor 42 is triggered, and both the signals remain unchanged. It can be seen that, according to the movement of the operation lever 20, the first photoelectric sensor 41 and the second photoelectric sensor 42 can generate three different signal combinations, so as to obtain the command of controlling the advancing, stopping and withdrawing of the slender medical instrument from the slave end, which is simple and practical in logic.
Referring to fig. 3, in another specific embodiment, the photosensors include a first photosensor 41 and a second photosensor 42; the light blocking sheet 31 includes a first light blocking sheet 33 and a second light blocking sheet 34; when the operation lever 20 is at the initial position, the first light blocking piece 33 blocks the light path of the first photoelectric sensor 41, and the second light blocking piece 34 blocks the light path of the second photoelectric sensor 42. As shown in fig. 3, when the operation lever 20 is positioned at the initial position, the first light blocking piece 33 protrudes from the first photoelectric sensor 41 on the side away from the second photoelectric sensor 42 when the first light blocking piece 33 is positioned at the initial position, and similarly, when the second light blocking piece 34 is positioned at the second photoelectric sensor 42, the second light blocking piece 34 protrudes from the second photoelectric sensor 42 on the side away from the first photoelectric sensor 41.
As described above, when the operation lever 20 is located at the initial position, the first light blocking piece 33 blocks the light path of the first photoelectric sensor 41, and the second light blocking piece 34 blocks the light path of the second photoelectric sensor 42, so that when the operation lever 20 moves along a straight line, different signal combinations are generated by triggering the first photoelectric sensor 41 and the second photoelectric sensor 42, specifically: when the operation lever 20 moves towards the direction where the first photoelectric sensor 41 is located, the first light blocking piece 33 is separated from the optical path of the first photoelectric sensor 41, the second photoelectric sensor 42 is still blocked by the second light blocking piece 34, that is, the receiving end of the first photoelectric sensor 41 can not receive the optical signal until it can receive the optical signal emitted by the emitting end, and the second photoelectric sensor 42 is still in a blocked state; when the operation lever 20 moves towards the direction where the second photoelectric sensor 42 is located, the first light blocking piece 31 triggers the first photoelectric sensor 41, the signal of the second photoelectric sensor 42 is changed from blocked to non-blocked, that is, the receiving end of the first photoelectric sensor 41 is still in a blocked state, and the receiving end of the second photoelectric sensor 42 is changed from the blocked state to a state capable of receiving the optical signal generated by the transmitting end; when the operation lever 20 is located at the initial position, the optical path of the first photoelectric sensor 41 is blocked, and the optical path of the second photoelectric sensor 42 is blocked, that is, the receiving end of the first photoelectric sensor 41 cannot receive the optical signal generated at the transmitting end thereof, and the receiving end of the second photoelectric sensor 42 cannot receive the optical signal generated at the transmitting end thereof. It can be seen that, according to the movement of the operation lever 20, the first photoelectric sensor 41 and the second photoelectric sensor 42 can generate three different signal combinations, so as to obtain the command of controlling the advancing, stopping and withdrawing of the slender medical instrument from the end, and the device has the advantages of simple logic and practicality.
Referring to fig. 4, in yet another embodiment, the above-described photosensors still include a first photosensor 41 and a second photosensor 42; the light blocking sheet 31 includes a first light blocking sheet 33 and a second light blocking sheet 34; when the operation lever 20 is at the initial position, the first light blocking piece 33 is located at a side of the first photoelectric sensor 41 away from the second photoelectric sensor 42, and the second light blocking piece 34 is located at a side of the second photoelectric sensor 42 away from the first photoelectric sensor 41.
As described above, when the lever 20 is in the initial position, the first light blocking piece 33 is located on the side of the first photoelectric sensor 41 away from the second photoelectric sensor 42, and the second light blocking piece 34 is located on the side of the second photoelectric sensor 42 away from the first photoelectric sensor 41, so that when the lever 20 moves along a straight line, different signal combinations are generated by triggering the first photoelectric sensor 41 and the second photoelectric sensor 42, specifically: when the operation lever 20 moves towards the direction where the first photoelectric sensor 41 is located, the second light blocking piece 34 triggers the second photoelectric sensor 42, and the first photoelectric sensor 41 keeps the signal unchanged; when the operation lever 20 moves towards the direction of the second photoelectric sensor 42, the first light blocking piece 33 triggers the first photoelectric sensor 41, and the second photoelectric sensor 42 keeps the signal unchanged; when the operating lever 20 is in the initial position, neither the first photosensor 41 nor the second photosensor 42 is triggered, and both the signals remain unchanged. It can be seen that, according to the movement of the operating lever 20, the first photoelectric sensor 41 and the second photoelectric sensor 42 can generate three different signal combinations, so as to obtain commands for controlling the forward, stop and backward movement of the slender medical instrument from the end, and the logic is simple and practical.
Referring to fig. 5, in still another embodiment, the above-mentioned photosensors also include a first photosensor 41 and a second photosensor 42; the light blocking sheet 31 includes one sheet; wherein, when the operation lever 20 is located at the initial position, the light blocking sheet 31 blocks the light path of the first photoelectric sensor 41.
As described above, when the operation lever 20 is located at the initial position, the light blocking sheet 31 blocks the light path of the first photoelectric sensor 41, so that when the operation lever 20 moves in a straight line, different signal combinations are generated by triggering the first and second photoelectric sensors 41 and 42, specifically: when the operation rod 20 moves towards the direction where the first photoelectric sensor 41 is located, the light blocking sheet 31 is separated from the light path of the first photoelectric sensor 41, and the second photoelectric sensor 42 keeps the signal unchanged, that is, the receiving ends of the two photoelectric sensors can both receive the optical signal emitted by the emitting end; when the operation lever 20 moves towards the direction where the second photoelectric sensor 42 is located, the light blocking sheet 31 triggers the second photoelectric sensor 42, the signal of the first photoelectric sensor 41 is changed from blocked to unblocked, that is, the receiving end of the first photoelectric sensor 41 is changed from unable to receive the optical signal generated by the transmitting end thereof to able to receive the optical signal, and the receiving end of the second photoelectric sensor 42 is changed from able to receive the optical signal generated by the transmitting end thereof to unable to receive the optical signal; when the operation lever 20 is located at the initial position, the optical path of the first photoelectric sensor 41 is blocked, and the optical path of the second photoelectric sensor 42 is not blocked, that is, the receiving end of the first photoelectric sensor 41 cannot receive the optical signal generated at the transmitting end of the first photoelectric sensor 41, and the receiving end of the second photoelectric sensor 42 can receive the optical signal generated at the transmitting end of the second photoelectric sensor 42. It can be seen that, according to the movement of the operation lever 20, the first photoelectric sensor 41 and the second photoelectric sensor 42 can generate three different signal combinations, so as to obtain the command of controlling the advancing, stopping and withdrawing of the slender medical instrument from the end, and the method has the technical effects of simple logic and practicality.
Referring to fig. 1, in one embodiment, the main end effector of the above-mentioned interventional surgical robot further includes:
a linkage assembly 50, the trigger structure 30 being fixed to the linkage assembly 50; one end of the linkage assembly 50 is fixedly connected with the operating rod 20, and the other end is slidably mounted on the frame 10 and is used for driving the trigger structure 30 to move;
the return assembly 60 is fixedly arranged on the frame 10, is in transmission connection with the linkage assembly 50, and is used for driving the linkage assembly to reset.
As described above, the linkage assembly 50 is in driving connection with the return assembly 60, and the return assembly 60 is used for driving the linkage assembly 50 to return to the original position, so as to return the operating rod 20.
The frame 10 includes a base plate 11 and a bracket 12 fixed to the base plate 11; the operation rod 20 is arranged through the bracket 12 in a penetrating way, and the operation rod 20 moves relative to the bracket 12 along the axial direction of the operation rod 20;
the linkage assembly 50 is slidably mounted on the base plate 11.
The bottom plate 11 is provided with a straight guide rail 52, and the linkage assembly 50 is provided with a sliding block 51 matched with the guide rail 52, so that the linkage assembly 50 is in sliding connection with the bottom plate 11, and further the stable linear motion of the operating rod 20 is restrained. The linkage assembly 50 is also provided with a rack 53, the return assembly 60 is provided with a gear 61, the rack 53 is meshed with the gear 61, and the linkage assembly 50 is in transmission connection with the return assembly 60 through the rack 53 and the gear 61. In this embodiment, the triggering structure 30 is fixed on the linkage assembly 50, so as to facilitate setting of the installation position, and meanwhile, avoid the influence on the operation of an operator due to the fact that the triggering structure 30 is directly arranged on the operation rod 20.
Referring to fig. 1, in one embodiment, the main end effector of the above-mentioned interventional surgical robot further includes a mounting plate 70 mounted on the base plate 11, and the induction sensor 40 is mounted corresponding to one side of the triggering structure 30.
As described above, the mounting plate 70 is mainly used for mounting the inductive sensor 40. Specifically, the mounting plate 70 includes a vertical plate 71 and a horizontal plate 72; the vertical plate 71 is vertically mounted on the bottom plate 11, and the horizontal plate 72 is mounted at one end of the vertical plate 71 away from the bottom plate 11 and extends toward one side of the triggering structure 30; the induction sensor 40 is mounted on the lower side of the horizontal plate 72. In this way, the installation of the inductive sensor 40 is facilitated, as is the setting of the triggering mechanism 30.
In a specific embodiment, the induction sensor 40 is a photoelectric sensor and has a U-shaped structure, a transmitting end and a receiving end are respectively arranged on opposite side walls of the U-shape, and the bottom of the U-shape is arranged on the lower side of the horizontal plate; correspondingly, the triggering structure is a light blocking sheet which is L-shaped, one side wall of the L-shape is fixed on the linkage assembly 50 through the connecting plate 32 and is horizontally arranged, and the other side wall is vertical and corresponds to two side walls of the U-shaped photoelectric sensor.
The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structures or equivalent processes using the descriptions and drawings of the present utility model or directly or indirectly applied to other related technical fields are included in the scope of the utility model.
Claims (10)
1. A main end effector of an interventional surgical robot, comprising:
a frame;
the operating rod is arranged on the rack and can move relative to the rack along the axial direction of the operating rod between a preset initial position and a non-initial position;
the triggering structure is fixedly arranged relative to the operating rod, and when the operating rod slides, the triggering structure is driven to synchronously move;
the induction sensor is fixedly arranged relative to the frame and is positioned on the moving path of the trigger structure;
the trigger structure is in non-contact with the induction sensor, and when the position between the trigger structure and the induction sensor reaches a preset state, the induction sensor generates a corresponding signal.
2. The interventional procedure robot main end operator according to claim 1, wherein the triggering structure is a light blocking sheet and the inductive sensor is a photoelectric sensor.
3. The interventional surgical robot main end operator of claim 2, wherein the photoelectric sensor comprises a first photoelectric sensor and a second photoelectric sensor; the light blocking sheet comprises a sheet; when the operating rod is located at the initial position, the light blocking sheet is located between the first photoelectric sensor and the second photoelectric sensor.
4. The interventional surgical robot main end operator of claim 2, wherein the photoelectric sensor comprises a first photoelectric sensor and a second photoelectric sensor; the light blocking sheet comprises a first light blocking sheet and a second light blocking sheet; when the operating rod is located at the initial position, the first light blocking sheet blocks the light path of the first photoelectric sensor, and the second light blocking sheet blocks the light path of the second photoelectric sensor.
5. The interventional surgical robot main end operator of claim 2, wherein the photoelectric sensor comprises a first photoelectric sensor and a second photoelectric sensor; the light blocking sheet comprises a first light blocking sheet and a second light blocking sheet; when the operating rod is located at the initial position, the first light blocking sheet is located at one side, far away from the second photoelectric sensor, of the first photoelectric sensor, and the second light blocking sheet is located at one side, far away from the first photoelectric sensor, of the second photoelectric sensor.
6. The interventional surgical robot main end effector of any one of claims 1-5, further comprising:
the triggering structure is fixed on the linkage assembly;
one end of the linkage assembly is fixedly connected with the operating rod, and the other end of the linkage assembly is slidably mounted on the frame and used for driving the trigger structure to move.
7. The interventional surgical robot main end effector of claim 6, further comprising:
the return assembly is fixedly arranged on the frame, is in transmission connection with the linkage assembly and is used for driving the linkage assembly to reset.
8. The interventional surgical robot main end effector of claim 6, wherein the frame comprises a base plate and a bracket secured to the base plate;
the operating rod penetrates through the support, and moves relative to the support along the axial direction of the operating rod;
the linkage assembly is slidably mounted on the base plate.
9. The interventional surgical robot main end effector of claim 8, further comprising:
the mounting plate is mounted on the bottom plate, and the induction sensor is mounted on one side of the bottom plate corresponding to the triggering structure.
10. The interventional surgical robot main end operator of claim 9, wherein the mounting plate comprises a vertical plate and a horizontal plate;
the vertical plate is vertically arranged on the bottom plate, and the horizontal plate is arranged at one end of the vertical plate far away from the bottom plate and extends towards one side of the triggering structure; the induction sensor is mounted on the lower side of the horizontal plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222931122.5U CN219166637U (en) | 2022-11-03 | 2022-11-03 | Main end manipulator of interventional operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222931122.5U CN219166637U (en) | 2022-11-03 | 2022-11-03 | Main end manipulator of interventional operation robot |
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| Publication Number | Publication Date |
|---|---|
| CN219166637U true CN219166637U (en) | 2023-06-13 |
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| CN202222931122.5U Active CN219166637U (en) | 2022-11-03 | 2022-11-03 | Main end manipulator of interventional operation robot |
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| Country | Link |
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| CN (1) | CN219166637U (en) |
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2022
- 2022-11-03 CN CN202222931122.5U patent/CN219166637U/en active Active
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Address after: 518000 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli 6th Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Country or region after: China Address before: 518000 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli 6th Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee before: Shenzhen Aibo medical robot Co.,Ltd. Country or region before: China |