CN119014989B - Hand devices and surgical robots - Google Patents
Hand devices and surgical robotsInfo
- Publication number
- CN119014989B CN119014989B CN202411139011.8A CN202411139011A CN119014989B CN 119014989 B CN119014989 B CN 119014989B CN 202411139011 A CN202411139011 A CN 202411139011A CN 119014989 B CN119014989 B CN 119014989B
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- telescopic
- assembly
- guide
- base
- component
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Leader-follower robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The application provides a slave hand device and a surgical robot, and relates to the technical field of medical equipment. Wherein the slave hand apparatus comprises a base, a guide assembly and a telescopic assembly. The guide assembly is connected with the base, and the telescopic assembly is connected with the guide assembly, so that the telescopic assembly can be fixedly installed on the guide assembly. One end of the telescopic component can be connected with the puncture tube, and the telescopic component moves along the telescopic direction relative to the guide component, so that the puncture tube can also move along the telescopic direction, and the puncture tube can be conveniently adjusted to a designated position. The guide component is rotatably connected with the base, so that the angle between the guide component and the base can be adjusted, the angle of the telescopic component connected with the guide component can also be adjusted, the orientation of one end of the telescopic component connected with the puncture tube can be changed, the telescopic component can be more conveniently connected with the puncture tube, and the assembly efficiency of the hand device is improved.
Description
Technical Field
The application relates to a slave hand device and a surgical robot, and belongs to the technical field of medical equipment.
Background
The tail end of the single-hole minimally invasive surgery robot generally comprises a mechanical arm, a puncture outfit and surgical instruments. The puncture outfit provides an instrument channel for minimally invasive surgery and is fixed at the tail end of the mechanical arm. The end arm has a telescoping function so that the arm can be extended manually/automatically when needed for use. When the mechanical arm is not needed to be used, the mechanical arm can be retracted, so that the mechanical arm is favorable for storage and transportation in hospitals, and meanwhile, the telescopic function is favorable for installation of a sterile cover for preparation work before operation.
At present, the surgical robot with the telescopic function is difficult to accurately connect with surgical instruments due to the influence of manufacturing precision and assembly precision, so that all parts of the surgical robot need to be adjusted and assembled again, and the assembly efficiency of the surgical robot is low.
Disclosure of Invention
The application provides a slave hand device and a surgical robot, which solve the problem of low assembly efficiency of the surgical robot in the related art.
The present application provides a slave hand device comprising:
a base;
The guide assembly is rotatably connected with the base;
and one end of the telescopic component is movably connected with the guide component, the telescopic component is configured to be driven to reciprocate in the telescopic direction relative to the guide component, and the guide component is configured to guide the telescopic component in the telescopic direction.
In the slave hand device provided by the application, the guide component is connected with the base, and the telescopic component is connected with the guide component, so that the telescopic component can be fixedly installed on the guide component. One end of the telescopic component can be connected with the puncture tube, and the telescopic component moves along the telescopic direction relative to the guide component, so that the puncture tube can also move along the telescopic direction, and the puncture tube can be conveniently adjusted to a designated position. The guiding component can avoid the deviation of the telescopic component when the telescopic component reciprocates along the telescopic direction, so that the puncture tube connected with the telescopic component can reach the appointed position more accurately. The guide component is rotatably connected with the base, so that the angle between the guide component and the base can be adjusted, the angle of the telescopic component connected with the guide component can also be adjusted, the orientation of one end of the telescopic component connected with the puncture tube can be changed, the telescopic component can be more conveniently connected with the puncture tube, and the assembly efficiency of the hand device is improved.
In some embodiments, the base has a fixing slot through which one end of the telescopic assembly passes to be connected with the guide assembly.
Through making the telescopic assembly wear to locate the fixed slot, can make the base play the spacing purpose to the telescopic assembly.
In some embodiments, the guide assembly comprises a guide rail arranged along the telescopic direction, and the telescopic assembly comprises a guide block which is connected to the guide rail in a matched manner and can slide along the extending direction of the guide rail.
The telescopic component can move relative to the guide component through the matching of the guide block and the guide rail.
In some embodiments, the guide assembly further comprises a damping rack disposed along the telescoping direction, the telescoping assembly further comprising a damping gear engaged with the damping rack.
Through setting up damping rack and damping gear cooperation, can make the flexible subassembly can keep current position after the relative direction subassembly removal.
In some embodiments, the damping rack is rotatably coupled to the base, and the guide rail is coupled to the damping rack.
The guide rail is arranged on the damping rack, and the damping rack is rotatably connected with the base, so that the whole guide assembly can be rotatably connected with the base.
In some embodiments, an adjusting hole is formed at one end of the damping rack, the adjusting hole is formed along the rotation direction of the damping rack, and the damping rack is connected with the base through the adjusting hole.
The damping rack can rotate by arranging the adjusting holes along the rotation direction of the damping rack and adjusting the position of the fixing piece in the adjusting holes.
In some embodiments, the number of the adjusting holes is one or more, when the adjusting holes are arranged in a plurality, the adjusting holes are arranged at intervals along the rotation direction of the damping rack, and when the adjusting holes are arranged in one, the adjusting holes are arc-shaped holes suitable for the rotation direction.
The damping rack can rotate through the adjusting hole.
In some embodiments, the guide assembly further comprises an elastic member, one end of the elastic member is connected with the telescopic assembly, the other end of the elastic member is connected with the guide assembly, and the elastic member provides a telescopic force for the telescopic assembly to recover an initial position when the telescopic assembly stretches or contracts along the guide assembly.
Through setting up the elastic component, can be more laborsaving when making the shrink of user control flexible subassembly, flexible subassembly shrink is more high-efficient.
In some embodiments, the elastic member is a coil spring, one end of the elastic member is connected with the damping rack, and the other end of the elastic member is connected with the telescopic assembly, or
The elastic piece is a pressure spring, one end of the elastic piece is connected with the base, and the other end of the elastic piece is connected with the telescopic component.
In a second aspect, the present application also provides a surgical robot comprising a master hand device and the above slave hand device, the master hand device being connected to the slave hand device.
Drawings
The above and other objects, features and advantages of embodiments of the present application will become more readily apparent from the following detailed description with reference to the accompanying drawings. Embodiments of the application will now be described, by way of example and not limitation, in the figures of the accompanying drawings, in which:
FIG. 1 is a schematic view of a slave hand apparatus according to an embodiment of the present application;
FIG. 2 is a schematic view of a guide assembly and a stop assembly of a slave hand apparatus according to an embodiment of the present application;
FIG. 3 is a schematic view of the guide rail and guide block of the slave hand apparatus according to an embodiment of the present application;
FIG. 4 is a schematic view of a slave hand apparatus of an embodiment of the present application with a damping rack engaged with a damping gear;
FIG. 5 is a schematic view of a slave hand apparatus limit assembly according to an embodiment of the present application;
FIG. 6 is a schematic view of the cooperation of the limiting plate and the limiting portion of the slave hand apparatus according to the embodiment of the present application;
FIG. 7 is a schematic top view of a slave hand apparatus according to an embodiment of the present application;
FIG. 8 is a schematic cross-sectional view of A-A of FIG. 7;
FIG. 9 is an enlarged view of area B of FIG. 8;
FIG. 10 is a schematic overall structure of a button assembly of the slave hand apparatus according to an embodiment of the present application;
fig. 11 is a schematic view of a guide portion of a slave hand apparatus according to an embodiment of the present application.
Reference numerals:
100-a base, 110-a fixing groove, 111-a first opening, 112-a second opening, 120-a positioning groove,
200-A guide assembly, 210-a guide rail, 220-a damping rack, 221-an adjusting hole, 230-an elastic member,
300-Telescopic components, 310-a shell, 320-a supporting part, 330-a guide block, 340-a damping gear, 350-a limiting part,
400-Limit components, 410-limit plates, 411-limit grooves, 420-base plates, 421-locating holes, 430-driving parts, 431-drivers, 432-haulage ropes,
500-Button assembly, 510-micro switch, 520-pressing part, 530-elastic restoring part, 540-switch seat, 541-guiding hole, 550-guiding part, 551-limit bump, 560-limit column, 570-limit bottom plate,
600-A housing, which is provided with a plurality of holes,
700-Puncture cartridge.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, or communicable with each other, directly connected, indirectly connected through an intervening medium, or in communication between two elements or in an interactive relationship between two elements, unless otherwise explicitly specified. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
The tail end of the single-hole minimally invasive surgery robot generally comprises a mechanical arm, a puncture outfit and surgical instruments. The puncture outfit provides an instrument channel for minimally invasive surgery and is fixed at the tail end of the mechanical arm. The end arm has a telescoping function so that the arm can be extended manually/automatically when needed for use. When the mechanical arm is not needed to be used, the mechanical arm can be retracted, so that the mechanical arm is favorable for storage and transportation in hospitals, and meanwhile, the telescopic function is favorable for installation of a sterile cover for preparation work before operation.
At present, the surgical robot with the telescopic function is difficult to accurately connect with surgical instruments due to the influence of manufacturing precision and assembly precision, so that all parts of the surgical robot are required to be adjusted and assembled again, and the assembly efficiency of the surgical robot is low.
In the slave hand device provided by the application, the guide component is connected with the base, and the telescopic component is connected with the guide component, so that the telescopic component can be fixedly installed on the guide component. One end of the telescopic component can be connected with the puncture tube, and the telescopic component moves along the telescopic direction relative to the guide component, so that the puncture tube can also move along the telescopic direction, and the puncture tube can be conveniently adjusted to a designated position. The guiding component can avoid the deviation of the telescopic component when the telescopic component reciprocates along the telescopic direction, so that the puncture tube connected with the telescopic component can reach the appointed position more accurately. The guide component is rotatably connected with the base, so that the angle between the guide component and the base can be adjusted, the angle of the telescopic component connected with the guide component can also be adjusted, the orientation of one end of the telescopic component connected with the puncture tube can be changed, the telescopic component can be more conveniently connected with the puncture tube, and the assembly efficiency of the hand device is improved.
The slave hand apparatus and the surgical robot according to the present application will be described in detail with reference to specific examples.
An embodiment of the present application proposes a slave hand apparatus, shown with reference to fig. 1 and 2, comprising a base 100, a guide assembly 200 and a telescopic assembly 300. The slave hand device can be applied to a surgical robot.
Wherein the base 100 is a base member of the slave hand device of the present application, the base 100 may provide a mounting base for and serve the purpose of protecting other at least partial components of the slave hand device. The base 100 may be made of a metal material, so that the base 100 has better structural strength, thereby making the base 100 more durable and reliable. Of course, the base 100 may also be made of a polymer material, so that the base 100 has a certain structural strength and is relatively light in weight.
The guide assembly 200 is rotatably coupled with the base 100 such that the base 100 can support the guide assembly 200 such that the guide assembly 200 can be fixedly installed. One end of the telescopic assembly 300 is movably connected with the guide assembly 200, so that the telescopic assembly 300 can be fixed on the base 100 through the guide assembly 200, and the telescopic assembly 300 can also be fixedly installed. The other end of the retraction assembly 300 may be adapted to be coupled to the puncture cartridge 700, and in particular, the puncture cartridge 700 may be a puncture device, although the puncture cartridge 700 may be any other type of device, and the application is not limited thereto. The retraction assembly 300 is configured to be reciprocally movable relative to the guide assembly 200 in a retraction direction such that a penetration cartridge 700 coupled to the retraction assembly 300 is reciprocally movable in the retraction direction such that the position of the penetration cartridge 700 can be adjusted to a designated position. Specifically, the designated location may be a patient location of the patient during the operation, and when there are a plurality of patient locations, the retraction assembly 300 may be reciprocally moved in the retraction direction as many times as necessary, so that the puncture cylinder 700 may be moved to a plurality of patient locations, respectively.
The guide assembly 200 is configured to guide the retraction assembly 300 in a retraction direction. Specifically, the guiding assembly 200 can limit the moving direction of the telescopic assembly 300, so that the telescopic assembly 300 can only move in the telescopic direction relative to the guiding assembly 200, thus preventing the telescopic assembly 300 from deviating from the telescopic direction during the moving process, and further avoiding that the puncture tube 700 connected with the telescopic assembly 300 cannot reach the designated position. Thus, the retraction assembly 300 can be moved relative to the guide assembly 200 such that the penetration cartridge 700 can accurately reach a designated position.
The guide assembly 200 is rotatably connected with the base 100, so that an angle between the guide assembly 200 and the base 100 can be adjusted, and in particular, an extension direction of the guide assembly 200 can be adjusted. The telescopic assembly 300 is connected with the guide assembly 200, so that the telescopic assembly 300 can also rotate relative to the base 100 when the guide assembly 200 rotates relative to the base 100, thereby adjusting the angle between the telescopic assembly 300 and the base 100, and adjusting the extension direction of the telescopic assembly 300. As retraction assembly 300 rotates with guide assembly 200, the orientation of the end of retraction assembly 300 for attachment to lancing cartridge 700 may be changed. Thus, when the slave hand apparatus is not mounted in place due to the influence of the assembly accuracy and the preparation accuracy, the orientation of the end of the retraction assembly 300 for connection with the puncture tube 700 can be adjusted to an angle at which the slave hand apparatus can be directly mounted with the puncture tube 700 by rotating the guide assembly 200, so that the slave hand apparatus of the present application can be assembled more efficiently and the surgical efficiency can be improved without having to reassemble the slave hand apparatus.
In some embodiments, referring to fig. 2 and 3, the base 100 of the present application has a fixing groove 110, and the fixing groove 110 is a through groove structure penetrating through the base 100. After the guide assembly 200 is connected with the base 100, one end of the telescopic assembly 300 can pass through the fixing groove 110 of the base 100 and then be connected with the guide assembly 200, so that the inner wall of the fixing groove 110 of the base 100 can also play a role in limiting the telescopic assembly 300, and the telescopic assembly 300 can be better connected with the base 100 through the guide assembly 200.
Specifically, the fixing slot 110 has a first opening 111 and a second opening 112, the first opening 111 and the second opening 112 are located at two sides of the base 100, and the telescopic assembly 300 can be inserted into the fixing slot 110 through the first opening 111 and be inserted out through the second opening 112. The outer wall of the portion of the telescopic assembly 300 penetrating the fixing groove 110 of the base 100 has a gap with the inner wall of the fixing groove 110, thereby preventing the telescopic assembly 300 from contacting the inner wall of the fixing groove 110 to rub when the telescopic assembly 300 reciprocates along the telescopic direction, so that the telescopic assembly 300 moves smoothly, and the telescopic assembly 300 and the base 100 are prevented from contacting each other and wearing.
The telescopic direction in the application can specifically comprise a first direction and a second direction, and the first direction and the second direction are opposite to each other. When the retraction assembly 300 moves in a first direction relative to the guide assembly 200, the end of the retraction assembly 300 coupled to the puncture cartridge 700 may be remote from the guide assembly 200, and when the retraction assembly 300 moves in a second direction relative to the guide assembly 200, the end of the retraction assembly 300 coupled to the surgical instrument may be adjacent to the guide assembly 200, thereby allowing the retraction assembly 300 to retract relative to the guide assembly 200, and thus controlling the particular position of the puncture cartridge 700 disposed on the retraction assembly 300.
In some embodiments, referring to fig. 2 and 3, the telescoping assembly 300 of the present application may specifically include a support 320 and a housing 310. The supporting portion 320 is disposed in the housing 310, and the supporting portion 320 is connected to the housing 310, so that the supporting portion 320 can serve to support the inner wall of the housing 310 in the housing 310, thereby providing the telescopic assembly 300 with better structural strength. One end of the supporting portion 320 may penetrate the housing 310, and one end of the supporting portion 320 may be movably connected with the guiding assembly 200, so that the supporting portion 320 may reciprocate along the telescopic direction relative to the guiding assembly 200, so that the telescopic assembly 300 may reciprocate along the telescopic direction relative to the guiding assembly 200. The end of the support 320 facing away from the guide assembly 200 may be positioned within the housing 310 and the lancing cartridge 700 may be coupled to an outer wall of the housing 310 such that the lancing cartridge 700 may be coupled to the retraction assembly 300. Specifically, the cartridge 700 may be coupled to a side of the housing 310 remote from the guide assembly 200.
One end of the housing 310 may extend into the fixing groove 110 of the base 100, and one end of the supporting portion 320 extending out of the housing 310 may extend out of the fixing groove 110 to be connected with the guide assembly 200.
The slave hand apparatus of the present application may further comprise a housing 600, the housing 600 being coupled to the base 100, the guide assembly 200 may be disposed within the housing 600, such that the housing 600 may serve the purpose of protecting the guide assembly 200.
In some embodiments, referring to fig. 3 to 4, in order that the guide assembly 200 may guide the telescopic assembly 300 in the telescopic direction, the guide assembly 200 may be provided to include a guide rail 210, and the telescopic assembly 300 may be provided to include a guide block 330. The guide rail 210 is movably connected with the base 100, so that the guide rail 210 can be fixed on the base 100, and the guide rail 210 can rotate relative to the base 100, and the guide rail 210 extends along the extension direction. The guide block 330 may be specifically connected to the support 320, where the guide block 330 is cooperatively connected to the guide rail 210, so that the guide block 330 may move along the extending direction of the guide rail 210, that is, along the telescopic direction, so that the guide rail 210 may guide and limit the guide block 330 in the telescopic direction, and thus the guide assembly 200 may guide and limit the telescopic assembly 300 in the telescopic direction.
Specifically, the guide rail 210 is provided with a slot structure, and the guide block 330 can be embedded in the slot structure on the guide rail 210, so that the guide block 330 can be fixed on the guide rail 210, and the telescopic assembly 300 can be connected with the guide assembly 200, so that the telescopic assembly 300 can be fixedly installed.
In addition, in other embodiments, the support portion 320 of the telescopic assembly 300 of the present application may be provided with a groove structure extending along the telescopic direction, and the guide assembly 200 may be provided with a protrusion structure including the groove structure embedded in the support portion 320, so that the guide assembly 200 may guide the telescopic assembly 300 in the telescopic direction.
In some embodiments, referring to fig. 4, the guide assembly 200 of the present application may further include a damping rack 220, and the telescopic assembly 300 may further include a damping gear 340, wherein the damping rack 220 may be fixed to the base 100, and the damping gear 340 may be connected with the support 320. The damping gear 340 is engaged with the damping rack 220 such that the damping gear 340 can rotate in the extending direction of the damping rack 220. The damping rack 220 may extend along the telescopic direction, and correspondingly, the damping gear 340 moves along the telescopic direction relative to the damping rack 220, so that when the whole telescopic assembly 300 reciprocates along the telescopic direction, the damping gear 340 also reciprocates along the telescopic direction relative to the damping rack 220.
Damping may be formed between the damping gear 340 and the damping rack 220 such that the damping gear 340 may be relatively fixed with respect to the damping rack 220 such that the telescoping assembly 300 may be fixed with respect to the guide assembly 200. Specifically, when the telescopic assembly 300 moves along the first direction by applying a force to the telescopic assembly 300, the damping gear 340 can move along the first direction relative to the damping rack 220, and after no force is applied to the telescopic assembly 300 in the first direction, the damping gear 340 and the damping rack 220 can be relatively static due to damping between the damping gear 340 and the damping rack 220, so that the telescopic assembly 300 and the guide assembly 200 can be relatively static, and the telescopic assembly 300 can be prevented from self-telescoping under the condition of no external force, so that the telescopic assembly 300 can be kept stable.
When the telescopic assembly 300 moves along the second direction by applying a force to the telescopic assembly 300, the damping gear 340 can move along the second direction relative to the damping rack 220, and after no force is applied to the telescopic assembly 300 in the second direction, the damping gear 340 and the damping rack 220 are relatively stationary due to damping, so that the telescopic assembly 300 and the guide assembly 200 are relatively stationary, and the telescopic assembly 300 can be prevented from self-telescoping under the condition of no external force, so that the telescopic assembly 300 can be kept stable.
When the slave hand apparatus of the present application is actually used by a physician, the current position of the penetrating cartridge 700 can be maintained if the physician releases the penetrating cartridge 700 and the retracting assembly 300 after the penetrating cartridge 700 on the retracting assembly 300 reaches the designated position by applying a force to the retracting assembly 300.
In some embodiments, referring to fig. 4, in order to rotatably couple the guide assembly 200 of the present application with the base 100, a damping rack 220 may be rotatably coupled with the base 100 such that the damping rack 220 may rotate relative to the base 100. The guide rail 210 may be disposed on the damping rack 220, so that the guide rail 210 may rotate with the damping rack 220 relative to the base 100, and since the telescopic assembly 300 is cooperatively connected with the guide rail 210 through the guide block 330, the telescopic assembly 300 may be driven to rotate by rotating the damping rack 220, so that the damping rack 220 and the guide rail 210 may not be respectively rotatably connected with the base 100, and the structure of the slave hand device of the present application may be simplified.
Specifically, the damping rack 220 may be rotatably connected to the outer wall of the base 100, so that the damping rack 220 may not occupy the space in the fixing slot 110 of the base 100, and the inner wall of the fixing slot 110 may be closer to the housing 310 of the telescopic assembly 300, so that the structure of the base 100 is more compact.
In some embodiments, referring to fig. 4, in order to rotatably couple the damping rack 220 of the present application with the base 100, the guide assembly 200 may further include a fixing member. The damping rack 220 can be provided with an adjusting hole 221, the adjusting hole 221 on the damping rack 220 is of a bent hole structure, and the adjusting hole 221 extends along the rotatable direction of the damping rack 220. The fixing member is inserted into the adjusting hole 221 of the damping rack 220 and then fixed to the base 100, so that the damping rack 220 can be fixed to the base 100.
Wherein, when the fixing member is pre-fixed on the damping rack 220 and the base 100, the damping rack 220 can be rotated by applying a force to the damping rack 220. Specifically, the adjusting hole 221 may be an arc hole, and the damping rack 220 may rotate around the fixing member, and may rotate to the maximum extent that the fixing member abuts against two opposite inner walls of the adjusting hole 221. When the damping rack 220 is rotated in place, the fixing member may be fastened to the damping rack 220 and the base 100, so that the damping rack 220 may be relatively fixed to fix the telescopic angle of the telescopic direction.
The number of the adjusting holes 221 on the damping rack 220 can be multiple, the connecting lines of the adjusting holes 221 can form a ring shape, the number of the fixing pieces can be multiple correspondingly, and the fixing pieces can respectively penetrate through the adjusting holes 221 to be fixed with the base 100, so that the fixing connection effect of the damping rack 220 and the base 100 is more stable and reliable. The damping rack 220 may further be provided with other openings surrounded by a plurality of adjusting holes 221, and a fixing member connected to the base 100 may also be inserted into the openings, so that the connection effect between the damping rack 220 and the base 100 is more reliable.
In some embodiments, referring to fig. 3, the guide assembly 200 of the present application may further include an elastic member 230, wherein one end of the elastic member 230 may be connected to the damping rack 220 and the other end of the elastic member 230 may be connected to the telescopic assembly 300. The elastic member 230 provides the telescopic force for the telescopic assembly 300 to restore the original position when being extended or contracted along the guide assembly 200. When the end of the telescopic assembly 300 away from the guide assembly 200 moves away from the guide assembly 200, the elastic member 230 is deformed, so that the elastic member 230 generates a restoring deformation force, and the elastic member 230 can drive the end of the telescopic assembly 300 away from the guide assembly 200 to move towards the guide assembly 200.
Specifically, when a force is applied to the retraction assembly 300 to move the retraction assembly 300 in the first direction, the distance between the puncture outfit 700 and the guide assembly 200 provided on the retraction assembly 300 increases, and the elastic member 230 can be stretched, such that the elastic member 230 generates a restoring deformation force. When a force is applied to the telescopic assembly 300 to move the telescopic assembly 300 along the second direction, the elastic member 230 can be deformed in a recovery manner, and the restoring deformation force of the elastic member 230 can serve the purpose of assisting the telescopic assembly 300 to move along the second direction, so that a smaller force is applied to the telescopic assembly 300 to move the telescopic assembly 300 along the second direction, and the telescopic assembly 300 is contracted more rapidly.
In some embodiments, referring to FIG. 3, the resilient member 230 of the present application may be embodied as a coil spring. One end of the coil spring may be connected to the damping rack 220, and the other end of the coil spring may be connected to the support portion 320 of the telescopic assembly 300, so that the elastic member 230 may be connected to the guide assembly 200 and the telescopic assembly 300. Specifically, a rotating shaft may be disposed on the damping rack 220, one end of the coil spring may be connected to the rotating shaft, and the coil spring may be sleeved on the rotating shaft.
The use of the coil spring for the elastic member 230 may allow the elastic force of the elastic member 230 to be relatively greater so that the expansion and contraction may be more efficiently contracted. The use of coil springs for the resilient member 230 also allows for a more compact volume and less space to be occupied when the resilient member 230 is in its natural state, so that the resilient member 230 can be more easily coupled to the damping rack 220 and the guide assembly 200.
In addition, in other embodiments, the elastic member 230 may also adopt a compression spring structure, and one end of the elastic member 230 is connected to the telescopic assembly 300, and the other end of the elastic member 230 may be connected to the base 100, when the telescopic assembly 300 is in the telescopic direction, and the end of the telescopic assembly 300 connected to the puncture tube moves away from the guiding assembly 200, the elastic member 230 may be stretched, and the restoring force of the elastic member 230 may drive the telescopic assembly 300 to return. The number of elastic members 230 may be plural, and a plurality of elastic members 230 may be connected to the damping rack 220 and the telescopic assembly 300.
In some embodiments, referring to fig. 2, 5 and 6, the slave hand apparatus of the present application may further include a limiting assembly 400, wherein the limiting assembly 400 may be disposed on the base 100, and the limiting assembly 400 is disposed in the housing 600, and the limiting assembly 400 is configured to limit the telescopic assembly 300 in the telescopic direction, so as to prevent the telescopic assembly 300 from excessively moving in the telescopic direction.
The limiting assembly 400 is arranged on the base 100, so that the limiting assembly 400 can be fixedly installed, when the slave hand device of the application is assembled, the guiding assembly 200, the telescopic assembly 300 and the limiting assembly 400 can be assembled respectively, then the guiding assembly 200 and the limiting assembly 400 are assembled on the base 100 respectively, and finally the telescopic assembly 300 and the guiding assembly 200 are assembled. Therefore, the slave hand device has higher modularization degree, is simpler and more convenient to assemble and is easy to maintain in the later period.
In some embodiments, referring to fig. 5, the limiting assembly 400 of the present application may be connected to the outer wall of the base 100, so that the limiting assembly 400 does not occupy the space in the fixing slot 110 of the base 100, so that the inner wall of the fixing slot 110 may be closer to the housing 310 of the telescopic assembly 300, and the structure of the base 100 is more compact.
In some embodiments, when the telescopic assembly 300 of the present application moves in the first direction until the distance between the end of the telescopic assembly 300 away from the guide assembly 200 and the guide assembly 200 is the largest, the limiting assembly 400 limits the telescopic assembly 300, so that the telescopic assembly 300 can no longer move in the telescopic direction, and the state of the telescopic assembly 300 can be fixed.
Specifically, one end of the telescopic assembly 300 away from the guiding assembly 200 may be connected to the puncture tube 700, when the telescopic assembly 300 moves to the maximum distance between the puncture tube 700 and the guiding assembly 200, the telescopic assembly 300 can maintain the maximum extension degree through the limiting assembly 400 after reaching the maximum extension degree, so that a doctor can conveniently and accurately operate the puncture tube 700 on the telescopic assembly 300.
In some embodiments, referring to fig. 5 and 6, in order that the limiting assembly 400 may limit the telescopic assembly 300 in the telescopic direction, the limiting assembly 400 may be provided to include a limiting plate 410, and the telescopic assembly 300 may further include a limiting part 350. The limiting plate 410 is movably disposed on the base 100, and the limiting plate 410 can move relative to the base 100. The limiting portion 350 is disposed on the supporting portion 320 of the telescopic assembly 300, such that the limiting portion 350 can reciprocate along the supporting portion 320 along the telescopic direction. The limiting plate 410 is provided with a limiting slot 411, the slot size of the limiting slot 411 is matched with the external size of the limiting part 350, when the telescopic component 300 moves to the position where the distance between one end of the telescopic component 300, which is far away from the guide component 200, and the guide component 200 is maximum, the driving plate can be driven to move towards the limiting part 350, so that the limiting part 350 is embedded in the limiting slot 411, and the inner wall of the limiting slot 411 can play a role in limiting the limiting part 350, so that the limiting part 350 is fixed in the limiting slot 411. Therefore, the limiting portion 350 and the limiting plate 410 are relatively fixed, and the limiting portion 350 is no longer movable, so that the telescopic assembly 300 is also not movable in the telescopic direction.
When the limiting portion 350 is embedded in the limiting slot 411 of the limiting plate 410, the limiting plate 410 can be driven to move away from the limiting portion 350, so that the limiting portion 350 can be separated from the limiting slot 411 of the limiting plate 410, the limiting plate 410 and the limiting portion 350 are not limited, the limiting portion 350 can move freely in the telescopic direction, and the telescopic assembly 300 can also move freely in the telescopic direction.
In some embodiments, referring to fig. 5 and 6, in order to make the spacing assembly 400 of the present application more conveniently connected to the base 100, the spacing assembly 400 may further include a base plate 420, the base plate 420 is detachably fixed to the base 100, and the spacing plate 410 is movably connected to the base plate 420, so that the spacing plate 410 can move relative to the base 100 through the base plate 420. Specifically, one end of the substrate 420 is connected to the base 100, and the other end of the base 100 extends in a direction opposite to the first opening 111 of the fixing groove 110 of the base 100. The limiting plate 410 is disposed on the base plate 420 and located on a side of the base 100 facing away from the first opening 111, so that the structural arrangement of the limiting assembly 400 is more reasonable.
In some embodiments, the limiting plate 410 and the base plate 420 of the present application may be rotatably connected, such that the limiting plate 410 may rotate relative to the base plate 420. Specifically, the limiting plate 410 may rotate toward the limiting portion 350, so that the limiting slot 411 of the limiting portion 350 is close to the limiting portion 350, and finally the limiting portion 350 is embedded in the limiting slot 411. The limiting plate 410 can also rotate away from the limiting portion 350, so that the limiting portion 350 is separated from the limiting slot 411. By rotatably connecting the limiting plate 410 and the base plate 420, the movement range of the limiting plate 410 relative to the base plate 420 is relatively small, so that the structure of the slave hand device is relatively compact in all states.
In some embodiments, the base plate 420 is movably connected to the base 100, and the base plate 420 is configured to move relative to the base 100 along a telescopic direction, so that the relative position of the base plate 420 and the base 100 can be adjusted, and thus the limiting plate 410 disposed on the base plate 420 can also move along the telescopic direction. When the limiting plate 410 moves along the telescopic direction relative to the base plate 420, the limiting slot 411 on the limiting plate 410 can also move along the telescopic direction, so that the position of the limiting slot 411 in the telescopic direction can be adjusted, and the limiting portion 350 can be in limiting fit with the limiting slot 411 of the limiting plate 410 when moving to different positions along the telescopic direction along with the supporting portion 320, so that the supporting portion 320 is fixed, and the position of one end of the telescopic assembly 300, which is away from the guide assembly 200, relative to the fixed position of the guide assembly 200 can be adjusted.
Specifically, after the adjustment substrate 420 moves along the first direction, the limiting plate 410 may also move along the first direction, so that the distance between the limiting plate 410 and the base 100 may be increased, and correspondingly, the limiting portion 350 moves along with the supporting portion 320 to approach the limiting plate 410, so that when the limiting plate 410 may rotate to enable the limiting portion 350 to be embedded in the limiting slot 411, the distance between the limiting portion 350 and the base 100 is relatively greater, so that the maximum extension length of the telescopic assembly 300 away from the guide assembly 200 may be reduced.
When the adjusting substrate 420 moves along the second direction, the spacing plate 410 can also move along the second direction, so that the distance between the spacing plate 410 and the base 100 can be reduced, and correspondingly, the spacing portion 350 moves along with the supporting portion 320 to approach the spacing plate 410, so that when the spacing plate 410 can rotate to enable the spacing portion 350 to be embedded in the spacing slot 411, the distance between the spacing portion 350 and the base 100 is relatively smaller, and thus, the maximum extension length of the telescopic assembly 300 away from the guide assembly 200 can be increased.
In some embodiments, referring to fig. 5, in order to enable the substrate 420 of the present application to move in a telescopic direction relative to the base 100, the limiting assembly 400 may further include a positioning member. The substrate 420 may be provided with a positioning hole 421, the positioning hole 421 on the substrate 420 is in a stripe hole structure, and the positioning hole 421 extends along the extending direction. The positioning member is inserted into the positioning hole 421 of the substrate 420 and then fixed to the base 100, so that the substrate 420 can be fixed to the base 100.
When the positioning member is pre-fixed on the base plate 420 and the base 100, the base plate 420 can be moved in the telescopic direction by applying a force to the base plate 420. Specifically, the positioning hole 421 may be a kidney-shaped hole, and the substrate 420 may move relative to the positioning member, and may move to the maximum that the positioning member abuts against two opposite inner walls of the positioning hole 421. After the substrate 420 is moved into position, the positioning member can be fastened to the substrate 420 and the base 100, so that the substrate 420 and the base 100 can be relatively fixed to fix the position of the substrate 420 in the telescopic direction.
The number of the positioning holes 421 on the substrate 420 may be plural, and correspondingly, the number of the positioning members may be plural, and the plurality of positioning members may respectively pass through the plurality of positioning holes 421 to be fixed with the base 100, so that the fixing connection effect between the substrate 420 and the base 100 is more stable and reliable. The substrate 420 may further be provided with other openings surrounded by a plurality of positioning holes 421, and positioning members connected to the base 100 may also be inserted into the openings, so that the connection effect between the substrate 420 and the base 100 is more reliable.
In some embodiments, referring to fig. 6, in order to conveniently adjust the relative position of the substrate 420 and the base 100, a positioning groove 120 may be disposed on the outer wall of the base 100, one end of the substrate 420 may be embedded in the positioning groove 120, the positioning groove 120 has a notch, and the notch of the positioning groove 120 is oriented in the same direction as the telescoping direction, so that the substrate 420 may move from the notch of the positioning groove 120 into the positioning groove 120 or away from the positioning groove 120, so that the substrate 420 may move in the telescoping direction.
Specifically, the notch of the positioning slot 120 is oriented in the second direction, the notch of the positioning slot 120 is flush with the second opening 112 of the base 100, and the inner wall of the positioning slot 120 can serve the purpose of limiting the substrate 420, so that the substrate 420 can only move along the telescopic direction, and the position of the substrate 420 can be conveniently adjusted.
In some embodiments, referring to fig. 5 and 6, the limiting assembly 400 of the present application may further include a driving portion 430 and an elastic portion, wherein the driving portion 430 is disposed on the base plate 420, and the driving portion 430 is connected with the limiting plate 410, and the driving portion 430 may drive the limiting plate 410 to rotate away from the limiting portion 350, so that the limiting portion 350 may be disengaged from the limiting slot 411 of the limiting plate 410. The elastic portion is connected to the limiting plate 410 and the base plate 420, and when the driving portion 430 drives the limiting plate 410 to rotate away from the limiting portion 350, the elastic portion can be compressed by the limiting plate 410 to deform, so that the elastic portion has elastic restoring force. When the driving portion 430 no longer applies a force to the limiting plate 410 that deviates from the rotation of the limiting plate 350, the limiting plate 410 can rotate towards the limiting plate 350 under the elastic restoring force of the elastic portion, so that the limiting plate 350 can be embedded in the limiting slot 411 of the limiting plate 410, and the limiting plate 410 and the limiting plate 350 are fixed relatively.
In some embodiments, referring to fig. 5 and 6, the driving part 430 of the present application may specifically include a driver 431 and a traction rope 432, wherein the driver 431 is disposed on the substrate 420, and the driver 431 may be a motor. One end of the hauling rope 432 is connected with the output end of the driver 431, the other end of the hauling rope 432 can be connected with the limiting plate 410, the driver 431 is located on one side, opposite to the limiting portion 350, of the limiting plate 410, the output end of the driver 431 rotates, the limiting plate 410 can be pulled to move in the direction opposite to the limiting portion 350 through the hauling rope 432, the elastic portion is compressed, and at the moment, part of the hauling rope 432 can be wound on the output end of the driver 431 in a closing mode. When the driver 431 is powered off, the restoring deformation force of the elastic portion can push the limiting plate 410 to move towards the limiting portion 350, so that the traction rope 432 wound on the output end of the driver 431 is released.
In some embodiments, referring to fig. 2, 7 and 8, the slave hand apparatus of the present application may further include a button assembly 500, the button assembly 500 may be disposed on the support portion 320 of the telescopic assembly 300, and the button assembly 500 may be electrically connected with other components of the surgical robot to electrically control the other components of the surgical robot.
The supporting portion 320 is a main structure of the telescopic assembly 300, and the supporting portion 320 enables the telescopic assembly 300 to have a better structural strength as a whole, and the button assembly 500 can be more stably and reliably arranged on the telescopic assembly 300 by arranging the button assembly 500 on the supporting portion 320.
In some embodiments, referring to fig. 8 and 9, the button assembly 500 of the present application may include a micro switch 510, a pressing part 520, and an elastic restoring part 530. The micro switch 510 may be disposed on the supporting portion 320, the pressing portion 520 is movably connected to the supporting portion 320, and the pressing portion 520 is opposite to the micro switch 510. The pressing portion 520 is configured to move towards or away from the micro switch 510, and when the pressing portion 520 moves towards the micro switch 510, the distance between the pressing portion 520 and the micro switch 510 can be reduced until the pressing portion 520 contacts with the micro switch 510 and presses the micro switch 510, so that the micro switch 510 can be turned on. When the pressing portion 520 moves away from the micro switch 510, the distance between the pressing portion 520 and the micro switch 510 can be increased until the pressing portion 520 is separated from the micro switch 510, so that the pressing portion 520 does not exert pressure on the micro switch 510 any more, and the micro switch 510 can be turned off.
Specifically, the pressing portion 520 has a pressing surface opposite to the micro switch 510, and moving the pressing portion 520 toward the micro switch 510 can cause the pressing surface to move into contact with the micro switch 510 and press against the micro switch 510. The pressing portion 520 moves away from the micro switch 510, so that the pressing surface is separated from the micro switch 510 and the distance is increased.
The elastic restoring portion 530 is disposed between the supporting portion 320 and the pressing portion 520 such that the elastic restoring portion 530 is connected to the supporting portion 320 and the pressing portion 520. When the user presses the pressing portion 520 such that the pressing portion 520 moves toward the micro switch 510, the elastic restoring portion 530 may be compressed such that the elastic restoring portion 530 generates an elastic restoring force. When the user does not press the pressing portion 520 any more, the pressing portion 520 may move away from the micro switch 510 under the elastic restoring force of the elastic restoring portion 530.
In some embodiments, referring to fig. 8 and 9, the button assembly 500 of the present application may further include a switch seat 540, the switch seat 540 is disposed on the support portion 320, and the switch seat 540 and the support portion 320 may be detachably connected. The micro switch 510 is disposed on the switch base 540, the pressing portion 520 is movably connected with the switch base 540, and one end of the elastic restoring portion 530 facing away from the pressing portion 520 can be abutted against the switch base 540.
When the button assembly 500 of the present application is assembled, the micro switch 510, the elastic member 230 and the pressing portion 520 may be assembled on the switch base 540, and then the switch base 540 may be assembled on the supporting portion 320, so that the slave hand device of the present application may be assembled in a modularized manner, and the difficulty in manufacturing and assembling the slave hand device is reduced.
In some embodiments, referring to fig. 8 and 9, in order to fix the micro switch 510 on the switch base 540, the micro switch 510 may be clamped on the switch base 540. Specifically, a switch mounting plate can be disposed on the switch seat 540, the switch mounting plate is detachably connected with the switch seat 540, a mounting hole is formed in the switch mounting plate, and the micro switch 510 is clamped in the mounting hole of the switch mounting plate.
In some embodiments, referring to fig. 8 and 9, the switch assembly of the present application may further include a guide portion 550, where the guide portion 550 is connected to the pressing portion 520, and the guide portion 550 is further movably connected to the switch base 540, so that the pressing portion 520 may be movably connected to the switch base 540 through the guide portion 550. The guide portion 550 and the switch base 540 are in guiding engagement with the switch base 540 in a direction toward or away from the micro switch 510, whereby the guide portion 550 can only move in a direction toward or away from the micro switch 510, so that the pressing portion 520 connected to the guide portion 550 can also only move in a direction toward or away from the micro switch 510. This can prevent the pressing portion 520 from being deflected when the user presses the pressing portion 520, so as to ensure that the pressing portion 520 can be accurately pressed on the micro switch 510 to enable the micro switch 510 to generate an electrical signal.
In some embodiments, referring to fig. 8 and 9, in order to make the guide portion 550 be in guiding engagement with the switch seat 540, the switch seat 540 may be provided with a guide hole 541, an axial direction of the guide hole 541 is in the same direction as that of the pressing portion 520 toward or away from the micro switch 510, at least part of the guide portion 550 is sleeved in the guide hole 541 by the switch seat 540, and an outer wall of the guide portion 550 contacts an inner wall of the guide hole 541. The guide portion 550 is movable in the axial direction of the guide hole 541 within the guide hole 541 such that the pressing portion 520 connected to the guide portion 550 can face or face away from the micro switch 510.
By sleeving the guide part 550 inside the switch seat 540, the guide part 550 can be fixed inside the switch seat 540, so that the pressing part 520 does not need to be additionally provided with a structure for movably connecting with the switch seat 540, and the structure of the button assembly 500 can be simplified.
In some embodiments, referring to fig. 10 and 11, the guide portion 550 of the present application has a limiting protrusion 551, the limiting protrusion 551 may be inserted into the switch fixing plate, and the limiting protrusion 551 may limit the guide portion 550 in the circumferential direction of the guide hole 541, so that the guide portion 550 may not rotate in the circumferential direction of the guide hole 541, and thus the pressing portion 520 may not rotate in the circumferential direction of the guide hole 541, and the pressing portion 520 may remain stable. Specifically, the switch seat 540 may be provided with an opening matching with the limiting protrusion 551, the axial direction of the opening is in the same direction as the axial direction of the guiding hole 541, and the opening is deviated from the center of the guiding hole 541, and the inner wall of the opening limits the limiting protrusion 551, so that the limiting protrusion 551 cannot rotate, and therefore the guiding portion 550 and the pressing portion 520 connected with the guiding portion 550 cannot rotate.
In some embodiments, referring to fig. 9 and 11, the button assembly 500 of the present application may further include a limiting post 560, where the limiting post 560 penetrates the switch seat 540 from a side of the guide 550 opposite to the switch seat 540, and is connected to the guide 550. The limit post 560 is in limit fit with the side of the switch seat 540 facing away from the guide portion 550, so that the limit post 560 cannot be completely moved to the side of the switch seat 540 facing the guide portion 550, and thus the limit post 560 cannot be separated from the switch seat 540. Therefore, the guide portion 550 connected to the limiting post 560 cannot be separated from the switch seat 540, so that the pressing portion 520 and the elastic restoring portion 530 are prevented from being separated from the switch seat 540, and the pressing assembly of the present application has a complete and stable structure.
Specifically, the switch seat 540 may be provided with an opening through which the spacing post 560 passes, and an outer diameter of an end of the spacing post 560 away from the guiding portion 550 may be set to be an inner diameter of the opening, so that the whole spacing post 560 cannot pass through the switch seat 540, and the spacing post 560 is in spacing fit with the switch seat 540. The limit post 560 and the guide portion 550 may be fixed by screw connection.
The button assembly 500 of the present application may further include a limiting bottom plate 570, wherein the limiting bottom plate 570 is disposed on one side of the switch base 540 opposite to the guiding portion 550, and the limiting post 560 passes through the limiting bottom plate 570 and then passes through the switch base 540.
Based on the slave hand device, the embodiment of the application also provides a surgical robot which comprises a master hand device and the slave hand device, wherein the master hand device is connected with the slave hand device. Wherein the button assembly 500 may be electrically connected to the master hand device.
It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present application, and not for limiting the same, and although the present application has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some or all of the technical features may be equivalently replaced, and these modifications or substitutions do not deviate the essence of the corresponding technical solution from the scope of the technical solution of the embodiment of the present application.
Claims (7)
1. A slave hand apparatus, comprising:
A base (100);
A guide assembly (200) rotatably coupled to the base (100);
a telescopic component (300), one end of which is movably connected with the guide component (200), wherein the telescopic component (300) is configured to reciprocate in a telescopic direction relative to the guide component (200), and the guide component (200) is configured to guide the telescopic component (300) in the telescopic direction;
the guide assembly (200) comprises a damping rack (220) arranged along the telescopic direction, the telescopic assembly (300) further comprises a damping gear (340), and the damping gear (340) is meshed with the damping rack (220);
the damping rack (220) is rotatably connected with the base (100);
An adjusting hole (221) is formed in one end of the damping rack (220), the adjusting hole (221) is formed in the rotating direction of the damping rack (220), and the damping rack (220) is connected with the base (100) through the adjusting hole (221);
The number of the adjusting holes (221) is a plurality of or one, when the adjusting holes (221) are arranged in a plurality, the adjusting holes (221) are arranged at intervals along the rotation direction of the damping rack (220), and when the adjusting holes (221) are arranged in one, the adjusting holes (221) are arc-shaped holes suitable for the rotation direction;
when the telescopic component (300) rotates along with the guide component (200), the direction of the other end of the telescopic component (300) can be changed.
2. The slave hand apparatus according to claim 1, wherein the base (100) has a fixing groove (110), and one end of the telescopic member (300) is connected to the guide member (200) through the fixing groove (110).
3. The slave hand apparatus according to claim 1 or 2, wherein the guide assembly (200) further comprises a guide rail (210) arranged in the telescopic direction, the telescopic assembly (300) comprising a guide block (330), the guide block (330) being cooperatively connected to the guide rail (210) and being slidable in the extending direction of the guide rail (210).
4. A slave hand apparatus according to claim 3, wherein the guide rail (210) is connected to the damping rack (220).
5. A slave hand apparatus according to claim 3, further comprising an elastic member (230), one end of the elastic member (230) being connected to the telescopic member (300), the other end of the elastic member (230) being connected to the guide member (200), the elastic member (230) providing the telescopic member (300) with a telescopic force to resume an initial position when being extended or retracted along the guide member (200).
6. The slave hand apparatus according to claim 5, wherein the elastic member (230) is a coil spring, one end of the elastic member (230) is connected to the damper rack (220), the other end of the elastic member (230) is connected to the telescopic assembly (300), or
The elastic piece (230) is a pressure spring, one end of the elastic piece (230) is connected with the base (100), and the other end of the elastic piece (230) is connected with the telescopic component (300).
7. A surgical robot comprising a master hand device and a slave hand device according to any one of claims 1 to 6, the master hand device being connected to the slave hand device.
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| CN202411139011.8A CN119014989B (en) | 2024-08-19 | 2024-08-19 | Hand devices and surgical robots |
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| CN202411139011.8A CN119014989B (en) | 2024-08-19 | 2024-08-19 | Hand devices and surgical robots |
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| CN223111789U (en) * | 2024-08-19 | 2025-07-18 | 杭州康基唯精医疗机器人有限公司 | Slave hand device and surgical robot |
| CN223169808U (en) * | 2024-08-19 | 2025-08-01 | 杭州康基唯精医疗机器人有限公司 | Slave hand device and surgical robot |
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| US7763015B2 (en) * | 2005-01-24 | 2010-07-27 | Intuitive Surgical Operations, Inc. | Modular manipulator support for robotic surgery |
| EP4248906B1 (en) * | 2016-01-07 | 2025-08-06 | Intuitive Surgical Operations, Inc. | Telescoping cannula arm |
| US20170316705A1 (en) * | 2016-04-27 | 2017-11-02 | David Paul Schultz | System, Apparatus and Methods for Telesurgical Mentoring Platform |
| US12329470B2 (en) * | 2019-01-14 | 2025-06-17 | Intuitive Surgical Operations, Inc. | System and method for automated docking |
| CN221154298U (en) * | 2023-09-27 | 2024-06-18 | 杭州唯精医疗机器人有限公司 | Telescopic mechanical arm and surgical robot |
| CN117426879A (en) * | 2023-11-24 | 2024-01-23 | 杭州唯精医疗机器人有限公司 | Telescoping device and surgical robot |
| CN117598793A (en) * | 2023-11-27 | 2024-02-27 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Medical robot master hand and medical robot |
| CN118370608B (en) * | 2024-06-19 | 2024-09-17 | 杭州唯精医疗机器人有限公司 | Joint assembly and surgical robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN223111789U (en) * | 2024-08-19 | 2025-07-18 | 杭州康基唯精医疗机器人有限公司 | Slave hand device and surgical robot |
| CN223169808U (en) * | 2024-08-19 | 2025-08-01 | 杭州康基唯精医疗机器人有限公司 | Slave hand device and surgical robot |
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Country or region after: China Address after: 311121 Hangzhou City, Yuhang District, Yuhang Street, Keji Avenue 39, Building 1, first floor, Building 2, first to fourth floors Applicant after: Hangzhou Kangji Weijing Medical Robot Co.,Ltd. Address before: Building 1, 1st Floor, and Building 2, 1-4 Floors, No. 39 Keji Avenue, Yuhang Street, Yuhang District, Hangzhou City, Zhejiang Province Applicant before: Hangzhou Weijing medical robot Co.,Ltd. Country or region before: China |
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