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CN-224223739-U - Surgical robot assembly jig

CN224223739UCN 224223739 UCN224223739 UCN 224223739UCN-224223739-U

Abstract

The utility model discloses an operation robot assembling jig which comprises a fixed seat, a first fixed position and a second fixed position, wherein the first fixed position and the second fixed position are arranged on the fixed seat, the first fixed position comprises a first fixed block and a first moving block, the second fixed position comprises a second fixed block and a second moving block, the front end of the second fixed position is provided with an abutting block, a group of rotatable positioning rods are arranged in the abutting block in a penetrating mode, the positioning rods extend into a driving seat and are clamped with gears in the driving seat one by one through rotation to limit rotation of the gears, the operation robot assembling jig further comprises a threading rod, the threading rod comprises a branching block and a pull rod, a group of threading holes are formed in the branching block at intervals in parallel around the central axis, one string can be threaded in each threading hole, the pull rod is used for preassembling one string into an executing piece through axial forward movement, and a group of strings are limited to extend in parallel through axial backward movement. The scheme effectively avoids winding of the inner wire rope of the executive component and facilitates assembly between the inner wire rope of the executive component and the driving seat gear.

Inventors

  • CHU WEICHENG
  • WEI DALUN
  • LUO WEI

Assignees

  • 以诺康医疗科技(苏州)股份有限公司

Dates

Publication Date
20260512
Application Date
20250521

Claims (10)

  1. 1. The surgical robot assembling jig is characterized by comprising a fixed seat (4), a first fixed position and a second fixed position which are arranged on the fixed seat, wherein the first fixed position comprises a first fixed block (101) fixedly arranged on the fixed seat (4) and a first movable block (102) capable of translating relative to the first fixed block (101) and is used for limiting an executing piece; the second fixing position comprises a second fixing block (201) fixedly arranged on the fixing seat (4), a second moving block (202) capable of translating relative to the second fixing block (201) and used for limiting a driving seat, an abutting block (203) matched with the front end face of the driving seat is arranged at the front end of the second fixing position, a group of rotatable first positioning rods (204) are arranged in the abutting block (203) in a penetrating manner, the first positioning rods (204) extend into the driving seat and are clamped with gears in the driving seat one by one through rotation, so as to limit the rotation of the gears, the second fixing position further comprises a threading rod preloaded in an executing piece, the threading rod comprises a branching block (301) and a pull rod (302) fixedly connected to the axis of the branching block (301), a group of threading holes (303) are arranged in the branching block (301) at intervals in parallel around the central axis, one group of threading holes (303) can be penetrated by one rope, the pull rod (302) is moved forwards in the axial direction to extend into the executing piece in the axial direction, and the two groups of threading rods extend into the executing piece in the axial direction between the executing piece and the executing piece in the axial direction, and the two groups of threading rods are arranged in the axial direction between the executing piece and the executing piece is extended in the two groups of the threading rod, the driving seat is respectively limited on the first fixed position and the second fixed position, and then the pull rod (302) is pulled out to straighten a group of ropes, and the ropes are wound on the gear one by one.
  2. 2. The surgical robot assembling jig according to claim 1, wherein the first fixed block (101) or the first movable block (102) is provided with a limit groove (103) on the inner side wall thereof, which is matched with the outer diameter of the actuator.
  3. 3. The surgical robot assembly jig according to claim 2, wherein the first moving block (102) is driven to translate relative to the first fixed block (101) by a first driving mechanism, the first driving mechanism comprises a first connecting block (104) fixedly arranged on the fixed seat (4) and a first driving rod (105) in threaded connection with the first connecting block (104), an end portion of the first driving rod (105) is pivotably arranged in the first moving block (102), and the first driving rod (105) drives the first moving block (102) to translate through rotation.
  4. 4. The surgical robot assembling jig according to claim 3, wherein the bottom of the first moving block (102) is fixedly connected with a first sliding block (106), a first guiding chute (401) extending straight is formed in the fixing seat (4), and the first sliding block (106) is slidably clamped in the first guiding chute (401) and slides along the first guiding chute.
  5. 5. The surgical robot assembly jig according to claim 4, wherein the second moving block (202) is driven to translate relative to the second fixed block (201) by a second driving mechanism, the second driving mechanism comprises a second connecting block (208) fixedly arranged on the fixed seat (4) and a second driving rod (209) screwed with the second connecting block (208), an end portion of the second driving rod (209) is pivotably arranged in the second moving block (202), and the second driving rod (209) drives the second moving block (202) to translate through rotation.
  6. 6. The surgical robot assembling jig according to claim 5, wherein a second slider (210) is fixedly connected to the bottom of the second moving block (202), a second guide chute (402) extending straight is formed in the fixing base (4), and the second slider (210) is slidably clamped in and slides along the second guide chute (402).
  7. 7. The surgical robot assembling jig according to claim 6, wherein the rear end face of the abutting block (203) is provided with a socket (205), the front end face of the driving seat is provided with a clamping block matched with the socket (205) to be inserted into the socket (205), and two sides of the rear end face of each first positioning rod (204) are symmetrically provided with positioning clamping blocks (206) in a protruding mode to be clamped with gears.
  8. 8. The surgical robot assembling jig according to claim 1, wherein a lock button (207) is disposed at a tail end of each first positioning rod (204), the lock buttons (207) are fixedly disposed on a front end surface of the fixing base (4) or the abutting block (203), and after the first positioning rods (204) are clamped with each other, the lock buttons (207) are screwed to limit the first positioning rods (204).
  9. 9. The surgical robot assembly jig according to any one of claims 1 to 8, further comprising a third fixing position formed by a second positioning rod (501) and a third positioning block (502), wherein the second positioning rod (501) is vertically fixed on one side of the second fixing block (201), the third positioning block (502) is arranged on the second positioning rod (501), a bayonet (503) is formed at the side of the third positioning block (502), and a positioning bolt (505) is arranged on the bayonet (503) in a penetrating manner from the top of the bayonet to the bottom of the bayonet (503) to limit the branching block (301) in the bayonet (503).
  10. 10. The surgical robot assembly jig of claim 9, wherein the second positioning rod (501) has a vertically extending waist-shaped hole (504) at a top thereof, and the third positioning block (502) is adjustably disposed on the second positioning rod (501).

Description

Surgical robot assembly jig Technical Field The utility model relates to the technical field of anastomat assembly jigs, in particular to an operation robot assembly jig. Background Minimally invasive surgery refers to a surgical mode of performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes, laryngoscopes and related equipment, and has the advantages of small wound, less pain, quick healing and the like compared with the traditional surgery. In order to meet the flexibility required for surgery while miniaturizing the end effector, surgical robots have been developed. Surgical robots typically take the form of a rope drive, with a bulky drive section placed outside the body, through which the end structures in the body are driven. The detachable surgical robot end effector and the surgical robot disclosed in the publication CN115054373B comprise a driving seat and an actuator, the actuator is in a long and narrow tubular structure, the ropes for driving are all arranged in the outer tube of the actuator, and the actuator of the surgical robot is complex and comprises a plurality of ropes for connection. In the assembly process, a plurality of ropes are required to be arranged in the long and narrow outer tube in a penetrating mode, winding can be easily generated, transmission failure is caused, and one rope is installed one by one and is too low in efficiency. How to reliably and efficiently mount ropes is thus an urgent problem to be solved at present. Disclosure of utility model The utility model aims to overcome the defects in the prior art and provides an assembling jig for a surgical robot. The aim of the utility model is achieved by the following technical scheme: The surgical robot assembling jig comprises a fixing seat, a first fixing position and a second fixing position, wherein the first fixing position and the second fixing position are arranged on the fixing seat, the first fixing position comprises a first fixing block fixedly arranged on the fixing seat and a first moving block capable of translating relative to the first fixing block and used for limiting an executing piece, the second fixing position comprises a second fixing block fixedly arranged on the fixing seat and a second moving block capable of translating relative to the second fixing block and used for limiting a driving seat, the front end of the second fixing position is provided with an abutting block matched with the front end face of the driving seat, a group of rotatable first positioning rods penetrate through the abutting block and extend into the driving seat and are in one-to-one clamping connection with gears in the driving seat through rotation, the threading rods in the executing piece comprise a branching block and a pull rod fixedly connected with the axis of the branching block, a group of threading holes are arranged in the branching block at intervals in parallel around the central axis, the pulling block is provided with a group of threading holes in parallel, and the pulling rod can be arranged in the pulling rod in the first group of the first positioning rod and the second positioning rod and the first positioning rod is in the pre-assembling piece through rotation of the driving seat, and the pulling rod is arranged in the pulling rod is in the pre-assembling piece, and the pulling piece is respectively, and after the group of threading holes are extended to the pulling rod is arranged in the pulling rod, and the pulling rod is respectively in the group of the pulling rod and the pulling rod is arranged in the pulling rod and the group of the pulling rod. Preferably, the inner side wall of the first fixed block or the first moving block is concavely provided with a limit clamping groove matched with the outer diameter of the executing piece. Preferably, the first moving block is driven by a first driving mechanism to translate relative to the first fixed block, the first driving mechanism comprises a first connecting block fixedly arranged on the fixed seat and a first driving rod in threaded connection with the first connecting block, the end part of the first driving rod is pivotably arranged in the first moving block, and the first driving rod drives the first moving block to translate through rotation. Preferably, the bottom of the first moving block is fixedly connected with a first sliding block, a first guiding chute extending straight is formed in the fixing seat, and the first sliding block is slidably clamped in the first guiding chute and slides along the first guiding chute. Preferably, the second moving block is driven by a second driving mechanism to translate relative to the second fixed block, the second driving mechanism comprises a second connecting block fixedly arranged on the fixed seat and a second driving rod screwed with the second connecting block, the end part of the second driving rod is pivotably arranged in the second movin