CN107334535B - Instrument transmission assembly, surgical instrument of surgical robot and surgical robot - Google Patents
Instrument transmission assembly, surgical instrument of surgical robot and surgical robot Download PDFInfo
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- CN107334535B CN107334535B CN201710645933.XA CN201710645933A CN107334535B CN 107334535 B CN107334535 B CN 107334535B CN 201710645933 A CN201710645933 A CN 201710645933A CN 107334535 B CN107334535 B CN 107334535B
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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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
- A61B34/70—Manipulators specially adapted for use in surgery
Abstract
The invention provides an instrument transmission assembly, a surgical instrument of a surgical robot and the surgical robot, wherein the surgical instrument of the surgical robot comprises a driving assembly; the instrument transmission assembly includes: the opening and closing device comprises an opening and closing instrument, a first pin shaft and a first transmission rod; the opening and closing instrument comprises a first body and a second body, wherein the first body and the second body are arranged in a crossed mode; the first pin shaft is inserted at the intersection of the first body and the second body, is rotatably connected with the first body and is fixedly connected with the second body; one end of the first transmission rod is connected with the first body through the transition rod, and the other end of the first transmission rod is connected with the driving assembly so as to drive the first body to rotate around the first pin shaft. When the opening and closing instrument clamps the articles through the first body and the second body, the second body does not rotate, so that the clamping of the opening and closing instrument is more stable, the opening and closing of the opening and closing instrument is further accurately controlled, and the success rate of the operation is effectively improved.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to an instrument transmission assembly, a surgical instrument of a surgical robot and the surgical robot.
Background
At present, in the related art, the robot-assisted minimally invasive surgery gradually becomes the development trend of the minimally invasive surgery, and in the surgery process, actions such as clamping, cutting, supporting and the like need to be completed, so that the instrument transmission assembly must have the opening and closing function; meanwhile, the surgical instrument works in a human body, when the surgical instrument performs opening and closing actions on the human body, the surgical instrument must be accurately controlled, and if deviation exists, the progress of an operation is influenced; meanwhile, when the surgical instruments are used for clamping, firstly, the clamped objects are ensured not to fall off, and secondly, the surgical instruments are ensured not to influence other internal organs in a human body when being opened and closed, so that how to design the surgical instruments which can be accurately controlled and can complete opening and closing actions is very necessary, and meanwhile, the surgical instruments of the surgical robot are used for clamping stably.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, a first aspect of the invention proposes an instrument drive assembly.
A second aspect of the present invention provides a surgical instrument for a surgical robot.
A third aspect of the present invention provides a surgical robot.
In view of this, a first aspect of the present invention provides an instrument transmission assembly for a surgical instrument of a surgical robot, the surgical instrument of the surgical robot comprising a drive assembly; the instrument transmission assembly includes: the opening and closing device comprises an opening and closing instrument, a first pin shaft and a first transmission rod; the opening and closing instrument comprises a first body and a second body, wherein the first body and the second body are arranged in a crossed mode; the first pin shaft is inserted at the intersection of the first body and the second body, is rotatably connected with the first body and is fixedly connected with the second body; one end of the first transmission rod is connected with the first body through the transition rod, and the other end of the first transmission rod is connected with the driving assembly so as to drive the first body to rotate around the first pin shaft.
The instrument transmission assembly provided by the invention comprises a first body and a second body, wherein the first body and the second body of the opening and closing instrument are arranged in a crossed manner; then, inserting a first pin shaft at the intersection of the first body and the second body, and simultaneously enabling the first pin shaft to be rotatably connected with the first body and fixedly connected with the second body; and then, one end of the first transmission rod is connected with the first body through the transition rod, and the other end of the first transmission rod is connected with the driving assembly so as to drive the first body to rotate around the first pin shaft, and further open or close the opening and closing appliance. Because the first pin shaft is inserted at the intersection of the first body and the second body, is rotatably connected with the first body and is fixedly connected with the second body, when the first body is sleeved on the first pin shaft to rotate, the second body does not rotate, so that the opening distance between the first body and the second body is determined by the rotating angle of the first body, the opening and closing range of the opening and closing instrument is reduced, and the accurate control of the opening and closing instrument is realized; meanwhile, when the opening and closing instrument clamps the articles through the first body and the second body, the second body does not rotate, so that the clamping of the opening and closing instrument is more stable, the opening and closing of the opening and closing instrument is further accurately controlled, and the success rate of the operation is effectively improved.
In addition, the instrument transmission assembly in the above technical solution provided by the present invention may further have the following additional technical features:
in the above technical solution, preferably, the instrument transmission assembly further includes: a connecting rod; one end of the connecting rod is connected with the transition rod, and the other end of the connecting rod is connected with the first transmission rod.
In the technical scheme, one end of the connecting rod is connected with the transition rod, and the other end of the connecting rod is connected with the first transmission rod, so that the first transmission rod drives the transition rod. Due to the arrangement of the connecting rod, the processing amount of the first transmission rod is reduced, and the straightness of the first transmission rod is effectively ensured; meanwhile, the connecting rod is a soft connecting rod and can bear axial force, so that the connecting rod cannot bend when bearing the axial force, and can bend when bearing radial force, so that the connecting rod can axially reciprocate, and when the opening and closing instrument needs to swing, the connecting rod can bend due to the radial force, thereby avoiding the interference of the first transmission rod on the swing of the opening and closing instrument, and enlarging the application range of the product.
In the above technical solution, preferably, the transition bar includes: a first transition bar, a second transition bar, and a third transition bar; one end of the first transition rod and one end of the second transition rod are rotatably connected with the connecting rod, the other end of the first transition rod is rotatably connected with the first body, the other end of the second transition rod is rotatably connected with one end of the third transition rod, and the other end of the third transition rod is rotatably connected with the first pin shaft; when the first transmission rod reciprocates, the first body is driven to rotate around the first pin shaft.
In the technical scheme, firstly, one ends of a first transition rod and a second transition rod are rotatably connected with a connecting rod; then, the other end of the first transition rod is rotatably connected with the first body, and the other end of the second transition rod is rotatably connected with one end of the third transition rod; then, the other end of the third transition rod is rotatably connected with the first pin shaft, and at the moment, the third transition rod is used as a fulcrum of the second transition rod, so that the first transition rod, the second transition rod, the third transition rod and the first body form a quadrangle; then, when the first transmission rod does reciprocating motion, the first transmission rod drives the first transition rod and the second transition rod to rotate through the connecting rod, so that the first transition rod pushes the first body to rotate, the opening and closing appliance is driven to be opened or closed, and the driving of the opening and closing appliance is realized.
In the above technical solution, preferably, the instrument transmission assembly further includes: and one end of the second transmission rod is connected with the first pin shaft so as to prevent the first pin shaft from generating displacement.
In the technical scheme, the second transmission rod is sleeved outside the first transmission rod, and then one end of the second transmission rod is connected with the first pin shaft. When the connecting rod does reciprocating motion, the connecting rod drives the first body and the second body to rotate through the first transition rod and the second transition rod, and at the moment, a first pin shaft positioned at the intersection of the first body and the second body receives thrust to fix the first pin shaft on the second transmission rod, so that the first pin shaft is prevented from being displaced due to the thrust, and the first body and the second body can not be normally opened or closed due to the fact that the first pin shaft moves along with the first pin shaft; therefore, the one end of second transfer line is connected with first round pin axle to prevent that first round pin axle from producing the displacement, can ensure that first body and second body rotate around first round pin axle, and then drive the apparatus that opens and shuts and open or closed, realized the drive to the apparatus that opens and shuts, improved the driven stability of product, further realized the accurate control to the apparatus that opens and shuts, avoid surgical instruments to harm the emergence of other internal organs condition in the human body at the during operation, promoted the success rate of operation effectively.
In the above technical solution, preferably, a spherical connecting portion is provided at an end of the first transmission rod connected to the driving assembly, and a diameter of the connecting portion is larger than a diameter of the first transmission rod.
In the technical scheme, the spherical connecting part is arranged at one end, connected with the driving assembly, of the first transmission rod, and the diameter of the connecting part is larger than that of the first transmission rod, so that the spherical connecting part can be embedded in the driving assembly, and the first transmission rod is prevented from displacing along the axial direction; meanwhile, the first transmission rod is provided with the spherical connecting part, so that when the first transmission rod rotates, the spherical connecting part in the driving device can reduce the rotating friction coefficient, the first transmission rod is ensured to rotate smoothly, and the transmission stability is improved.
In above-mentioned technical scheme, preferably, the cover is equipped with the spring on the connecting rod, and the spring joint is in the both ends of connecting rod.
In this technical scheme, establish the spring through the cover on the connecting rod to with the spring joint at the connecting rod both ends. When the connecting rod is subjected to slight radial force, the spring has certain bending strength, so that the connecting rod can be prevented from swinging, and the transmission stability is ensured; when the connecting rod is subjected to larger radial force, the connecting rod swings, and because the spring sleeved on the connecting rod is subjected to elastic deformation at the moment, the swinging connecting rod can be righted after the radial force applied to the connecting rod disappears, so that the swinging connecting rod is restored to the initial state of reciprocating motion, the connecting rod can be ensured to continue to reciprocate along the axial direction, and the smooth implementation of transmission is ensured.
In the above technical solution, preferably, the opening and closing instrument includes scissors, graspers, separation forceps, and a needle holder.
In the technical scheme, the opening and closing instruments comprise scissors, grasping forceps, separating forceps and a needle holder, so that the driving of various instruments is realized, the universality of products is enhanced, and the user range of the products is further expanded.
In a second aspect, the present invention provides a surgical instrument of a surgical robot, including an instrument transmission assembly according to any one of the above technical solutions, so that the surgical instrument of the surgical robot includes all the advantages of the instrument transmission assembly according to any one of the above technical solutions.
In the above technical solution, preferably, the driving assembly includes: a motor, a screw and a slide block; the motor is provided with an output shaft; the screw rod is connected with an output shaft of the motor; the sliding block is sleeved on the screw rod, is in threaded connection with the screw rod and is connected with the first transmission rod; the motor drives the screw to rotate, and the sliding block reciprocates along the axial direction of the screw along with the rotation of the screw so as to drive the first transmission rod to reciprocate.
In the technical scheme, firstly, an output shaft arranged on a motor is connected with a screw; secondly, the sliding block is sleeved on the screw rod, the sliding block is connected with the screw rod in a threaded fit mode, and meanwhile the sliding block is connected with the first transmission rod, so that when the motor drives the screw rod to rotate, the sliding block does reciprocating motion along the axial direction of the screw rod along with the rotation of the screw rod, and then the first transmission rod is driven to do reciprocating motion. Because the slider is connected with the screw rod through threaded fit, when the screw rod rotates for a circle, the slider only moves for a distance of one thread pitch, and the control on the motion of the slider is more accurate, so that the accuracy of the control on surgical instruments is ensured, and the success rate of surgery is effectively improved.
A third aspect of the present invention provides a surgical robot comprising a surgical instrument of the surgical robot according to any one of the above-mentioned technical aspects, and therefore, the surgical robot comprises all the advantages of the surgical instrument of the surgical robot according to any one of the above-mentioned technical aspects.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows a schematic structural view of a surgical instrument of a surgical robot according to an embodiment of the present invention;
FIG. 2 is an enlarged partial view of a surgical instrument of the surgical robot illustrated in FIG. 1 at A in accordance with one embodiment of the present invention;
fig. 3 shows a schematic structural view of a surgical instrument of a surgical robot according to another embodiment of the present invention;
FIG. 4 is an enlarged partial view of a surgical instrument of the surgical robot illustrated in FIG. 3 at B in accordance with one embodiment of the present invention;
fig. 5 shows a schematic structural view of a surgical instrument of a surgical robot according to a further embodiment of the present invention;
FIG. 6 is a cross-sectional view along C-C of the surgical instrument of the surgical robot illustrated in FIG. 5 in accordance with yet another embodiment of the present invention;
FIG. 7 is an enlarged partial view of a surgical instrument of the surgical robot illustrated in FIG. 6 in accordance with yet another embodiment of the present invention at D;
wherein, the correspondence between the reference numbers and the part names in fig. 1 to 7 is:
102 opening and closing appliance, 1022 a first body, 1024 a second body, 104 a first pin shaft, 106 a first transmission rod, 1062 connecting part, 108 transition rod, 1082 a first transition rod, 1084 a second transition rod, 1086 a third transition rod, 110 a connecting rod, 112 a second transmission rod, 114 a spring, 20 a driving component, 202 a screw rod and 204 a sliding block.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
The instrument drive assembly, the surgical instrument of the surgical robot, and the surgical robot according to some embodiments of the present invention are described below with reference to fig. 1 to 7.
In a first embodiment of the present invention, as shown in fig. 1 and 2, the present invention provides an instrument transmission assembly for a surgical instrument of a surgical robot, the surgical instrument of the surgical robot comprising a drive assembly 20; the instrument transmission assembly includes: an opening and closing instrument 102, a first pin 104 and a first transmission rod 106; the opening and closing instrument 102 comprises a first body 1022 and a second body 1024, wherein the first body 1022 and the second body 1024 are arranged in a crossed manner; the first pin 104 is inserted at the intersection of the first body 1022 and the second body 1024, the first pin 104 is rotatably connected with the first body 1022, and the first pin 104 is fixedly connected with the second body 1024; the first transmission rod 106 is connected to the first body 1022 through the transition rod 108 at one end, and connected to the driving assembly 20 at the other end, so as to drive the first body 1022 to rotate around the first pin 104.
In this embodiment, first, the first body 1022 and the second body 1024 of the opening and closing instrument 102 are arranged to intersect; then, the first pin 104 is inserted into the intersection between the first body 1022 and the second body 1024, and meanwhile, the first pin 104 is rotatably connected with the first body 1022, and the first pin 104 is fixedly connected with the second body 1024; then, one end of the first transmission rod 106 is connected to the first body 1022 through the transition rod 108, and the other end of the first transmission rod 106 is connected to the driving assembly 20, so as to drive the first body 1022 to rotate around the first pin 104, thereby realizing the opening or closing of the opening and closing apparatus 102. Because the first pin 104 is inserted at the intersection of the first body 1022 and the second body 1024, and is rotatably connected with the first body 1022 and fixedly connected with the second body 1024, when the first pin 104 of the first body 1022 rotates, the second body 1024 does not rotate, so that the opening distance between the first body 1022 and the second body 1024 is determined by the rotation angle of the first body 1022, thereby reducing the opening and closing range of the opening and closing apparatus 102, and further realizing the accurate control of the opening and closing apparatus 102; meanwhile, when the opening and closing instrument 102 clamps the articles through the first body 1022 and the second body 1024, the second body 1024 does not rotate, so that the clamping of the opening and closing instrument 102 is more stable, the opening and closing of the opening and closing instrument 102 is further accurately controlled, and the success rate of the operation is effectively improved.
In one embodiment of the present invention, preferably, as shown in fig. 1 and 2, the instrument drive assembly further comprises: a connecting rod 110; the connecting rod 110 is connected at one end to the transition lever 108 and at the other end to the first driving lever 106.
In this embodiment, the first transmission lever 106 drives the transition lever 108 by connecting one end of the connecting rod 110 with the transition lever 108 and connecting the other end thereof with the first transmission lever 106. Due to the arrangement of the connecting rod 110, the processing amount of the first transmission rod 106 is reduced, and the straightness of the first transmission rod 106 is effectively ensured; meanwhile, the connecting rod 110 is a soft connecting rod and can bear axial force, so that the connecting rod 110 cannot bend when bearing axial force, and the connecting rod 110 can bend when bearing radial force, so that the connecting rod 110 can realize reciprocating motion along the axial direction, and when the opening and closing device 102 needs to do swinging motion, the connecting rod 110 can bend due to radial force, thereby avoiding the interference of the first transmission rod 106 on the swinging motion of the opening and closing device 102, and expanding the application range of the product.
In one embodiment of the present invention, preferably, as shown in fig. 1 and 2, the transition bar 108 includes: a first transition bar 1082, a second transition bar 1084, and a third transition bar 1086; one end of the first transition rod 1082 and one end of the second transition rod 1084 are rotatably connected with the connecting rod 110, the other end of the first transition rod 1082 is rotatably connected with the first body 1022, the other end of the second transition rod 1084 is rotatably connected with one end of the third transition rod 1086, and the other end of the third transition rod 1086 is rotatably connected with the first pin 104; when the first transmission rod 106 reciprocates, the first body 1022 is driven to rotate around the first pin 104.
In this embodiment, first, one ends of the first transition lever 1082 and the second transition lever 1084 are rotatably connected to the connecting rod 110; then, the other end of the first transition lever 1082 is rotatably connected with the first body 1022, and the other end of the second transition lever 1084 is rotatably connected with one end of the third transition lever 1086; then, the other end of the third transition bar 1086 is rotatably connected with the first pin 104, and at this time, the third transition bar 1086 is used as a fulcrum of the second transition bar 1084, so that the first transition bar 1082, the second transition bar 1084, the third transition bar 1086 and the first body 1022 form a quadrangle; then, when the first transmission rod 106 reciprocates, the first transmission rod 106 drives the first transition rod 1082 and the second transition rod 1084 to rotate through the connection rod 110, so that the first transition rod 1082 pushes the first body 1022 to rotate, and further drives the opening and closing device 102 to open or close, thereby driving the opening and closing device 102.
In one embodiment of the present invention, preferably, as shown in fig. 3 and 4, the instrument drive assembly further comprises: the second transmission rod 112 is sleeved outside the first transmission rod 106, and one end of the second transmission rod 112 is connected to the first pin 104 to prevent the first pin 104 from moving.
In this embodiment, first, the second transmission rod 112 is sleeved outside the first transmission rod 106, and then, one end of the second transmission rod 112 is connected to the first pin 104. When the connecting rod 110 reciprocates, the connecting rod 110 drives the first body 1022 and the second body 1024 to rotate through the first transition rod 1082 and the second transition rod 1084, and at this time, the first pin 104 located at the intersection of the first body 1022 and the second body 1024 receives a thrust, so that the first pin 104 is fixed on the second transmission rod 112, and the first pin 104 is prevented from being displaced due to the thrust, so that the first body 1022 and the second body 1024 move along with the first pin 104 and cannot be normally opened or closed; therefore, one end of the second transmission rod 112 is connected with the first pin 104 to prevent the first pin 104 from displacing, so as to ensure that the first body 1022 and the second body 1024 rotate around the first pin 104, and further drive the opening and closing instrument 102 to open or close, thereby realizing the driving of the opening and closing instrument 102, improving the stability of product transmission, further realizing the accurate control of the opening and closing instrument 102, avoiding the occurrence of damaging other organs in the human body when the surgical instrument works, and effectively improving the success rate of surgery.
In one embodiment of the present invention, preferably, as shown in fig. 5 to 7, a spherical connection 1062 is provided at one end of the first transmission rod 106 connected to the driving assembly 20, and the diameter of the connection 1062 is greater than that of the first transmission rod 106.
In this embodiment, by providing the spherical connection portion 1062 at the end of the first transmission rod 106 connected to the driving component 20, and making the diameter of the connection portion 1062 larger than the diameter of the first transmission rod 106, it is possible to embed the spherical connection portion 1062 in the driving component 20 to prevent the first transmission rod 106 from displacing in the axial direction; meanwhile, since the spherical connecting portion 1062 is disposed on the first transmission rod 106, when the first transmission rod 106 rotates, the spherical connecting portion 1062 disposed in the driving device can reduce the friction coefficient of the rotation, thereby ensuring smooth rotation of the first transmission rod 106 and improving the stability of the transmission.
In one embodiment of the present invention, preferably, as shown in fig. 1 and 2, the connecting rod 110 is sleeved with a spring 114, and the spring 114 is clamped at both ends of the connecting rod 110.
In this embodiment, the spring 114 is sleeved on the connecting rod 110, and the spring 114 is clamped at two ends of the connecting rod 110. When the connecting rod 110 is subjected to a slight radial force, the spring 114 has a certain bending strength, so that the connecting rod 110 can be prevented from swinging, and the stability of transmission is ensured; when the connecting rod 110 is subjected to a large radial force, the connecting rod 110 swings, and because the spring 114 sleeved on the connecting rod 110 is elastically deformed at the moment, the swinging connecting rod 110 can be centered after the radial force applied to the connecting rod 110 disappears, so that the swinging connecting rod 110 is restored to the initial state of reciprocating motion, the connecting rod 110 can be ensured to continue to reciprocate along the axial direction, and the smooth implementation of transmission is ensured.
In one embodiment of the present invention, the opening and closing instrument 102 preferably comprises scissors, graspers, separation forceps and needle holders.
In this embodiment, the opening and closing device 102 includes scissors, graspers, separation forceps and needle holders, so that a plurality of devices are driven, the versatility of the product is enhanced, and the user range of the product is expanded.
In an embodiment of the present invention, first, the first body 1022 and the second body 1024 of the opening and closing apparatus 102 are disposed to intersect, and the first pin 104 is inserted into the intersection between the first body 1022 and the second body 1024, so that the first body 1022 and the first pin 104 are rotatably connected, and the second body 1024 and the first pin 104 are fixedly connected. Secondly, one end of the first transition rod 1082 is rotatably connected with the first body 1022, and the other end thereof is rotatably connected with the connecting rod 110; meanwhile, the connecting rod 110 at one end of the second transition rod 1084 is connected, so that the other end thereof is rotatably connected with one end of the third transition rod 1086, and the other end of the third transition rod 1086 is rotatably connected with the first pin 104; at this time, the third transition lever 1086 will serve as a fulcrum of the second transition lever 1084, such that the first transition lever 1082, the second transition lever 1084, the third transition lever 1086 and the first body 1022 constitute a quadrangle. Again, the other end of the connecting rod 110 is connected with the first transmission rod 106; meanwhile, the connecting rod 110 is sleeved with a spring 114, and the spring 114 is clamped at two ends of the connecting rod 110. Thirdly, the second transmission rod 112 is sleeved outside the first transmission rod 106, and one end of the second transmission rod 112 is connected with the first pin 104. Again, the ball-shaped connecting portion 1062 at one end of the first driving rod 106 is embedded in the driving component 20 to prevent the first driving rod 106 from moving axially relative to the driving component 20. Therefore, when the driving assembly 20 drives the first transmission rod 106 to reciprocate along the axial direction, the connecting rod 110 is driven to reciprocate along the axial direction, and at this time, the connecting rod 110 respectively provides an axial thrust to the first transition rod 1082 and the second transition rod 1084, so that the first transition rod 1082 and the second transition rod 1084 rotate; the rotation of the first transition rod 1082 will also generate a thrust force on the first body 1022 and the second body 1024, and since the first pin 104 located on the first body 1022 and the second body 1024 is fixed on the second transmission rod 112, the first body 1022 and the second body 1024 cannot generate displacement, and meanwhile, the second body 1024 cannot rotate due to the fixed connection with the first pin 104, the thrust force will drive the first body 1022 to rotate, so as to open or close the opening and closing device 102.
In a second embodiment of the invention, the invention provides a surgical instrument of a surgical robot, which comprises the instrument transmission assembly according to any one of the above embodiments, so that the surgical instrument of the surgical robot comprises all the advantages of the instrument transmission assembly according to any one of the above embodiments.
In one embodiment of the present invention, preferably, as shown in fig. 5 to 7, the driving assembly 20 includes: a motor, a screw 202 and a slider 204; the motor is provided with an output shaft; the screw 202 is connected with an output shaft of the motor; the sliding block 204 is sleeved on the screw 202, is in threaded connection with the screw 202, and is connected with the first transmission rod 106; the motor drives the screw 202 to rotate, and the slider 204 reciprocates along the axial direction of the screw 202 along with the rotation of the screw 202, thereby driving the first transmission rod 106 to reciprocate.
In this embodiment, first, an output shaft provided on a motor is connected to the screw 202; secondly, the sliding block 204 is sleeved on the screw 202, the sliding block 204 is connected with the screw 202 in a threaded fit manner, and meanwhile, the sliding block 204 is connected with the first transmission rod 106, so that when the motor drives the screw 202 to rotate, the sliding block 204 reciprocates along the axial direction of the screw 202 along with the rotation of the screw 202, and further drives the first transmission rod 106 to reciprocate. Because the sliding block 204 is connected with the screw 202 in a threaded fit manner, when the screw 202 rotates for a circle, the sliding block 204 only moves for a distance of one thread pitch, so that the movement of the sliding block 204 is controlled more accurately, the accuracy of controlling surgical instruments is ensured, and the success rate of surgery is effectively improved.
In an embodiment of the second aspect of the present invention, the present invention provides a surgical robot, including the surgical instrument of the surgical robot according to any one of the above embodiments, and therefore, the surgical robot includes all the advantages of the surgical instrument of the surgical robot according to any one of the above embodiments.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," 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 invention. In the present invention, the schematic representations of the terms used above do not necessarily refer 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.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An instrument transmission assembly for a surgical instrument of a surgical robot, the surgical instrument of the surgical robot including a drive assembly, the instrument transmission assembly comprising:
the opening and closing instrument comprises a first body and a second body, and the first body and the second body are arranged in a crossed mode;
the first pin shaft is inserted at the intersection of the first body and the second body, the first pin shaft is rotatably connected with the first body, and the first pin shaft is fixedly connected with the second body;
one end of the first transmission rod is connected with the first body through a transition rod, and the other end of the first transmission rod is connected with the driving assembly so as to drive the first body to rotate around a first pin shaft;
the transition bar includes: a first transition bar, a second transition bar, and a third transition bar;
one end of each of the first transition rod and the second transition rod is rotatably connected with a connecting rod, the other end of each of the first transition rods is rotatably connected with the first body, the other end of each of the second transition rods is rotatably connected with one end of a third transition rod, and the other end of each of the third transition rods is rotatably connected with the first pin shaft;
when the first transmission rod reciprocates, the first body is driven to rotate around the first pin shaft;
the second transmission rod is sleeved outside the first transmission rod, and one end of the second transmission rod is connected with the first pin shaft so as to prevent the first pin shaft from displacing;
the driving component comprises a motor for driving the screw rod to rotate, and the screw rod rotates to drive the sliding block to reciprocate along the axial direction of the screw rod;
the motor is provided with an output shaft, the screw is connected with the output shaft, the sliding block is in threaded connection with the screw and is connected with the first transmission rod, and then the first transmission rod is driven to reciprocate.
2. The instrument transmission assembly of claim 1, further comprising:
one end of the connecting rod is connected with the transition rod, and the other end of the connecting rod is connected with the first transmission rod.
3. The instrument transmission assembly of claim 1 wherein the end of the first transmission rod connected to the drive assembly is provided with a spherical connection having a diameter greater than the diameter of the first transmission rod.
4. The instrument transmission assembly of claim 2 wherein said connecting rod is sleeved with springs that snap into both ends of said connecting rod.
5. The instrument transmission assembly of any one of claims 1 to 4 wherein the opening and closing instrument comprises scissors, graspers, separation forceps and needle holders.
6. A surgical instrument of a surgical robot comprising an instrument transmission assembly according to any one of claims 1 to 5.
7. A surgical robot characterized by comprising the surgical instrument of the surgical robot as claimed in claim 6.
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| CN108969106B (en) * | 2018-07-27 | 2020-06-16 | 微创（上海）医疗机器人有限公司 | Telescoping device and surgical robot |
| CN111096801A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096803A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096804A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096800A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
| CN111096802A (en) * | 2018-10-09 | 2020-05-05 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
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