CN111012385A

CN111012385A - Surgical instrument transmission mechanism

Info

Publication number: CN111012385A
Application number: CN201811169555.3A
Authority: CN
Inventors: 李耀; 黄松; 凌正刚; 罗腾蛟
Original assignee: Chengdu Borns Medical Robotics Co Ltd
Current assignee: Chengdu Borns Medical Robotics Co Ltd
Priority date: 2018-10-09
Filing date: 2018-10-09
Publication date: 2020-04-17

Abstract

The invention relates to a surgical instrument transmission mechanism, which connects a power source with a surgical instrument, wherein the power source comprises at least one motor, and the surgical instrument transmission mechanism comprises: at least one shaft coupling unit, the shaft coupling unit is including the first shaft coupling, second shaft coupling and the third shaft coupling that meet in proper order, and the output shaft of the motor in first shaft coupling and the power supply meets, is equipped with the spring between first shaft coupling and the motor, and the output shaft of motor lets in the connector and meets with first shaft coupling, the connector include with the first connecting portion of the inner wall joint of first shaft coupling and the second connecting portion that meet with the output shaft of motor, the second connecting portion seted up with output shaft complex trompil, the second connecting portion meet with first connecting portion. The surgical instrument transmission mechanism can well convert the power of the motor into the operation of the surgical instrument in the surgical process, thereby realizing the simulation of the actions of a human body in the related surgical process.

Description

Surgical instrument transmission mechanism

Technical Field

The invention relates to the technical field of medical instruments, in particular to a transmission mechanism of a surgical instrument.

Background

With the application and development of the robot technology, especially the development of the computing technology, the medical surgical robot has more and more paid attention to its clinical function. The minimally invasive surgery robot can reduce the physical labor of doctors in the surgery process, and simultaneously achieves the purpose of accurate surgery, so that patients have less trauma, less blood loss, less postoperative infection and quick postoperative recovery. Minimally invasive surgical robotic systems typically use a master-slave mode of control: when an operator operates the master hand, the motion of the hand of the operator drives the master hand to move along with the master hand, the sensor at the joint of the master hand can measure motion information, the motion of the master hand is mapped to the master arm of the slave hand through a master-slave control algorithm, and each joint of the master arm of the slave hand moves passively to drive the surgical instrument to realize corresponding motion. The key components of the active arm of the minimally invasive surgery robot mainly comprise a remote motion center mechanism and a surgical instrument, the performance of the minimally invasive surgery robot is directly influenced by the quality of the design of the mechanical structure of the minimally invasive surgery robot, and the research and development and design of other components in the system are also restricted.

During robotically-assisted minimally invasive surgery, a surgeon performs surgical tasks with the aid of elongated minimally invasive surgical instruments. One end of the surgical instrument is arranged on the quick-change interface device at the tail end of the manipulator of the robot, and the other end of the surgical instrument is inserted into the body through a tiny incision on the surface of the human body to perform surgical operation, so that the surgical instrument is the only part which is in contact with the pathological tissue of the human body and is also the robot part which directly performs the surgical operation. In the operation implementation, in order to meet the action requirements of different operation tasks (clamping, suturing, knotting and the like), the robot needs to replace instruments matched with the requirements at any time, so that the rapid, efficient and reliable instrument replacement function is also a key factor for reflecting the overall performance level of the minimally invasive operation robot system.

In order to meet the requirements of modern minimally invasive surgery, surgical instruments meet the requirements of exquisite structure, flexible operation, various forms, suitability for medical environment and the like, and the instrument quick-change device matched with the surgical instruments is required to have the characteristics of small size, high efficiency, easiness in operation, reliability in connection and the like. Most of replacement devices of minimally invasive surgical robot systems researched and developed at home and abroad are still on a function implementation level, only can perform replacement of different instruments, and have great gap with actual surgical requirements in the aspects of operability, intelligence level, reliability and the like. Therefore, the realization of the quick and reliable replacement of the surgical instruments is of great significance for filling up the domestic blank and promoting the technical progress of the related fields.

Surgical instruments are often fixed on a mechanical arm or a sliding table of the mechanical arm by a surgical instrument fixing device, on one hand, the surgical instrument fixing device can provide operation power for the surgical instruments, and on the other hand, the surgical instrument fixing device can also control the operation mode of the surgical instruments, so that the surgical instrument fixing device is a complicated and key device, and is complicated in that the surgical instrument fixing device consists of a plurality of small parts; the key point is that the assembly and cooperation of the parts are precise, otherwise the operation of the operation is irreversibly damaged.

In the prior art, a motor serves as a power source and provides power for a surgical instrument through a transmission mechanism, the transmission mechanism is distributed in each part forming a surgical instrument fixing device, when each part is assembled, parts related to the transmission mechanism in each part need to be butted, and the butting precision among the parts of the transmission mechanism needs to be ensured.

However, the surgical instrument is a precise instrument, has many and complex parts, and is time-consuming and labor-consuming if manual butt joint is needed, and errors are easy to generate; therefore, there is a particular need for a surgical instrument transmission mechanism that can be quickly and accurately docked without manual docking

Therefore, there is a need for a transmission mechanism for surgical instruments that overcomes the deficiencies of the prior art.

Disclosure of Invention

In order to achieve the above object, the present invention provides a surgical instrument transmission mechanism, wherein the surgical instrument transmission mechanism connects a power source to a surgical instrument, the power source includes at least one motor, and the surgical instrument transmission mechanism includes:

at least one shaft coupling unit, the shaft coupling unit is including the first shaft coupling, second shaft coupling and the third shaft coupling that meet in proper order, the output shaft of the motor in first shaft coupling and the power supply meets, first shaft coupling with be equipped with the spring between the motor, the output shaft of motor let in the connector with first shaft coupling meets, the connector include with the first connecting portion of the inner wall joint of first shaft coupling and with the second connecting portion that the output shaft of motor meets, the second connecting portion seted up with output shaft complex trompil, the second connecting portion with first connecting portion meet.

The transmission mechanism for surgical instruments as described above, wherein the first connecting portion and the second connecting portion are both cylindrical, and the radial dimension of the second connecting portion is greater than the radial dimension of the first connecting portion.

The surgical instrument transmission mechanism as described above, wherein the side wall of the output shaft is provided with a connecting surface extending along the axial direction thereof, the second connecting portion is provided with a slot communicating with the opening in the radial direction thereof, and the slot is provided with a connecting member abutting against the connecting surface.

The surgical instrument transmission mechanism comprises a first coupling part, a second coupling part, a connecting body, a spring, a first shaft coupling, a second shaft coupling, a cylinder and a connecting body, wherein the connecting body further comprises the cylinder, the cylinder is arranged on the outer wall of the first coupling part, the spring is sleeved on the outer wall of the first coupling part, one end of the spring is abutted to the end face of the second coupling part, the other end of the spring is abutted to the cylinder, a first hole which is communicated along the radial direction of the first coupling part is formed in the outer wall of the first coupling part, a second hole which is communicated along the radial direction of the first coupling part is formed in the side wall of the first shaft coupling, the.

The surgical instrument transmission mechanism as described above, wherein the surgical instrument transmission mechanism further comprises an instrument transmission base, wherein the instrument transmission base comprises:

a transmission seat main body;

the sliding seat is connected with the third coupling through a lead screw, so that the sliding seat can slide on the transmission seat main body.

The surgical instrument transmission mechanism as described above, wherein the sliding seat is connected to one end of a traction rod, and the other end of the traction rod is configured to reciprocate to open and close the instrument.

The surgical instrument transmission mechanism is characterized in that the side wall of the surgical instrument is provided with an inclined hole, and two sides of the other end of the traction rod are provided with pin shafts positioned in the inclined hole.

The transmission mechanism for surgical instruments as described above, wherein the sliding seat is connected to one end of the instrument rod, and the other end of the instrument rod is hinged to the surgical instrument.

As above-mentioned surgical instruments drive mechanism, wherein, the apparatus pole includes that outer tube and cover establish inner tube in the outer tube, be equipped with the catch bar in the inner tube, being close to of outer tube surgical instruments's one end has connect the rotating head, the inner tube with the rotating head meets, the catch bar passes in proper order the inner tube with the rotating head with surgical instruments is articulated mutually.

The transmission mechanism for the surgical instrument comprises a first coupler, a second coupler, a third coupler and a fourth coupler, wherein the first coupler is arranged at the end of the first coupler, the second coupler is arranged at the end of the second coupler, the second coupler is arranged at the end of the third coupler, the third coupler is arranged at the end of the third coupler, the first coupler is arranged at the end of the third coupler, the second coupler is arranged at the end of the third coupler, the.

The surgical instrument transmission mechanism can well convert the power of the motor into the operation of the surgical instrument in the surgical process, thereby realizing the simulation of the action of a human body in the related surgical process, well assembling the instrument and the surgical instrument transmission mechanism together, having simple operation in the assembling process, and saving more manual butt joints or realizing the operation without manual butt joints in the assembling process.

Drawings

The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings.

Fig. 1 is a perspective view illustrating an instrument fixing apparatus of a laparoscopic surgical robot according to an embodiment of the present invention;

FIG. 2 is a perspective view illustrating an instrument fixing apparatus of the laparoscopic surgical robot according to an embodiment of the present invention (instrument connection mechanism is not shown in the drawings);

FIG. 3 is an elevation view of a first quick release structure in an embodiment of the present invention;

FIG. 4 is an exploded view of the first quick release structure shown in FIG. 3;

FIG. 5 is an exploded view (bottom view) of a second quick release structure in an embodiment of the invention;

FIG. 6 is an exploded view (top view) of a second quick release structure in an embodiment of the invention;

FIG. 7 is an exploded view of an instrument fixing device of the laparoscopic surgical robot according to an embodiment of the present invention (instrument connection mechanism is not shown in the drawings)

FIG. 8 is a schematic perspective view of a transmission base according to an embodiment of the present invention;

FIG. 9 is a perspective cross-sectional view of the actuator mount shown in FIG. 8;

FIG. 10 is a perspective view of an implement attachment mechanism in an embodiment of the present invention;

FIG. 11 is a schematic perspective view of an instrument connection according to an embodiment of the invention (outer tube not shown);

FIG. 12 is a perspective view of an instrument linkage according to an embodiment of the present invention (outer and inner tubes not shown).

Fig. 13 is an exploded view of the first motor, first coupling and second coupling of the present invention.

In the drawings, like components are denoted by like reference numerals. The figures are not drawn to scale.

Reference numerals:

1-a driving seat; 2-an isolation seat; 3-a transmission seat;

4-an instrument connection mechanism; 5-a drive mechanism; 6-a first quick release structure;

7-a second quick release structure; 11-a base; 12-a fixed seat;

21-a second coupling; 22-a fifth coupling; 23-eighth coupling;

31-a third coupling; 32-main gear; 33-a rotating shaft;

34-a slave gear; 35-a first seat; 36-a second seat;

37-a sixth coupling; 38-ninth coupling; 41-instrument rod;

42-an instrument; 43-threaded sleeve; 44-a first card slot;

45-a second card slot; 46-a push rod; 47-a drawbar;

48-a third card slot; 51-a power source; 52-a drive plate;

53-first coupling; 54-a fourth coupling; 55-a seventh coupling;

56-a first spring; 57-a second spring; 58-a third spring;

61-a first positioning portion; 62-a first positioning portion; 71-a third location portion;

72-a fourth location portion; 73-a fifth location section; 121-a first aperture;

122-a second aperture; 123-a third aperture; 211-a second recess;

212-a first card strip; 311-a second card strip; 331-positioning protrusions;

351-a first card hole; 352-a first resilient catch; 353-a first pressing part;

354-first lead screw; 355-a first runner; 356-first sliding rail;

357-rear retainer; 358-a first spring retainer;

361-second card hole; 362-a second resilient catch; 363-a second pressing part;

364-second lead screw; 365-a second chute; 366-a second slide rail;

367-a second spring limiting body; 368-circuit board;

411-outer tube; 412-rotating head; 413-a limit clip;

414-inner tube; 415-a trough body; 416-a stop collar;

417-open slots; 421-inclined holes; 461-adapter;

462-a bayonet tube; 463-a swinging lever; 464-connecting plane;

465-a clamping head; 471-fourth spring; 472-pin axis;

511-a first motor; 512-a second motor; 513 — a third motor;

531-first groove; 611-a third slide rail; 612-a third runner;

613-guide inclined plane; 621-a first receiving chamber; 622-first clip;

623-clamping jaw; 624-barbs; 625-a card hole;

626-an arc-shaped guide groove; 627-conducting bar; 628-a guide;

711-a fourth runner; 712-a slider; 721-a fixture block;

722-slot; 723-slotted hole; 731-pressing sheet;

732-a second elastomer; 733-stepped hole; 734-mounting holes;

735-fixing the disc; 736-ear; 737-notch;

738-cover.

9-connector 91-first connector 92-second connector

Detailed Description

The invention will be further explained with reference to the drawings.

As shown in fig. 1 and 2, the present invention provides an instrument fixing apparatus of a laparoscopic surgery robot, which includes a driving base 1, an isolation base 2 disposed on the driving base 1, and a driving base 3 disposed on the isolation base 2. Wherein, be provided with apparatus coupling mechanism 4 on the transmission seat 3, be fixed with actuating mechanism 5 on the drive seat 1, in addition, drive seat 1 still plays the supporting role to apparatus coupling mechanism 4.

The connection between the driving seat 1, the isolation seat 2 and the transmission seat 3 will be described in detail.

The transmission seat 3 and the isolation seat 2 are quickly connected through a first quick-release structure 6.

As shown in fig. 3, the first quick release structure 6 includes a first positioning portion 61, where the first positioning portion 61 includes third slide rails 611 disposed on two sides of the transmission seat 3 and third slide grooves 612 disposed on the isolation seat 2, and the two third slide rails 611 are respectively disposed in the corresponding third slide grooves 612, so that the transmission seat 3 can slide along the length direction of the isolation seat 2.

In order to facilitate smooth introduction of the third slide rail 611 into the third slide groove 612, a guide slope 613 inclined downward is provided at an end of the third slide rail 611 to reduce resistance when the third slide rail 611 enters the third slide groove 612, thereby improving assembly efficiency.

The driving seat 3 and the isolation seat 2 are completely positioned in the Y-axis direction and the Z-axis direction by the third slide rail 611 and the third slide groove 612.

Further, the first quick release structure 6 further includes a second positioning portion 62, wherein the second positioning portion 62 includes a first accommodating cavity 621 and a first elastic body disposed in the first accommodating cavity 621. In an embodiment, the first elastic body includes a first latch 622 capable of moving up and down in the first receiving cavity 621 and a return spring (not shown in the figure) located between a bottom of the first latch 622 and a bottom wall of the first receiving cavity 621, and the pressing protrusion 353 (also referred to as the pressing portion 353) protrudes from a top of the first latch 622. A guide portion 628 is disposed at the top end of the first latch 622, wherein one end of the guide portion 628 is a downward inclined plane, and the other end is a stopper portion; after the driving seat 3 is mounted on the isolation seat 2, the end of the driving seat 3 contacts with the end (i.e., the stopping portion) of the guiding portion 628, so that the driving seat 3 and the isolation seat 2 are completely positioned in the X-axis direction.

At least two clamping claws 623 are arranged at the bottom end of the first clamping block 622. For example, fig. 4 shows four claws 623 respectively located at four corners of the elastic seat 622 and integrally formed with the first latch 622. The first receiving chamber 621 is provided therein with chucking holes 625, and the jaws 623 are respectively disposed in the corresponding chucking holes 625. The bottom of the latch 623 is provided with a barb 624, and the barb 624 catches on the bottom of the catch hole 625, thereby limiting the maximum displacement amount of the first catch 622 when moving in a direction away from the first housing cavity 621 (i.e., moving upward in the Z-axis direction).

At least one side wall of the first latch 622 is provided with an arc-shaped guide groove 626, for example, four arc-shaped guide grooves 626 are shown in fig. 4, which are respectively located on four side walls of the first latch 622; a semi-cylindrical guide 627 is provided on an inner wall of the first receiving cavity 621, and the guide 627 is provided in the arc-shaped guide 626 for maintaining the linear movement of the first latch 622 in the Z-axis direction.

The initial state of the first latch 622 is that the end of the first latch 622 is flush with the end of the first receiving cavity 621, and the guide portion 628 at the top end of the first latch 622 is higher than the end of the first receiving cavity 621; the claws 623 of the first latch 622 are disposed in the latch holes 625, and the barbs 624 at the bottoms of the claws 623 snap into the bottoms of the latch holes 625. That is, the first latch 622 is in the initial state, it can move downward only in the Z-axis direction.

A spring for restoring the first latch 622 to an initial state is provided between the first latch 622 and the first receiving cavity 621.

The transmission seat 3 and the isolation seat 2 are installed in the following way:

the bottom surface of the transmission seat 3 is in contact with the upper surface of the isolation seat 2, the transmission seat 3 is pushed along the length direction (i.e. the X-axis direction) of the isolation seat 2, the first end of the transmission seat 3 firstly contacts the first fixture block 622 during the movement of the transmission seat 3, and when the transmission seat 3 continues to move, a downward pressure is applied to the first fixture block 622, and the first fixture block 622 is forced to move downward along the Z-axis direction. In this process, the actuator socket 3 can be easily moved above the first latch 622 by the guide 628 at the top end of the first latch 622, so that the movement of the actuator socket 3 is not hindered.

In the process of continuously moving the transmission seat 3, the third sliding rails 611 on both sides of the transmission seat 3 smoothly enter the third sliding groove 612 through the guiding inclined surface 613, and continuously move along the third sliding groove 612 until the bottom end of the transmission seat 3 completely separates from the first latch 622, so that the first latch 622 is no longer pressed, and the first latch 622 moves upward along the Z-axis direction under the action of the spring and returns to the initial state. At this time, the blocking portion of the first latch 622 contacts the second end of the driving seat 3, so that the driving seat 3 cannot move backward any more.

Thus, the installation of the transmission seat 3 and the isolation seat 2 is completed.

When the transmission seat 3 is detached, the elastic seat 622 is only required to be pressed down, the stopping portion of the first clamping block 622 is not in contact with the end portion of the transmission seat 3, the transmission seat 3 can be moved in the direction opposite to the direction, and therefore the transmission seat 3 is separated from the isolation seat 2.

Because the transmission seat 3 is provided with the apparatus connecting mechanism 4, the transmission seat 3 and the apparatus connecting mechanism 4 can be conveniently and quickly detached from the isolation seat 2 through the quick-detaching structure between the transmission seat 3 and the isolation seat 2, so that the apparatus can be more conveniently replaced in the operation.

The isolation seat 2 is in quick connection with the driving seat 1 through a second quick-release structure 7.

As shown in fig. 5 and 6, the second quick release structure 7 includes a third positioning portion 71, wherein the third positioning portion 71 includes a fourth sliding slot 711 disposed at the bottom of the isolation seat 2 and a sliding block 712 disposed on the driving seat 1, and the sliding block 712 is disposed in the fourth sliding slot 711, so that the isolation seat 2 can slide along the length direction of the driving seat 1. The transmission seat 3 and the isolation seat 2 are completely positioned in the Y-axis direction by the sliding block 712 and the fourth sliding groove 711.

Further, the second quick release structure 7 includes a fourth positioning portion 72, where the fourth positioning portion 72 includes a fastening block 721 disposed at a first end of the isolation seat 2 and a slot 722 disposed at a second end of the isolation seat 2, the slot 722 extends along a length direction of the isolation seat 2, a long hole 723 is disposed on the driving seat 1, after the isolation seat 2 is mounted on the driving seat 1, the fastening block 721 is inserted into the long hole 723, and meanwhile, a rear end of the driving seat 1 is fastened with the slot 722, so that the transmission seat 3 and the isolation seat 2 are completely positioned in the X-axis direction.

In addition, the front end of the latch 721 is provided with a downward inclined surface to facilitate insertion of the latch 721 into the long hole 723.

Further, the second quick release structure 7 includes a fifth positioning portion 73, and the fifth positioning portion 73 includes a pressing piece 731 disposed on the isolation seat 2 and a second elastic body disposed on the driving seat 1. In a specific embodiment, the second elastic body comprises a rod part 732 and a return spring arranged between the rod part 732 and the cover part 738 (also called a cover body 738), and the rod part 732 is arranged in a stepped hole 733 on the isolation seat 2. Specifically, the pressing piece 731 is disposed in a hole with a larger diameter in the stepped hole 733, and the rod portion 732 is inserted into a hole with a smaller diameter in the stepped hole 733 from the bottom of the stepped hole 733 and then contacts with the bottom of the pressing piece 731, so that the top end of the pressing piece 731 is kept flush with the upper surface of the isolation seat 2, and the driving seat 1 and the isolation seat 2 are completely positioned in the Z-axis direction.

The pressing piece 731 is a silicone membrane and has a certain elastic deformation capability.

When the pressing piece 731 is pressed, the lever portion 732 is moved downward in the Z-axis direction, and the lever portion 732 is disengaged from the stepped hole 733, thereby releasing the restraint of the spacer 2 and the driver 1 in the Z-axis direction.

In order to improve the response sensitivity of the lever part 732, a slope inclined downward is provided on the upper end surface of the lever part 732 so that the volume of the lever part 732 protruding into the stepped hole 733 is reduced, and thus when the pressing piece 731 presses the lever part 732 downward, the elastic body 732 is quickly separated from the stepped hole 733.

The driving seat 1 is provided with a mounting hole 734, the mounting hole 734 is provided with a fixing plate 735, and the bottom of the fixing plate 735 is in contact with the bottom end of the driving seat 1. Ear parts 736 are arranged at the bottom of the driving seat 1, notches 737 for accommodating the ear parts 736 are arranged on the fixed disc 735, and the cover body 738 at the bottom end of the fixed disc 734 is fixedly connected with the ear parts 736, so that the fixed disc 735 and the driving seat 1 are fixed.

Stem 732 is disposed in fixing plate 735, and a spring is disposed between stem 732 and cover 738 to restore stem 732 to an original state.

In the initial state of rod portion 732, the tip of rod portion 732 protrudes outside fixed disk 735, that is, the tip of rod portion 732 is higher than the upper surface of driver seat 1.

The installation mode of the isolation seat 2 and the driving seat 1 is as follows:

the bottom surface of the isolation seat 2 is in contact with the upper surface of the driving seat 1, the isolation seat 2 is pushed along the length direction (i.e. the X-axis direction) of the driving seat 1, and the fourth sliding groove 711 at the bottom end of the isolation seat 2 is matched with the sliding block 712 in the moving process of the isolation seat 2, so as to guide the movement of the isolation seat 2.

When the isolation seat 2 continues to move, the first end of the isolation seat 2 contacts the rod part 732, and when the isolation seat 2 continues to move, downward pressure is applied to the rod part 732, and the rod part 732 is forced to move downwards along the Z-axis direction. In this process, the isolation seat 2 can be easily moved above the rod part 732 by the slope of the tip of the rod part 732, so that the movement of the isolation seat 2 is not hindered.

Subsequently, the stepped hole 733 at the bottom end of the isolation seat 2 moves to above the rod portion 732, and at this time, the rod portion 732 is no longer pressed, and the rod portion 732 moves upward in the Z-axis direction by the spring to be inserted into the stepped hole 733 and returns to the original state. At this time, the rod portion 732 and the stepped hole 733 are engaged with each other, so that the spacer 2 cannot move any more.

Thus, the installation of the isolation seat 2 and the driving seat 1 is completed.

When detaching the isolation seat 2, the pressing piece 731 is simply pressed down to disengage the rod portion 732 from the step hole 733, so that the isolation seat 2 is moved in the direction opposite to the above direction, and the isolation seat 2 is separated from the driving seat 1.

The driving seat 1 comprises a base 11 fixedly connected with a sliding table of the trolley and a fixed seat 12 integrally arranged with the base 11. The base 11 is used for fixing a driving plate 52 in the driving mechanism 5, the side wall of the fixing seat 12 is used for fixing a power source 51 of the driving mechanism 5, and the power source 51 is electrically connected with the driving plate 52.

The instrument connecting mechanism 4 comprises an instrument rod 41, an instrument 42 is arranged at one end of the instrument rod 41, and the other end of the instrument rod 41 is fixed on the transmission seat 3 after sequentially penetrating through the side wall of the fixed seat 12, the side wall of the isolation seat 2 and the side wall of the transmission seat 3.

The instruments 42 of the present invention include instruments having three degrees of freedom, two degrees of freedom, or one degree of freedom, wherein the instruments 42 having three degrees of freedom, such as forceps, scissors, etc.; an instrument 42 having two degrees of freedom such as a scalpel or the like; an instrument 42 having one degree of freedom such as an endoscope or the like. Multiple degrees of freedom of implement 42 are enabled by implement coupling mechanism 4 and drive mount 3, the specific implementation of which will be described in detail below.

According to a first aspect of the present invention, an implementation of an instrument having one degree of freedom is provided.

In a first embodiment of the present invention, instrument 42 has a first degree of freedom (e.g., an endoscope). The first degree of freedom of the instrument 42 is rotatable about the axis (in the X-axis direction) of the instrument lever 41 as a rotation axis, and the first degree of freedom of the instrument 42 can realize a rotation motion that simulates the arm of a human body.

In the present embodiment, a first hole 121 is disposed on a side wall of the fixed base 12, the power source 51 (also referred to as a motor power source) includes a first motor 511, and an output shaft of the first motor 511 is disposed in the first hole 121. In order to improve the space utilization, the axial direction of the instrument lever 41, the axial direction of the first motor 511, and the length direction of the holder 12 are the same.

The power transmission manner of the first motor 511 is as follows:

the first motor 511 is disposed on the sidewall of the fixed base 12, and an output shaft thereof passes through the first hole 121 and is fixedly connected to the first coupling 53 at an end portion of the output shaft. The side wall of the isolation seat 2 and the side wall of the transmission seat 3 are respectively provided with a second coupler 21 and a third coupler 31, the second coupler 21 is respectively connected with the first coupler 53 and the third coupler 31, and the specific connection mode will be described in detail below.

The side wall of the transmission seat 3 is further provided with a rotating shaft 33, one end of the rotating shaft 33 is provided with a driven gear 34, the end of the third coupler 31 is provided with a main gear 32, and the main gear 32 is meshed with the driven gear 34.

Therefore, when the driving plate 52 receives the command of the instrument to rotate along the X-axis, the driving plate 52 drives the first motor 511 to rotate, and the power is transmitted along the output shaft of the first motor 511, the first coupling 53, the second coupling 21, the third coupling 31, the main gear 32 and the secondary gear 34, so as to drive the rotating shaft 33 to rotate. Wherein the rotation shaft 33 is a hollow shaft, and the instrument lever 41 is provided in the rotation shaft 33 so as to rotate together with the rotation shaft 33.

The instrument rod 41 is connected to the rotating shaft 33 in the following manner:

as shown in fig. 7, a positioning protrusion 331 is disposed at an end of the rotating shaft 33, a first locking groove 44 is disposed on an outer wall of the instrument rod 41, and after the instrument rod 41 is inserted into the rotating shaft 33, the positioning protrusion 331 is engaged with the first locking groove 44, so that the instrument rod 41 and the rotating shaft 33 are positioned in a radial direction.

Further, the rotating shaft 33 is provided with an external thread, the outer wall of the instrument rod 41 is provided with a threaded sleeve 43, and after the instrument rod 41 extends into the rotating shaft 33, the instrument rod 41 is fixedly connected with the rotating shaft 33 through the threaded sleeve 43, so that the instrument rod 41 and the rotating shaft 33 are positioned in the axial direction.

To this end, the shaft 33 and the instrument lever 41 are fixed in both directions, so that when the shaft 33 rotates, the instrument lever 41 and the instrument 42 rotate accordingly.

The fixed connection between the instrument lever 41 and the rotation shaft 33 is a fixed point between the instrument lever 41 and the transmission base 3, but because the length of the instrument lever 41 is long, there is instability through single-point fixation. In order to improve the stability of the connection between the instrument rod 41 and the transmission seat 3, a first seat 35 is further disposed on the transmission seat 3, and the end of the instrument rod 41 is fixed on the first seat 35, so that two fixing points between the instrument rod 41 and the transmission seat 3 are increased, and the stability of the connection between the two fixing points is improved.

In particular, the fixing between the end of the instrument rod 41 and the first seat 35 is as follows:

as shown in fig. 8 and 9, the first seat 35 is provided with a first locking hole 351 for installing the instrument lever 41, and an axis of the first locking hole 351 coincides with an axis of the rotating shaft 33. A first elastic catching plate 352 is disposed in the first catching hole 351, and the first elastic catching plate 352 is movable in a radial direction of the first catching hole 351 so that a mounting diameter of the first catching hole 351 is reduced (i.e., smaller than an actual diameter of the first catching hole 351) or the mounting diameter of the first catching hole 351 is increased (i.e., equal to the actual diameter of the first catching hole 351).

A first pressing part 353 is arranged at the end of the first seat 35, the first pressing part 353 can be a pressing rod, the first pressing part 353 is connected with the first elastic clamping plate 352, and when the first pressing part 353 is pressed down, the first elastic clamping plate 352 moves downwards to increase the installation diameter of the first clamping hole 351; when the pressure applied to the first pressing part 353 is removed, the first elastic catching plate 352 is sprung upward by the elastic member, so that the installation diameter of the first catching hole 351 is reduced.

A push rod 46 is coaxially arranged in the instrument rod 41, the push rod 46 extends out of the end of the instrument rod 41, and relative movement can be generated between the instrument rod 41 and the push rod 46. Be provided with second draw-in groove 45 on the outer wall of catch bar 46, after catch bar 46 stretched into first card hole 351, the first cardboard 352 of elasticity and second draw-in groove 45 looks block made catch bar 46 fix in first card hole 351 to fix with first seat 35.

When the instrument rod 41 needs to be detached, the first pressing portion 353 is pressed to move the first elastic clamping plate 352 along the radial direction of the first clamping hole 351, so that the installation diameter of the first clamping hole 351 is increased, and the push rod 46 can be taken out of the first clamping hole 351.

In the present embodiment, since it is necessary to rotate the instrument 42 in the axial direction of the instrument rod 41, it is only necessary to fix the instrument 42 to the end of the instrument rod 41 to rotate the instrument 42 and the instrument rod 41 at the same time.

The connection of the first coupling 53, the second coupling 21, and the third coupling 31 will be described below.

In order to improve the convenience of assembly among the first coupler 53, the second coupler 7 and the third coupler 8, a connecting body 9 is arranged between the first motor 511 and the first coupler 53, a through hole is formed in the connecting body 9 and is in a boss shape, the second connecting portion 91 of the connecting body 9 is fixedly connected with the first motor 511, the first connecting portion 91 of the connecting body 9 is connected with the first coupler 53 in a sliding mode in the axial direction, adjusting gaps are formed in the second connecting portion 91 and a part of the first connecting portion 91 of the connecting body 9, and the connecting body 9 enables the first coupler 53 to rotate along with the first motor 511 in the radial direction and move relative to the first motor 511 in the axial direction.

Specifically, two symmetrical sliding holes 93 are provided on the first connecting portion 91 of the connecting body 9, the sliding holes 93 penetrate through the outer wall of the first connecting portion 91, and the length of the sliding holes 93 extends in the axial direction. The connecting body 9 is further provided with a pin column 94 and a first spring 56, the pin column 94 penetrates through the first connecting portion 91 of the connecting body 9 through two sliding holes 93, the first spring 56 is sleeved on the first connecting portion 91, one end of the first spring 56 abuts against the end surface of the second connecting portion 91, and the other end of the first spring 56 abuts against the pin column 94. The length of the pin column 94 is greater than the diameter of the first connection portion 91, therefore, two ends of the pin column 94 extend out of the first connection portion 91 and are fixed on two side walls of the first coupler 53, the length of the pin column 94 is less than or equal to the maximum radial dimension of the first coupler 53, and thus, the first coupler 53 and the first connection portion 91 of the connection body 9 are circumferentially limited through the pin column 94. The slide hole 93 allows the first coupling 53 and the pin post 94 to compress the first spring 56 and allows the first coupling 53 to move as the pin post 94 moves axially along the slide hole 93, and the length of the slide hole 93 limits the axial movement range of the first coupling 53.

Further, as shown in fig. 3, the first coupling 53 has a cylindrical structure, one end of the first coupling 53 is connected to the connecting body 9, and a first groove 61 is formed in an end surface of the other end, and the first groove 61 has a rectangular groove shape whose length extends in a radial direction of the first coupling 53. As shown in fig. 2, one end of the second coupler 7 is provided with a first clamping strip 71, the second coupler 7 is inserted into the first groove 61 of the first coupler 53 through the first clamping strip 71 to realize butt joint with the first coupler 53, and after the first clamping strip 71 is clamped into the first clamping groove, the end surface of the second coupler 7 is in contact with the end surface of the first coupler 53. The other end of the second coupling 7 is provided with a second groove 72, and the second groove 72 has a rectangular groove shape with a length extending in the radial direction of the second coupling 7.

As shown in fig. 2, a second locking strip 81 is disposed at one end of the third coupler 8, and the third coupler 8 is inserted into the second groove 72 of the second coupler 7 through the second locking strip 81 to realize the butt joint with the second coupler 7. After the second clamping strip 81 is clamped into the second clamping groove, the end surface of the third coupling 8 can be in contact with the end surface of the second coupling 7.

The rotor of the first motor 511 is inserted into the through hole of the second connecting portion 91 of the connecting body 9, and the bolt 96 is inserted into the through hole from the outer wall of one side of the second connecting portion 91, penetrates through the rotor, and is inserted into the other side of the second connecting portion 91, so that the rotor and the connecting body 9 are axially and circumferentially limited, and the connecting body 9 can rotate together with the rotation of the rotor of the first motor 511.

Further, in the present embodiment, as shown in fig. 2, the first motor 511 is fixed on the fixing plate 11 of the driving seat 1, the second coupler 7 is fixed on the middle plate 21 of the isolation seat 2, and the third coupler 8 is fixed on the supporting plate 31 of the transmission seat 3, wherein a rolling bearing (not shown in the figure) is disposed between the third coupler 8 and the supporting plate 31.

The specific process of the present invention without manual docking will be described in detail below.

The connection body 9 is provided between the first coupling 53 and the first motor 511, and therefore, when the first coupling 53 is connected to the second coupling 7, the alignment of the first click strip 71 and the first groove 61 is no longer a necessary operation, in other words, the first click strip 71 on the end surface of the second coupling 7 can be brought into contact with an arbitrary position of the end surface of the first coupling 53, and when the first click strip 71 is not inserted into the first groove 61, in this case, the first coupling 53 receives the urging force of the second coupling 7, so that the first spring 56 is compressed on the first connection portion 91 of the connection body 9. When the first motor 511 rotates and drives the first coupling 53 to rotate, since the first coupling 53 is not positioned in the radial direction with the second coupling 7, relative movement is generated between the first coupling 53 and the second coupling, so that the first groove 61 of the first coupling 53 rotates to a position matched with the first clamping strip 71 of the second coupling 7 and is clamped with the first clamping strip 71 under the pushing of the first spring 56, thereby realizing the radial positioning between the first coupling 53 and the second coupling 7.

Likewise, when the third coupling 8 is connected to the second coupling 7, the alignment of the second strip 81 with the second groove 72 is no longer necessary, in other words, the second strip 81 on the end face of the third coupling 8 can contact with any position of the end face of the second coupling 7, and when the second coupling 7 rotates, the second groove 72 of the second coupling 7 rotates to a position matching the second strip 81 of the third coupling 8 and engages with the second strip 81 under the pushing of the first spring 56, so as to achieve the radial positioning between the second coupling 7 and the second coupling 8.

In summary, compared with the prior art, the invention has the advantages that: a connecting body 9 is provided between the first motor 511 and the first coupling 53, the first coupling 53 is axially moved relative to the first motor 511 by a movement of a pin 94 (also referred to as a cylinder) of the connecting body 9 in a slide hole 93, and a first spring 56 is provided in the first connecting portion 91 to return the first coupling 53. Therefore, when the isolation seat 2 is installed on the driving seat 1 and the second coupler 21 is butted with the first coupler 53, the first clamping strip can contact with any position of the end surface of the first coupler 53, if the first clamping strip is clamped into the first groove in the initial state, the second coupler 7 pushes the first coupler 53 to enable the first coupler 53 to compress the first spring 56 towards the first motor 511, and then the first motor 511 is only required to rotate to drive the first coupler 53 to rotate, so that the first clamping strip 212 and the first groove 531 can be automatically aligned and butted, the first spring 56 resets, and the first clamping strip 212 of the second coupler 21 is not required to be manually inserted into the first groove 531 of the first coupler 53.

Further, the rotating shaft of the first motor 511 is inserted into the through hole of the first connecting portion 91 of the connecting body 9, the bolt 96 is inserted into the through hole from the outer wall of one side of the first connecting portion 91 and abuts against the connecting surface 50 which is arranged on the rotating shaft of the first motor 511 and extends along the axial direction of the rotating shaft, and the other side of the bolt is also provided with the corresponding bolt 96 and the corresponding connecting surface 50, so that the rotating shaft and the connecting body 9 are limited axially and circumferentially, and the connecting body 9 can rotate together with the rotation of the rotating shaft of the motor 5.

Specifically, the end of the first coupler 53 is provided with a first groove 531, the two ends of the second coupler 21 are respectively provided with a second groove 211 and a first clamping strip 212, and the end of the third coupler 31 is provided with a second clamping strip 311, wherein the first clamping strip 212 is disposed in the first groove 531, and the second clamping strip 311 is disposed in the second groove 211, so as to position the first coupler 53, the second coupler 21, and the third coupler 31 in the radial direction.

The first coupling 53, the second coupling 21 and the third coupling 31 are positioned in the axial direction by the fixed connection between the transmission base 3, the isolation base 2 and the drive base 1.

Further, as shown in fig. 7, in order to improve the ease of assembly between the first coupling 53, the second coupling 21, and the third coupling 31, the first spring 56 is provided between the first coupling 53 and the first motor 511, and therefore, when the first coupling 53 is connected to the second coupling 21, the alignment of the first click strip 212 and the first groove 531 is no longer a necessary operation, in other words, the first click strip 212 on the end surface of the second coupling 21 can be brought into contact with an arbitrary position of the end surface of the second coupling 21, and when the first click strip 212 is not inserted into the first groove 531, in this case, the first coupling 53 receives the urging force of the second coupling 21, so that the first spring 56 is compressed. When the first motor 511 rotates and drives the first coupling 53 to rotate, since the first coupling 53 is not positioned in the radial direction with the second coupling 21, relative movement is generated between the first coupling 53 and the second coupling, so that the first groove 531 of the first coupling 53 rotates to a position matching with the first locking strip 212 of the second coupling 21 and is engaged with the first locking strip 212 under the pushing of the first spring 56, thereby realizing the radial positioning between the first coupling 53 and the second coupling 21.

Likewise, when the third coupling 31 is connected to the second coupling 21, the alignment of the second locking strip 311 with the second groove 211 is no longer necessary, in other words, the second locking strip 311 on the end surface of the third coupling 31 can contact with any position of the end surface of the second coupling 21, when the second coupling 21 rotates, the second groove 211 of the second coupling 21 rotates to a position matching the second locking strip 311 of the third coupling 31, and under the pushing of the first spring 56, the second locking strip 311 is engaged, so that the radial positioning between the second coupling 21 and the third coupling 31 is realized.

In summary, in the present embodiment, the rotational motion of the first motor 511 is converted into the rotational motion of the instrument lever 41, so that the instrument 42 is rotated.

In a second embodiment of the invention, instrument 42 has a second degree of freedom (e.g., a scalpel that performs only a prescribed positional cut). The second degree of freedom of the instrument 42 is rotatable about the Z axis (perpendicular to the axis of the instrument lever 41) as a rotation axis, and the second degree of freedom of the instrument 42 can realize a rotation motion that simulates a wrist joint of a human body.

In the present embodiment, the side wall of the fixed seat 12 is provided with a second hole 122, the power source 51 includes a second motor 512, and an output shaft of the second motor 512 is disposed in the second hole 122. In order to improve the space utilization, the axial direction of the instrument rod 41, the axial direction of the second motor 512, and the length direction of the fixing base 12 are the same.

The power of the second motor 512 is transmitted to the instrument rod 41 through the screw mechanism in the following specific transmission mode:

first, the first seat 35 is configured to be slidably connected to the driving seat 3, so that when the first seat 35 makes a linear reciprocating motion, the instrument rod 41 is driven to make a linear reciprocating motion, and the linear reciprocating motion is converted into a swinging motion (i.e., a rotation about the Z-axis) at the end of the instrument rod 41.

The implementation of the linear reciprocating motion of the first seat 35 will be described below:

the second motor 512 is disposed on the sidewall of the fixing base 12, and an output shaft thereof passes through the second hole 122 and is fixedly connected to the fourth coupler 54 at an end portion of the output shaft. And a fifth coupler 22 and a sixth coupler 37 are respectively arranged on the side wall of the isolation seat 2 and the side wall of the transmission seat 3, and the fifth coupler 22 is respectively connected with a fourth coupler 54 and the sixth coupler 37.

The sixth coupling 37 is connected to a first lead screw 354 (shown in fig. 8), wherein the first lead screw 354 passes through the first seat 35 and is in threaded connection with the first seat 35. The first slide groove 355 is disposed at the bottom of the first seat 35, the first slide rail 356 on the transmission seat 3 is disposed in the first slide groove 355, and when the first lead screw 354 rotates, the first seat 35 moves along the axial direction of the first lead screw 354.

Further, the limit position of the rightward movement of the first seat 35 is limited by a first spring stopper 358, as shown in fig. 8, the first spring stopper 358 is disposed on the first lead screw 354, and when the first seat 35 moves rightward (in the direction close to the instrument 42) and compresses the spring to the most contracted amount, the spring cannot move rightward any more, and the first seat 35 can be prevented from colliding with the first spring stopper 358 when moving to the limit position by the spring.

Similarly, the limit position of the leftward movement of the first seat 35 is defined by a rear retainer 357, as shown in fig. 8, the rear retainer 357 is disposed on the first lead screw 354, and when the first seat 35 moves leftward (away from the instrument 42) and contacts the rear retainer 357, it cannot move leftward any more.

By mechanically limiting the extreme positions of the first seat 35 in both directions, the maximum rotation angle of the instrument 42 can be controlled.

In addition, the instrument lever 41 is fixed to the transmission housing 3 in the following manner:

alternatively, the instrument lever 41 may be fixed to the actuator base 3 in the same manner as in the previous embodiment.

Alternatively, since in this embodiment, instrument lever 41 need not be rotated about the X-axis, instrument lever 41 may also be secured directly to the sidewall of drive socket 3.

Moreover, the fixing manner of the pushing rod 46 and the first seat 35 has been described in detail in the foregoing embodiments, and is not described in detail herein.

Therefore, when the driving plate 52 receives the instruction of the instrument to rotate along the Z-axis, the driving plate 52 drives the second motor 512 to rotate, and the power is transmitted along the output shaft of the second motor 512, the fourth coupler 54, the fifth coupler 22, the sixth coupler 37, the first lead screw 354 and the first seat 35, so as to convert the rotation motion of the second motor 512 into the linear reciprocating motion of the first seat 35.

Second, the end of the instrument rod 41 is articulated to the instrument 42, thereby effecting the conversion of the linear reciprocating motion into an oscillating motion (i.e., rotation about the Z-axis).

The implementation of the instrument 42 in oscillation (i.e., rotation about the Z-axis) will now be described:

the inside of the instrument rod 41 is provided with a push rod 46, and the push rod 46 is movable in the instrument rod 41 in the axial direction. The pushing rod 46 is connected to the first seat 35 at one end and to the instrument 42 at the other end, and when the first seat 35 moves, the pushing rod 46 is moved, so as to pull or push the instrument 42, and the instrument 42 is swung.

Specifically, as shown in fig. 10 and 11, the instrument rod 41 includes an outer tube 411 and an inner tube 414 coaxially disposed in the outer tube 411, a rotating head 412 is disposed at a first end of the outer tube 411, a limiting head 413 is disposed at a second end of the outer tube, a limiting ring 416 is disposed on an outer wall of the limiting head 413, and the first engaging groove 44 is disposed on the limiting ring 416 and engaged with the positioning protrusion 331 of the rotating shaft 33.

The inner tube 414 is disposed in the outer tube 411, and a first end of the inner tube 414 extends out of the outer tube 411 and enters the rotary head 412 to contact with a collar inside the rotary head 412; the second end of the inner tube 414 is disposed outside the retaining head 413 and contacts the end surface of the retaining ring 416, such that the inner tube 414 is retained between the rotating head 412 and the retaining head 413.

Since the outer diameter of the inner tube 414 is the same as the inner diameter of the outer tube 411, the inner tube 414 and the outer tube 411 are tightly fitted to each other and can rotate together.

Further, the first end of the inner tube 414 is further opened with a groove 415 extending along the axial direction of the inner tube 414, and the groove 415 is to avoid interference with a swinging lever 463 described below.

The push rod 46 is coaxially disposed inside the inner tube 414, and a first end of the push rod 46 is provided with an adapter 461, the adapter 461 being disposed in the inner tube 414.

The end connection of adapter 461 has swinging arms 463, and the other end of swinging arms articulates there is the clamping head 465, and the first end of clamping head 465 is connected with apparatus 42, and the second end of clamping head 465 rotates with rotating head 412 to be connected, consequently receives thrust or tensile effect when swinging arms 463, and clamping head 465 drives apparatus 42 and rotates around its junction with rotating head 412 to it is rotatory around the Z axle to realize apparatus 42.

Specifically, the two sides of the clamping head 465 are respectively provided with a connection plane 464, the upper end of the rotating head 412 is provided with an open slot 417, the end of the clamping head 465 is disposed in the open slot 417, the connection plane 464 is in contact with the inner wall of the open slot 417, and the rotating head 412 is connected with the connection plane 464 through a pin, so that the clamping head 465 can rotate by using the axis of the pin as a rotation axis.

The second end of the pushing rod 46 passes through the inner tube 414 and the limiting head 413 in sequence, and is connected with the clamping tube 262 outside the limiting head 413. Specifically, the second end of the push rod 46 extends into the bayonet tube 462 to contact a collar inside the bayonet tube 462; the second engaging groove 45 is provided on an outer wall of the engaging tube 462, and engages with the first engaging hole 351 of the first seat 35.

Wherein, the inner diameter of the clamping tube 462 is the same as the outer diameter of the pushing rod 46, so when the first seat 35 moves and pulls the clamping tube 462 to move linearly, the pushing rod 46 also moves linearly, that is, the movement of the first seat 35 makes the pushing rod 46 move along the axis thereof, so that the swinging rod 463 is under the action of pushing force or pulling force, and the clamping head 465 drives the device 42 to rotate.

In this embodiment, the first end refers to the end near the instrument 42 and the second end refers to the end away from the instrument 42.

It should be noted that, the connection manner among the fourth coupler 54, the fifth coupler 22, and the sixth coupler 37 in this embodiment is the same as the connection manner among the first coupler 53, the second coupler 21, and the third coupler 31 in the first embodiment, wherein a connection body with the same structure can also be disposed between the fourth coupler 54 and the second motor 512, and the structure of the connection body is not described in detail herein, and the connection body includes the second spring 57, so that the assembly among the three couplers can be faster by the second spring 57, and therefore, the description is not repeated herein.

In summary, in the present embodiment, the rotational motion of the second motor 512 is transmitted to the first lead screw 354, and the rotational motion of the first lead screw 354 is converted into the linear reciprocating motion of the first seat 35, and the linear reciprocating motion is converted into the swing motion (i.e., the rotation about the Z axis) of the instrument 42.

In a third embodiment of the present invention, instrument 42 has a third degree of freedom (e.g., a surgical shears that only perform a prescribed positional cut). The third degree of freedom of the instrument 42 is to perform opening and closing operations, and the third degree of freedom of the instrument 42 can realize actions of closing and opening fingers simulating human bodies.

In this embodiment, a third hole 123 is provided on a side wall of the fixed base 12, the power source 51 includes a third motor 513, and an output shaft of the third motor 513 is disposed in the third hole 123. In order to improve the space utilization, the axial direction of the instrument rod 41, the axial direction of the third motor 513, and the length direction of the fixing base 12 are the same.

The power of the third motor 513 is transmitted to the instrument rod 41 through a screw mechanism in the following specific transmission mode:

first, the second seat 36 is slidably disposed on the transmission seat 3, and the instrument rod 41 is connected to the second seat 36, so that when the second seat 36 makes a linear reciprocating motion, the instrument rod 41 is driven to make a linear reciprocating motion, and the linear reciprocating motion is converted into an opening and closing motion at the end of the instrument rod 41.

The implementation of the linear reciprocating motion of the second seat 36 will be described below:

the third motor 513 is disposed on the side wall of the fixed base 12, and an output shaft thereof passes through the third hole 123 and is fixedly connected to the seventh coupling 55 at an end portion of the output shaft. The side wall of the isolation seat 2 and the side wall of the transmission seat 3 are respectively provided with an eighth coupler 23 and a ninth coupler 38, and the eighth coupler 23 is respectively connected with a seventh coupler 55 and the ninth coupler 38.

The ninth coupling 38 is connected to a second threaded shaft 364, wherein the second threaded shaft 364 passes through the second seat 36 and is in threaded connection with the second seat 36. The bottom of the second seat 36 is provided with a second sliding groove 365, and a second sliding rail 366 on the transmission seat 3 is arranged in the second sliding groove 365, so that when the second lead screw 364 rotates, the second seat 36 moves along the axial direction of the second lead screw 364.

Therefore, when the driving plate 52 receives an instruction of opening or closing the apparatus, the driving plate 52 drives the third motor 513 to rotate, and power is transmitted along the output shaft of the third motor 513, the seventh coupling 55, the eighth coupling 23, the ninth coupling 38, the second lead screw 364 and the second seat 36, so that the rotation of the third motor 513 is converted into the linear reciprocating motion of the second seat 36.

Further, the limit position of the rightward movement of the second seat 36 is limited by a second spring limiting body 367, as shown in fig. 8, the second spring limiting body 367 is disposed on the second lead screw 364, and when the second seat 36 moves rightward (in the direction close to the instrument 42) and compresses the spring to the most contracted amount, the second seat 36 cannot move rightward any more, and the spring can prevent the second seat 36 from colliding with the second spring limiting body 367 when moving to the limit position.

The limit position of the leftward movement of the second seat 36 is defined by a circuit board 368, as shown in fig. 8, the circuit board 368 is disposed on the transmission seat 3 and located at the left side of the second seat 36, and when the first seat 35 moves leftward (in the direction away from the instrument 42) to the limit position, the end thereof can not move leftward any more after contacting with the end of the rear limit body 357.

By mechanically limiting the extreme positions of the second seat 36 in both directions, the maximum opening angle of the instrument 42 can be controlled.

Further, the fixing between the push rod 46 and the second seat 36 is as follows:

the second seat 36 is provided with a second locking hole 361 for installing the push rod 46, and the axis of the second locking hole 361 coincides with the axis of the rotating shaft 33. A second elastic catch plate 362 is disposed in the second catch hole 361, and the second elastic catch plate 362 can move along the radial direction of the second catch hole 361, so that the installation diameter of the second catch hole 361 is reduced (i.e. smaller than the actual diameter of the second catch hole 361), or the installation diameter of the second catch hole 361 is increased (i.e. equal to the actual diameter of the second catch hole 361).

A second pressing part 363 is arranged at an end of the second seat 36, the second pressing part 363 may be a pressing rod, the second pressing part 363 is connected to the second elastic clamping plate 362, and when the second pressing part 363 is pressed down, the second elastic clamping plate 362 moves downward, so that the installation diameter of the second clamping hole 361 is increased; when the pressure applied to the second pressing part 363 is removed, the second elastic catch plate 362 bounces upward under the action of the elastic member, so that the installation diameter of the second catch hole 361 is reduced.

A pull rod 47 is coaxially provided in the push rod 46, the pull rod 47 extending beyond an end of the push rod 46, the pull rod 47 being capable of moving in the push rod 46 in an axial direction thereof.

The outer wall of the draw bar 47 is provided with a third catch groove 48, and when the draw bar 47 extends into the second catch hole 361, the elastic second catch 362 is engaged with the third catch groove 48, so that the draw bar 47 is fixed in the second catch hole 361, and is fixed with the second seat 36.

When the instrument rod 41 needs to be detached, the second pressing portion 363 is pressed down to move the second elastic clamping plate 362 along the radial direction of the second clamping hole 361, so that the installation diameter of the second clamping hole 361 is increased, and the traction rod 47 can be taken out of the second clamping hole 361.

The implementation of the opening and closing movement of the instrument 42 will be described below:

as shown in FIG. 12, a first end of the pull rod 47 passes through the push rod 46 and the gripping head 465, in that order, and is connected to the implement 42. In contact with the collar inside the clamping head 465. A fourth spring 471 is arranged between the traction rod 47 and the clamping head 465, a first end of the fourth spring 471 is connected with an inner wall of the clamping head 465, and a second end of the fourth spring 471 is connected with an inner wall of the adapter 461, so that the fourth spring 471 is limited between the clamping head 465 and the adapter 461.

The side wall of the instrument 42 is provided with an inclined hole 421, two sides of the first end of the traction rod 47 are provided with a pin 472, and the pin 472 is arranged in the inclined hole 421, so that when the traction rod 47 is under the action of pulling force or pushing force, the pin 472 is pushed to move in the inclined hole 421, and the instrument 42 is opened or closed.

The outer wall of the second end of the traction rod 47 is provided with a third clamping groove 48, and the third clamping groove 48 is clamped with the second clamping hole 361 of the second seat 36, so that when the second seat 36 moves, the traction rod 47 is driven to move along the axial direction thereof, so that the pin 472 moves in the inclined hole 421, and the instrument 42 is opened or closed.

It should be noted that, in this embodiment, the connection manner between the seventh coupling 55, the eighth coupling 23 and the ninth coupling 38 is the same as the connection manner between the first coupling 53, the second coupling 21 and the third coupling 31 in the first embodiment, wherein a connection body having the same structure of the connection body 9 may also be disposed between the seventh coupling 55 and the third motor 513, and the structure of the connection body is not described in detail herein again, and the third spring 58 is disposed in the connection body, and similarly, the assembly between the three couplings can be faster by the third spring 58, and therefore, the description is not repeated herein again.

In summary, in the present embodiment, the rotary motion of the third motor 513 is transmitted to the second lead screw 364, the rotary motion of the second lead screw 364 is converted into the linear reciprocating motion of the second base 36, and the linear reciprocating motion is converted into the opening and closing motion of the instrument 42.

According to a second aspect of the invention, there is provided a fixation of an instrument having two degrees of freedom.

In a fourth embodiment of the present invention, instrument 42 has a first degree of freedom and a second degree of freedom (e.g., a scalpel).

In the present embodiment, the side wall of the fixed base 12 is provided with a first hole 121 and a second hole 122, the power source 51 includes a first motor 511 and a second motor 512, an output shaft of the first motor 511 is disposed in the first hole 121, and an output shaft of the second motor 512 is disposed in the second hole 122. In order to improve the space utilization, the axial direction of the instrument rod 41, the axial direction of the first motor 511 and the second motor 512, and the length direction of the fixing base 12 are the same.

The power transmission modes of the first motor 511 and the second motor 512 are the same as those in the previous embodiment, and are not described herein again.

In this embodiment, since it is necessary to realize the rotation of the instrument lever 41 along the X axis and the rotation of the instrument lever 41 along the Z axis, the instrument lever 41 is connected to the transmission seat 3 through the rotation shaft 33 and the first seat 35, and the connection manner is the same as the transmission manner in the foregoing embodiments, and will not be described again.

Further, a pushing rod 46 is coaxially disposed in the instrument rod 41, and the specific manner of disposing the pushing rod 46 has been described in detail in the foregoing embodiments, and will not be described again.

In summary, in the present embodiment, the rotary motion of the first motor 511 is converted into the rotary motion of the instrument rod 41, the rotary motion of the second motor 512 is transmitted to the first lead screw 354, the rotary motion of the first lead screw 354 is converted into the linear reciprocating motion of the first seat 35, and the linear reciprocating motion is converted into the swing motion (i.e., the rotation about the Z axis) of the instrument 42.

In a fifth embodiment of the present invention, instrument 42 has a first degree of freedom and a third degree of freedom (e.g., a surgical shears that only shears at a given position).

In the present embodiment, the first hole 121 and the third hole 123 are provided on the sidewall of the fixing base 12, the power source 51 includes the first motor 511 and the third motor 513, the output shaft of the first motor 511 is provided in the first hole 121, and the output shaft of the third motor 513 is provided in the third hole 123. In order to improve the space utilization, the axial direction of the instrument rod 41, the axial direction of the first motor 511 and the third motor 513, and the length direction of the fixing base 12 are the same.

The power transmission modes of the first motor 511 and the third motor 513 are the same as those in the previous embodiment, and are not described herein again.

In this embodiment, since it is necessary to realize both the rotation of the instrument rod 41 along the X-axis and the opening and closing movement of the instrument 42, the instrument rod 41 is connected to the driving seat 3 through the rotating shaft 33 and the second seat 36, and the connection manner is the same as the transmission manner in the previous embodiments, and will not be described again.

Further, a pushing rod 46 is coaxially disposed in the instrument rod 41, a pulling rod 47 is coaxially disposed in the pushing rod 46, and the specific arrangement of the pushing rod 46 and the pulling rod 47 has been described in detail in the foregoing embodiments, and will not be described herein again.

As described above, in the present embodiment, the rotational motion of the first motor 511 is converted into the rotational motion of the instrument lever 41, the rotational motion of the third motor 513 is transmitted to the second lead screw 364, the rotational motion of the second lead screw 364 is converted into the linear reciprocating motion of the second base 36, and the linear reciprocating motion is converted into the opening and closing motion of the instrument 42.

In a sixth embodiment of the present invention, instrument 42 has a second degree of freedom and a third degree of freedom (e.g., forceps holding a suture needle).

In the present embodiment, the side wall of the fixed base 12 is provided with a second hole 122 and a third hole 123, the power source 51 includes a second motor 512 and a third motor 513, an output shaft of the second motor 512 is disposed in the second hole 122, and an output shaft of the third motor 513 is disposed in the third hole 123. In order to improve the space utilization, the axial direction of the instrument rod 41, the axial direction of the second motor 512 and the third motor 513, and the length direction of the fixing base 12 are the same.

The power transmission modes of the second motor 512 and the third motor 513 are the same as those in the previous embodiment, and are not described herein again.

In this embodiment, the instrument rod 41 is connected to the transmission seat 3 through the rotation shaft 33 and is connected to the transmission seat 3 through the first seat 35, and the connection manner is the same as the transmission manner in the previous embodiment, and will not be described again.

According to a third aspect of the present invention, there is provided a fixation means for an instrument having three degrees of freedom.

Wherein instrument 42 has a first degree of freedom, a second degree of freedom, and a third degree of freedom (e.g., surgical scissors).

In this embodiment, the side wall of the fixing base 12 is respectively provided with a first hole 121, a second hole 122 and a third hole 123, and the power source 51 includes a first motor 511, a second motor 512 and a third motor 513; an output shaft of the first motor 511 is disposed in the first hole 121, an output shaft of the second motor 512 is disposed in the second hole 122, and an output shaft of the third motor 513 is disposed in the third hole 123. In order to improve the space utilization, the axial direction of the instrument rod 41, the axial direction of the second motor 512 and the third motor 513, and the length direction of the fixing base 12 are the same.

The power transmission modes of the first motor 511, the second motor 512 and the third motor 513 are the same as those in the previous embodiment, and are not described herein again.

In this embodiment, the instrument rod 41 is connected to the driving seat 3 through the rotating shaft 33, and is connected to the driving seat 3 through the first seat 35 and the second seat 36, respectively, in the same manner as in the previous embodiments, and therefore, the detailed description thereof is omitted.

While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. A surgical instrument drive mechanism interfacing a power source with a surgical instrument, the power source including at least one motor, the surgical instrument drive mechanism comprising:

2. The surgical instrument transmission mechanism of claim 1, wherein the first and second connection portions are each cylindrical, the second connection portion having a radial dimension greater than a radial dimension of the first connection portion.

3. A surgical instrument transmission mechanism according to claim 2, wherein the side wall of the output shaft is provided with a connecting surface extending in the axial direction thereof, the second connecting portion is provided with a slot in the radial direction thereof, the slot being in communication with the opening, and the slot is provided with a connecting member abutting against the connecting surface.

4. The transmission mechanism for surgical instruments according to claim 3, wherein the connecting body further includes a cylinder, the spring is sleeved on the outer wall of the first connecting portion, one end of the spring abuts against the end surface of the second connecting portion, the other end of the spring abuts against the cylinder, a first hole penetrating along the radial direction of the first connecting portion is formed in the outer wall of the first connecting portion, a second hole penetrating along the radial direction of the first coupling is formed in the sidewall of the first coupling, the first hole and the second hole are oppositely arranged to form a communication hole, and the cylinder penetrates through the communication hole to connect the first coupling and the first connecting portion.

5. A surgical instrument transmission according to any one of claims 1 to 4, further comprising an instrument transmission mount, wherein the instrument transmission mount comprises:

a transmission seat main body;

6. A surgical instrument transmission according to claim 5, wherein the slide block is attached to one end of a drawbar, the other end of the drawbar being configured to reciprocate the drawbar to cause the instrument to open and close.

7. A surgical instrument transmission mechanism as claimed in claim 6, wherein an inclined hole is provided in a side wall of the surgical instrument, and a pin shaft is provided in the inclined hole on both sides of the other end of the traction rod.

8. A surgical instrument transmission according to claim 5, wherein the sliding mount is connected to one end of an instrument bar, the other end of the instrument bar being hingedly connected to the surgical instrument.

9. The transmission mechanism for surgical instruments according to claim 8, wherein the instrument rod comprises an outer tube and an inner tube sleeved in the outer tube, a pushing rod is disposed in the inner tube, a rotating head is connected to one end of the outer tube close to the surgical instrument, the inner tube is connected to the rotating head, and the pushing rod sequentially passes through the inner tube and the rotating head to hinge with the surgical instrument.

10. A surgical instrument transmission mechanism according to any one of claims 1 to 4, wherein a first groove is formed at an end of the first coupler, a second groove and a first clamping strip matched with the first groove are respectively formed at two ends of the second coupler, and a second clamping strip matched with the second groove is formed at one end of the third coupler.