CN111012388A - Instrument transmission seat for minimally invasive surgical instrument - Google Patents

Abstract

The present invention relates to an instrument drive mount for a minimally invasive surgical instrument, wherein the instrument drive mount comprises: a transmission seat main body; the coupler is connected with an output shaft of the motor and arranged on the transmission seat main body; with transmission seat main part sliding connection's first seat, first seat pass through the lead screw with coupling joint makes first seat can slide in the transmission seat main part, wherein, first seat meets with the one end of apparatus pole, the other end and the apparatus of apparatus pole are articulated mutually. The instrument transmission seat of the invention can rotate the instrument by taking a shaft (Z shaft) vertical to the axis of the instrument rod as a rotating shaft, and can realize the rotation action of simulating the wrist joint of a human body.

Description

Instrument transmission seat for minimally invasive surgical instrument

Technical Field

The invention relates to the technical field of medical instruments, in particular to an instrument transmission seat for a minimally invasive surgical instrument.

Background

Minimally invasive surgery is practiced and rapidly developed based on traditional surgery with many advantages of fast postoperative recovery, small trauma, etc. Laparoscopic minimally invasive surgery, which is representative of minimally invasive surgery, has become a significant revolution of traditional open surgery. With the expansion of the field of minimally invasive surgery, the minimally invasive surgical robot system provides a new way for further perfecting the minimally invasive surgery aiming at the limitation of the conventional endoscope technology in clinical application.

At present, the fixing device of the instrument used by the existing minimally invasive surgical robot only fixes the instrument on the operating table, but cannot simulate the integrated motion of the arm, wrist and finger of a human, so that the requirements of a doctor on the degree of freedom, flexibility and sensitivity of the surgical instrument cannot be met when a more complex minimally invasive surgery is performed.

To this end, it is necessary to provide an instrument actuator base for a minimally invasive surgical instrument, so that the surgical instrument can realize integrated movements of an arm, a wrist and/or a finger of a dummy through the instrument actuator base.

Disclosure of Invention

In order to solve the above problems, the present invention provides an instrument transmission base for a minimally invasive surgical instrument, wherein the instrument transmission base comprises:

a transmission seat main body;

the coupler is connected with an output shaft of the motor and arranged on the transmission seat main body;

with transmission seat main part sliding connection's first seat, first seat pass through the lead screw with coupling joint makes first seat can slide in the transmission seat main part, wherein, first seat meets with the one end of apparatus pole, the other end and the apparatus of apparatus pole are articulated mutually.

The apparatus transmission seat as described above, wherein the first coupling is connected to the output shaft of the motor, and the coupling is connected to the first coupling through the second coupling.

The instrument transmission seat as described above, wherein a spring is provided between the first coupling and the motor.

The apparatus transmission seat as described above, wherein a push rod capable of moving along the axis of the apparatus rod is provided in the apparatus rod, one end of the push rod is connected to the first seat, and the other end of the push rod is hinged to the apparatus.

The apparatus transmission seat as described above, wherein the apparatus rod includes an outer tube and an inner tube sleeved in the outer tube, a rotating head is connected to one end of the outer tube close to the apparatus, the inner tube is connected to the rotating head, and the push rod sequentially passes through the inner tube and the rotating head to hinge with the apparatus.

The instrument transmission seat is characterized in that the other end of the push rod is hinged to a clamping head through a swing rod, the clamping head is connected with the instrument, and one end, far away from the instrument, of the clamping head is rotatably connected with the rotating head.

The apparatus transmission seat as above, wherein the two sides of the clamping head are provided with connecting surfaces, the rotating head is provided with an open slot abutting against the connecting surfaces, and the connecting surfaces are connected with the inner walls of the open slot through connecting pieces.

The transmission seat for the instrument is characterized in that a limiting head is arranged at one end of the inner tube, which is far away from the instrument, and a limiting ring is sleeved on the outer edge of the inner tube.

The instrument driver base as described above, wherein the outer diameter of the inner tube is the same as the inner diameter of the outer tube.

The instrument transmission seat is characterized in that the other end of the inner tube is provided with a groove body extending along the axial direction of the inner tube.

The instrument transmission seat can realize that the instrument rotates by taking a shaft (Z shaft) vertical to the axis of the instrument rod as a rotating shaft, and can realize the rotation action of simulating the wrist joint of a human body.

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).

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-a first elastomer;

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.

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 622 disposed in the first accommodating cavity 621. A guide part 628 is arranged at the top end of the first elastic body 622, wherein one end of the guide part 628 is a downward inclined plane, and the other end is a stopping part; 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.

The bottom end of the first elastic body 622 is provided with at least two claws 623. For example, fig. 4 shows four claws 623, which are respectively located at four corners of the elastic seat 622 and are integrally formed with the first elastic body 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 claw 623 is provided with a barb 624, and the barb 624 catches on the bottom of the catching hole 625, so as to limit the maximum displacement amount of the first elastic body 622 when moving in a direction away from the first accommodating chamber 621 (i.e., moving upward in the Z-axis direction).

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

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

A spring is disposed between the first elastic body 622 and the first receiving chamber 621, and the spring is used to restore the first elastic body 622 to an original state.

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, in the moving process of the transmission seat 3, the first end of the transmission seat 3 first contacts with the first elastic body 622, when the transmission seat 3 continues to move, a downward pressure is applied to the first elastic body 622, and the first elastic body 622 is forced to move downward along the Z-axis direction. In this process, the driving seat 3 can be easily moved above the first elastic body 622 by the guide portion 628 at the top end of the first elastic body 622, so that the movement of the driving seat 3 is not hindered.

In the process of continuing to move 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 continue to move along the third sliding groove 612 until the bottom end of the transmission seat 3 completely separates from the first elastic body 622, so that the first elastic body 622 is no longer pressed, and the first elastic body 622 moves upward along the Z-axis direction under the action of the spring and returns to the initial state. At this time, the stopping portion of the first elastic body 622 contacts the second end of the transmission seat 3, so that the transmission 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 elastic body 622 is not in contact with the end portion of the transmission seat 3, and the transmission seat 3 can be moved in the direction opposite to the above direction, so that 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, the fifth positioning portion 73 includes a pressing piece 731 disposed on the isolation seat 2 and a second elastic body 732 disposed on the driving seat 1, and the second elastic body 732 is disposed 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 second elastic body 732 is inserted into the 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 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 second elastic body 732 is moved downward in the Z-axis direction, and the second elastic body 732 is separated from the stepped hole 733, thereby releasing the restraint of the spacer 2 and the driving base 1 in the Z-axis direction.

In order to improve the response sensitivity of the second elastic body 732, a slope inclined downward is provided on an upper end surface of the second elastic body 732, so that the volume of the second elastic body 732 extending into the stepped hole 733 is reduced, and when the pressing piece 731 presses the second elastic body 732 downward, the elastic body 732 can be rapidly 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.

The second elastic body 732 is disposed in the fixed tray 735, and a spring is disposed between the second elastic body 732 and the cover 738 to restore the second elastic body 732 to an original state.

In the initial state of the second elastic body 732, the top end of the second elastic body 732 protrudes outside the fixed plate 735, that is, the top end of the second elastic body 732 is higher than the upper surface of the driving socket 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 second elastic body 732, and when the isolation seat 2 continues to move, downward pressure is applied to the second elastic body 732, and the second elastic body 732 is forced to move downward along the Z-axis direction. In this process, the isolation seat 2 can be easily moved above the second elastic body 732 by the slope of the top end of the second elastic body 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 second elastic body 732, and at this time, the second elastic body 732 is not pressed any more, and the second elastic body 732 moves upward in the Z-axis direction under the action of the spring to be inserted into the stepped hole 733 and returns to the original state. At this time, the second elastic body 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 separate the second elastic body 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, the side wall of the fixing base 12 is provided with a first hole 121, the power source 51 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.

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 arranged in the first groove 531, and the second clamping strip 311 is arranged in the second groove 211, so that the first coupler 53, the second coupler 21 and the third coupler 31 are positioned 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 coupling 54, the fifth coupling 22 and the sixth coupling 37 in this embodiment is the same as the connection manner among the first coupling 53, the second coupling 21 and the third coupling 31 in the first embodiment, wherein a second spring 57 is disposed between the fourth coupling 54 and the second motor 512, and similarly, the assembly among the three couplings can be faster by the second spring 57, and therefore, the description is omitted here.

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.

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.

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.

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 seventh coupling 55, the eighth coupling 23, and the ninth coupling 38 in this embodiment is the same as the connection manner among the first coupling 53, the second coupling 21, and the third coupling 31 in the first embodiment, wherein a third spring 58 is disposed between the seventh coupling 55 and the third motor 513, and similarly, the assembly among the three couplings can be faster by the third spring 58, and therefore, the description thereof is omitted.

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.

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.

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 (10)

1. An instrument drive mount for a minimally invasive surgical instrument, the instrument drive mount comprising:

a transmission seat main body;

the coupler is connected with an output shaft of the motor and arranged on the transmission seat main body;

with transmission seat main part sliding connection's first seat, first seat pass through the lead screw with coupling joint makes first seat can slide in the transmission seat main part, wherein, first seat meets with the one end of apparatus pole, the other end and the apparatus of apparatus pole are articulated mutually.

2. The instrument drive base of claim 1 wherein a first coupling is coupled to the output shaft of the motor, the coupling coupled to the first coupling by a second coupling.

3. The instrument driver base according to claim 2, wherein a spring is provided between the first coupling and the motor.

4. The instrument driving seat according to any one of claims 1 to 3, wherein a push rod capable of moving along the axis of the instrument rod is arranged in the instrument rod, one end of the push rod is connected with the first seat, and the other end of the push rod is hinged with an instrument.

5. The instrument transmission seat according to claim 4, wherein the instrument rod comprises an outer tube and an inner tube sleeved in the outer tube, a rotating head is connected to one end of the outer tube close to the instrument, the inner tube is connected to the rotating head, and the pushing rod sequentially penetrates through the inner tube and the rotating head to be hinged to the instrument.

6. The tool driving seat according to claim 5, wherein the other end of the pushing rod is hinged to a clamping head through a swing rod, the clamping head is connected to the tool, and one end of the clamping head, which is far away from the tool, is rotatably connected to the rotating head.

7. The instrument transmission seat according to claim 6, wherein connection faces are formed on both sides of the clamping head, an open slot abutting against the connection faces is formed in the rotating head, and the connection faces are connected with inner walls of the open slot through connection pieces.

8. The instrument driver base according to any one of claims 5 to 7, wherein a stopper is provided at an end of the inner tube remote from the instrument, and a stopper ring is fitted around an outer edge of the inner tube.

9. The instrument driver seat according to any one of claims 5 to 7, wherein the outer diameter of the inner tube is the same as the inner diameter of the outer tube.

10. The instrument transmission seat according to any one of claims 5 to 7, wherein the other end of the inner tube is provided with a groove body extending along the axial direction of the inner tube.

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