CN111012405A

CN111012405A - Minimally invasive surgery instrument

Info

Publication number: CN111012405A
Application number: CN201811169943.1A
Authority: CN
Inventors: 李耀; 凌正刚; 黄松; 程波
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 discloses a minimally invasive surgical instrument, which comprises: the driving part is used for driving the instrument rod to rotate around the axis of the instrument rod, and the driving part is also used for driving the instrument to perform opening or closing movement; the drive section comprises a drive means and a transmission means for converting a rotational movement of the drive means into a rotational movement of the instrument bar about an axis of the instrument bar, the transmission means also being adapted to convert a rotational movement of the drive means into an opening or closing movement of the instrument. The invention provides a surgical instrument with two degrees of freedom, which can flexibly realize the opening and closing actions of human fingers and the rotation action of arms, thereby increasing the flexibility and the sensitivity of the minimally invasive surgical instrument, improving the efficiency of the operation and relieving the pain of patients.

Description

Minimally invasive surgery instrument

Technical Field

The invention relates to the technical field of medical instruments, in particular to a minimally invasive 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.

At present, in the robot-assisted surgery, the cooperation among the instruments, the instrument rods and the fixing devices cannot meet the requirements of doctors on the flexibility and the sensitivity of the swinging of the surgical instruments during the surgery, so that the complexity and the time of the surgery are increased, and the pain of patients is also increased.

Disclosure of Invention

In view of the above technical problems in the prior art, the present invention provides a minimally invasive surgical instrument, including: a driving part, an instrument rod and an instrument which are connected in turn,

the driving part is used for driving the instrument rod to rotate around the axis of the instrument rod, and the driving part is also used for driving the instrument to perform opening or closing movement;

the drive portion includes a drive means and a transmission means for converting rotational motion of the drive means into rotational motion of the instrument rod about an axis of the instrument rod, the transmission means also being for converting rotational motion of the drive means into opening or closing motion of the instrument.

Preferably, the driving part further comprises a driving seat, an isolation seat arranged on the driving seat, and a transmission seat arranged on the isolation seat,

a first hole and a fourth hole are arranged on the side wall of the driving seat, a second hole and a fifth hole are arranged on the side wall of the isolation seat, a third hole and a sixth hole are arranged on the side wall of the transmission seat, the first hole, the second hole and the third hole are coaxial, the fourth hole, the fifth hole and the sixth hole are coaxial, the driving device is arranged in the first hole and the fourth hole in a penetrating manner,

the side wall of the transmission seat is further provided with a center hole, the side wall of the driving seat is provided with a first groove, the side wall of the isolation seat is provided with a second groove, the instrument rod penetrates through the center hole through a rotating shaft, the first end of the instrument rod sequentially passes through the first groove and the second groove to extend out of the driving part, and the instrument rod is fixedly connected with the rotating shaft.

Preferably, the transmission means comprises:

the first coupler and the fourth coupler are arranged at the end part of an output shaft of the driving device, the second coupler and the third coupler are respectively arranged in the second hole and the third hole, and the fifth coupler and the sixth coupler are respectively arranged in the fifth hole and the sixth hole;

a main gear is arranged at the second end of the third coupler, a driven gear is arranged at the second end of the rotating shaft, and the main gear and the driven gear are meshed with each other, so that when an output shaft of the driving device rotates, power is transmitted through the first coupler, the second coupler, the third coupler, the main gear and the driven gear in sequence, and the rotating shaft drives the instrument rod to rotate;

the second end of the sixth coupler is connected with a first lead screw, the first lead screw penetrates through a first seat arranged on the transmission seat, and the first lead screw is in threaded connection with the first seat, so that the rotary motion of the driving device can be converted into the linear motion of the first seat;

the interior of the instrument rod is coaxially provided with a traction rod, the traction rod can move in the instrument rod along the axis direction, the first end of the traction rod is hinged with the instrument, and the second end of the traction rod is connected with the first seat, so that when the first seat does linear motion, the traction rod can be pulled or pushed, and the instrument can be opened or closed.

Preferably, the first end of pivot is equipped with the location arch, be equipped with first draw-in groove on the outer wall of apparatus pole, the location arch can with first draw-in groove block.

Preferably, the outer wall of the rotating shaft is provided with an external thread, the outer wall of the instrument rod is provided with a threaded sleeve, and the rotating shaft is connected with the instrument rod through the external thread and the threaded sleeve.

Preferably, a first seat is arranged on the transmission seat, and the traction rod can be fixed on the first seat.

Preferably, the first seat is provided with a first clamping hole, the axis of the first clamping hole is superposed with the axis of the rotating shaft, a first elastic clamping plate is arranged in the first clamping hole,

the upper part of the first seat is provided with a first pressing part which is connected with the first elastic clamping plate, so that the first pressing part controls the first elastic clamping plate to move in the radial direction,

the second end of the traction rod extends out of the second end of the instrument rod, the instrument rod and the traction rod can rotate relatively,

and a second clamping groove is formed in the outer wall of the traction rod and can be clamped with the first elastic clamping plate, so that the traction rod is fixed.

Preferably, the two side walls of the instrument are provided with inclined holes in different directions, and the first end of the traction rod is connected with the instrument through a pin shaft penetrating through the two inclined holes, so that when the traction rod is subjected to pushing force or pulling force, the two pin shafts respectively slide in the inclined holes in different directions, and the instrument is opened or closed.

Preferably, the second ends of the first coupler and the second coupler are respectively provided with a first groove and a second groove, the first ends of the second coupler and the third coupler are respectively provided with a first clamping strip and a second clamping strip, the first clamping strip can be accommodated in the first groove, the second clamping strip can be accommodated in the second groove,

a first spring is arranged between the first coupler and the output end of the driving device, when the first coupler is applied with force, the first spring is compressed, the driving device drives the first coupler to rotate, the first clamping strip is clamped with the first groove, and the second clamping strip is clamped with the second groove.

Preferably, the second ends of the fourth coupler and the fifth coupler are respectively provided with a third groove and a fourth groove, the first ends of the fifth coupler and the sixth coupler are respectively provided with a third clamping strip and a fourth clamping strip, the third clamping strip can be accommodated in the third groove, the fourth clamping strip can be accommodated in the fourth groove,

and a second spring is arranged between the fourth coupler and the output end of the driving device, when the fourth coupler is applied with force, the second spring is compressed, the driving device drives the fourth coupler to rotate, the third clamping strip is clamped with the third groove, and the fourth clamping strip is clamped with the fourth groove.

Compared with the prior art, the invention has the advantages that: the invention provides a surgical instrument with two degrees of freedom, which can flexibly realize the opening and closing actions of human fingers and the rotation action of arms, thereby increasing the flexibility and the sensitivity of the minimally invasive surgical instrument, improving the efficiency of the operation and relieving the pain of patients.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the figure:

FIG. 1 is a perspective view of a minimally invasive surgical instrument according to an embodiment of the present invention.

FIG. 2 is a first exploded view of an instrument holder assembly of a minimally invasive surgical instrument according to an embodiment of the present invention (instrument connection mechanism is not shown).

FIG. 3 is a schematic structural diagram of a transmission base of a minimally invasive surgical instrument according to an embodiment of the invention.

Fig. 4 is a sectional view of fig. 3.

FIG. 5 is a perspective view of an implement attachment mechanism in an embodiment of the present invention.

FIG. 6 is a perspective view of an instrument linkage (not shown) in an embodiment of the invention.

FIG. 7 is a perspective view of an instrument linkage according to an embodiment of the present invention (outer and inner tubes not shown).

FIG. 8 is a first exploded view of a quick release mechanism of a minimally invasive surgical instrument according to an embodiment of the present invention (instrument connection mechanism is not shown).

FIG. 9 is a second exploded view of a quick release mechanism of an instrument fastening device (not shown) according to an embodiment of the present invention.

Fig. 10 is an enlarged schematic structure view of the first positioning block (i.e., a region a) shown in fig. 9.

FIG. 11 is a first schematic view of the first quick release assembly shown in FIG. 9.

FIG. 12 is a second schematic view of the first quick release assembly of FIG. 9.

Fig. 13 is a schematic view of the actuator mount of fig. 9 (only the frame of the actuator mount is shown).

FIG. 14 is a top view of the actuator mount of FIG. 9 (only the frame of the actuator mount and the first quick release assembly shown).

FIG. 15 is a schematic structural view of the isolation seat and the drive seat of FIG. 9 (showing a first quick release assembly and a first locator block).

Fig. 16 is a perspective view of the second quick release assembly of fig. 9.

FIG. 17 is a cross-sectional view of the second quick release assembly of FIG. 9.

In the drawings, like parts are provided with like reference numerals. The figures are not drawn to scale.

Detailed Description

The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.

As shown in fig. 1, the present invention provides a minimally invasive surgical instrument, which includes a driving seat 1, an isolation seat 2 disposed on the driving seat 1, and a transmission seat 3 disposed on the isolation seat 2. Wherein, be provided with apparatus coupling mechanism 4 (including apparatus pole and apparatus) 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 degrees of freedom of the minimally invasive surgical instrument will be described in detail below.

Referring to fig. 1 and 12, the driving seat 1 includes a base 10 fixedly connected to a sliding table of the surgical trolley and a fixing seat 100 integrally provided with the base 10. The base 10 is used for fixing a driving plate 52 in the driving mechanism 5, the side wall of the fixing seat 100 is used for fixing a power source 51 in 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, one end of the instrument rod 41 is provided with an instrument 42, and the other end of the instrument rod sequentially penetrates through the side wall of the fixed seat 100, the side wall of the isolation seat 2 and the side wall of the transmission seat 3 and is fixed on the transmission seat 3.

The instruments 42 described in the present invention include instruments with three degrees of freedom, two degrees of freedom, and one degree of freedom, wherein the instruments 42 with three degrees of freedom, such as forceps, scissors, etc., the instruments 42 with two degrees of freedom, such as surgical forceps, etc., the instruments 42 with one degree of freedom, such as endoscopes, etc. 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 this embodiment, as shown in fig. 12-14, a first hole 13 is formed on the sidewall of the fixing base 100, the power source 51 includes a first motor 511, and an output shaft of the first motor 511 is disposed in the first hole 13. In order to improve the space utilization, the axial direction of the instrument rod 41, the length direction of the first motor 511, and the fixing base 100 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 fixing base 100, and an output shaft thereof passes through the first hole 13, and then a first coupling 53a is fixedly connected to 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 54a and a third coupler 55a, and the second coupler 54a is respectively connected with the first coupler 53a and the third coupler 55a, 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 36, one end of the rotating shaft 36 penetrating through the transmission seat 3 is provided with a driven gear 37, the end of the third coupler 55a is provided with a main gear 38, and the main gear 38 and the driven gear 37 are meshed with each other. 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 53a, the second coupling 54a, the third coupling 55a, the main gear 38 and the slave gear 37, so as to drive the rotating shaft 36 to rotate. The rotating shaft 36 is a hollow shaft, and the instrument rod 41 is disposed in the rotating shaft 36, so that the rotating shaft 36 drives the instrument rod to rotate together.

The connection of the rotating shaft 36 and the instrument rod 41 is as follows:

as shown in fig. 15-17, a positioning protrusion 361 is disposed at an end of the rotating shaft 36, a first locking groove 416 is disposed on an outer wall of the instrument rod 41, and after the instrument rod 41 is inserted into the rotating shaft 36, the positioning protrusion 361 is engaged with the first locking groove 416, so that the instrument rod 41 and the rotating shaft 36 are positioned in a radial direction.

Further, the rotating shaft 36 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 36, the instrument rod 41 is fixedly connected with the rotating shaft 36 through the threaded sleeve 43, so that the instrument rod 41 and the rotating shaft 36 are positioned in the axial direction.

To this end, the shaft 36 and the instrument lever 41 are fixed in both directions, so that when the shaft 36 is rotated, the instrument lever 41 and the instrument 42 are rotated accordingly.

The fixed connection between the instrument lever 41 and the rotation shaft 36 is a fixed point between the instrument lever 41 and the transmission base 3, but because 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 second seat 39 is further provided on the transmission seat 3, and the end (the end far away from the instrument) of the instrument rod 41 is fixed on the second seat 39, so that the number of fixing points between the instrument rod 41 and the transmission seat 3 is increased to two, thereby improving the stability of the connection between the two.

In particular, the fixing between the end of the instrument rod 41 and the second seat 39 is as follows:

the second seat 39 is provided with a second clipping hole 391 for installing the instrument rod 41, and the axis of the second clipping hole 391 coincides with the axis of the rotating shaft 36. The second catching hole 391 is provided with a second resilient catching plate 392, and the second resilient catching plate 392 can move in the radial direction of the second catching hole 391, so that the installation diameter of the second catching hole 391 is reduced (i.e., smaller than the actual diameter of the second catching hole 391), or the installation diameter of the second catching hole 391 is increased (i.e., equal to the actual diameter of the second catching hole 391).

The end of the second seat 39 is provided with a second pressing part 393, the second pressing part 393 may be a pressing rod, the second pressing part 393 is connected with the second elastic clamping plate 392, and when the second pressing part 393 is pressed down, the second elastic clamping plate 392 moves downwards, so that the installation diameter of the second clamping hole 391 is increased; when the pressure applied to the second pressing part 393 is removed, the second resilient catch plate 392 springs up upward by the resilient member, so that the installation diameter of the second catch hole 391 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 rotation can be generated between the instrument rod 41 and the push rod 46. The outer wall of the push rod 46 is provided with a third clamping groove 45, and after the push rod 46 extends into the second clamping hole 391, the elastic second clamping plate 392 is clamped with the third clamping groove 45, so that the push rod 46 is fixed in the second clamping hole 391 and is fixed with the second seat 39.

When the instrument rod 41 needs to be detached, the pushing rod 46 can be taken out of the second clamping hole 391 by pressing down the second pressing portion 393 to move the second elastic clamping plate 392 in the radial direction of the second clamping hole 391, so that the installation diameter of the second clamping hole 391 is increased.

In the present embodiment, since it is necessary to realize the rotation of the instrument 42 in the axial direction of the instrument rod 41, the instrument 42 and the instrument rod 41 can be rotated simultaneously only by fixing the instrument 42 to the end of the instrument rod 41.

The connection of the first coupling 53a, the second coupling 54a, and the third coupling 55a will be described below.

The end of the first coupler 53a is provided with a first groove 531, the end of the second coupler 54a is provided with a second groove 541 (see fig. 3) and a first locking strip 542, respectively, and the end of the third coupler 55a is provided with a second locking strip 551, wherein the first locking strip 542 is disposed in the first groove 531, and the second locking strip 551 is disposed in the second groove 541, thereby positioning the first coupler 53a, the second coupler 54a, and the third coupler 55a in the radial direction.

The first coupling 53a, the second coupling 54a and the third coupling 55a are positioned in the axial direction by the fixed connection between the transmission housing 3, the isolation housing 2 and the drive housing 1.

Further, in order to improve the ease of assembly between the first coupling 53a, the second coupling 54a, and the third coupling 55a, the first spring 56a is provided between the first coupling 53a and the first motor 511, so that when the first coupling 53a is connected to the second coupling 54a, the alignment of the first locking strip 542 and the first groove 531 is no longer a necessary operation, in other words, the first locking strip 542 on the end surface of the second coupling 54a may be in contact with any position of the end surface on the first coupling 53a, and when the first locking strip 542 is not inserted into the first groove 531, in this case, the first coupling 53a is pushed by the second coupling 54a, so that the first spring 56a is compressed, and when the first motor 511 rotates and rotates the first coupling 53a, since the first coupling 53a is not positioned in the radial direction with the second coupling 54a, therefore, relative movement is generated between the first coupling 53a and the second coupling 54a, so that the first groove 531 of the first coupling 53a rotates to a position where the first locking strip 542 of the second coupling 54a is matched, and is engaged with the first locking strip 542 under the pushing of the first spring 56a, thereby realizing radial positioning between the first coupling 53a and the second coupling 54 a.

Similarly, when the third coupler 55a is connected to the second coupler 54a, the alignment of the second locking strip 551 and the second groove 541 is no longer necessary, in other words, the second locking strip 551 on the end surface of the third coupler 55a can contact with any position of the end surface of the second coupler 54a, and when the second coupler 54a rotates, the second groove 541 of the second coupler 54a rotates to a position matching the second locking strip 551 of the third coupler 55a and engages with the second locking strip 551 under the pushing force of the first spring 56a, so as to achieve the radial positioning between the second coupler 54a and the third coupler 55 a.

In summary, in the present embodiment, the rotational motion of the first motor 511 is converted into the rotational motion of the instrument lever 411, so that the instrument 42 is rotated.

In a second embodiment of the invention, the instrument 42 has a second degree of freedom (e.g., a surgical shears that only shears at a given location). The second degree of freedom of the instrument 42 is to perform opening and closing operations, and the second degree of freedom of the instrument 42 can realize actions simulating closing and opening of human fingers.

In this embodiment, referring to fig. 12-14, a fourth hole 14 is provided on the sidewall of the fixing base 100, the power source 51 includes a second motor 512, and an output shaft of the second motor 512 is disposed in the fourth hole 14. In order to improve 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 100 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 driving base 3 is slidably provided with a first base 40, and the instrument rod 41 is connected to the first base 40, so that when the first base 40 makes a linear reciprocating motion, the instrument rod 41 is driven to make a linear reciprocating motion, and the linear 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 first block 40 will be described as follows:

the second motor 512 is disposed on the sidewall of the fixing base 100, and an output shaft thereof passes through the fourth hole 14, and then is fixedly connected to the fourth coupler 53b 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 fifth coupler 54b and a sixth coupler 55b, and the fifth coupler 54b is respectively connected with the fourth coupler 53b and the sixth coupler 55 b.

The sixth coupling 55b is connected to the first lead screw 404, wherein the first lead screw 404 passes through the first seat 40 and forms a threaded connection with the first seat 40. The bottom of the first seat 40 is provided with a first sliding groove 405, the first sliding rail 406 on the transmission seat 3 is arranged in the first sliding groove 405, and when the first lead screw 404 rotates, the first seat 40 moves along the axial direction of the first lead screw 404.

Therefore, when the driving plate 52 receives an instruction of opening or closing the instrument, the driving plate 52 drives the second motor 512 to rotate, and power is transmitted along the output shaft of the second motor 512, the fourth coupler 53b, the fifth coupler 54b, the sixth coupler 55b, the first lead screw 404 and the first seat 40, so that the rotational motion of the second motor 512 is converted into the linear reciprocating motion of the first seat 40.

Further, the limit position of the rightward movement of the first seat 40 is limited by the first spring stopper 407, as shown in fig. 12, the first spring stopper 407 is disposed on the first lead screw 404, and when the first seat 40 moves rightward (in the direction close to the instrument 42) and compresses the spring to the most contracted amount, the first seat 40 cannot move rightward any more, and the spring can prevent the first seat 40 from colliding with the first spring stopper 407 when moving to the limit position.

The extreme position of the leftward movement of the first holder 40 is defined by the circuit board 408, as shown in fig. 12, the circuit board 408 is disposed on the driving holder 3 and located at the left side of the first holder 40, and when the first holder 40 moves leftward (in the direction away from the implement 42) to the extreme position, the end of the first holder 40 is in contact with the end of the circuit board 408 and cannot move leftward any more.

By mechanically limiting the extreme positions of the first seat 40 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, referring to fig. 14-17, the securing between the pusher arm 46 and the first seat 40 is as follows:

the first seat 40 is provided with a first clamping hole 401 for mounting the push rod 46, and the axis of the first clamping hole 401 is coincident with the axis of the rotating shaft 36. A first elastic clamping plate 402 is disposed in the first clamping hole 401, and the first elastic clamping plate 402 can move along the radial direction of the first clamping hole 401, so that the installation diameter of the first clamping hole 401 is reduced (i.e. smaller than the actual diameter of the first clamping hole 401), or the installation diameter of the first clamping hole 401 is increased (i.e. equal to the actual diameter of the first clamping hole 401).

A first pressing part 403 is arranged at the end part of the first seat 40, the first pressing part 403 can be a pressing rod, the first pressing part 403 is connected with the first elastic clamping plate 402, and when the first pressing part 403 is pressed down, the first elastic clamping plate 402 moves downwards to increase the installation diameter of the first clamping hole 401; when the pressure applied to the first pressing part 403 is removed, the first elastic catch plate 402 is sprung upward by the elastic member, so that the installation diameter of the first catch hole 401 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 traction rod 47 is provided with a second clamping groove 48, and after the traction rod 47 extends into the first clamping hole 401, the elastic second clamping plate 402 is clamped with the second clamping groove 48, so that the traction rod 47 is fixed in the first clamping hole 401 and is fixed with the second seat 40.

When the instrument rod 41 needs to be detached, the first elastic clamping plate 402 can be moved along the radial direction of the first clamping hole 401 only by pressing the first pressing portion 403, so that the installation diameter of the first clamping hole 401 is increased, and the traction rod 47 can be taken out of the first clamping hole 401.

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

as shown in fig. 15-17, a first end of the pull rod 47 passes through the pusher rod 46 and gripping head 463 in sequence and is connected to the implement 42. In contact with a collar inside the gripping head 463. A second spring 471 is arranged between the traction rod 47 and the clamping head 463, a first end of the second spring 471 is connected with an inner wall of the clamping head 463, and a second end of the second spring 471 is connected with an inner wall of the adapter 461, so that the second 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 second clamping groove 48, and the second clamping groove 48 is clamped with the first clamping hole 401 of the first seat 40, so that when the first seat 40 moves, the traction rod 47 is driven to move along the axial direction of the first seat, the pin shaft 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, in this embodiment, the connection manner between the fourth coupling 53b, the fifth coupling 54b and the sixth coupling 55b is the same as the connection manner between the first coupling 53a, the second coupling 54a and the third coupling 55a in the first embodiment, wherein a third spring 56b is disposed between the fourth coupling 53b and the second motor 512, and similarly, the assembly between the three couplings can be faster by the third spring 56b, and therefore, the description is omitted here.

As described above, in the present embodiment, the rotational motion of the second motor 512 is transmitted to the first lead screw 404, the rotational motion of the first lead screw 404 is converted into the linear reciprocating motion of the first base 40, and the linear reciprocating motion is converted into the opening and closing motion of the instrument 42.

In addition, the surgical scissors of the present invention may be surgical scissors of various shapes as long as the closing and opening operation of the fingers of the human body can be simulated.

In a third embodiment of the present invention, instrument 42 has a third degree of freedom (e.g., a scalpel that performs only a cut at a given location). The third degree of freedom of the instrument 42 is a rotation axis that can rotate about the Z axis (perpendicular to the axis of the instrument lever 41), and the third degree of freedom of the instrument 42 can realize a rotation motion that simulates a wrist joint of a human body.

In this embodiment, referring to fig. 12 to 14, a seventh hole 15 is provided on a side wall of the fixing base 100, the power source 51 includes a third motor 513, and an output shaft of the third motor 513 is disposed in the seventh hole 15. In order to improve 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 100 are the same.

The power of the third motor 513 is transmitted to the instrument rod 41 through the screw mechanism in the following manner:

first, the second base 39 is disposed to be slidably connected to the driving base 3, so that when the second base 39 makes a linear reciprocating motion, the pushing rod 46 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 pushing rod 46.

The implementation of the linear reciprocating motion of the second seat 39 will be described below:

the third motor 513 is disposed on the sidewall of the fixing base 100, and an output shaft thereof passes through the seventh hole 15, and a seventh coupling 53c is fixedly connected to 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 54c and a ninth coupler 55c, and the eighth coupler 54c is respectively connected with a seventh coupler 53c and the ninth coupler 55 c.

Ninth coupling 55c is connected to second threaded spindle 394, wherein second threaded spindle 394 extends through second seat 39 and forms a threaded connection with second seat 39. The bottom of the second seat 39 is provided with a second sliding groove 395, and a second slide rail 396 on the transmission seat 3 is disposed in the second sliding groove 395, so that when the second lead screw 394 rotates, the second seat 39 moves in the axial direction of the second lead screw 394.

Further, the limit position of the rightward movement of the second seat 39 is defined by a second spring retainer 398, as shown in fig. 12, the second spring retainer 398 is disposed on the second lead screw 394, and when the second seat 39 moves rightward (in the direction close to the instrument 42) and compresses the spring to the most contracted amount, the second seat 39 cannot move rightward any more, and the spring can avoid the second seat 39 from colliding with the second spring retainer 398 when moving to the limit position.

Similarly, the limit position of the leftward movement of the second seat 39 is defined by a rear limit body 397, which is provided on the second lead screw 394 as shown in fig. 12, and the second seat 39 cannot move leftward any more when moved leftward (in a direction away from the instrument 42) and brought into contact with the rear limit body 397.

By mechanically limiting the extreme positions of the second seat 39 in both directions, the maximum rotation angle of the instrument 42 can be controlled.

Moreover, the fixing manner of the pushing rod 46 and the second seat 39 has been described in detail in the foregoing embodiments, and is not described again here.

Therefore, when the drive plate 52 receives the instruction of the instrument to rotate along the Z-axis, the drive plate 52 drives the third motor 513 to rotate, and the power is transmitted along the output shaft of the third motor 513, the seventh coupling 53c, the eighth coupling 54c, the ninth coupling 55c, the second lead screw 394 and the second seat 39, so that the rotational motion of the third motor 513 is converted into the linear reciprocating motion of the second seat 39.

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 instrument 42 swinging (i.e., rotating about the Z-axis) will now be described with reference to FIGS. 15-17:

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 second seat 39 at one end and to the implement 42 at the other end, and when the second seat 39 moves, the pushing rod 46 is moved, so as to pull or push the implement 42, and the implement 42 is swung.

Specifically, the instrument rod 41 includes an outer tube 411 and an inner tube 412 coaxially disposed in the outer tube 411, a rotating head 413 is disposed at a first end of the outer tube 411, a limiting head 414 is disposed at a second end of the outer tube 411, a limiting ring 415 is disposed on an outer wall of the limiting head 414, and the first engaging groove 416 is disposed on the limiting ring 415 and engaged with the positioning protrusion 361 of the rotating shaft 36.

The inner tube 412 is disposed in the outer tube 411, and a first end of the inner tube 412 extends out of the outer tube 411 and enters the rotary head 413 to contact with a collar inside the rotary head 413; the second end of the inner tube 412 is disposed outside the retaining head 414 and contacts the end surface of the retaining ring 415 such that the inner tube 412 is retained between the rotating head 413 and the retaining head 414.

Further, the outer diameter of the inner tube 412 is the same as the inner diameter of the outer tube 411, so that the inner tube 412 and the outer tube 411 are tightly fitted to each other and can be rotated at one time.

Further, the first end of the inner tube 412 is further formed with a groove 4121 extending along the axial direction of the inner tube 412, and the groove 4121 is used for generating interference with the push rod 46, which will be described in detail below.

The push rod 46 is coaxially disposed inside the inner tube 412, and a first end of the push rod 46 is provided with an adapter 461, the adapter 461 being disposed in the inner tube 412.

The end connection of adapter 461 has swinging arms 462, and swinging arms 462's the other end articulates there is the clamping head 463, and the first end of clamping head 463 is connected with apparatus 42, and the second end and the rotating head 413 of clamping head 463 rotate to be connected, consequently when swinging arms 462 receive thrust or tensile effect, clamping head 463 drives apparatus 42 and rotates around its junction with rotating head 413 to it is rotatory around the Z axle to realize apparatus 42.

Specifically, both sides of the gripping head 463 are provided with connection planes 464, respectively, the upper end of the rotating head 413 is provided with an open slot, the end of the gripping head 463 is disposed in the open slot, the connection planes 464 contact with the inner wall of the rotating head 413, and the rotating head 413 and the connection planes 464 are connected by a pin, so that the gripping head 463 can rotate using the axis of the pin as a rotation axis.

The second end of the push rod 46 passes through the inner tube 412 and the limiting head 414 in sequence, and is connected with the clamping tube 465 outside the limiting head 414. Specifically, the second end of the push rod 46 extends into the clamping tube 465 to contact with the collar inside the clamping tube 465, and the third clamping groove 45 is disposed on the outer wall of the clamping tube 465 to be in clamping connection with the second clamping hole 391 on the second seat 39.

Wherein, the inside diameter of the clamping tube 465 is the same as the outside diameter of the push rod 46, so that when the second seat 39 moves and pulls the clamping tube 465 to move linearly, the push rod 46 also moves linearly, that is, the movement of the second seat 39 makes the push rod 46 move along the axis thereof, so that the swing rod 462 receives the action of pushing force or pulling force, and the clamping head 463 drives the device 42 to rotate.

It should be noted that in this embodiment, the connection manner among the seventh coupler 53c, the eighth coupler 54c and the ninth coupler 55c is the same as the connection manner among the first coupler 53a, the second coupler 54a and the third coupler 55a in the first embodiment, wherein the fifth spring 56c is disposed between the seventh coupler 53c and the third motor 513, and similarly, the assembly among the three couplers can be faster by the fifth spring 56c, which is not described again.

In summary, in the present embodiment, the rotary motion of the third motor 513 is transmitted to the second lead screw 394, the rotary motion of the second lead screw 394 is converted into the linear reciprocating motion of the second seat 39, and the linear reciprocating motion is converted into the swing motion (i.e., the rotation about the Z axis) of the tool 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 this embodiment, the side wall of the fixing base 100 is provided with a first hole 13 and a fourth hole 14, 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 13, and an output shaft of the second motor 512 is disposed in the fourth hole 14. In order to improve the utilization of space, 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 100 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 implement both the rotation of the instrument rod 41 along the X-axis and the opening or closing motion of the instrument rod 41 along the Y-axis, the instrument rod 41 is connected to the transmission seat 3 through the rotation shaft 36 and the first seat 40, and the connection manner is the same as that in the previous embodiment, and will not be described herein again.

Further, a traction rod 47 is coaxially disposed in the instrument rod 41, and the specific arrangement manner of the traction rod 47 has been described in detail in the foregoing embodiments, and is not described herein 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 404, the rotary motion of the first lead screw 404 is converted into the linear reciprocating motion of the first base 40, and the linear reciprocating motion is converted into the swing motion (i.e., the rotation about the Y 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 side wall of the fixing base 100 is provided with a first hole 13 and a seventh hole 15, the power source 51 includes a first motor 511 and a third motor 513, an output shaft of the first motor 511 is disposed in the first hole 13, and an output shaft of the third motor 513 is disposed in the seventh hole 15. 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 100 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 swinging of the instrument 42 along the Z-axis, the instrument rod 41 is connected to the driving seat 3 through the rotating shaft 36 and the second seat 39, and the connection manner is the same as the transmission manner in the previous embodiments, and will not be described again here.

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.

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 394, the rotational motion of the second lead screw 394 is converted into the linear reciprocating motion of the second base 39, 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 sidewall of the fixing base 100 is provided with a fourth hole 14 and a seventh hole 15, 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 fourth hole 14, and an output shaft of the third motor 513 is disposed in the seventh hole 15. 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 100 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 traction rod 47 is connected to the transmission seat 3 through the first seat 40, and the pushing rod 46 is connected to the transmission seat 3 through the second seat 39, and the connection manner is the same as that 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 100 is respectively provided with a first hole 13, a fourth hole 14 and a seventh hole 15, and the power source 51 comprises 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 13, an output shaft of the second motor 512 is disposed in the fourth hole 14, and an output shaft of the third motor 513 is disposed in the seventh hole 15. 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 100 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 36, and is connected to the driving seat 3 through the first seat 40 and the second seat 39, respectively, in the same manner as in the previous embodiments, and therefore, the detailed description thereof is omitted.

The connection between the driving mount 1, the spacer mount 2 and the driving mount 3 will be described in detail with reference to fig. 2 to 11.

As shown in fig. 2 and 3, the driving seat 3 and the isolation seat 2 are quickly linked through a first quick release structure.

The first quick release structure comprises a first positioning portion, wherein the first positioning portion comprises a first sliding groove 31 arranged at the bottom of the transmission seat 3 and a first sliding block 21 arranged on the isolation seat 2. The first slider 21 can be accommodated in the first slide groove 31 and slide along the first slide groove 31.

The first runner 31 is configured in two portions of unequal width, with a wider portion near one end of the implement attachment mechanism 4 and a narrower portion away from one end of the implement attachment mechanism 4, with a step 32 formed between the wider and narrower portions. The first slide block 21 of the isolation seat 2 is symmetrically provided with first positioning blocks 22 at both sides, and the first positioning blocks 22 comprise inclined grooves 221 and convex parts 222 (shown in fig. 4) positioned at the ends of the inclined grooves 221. During the process of introducing the first slider 21 into the first slide groove 31, the first positioning block 22 can abut on the step 32 of the first slide groove 31, thereby limiting the movement range of the transmission base 3 in the X direction. Thus, the driving seat 3 and the spacer 2 are completely positioned in the Y-axis direction and the X-direction by the first slider 21 and the first slide groove 31.

Further, the first quick release structure further includes a second positioning portion, the second positioning portion includes a protrusion 33 disposed at one end of the first sliding groove 31 far away from the apparatus connecting mechanism 4 (the protrusion 33 is located on the plane where the lower surface of the transmission seat 3 is located), a groove 23 is disposed at one end of the first sliding block 21 far away from the apparatus connecting mechanism 4, and when the transmission seat 3 slides to a state of being assembled with the isolation seat 2, the protrusion 33 can be accommodated in the groove 23. So that the isolation seat 2 and the transmission seat 3 are completely positioned in the Z-axis direction.

In order to facilitate the smooth guiding of the first slider 21 into the first sliding groove 321, a downwardly inclined guiding inclined surface 211 is provided at an end of the first slider 21 away from the instrument connecting mechanism 4 to reduce resistance when the first slider 21 enters the first sliding groove 31, thereby improving assembly efficiency.

As shown in fig. 2-6, the two sides of the transmission seat 3 are symmetrically provided with the first quick release assemblies 34, each first quick release assembly 34 includes a button 341, a guide block 342, a stop 343, and a small cylinder 344, which are connected in sequence, and the button 341, the guide block 342, the stop 343, and the small cylinder 344 are integrally formed. The small cylinder 344 is disposed at a central position of the stop 343, and the small cylinder 344 is sleeved with a second spring, preferably, an end surface of the stop 343 on which the small cylinder 344 is disposed is provided with a clamping portion 3441 to limit unnecessary movement of the second spring. The guide block 342 further includes an inclined portion 3421 (inclined upward) and a flat portion 3422, and the inclined portion 3421 allows the button start 341 to be always positioned above the side of the first positioning block 22 so as not to interfere with the first positioning block 22. A second positioning block 345 is provided on the lower surface of the position where the inclined part 3421 and the flat part 3422 are engaged. The width of the second positioning block 345 is smaller than the width of the chute 221, and when the lower surface of the transmission seat 3 contacts the upper surface of the isolation seat 2 and slides relatively along the X-axis, the second positioning block 345 is always located above the first positioning block 22. So that the second positioning block 345 can smoothly pass through the inclined groove 221 when the driving seat moves in the X-axis direction.

As shown in fig. 7, a guide groove 35 is provided on the transmission base 3 at a position corresponding to the first quick release assembly 34, and the flat portion 3422 of the guide block 342 can be received in the guide groove 35, so that the guide block 342 can move in the guide groove 35 along the Y-axis direction.

As shown in fig. 8, a second spring (not shown) is sleeved between the small cylinders 344 of the two first quick release assemblies 34, and the second spring abuts against the stop 343 of each first quick release assembly 34. Preferably, the second springs abut in the engaging portions 3441, respectively. The second spring enables the two first quick release assemblies 34 to quickly reset when the button 341 is released. As shown in fig. 9, when the transmission seat 3 and the isolation seat 2 are installed, the second positioning block 345 is clamped on the protrusion 222.

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

the lower 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, during the movement of the transmission seat 3, the second positioning block 345 on the first quick release assembly 34 enters the chute 221 of the first positioning block 22 (close to the outer side of the chute 221), and under the limiting and guiding effects of the chute 221, the second spring of the first quick release assembly 34 is gradually compressed to move the second positioning block 345 toward the direction close to the first slider 21, so that the second positioning block 345 can smoothly pass through the narrow part of the chute 221. The second positioning block 345 passes through the inclined slot 221 and then returns under the action of the second spring, and at this time, the second positioning block 345 is just clamped on the boss 222 of the first positioning block 22 (as shown in fig. 9), so that the transmission seat 3 is prevented from moving in the reverse direction of the X axis. And at this time, the projection 33 on the first sliding chute 31 and the groove 23 on the first sliding block 21 are just matched. At this time, the driving seat 3 and the isolation seat 2 are installed.

When the transmission seat 3 needs to be detached from the isolation seat 2, the buttons 341 on both sides are pressed simultaneously, at this time, the second positioning block 345 is no longer limited by the protrusion 222 of the first positioning block 22, the transmission seat 3 is pushed along the X-axis negative direction, the second positioning block 345 passes through the chute 221, at this time, the button 341 can be released, and the transmission seat 3 is continuously pushed along the X-axis negative direction, so that the detachment of the transmission seat 3 and the isolation seat 2 can be realized.

Returning to fig. 2 and 3, the isolation seat 2 and the driving seat 1 are quickly connected through a second quick release structure.

The second quick release structure comprises a third positioning portion, wherein the third positioning portion comprises a second sliding groove 24 formed in the bottom of the isolation seat 2 and a second sliding block 11 arranged on the driving seat 1, and the second sliding block 11 can be contained in the second sliding groove 24, so that the isolation seat 2 can slide along the length direction of the driving seat 1. The driving seat 1 and the isolation seat 2 are completely positioned in the Y-axis direction by the second slide block 11 and the second slide groove 24.

Further, the second quick release structure 7 further includes a fourth positioning portion, the fourth positioning portion includes a clamping block 25 disposed at one end of the bottom of the isolation seat 2 far away from the instrument connection mechanism 4 and an insertion block 26 disposed at one end of the isolation seat 2 close to the instrument connection mechanism 4, and the insertion block 26 extends along the length direction of the isolation seat 2. The driving seat 1 is provided with an insertion hole 27 which is matched with the insertion block 26, when the isolation seat 2 is installed on the driving seat 1, the insertion block 26 is inserted into the insertion hole 27, and simultaneously, the end part of the driving seat 1 far away from the instrument connecting mechanism 4 is clamped in the clamping block 25 of the isolation seat 2, so that the transmission seat 1 and the isolation seat 2 are completely positioned in the X-axis direction and the Z-axis direction.

As shown in fig. 10 and 11, the second quick release structure 7 further includes a second quick release assembly 12, and the second quick release assembly 12 includes a slot seat 121 and a linkage block 122 capable of being accommodated in the slot seat 121 and sliding up and down along the slot seat 121. The bottom of the slot seat 121 is provided with two

guide rods

1211 and 1212, and a third spring (not shown) is sleeved on each of the

guide rods

1211 and 1212. The linkage block 122 includes a third slider 1221 and a pressing rod 1222 provided on the third slider 1221 (the pressing rod 1222 is located near one end of the instrument connection mechanism 4), and the pressing rod 222 is integrally formed with the third slider 1221. The linkage block 122 is provided therein with a first cylindrical hole 1223, the position of the first cylindrical hole 1223 corresponds to the position of the first guide rod 1211, and the first guide rod 1211 can be accommodated in the first cylindrical hole 1223 after being sleeved with the third spring. The position of the first cylindrical hole 1223 may or may not correspond to the position of the pressing rod 1222, and the third slider 1222 can be moved downward in the socket 121 by pressing the pressing rod 1222. The linkage block 122 is further provided with a through hole 1223, the diameter of the lower portion of the through hole 1223 is larger than that of the upper portion of the through hole 1223, the linkage button 123 is arranged in the through hole 1223, the diameter of the lower portion of the linkage button 123 is larger than that of the upper portion of the linkage button 123, the lower portion of the linkage button 123 is accommodated in the lower portion of the through hole 1223, and the upper portion of the linkage button 123 is accommodated in the upper portion of the through hole. Thus, the steps formed at the upper and lower portions of the through hole 1223 are abutted against the steps formed at the upper and lower portions of the interlocking button 123. The linkage button 123 is provided inside with a second cylindrical hole 1231, the position of the second cylindrical hole 1231 corresponds to the position of the second guide rod 1212, and the second guide rod 1212 can be accommodated in the second cylindrical hole 1231 after being sleeved with the fourth spring.

Further, referring to fig. 2 and 3 again, the second quick release assembly 12 further includes a third locking hole 28 disposed at the bottom of the isolation seat 2 (the third locking hole 28 is located at an end close to the implement connecting mechanism 4), and when the isolation seat 2 is installed with the driving seat 1, the linkage button 123 is accommodated inside the third locking hole 28.

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 contacted with the upper surface of the driving seat 1, the isolation seat 2 is pushed along the length direction of the driving seat 1 (namely, the X-axis direction), and in the moving process of the isolation seat 2, the second sliding groove 24 at the bottom of the isolation seat 2 is matched with the second sliding block 11 on the upper surface of the driving seat, so that the movement of the isolation seat 2 is limited and guided.

The isolation seat 2 continues to move, the plug block 26 of the isolation seat 2 is inserted into the plug hole 27 of the driving seat, and the end (the end far away from the instrument) of the bottom plate of the driving seat 1 is clamped in the clamping block 25 of the isolation seat 2. Meanwhile, the linkage button 123 of the second quick release assembly is just accommodated in the third clamping hole 28 at the bottom of the isolation seat, so that the installation of the isolation seat 2 and the driving seat 1 is completed.

When the isolation seat 2 needs to be detached from the driving seat 1, only the pressing rod 1222 needs to be pressed, the third slider 1221 moves downward to drive the linkage button 123 to move downward, so that the linkage button 123 moves out of the third clamping hole 28 of the isolation seat 2, and at this time, the isolation seat 2 is pushed in the direction opposite to the mounting direction, so that the isolation seat 2 is separated from the driving seat 1. When the push rod 1222 is not stressed any more, the push rod 1222 and the link button 123 are reset by the second spring.

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 minimally invasive surgical instrument, comprising: a driving part, an instrument rod and an instrument which are connected in turn,

2. The minimally invasive surgical instrument according to claim 1, wherein the driving portion further comprises a driving seat, an isolation seat disposed on the driving seat, and a transmission seat disposed on the isolation seat,

3. The minimally invasive surgical instrument according to claim 2, wherein the transmission device includes:

4. The minimally invasive surgical instrument according to claim 2, wherein a positioning protrusion is arranged at the first end of the rotating shaft, a first clamping groove is arranged on the outer wall of the instrument rod, and the positioning protrusion can be clamped with the first clamping groove.

5. The minimally invasive surgical instrument according to claim 4, wherein an external thread is provided on the outer wall of the rotating shaft, a threaded sleeve is provided on the outer wall of the instrument rod, and the rotating shaft is connected with the instrument rod through the external thread and the threaded sleeve.

6. The minimally invasive surgical instrument according to claim 2, wherein a first seat is provided on the transmission seat, and the traction rod can be fixed on the first seat.

7. The minimally invasive surgical instrument according to claim 6, wherein a first clamping hole is arranged on the first seat, the axis of the first clamping hole is coincident with the axis of the rotating shaft, a first elastic clamping plate is arranged in the first clamping hole,

8. The minimally invasive surgical instrument according to claim 7, wherein two side walls of the instrument are provided with inclined holes with different directions, and a first end of the traction rod is connected with the instrument through a pin shaft arranged in the two inclined holes in a penetrating manner, so that when the traction is subjected to pushing force or pulling force, the two pin shafts slide in the inclined holes along different directions respectively, and the instrument is opened or closed.

9. The minimally invasive surgical instrument according to claim 3, wherein the second ends of the first and second couplers are respectively provided with a first groove and a second groove, the first ends of the second and third couplers are respectively provided with a first and second snap strip, the first snap strip is receivable in the first groove, the second snap strip is receivable in the second groove,

10. The minimally invasive surgical instrument according to claim 9, wherein second ends of the fourth and fifth couplers are respectively provided with a third groove and a fourth groove, first ends of the fifth and sixth couplers are respectively provided with a third strip and a fourth strip, the third strip is capable of being received in the third groove, and the fourth strip is capable of being received in the fourth groove,