CN112402018A

CN112402018A - Surgical robot and instrument seat power transmission device thereof

Info

Publication number: CN112402018A
Application number: CN202011374413.8A
Authority: CN
Inventors: 唐吉辉; 王了
Original assignee: Chongqing Jinshan Medical Robot Co ltd
Current assignee: Chongqing Jinshan Medical Robot Co ltd
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2021-02-26

Abstract

The invention discloses a surgical robot and an instrument seat power transmission device thereof, wherein the instrument seat power transmission device comprises: the sterile separation device comprises a linear shaft transmission mechanism, an instrument seat arranged on the linear shaft transmission mechanism, a sterile separation seat and an instrument actuator assembly; the instrument seat is provided with motor element and PCB circuit board subassembly, and PCB circuit board subassembly sets up along motor element's length direction, and PCB circuit board subassembly is located motor element to motor element's projection at least part. The length space occupied by the PCB circuit board assembly is reduced, and the length space occupied by the instrument seat can be effectively reduced, so that the volume of the instrument seat is reduced, the whole occupied space of the power transmission device of the instrument seat is reduced, and the miniaturization of the power transmission device of the instrument seat is favorably realized.

Description

Surgical robot and instrument seat power transmission device thereof

Technical Field

The invention relates to the technical field of medical instruments, in particular to a power transmission device of an instrument seat. In addition, the invention also relates to a surgical robot comprising the instrument seat power transmission device.

Background

With the application and development of robotics, medical surgical robots play an increasingly critical role in clinics. Minimally invasive medical techniques aim to reduce the amount of tissue that is damaged during diagnosis or surgery, thereby reducing patient recovery time, discomfort and harmful side effects.

The minimally invasive surgery is a process that a clinician simulates the actions of arms, wrists and fingers of a human through a master hand tool at a doctor console and controls the actions of the slave hand arms, instruments and end tools through a computer system telecentricity algorithm to complete various operations, such as: cutting and separating tissue, suturing and knotting operations, etc.

The instrument and the end tool need to complete corresponding operation actions, and a power device and a mechanical structure are required to provide power for the instrument and the end tool besides the control system and the master and slave hand motions. The conventional mechanical seat power transmission device is large in size, inconvenient in disassembly and not beneficial to later-stage maintenance.

In summary, how to reduce the volume of the power transmission device of the instrument base is a problem to be solved by those skilled in the art.

Disclosure of Invention

In view of the above, an object of the present invention is to provide a power transmission device for an instrument base, in which a PCB assembly is disposed along a length direction of a motor assembly, and the PCB assembly is at least partially overlapped with the motor assembly in the length direction, so as to reduce a length space occupied by the PCB assembly and shorten an overall length of the instrument base, thereby reducing a volume of the power transmission device for the instrument base and reducing a space occupied by the power transmission device for the instrument base.

Another object of the present invention is to provide a surgical robot comprising the above instrument holder power transmission device.

In order to achieve the above purpose, the invention provides the following technical scheme:

an instrument stand power transmission comprising: the sterile separation device comprises a linear shaft transmission mechanism, an instrument seat arranged on the linear shaft transmission mechanism, a sterile separation seat and an instrument actuator assembly;

the instrument seat is provided with motor element and PCB circuit board subassembly, PCB circuit board subassembly is followed motor element's length direction sets up, just PCB circuit board subassembly to motor element's projection at least part is located in the motor element.

Preferably, the instrument base further comprises an instrument base box and an instrument base shell which are arranged in a split mode, and the PCB assembly is mounted on the instrument base box.

Preferably, the PCB circuit board assembly is provided with a heat dissipation groove and a heat dissipation copper sheet, and the heat dissipation copper sheet is in contact with the instrument seat box.

Preferably, the instrument base further comprises an instrument base box and an instrument base shell which are integrally arranged, and the motor assembly is provided with a motor mounting plate for mounting the PCB circuit board assembly.

Preferably, the motor assembly comprises four motors, the four motors are arranged in a rectangular mode, and the PCB circuit board assembly is arranged in an area between the four mounting positions of the motors.

Preferably, the linear shaft transmission mechanism comprises an installation seat and a T-shaped guide structure arranged on the installation seat, and the instrument seat is provided with a matching portion used for matching with the T-shaped guide structure.

Preferably, the mechanical seat further comprises a fastening component for fixing the mechanical seat, and the T-shaped guide structure is provided with a positioning hole for matching with the fastening component.

Preferably, the aseptic partition seat is provided with a buckle assembly, and the instrument seat is provided with a clamping portion which is matched with and clamped or released by the buckle assembly.

Preferably, the instrument seat is provided with a first counting substrate and a first elastic contact pin mounted on the first counting substrate, the instrument actuator assembly is provided with a second counting substrate and an instrument guide pin mounted on the second counting substrate, the sterile partition seat is provided with a metal guide pin in a floating manner, one end of the metal guide pin is in contact with the first elastic contact pin, and the other end of the metal guide pin is in contact with the instrument guide pin.

A surgical robot comprising the instrument holder power transmission of any of the above.

During the process of using the instrument seat power transmission device provided by the invention, during the installation, the instrument seat, the sterile separation seat and the instrument actuator assembly are required to be installed on the linear bearing transmission mechanism, during the installation, the PCB circuit board assembly is arranged along the length direction of the motor assembly, and the projection of the PCB circuit board assembly to the motor assembly is at least partially positioned in the motor assembly, namely the motor assembly and the PCB circuit board have overlapped parts in the length direction.

Compared with the prior art, the occupied length space of the PCB circuit board assembly is reduced in the scheme, the occupied length space of the instrument seat can be effectively reduced, the size of the instrument seat is reduced, the whole occupied space of the instrument seat power transmission device is reduced, and the miniaturization of the instrument seat power transmission device is facilitated.

In addition, the invention also provides a surgical robot comprising the instrument seat power transmission device.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic structural view of an embodiment of the instrument holder power transmission provided in FIG. 1;

FIG. 2 is a schematic, partially cross-sectional view of the instrument holder power transmission of FIG. 1;

FIG. 3 is an enlarged fragmentary view of portion A of the instrument holder power transmission of FIG. 2;

FIG. 4 is an exploded view of a first embodiment of a robot base according to the present invention;

FIG. 5 is a schematic diagram of an embodiment of a cartridge assembly of the instrument holder of FIG. 4;

FIG. 6 is a schematic diagram of an embodiment of a PCB circuit board assembly of the tool holder of FIG. 4;

FIG. 7 is an exploded view of the PCB circuit board assembly of FIG. 6;

FIG. 8 is a schematic diagram of an embodiment of the instrument cover assembly of the instrument holder of FIG. 4;

FIG. 9 is an exploded view of a second embodiment of a robot base according to the present invention;

FIG. 10 is an exploded view of the PCB circuit board assembly and the motor assembly of FIG. 9;

FIG. 11 is a front view of the instrument holder power transmission provided by the present invention;

FIG. 12 is a schematic partial cross-sectional view taken along line B-B of FIG. 11;

fig. 13 is a partial enlarged view of portion C of fig. 12;

FIG. 14 is a schematic view, partially in section, of another position in FIG. 11;

fig. 15 is a partial enlarged view of portion D of fig. 14;

FIG. 16 is a schematic cross-sectional view of the instrument holder power transmission provided by the present invention;

fig. 17 is a partially enlarged view of portion F of fig. 16;

FIG. 18 is a schematic illustration of an installation procedure of a tool holder in the tool holder power transmission apparatus according to the present invention;

FIG. 19 is a schematic, partially cross-sectional view of the portion of the instrument holder of FIG. 18;

fig. 20 is a partially enlarged view of a portion E in fig. 19.

In FIGS. 1-20:

1600 is a linear shaft transmission mechanism, 1613 is a mounting seat, 1621 is a linear guide rail, 1622 is a guide rail slider, 1650 is a poking ferrule tube assembly, 1900 is an instrument seat, 1910 is an instrument seat box assembly, 1911 is an instrument seat box, 1912 is an output flange, 1913 is a compression spring, 1914 is an axial end retainer ring, 1915 is a wire clamp seat, 1916 is an instrument seat shell, 1917 is a guide rail cover plate, 1918 is a set screw, 1919, 1927, 1937, 1939, 1938, 1962, 1963, 1964, 1624, 1651, 1952 are screws, 1920 is a PCB circuit board assembly, 1921 is a PCB mounting plate, 1922, 1923 are shielding covers, 1924 is a heat dissipation copper sheet, 1925 is a motor mounting plate, 1926 is a temperature sensor, 1930 is an instrument seat cover assembly, 1931 is a bottom cover, 1932 is a light guide pillar, 1933 is a light guide pillar, 1934 is an indication fixing seat, 1935 is an indicator adapter plate, 6 is a fan assembly, 1940 is a motor assembly, 1942 is a motor assembly, 1944 is a motor base plate, a motor reducer is a first straight flow counter, and a first motor base plate is a, 1945 is a first elastic contact pin, 1951 is a counting substrate, 1961 is a compression spring sleeve, 1970 is a circuit board assembly, 6100 is an aseptic separating seat, 6112 is a separating seat cover plate, 6113 is an adapter flange, 6114 is a metal guide pin, 6120, 6130, 5170 and 5190 are fastening components, 5100 is an instrument actuator component, 5110 is an instrument base component, 5112 is a flange shaft, 5114 is a lower sheave, 5116 is an upper sheave, 5117 is a spring fastener, 5118 is a bearing, 5121 is a bearing frame, 5124 is a second counting substrate, 5125 is a second elastic contact pin, 5126 is an instrument guide pin, 5160 is an instrument box cover component, 5140 is a long rod component, 5150 is a wrist component and 5153 is an instrument end tool.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The core of the invention is to provide an instrument seat power transmission device, which can reduce the length of an instrument seat, thereby reducing the space occupied by the instrument seat power transmission device. The other core of the invention is to provide a surgical robot comprising the instrument seat power transmission device.

Please refer to fig. 1-20.

Fig. 1 is an overall block diagram of an instrument holder power transmission device, which includes a linear shaft transmission mechanism 1600, an instrument holder 1900 mounted on the linear shaft transmission mechanism 1600, an aseptic partition 6100, and an instrument effector assembly 5100, wherein one end of the linear shaft transmission mechanism 1600 is provided with a poking card sleeve assembly 1650, during mounting, a long rod assembly 5140 is mounted on the instrument effector assembly 5100, the end of the long rod assembly 5140 is provided with an instrument end tool 5153 and a wrist assembly 5150, and the instrument holder 1900 is mounted on a guide rail slider 1622 of the linear shaft transmission mechanism 1600; sterile divider 6100 has one side connected to instrument base 1900 and the other side connected to instrument effector assembly 5100; the instrument effector assembly 5100 is provided with an instrument base assembly 5110 and an instrument cap assembly 5160.

This embodiment provides an instrument seat power transmission device, includes: a linear shaft transmission 1600, an instrument holder 1900 mounted to the linear shaft transmission 1600, a sterile partition 6100, and an instrument effector assembly 5100; instrument base 1900 is provided with a motor assembly 1940 and a PCB circuit board assembly 1920, PCB circuit board assembly 1920 being disposed along a length of motor assembly 1940, and a projection of PCB circuit board assembly 1920 onto motor assembly 1940 being at least partially within motor assembly 1940.

During the process of using the instrument base power transmission device provided in this embodiment, during the installation, the instrument base 1900, the aseptic partition 6100, and the instrument actuator assembly 5100 need to be installed on the linear bearing transmission mechanism, and during the installation, the PCB circuit board assembly 1920 is disposed along the length direction of the motor assembly 1940, that is, the motor assembly 1940 and the PCB circuit board have overlapping portions in the length direction; compared with the prior art, the length space occupied by the PCB circuit board assembly 1920 is reduced, the length space occupied by the instrument seat 1900 can be effectively reduced, the size of the instrument seat 1900 is reduced, the whole occupied space of the power transmission device of the instrument seat is reduced, and the miniaturization of the power transmission device of the instrument seat is facilitated.

It should be noted that, as shown in fig. 4 and fig. 9, the length of the PCB circuit board assembly 1920 is less than or equal to the length of the motor assembly 1940, and the projection of the PCB circuit board assembly 1920 to the motor assembly 1940 is completely located in the motor assembly 1940, so that the PCB circuit board does not occupy extra space in the length direction during the process of mounting the PCB circuit board, the volume of the instrument base 1900 is reduced, and the space occupied by the power transmission device of the instrument base is further reduced.

Preferably, in order to reduce the space occupied by the power transmission device of the instrument base as much as possible, the type of the motor in the motor assembly 1940 needs to be selected, and in the selection process, the requirements of use are met, and meanwhile, the conditions of small size and convenience in installation need to be considered.

4-8, the instrument holder 1900 may further include a separately-arranged instrument holder case 1911 and instrument holder housing 1916, with the PCB circuit board assembly 1920 mounted to the instrument holder case 1911; the instrument holder housing 1916 is detachably connected to the instrument holder case 1911, and the instrument holder housing 1916 can be detached during maintenance, so that maintenance is facilitated.

As shown in fig. 4, the instrument mount 1900 includes an instrument mount cartridge assembly 1910, a PCB circuit board assembly 1920, and an instrument mount cover assembly 1930, wherein the instrument mount cartridge assembly 1910 includes: the instrument seat case 1911, the output flange 1912, the pressure spring 1913, the shaft end retaining ring 1914, the screw 1963 that is disposed through the shaft end retaining ring 1914, the wire clamp seat 1915, the screw 1964 that is used for installing the wire clamp seat 1915, the instrument seat housing 1916, the guide rail cover plate 1917, the screw 1919 that is used for installing the guide rail cover plate 1917, the speed reducer 1941, the direct current motor 1942, the encoder 1943, the counter substrate 1951, the screw 1952 that is used for installing the counter substrate 1951, the pressure spring housing 1961, and the screw 1962 that is installed near the pressure spring housing 1961. The reducer 1941, the direct current motor 1942 and the encoder 1943 are combined into a motor assembly 1940. PCB circuit board assembly 1920 includes: circuit board assembly 1970, PCB mounting board 1921, shield 1922/1923, heat sink copper 1924, temperature sensor 1926, screws 1927 for mounting PCB mounting board 1921. Instrument cover assembly 1930 comprises: bottom 1931, leaded light post 1932, leaded light post fixing base 1933 for installation leaded light post fixing base 1933's screw 1939, indicator lamp plate 1934, indicator lamp adapter plate 1935, fan 1936, a screw 1937 for installation indicator lamp adapter plate 1935, a screw 1938 for installation fan 1936.

In the installation process, the instrument seat case 1911 and the instrument seat housing 1916 are designed separately, the speed reduction motor and the output flange 1912 assembly are installed in the instrument seat case 1911, the PCB circuit board assembly 1920 is used as a separate installation module and is directly installed in the instrument seat case 1911 for maintenance, and the instrument seat housing 1916 is detachably installed and can be detached when installation and maintenance are needed.

The PCB mounting board 1921 is designed with heat sink slots and heat sink fins 1924 added to help dissipate heat from the circuit board assembly 1970, transfer the heat through the heat sink fins 1924 to the instrument well 1911 for dissipation, or blow away by a fan 1936. The instrument holder case 1911 and the instrument holder housing 1916 are of a split design to facilitate installation, adjustment, and maintenance.

As shown in fig. 5, the motor assembly 1940 is installed in the instrument seat housing 1916, the PCB circuit board assembly 1920 is installed in the instrument seat housing 1916 as an integral module, the instrument seat case 1911 and the instrument seat housing 1916 are designed separately, the instrument seat case 1911 can be disassembled during maintenance, so that the motor assembly 1940 or the PCB circuit board assembly 1920 can be conveniently taken out, in fig. 5, the wire clamp seat 1915 is installed through a screw 1964, and a buffer structure is arranged at one end of the motor assembly 1940 facing the instrument seat case 1911, and comprises an output flange 1912, a pressure spring 1913 and a screw 1963.

Preferably, as shown in fig. 5, four motor assemblies 1940 are provided, and the PCB circuit board assembly 1920 is mounted in the gap space formed by the four motor assemblies 1940.

As shown in fig. 6 and 7, the PCB circuit board assembly 1920 is a combined module structure, and in the installation process, the assembled PCB circuit board assembly 1920 can be installed as a whole module, which is convenient and fast.

As shown in fig. 8, light guide holder 1933 in instrument cover assembly 1930 is secured by screws 1939 and fan 1936 is secured by screws 1938.

To provide better rigidity to instrument holder 1900, instrument holder case 1911 and instrument holder housing 1916 may be provided as a unitary structure, with motor assembly 1940 provided with a motor mounting plate 1925 for mounting PCB circuit board assembly 1920.

As shown in fig. 9 and 10, the speed reducer 1941 and the output flange 1912 are designed as an integral module, and the PCB board assembly 1920 is mounted on the motor mounting plate 1925, so that the speed reducer can be mounted and dismounted module by module during mounting and maintenance, which is very convenient.

And during installation, to save space, the motor assembly 1940 may include four motors arranged in a rectangular shape, and the PCB circuit board assembly 1920 is installed in an area between the installation positions of the four motors.

As shown in fig. 10, the four motors are arranged in a rectangular shape, so that there is a certain gap in the middle of the installation position of the four motors, and the PCB assembly 1920 may be installed therein under a reasonable design. The four motors are distributed in a rectangular and symmetrical mode, the circuit board assembly 1970 forms a module, a shielding cover 1922/1923 is arranged outside the module and used for shielding interference generated by the magnetic field of the motors, and the PCB circuit board assembly 1920 is arranged in the middle of the rectangle formed by the layout of the motors, so that the layout space of the motors required by a transmission mechanism is fully utilized, and the overall structure is more compact; the PCB assembly 1920 and the motor installation assembly are designed into independent modules, so that the installation, wiring and maintenance are very convenient; the motor mentioned in this embodiment is a dc motor 1942.

It should be noted that the circuit board assembly 1970 is a combination of components disposed on the PCB 1921.

It should be noted that the number of the motors may also be other values, for example, six, three, and the like, which is determined according to the actual situation and is not described herein again.

As shown in fig. 18-20, linear shaft transmission 1600 includes a mounting base 1613 and a T-shaped guide structure disposed on mounting base 1613, and instrument base 1900 is provided with an engaging portion for engaging with the T-shaped guide structure.

It should be noted that the T-shaped guide structure is a guide rail with a T-shaped cross section, and during the use process, the instrument base 1900 can be directly inserted from one end of the T-shaped guide structure, so that the matching portion is matched with the T-shaped guide structure, thereby limiting the degree of freedom of the instrument base 1900; the T-shaped guide structure is a T-shaped cross section, and when the instrument seat 1900 is engaged with the T-shaped guide rail, the instrument seat 1900 is engaged with the grooves on both sides of the T-shaped guide rail to restrict the degree of freedom of the instrument seat 1900 so that it can only slide along the guide rail.

To enable the instrument holder 1900 to be secured in a desired position, a fastening component for securing the instrument holder 1900 may be further included, and the T-shaped guide structure is provided with a locating hole for cooperating with the fastening component.

As shown in fig. 19-20, the fastening member may be a set screw 1918, and during use, the position of the instrument holder 1900 may be locked by the set screw 1918, and preferably, an associated threaded hole may be provided in the instrument holder 1900 for engagement with the set screw 1918, and during use, the set screw 1918 may be tightened against the T-shaped guide structure by screwing the set screw 1918, thereby securing the instrument holder 1900.

Preferably, the T-shaped guide structure is a linear guide 1621, and the linear guide 1621 is mounted on the mounting block 1613 by screws.

Compared with the prior art, the installation mode of the instrument base 1900 is simple and convenient, is easy to operate, and can save installation time.

In another embodiment, a snap assembly may be provided on sterile divider 6100 and instrument holder 1900 provided with a snap portion that mates with and snaps out of engagement with the snap assembly.

The number and the positions of the fasteners need to be determined according to actual situations, and are not described herein.

As shown in fig. 14-15, the sterile separating base 6100 is provided with two oppositely arranged buckle assemblies 6120/6130, the instrument base 1900 is provided with a clamping portion, in the using process, when the sterile separating base 6100 needs to be installed, only the sterile separating base 6100 needs to be pressed downwards, the lower portion of the buckle assembly is provided with a bent buckle to be in contact with the clamping portion in the instrument base 1900, the clamping portion overcomes the friction force between the two and moves to the clamping position relative to the buckle, and the instrument base 1900 and the sterile separating base 6100 are clamped; when the aseptic separation base 6100 is required to be separated from the instrument base 1900, the button portion of the buckle assembly is only required to be pressed, so that the buckle and the clamping portion can be released from clamping cooperation, the aseptic separation base 6100 is lifted upwards, and the aseptic separation base 6100 and the buckle can be separated from each other.

Two buckle assemblies 5170/5190 can be arranged on the instrument actuator assembly 5100, and in the use process, when the instrument actuator assembly 5100 needs to be installed, only the instrument actuator assembly 5100 needs to be pressed downwards, the bent buckles on the lower portions of the buckle assemblies can be contacted with the clamping portion in the sterile separation seat 6100, the clamping portion overcomes the friction force between the two parts and moves to the clamping position, and the instrument actuator assembly 5100 is clamped with the sterile separation seat 6100; when the sterile partition 6100 is to be separated from the instrument actuator assembly 5100, the button portion of the clip assembly is simply pressed, so that the clip and the clip portion can be disengaged from each other, the instrument actuator assembly 5100 is lifted upwards, and the two can be separated.

On the basis of the above embodiment, as shown in fig. 11-13, instrument holder 1900 is provided with first counter substrate 1944 and first elastic contact pin 1945 mounted on first counter substrate 1944, instrument actuator assembly 5100 is provided with second counter substrate 5124 and instrument guide pin 5126 mounted on second counter substrate 5124, aseptic partition 6100 is floatingly provided with metal guide pin 6114, and one end of metal guide pin 6114 is in contact with first elastic contact pin 1945, and the other end is in contact with instrument guide pin 5126; so that the metal guide pin 6114 is in contact with and conducted to transmit the working state signal and the information of the number of uses of the instrument.

It should be noted that one end of the second elastic contact pin 5125 is connected to the second counter substrate 5124, and the other end is connected to the instrument guide pin 5126, so that the metal guide pin 6114 is in contact with the instrument guide pin 5126 and then is communicated with the second counter substrate 5124.

As shown in fig. 16-17, four sets of floating adaptor flanges 6113 are provided in sterile divider 6100, with lower ends mating with four sets of output flanges 1912 on instrument base 1900, and upper ends mating with the large and small flange shafts of instrument effector assembly 5100, respectively. The output flange 1912, the adapting flange 6113 and the flange shaft 5112 are all provided with conical concave-convex grooves which are matched to transmit the torque of the motor; a spring catch 5117, a bearing 5118, and a carrier 5121 are provided.

A group of grooved wheels are respectively arranged on the large flange shaft and the small flange shaft, the lower grooved wheel 5114 is matched with the flange shaft 5112 through a key groove, and the upper grooved wheel 5116 is matched with the lower grooved wheel 5114 through end face teeth, so that the effect of synchronous rotation together is achieved, and meanwhile, the traction body is driven to move. The equipment has four groups of similar transmission mechanisms, and the required actions of the tool at the tail end of the instrument are completed by controlling the different motions of the four groups of mechanisms so as to assist a clinician in carrying out various operations.

In order to detect whether the aseptic partition 6100 is installed in place, a detection device formed by combining a hall sensor and a magnet may be provided, wherein the hall sensor is disposed on the instrument base 1900, the aseptic partition 6100 includes a partition bottom plate and a partition cover 6112, and the partition bottom plate is provided with a mounting hole for mounting the magnet.

In addition to the above instrument seat power transmission device, the present invention also provides a surgical robot including the instrument seat power transmission device disclosed in the above embodiments, and the structure of other parts of the surgical robot refers to the prior art and is not described herein again.

It should be noted that the first and

second counter substrates

1944 and 5125, and the first and second

elastic contact pins

1945 and 5125 are mentioned in this document only to limit the difference of the positions, and are not described in order.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. Any combination of all embodiments provided by the present invention is within the scope of the present invention, and will not be described herein.

The surgical robot and the instrument seat power transmission device thereof provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims

1. An instrument stand power transmission device, comprising: a linear shaft transmission mechanism (1600), an instrument base (1900) mounted on the linear shaft transmission mechanism (1600), a sterile separation base (6100), and an instrument actuator assembly (5100);

the instrument base (1900) is provided with a motor assembly (1940) and a PCB circuit board assembly (1920), the PCB circuit board assembly (1920) is arranged along the length direction of the motor assembly (1940), and the projection of the PCB circuit board assembly (1920) to the motor assembly (1940) is at least partially positioned in the motor assembly (1940).

2. The instrument holder power transmission of claim 1, wherein the instrument holder (1900) further comprises a separately disposed instrument holder case (1911) and an instrument holder housing (1916), the PCB circuit board assembly (1920) being mounted to the instrument holder case (1911).

3. The instrument holder power transmission of claim 2, wherein the PCB circuit board assembly (1920) is provided with a heat sink and a heat sink copper (1924), the heat sink copper (1924) being in contact with the instrument holder case (1911).

4. The instrument holder power transmission of claim 1, wherein the instrument holder (1900) further comprises an integrally provided instrument holder case (1911) and instrument holder housing (1916), the motor assembly (1940) being provided with a motor mounting plate (1925) for mounting the PCB circuit board assembly (1920).

5. The instrument holder power transmission of claim 4, wherein the motor assembly (1940) includes four motors, the four motors being arranged in a rectangular configuration, the PCB circuit board assembly (1920) being mounted in an area between the mounting locations of the four motors.

6. The instrument holder power transmission according to any of claims 1-5, wherein the linear shaft transmission (1600) comprises a mounting base (1613) and a T-shaped guide structure provided to the mounting base (1613), the instrument holder (1900) being provided with an engagement portion for engaging with the T-shaped guide structure.

7. The instrument holder power transmission of claim 6, further comprising a fastening component for securing the instrument holder (1900), the T-shaped guide structure being provided with a positioning hole for cooperation with the fastening component.

8. The instrument holder power transmission according to any of claims 1-5, wherein the sterile partition holder (6100) is provided with a snap-fit assembly, and the instrument holder (1900) is provided with a snap-fit portion that is cooperatively snapped in or snapped out of the snap-fit assembly.

9. The instrument holder power transmission of any one of claims 1-5, wherein the instrument holder (1900) is provided with a first counter substrate (1944) and first resilient contact pins (1945) mounted to the first counter substrate (1944), the instrument actuator assembly (5100) is provided with a second counter substrate (5124) and instrument guide pins (5126) mounted to the second counter substrate (5124), the aseptic partition holder (6100) is floatingly provided with metallic guide pins (6114), and one end of the metallic guide pins (6114) is in contact with the first resilient contact pins (1945) and the other end is in contact with the instrument guide pins (5126).

10. A surgical robot comprising the instrument holder power transmission of any of claims 1-9.