CN112472161A

CN112472161A - Surgical instrument device and surgical robot

Info

Publication number: CN112472161A
Application number: CN202011509620.XA
Authority: CN
Inventors: 查传兵; 高元倩; 王建辰
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2020-12-19
Filing date: 2020-12-19
Publication date: 2021-03-12

Abstract

The invention discloses a surgical instrument device and a surgical robot, wherein the surgical instrument device comprises a main control box and a driving box connected with the main control box, the main control box comprises a shell and a rotating part which is connected with one end of the shell close to the driving box and can rotate relative to the shell, the driving box comprises a box body and an extending part which extends from the periphery of the box body to the direction of the main control box, and the rotating part is used for being matched with the extending part to fix the main control box on the driving box when rotating relative to the shell in a first direction; the rotating part is also used for separating from the extending part when the rotating part rotates relative to the shell in a second direction opposite to the first direction, so that the main control box is separated from the driving box. The invention can solve the technical problem that the existing surgical instrument device is easy to be damaged and can not be normally used in the sterilization process.

Description

Surgical instrument device and surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a surgical instrument device and a surgical robot.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, wherein the main operation table is used for sending control commands to the slave operation device according to the operation of a doctor so as to control the slave operation device, and the slave operation device is used for responding to the control commands sent by the main operation table and carrying out corresponding surgery operation.

The slave operation device generally includes a mechanical arm, a power mechanism disposed on the mechanical arm, and a surgical instrument, where the mechanical arm is used to adjust the position of the instrument, the surgical instrument is used to extend into the body and perform a surgical operation, and the power mechanism is used to drive a distal end instrument of the surgical instrument to perform a corresponding operation. End instruments include endoscopes for viewing the surgical field and end effectors for performing surgical procedures (e.g., jaws, scissors, and needle holders). These surgical instruments, because they are in close proximity to the focal region of the patient, require separate sterilization. However, the surgical instruments include a motor, a sensor, an encoder, an electrical connector, etc., and thus, sterilization cannot be performed by steam, heat, pressure, or chemical means, which may cause damage to the surgical instruments during sterilization, thereby preventing normal use of the surgical instruments.

Disclosure of Invention

The invention mainly aims to provide a surgical instrument device and a surgical robot, and aims to solve the technical problem that the conventional surgical instrument is easily damaged in the sterilization process and cannot be normally used.

In order to achieve the above object, the present invention provides a surgical instrument device, comprising a main control box and a driving box connected with the main control box,

the main control box comprises a shell and a rotating part which is connected with one end of the shell close to the driving box and can rotate relative to the shell,

the driving box comprises a box body and an extension part extending from the periphery of the box body to the direction of the main control box,

the rotating part is used for being matched with the extending part to fix the main control box on the driving box when the rotating part rotates towards a first direction relative to the shell; the rotating part is also used for separating from the extending part when the rotating part rotates relative to the shell in a second direction opposite to the first direction, so that the main control box is separated from the driving box.

Preferably, the extending part is concavely provided with a limiting groove towards the first direction, and the inner side wall of the rotating part is convexly provided with a convex part;

the protruding part is used for the rotating part relative the casing to when first direction is rotatory, the card is gone into the spacing groove and will the main control box is fixed in on the drive box the rotating part is relative the casing to with when the second direction opposite to first direction is rotatory, follow deviate from in the spacing groove, so that the main control box with the drive box separation.

Preferably, the main control box further comprises a connecting portion disposed in the rotating portion, the housing comprises a chassis for fixedly connecting with the connecting portion, a bearing portion is disposed on one side of the rotating portion away from the driving box and protruding inwards, the main control box further comprises a fixing portion for bearing on the bearing portion, the fixing portion is circumferentially and inwardly provided with a plurality of mounting portions, the chassis is provided with a plurality of matching portions at positions corresponding to the fixing portion,

the installation department be used for with the cooperation portion cooperates, so that the rotating part is in the fixed part with rotate between the chassis.

Preferably, the main control box further comprises an elastic part arranged between the bearing part and the chassis, and the elastic part is used for respectively abutting against the bearing part and the chassis.

Preferably, the main control box is further including locating connecting portion in the rotating part, the lateral wall epirelief of connecting portion is equipped with first lug, the inside wall epirelief of extension is equipped with the second lug, first lug be used for with the second lug buckle will connecting portion with box body fixed connection.

Preferably, the housing includes a bottom plate for connecting with the connecting portion, the bottom plate is provided with one or more protruding rib portions protruding outwards along a periphery, and the protruding rib portions are used for abutting against the top wall of the extending portion facing the housing after the first protruding block and the second protruding block are buckled, so as to limit the connecting portion from moving further towards the housing.

Preferably, the main control box is still including locating connecting portion in the rotating part, still protruding slider that is equipped with on the lateral wall of connecting portion, the extension is in corresponding the position of slider to the direction that deviates from the main control box is equipped with the spout in a concave way, the slider be used for with the spout cooperation is in order to restrict connecting portion is relative the main control box to first direction or the second direction is rotatory.

Preferably, the main control box further comprises a connecting part arranged in the rotating part, and the connecting part is convexly provided with a positioning part towards the direction of the shell; the shell comprises a chassis used for being connected with the connecting part, a through groove is concavely arranged on the periphery of the chassis, and the positioning part is used for being matched with the through groove so that the shell is fixed with the connecting part.

Preferably, the main control box is still including locating connecting portion in the rotating part, the casing including be used for with the chassis that connecting portion are connected, and certainly the chassis is to keeping away from the body that the drive box direction extends, two the operation position is located the relative both sides of body.

Preferably, the surgical instrument device further comprises a connector connected with the driving box, the driving box further comprises a box body connected with the main control box, a base arranged in the box body, a support fixedly arranged on the base and a control piece pivoted on the support, the control piece comprises a propping part far away from one side of the main control box and a control part, one end of the control piece extends out of the driving box and is positioned on one side of the main control box, and the other end of the control piece is connected with the propping part and is pivoted on the support; the connector is provided with a fastener, and the fastener is used for penetrating through the base and being buckled with the base; the control part is used for driving the abutting part to abut against the fastener when one end of the driving box is subjected to acting force, so that the abutting part is separated from the base, and the driving box is separated from the connector.

Preferably, the control part comprises an operation part extending out of the driving box and located on one side of the main control box, and a reversing part pivoted on the support, one end of the reversing part is movably connected with the operation part, the other end of the reversing part is movably connected with the abutting part, and the operation part is used for driving the reversing part to move when being operated, so that the abutting part is driven to abut against the fastener, and the fastener is separated from the base.

Preferably, the operating part comprises a first rotating shaft pivoted on the bracket, a pressing part arranged opposite to the first rotating shaft and a main driving shaft; the reversing part comprises a second rotating shaft pivoted on the bracket, a driven shaft arranged opposite to the second rotating shaft and a first movable end with a first movable groove; the abutting part comprises a third rotating shaft pivoted on the bracket, an abutting part arranged opposite to the third rotating shaft and a second movable end provided with a second movable groove;

the main driving shaft is used for being movably connected into the first movable groove, and the auxiliary driving shaft is used for being movably connected into the second movable groove; the interference part is used for interfering with the fastening piece;

the pressing part is used for driving the main driving shaft to rotate outwards relative to the first rotating shaft and driving the first movable end to rotate outwards when acting force is applied, so that the auxiliary driving shaft rotates inwards relative to the second rotating shaft and drives the second movable end to rotate inwards, and the abutting part abuts against the fastening piece outwards relative to the third rotating shaft.

Preferably, the reversing part further comprises an intermediate part pivoted to the second rotating shaft, one end of the intermediate part is connected with the driven shaft, the other end of the intermediate part is connected with the first movable end, the driven shaft is parallel to the first movable end, and the intermediate part is parallel to the base,

the middle part is used for rotating relative to the base when the driven shaft rotates inwards relative to the second rotating shaft, so that the driven shaft rotates inwards relative to the second rotating shaft.

Preferably, the first rotation axis is parallel to the base, the second rotation axis is perpendicular to the base, and the third rotation axis is parallel to the base.

Preferably, the driving box has a symmetric center line and a center point located on the symmetric center line, a line connecting a position of the abutting portion projected onto the base and the center point is a first line, a line connecting a position of the operating portion projected onto the base and the center point is a second line, an included angle between the first line and the symmetric center line is an acute angle, and the second line is perpendicular to the symmetric center line.

Preferably, the main control box further comprises a via hole formed in the housing, and one end of the control part extends out of the via hole.

Preferably, the connector to the protruding two stands that are equipped with relative setting of direction of drive box, two stands are in line on the connector is spacing line, the box body to the protruding spacing portion that is equipped with of direction of connector, spacing portion is used for the card to go into between two stands and contradict with two stands, in order to restrict the box body along spacing line is relative the connector removes.

Preferably, the surgical instrument device further includes a link connected to the drive cassette and passing through the connector, and an image capturing part connected to the link.

To achieve the above object, the present invention also provides a surgical robot including the surgical instrument device as described above.

The surgical instrument device and the surgical robot provided by the invention are provided with the rotating part which can rotate relative to the shell of the main control box and the extending part which extends from the periphery of the box body of the driving box to the direction of the main control box, so that when the rotating part rotates relative to the shell to the first direction, the rotating part is matched with the extending part to fix the main control box on the driving box, and when the rotating part rotates relative to the shell to the second direction opposite to the first direction, the rotating part is separated from the extending part, thereby separating the main control box from the driving box. Like this, dismantle through rotatory mode the main control box to the surgical instruments device who will dismantle the main control box sterilizes, thereby can avoid various structures in the main control box of surgical instruments device appear damaging in the sterilization process, thereby can ensure the normal use of surgical instruments device.

Drawings

FIG. 1-1 is a schematic structural view of an embodiment of a surgical robot of the present invention;

FIGS. 1-2 are schematic views of a surgical instrument of the present invention in a hand-held application;

FIG. 2 is a schematic structural view of one embodiment of the surgical device of the present invention;

FIG. 3 is a schematic view showing the structure of the driving case and the connector in the process of assembling the driving case according to the present invention;

FIG. 4 is a schematic view of a partially exploded configuration of the surgical instrument assembly of the present invention;

FIG. 5 is a schematic diagram of the signal processing module shown in FIG. 4;

fig. 6 is a schematic diagram of a partially exploded structure of the main control box of fig. 4;

FIG. 7 is a schematic view of an assembly structure of the driving box of FIG. 4;

FIG. 8 is a schematic diagram of an assembly structure of the main control box in FIG. 4;

FIG. 9 is a schematic structural view of the rotary part in FIG. 4;

FIG. 10 is a schematic view of the structure of FIG. 3 with the main control box and the box body removed;

FIG. 11 is a schematic structural view of the control member of FIG. 10;

FIG. 12 is a schematic view showing the construction of the cartridge of the present invention before it is assembled with the connector;

fig. 13 is a schematic top view of fig. 2.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

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.

It should be noted that all directional indicators (such as up, down, left, right, front, and back) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

As shown in fig. 1-1, the present invention provides a surgical robot 1000, the surgical robot 1000 comprising a master console 200 and a slave operation device 300, the master console 200 being configured to transmit a control command to the slave operation device 300 according to a doctor's operation to control the slave operation device 300; the slave operation device 300 is used for responding to the control command sent by the master console 200 and performing the corresponding operation. The slave operation apparatus 300 includes a robot arm 301, a power mechanism (not shown) provided on the robot arm 301, a surgical instrument device (not shown), an image host 302, and an image display 303. The surgical instrument device is used for extending into a body under the driving action of the power mechanism, performing surgical operation through the end effector positioned at the far end, acquiring an image signal in the body through the image acquisition part positioned at the far end, and transmitting the acquired image signal to the image host 302. The image host 302 is configured to perform analysis processing on the received image signal, for example, perform decoding processing on the received image signal, and then output a video signal to the image display 303 for displaying. Of course, the image host 302 may also perform noise reduction, white balance, and other processing on the received image signal to obtain an image with higher picture quality. The main operating table is also used for displaying images acquired by the endoscope.

As shown in fig. 1-2, the surgical instrument 100 is also suitable for a handheld application scenario, and therefore, the surgical instrument 100 provided in this embodiment may be suitable for an application scenario in which a surgical robot is controlled to perform a surgical operation, and may also be suitable for an application scenario in which a surgical operation is performed in a handheld manner.

The present invention provides a surgical instrument 100 that may be an instrument having an endoscope for viewing a surgical field or an instrument having an end effector for performing a surgical procedure. Hereinafter, the instrument with the endoscope will be described as an example. The surgical instrument may be a bendable structure or an inflexible structure. It is to be understood that the surgical instrument may be an instrument suitable for single-hole surgery or a multi-hole surgery, as will be described in more detail below.

As shown in fig. 2 and 3, the surgical instrument 100 suitable for the single-hole surgery includes a main control box 1, a driving box 2 connected to the main control box 1, and an image capturing unit 5 connected to the driving box 2. Wherein, the driving box 2 is detachably connected with the connector 4, and the surgical instrument 100 and the connector 4 form a surgical instrument device. The image acquisition part 5 further comprises a connecting rod 51 connected with the driving box 2 and passing through the connector 4, and an image acquisition part 5 arranged at the tail end of the connecting rod 51, wherein the image acquisition part 5 is used for acquiring an image signal of a lesion area of a patient, and the image signal specifically comprises a target tissue image of the lesion area and an operation process image of an end effector executing an operation.

Further, the main control box 1 is used for accommodating structures such as a motor, an encoder, a signal processing module, an electric connector and the like. As shown in fig. 4, the main control box 1 includes a housing 11, a connecting portion 21 fixedly connected to the housing 11, a rotating portion 22 connected to an end of the housing 11 close to the driving box 2 and rotatable with respect to the housing 11, an elastic portion 23 located between the rotating portion 22 and the housing 11, and a signal processing module 15 and the like accommodated in the housing. The housing 11 and the connecting portion 21 may be fixed by a snap connection, or may be fixed by a screw connection. The connecting portion 21 is provided in the rotating portion 22.

Further, the housing 11 includes a chassis 12 for fixedly connecting with the connecting portion 21, and a body 13 extending from the chassis 12 in a direction away from the connector 4. The chassis 12 may have a circular shape, and the body 13 may have a rectangular or square shape. When the body 13 is rectangular in shape, the length of the body 13 may be smaller than the diameter of the chassis 12. The shape and size of the body 13 can be adjusted according to the size of the signal processing module 15 and other structures accommodated in the body 13. It is understood that the connecting portion 21 and the housing 11 enclose a receiving space (not shown in the drawings) for receiving the signal processing module 15, etc., that is, the body 13 receives one part of the signal processing module 15, etc., and the connecting portion 21 receives another part of the signal processing module 15, etc.

Further, when receiving the image signal transmitted by the image capturing part 5, the signal processing module 15 converts the image signal into a target signal, and transmits the target signal to the image host 302. Wherein a transmission distance of the target signal is greater than a transmission distance of the image signal. Therefore, the situation of signal attenuation in the process of transmitting the image signal acquired by the image acquisition part 5 to the image host 302 can be avoided, so that the situation of distortion of the picture displayed on the image display 303 can be avoided, and the picture quality of the operation area can be improved.

In an embodiment, the signal processing module 15 includes a first processing unit (not shown), a second processing unit (not shown), and a third processing unit (not shown) connected in sequence. The first processing unit is used for converting the image signal into a low-voltage differential signal and sending the low-voltage differential signal to the second processing unit; the second processing unit is used for decoding the received low-voltage differential signal and carrying out optical signal coding on the decoded low-voltage differential signal to obtain an optical coded signal; the third processing unit is configured to receive the optical coded signal transmitted by the second processing unit, and convert the optical coded signal into an optical signal, so as to transmit the optical signal to the image host 302 as the target signal. It is understood that the image host 302, after receiving the optical signal, converts the optical signal into an electrical signal for further analysis and processing. The embodiment is applicable to a processing method of conducting through an optical cable. By converting the image signal into an optical signal and transmitting the optical signal to the image host 302 through an optical cable, signal attenuation can be avoided during the transmission of the signal to the image host 302.

In another embodiment, the signal processing module 15 includes a first processing unit, a second processing unit, and a third processing unit, which are sequentially connected to each other and are disposed in the main control box, wherein the first processing unit 251 is configured to convert the image signal into a low-voltage differential signal and send the low-voltage differential signal to the second processing unit 252; the second processing unit 252 is configured to decode the received low-voltage differential signal, and perform SDI (serial digital interface) signal encoding on the decoded low-voltage differential signal to obtain an SDI encoded signal; the third processing unit 253 is configured to receive the SDI encoded signal transmitted by the second processing unit and convert the SDI encoded signal into an SDI signal to transmit the SDI signal as the target signal to the image host 302. At this time, the SDI signal may also be subjected to addition processing to make the signal quality transmitted to the image host 302 higher. It is understood that the present embodiment applies to the processing method of conducting through the cable. By converting the image signal into the SDI signal and transmitting the SDI signal to the image host 302 through a cable, signal attenuation of the signal during transmission to the image host 302 can be prevented.

As shown in fig. 5, the first processing unit includes a first PCB 254 disposed in the main control box and a first chip (not shown in the figure) disposed on the first PCB 254, the second processing unit includes a second PCB 255 disposed in the main control box and a second chip (not shown in the figure) disposed on the second PCB, the third processing unit includes a third PCB 256 disposed in the main control box and a third chip (not shown in the figure) disposed on the third PCB 256, and the first PCB 254, the second PCB 255, and the third PCB 256 are sequentially stacked in a direction away from the image collecting portion. It is understood that the present invention is not limited to the number of processing units and PCB boards, and the specific number depends on the structural size of the main control box. Specifically, according to the size of the main control box, the number of the processing units and the number of the PCB boards may be only 1, and in other embodiments, the number of the processing units and the number of the PCB boards may also be 2.

Further, as shown in fig. 4, the rotation portion 22 may be a hollow round shell structure, and a bearing portion 221 is protruded inward on a side of the rotation portion 22 away from the connector 4. The main control box 1 further comprises a fixing portion 24 for being carried on the carrying portion 221, the fixing portion 24 is provided with 1 or more mounting portions 240 protruding inwards along the circumferential direction, and the chassis 12 is provided with a plurality of matching portions 121 at positions corresponding to the fixing portion 24. The mounting portion 240 is configured to engage with the engaging portion 121 to rotate the rotating portion 22 between the fixed portion 24 and the chassis 12. The mounting portion 240 and the engaging portion 121 may be fixed by a snap connection or a screw connection. In this embodiment, the bearing portion 221 may be a complete ring-shaped structure protruding along the circumference of the rotating portion 22, or may be one or more sections of protruding ribs protruding along the circumference of the rotating portion 22. Correspondingly, the fixing portion 24 may be a complete ring-shaped structure made of metal, a complete ring-shaped structure made of plastic, or a convex edge-shaped structure made of other materials. When the connector is mounted, the body 13 passes through the rotating portion 22 until the supporting portion 221 abuts against the chassis 12, specifically, the stopping wall (not shown) on the side of the rotating portion 22 close to the connector 4 abuts against the abutting wall (not shown) on the side of the chassis 12 far from the connector 4. At this time, the rotation portion 22 covers the connection portion 21. That is, the swivel portion 22 may swivel relative to the chassis 12.

Further, in an embodiment, as shown in fig. 6, the mounting portion 240 and the matching portion 121 are both of a hole-shaped structure, the connecting portion 21 is also provided with a mounting hole 210 at a position corresponding to the mounting portion 240 and the matching portion 121, and the main control box 1 may further include a stud (not shown in the figure) which sequentially passes through the mounting portion 240, the matching portion 121 and the mounting hole 210 and is fixed on the connecting portion 21, so as to fix the rotating portion 22, the housing 11 and the connecting portion 21. The connecting portion 21 may be provided with a positioning portion 211 protruding toward the housing 11, and the chassis 12 is provided with a through groove 122 matching with the positioning portion 211 along the circumference. Because the body 13 needs to accommodate one part of the signal processing module 15 and other structures, and the connecting portion 21 needs to accommodate the other part of the signal processing module 15 and other structures, the directions of the accommodating space of the body 13 and the accommodating space of the connecting portion 21 need to be consistent, and the operator can directly install the signal processing module through the guiding function of the positioning portion 211 without finding out the position mismatch after the housing 11 is installed on the connecting portion 21, and the step of adjustment is needed, so that the installation efficiency can be improved. When the positioning portion 211 is engaged with the through groove 122 during installation, the installation portion 240 is matched with the position of the matching portion 121, and when the installation portion 240 is matched with the matching portion 121, the housing 11 is fixed on the connecting portion 21 in a predetermined direction.

Further, the elastic portion 23 is located between the bearing portion 221 and the chassis 12, when the fixing portion 24 fixes the bearing portion 221 between the fixing portion 24 and the chassis 12, a side wall of the elastic portion 23 on a side away from the connector 4 abuts against the bearing portion 221, and a side wall of the elastic portion 23 on a side close to the connector 4 abuts against the chassis 12. It is understood that the installation direction may be referred to as a length direction of the surgical instrument 100, and the installation direction may be a direction in which the surgical instrument is stacked in sequence toward the connector 4, or a scheme in which the surgical instrument is stacked in sequence away from the connector 4.

Optionally, the side wall of the rotating portion 22 is corrugated to increase the friction between the hand of the operator and the rotating portion 22, so as to facilitate the rotation of the rotating portion 22, thereby avoiding the occurrence of slipping.

Optionally, the sidewall of the rotating portion 22 is provided with a plurality of heat dissipation holes (not shown) to reduce the heat of the signal processing module 15 and other structures in the connecting portion 21.

As shown in fig. 4, the driving box 2 includes a box body 31 connected to the main control box 1, an extending portion 32 extending from the periphery of the box body 31 to the direction of the main control box 1, a base 33 disposed in the box body 31, a bracket 34 fixedly disposed on the base 33, and a control member 35 pivotally connected to the bracket 34. It is understood that the box body 31 may be directly connected to the main control box 1, or may be indirectly connected to the main control box 1. In this embodiment, the box body 31 is indirectly connected to the main control box 1, and specifically, the box body 31 is connected to the rotating portion 22 of the main control box 1 through the extending portion 32.

Further, as shown in fig. 6, the first protrusion 212 and the slider 213 are convexly disposed on the outer side wall of the connecting portion 21, and may or may not be adjacent to each other. A second protrusion 321 adapted to the first protrusion 212 is convexly disposed on the inner sidewall of the extension portion 32, and a sliding slot 322 is concavely disposed at a position corresponding to the sliding block 213 toward the connector 4. The base plate 12 is provided with one or more protruding edge portions 123 protruding outwards along the periphery. When mounting, the sliding block 213 may be slid into the sliding groove 322, so as to guide the connecting portion 21 to be fixed to the driving box 2 in a predetermined direction. Then, the first protrusion 212 is snapped with the second protrusion 321 to fixedly connect the connecting portion 21 with the box 31. After the first protrusion 212 and the second protrusion 321 are snapped, the protruding edge 123 and the extending portion 32 abut against the top wall 110 of the housing 11, so as to limit the connecting portion 21 from moving further toward the housing 11.

It can be understood that, since signal transmission is also required between the main control box 1 and the driving box 2, matching of the electrical connector interface is also involved. Specifically, as shown in fig. 7, the drive cartridge further includes an electrical connector 39 having a plurality of contact pins 390 disposed within the cartridge body. As shown in fig. 8, an electrical connector holder 257 having a plurality of needle holders 258 is provided on the side of the signal processing module 15 facing the image capturing section 5. The contact pin 390 of the electrical connector 39 is used to be inserted into the needle seat 258 of the electrical connector seat 257 so that the image signal collected by the image collecting part 5 is transmitted into the main control box through the driving box. As shown in fig. 4, the main control box is provided with a socket 120 at a side of the housing facing the driving box, the box body is provided with a docking port 320 at a position corresponding to the socket 120, and the contact pin 390 of the electrical connector 39 is inserted into the pin seat 258 of the electrical connector seat 257 through the docking port 320 and the socket 120 in sequence, so that the image signal collected by the image collecting unit 5 is transmitted into the main control box through the driving box. The shape of the socket 120 and/or the docking interface 320 corresponds to the arrangement of the plurality of contact pins 390. The arrangement matrix of the plurality of contact pins 390 may be rectangular, square, circular, cross-shaped, T-shaped, etc., and the shape of the socket 120 and/or the interface 320 is rectangular, square, circular, cross-shaped, T-shaped. It will be appreciated that the array of the plurality of wafers 258 on the electrical connector mount 257 is also correspondingly rectangular, square, circular, cross-shaped, T-shaped.

Therefore, the connecting portion 21 needs to be fixed on the driving box 2 in a predetermined direction, so that the interface of the electrical connector is correctly aligned, and thus, an operator can directly install the connector without the step of finding out the position mismatch and adjusting after installing the connecting portion 21 on the box body 31, thereby improving the installation efficiency.

Further, the extending portion 32 is recessed with a stopper groove 323 in the first direction, and as shown in fig. 9, a protrusion 223 is protruded on an inner sidewall of the rotating portion 22. When the rotating portion 22 rotates in the first direction relative to the housing 11, the protruding portion 223 is inserted into the limiting groove 323 and abuts against the extending portion 32, so that the main control box 1 is fixed to the driving box 2; when the rotating portion 22 rotates in a second direction opposite to the first direction with respect to the housing 11, the protruding portion 223 is disengaged from the stopper groove 323, so that the main control box 1 is separated from the driving box 2. The first direction may be a direction in which the rotation portion 22 rotates clockwise, and the second direction may be a direction in which the rotation portion 22 rotates counterclockwise.

Further, the housing 11 is further provided with a through hole 124, and the through hole 124 may be specifically located at the top of the body 13, or at a position of the chassis 12 close to the body 13.

As shown in fig. 10, the control member 35 includes a supporting portion 38 far away from one side of the main control box 1, one end of the supporting portion extends out of the driving box 2 and is located at one side of the main control box 1, and the other end of the supporting portion is connected to the supporting portion 38 and pivotally connected to the control portion 350 on the bracket 34. The control part 350 may further include an operation part 35 extending out of the through hole 124 and located at one side of the main control box 1, and a reversing part 37 having one end movably connected to the control part 350 and the other end movably connected to the abutting part 38. The control portion 350 may be pivotally connected to the bracket 34, and the abutting portion 38 and the operating portion 35 are not limited to being pivotally connected to the bracket 34.

The connector 4 has a fastening member 41 corresponding to the position of the abutting portion 38, and the fastening member 41 is used for passing through the base 33 and being buckled with the base 33. When the operator pinches the operation part 35, the operation part 35 drives the direction changing part 37 to move, so as to drive the abutting part 38 to abut against the fastening piece 41, and the abutting part 38 is separated from the base 33, so as to separate the driving box 2 from the connector 4. The two operation portions 35 are located on opposite sides in the longitudinal direction of the main body 13. In this way, the span of the hand operation of the operator is reduced, and the two operation portions 35 can be pinched with one hand. It is understood that in other embodiments, if the structure of the driving cartridge 2 is relatively small, the reversing portion 37 may be optionally not provided; if the structure of the drive cassette 2 is relatively large, 1 or more of the commutation sections 37 may be optionally provided. The abutting portion 38 is located at a predetermined position of the bracket 34, the operating portion 35 is located at a target position of the bracket 34, and the reversing portion 37 is configured to conduct an acting force of the operating portion 35 located at the target position to the abutting portion 38 located at the predetermined position. The predetermined position is usually a position designated based on structural limitations or design requirements, and the target position is an ergonomically adjusted position to adapt to the operation habit of the operator and improve the operation comfort.

Further, the operating portion 35, the reversing portion 37 and the abutting portion 38 respectively have a first rotating shaft 361, a second rotating shaft 371 and a third rotating shaft 381 pivotally connected to the bracket 34, the first rotating shaft 361 is parallel to the base 33, the second rotating shaft 371 is perpendicular to the base 33, and the third rotating shaft 381 is parallel to the base 33.

As shown in fig. 11, the operating portion 35 includes a pressing portion 362 and a main driving shaft 363 that are disposed opposite to the first rotating shaft 361, the reversing portion 37 includes a middle portion 375 pivotally connected to the second rotating shaft 371, a first movable end 374 having a first movable groove 372 and a secondary driving shaft 373 that are disposed opposite to the second rotating shaft 371, and the abutting portion 38 includes a second movable end 384 having a second movable groove 382 and an abutting portion 383 that are disposed opposite to the third rotating shaft 381. Wherein one end of the intermediate portion 375 is connected to the slave driving shaft 373, the other end is connected to the first movable end 374, the slave driving shaft 373 is parallel to the first movable end 374, the intermediate portion 375 is parallel to the base 33, and the intermediate portion 375 is configured to rotate relative to the base 33 when the slave driving shaft 373 rotates inward relative to the second rotating shaft 371, so that the slave driving shaft 373 rotates inward relative to the second rotating shaft 371. That is, the shape of the diverter 37 is Z-shaped, but other reasonable shapes are possible in other embodiments. Specifically, the first movable groove 372 is recessed at one end of the reversing portion 37 movably connected to the main driving shaft 363, and the second movable groove 382 is recessed at one end of the abutting portion 38 movably connected to the auxiliary driving shaft 373. The main driving shaft 363 is adapted to be movably connected to the first movable groove 372, the auxiliary driving shaft 373 is adapted to be movably connected to the second movable groove 382, and the interference portion 383 is adapted to interfere with the fastening member 41. It is understood that the first movable groove 372 and/or the second movable groove 382 may be a closed groove or an open groove.

When an operator pinches the operation portion 35, the pressing portion 362 is acted by an inward force to drive the main driving shaft 363 to rotate outward relative to the first rotating shaft 361 to drive the first movable end 374 to rotate outward, so that the auxiliary driving shaft 373 rotates inward relative to the second rotating shaft 371 to drive the second movable end 384 to rotate inward, and the interference portion 383 interferes outward relative to the fastening member 41 relative to the third rotating shaft 381.

Further, as shown in fig. 12, the connector 4 is provided with two upright posts 42 protruding toward the driving box 2, a connecting line of the two upright posts 42 on the connector 4 is a limiting line M, and the box body 31 is provided with a limiting portion 310 protruding toward the connector 4. When the installation, can make spacing portion 310 is gone into between two stands 42, and makes two sides of spacing portion 310 contradict with two stands 42 respectively, so, the setting of two stands 42 can guide spacing portion 310 gets into, and convenient drive box 2 with installation between connector 4, in addition, also can restrict box body 31 along spacing line M is relative connector 4 removes, thereby improves the installation compactness between drive box 2 and the connector 4.

As shown in fig. 13, the driving box 2 has a symmetric central line K and a central point O located on the symmetric central line K, a connection line between the predetermined position and the central point O is a first connection line a-a, a connection line between the target position and the central point O is a second connection line B-B, an included angle between the first connection line a-a and the symmetric central line K is an acute angle, and the second connection line B-B is perpendicular to the symmetric central line K. The fastener 41 is located on the first line a-a due to the structural constraint, and accordingly, if the operating portion 35 is also located on the first line a-a, the operator is usually used to operate at the position of the second line B-B due to the existence of other structures (such as X indicated in the figure) of the surgical instrument 100, which is more suitable for the operating habit of the operator. Therefore, in the present embodiment, the position of the operation portion 35 corresponding to the position of the fastening member 41 is deflected from the position of the first connection line a-a to the position of the second connection line B-B, so that the operation of the operator can be facilitated, thereby improving the user experience.

In the embodiment, the control member 35 pivoted to the support 34 is disposed on the support 34 of the driving box 2, so that the abutting portion 38 of the control member 35 is away from the main control box 1, and one end of the control portion 350 extends out of the driving box 2 and is located at one side of the main control box 1, and at the same time, the fastening member 41 of the connector 4 passes through the base 33 and is fastened with the base 33. Thus, when an acting force is applied to one end of the driving box 2, the abutting portion 38 is driven to abut against the fastening member 41, so that the abutting portion 38 is separated from the base 33, and the driving box 2 is separated from the connector 4. In this way, the operator can operate the control element 35 with one hand, and the separation of the driving box 2 and the connector 4 can be realized, so that the operation experience of the operator is improved.

This embodiment is still through setting up the rotatable rotating part 22 of casing 11 relative master control box 1, and certainly the periphery of the box body 31 of drive box 2 to the extension 32 that the direction of master control box 1 extends, so the rotating part 22 is relative casing 11 to when first direction is rotatory, with the cooperation of extension 32 will master control box 1 is fixed in on the drive box 2 the rotating part 22 is relative casing 11 to with when the second direction opposite to first direction is rotatory, the rotating part 22 with extension 32 separates, thereby can make master control box 1 with drive box 2 separates. In this way, the main control box 1 is disassembled in a rotating manner, and the surgical instrument 100 with the main control box 1 disassembled is sterilized, so that various structures in the main control box 1 of the surgical instrument 100 can be prevented from being damaged in the sterilization process, and the normal use of the surgical instrument 100 can be ensured.

The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A surgical instrument device is characterized by comprising a main control box and a driving box connected with the main control box,

2. The surgical instrument device of claim 1, wherein the extension portion is concavely provided with a limiting groove in the first direction, and a convex portion is convexly provided on an inner side wall of the rotating portion;

3. The surgical instrument device according to claim 1, wherein the main control box further includes a connecting portion provided in the rotating portion, the housing includes a chassis for fixedly connecting with the connecting portion, the rotating portion is provided with a bearing portion protruding inward on a side away from the driving box, the main control box further includes a fixing portion for bearing on the bearing portion, the fixing portion is provided with a plurality of mounting portions protruding inward in a circumferential direction, the chassis is provided with a plurality of engaging portions at positions corresponding to the fixing portion,

4. The surgical instrument device of claim 3, wherein the main control box further comprises a resilient portion disposed between the bearing portion and the bottom plate, the resilient portion being configured to abut against the bearing portion and the bottom plate, respectively.

5. The surgical instrument device of claim 1, wherein the main control box further comprises a connecting portion disposed in the rotating portion, wherein a first protrusion is protruded from an outer side wall of the connecting portion, a second protrusion is protruded from an inner side wall of the extending portion, and the first protrusion is used for being buckled with the second protrusion to fixedly connect the connecting portion with the box body.

6. The surgical instrument device according to claim 5, wherein the housing includes a bottom plate for connecting with the connecting portion, the bottom plate being provided with one or more ribs protruding outward along a periphery thereof, the ribs being configured to interfere with the top wall of the extending portion facing the housing after the first protrusion is engaged with the second protrusion, thereby restricting the connecting portion from moving further in the direction of the housing.

7. The surgical instrument device according to claim 1, wherein the main control box further includes a connecting portion disposed in the rotating portion, a sliding block is further disposed on an outer sidewall of the connecting portion in a protruding manner, a sliding groove is recessed in a position of the extending portion corresponding to the sliding block in a direction away from the main control box, and the sliding block is configured to cooperate with the sliding groove to limit the connecting portion from rotating in the first direction or the second direction relative to the main control box.

8. The surgical instrument device according to claim 1, wherein the main control box further includes a connecting portion provided in the rotating portion, the connecting portion having a positioning portion protruding toward the housing; the shell comprises a chassis used for being connected with the connecting part, a through groove is concavely arranged on the periphery of the chassis, and the positioning part is used for being matched with the through groove so that the shell is fixed with the connecting part.

9. The surgical instrument device of claim 1, wherein the main control box further comprises a connecting portion disposed within the rotating portion, the housing includes a base plate for connecting with the connecting portion, and a body extending from the base plate in a direction away from the drive box, and the two operating portions are located on opposite sides of the body.

10. A surgical robot, characterized in that it comprises a surgical instrument device according to any one of claims 1 to 9.