CN114098846A - Surgical instrument driving module - Google Patents

Abstract

The invention relates to a surgical instrument driving module, wherein a power device integration module comprises a mounting plate fixedly connected to a box body and a plurality of power devices mounted on the mounting plate, a cover plate A is connected with the mounting plate through a plurality of guide pillars, a movable limiting plate can be positioned between the cover plate A and the mounting plate in a reciprocating manner, each guide pillar is penetrated through the movable limiting plate, each guide pillar is sleeved with a spring A, and two ends of each spring A are respectively abutted against the movable limiting plate and the mounting plate; the output end of each power device is connected with a butt joint disc, and each pair of butt joint discs respectively pass through a movable limiting plate and a cover plate A; the division board is installed in the near-end of surgical instruments, and the switching dish that has the same with the butt joint dish quantity, one-to-one is packaged through apron B on the division board, and the one end of switching dish is connected with the butt joint dish that corresponds, and the other end links to each other with surgical instruments's actuating lever. The invention supports the quick disassembly and assembly of surgical instruments in operation, has high integration level and can well realize the isolation of the surgical instruments in operation from the rear end drive.

Description

Surgical instrument driving module

Technical Field

The invention belongs to the field of medical instruments, and particularly relates to a surgical instrument driving module which is suitable for finishing minimally invasive surgery.

Background

The minimally invasive technology is to use advanced electronic electrothermal optics and other devices and technologies, use an electronic mirror image to replace naked eyes for direct vision, use a slender instrument to replace a conventional scalpel to finish observation, diagnosis and treatment of the focus in a patient body, and strive for minimum wound. With the appearance of the minimally invasive surgery robot, a doctor can realize minimally invasive, accurate and efficient surgery with the help of the robot, and the minimally invasive surgery robot well assists the doctor in completing the minimally invasive surgery. The minimally invasive surgery robot completes the operations of cutting, ablating, sewing and the like of pathological change tissues by a precise surgery mechanical arm and a multi-degree-of-freedom surgical instrument through a tiny surgery incision; can provide high-definition and three-dimensional operation visual field, and the surgical instrument has very good flexibility and accuracy, can simulate the nimble operation of finger.

Disclosure of Invention

In order to meet the requirements of minimally invasive surgical robots, the invention aims to provide a surgical instrument driving module.

The purpose of the invention is realized by the following technical scheme:

the invention comprises a box body, a limiting mechanism, a locking mechanism, a power device integration module and an isolation device, wherein the isolation device is arranged at the near end of a surgical instrument; the limiting mechanism comprises guide columns, a cover plate A, a movable limiting plate and a spring A, the power device integrated module comprises a mounting plate fixedly connected to the box body and a plurality of power devices mounted on the mounting plate, the cover plate A is connected with the mounting plate through a plurality of guide columns, the movable limiting plate is located between the cover plate A and the mounting plate in a reciprocating mode, each guide column penetrates through the movable limiting plate, the spring A is sleeved on each guide column, and two ends of the spring A are respectively abutted to the movable limiting plate and the mounting plate; the output end of each power device is connected with a butt joint disc, and each butt joint disc is penetrated by a movable limiting plate and a cover plate A respectively; the isolating device comprises adapter discs, a cover plate B and an isolating plate, the isolating plate is installed at the near end of the surgical instrument, the adapter discs which are the same in number and correspond to the adapter discs one to one are packaged on the isolating plate through the cover plate B, one end of each adapter disc is connected with the corresponding adapter disc, the other end of each adapter disc is connected with a driving rod of the surgical instrument, and the isolating plate is inserted into the cover plate A when the surgical instrument is installed and is connected with the locking mechanism installed on the cover plate A.

Wherein: the cover plate A is provided with a notch, when the isolating plate is spliced with the cover plate A, the isolating plate penetrates through the notch to push the movable limiting plate to the box body direction, and the spring A is in a compressed state; after the isolating plate is separated from the cover plate A, the movable limiting plate is reset under the elastic action of the spring A.

The movable limiting plate is provided with a top block A corresponding to the opening, the isolating plate is provided with a top block B corresponding to the opening, and when the isolating plate is spliced with the cover plate A, the top block B is abutted to the top block A after the opening penetrates through the isolating plate.

The movable limiting plate is provided with positioning holes which are the same in number as the butt joint discs and correspond to the butt joint discs one by one, and each butt joint disc penetrates through the corresponding positioning hole; and each movable limiting plate below the positioning hole is provided with a limit stop, and each butt joint disc is provided with a screw for making change.

The locking mechanism comprises a button, a spring B and an installation frame, the installation frame is installed on the cover plate A, a clamping groove A is formed in the installation frame, the button penetrates through the clamping groove A, one end of the button is a pressing end, the other end of the button is in a hook shape, and the spring B is arranged between the other end of the button and the installation frame; and the isolating plate is provided with a locking hole for the button to pass through.

One end of the butt joint disc is provided with a bulge A used for being connected with the switching disc, and the other end of the butt joint disc is provided with a mounting hole.

One side of the adapter plate is provided with a groove B used for being connected with the butt joint plate, and the other side of the adapter plate is provided with a bulge B used for being connected with the surgical instrument.

The cover plate A extends towards the direction of the isolation plate from one side surface of the isolation plate to form an extension part A, and a groove A is formed in the extension part A; the isolating plate is provided with an extending part B, the extending part B is inserted into the groove A when the isolating plate is spliced with the cover plate A, and the extending part B is provided with a clamping groove B for inserting surgical instruments.

And guide rails are arranged on the isolation plates on the two sides of the clamping groove B.

The isolation plate is provided with an isolation cover towards the outer edge of one side of the limiting mechanism, and the box body, the limiting mechanism, the locking mechanism and the power device integration module are all covered inside the isolation cover.

The invention has the advantages and positive effects that:

the invention supports the quick disassembly and assembly of surgical instruments in operation, has high integration level and can well realize the isolation of the surgical instruments in operation from the rear end drive.

Drawings

FIG. 1 is a schematic perspective view of a case, a limiting mechanism, a locking mechanism and a power device integrated module according to the present invention;

FIG. 2 is a second schematic perspective view of the case, the limiting mechanism, the locking mechanism and the power device integrated module according to the present invention;

FIG. 3 is a schematic perspective view of the integrated module of the power device, with the case removed, including the limiting mechanism, the locking mechanism and the power device;

FIG. 4 is a second schematic perspective view of the limiting mechanism, the locking mechanism and the power device integrated module of the present invention with the case and the cover A removed;

FIG. 5 is a front view of the cartridge body, the limiting mechanism, the locking mechanism and the power device integration module of the present invention;

FIG. 6 is a schematic perspective view of a movable limiting plate in the limiting mechanism according to the present invention;

FIG. 7 is a schematic perspective view of a docking tray in an integrated module of a power plant according to the present invention;

FIG. 8 is a schematic perspective view of an isolation device according to the present invention;

FIG. 9 is a schematic view of the present invention shown in connection with a surgical instrument;

FIG. 10 is a state diagram of the present invention in use;

wherein: the puncture outfit comprises a box body 1, a limiting mechanism 2, a guide post 201, a cover plate A202, a movable limiting plate 203, a spring A204, a limiting stopper 205, a positioning hole 206, a top block A207, an extending part A208, a groove A209, a notch 210, a locking mechanism 3, a clamping groove A301, a button 302, a spring B303, a mounting frame 304, a power device integrated module 4, a mounting plate 401, a power device 402, a butt joint plate 403, a protrusion A4032, a mounting hole 4032, an isolating device 5, an adapter plate 501, a protrusion B5011, a cover plate B502, an isolating plate 503, a top block B504, a guide rail 505, an extending part B507, a clamping groove B507, a locking hole 508, an isolating cover 509, a surgical instrument 6, a C-shaped arm 7, a base 8, a linear motion driving module 9 and a puncture outfit 10.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 to 9, the surgical instrument comprises a box body 1, a limiting mechanism 2, a locking mechanism 3, a power device integration module 4 and an isolation device 5, wherein the isolation device 5 is installed at the proximal end of a surgical instrument 6.

The limiting mechanism 2 of this embodiment includes guide pillars 201, a cover plate a202, a movable limiting plate 203 and a spring a204, the power device integrated module 4 includes a mounting plate 401 fixedly connected to the box body 1 and a plurality of power devices 402 mounted on the mounting plate 401, the cover plate a202 is mounted on the mounting plate 401 through a plurality of guide pillars 201, the movable limiting plate 203 is reciprocally located between the cover plate a202 and the mounting plate 401, each guide pillar 201 is penetrated by the movable limiting plate 203, and two ends of each guide pillar 201 are respectively fixedly connected to the cover plate a202 and the mounting plate 401; each guide post 201 is sleeved with a spring a204, and two ends of the spring a204 are respectively abutted with the movable limit plate 203 and the mounting plate 401. The output end of each power device 402 is connected with a butt joint disk 403, and each butt joint disk 403 is penetrated by a movable limit plate 203 and a cover plate A202 respectively. The mounting plate 401 of this embodiment is L-shaped, one side of the L-shape is fixedly connected to the box body 1, each power device 402 is mounted on the other side of the L-shape, and each guide post 201 is also fixedly connected to the other side of the L-shape. The number of power units 402 may vary depending on the particular requirements of the drive, and the power units 402 of this embodiment employ dc servo motors.

The isolating device 5 of the present embodiment includes adapter discs 501, a cover plate B502, and an isolating plate 503, where the isolating plate 503 is installed at the proximal end of the surgical instrument 6, the adapter discs 501, which are the same in number as the number of the docking discs 403 and are in one-to-one correspondence, are packaged on the isolating plate 503 through the cover plate B502, one end of each adapter disc 501 is connected to the corresponding docking disc 403, the other end of each adapter disc 501 is connected to the driving rod of the surgical instrument 6, and the isolating plate 503 is inserted into the cover plate a202 when the surgical instrument 6 is installed, and is connected to the locking mechanism 3. In this embodiment, a shielding cover 509 is mounted on an outer edge of the side of the shielding plate 503 facing the limiting mechanism 2, and the box 1, the limiting mechanism 2, the locking mechanism 3 and the power device integration module 4 are all covered inside the shielding cover 509. The isolation cover 509 of the present embodiment is made of plastic.

The locking mechanism 3 of this embodiment includes a button 302, a spring B303, and an installation frame 304, where the installation frame 304 is installed on the cover plate a202, a clamping groove a301 is provided on the installation frame 304, the button 302 is inserted into the clamping groove a301, one end of the button 302 is a pressing end, the other end is in a hook shape, and the spring B303 is provided between the other end of the button 302 and the installation frame 304; the isolation plate 503 is provided with a locking hole 508 for the other end of the button 302 to pass through.

The cover plate A202 of the embodiment is provided with a notch 210, when the isolation plate 503 is inserted into the cover plate A202, the notch 210 penetrates through the movable limit plate 203 to push the box body 1, and the spring A204 is in a compressed state; after the isolation plate 503 is separated from the cover plate a202, the movable limiting plate 203 is reset by the elastic force of the spring a 204. In this embodiment, the left side and the right side of the cover plate a202 are respectively provided with a notch 210, the left side and the right side of the movable limiting plate 203 are provided with a top block a207 corresponding to the notch 210, the left side and the right side of the isolation plate 503 are provided with a top block B504 corresponding to the notch 210, when the isolation plate 503 is inserted into the cover plate a202, the top block B504 penetrates through the notch 210 and abuts against the top block a207, and then the movable limiting plate 203 is pushed towards the box body 1 along the guide pillar 201.

The movable limiting plate 203 of this embodiment is provided with positioning holes 206, the number of which is the same as that of the abutting plates 403, and the positioning holes 206 correspond to one another, and each abutting plate 403 passes through the corresponding positioning hole 206 and then passes through the cover plate a 202; a limit stop 205 is arranged on the movable limit plate 203 below each positioning hole 206. A protrusion a4031 for connecting with the adapter plate 501 is arranged on an end face of one end of the docking plate 403 in this embodiment, and the protrusion a4031 is in a strip shape; the other end of the docking tray 403 is provided with two mounting holes 4032, one of the two mounting holes 4032 is used for mounting a screw for positioning (mechanical limiting), and the other one is used for connecting with the output end of the power device 402. The screw is located on the side of the movable restriction plate 203 facing the partition plate 503.

The adapter plate 501 of this embodiment has a groove B for connecting with the docking plate 403 on one side and a protrusion B5011 for connecting with the surgical instrument 6 on the other side. The groove B is a strip-shaped groove to accommodate the strip-shaped protrusion A4031; the projection B5011 is also in the form of a bar and is connected to the drive rod of the surgical instrument 6.

In the present embodiment, one side surface of the cover plate a202 facing the isolation plate 503 extends toward the isolation plate 503 to form an extension portion a208, and the extension portion a208 is provided with a groove a 209; the isolation plate 503 is provided with an extension part B506, the extension part B506 is inserted into the groove A209 when the isolation plate 503 is inserted into the cover plate A202, the extension part B506 is provided with a clamping groove B507 for inserting the surgical instrument 6, and guide rails 505 are arranged on the isolation plate 503 at two sides of the clamping groove B507.

The material of the isolation device 5 of the present invention may be a polymer material, such as ABS, and the processing method may be injection molding or 3D printing molding.

The working principle of the invention is as follows:

the movable limiting plate 203 in the limiting mechanism 2 is jacked up by the spring a204 in a natural state, at this time, the output end of the power device 402 drives the butt joint disc 403 to rotate, the screw on the butt joint disc 403 rotates along with the butt joint disc 403, the butt joint disc 403 rotates forward and backward once respectively, the rotation in each direction stops after contacting with the limiting stopper 205 on the movable limiting plate 203, and thus the limiting and changing effects are achieved.

When the isolating device 5 and the limiting mechanism 2 are installed, the extending part B506 on the isolating plate 503 firstly slides into the groove A209 on the cover plate A202 and is buckled along the axial direction; when the button 302 is pressed downwards, the spring B303 is compressed, the hook-shaped other end of the button 302 passes through the locking hole 508 on the isolation plate 503, and after the hand is released, the button 302 is reset under the action of the spring B303, so that the isolation device 5 is locked on the limiting mechanism 2. In the process, the top block B504 on the isolation plate 503 passes through the notch 210 on the cover plate a202, contacts with the top block a207 on the movable limit plate 203, and pushes and compresses the movable limit plate 203 along the axial direction, and the limit stopper 205 is far away from the screw on the butt-joint disc 403. The protrusion a4031 on the docking tray 403 is inserted into the groove B on the adapter plate 501, the output end of the power device 402 drives the docking tray 403 to rotate, the docking tray 403 cannot contact with the limit stop 205 on the movable limit plate 203, the adapter plate 501 is driven to rotate by the docking tray 403, and the adapter plate 501 drives the driving rod of the surgical instrument 6 to move.

As shown in fig. 10, the surgical instrument driving module of the present invention is applied to a single-port endoscopic minimally invasive surgery, and a base 8 is disposed at one end of the C-shaped arm 7, and the base 8 is driven to rotate by a motor disposed in one end of the C-shaped arm 7. A plurality of linear motion driving modules 9 are installed on the base 8, a surgical instrument driving module is installed at the output end of each linear motion driving module 9, and the distal end of a surgical instrument 6 installed on each surgical instrument driving module is penetrated by a puncture outfit 10 installed at the other end of the C-shaped arm 7. The box body 1, the limiting mechanism 2, the locking mechanism 3, the power device integration module 4, the C-shaped arm 7, the base 8 and the linear motion driving module 9 are all covered in the isolation cover 509 except for the surgical instrument 6 and the puncture outfit 10. The surgical instrument 6 has a telescopic degree of freedom driven by the linear motion driving module 9, a rotational degree of freedom driven by the rotation of the base 8, and a pitching degree of freedom or a yawing degree of freedom pitching or yawing along with the C-arm 7.

Claims (10)

1. A surgical instrument drive module, characterized by: the surgical instrument comprises a box body (1), a limiting mechanism (2), a locking mechanism (3), a power device integration module (4) and an isolation device (5), wherein the isolation device (5) is arranged at the near end of a surgical instrument (6); the limiting mechanism (2) comprises guide columns (201), a cover plate A (202), a movable limiting plate (203) and springs A (204), the power device integrated module (4) comprises a mounting plate (401) fixedly connected to the box body (1) and a plurality of power devices (402) mounted on the mounting plate (401), the cover plate A (202) is connected with the mounting plate (401) through the guide columns (201), the movable limiting plate (203) can be located between the cover plate A (202) and the mounting plate (401) in a reciprocating mode, each guide column (201) penetrates through the movable limiting plate (203), each guide column (201) is sleeved with a spring A (204), and two ends of each spring A (204) are respectively abutted to the movable limiting plate (203) and the mounting plate (401); the output end of each power device (402) is connected with a butt joint disc (403), and each butt joint disc (403) is penetrated by a movable limit plate (203) and a cover plate A (202) respectively; the isolating device (5) comprises an adapter plate (501), a cover plate B (502) and an isolating plate (503), wherein the isolating plate (503) is installed at the near end of the surgical instrument (6), the adapter plate (501) which is the same in number and corresponds to the butt joint plates (403) in one-to-one mode is packaged on the isolating plate (503) through the cover plate B (502), one end of the adapter plate (501) is connected with the corresponding butt joint plates (403), the other end of the adapter plate is connected with a driving rod of the surgical instrument (6), the isolating plate (503) is inserted into the cover plate A (202) when the surgical instrument (6) is installed, and is connected with the locking mechanism (3) installed on the cover plate A (202).

2. The surgical instrument drive module of claim 1, wherein: a gap (210) is formed in the cover plate A (202), when the isolating plate (503) is inserted into the cover plate A (202), the gap (210) penetrates through the gap to push the movable limiting plate (203) to the box body (1), and the spring A (204) is in a compressed state; after the isolation plate (503) is separated from the cover plate A (202), the movable limit plate (203) is reset through the elastic force of the spring A (204).

3. The surgical instrument drive module of claim 2, wherein: be equipped with on activity limiting plate (203) with kicking block A (207) that opening (210) correspond, be equipped with on division board (503) with kicking block B (504) that opening (210) correspond, when division board (503) and apron A (202) are pegged graft, kicking block B (504) by opening (210) pass with kicking block A (207) butt.

4. The surgical instrument drive module of claim 1, wherein: the movable limiting plate (203) is provided with positioning holes (206) which are the same in number as the number of the butt joint discs (403) and correspond to the butt joint discs one by one, and each butt joint disc (403) penetrates through the corresponding positioning hole (206); and each movable limiting plate (203) below the positioning hole (206) is provided with a limit stop (205), and each butt joint disc (403) is provided with a screw for change.

5. The surgical instrument drive module of claim 1, wherein: the locking mechanism (3) comprises a button (302), a spring B (303) and an installation frame (304), the installation frame (304) is installed on the cover plate A (202), a clamping groove A (301) is formed in the installation frame (304), the button (302) penetrates through the clamping groove A (301), one end of the button (302) is a pressing end, the other end of the button is in a hook shape, and the spring B (303) is arranged between the other end of the button (302) and the installation frame (304); and the isolating plate (503) is provided with a locking hole (508) for the button (302) to pass through, wherein the other end of the button is in a hook shape.

6. The surgical instrument drive module of claim 1, wherein: one end of the butt joint disk (403) is provided with a protrusion A (4031) used for being connected with the adapter disk (501), and the other end of the butt joint disk is provided with a mounting hole (4032).

7. The surgical instrument drive module of claim 1, wherein: one side of the adapter plate (501) is provided with a groove B used for being connected with the butt joint plate (403), and the other side of the adapter plate is provided with a protrusion B (5011) used for being connected with the surgical instrument (6).

8. The surgical instrument drive module of claim 1, wherein: the cover plate A (202) extends towards the direction of the isolation plate (503) towards one side surface of the isolation plate (503) to form an extension part A (208), and a groove A (209) is formed in the extension part A (208); the isolation plate (503) is provided with an extension part B (506), the extension part B (506) is inserted into the groove A (209) when the isolation plate (503) is inserted into the cover plate A (202), and the extension part B (506) is provided with a clamping groove B (507) for inserting a surgical instrument (6).

9. The surgical instrument drive module of claim 8, wherein: and guide rails (505) are arranged on the isolating plates (503) at two sides of the clamping groove B (507).

10. The surgical instrument drive module of claim 1, wherein: the isolation cover (509) is installed towards the outer edge of one side of the limiting mechanism (2) on the isolation plate (503), and the box body (1), the limiting mechanism (2), the locking mechanism (3) and the power device integration module (4) are all covered inside the isolation cover (509).

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