CN114587597A

CN114587597A - Actuating mechanism and surgical robot

Info

Publication number: CN114587597A
Application number: CN202011405786.7A
Authority: CN
Inventors: 潘鲁锋; 黄善灯; 柳建飞; 闫泳利
Original assignee: Noahtron Intelligence Medtech Hangzhou Co Ltd
Current assignee: Noahtron Intelligence Medtech Hangzhou Co Ltd
Priority date: 2020-12-05
Filing date: 2020-12-05
Publication date: 2022-06-07

Abstract

The invention relates to an actuating mechanism and a surgical robot, wherein the actuating mechanism comprises a surgical instrument and a driving assembly, wherein: the surgical instrument comprises an outer sheath, two instrument rods and a surgical tool, wherein a sliding cavity extending along the axial direction of the outer sheath is formed in the outer sheath, the two instrument rods are slidably arranged in the sliding cavity, the surgical tool comprises a pair of swinging pieces rotatably connected to one end side of the outer sheath, each instrument rod is connected with one swinging piece in a driving mode, and the instrument rods can respectively and independently drive the corresponding swinging pieces to swing when sliding in the sliding cavity; the driving assemblies comprise two groups and correspond to the instrument rods, each group of driving assemblies comprises a linear driving device used for driving the instrument rods to slide in the sliding cavity along the axis direction of the instrument rods, and the executing mechanism can enable the operation tool at the operation end to have larger freedom of movement.

Description

Actuating mechanism and surgical robot

Technical Field

The invention relates to the field of medical instruments, in particular to an actuating mechanism and a surgical robot.

Background

The minimally invasive surgery is to open a tiny wound on the body of a patient, part of an actuating mechanism of a surgical robot penetrates through the tiny wound and enters the focus position, the telecentric motionless point of the actuating mechanism is enabled to coincide with the wound position, an operator controls a mechanical arm part of the surgical robot to drive the actuating mechanism to do spatial swing within a certain angle range by taking the telecentric motionless point as a hinged point, and the action of the actuating mechanism is assisted to complete the minimally invasive surgery. In recent years, minimally invasive surgery is gaining favor of medical staff and patients due to small wound and less bleeding.

The structure of the actuator generally includes: the surgical instrument is used for stretching into the position of a focus and the driving component is used for driving the surgical instrument to rotate, open and close and the like, and the surgical tool stretching into the human body on the surgical instrument completes the preset surgical action under the driving of the driving component. In a configuration similar to the da vinci surgical robot, a specially made cable is used as the driving structure of the surgical instrument. However, the wire is likely to be elongated and deformed after a plurality of uses, and the operation accuracy of the operation end of the surgical instrument is affected, and the creep increases.

In order to improve the above-mentioned problems caused by the use of cables, some prior solutions have proposed using a single rigid rod as the driving member, which, however, considerably limits the freedom of movement of the surgical tool.

Disclosure of Invention

In view of the above, embodiments of the present invention provide an actuator and a surgical robot, in which the actuator enables a surgical tool at an operation end to have a greater freedom of movement.

The embodiment of the invention firstly provides an actuating mechanism of a surgical robot, which comprises a surgical instrument and a driving assembly, wherein:

the surgical instrument comprises an outer sheath, two instrument rods and a surgical tool, wherein a sliding cavity extending along the axial direction of the outer sheath is formed in the outer sheath, the two instrument rods are slidably arranged in the sliding cavity, the surgical tool comprises a pair of swinging pieces rotatably connected to one end side of the outer sheath, each instrument rod is connected with one swinging piece in a driving mode, and the instrument rods can respectively and independently drive the corresponding swinging pieces to swing when sliding in the sliding cavity;

the driving assembly comprises two groups and corresponds to the instrument rods, and each group of driving assembly comprises a linear driving device which is used for driving the instrument rods to slide in the sliding cavity along the axis direction of the instrument rods.

In the executing mechanism, the linear driving device in the driving assembly drives the instrument rod to slide in the sliding cavity respectively, and the pair of swinging pieces in the surgical instrument can swing under the driving of one instrument rod respectively, so that the swinging of the two swinging pieces are not interfered with each other, each swinging piece can obtain larger freedom of motion and swinging range, and the instrument rod is compared with a form that a steel cable is used as a driving component, so that a series of problems caused by stretching deformation do not exist, and therefore, the surgical tool can flexibly complete preset surgical actions in a larger range.

In a possible solution, the driving assembly further includes two load seats, each of the load seats is connected to a corresponding one of the linear driving devices and is configured to drive the instrument rod to slide in the sliding chamber.

In a possible solution, the linear driving device is configured as a linear motor, and the driving assembly further includes a guide member for limiting the rotation of the load seat with the linear motor. The linear motor drives the load seat to do linear motion, the load seat is used for driving the instrument rod to do linear motion along with the instrument rod, and therefore the push rod can be driven to stretch and slide in a high precision mode.

In a possible scheme, the guide part comprises a bushing embedded and fixed in the load seat and a guide shaft fixed on the machine base, and the bushing can slide along with the load seat under the drive of the linear motor under the guide of the guide shaft.

In one possible approach, the actuator further includes an instrument shaft stop assembly for locking/unlocking the instrument shaft, and an outer sheath stop assembly for locking/unlocking the outer sheath.

In a feasible scheme, the instrument rod limiting assembly comprises instrument rod locking sleeves and a sliding sleeve device, wherein the instrument rod locking sleeves correspond to the instrument rods respectively, the instrument rods are connected with the corresponding linear driving devices through the corresponding instrument rod locking sleeves, and the sliding sleeve device can slide relative to the instrument rod locking sleeves so that the instrument rod locking sleeves lock/unlock the corresponding instrument rods.

In a feasible scheme, the sliding sleeve device is including corresponding to slide cup joint in every the outer sliding sleeve body of instrument pole lock sleeve follows the sliding sleeve body with instrument pole lock sleeve direction of sliding relatively, the sliding sleeve body has locking section and unblock section, works as the locking section corresponds when instrument pole lock sleeve, the instrument pole is locked, works as the unblock section corresponds when instrument pole lock sleeve, the instrument pole is unblock.

In one possible solution, the instrument rod limiting assembly further comprises locking members, and each instrument rod corresponds to at least one locking member; the locking piece is restrained in the sliding sleeve is internal, works as the locking section corresponds when the instrument pole locking cover, the locking piece locking the instrument pole, works as the unlocking section corresponds when the instrument pole locking cover, the locking piece is removed the locking of instrument pole.

In a feasible scheme, a lock hole is formed in the instrument rod locking sleeve along the radial direction of the instrument rod, the instrument rod is inserted into a lock groove formed in the rod body of the instrument rod locking sleeve, the locking piece is movably arranged in the lock hole, and when the locking section corresponds to the instrument rod locking sleeve, the wall surface of the locking section enables the locking piece to be pressed into the lock groove along the lock hole.

In a feasible scheme, the aperture of the lock hole close to one end of the instrument rod locking sleeve is larger than that of the lock hole close to one end of the sliding sleeve body along the opening direction of the lock hole. In this way, the locking member can be flexibly moved to a position for unlocking the instrument bar and reliably constrained to a position for locking the instrument bar, so that the instrument bar is reliably locked and flexibly unlocked.

In one possible embodiment, the locking element is provided as a spherical element, which is able to roll and slide in the locking hole. The locking piece that is spherical setting moves more in the lockhole in a flexible way, can avoid the locking piece to be deadly in the lockhole, simultaneously, also can reduce the friction between locking piece and the lockhole, prolongs the life of locking piece, apparatus pole and apparatus pole lock sleeve.

In a feasible scheme, the instrument rod limiting assembly further comprises a stopping member for limiting the relative limit positions of the sliding sleeve device and the instrument rod locking sleeve, and the stopping member is arranged on the instrument rod locking sleeve and can stop one end side of the sliding sleeve device. The stop piece can limit the maximum stroke position of the sliding sleeve device, so that the locking piece is prevented from being separated out of the sliding sleeve device due to the fact that the sliding sleeve device moves over a stroke.

In a possible solution, a first spring is further disposed between the instrument rod locking sleeve and the sliding sleeve device, and the elastic force of the first spring causes the sliding sleeve device to be maintained in a position for locking the instrument rod. Therefore, after the user remounts the instrument rod, the sliding sleeve device can be reset to the position for locking the instrument rod by the elastic force of the first spring, and the structural reliability of the actuating mechanism is higher.

In a possible solution, a spring seat is provided on the instrument rod locking sleeve and/or the sliding sleeve device, and the first spring is mounted on the spring seat and can deform telescopically along the extension direction of the spring seat. The spring holder can lead the deformation direction of first spring, avoids first spring unexpected side direction bending taking place at flexible in-process.

In a possible solution, a guiding structure for guiding the relative sliding direction of the sliding sleeve device and the instrument rod locking sleeve is further disposed between the sliding sleeve device and the instrument rod locking sleeve. The arrangement of the guide structure can ensure that the movement direction of the sliding sleeve device relative to the instrument rod locking sleeve is more definite, so as to reliably unlock the instrument rod.

In a feasible scheme, the actuating mechanism further comprises a base and an instrument rod unlocking assembly arranged on the base in a sliding mode, and the instrument rod unlocking assembly comprises an unlocking piece used for driving the sliding sleeve device to slide relative to the instrument rod locking sleeve so as to unlock the instrument rod.

In one possible solution, the instrument bar unlocking assembly further comprises a return spring, and the elastic force of the return spring keeps the unlocking piece away from the sliding sleeve device. Reset spring can make the unlocking piece keep away from the sliding sleeve device, avoids after reinstalling surgical instruments, and the user leads to surgical instruments to install not in place because forget to reset the unlocking piece.

In a feasible scheme, the unlocking piece is sleeved outside the surgical instrument and is provided with a notch penetrating to the surgical instrument; the machine base is provided with a sliding hole vertical to the sliding direction of the sheath; the sheath limiting assembly comprises a limiting element which is slidably connected to the sliding hole and used for limiting the installation position of the sheath, and the limiting element penetrates through the notch and is in limiting fit with the sheath.

The setting of notch not only avoids knowing and takes place the position interference between latch fitting and the spacing component, and simultaneously, the lateral wall of notch can be at the spacing component of contradicting before the latch fitting moves to unblock direction to retrain to a certain extent and restrict sliding of spacing component, and after it is promoted with unblock apparatus pole, spacing component no longer contacts with the lateral wall of notch, spacing component can freely slide the unblock sheath in the slide opening this moment, the order nature of surgical instruments unblock structure unblock can be given in this kind of setting.

In a possible scheme, a guide structure for guiding the sliding direction of the unlocking piece is further arranged between the outer sheath and the unlocking piece.

In a possible solution, an alignment structure for aligning the unlocking piece with respect to the circumferential installation orientation of the base is further provided between the base and the unlocking piece. The setting of counterpoint structure can make the circumference relative position of unlocking piece and frame confirm to make the unlocking piece install according to predetermineeing the position, with more reliable unblock apparatus pole.

In a possible solution, the unlocking member has a trigger portion for contacting and pushing the sliding sleeve device to slide, the instrument rod locking sleeve is provided with two stop members for limiting the relative limit positions of the sliding sleeve device and the instrument rod locking sleeve, and the two trigger portions are circumferentially spaced to stagger the stop members.

A second aspect of an embodiment of the present invention further provides a surgical robot including the actuator according to any one of the above embodiments.

Drawings

FIG. 1 is a schematic structural diagram of an actuator according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of one embodiment of a surgical instrument;

FIG. 3 is a schematic structural view of another embodiment of a surgical instrument;

FIG. 4 is an exploded view of the actuator of FIG. 1;

FIG. 5 is an exploded view of the actuator with the housing removed, with the focus on the drive assembly exploded;

FIG. 6 is an exploded view of the actuator with half of the drive assembly and associated components removed;

FIG. 7 is a schematic view of the surgical instrument and the assembly between the instrument rod stop assembly and the instrument rod unlock assembly;

FIG. 8 is an exploded schematic view of the structure shown in FIG. 7;

FIG. 9 is a schematic structural view of an instrument rod locking sleeve according to one embodiment;

FIG. 10 is a semi-sectional view of the surgical instrument and the assembled configuration between the instrument rod stop assembly and the instrument rod unlock assembly;

FIG. 11 is a schematic view, with portions broken away, of an assembled configuration of a surgical instrument, an instrument rod stop assembly and an instrument rod release assembly;

FIG. 12 is a schematic view of a construction of a sliding sleeve body according to an embodiment;

FIG. 13 is a partial exploded view of the sheath stop assembly;

FIG. 14 is a schematic structural view of a housing according to an embodiment;

FIG. 15 is a top view of the housing shown in FIG. 14;

fig. 16 is a schematic structural view of a surgical robot according to an embodiment, in which a plurality of sets of actuators shown in fig. 1 are assembled.

100. An actuator; 200. a telecentric control mechanism; 300. a preoperative positioning mechanism; 400. a frame; 500. a base;

11. a surgical instrument; 111. an outer sheath; 1111. a limiting ring groove; 1112. a guide chute; 112. an instrument stem; 1121. a locking groove; 113. a swinging member; 1131. a chute; 114. a connecting rod; 115. a connecting portion; 116. a central rotating shaft;

12. a drive assembly; 121. a linear motor; 122. a mounting seat; 123. a load seat; 124. a guide member; 1241. a bushing; 1242. a guide shaft;

13. an instrument rod limit assembly; 131. an instrument rod locking sleeve; 1311. a connecting end; 1312. a first spring seat; 1313. a guide rib; 1314. a lock hole; 1315. a pin hole; 132. a first spring; 133. a stopper; 134. a sliding sleeve device; 1341. a sliding sleeve body; 13411. a locking section; 13412. an unlocking section; 13413. a guide groove; 1342. a second spring seat; 135. a locking member;

14. a sheath limiting component; 141. a spacing element; 1411. a limiting hole; 142. a baffle plate; 143. a detection element;

15. an instrument lever unlocking assembly; 151. unlocking the lock; 1511. a trigger section; 1512. a notch; 1513. a stop edge; 1514. a slider; 1515. aligning the bulges; 152. a return spring;

16. a machine base; 161. a substrate; 162. a support portion; 163. a slide hole; 164. a positioning groove; 165. an extension opening;

17. a housing.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent 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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

It will be understood that when an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

The surgical robot provided by the invention can be used for assisting a doctor to complete minimally invasive surgery. In such a minimally invasive surgery, only a small wound is opened on the patient's body, and a surgical tool at the distal end of the surgical robot is inserted into the patient's body through the small wound to reach the lesion site, and the surgical tool is driven by a corresponding driving structure to complete a predetermined surgical operation. In order to avoid the wound being pulled in the operation process, the surgical instrument needs to perform spatial swing by taking the wound as a telecentric motionless point, namely, the surgical instrument at the wound does not have displacement and is kept motionless all the time in the swing process of the surgical instrument. In this case, the range of motion and freedom of the surgical tool to reach the lesion through the wound is critical. The design size of the surgical instrument which is adapted by the surgical tool is limited, so that the design of the driving structure not only needs to consider the freedom degree of the movement of the surgical tool, but also needs to consider the size limitation.

In some surgical robots, a steel cable driven by a motor is used as a driving structure of a surgical tool, and the motor enables the steel cable to pull and drive the surgical tool in two directions through a structure similar to a pulley so as to drive the surgical tool to deflect or open and close. However, after the steel cable is pulled for many times, the steel cable itself may be elongated and deformed to some extent, and thereafter, the motion relationship between the pulling distance of the steel cable and the motion amplitude of the surgical tool is changed, so that the motion precision of the surgical tool is reduced; meanwhile, in order to make the surgical tool move in the same amplitude, the traction cable needs to move a larger distance, and the transmission efficiency of the surgical instrument is low and the creep is large.

In order to overcome the problem of elongation of the steel cords, the solutions given in the related art include the following two categories: one is to start from the steel cord itself, i.e., to improve the material of the steel cord or to improve the heat treatment process thereof, etc., to reduce the elongation of the steel cord, however, this solution has a problem in that the manufacturing cost of the surgical instrument is greatly increased; another solution is to replace the steel cable with a single hard rod, the two swinging members and the two connecting members of the surgical tool together form an approximate parallelogram mechanism, and the hard rod is pivotally connected to one end of the parallelogram mechanism so as to drive the two swinging members to open and close through the sliding of the hard rod. In the second type of solution, the rigid rod replaces the cable, so it can solve the problem of cable elongation, but in this driving mode, the surgical tool has only two movements of opening and closing. From the foregoing, it is desirable in minimally invasive surgery that the surgical tool be flexible to move over a wide range, and such a drive configuration is clearly not flexible. The increase of the freedom of movement of the link mechanism necessitates the increase of the number of links and the number of driving sources, and the space problem and the movement precision problem occupied by the structures restrict the design of the driving structure.

In order to eliminate the problem of the cable as a driving member and to ensure that the surgical tool has sufficient freedom while keeping the structure compact to reduce the space occupation, first referring to fig. 1, an embodiment of the present invention first provides an actuator 100 of a surgical robot, comprising a surgical instrument 11 and a driving assembly 12, wherein: the surgical device 11 includes an outer sheath 111, two device rods 112 slidably disposed within the outer sheath 111, and a surgical tool for performing a surgical action. The outer sheath 111 has a sliding chamber formed therein along an axial direction thereof, and the two instrument rods 112 are slidable within the sliding chamber. In some embodiments, in order to slidably guide the instrument rod 112, a guide limiting member may be further installed or integrally disposed in the sliding chamber, so that the instrument rod may be installed in the sliding hole of the guide limiting member so as to slide along a predetermined fixed axis direction.

The surgical tool includes a pair of swinging members 113 rotatably attached to one end side of the outer sheath 111. Each of the swinging members 113 corresponds to one instrument lever 112 so that the two swinging members 113 can swing independently without interfering with each other. When a preset operation action is required to be completed, such as opening and closing, swinging in a clamping state and the like, the movement distance and the movement direction of the two instrument rods 112 are matched with each other, so that the two swinging pieces 113 swing to a preset pose.

Referring to fig. 2 and 3, two embodiments of the surgical device 11 are illustrated in fig. 2 and 3. Referring first to fig. 2, the instrument rod 112 is connected to the swinging members 113 through a connecting rod 114, one end of the connecting rod 114 is rotatably connected to the instrument rod 112, the other end of the connecting rod 114 is rotatably connected to the swinging members 113 through a connecting portion 115, the pair of swinging members 113 are rotatably connected to the outer sheath 111 through a central rotating shaft 116, and the rotating connection of the connecting portion 115 is staggered from the penetrating position of the central rotating shaft 116. Thus, when the instrument shaft 112 slides in the inner cavity of the outer sheath 111 along its axis, the connecting rod 114 can be driven to slide and/or deflect relative to the instrument shaft 112, so that the connecting rod 114 can drive the swinging member 113 to rotate around the central rotating shaft 116 by a preset angle through the connecting portion 115.

The two ends of the connecting rod 114 are respectively connected with the instrument rod 112 and the swinging piece 113 in a rotating mode, and compared with the mode that the instrument rod 112 is directly connected with the swinging piece 113 in a rotating mode, the degree of freedom of the whole motion mechanism is increased, the motion of the swinging piece 113 is more flexible, and the motion range is larger.

Referring to fig. 3, in contrast to the embodiment shown in fig. 2, the surgical instrument in fig. 3 does not have the connecting rod 114, but a connecting portion 115 is provided at an end of the instrument rod 112, and a sliding groove 1131 slidably connected to the connecting portion 115 is formed in the swinging member 113. When the instrument rod 112 slides in the inner cavity of the outer sheath 111 along the axial direction thereof, the position of the connecting portion 115 mounted on the instrument rod 112 changes, and the connecting portion 115 is slidably engaged with the sliding groove 1131 to drive the swinging member 113 to swing around the central rotating shaft 116.

The structures in fig. 2 and 3 can realize the driving connection between the instrument rod 112 and the swinging member 113, the connection structure formed by the connection part 115 and the sliding groove 1131 in fig. 3 can be regarded as a kinematic high pair, and the connection structure at the rotary connection position of the two ends of the connecting rod 114 in fig. 2 is a kinematic low pair, so that the structure shown in fig. 3 is more compact and the transmission precision is higher compared with the form of the connection structure which is completely connected by the connecting rod in fig. 2.

In addition, the swinging range of the swinging member 113 in fig. 3 depends on the length of the sliding groove 1131, and the size of the swinging member 113 itself cannot be designed to be large, so that the length of the sliding groove 1131 has a certain range, and the structure shown in fig. 2 has no such limitation, so that the swinging member in the structure in fig. 2 can obtain a larger swinging range. In the actual design of the surgical device 11, other equivalent alternatives may be used instead on the structures shown in fig. 2 and 3 to obtain the same or similar law of motion of the oscillating member.

To achieve telescopic sliding of the instrument bars 112, referring to fig. 4 and 5, the drive assemblies 12 are also arranged in two groups corresponding to the two instrument bars 112, each group of drive assemblies 12 including linear drive means, each linear drive means driving a respective instrument bar 112. The driving assembly 12 may further include load blocks 123, and each linear driving device drives a corresponding one of the instrument bars 112 to slide within the outer sheath 111 through one of the load blocks 123.

With continued reference to fig. 5, in the illustrated embodiment, the linear drive is provided as a linear motor 121, and the linear motor 121 may be fixedly mounted to the frame 16 by a mount 122. When a linear motor 121 is used as the linear drive device, the drive assembly 12 may further include a guide 124. The guide 124 is used to limit the rotational movement of the load base 123 so that it can only move linearly with the lead screw nut. The general structure of the linear motor 121 includes a set of general stepping motor/servo motor and a screw nut assembly, the precise linear motor 121 can adopt the ball screw nut assembly as a motion conversion assembly, the motor outputs a rotary motion to drive a screw in the ball screw nut assembly to rotate, and then the nut is made to perform a linear motion along the axial direction of the screw through the cooperation of the screw nut.

The instrument shaft 112 is fixed directly or indirectly opposite the load shoe 123 for sliding movement relative to the outer sheath 111 with linear movement of the load shoe 123. In one embodiment, the guide member 124 includes a bushing 1241 fixed to the load seat 123 in an embedded manner, and a guide shaft 1242 fixed to the base 161 of the housing 16, wherein the guide shaft 1242 is fixed, and when the linear motor 121 drives the load seat 123 to slide, the bushing 1241 is slidably engaged with the guide shaft 1242, so that the load seat 123 can move linearly in only one direction. In other embodiments, the guiding element 124 may be replaced with a structure similar to a guide rail, and as long as the aforementioned purpose of limiting and guiding the guiding element 124 can be achieved, the guiding element 124 may have various other equivalent alternative forms, which are not described herein again.

There is a need for quick change-out and replacement of the surgical instrument 11 while the surgical robot performs various surgical tasks, and therefore, a structure for quick change-out and replacement of the surgical instrument 11 needs to be provided between the surgical instrument 11 and the driving assembly 12. As previously indicated, some surgical robots employ a wire cable as the drive member for the surgical tool, and in such surgical robots, the structure for quick-release surgical instruments is typically a disposable tip assembly. The removable structure of the surgical device 11 needs to be redesigned after the device rod 112 is replaced. Accordingly, the following provides a related structure for accomplishing the detachment and attachment of the surgical instrument 11.

Referring to fig. 6 and 7, the actuator 100 further includes an instrument shaft stop assembly 13 for locking/unlocking the instrument shaft 112, and an outer sheath stop assembly 14 for locking/unlocking the outer sheath 111. When the surgical instrument 11 is disassembled and replaced, the two limiting assemblies need to be controlled to move sequentially or simultaneously, and then the surgical instrument 11 is pulled out of the machine base 16.

Referring to fig. 9 and 10, the instrument rod stop assembly 13 includes an instrument rod locking sleeve 131, and a sliding sleeve arrangement 134, each disposed with respect to each instrument rod 112. Wherein: an instrument rod locking sleeve 131 is used to insert instrument rod 112, and instrument rod 112 can be connected to load shoe 123 in drive assembly 12 via instrument rod locking sleeve 131. In one embodiment, the end of the instrument rod locking sleeve 131 for attachment to the load bearing platform 123 is provided with an attachment end 1311, the attachment end 1311 functioning like a flange structure that can form a flange-like attachment structure with the load bearing platform 123.

Referring to fig. 8, the sliding sleeve device 134 is sleeved outside the instrument rod locking sleeve 131 and is slidable relative to the instrument rod locking sleeve 131 to lock/unlock the instrument rod 112. The sliding sleeve device 134 includes two sliding sleeve bodies 1341 respectively installed outside each instrument bar locking sleeve 131. Thus, when the instrument rod 112 is in the locked position and slides along with the extension and contraction of the instrument rod locking sleeve 131, the corresponding sliding sleeve body 1341 slides along with the instrument rod, and the two sliding sleeve bodies do not slide relatively; when it is desired to disassemble the instrument bar 112, the two slip sleeves 1341 can be driven to slide relative to the two instrument bar locking sleeves 131, thereby unlocking the instrument bar 112.

Further, referring to fig. 6, the instrument rod stop assembly 13 also includes locking members 135, at least one locking member 135 for each instrument rod 112. The lock 135 is constrained within the corresponding sliding sleeve body 1341 and can move in a direction approaching the instrument bar 112 to lock the instrument bar 112.

Referring to fig. 9, the instrument lever locking sleeve 131 has a locking hole 1314 formed therein. The locking member 135 may be provided as a ball-shaped member, with the ball-shaped locking member 135 movably disposed within the locking bore 1314, including rolling and sliding movement within the locking bore 1314.

With continued reference to fig. 9, in one embodiment, the locking hole 1314 is configured as a reduced diameter hole such that the locking element 135 can be exposed less than half of the volume from the aperture of the locking hole 1314 on the side of insertion of the instrument rod 112 to effect locking of the instrument rod 112; the locking member 135 can also easily move from the other side of the locking hole 1314 with a slightly larger aperture toward the inner wall of the sliding sleeve 1341, so that when the sliding sleeve 1341 slides to the position of unlocking the instrument rod 112, the locking member 135 can respond quickly and sensitively realize the unlocking of the instrument rod 112.

Since the locking members 135 exert a pressing force on the instrument bar 112 when the instrument bar 112 is locked, the locking members 135 are arranged in pairs and symmetrically distributed on both sides in the axial direction of the instrument bar 112 in order to make the instrument bar 112 parallel to the force. For example, in the illustrated embodiment, two locking members 135 are disposed on each instrument rod 112, and the two locking members 135 are arranged in axial symmetry with respect to the axis of the instrument rod 112. When there are a plurality of pairs of the locking members 135, each pair of the locking members 135 is arranged at regular intervals in the circumferential direction.

Referring back to fig. 6, the instrument bar 112 is formed with a locking groove 1121 for receiving a portion of the locking member 135, and as described above, when the sliding sleeve 1341 is located at a position for locking the instrument bar 112, the locking member 135 can be pushed toward the instrument bar 112, and in the embodiment where the locking groove 1121 is formed, a portion of the locking member 135 protruding out of the locking hole 1314 can be inserted into the locking groove 1121 to lock the instrument bar 112 more reliably. It is understood that when the locking members 135 are arranged in pairs, the number and the arrangement positions of the locking recesses 1121 each correspond to the number and the installation positions of the locking members 135.

In an embodiment, taking one of the sliding sleeves 1341 as an example and as shown in fig. 10 and 12 in addition to fig. 8, the sliding sleeve 1341 has a locking segment 13411 and an unlocking segment 13412 arranged along the relative sliding direction of the instrument bar locking sleeve 131, and the inner diameter of the sliding sleeve 1341 corresponding to the unlocking segment 13412 is larger than that corresponding to the locking segment 13411.

Thus, when the locking segment 13411 corresponds to the instrument rod locking sleeve 131, the inner wall of the sliding sleeve body 1341 at the locking segment 13411 pushes the locking element 135 in the locking hole 1314 into the locking groove 1121 embedded in the instrument rod 112; when the unlocking section 13412 corresponds to the instrument rod locking sleeve 131, a gap is formed between the inner wall of the sliding sleeve body 1341 and the outer wall of the instrument rod locking sleeve 131, and at this time, the locking member 135 can move within the locking hole 1314 in fig. 9 toward the aperture on the side away from the locking groove 1121, and the instrument rod 112 is unlocked due to the disengagement of the locking member 135 from the locking groove 1121. In one embodiment, the inner wall of the slip cap body 1341 at the locking segment 13411 may substantially slidingly engage the outer wall of the instrument bar locking sleeve 131 to ensure that the locking member 135 is securely squeezed into the locking recess 1121.

Further, as shown in fig. 9 and 12, in order to allow relative sliding between the instrument rod locking sleeve 131 and the corresponding sliding sleeve body 1341 in only one direction (i.e., along the axial direction of the instrument rod 112), one of the two is provided with a guiding rib 1313, and the other is provided with a guiding groove 13413 slidably engaged with the guiding rib 1313, in the illustrated embodiment, the guiding rib 1313 is protruded on the outer wall of the instrument rod locking sleeve 131, and the guiding groove 13413 is opened on the inner side surface of the sliding sleeve body 1341 and extends through the locking segment 13411 and the unlocking segment 13412.

Referring to fig. 7 and 8, when unlocking the instrument bar 112, an external force is required to press down both the sliding sleeves 1341 in the illustrated direction so that the unlocking segments 13412 correspond to where the locking pieces 135 are located; during the installation of the instrument bar 112, the two sliding sleeves 1341 are slid upward so that the locking segments 13411 correspond to the positions of the locking members 135. In order to enable the sliding sleeve body 1341 to automatically slide up and return when the instrument bar 112 is installed, a first spring 132 is provided between the sliding sleeve body 1341 and the instrument bar locking sleeve 131.

Further, in the illustrated embodiment, the lower end of the first spring 132 abuts against the upper surface of the connection end 1311 of the instrument bar locking sleeve 131, the upper end of the first spring 132 abuts against the lower end surface of the sliding sleeve body 1341, and the first spring 132 is in a compressed state in the assembled state, and its elastic return force always keeps pushing the sliding sleeve body 1341 upward to the position of locking the instrument bar 112.

In order to restrict the expansion and contraction deformation direction of the first spring 132, the upper surface of the connecting end 1311 and the lower end surface of the sliding sleeve body 1341 may be respectively provided with a first spring seat 1312 and a second spring seat 1342, but of course, only one of the two may be provided. In this way, the first spring seat 1312 and/or the second spring seat 1342 may constrain the first spring 132 to deform only in a predetermined direction during compression of the first spring 132, reducing the likelihood of lateral bending. The first spring seat 1312 and the second spring seat 1342 may be integrally formed with the instrument bar locking sleeve 131 and the sliding sleeve body 1341, respectively, or may be separate members fitted thereto.

The first spring seat 1312, the second spring seat 1342 and the first spring 132 may be correspondingly disposed in plural, and a plurality of mutually matched structures are uniformly distributed in the circumferential direction of the sliding sleeve body 1341, so that the stress of the sliding sleeve body 1341 is balanced. And before the sliding sleeve body 1341 slides to the unlocking section 13412 corresponding to the outer wall of the instrument bar locking sleeve 131, the first spring seat 1312 and the second spring seat 1342 are not in contact with each other, so as to avoid interference with the sliding process of the sliding sleeve body 1341.

Referring to fig. 8-10, the instrument rod locking sleeve 131 may further include a pin hole 1315, and the stop member 133 is disposed in the pin hole 1315. When the sliding sleeve body 1341 is in a position to lock the instrument bar 112, the stopper 133 abuts against the upper end face of the sliding sleeve body 1341 and serves to prevent further upward sliding of the sliding sleeve body 1341. It can be understood that, with respect to the orientation shown in fig. 10, the stopper 133 restricts the sliding sleeve body 1341 from sliding upwards, and when the first spring 132 elastically pushes the lower end face of the sliding sleeve body 1341 upwards, the sliding sleeve body 1341 will not cause the locking member 135 to fall off due to the sliding over travel. In other embodiments, the stopper 133 and the pin hole 1315 can be configured in other forms as long as the upper end position of the sliding sleeve 1341 can be limited.

Referring to fig. 7 and 8, the base 16 is also provided with an instrument rod unlocking assembly 15, and the instrument rod unlocking assembly 15 comprises an unlocking member 151 capable of sliding relative to the base 16 to drive the sliding sleeve body 1341 to slide relative to the instrument rod locking sleeve 131. Along the direction that the unlocking piece 151 slides relative to the base 16, one side of the unlocking piece 151 close to the sliding sleeve body 1341 is provided with a triggering portion 1511, and when the unlocking piece 151 slides towards the sliding sleeve body 1341, the triggering portion 1511 pushes against the sliding sleeve body 1341, so that the unlocking piece can be driven to slide relative to the instrument rod locking sleeve 131 to the position of the unlocking instrument rod 112. In the illustrated embodiment, the triggering portion 1511 includes two portions spaced apart in the circumferential direction, and when installed, the two triggering portions 1511 should be circumferentially offset from the two stoppers 133 to avoid the stoppers 133 from obstructing the movement of the triggering portion 1511 to push the sliding sleeve body 1341.

Referring to fig. 11 and 13, the unlocking element 151 is disposed outside the surgical device 11 and has a notch 1512 penetrating through the outer wall of the surgical device 11, and a portion of the sheath limiting member 14 for limiting locking/unlocking of the sheath 111 is correspondingly disposed at the notch 1512.

Specifically, on the basis of fig. 11 and 13, as shown in fig. 14 and 15, the base 16 includes a base 161 and a support portion 162, and the support portion 162 of the base 16 is provided with a slide hole 163 perpendicular to the sliding direction of the sheath 111 during detachment.

The sheath limiting component 14 includes a limiting element 141 slidably installed in the sliding hole 163, and a limiting hole 1411 is formed in the limiting element 141, and the limiting hole 1411 is used for matching with the limiting ring groove 1111 on the sheath 111, so that the limiting element 141 can limit the axial position of the sheath 111. The portion of the restraining element 141 having the restraining aperture 1411 extends through the slot 1512 and into restraining engagement with the outer sheath 111 inside the unlocking member 151.

The sheath limiting assembly 14 may further include a second spring (not shown), a stopper 142 and a detecting element 143, wherein the lower end of the limiting element 141 extends from the lower slot 1512, and the second spring is disposed between the stopper 142 and the limiting element 141 and is used to push the limiting element 141 away from the stopper 142 so that it can be kept in a position of locking the sheath 111 under the action of the spring force.

The detecting element 143 is used for detecting the stop position of the position limiting element 141, when the sheath 111 is detached, an external force overcomes the elastic force of the second spring to press the position limiting element 141 downwards in the direction of the blocking piece 142, when the detecting element 143 detects that the end of the position limiting element 141 extends, an optical signal, a sound signal and the like can be sent out to prompt a user that the sheath 111 can be detached currently, and therefore the risk of mistaken detachment is eliminated.

Referring to fig. 11, 14 and 15, the supporting portion 162 of the housing 16 is provided with an extending opening 165 for receiving two triggering portions 1511 of the unlocking piece 151 to extend, in order to align the circumferential relative position of the unlocking piece 151 and the housing 16 during assembly, so that the two triggering portions 1511 are aligned with the extending opening 165, the unlocking piece 151 is provided with an aligning protrusion 1515 in a protruding manner, the supporting portion 162 is provided with an aligning groove 164 at a hole edge for inserting the unlocking piece 151, when the unlocking piece 151 is installed on the housing 16, the aligning protrusion 1515 is first aligned with the aligning groove 164, and then the unlocking piece 151 is pushed into the housing 16.

In addition, as shown in fig. 11 and fig. 13, in order to determine the circumferential relative position when the unlocking member 151 and the sheath 111 slide relative to each other, a slide block 1514 is provided in a slide hole in which the sheath 111 is inserted in the unlocking member 151, and correspondingly, a guide slide groove 1112 into which the slide block 1514 extends is provided in the outer wall of the sheath 111, and the slide block 1514 slides in the guide slide groove 1112 to circumferentially limit and guide the relative sliding between the unlocking member 151 and the sheath 111.

With continued reference to fig. 11, the instrument bar unlocking assembly 15 further includes a return spring 152, the return spring 152 for urging the unlocking member 151 in reverse to a position away from the sliding sleeve body 1341. The unlocking member 151 is further provided with a stop edge 1513 at one end, and in the assembled state, the stop edge 1513 is kept outside the housing 17, so that when the instrument rod 112 is unlocked, the unlocking member 151 can be pushed by the stop edge 1513 until the stop edge 1513 abuts against the housing 17, and the instrument rod 112 is unlocked.

It will be appreciated that the notches 1512 in the unlocking element 151 described above prevent interference between the unlocking element 151 and the sheath stop assembly 14 during sliding of the unlocking element 151. In particular, before the unlocking piece 151 is driven to slide towards the unlocking instrument rod 112, the side edges of the notch 1512 and the side edges of the limiting element 141 can be pressed against each other for limiting, so that the limiting element 141 is prevented from sliding to a certain extent, after the unlocking piece 151 slides, the side edges of the notch 1512 are not in contact with the limiting element 141, at this time, the limiting element 141 can slide freely in the range of the notch 1512, and when the unlocking piece 151 is arranged in this way, the assembling and disassembling processes of the surgical instrument 11 are given a sequence, and the risk of mistaken disassembling can be reduced.

Referring to fig. 16, the second aspect of the present invention also provides a surgical robot including the actuator 100 of the previous embodiment, as well as a telecentric steering mechanism 200, a preoperative positioning mechanism 300, a frame 400, and a base 500. The base 500 is configured with a plurality of frames 400, and each frame 400 is correspondingly configured with a set of preoperative positioning mechanism 300, telecentric operation mechanism 200 and actuator 100.

One possible implementation of the telecentric control mechanism 200 comprises a movable platform, a static platform and a plurality of telescopic units, wherein two ends of each telescopic unit are respectively and rotatably connected to the movable platform and the static platform, and the plurality of telescopic units are cooperatively telescopic to control the movable platform to move relative to the static platform;

the actuator 100 is disposed on the movable platform, and the surgical instrument 11 has a preset telecentric motionless point, and the deflection of the movable platform can drive the surgical instrument 11 to swing around the telecentric motionless point. When a minimally invasive surgery is performed, the actuating mechanism 100 is controlled through the preoperative positioning mechanism 300, so that the telecentric motionless point on the surgical instrument 11 coincides with a tiny wound on the body of a patient, and thus, in the subsequent surgical process, because the surgical instrument 11 performs spatial swing by taking the telecentric motionless point as a fixed point, the surgical instrument 11 cannot pull the wound.

The features of the above-described embodiments may be combined arbitrarily, and for the sake of brevity, all possible combinations of the features in the above-described embodiments will not be described in detail, but should be construed as being within the scope of the present disclosure unless there is any conflict between such combinations of features.

It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that suitable changes and modifications of the above embodiments are within the scope of the claimed invention as long as they are within the spirit and scope of the present invention.

Claims

1. An actuator for a surgical robot, comprising a surgical instrument and a drive assembly, wherein:

2. The surgical robotic actuator of claim 1, wherein the drive assembly further comprises two load blocks, each of the load blocks being connected to a corresponding one of the linear drives and configured to slide the instrument bar within the slide cavity.

3. An actuator of a surgical robot as claimed in claim 2, wherein the linear drive is configured as a linear motor, and the drive assembly further comprises a guide for limiting rotation of the load mount with the linear motor.

4. The actuator of claim 3, wherein the guiding member comprises a bushing fixed to the load base, and a guiding shaft fixed to the base, the bushing being capable of sliding with the load base under the driving of the linear motor under the guiding of the guiding shaft.

5. An actuator of a surgical robot according to any of claims 1-4, further comprising an instrument rod stop assembly for locking/unlocking the instrument rod and a sheath stop assembly for locking/unlocking the sheath.

6. An actuator of a surgical robot as claimed in claim 5, wherein the instrument bar limiting assembly comprises an instrument bar locking sleeve respectively corresponding to each instrument bar, and a sliding sleeve device, the instrument bar is connected with the corresponding linear driving device through the corresponding instrument bar locking sleeve, and the sliding sleeve device can slide relative to the instrument bar locking sleeve to enable the instrument bar locking sleeve to lock/unlock the corresponding instrument bar.

7. The actuator of claim 6, wherein the sliding sleeve device comprises a sliding sleeve body slidably sleeved outside each instrument rod locking sleeve, and the sliding sleeve body has a locking section and an unlocking section along a direction in which the sliding sleeve body slides relative to the instrument rod locking sleeve, wherein when the locking section corresponds to the instrument rod locking sleeve, the instrument rod is locked, and when the unlocking section corresponds to the instrument rod locking sleeve, the instrument rod is unlocked.

8. An actuator of a surgical robot as recited in claim 7, wherein said instrument bar limiting assembly further includes a lock, and wherein each of said instrument bars corresponds to at least one of said locks;

the locking piece is restrained in the sliding sleeve is internal, works as the locking section corresponds when the instrument pole locking cover, the locking piece locking the instrument pole, works as the unlocking section corresponds when the instrument pole locking cover, the locking piece is removed the locking of instrument pole.

9. The actuator of claim 8, wherein the locking sleeve of the instrument rod has a locking hole along a radial direction of the instrument rod, the rod body of the instrument rod inserted into the locking sleeve of the instrument rod has a locking groove, the locking member is movably disposed in the locking hole, and when the locking section corresponds to the locking sleeve of the instrument rod, the wall surface of the locking section presses the locking member into the locking groove along the locking hole.

10. The surgical robot actuator of claim 9, wherein the aperture of the lock hole near the instrument bar locking sleeve is larger than the aperture near the sliding sleeve along the opening direction of the lock hole.

11. A surgical robot actuator according to claim 10, wherein the locking member is provided as a ball shaped member which is able to roll and slide within the locking hole.

12. The surgical robot actuator of claim 6, wherein the instrument bar limiting assembly further comprises a stopping member for limiting the relative limit positions of the sliding sleeve device and the instrument bar locking sleeve, and the stopping member is mounted on the instrument bar locking sleeve and can stop one end side of the sliding sleeve device.

13. An actuator of a surgical robot according to claim 6, wherein a first spring is further provided between the instrument rod locking sleeve and the sliding sleeve device, and the elastic force of the first spring causes the sliding sleeve device to be held in a position locking the instrument rod.

14. An actuator of a surgical robot according to claim 13, wherein a spring seat is provided on the instrument rod locking sleeve and/or the sliding sleeve device, and the first spring is mounted on the spring seat and is capable of telescopic deformation in an extending direction of the spring seat.

15. An actuator of a surgical robot as claimed in claim 6, wherein a guide structure is further provided between the sliding sleeve device and the instrument rod locking sleeve for guiding the sliding direction of the sliding sleeve device and the instrument rod locking sleeve.

16. An actuator of a surgical robot as recited in claim 6, further comprising a base and an instrument bar unlocking assembly slidably disposed on the base, the instrument bar unlocking assembly including an unlocking member for driving the sliding sleeve device to slide relative to the instrument bar locking sleeve to unlock the instrument bar.

17. The surgical robot actuator of claim 16, wherein the instrument bar unlocking assembly further comprises a return spring, the spring force of the return spring causing the unlocking member to be held away from the sliding sleeve device.

18. An actuator of a surgical robot as claimed in claim 16, wherein the unlocking member is sleeved outside the surgical instrument and defines a slot that penetrates into the surgical instrument;

the machine base is provided with a sliding hole vertical to the sliding direction of the sheath; the sheath limiting assembly comprises a limiting element which is slidably connected to the sliding hole and used for limiting the installation position of the sheath, and the limiting element penetrates through the notch and is in limiting fit with the sheath.

19. The surgical robot actuator of claim 16, wherein a guide structure is further disposed between the outer sheath and the unlocking element for guiding a sliding direction of the unlocking element.

20. An actuator of a surgical robot as claimed in claim 16, wherein an alignment structure is further provided between the base and the unlocking member for aligning the circumferential mounting orientation of the unlocking member relative to the base.

21. An actuator of a surgical robot as claimed in claim 16, wherein the unlocking member has a triggering portion for contacting and pushing the sliding sleeve device to slide, the instrument rod locking sleeve is provided with two stoppers for limiting the relative limit positions of the sliding sleeve device and the instrument rod locking sleeve, and the triggering portions are circumferentially spaced apart to stagger the stoppers.

22. A surgical robot comprising an actuator according to any of claims 1-21.