CN115137485A

CN115137485A - Instrument driving box and minimally invasive surgery robot

Info

Publication number: CN115137485A
Application number: CN202210751735.2A
Authority: CN
Inventors: 不公告发明人
Original assignee: Changzhou Weijing Medical Robot Co ltd
Current assignee: Changzhou Weijing Medical Robot Co ltd
Priority date: 2021-08-04
Filing date: 2021-08-04
Publication date: 2022-10-04
Also published as: CN113693729B; CN113693729A

Abstract

The invention provides an instrument driving box and a minimally invasive surgery robot, wherein the instrument driving box comprises: a base; the executing part comprises a hollow rod, a first gear and an operating part arranged at one end of the hollow rod, the first gear is sleeved on the hollow rod, and the hollow rod is rotatably arranged on the base; the gear transmission part comprises a first transmission shaft and a second gear, and the second gear is meshed with the first gear; the rope transmission part is rotatably arranged on the base; the pull rope group comprises a first pull rope and a second pull rope, one end of each of the first pull rope and the second pull rope is wound on the rope transmission part, and the other end of each of the first pull rope and the second pull rope is connected with the operation part; rope transmission portion and stay cord group are a plurality ofly, a plurality of rope transmission portions and a plurality of stay cord group one-to-one cooperation, a plurality of stay cord groups be used for with the different structure of operating portion be connected to the different structure of drive operating portion removes respectively. The scheme can solve the problems of small operation freedom degree and large size of the instrument driving box.

Description

Instrument driving box and minimally invasive surgery robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to an instrument driving box and a minimally invasive surgery robot.

Background

At present, the minimally invasive surgery is a hot point for medical technology research and is a future surgical development trend, mainly because the minimally invasive surgery has a plurality of advantages: such as small trauma, short hospital stays, rapid recovery, and few postoperative complications. However, the conventional endoscopic surgery has many disadvantages, such as low operation precision, small visual field range, small operation freedom, and easy fatigue and trembling of doctors.

With the development of science and technology, the robot medical assistance technology can well solve the problems. The robot auxiliary technology can provide a better visual field, is convenient for doctors to operate, greatly increases the operation flexibility of the minimally invasive surgery robot, and enables doctors to perform more precise operation. The minimally invasive surgery robot generally comprises a doctor console and a surgery arm system, wherein the surgery arm system generally comprises a plurality of holding arms and a mirror holding arm, the holding arms are used for holding surgical instruments and completing corresponding actions according to doctor instructions, and instrument driving boxes are installed on the holding arms.

However, the instrument driving box in the existing minimally invasive surgery robot still has the problems of small operation freedom and large volume.

Disclosure of Invention

The invention provides an instrument driving box and a minimally invasive surgery robot, and aims to solve the problems of small operation freedom degree and large size of the instrument driving box in the prior art.

In order to solve the above problems, according to one aspect of the present invention, there is provided an instrument driving cartridge, including a base, a fixing frame, a driving part and an executing part, wherein the driving part is fixed to the base and/or the fixing frame and connected to the executing part to drive the executing part to execute different actions, the base is fixedly connected to the fixing frame, the executing part includes a hollow rod, a first gear and an operating part disposed at one end of the hollow rod, the first gear is sleeved on the other end of the hollow rod, and the hollow rod is rotatably disposed on the base; the driving part comprises a tooth transmission part, a plurality of rope transmission parts, a plurality of rope pulling groups, a guide part and a steering part; the gear transmission part comprises a first transmission shaft and a second gear sleeved on the first transmission shaft, and the second gear is meshed with the first gear to drive the hollow rod to rotate; the plurality of rope transmission parts are rotatably arranged on the base; the plurality of pull rope groups are respectively used for being connected with different structures of the operation part so as to drive the different structures of the operation part to respectively rotate, each pull rope group comprises a first pull rope and a second pull rope, one end of each first pull rope is wound on the rope transmission part, each first pull rope penetrates through the hollow rod, the other end of each first pull rope is connected with the operation part, one end of each second pull rope is wound on the rope transmission part, each second pull rope penetrates through the hollow rod, the other end of each second pull rope is connected with the operation part, and the winding directions of the first pull rope and the second pull rope on the rope transmission part are opposite; the guide part is fixed between the base and the fixing frame and used for guiding the pull rope group to the steering part along the horizontal direction, and the steering part is fixed on the fixing frame and used for guiding the pull rope group to the hollow rod along the vertical direction.

Further, the guide part comprises a guide shaft, a large guide wheel and a small guide wheel, the guide shaft is arranged on the base, and the large guide wheel and the small guide wheel are adjacently stacked on the guide shaft along the vertical direction and can rotate relative to the base.

Furthermore, the steering part comprises a steering shaft, a large steering wheel and a small steering wheel, the steering shaft is arranged on the fixing frame and is axially vertical to the axial direction of the rope transmission part, and the large steering wheel and the small steering wheel are adjacently superposed on the steering shaft along the horizontal direction and can rotate relative to the fixing frame; wherein, big directive wheel and little directive wheel cooperate with first stay cord and the second stay cord of a stay cord group respectively.

Further, the steering shaft can be rotatably arranged on the fixing frame, the large steering wheel can be rotatably arranged on the steering shaft, and the small steering wheel is fixedly arranged on the steering shaft.

Furthermore, the number of the rope transmission parts and the number of the rope pulling groups are three, each steering part comprises two first steering parts and one second steering part, and the axes of the first steering shafts of the two first steering parts are vertical to the axis of the second steering shaft of the one second steering part on the horizontal plane.

Furthermore, the fixing frame comprises a fixing plate, an installation block and an upper supporting column, the installation block and the upper supporting column are arranged on the fixing plate, the steering part is rotatably arranged on the installation block, the base comprises a bottom plate and a lower supporting column arranged on the bottom plate, the upper supporting column is connected with the bottom plate, and the lower supporting column is connected with the fixing plate.

According to another aspect of the invention, there is provided an instrument drive cartridge comprising: a base; the executing part comprises a hollow rod, a first gear and an operating part arranged at one end of the hollow rod, the first gear is sleeved on the hollow rod, and the hollow rod is rotatably arranged on the base; the gear transmission part comprises a first transmission shaft and a second gear sleeved on the first transmission shaft, and the second gear is meshed with the first gear; the rope transmission part is rotatably arranged on the base; the pull rope group comprises a first pull rope and a second pull rope, one end of the first pull rope is wound on the rope transmission part, the first pull rope penetrates through the hollow rod, the other end of the first pull rope is connected with the operating part, one end of the second pull rope is wound on the rope transmission part, the second pull rope penetrates through the hollow rod, the other end of the second pull rope is connected with the operating part, and the winding directions of the first pull rope and the second pull rope on the rope transmission part are opposite; wherein, rope transmission portion and stay cord group are a plurality ofly, and a plurality of rope transmission portions and a plurality of stay cord group one-to-one cooperation, a plurality of stay cord groups are used for being connected with the different structures of operating portion to the different structures of drive operating portion remove respectively.

Further, the rope transmission portion includes: the transmission shaft can be arranged on the base in a forward and reverse rotating manner; the first transmission wheel is arranged on the transmission shaft, and one end of the first pull rope is wound on the first transmission wheel; and the second driving wheel is arranged on the transmission shaft, and one end of the second pull rope is wound on the second driving wheel.

Further, the first driving wheel includes: the first sleeve body is sleeved on the transmission shaft; the first clamping sleeve is fixedly connected with the first sleeve body, and the first clamping sleeve is detachably fixed on the transmission shaft.

Furthermore, the instrument driving box also comprises a guide part, wherein the guide part comprises a guide shaft, a large guide wheel and a small guide wheel; the guide parts are multiple, and the guide parts and the pull rope groups are arranged in a one-to-one correspondence mode, wherein a first pull rope of each pull rope group is wound on a large guide wheel of the corresponding guide part, and a second pull rope of each pull rope group is wound on a small guide wheel of the corresponding guide part.

Further, the instrument drive cartridge further comprises: the fixing frame is connected with the base; the first steering part comprises a first steering shaft, a first large steering wheel and a first small steering wheel, the first steering shaft is rotatably arranged on the fixing frame, the axial direction of the first steering shaft is perpendicular to the axial direction of the rope transmission part, the first large steering wheel is rotatably arranged on the first steering shaft, and the first small steering wheel is arranged on the first steering shaft; the first large steering wheel and the first small steering wheel are respectively matched with a first pull rope and a second pull rope of one pull rope group.

Further, the instrument drive cartridge further comprises: the second steering part comprises a second steering shaft, a second large steering wheel and a second small steering wheel, the second steering shaft is rotatably arranged on the fixing frame, the axial direction of the second steering shaft is perpendicular to the axial direction of the rope transmission part and the axial direction of the first steering shaft, the second large steering wheel is rotatably arranged on the second steering shaft, and the second small steering wheel is arranged on the second steering shaft; the second large steering wheel and the second small steering wheel are respectively matched with the first pull rope and the second pull rope of one pull rope group.

Further, rope transmission portion and stay cord group are three, and first steering portion includes two big directive wheels of first and two little directive wheels, and first steering portion and second steering portion are one, and wherein, two cooperations in first steering portion and the three stay cord group, the second steering portion and another cooperation in the three stay cord group.

Furthermore, the fixing frame comprises a fixing plate, a mounting block and an upper supporting column, the mounting block and the upper supporting column are arranged on the fixing plate, the first steering shaft is rotatably arranged on the mounting block, the base comprises a bottom plate and a lower supporting column arranged on the bottom plate, the upper supporting column is connected with the bottom plate, and the lower supporting column is connected with the fixing plate.

Further, the operation section includes: the wrist structure is hinged with one end of the hollow rod; the first small claw is hinged with the wrist structure; the second small claw is hinged with the wrist structure, and the wrist structure, the first small claw and the second small claw are respectively connected with different pull rope groups.

According to a further aspect of the invention, there is provided a minimally invasive surgical robot comprising an instrument drive cartridge as described above.

By applying the technical scheme of the invention, the invention provides an instrument driving box, which comprises: a base; the executing part comprises a hollow rod, a first gear and an operating part arranged at one end of the hollow rod, the first gear is sleeved on the hollow rod, and the hollow rod is rotatably arranged on the base; the gear transmission part comprises a first transmission shaft and a second gear sleeved on the first transmission shaft, and the second gear is meshed with the first gear; the rope transmission part is rotatably arranged on the base; the pull rope group comprises a first pull rope and a second pull rope, one end of the first pull rope is wound on the rope transmission part, the first pull rope penetrates through the hollow rod, the other end of the first pull rope is connected with the operating part, one end of the second pull rope is wound on the rope transmission part, the second pull rope penetrates through the hollow rod, the other end of the second pull rope is connected with the operating part, and the winding directions of the first pull rope and the second pull rope on the rope transmission part are opposite; wherein, rope transmission portion and stay cord group are a plurality ofly, and a plurality of rope transmission portions and a plurality of stay cord group one-to-one cooperation, a plurality of stay cord groups are used for being connected with the different structures of operating portion to the different structures of drive operating portion remove respectively. By adopting the scheme, the rotation of the execution part can be realized through the meshing of the first gear and the second gear, namely, the operation part can rotate. Adopt first stay cord and second stay cord to twine respectively on rope transmission portion and operating portion with different spiral directions, a plurality of rope transmission portions can realize the structure corotation or the reversal of the difference of operating portion when rotating like this, and this kind of mode can realize the removal of operating portion on a plurality of degrees of freedom to, adopt the multiunit stay cord to carry out transmission compact structure, can reduce the volume of apparatus drive box like this. And the installation is simpler, and the pretension can be realized by tensioning the stay cord during the installation, thereby ensuring the transmission precision.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 illustrates a schematic structural view of an instrument drive cartridge provided by an embodiment of the present invention;

FIG. 2 shows an exploded view of the instrument drive cartridge of FIG. 1;

FIG. 3 is a schematic diagram illustrating a portion of the structure in the instrument drive cartridge of FIG. 2;

FIG. 4 shows a partial enlarged view of the first diverter and the second diverter of FIG. 3;

FIG. 5 shows a schematic view of a portion of the structure in the instrument drive cartridge of FIG. 2;

FIG. 6 shows a block diagram of the actuator and a portion of the base of FIG. 2;

FIG. 7 illustrates an exploded view of the instrument drive cartridge of FIG. 1 from another perspective;

fig. 8 shows a schematic structural diagram of a minimally invasive surgical robot provided by an embodiment of the invention.

Wherein the figures include the following reference numerals:

10. a base; 11. a base plate; 12. a lower pillar; 13. a convex column; 20. an execution unit; 21. a hollow shaft; 22. a first gear; 23. an operation section; 231. a wrist structure; 232. a first small jaw; 233. a second small jaw; 24. a bearing; 30. a gear transmission part; 31. a first transmission shaft; 32. a second gear; 40. a rope transmission section; 41. a drive shaft; 42. a first drive pulley; 421. a first sleeve body; 422. a first ferrule; 4221. a first semi-annular member; 4222. a second half-ring member; 43. a second transmission wheel; 50. a guide portion; 51. a guide shaft; 52. a large guide wheel; 53. a small guide wheel; 60. a fixed mount; 61. a fixing plate; 62. mounting blocks; 63. an upper pillar; 70. a first steering section; 71. a first steering shaft; 72. a first large steering wheel; 73. a first small steering wheel; 80. a second steering section; 81. a second steering shaft; 82. a second large steering wheel; 83. a second small steering wheel; 91. a pressure lever; 92. a housing; 100. an instrument drive cartridge; 200. provided is a mechanical arm.

Detailed Description

The technical solution 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. It should be apparent that the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

As shown in fig. 1 to 7, an embodiment of the present invention provides an instrument drive cartridge including: a base 10; the actuating part 20, the actuating part 20 includes the hollow bar 21, the first gear 22 and operation part 23 set up in one end of the hollow bar 21, the first gear 22 is set up on the hollow bar 21, the hollow bar 21 is set up on the base 10 rotatably; the gear transmission part 30, the gear transmission part 30 includes the first drive shaft 31 and the second gear 32 that is set on the first drive shaft 31, the second gear 32 engages with the first gear 22; the rope transmission part 40, the rope transmission part 40 is set on the base 10 rotatably; the pull rope group comprises a first pull rope and a second pull rope, one end of the first pull rope is wound on the rope transmission part 40, the first pull rope penetrates through the hollow rod 21, the other end of the first pull rope is connected with the operation part 23, one end of the second pull rope is wound on the rope transmission part 40, the second pull rope penetrates through the hollow rod 21, the other end of the second pull rope is connected with the operation part 23, and the winding directions of the first pull rope and the second pull rope on the rope transmission part 40 are opposite; wherein, rope transmission portion 40 and stay cord group are a plurality ofly, and a plurality of rope transmission portions 40 and a plurality of stay cord group one-to-one cooperation, a plurality of stay cord groups are used for being connected with the different structures of operating portion 23 to the different structures of drive operating portion 23 remove respectively.

With this arrangement, the rotation of the actuator 20, that is, the operation portion 23 can be rotated, can be realized by the engagement of the first gear 22 and the second gear 32; the hollow rod 21 is arranged to enable the pull rope group to smoothly pass through and be connected with the operation part 23, so that the structure is more compact. The first pull rope and the second pull rope are respectively wound on the rope transmission part 40 and the operation part 23 in different spiral directions, so that the plurality of rope transmission parts 40 can realize different structures of the operation part 23 to rotate forwards or backwards, the operation part 23 can move on a plurality of degrees of freedom in the mode, and the transmission structure is compact by adopting a plurality of groups of pull ropes, so that the size of the instrument driving box can be reduced. And the installation is simpler, and the pretension can be realized by tensioning the stay cord during the installation, thereby ensuring the transmission precision.

Wherein, rope drive portion 40 includes: a transmission shaft 41 provided on the base 10 to be rotatable in forward and reverse directions; a first driving wheel 42 disposed on the driving shaft 41, one end of the first rope being wound around the first driving wheel 42; a second transmission wheel 43 arranged on the transmission shaft 41, one end of the second cord is wound around the second transmission wheel 43. When the transmission shaft 41 rotates in the forward and reverse directions, the first transmission wheel 42 and the second transmission wheel 43 are driven to rotate, so that the first pull rope and the second pull rope can realize the movement in different spiral directions, and the operation part 23 is driven to rotate.

As shown in fig. 2, in the present embodiment, a bearing is disposed between the transmission shaft 41 and the base 10, and a bearing is also disposed between the transmission shaft 41 and the fixing frame 60, so that the transmission shaft 41 can more stably rotate in the forward direction and the reverse direction.

Specifically, the first drive pulley 42 includes: the first sleeve 421 is sleeved on the transmission shaft 41; the first ferrule 422 is fixedly connected with the first sleeve 421, and the first ferrule 422 is detachably fixed on the transmission shaft 41. The first sleeve body 421 is sleeved on the transmission shaft 41, so that the first sleeve body is convenient to disassemble; the first ferrule 422 is fixedly connected with the first sleeve 421, so as to facilitate processing and assembly.

Optionally, in this embodiment, the outer wall of the first sleeve 421 has a spiral groove, and one end of the first pull rope is wound in the groove. Through setting up the recess, can play limiting displacement to first stay cord, make the transmission between rope transmission portion 40 and the operating portion 23 more reliable and more stable. The first sleeve 421 has a limiting hole, the end of the first pull rope passes through the limiting hole, and the first pull rope can be fixed and tightened by the limiting hole. Through the scheme, accurate transmission can be realized, and the rotation return difference is reduced or avoided.

As shown in fig. 5, the first ferrule 422 includes a first half-ring member 4221 and a second half-ring member 4222, wherein the first half-ring member 4221 and the first sleeve 421 are of an integral structure, the grooves of the first half-ring member 4221 and the second half-ring member 4222 are oppositely arranged to clamp the transmission shaft 41, and the first half-ring member 4221 and the second half-ring member 4222 are fixedly connected by two fasteners. With the above arrangement, installation and removal are facilitated, the fasteners may be bolted, and as can be seen in fig. 5, a gap is left between the first half ring 4221 and the second half ring 4222, which makes the connection between the two parts more secure. To achieve this, the ring shape of the first half-ring member 4221 and/or the second half-ring member 4222 may be provided slightly smaller than the half-ring. In this embodiment, the second half ring 4222 is formed to have a slightly smaller ring shape than the half ring.

In this embodiment, the instrument driving cartridge further comprises a guide portion 50, the guide portion 50 comprises a guide shaft 51, a large guide wheel 52 and a small guide wheel 53, the guide shaft 51 is rotatably disposed on the base 10, the large guide wheel 52 is rotatably disposed on the guide shaft 51, and the small guide wheel 53 is disposed on the guide shaft 51; the guide portion 50 is provided in plurality, and the plurality of guide portions 50 and the plurality of cord groups are provided in one-to-one correspondence, wherein a first cord of a cord group is wound around the large guide pulley 52 of the corresponding guide portion 50, and a second cord of the cord group is wound around the small guide pulley 53 of the corresponding guide portion 50.

The guide portion 50 is provided to guide the pulling rope group so that the pulling rope can be driven according to a required path. The bearing is arranged between the guide shaft 51 and the base 10, the bearing is arranged between the large guide wheel 52 and the guide shaft 51, the small guide wheel 53 and the guide shaft 51 can be in key connection, and the rotation of the large guide wheel 52 and the small guide wheel 53 in different directions can be realized by adopting the arrangement. Wherein the large guide wheel 52 is matched with the first pull rope, and the small guide wheel 53 is matched with the second pull rope. The plurality of guide portions 50 correspond to the plurality of cord groups one by one, and a plurality of degrees of freedom in operation of the operation portion 23 can be achieved, and the instrument drive cassette can be made compact. It should be understood that any mechanism can be used as long as it can realize the rotation of the large guide wheel 52 and the small guide wheel 53 in different directions, for example, the large guide wheel 52 and the small guide wheel 53 are respectively provided with a bearing, and the bearings are respectively sleeved on the guide shafts 51, and at this time, the guide shafts 51 do not need to rotate, and can be fixedly assembled with the base 10 or integrally formed with the base.

As shown in fig. 5, the guide shaft 51 is parallel to the transmission shaft 41, so as to avoid interference between the two during operation; the guide part also comprises a check ring used for propping against the bearing, so that the bearing is not easy to fall off.

In this embodiment, the instrument drive cartridge further comprises: the fixing frame 60 is connected with the base 10; a first steering part 70, the first steering part 70 including a first steering shaft 71, a first large steering wheel 72 and a first small steering wheel 73, the first steering shaft 71 being rotatably provided on the fixing bracket 60, an axial direction of the first steering shaft 71 being perpendicular to an axial direction of the rope transmission part 40, the first large steering wheel 72 being rotatably provided on the first steering shaft 71, the first small steering wheel 73 being provided on the first steering shaft 71; wherein the first large steering wheel 72 and the first small steering wheel 73 are respectively matched with the first pull rope and the second pull rope of one pull rope group.

By providing the first steering portion 70, the first steering shaft 71 is perpendicular to the axial direction of the rope transmitting portion 40, and the rope set can be steered so as to pass through the hollow bar 21. The bearing is arranged between the first steering shaft 71 and the fixing frame 60, the bearing is arranged between the first large steering wheel 72 and the first steering shaft 71, the first small steering wheel 73 and the first steering shaft 71 can be in key connection, and the rotation of the first large steering wheel 72 and the first small steering wheel 73 in different directions can be realized by adopting the arrangement. Two first large steering wheels 72 and two first small steering wheels 73 are respectively corresponding to the first pull ropes and the second pull ropes of the two pull rope groups. Similarly, any mechanism that can rotate the first large steered wheel 72 and the first small steered wheel 73 in different directions may be used here.

In this embodiment, the instrument drive cartridge further comprises: a second steering part 80, wherein the second steering part 80 comprises a second steering shaft 81, a second large steering wheel 82 and a second small steering wheel 83, the second steering shaft 81 is rotatably arranged on the fixed frame 60, the axial direction of the second steering shaft 81 is perpendicular to the axial direction of the rope transmission part 40 and the axial direction of the first steering shaft 71, the second large steering wheel 82 is rotatably arranged on the second steering shaft 81, and the second small steering wheel 83 is arranged on the second steering shaft 81; wherein the second large steering wheel 82 and the second small steering wheel 83 are respectively matched with the first pull rope and the second pull rope of one pull rope group.

By providing the second steering portion 80, the second steering shaft 81 is perpendicular to the axial direction of the rope transmission portion 40, and the rope set can be steered so as to pass through the hollow bar 21. The bearing is arranged between the second steering shaft 81 and the fixing frame 60, the bearing is arranged between the second large steering wheel 82 and the second steering shaft 81, the second small steering wheel 83 and the second steering shaft 81 can be in key connection, and the rotation of the second large steering wheel 82 and the second small steering wheel 83 in different directions can be realized by adopting the arrangement. The second large steering wheel 82 corresponds to the first rope, and the second small steering wheel 83 corresponds to the second rope. Similarly, any mechanism that can rotate the second large steered wheel 82 and the second small steered wheel 83 in different directions may be used here.

Specifically, the rope transmission portion 40 and the pulling rope groups are three, the first turning portion 70 includes two first large turning wheels 72 and two first small turning wheels 73, and the first turning portion 70 and the second turning portion 80 are one, wherein the first turning portion 70 is engaged with two of the three pulling rope groups, and the second turning portion 80 is engaged with another of the three pulling rope groups. Through setting up three rope transmission portion 40 and acting as go-between group, can make operation portion 23 realize three degree of freedom of operation, improved the flexibility of operation greatly.

Specifically, the fixing bracket 60 includes a fixing plate 61, and a mounting block 62 and an upper support 63 which are provided on the fixing plate 61, the first steering shaft 71 is rotatably provided on the mounting block 62, and the base 10 includes a base plate 11 and a lower support 12 which is provided on the base plate 11, wherein the upper support 63 is connected to the base plate 11, and the lower support 12 is connected to the fixing plate 61. The mounting block 62 is provided for mounting, supporting and positioning the first steering portion 70 and the second steering portion 80. A bearing is arranged between the first steering shaft 71 and the mounting block 62; the upper support 63 is clamped with the bottom plate 11, and the lower support 12 is clamped with the fixing plate 61, so that the installation and the disassembly are convenient.

In this embodiment, the instrument driving box further includes a mounting plate, and a driving portion disposed on the mounting plate, the driving portion being drivingly connected to the rope transmission portion 40. The instrument driving box also comprises a clamping hook arranged on the mounting plate, and the clamping hook is clamped with the base 10, so that the mounting plate is connected with the base 10.

In this embodiment, the instrument driving box further includes a pressing rod 91, the pressing rod 91 is rotatably disposed on the base 10, and the pressing rod 91 can push the hook to disengage the hook from the base 10 when rotating. The instrument driving box further comprises an elastic piece, one end of the elastic piece is abutted to the fixing plate 61, and the other end of the elastic piece is abutted to the pressing rod 91. In operation, the pressing rod 91 is pressed, and the pressing rod 91 overcomes the elastic force of the elastic piece and then rotates, so that the clamping hook is pushed to move. Wherein, be provided with the member in the elastic component for support elastic component prevents to drop.

Further, the instrument drive cassette further comprises a housing 92, the housing 92 covers the fixing plate 61, and the housing 92 is connected to the base plate 11. The housing 92 and the bottom plate 11 can be connected in a clamping manner, and are easy to install and disassemble. The instrument driving box further comprises a connecting shaft, a convex column 13 is arranged on the bottom plate 11, the connecting shaft penetrates through the pressing rod 91, and one end of the connecting shaft is hinged with the convex column 13. The other end of the connecting shaft is hinged to the housing 92, and when the pressing lever 91 is pressed, the pressing lever 91 rotates around the connecting shaft.

Wherein, the execution part 20 further includes: a bearing 24 disposed in the base 10, the hollow rod 21 being engaged with an inner race of the bearing 24; and the retainer ring is arranged in the base 10 and is in limit fit with the outer ring of the bearing 24. The hollow rod 21 can reduce resistance in the forward rotation and the reverse rotation through the arrangement of the bearing 24; the retainer ring is arranged to abut against the bearing 24, the function of limiting is achieved, and the position of the guide rail is limited, the bearing 24 is not easy to fall off, and the stability of the structure is improved.

Wherein, the operation portion 23 includes: the wrist structure 231, the wrist structure 231 is hinged with one end of the hollow rod 21; a first jaw 232, hinged to wrist structure 231; the second small claw 233 is hinged with the wrist structure 231, and the wrist structure 231, the first small claw 232 and the second small claw 233 are respectively connected with different pull rope groups. The wrist structure 231 is hinged with one end of the hollow rod 21, and the rotation of the wrist structure 231 can be realized; the first small jaw 232 and the second small jaw 233 are hinged with the wrist structure 231, so that the first small jaw 232 and the second small jaw 233 can rotate, namely, the first small jaw 232 and the second small jaw 233 can be opened and closed. Wherein, adopt articulated mode to connect, be convenient for installation and dismantlement. Wrist structure 231, first gripper 232 and second gripper 233 are connected with different stay cord groups respectively, can control respectively through different stay cord groups, can adjust it respectively according to the actual work demand, have improved the flexibility of operation.

As shown in fig. 8, another embodiment of the present invention provides a minimally invasive surgical robot including the instrument drive cartridge 100 described above. Specifically, the minimally invasive surgical robot includes a robot arm 200, and the instrument driving cartridge 100 is disposed on the robot arm 200, so that the instrument driving cartridge 100 can be moved integrally, for example, moved up and down, by the robot arm 200. Further, a plurality of robot arms 200 may be provided in the minimally invasive surgical robot, and one instrument driving cartridge 100 is provided on each robot arm 200, so that the plurality of instrument driving cartridges 100 may be operated in cooperation to improve the convenience of the surgery. Moreover, different operation parts with different functions can be arranged in different instrument driving boxes 100, so that different operation requirements can be met, and the functions of the minimally invasive surgery robot are enriched.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An instrument driving box comprises a base (10), a fixing frame (60), a driving part and an executing part (20), wherein the driving part is fixed on the base (10) and/or the fixing frame (60) and is connected with the executing part (20) to drive the executing part to execute different actions, the base (10) is fixedly connected with the fixing frame (60), and the instrument driving box is characterized in that,

the executing part (20) comprises a hollow rod (21), a first gear (22) and an operating part (23) arranged at one end of the hollow rod (21), the first gear (22) is sleeved on the other end of the hollow rod (21), and the hollow rod (21) is rotatably arranged on the base (10);

the driving part comprises a tooth transmission part (30), a plurality of rope transmission parts (40), a plurality of pull rope groups, a guide part (50) and steering parts (70, 80); the gear transmission part (30) comprises a first transmission shaft (31) and a second gear (32) sleeved on the first transmission shaft (31), and the second gear (32) is meshed with the first gear (22) to drive the hollow rod (21) to rotate; a plurality of the rope transmission parts (40) are rotatably arranged on the base (10); the pull rope sets are respectively used for being connected with different structures of the operating part (23) so as to drive the different structures of the operating part (23) to rotate respectively, each pull rope set comprises a first pull rope and a second pull rope, one end of the first pull rope is wound on the rope transmission part (40), the first pull rope penetrates through the hollow rod (21), the other end of the first pull rope is connected with the operating part (23), one end of the second pull rope is wound on the rope transmission part (40), the second pull rope penetrates through the hollow rod (21), the other end of the second pull rope is connected with the operating part (23), and the winding directions of the first pull rope and the second pull rope on the rope transmission part (40) are opposite;

wherein the content of the first and second substances,

the guide portion (50) is fixed between the base (10) and the fixing frame (60) and used for guiding the pull rope group to the steering portions (70 and 80) along the horizontal direction, and the steering portions (70 and 80) are fixed to the fixing frame (60) and used for guiding the pull rope group to the hollow rod (21) along the vertical direction.

2. The instrument drive cartridge according to claim 1, wherein the guide portion (50) includes a guide shaft (51), a large guide wheel (52), and a small guide wheel (53), the guide shaft (51) being provided on the base (10), the large guide wheel (52) and the small guide wheel (53) being stacked adjacent to each other in a vertical direction on the guide shaft (51) and being rotatable with respect to the base (10).

3. The instrument drive magazine according to claim 2, characterized in that the guides (50) are provided in plurality, and a plurality of the guides (50) and a plurality of the groups of pulling cables are arranged in one-to-one correspondence, wherein a first pulling cable of a group of pulling cables is wound around a large guide wheel (52) of the corresponding guide (50) and a second pulling cable of a group of pulling cables is wound around a small guide wheel (53) of the corresponding guide (50).

4. The instrument drive cassette according to claim 1, wherein each of the plurality of cord transmissions (40) includes:

a transmission shaft (41) which is arranged on the base (10) in a forward and reverse rotation manner;

the first transmission wheel (42) is arranged on the transmission shaft (41), and one end of the first pull rope is wound on the first transmission wheel (42);

and the second transmission wheel (43) is arranged on the transmission shaft (41), and one end of the second pull rope is wound on the second transmission wheel (43).

5. The instrument drive cartridge according to claim 4, wherein the first drive wheel (42) includes:

the first sleeve body (421) is sleeved on the transmission shaft (41);

the first clamping sleeve (422) is fixedly connected with the first sleeve body (421), and the first clamping sleeve (422) is detachably fixed on the transmission shaft (41).

6. The instrument driving cartridge according to any one of claims 1 to 5, wherein the steering portion (70, 80) includes a steering shaft (71, 81), a large steering wheel (72, 82), and a small steering wheel (73, 83), the steering shaft (71, 81) is provided on the mount (60) and is axially perpendicular to an axial direction of the cord transmission portion (40), and the large steering wheel (72, 82) and the small steering wheel (73, 83) are stacked adjacent to each other on the steering shaft (71, 81) in a horizontal direction and are rotatable with respect to the mount (60); wherein the large steering wheel (72, 82) and the small steering wheel (73, 83) are fitted with a first pull rope and a second pull rope of one of the pull rope groups, respectively.

7. The instrument drive cartridge as claimed in claim 6, characterized in that the steering shaft (71, 81) is rotatably arranged on the holder (60), the large steering wheel (72, 82) is rotatably arranged on the steering shaft (71, 81), and the small steering wheel (73, 83) is fixedly arranged on the steering shaft (71, 81).

8. The instrument drive cassette according to claim 6, wherein the cord transmission portion (40) and the pull cord group are each three, and the turning portions (70, 80) include two first turning portions (70) and one second turning portion (80), and an axis of the first turning shaft (71) of the two first turning portions (70) is perpendicular to an axis of the second turning shaft (81) of the one second turning portion (80) on a horizontal plane.

9. The instrument driving cassette according to claim 1, wherein the fixing frame (60) includes a fixing plate (61) and a mounting block (62) and an upper support (63) provided on the fixing plate (61), the turning portion (70, 80) being rotatably provided on the mounting block (62), the base (10) including a bottom plate (11) and a lower support (12) provided on the bottom plate (11), wherein the upper support (63) is connected to the bottom plate (11), and the lower support (12) is connected to the fixing plate (61).

10. A minimally invasive surgical robot, characterized in that it comprises an instrument drive cartridge according to any one of claims 1 to 9.