CN115177306A - Medical instrument actuator and instrument - Google Patents

Medical instrument actuator and instrument Download PDF

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Publication number
CN115177306A
CN115177306A CN202110363677.1A CN202110363677A CN115177306A CN 115177306 A CN115177306 A CN 115177306A CN 202110363677 A CN202110363677 A CN 202110363677A CN 115177306 A CN115177306 A CN 115177306A
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CN
China
Prior art keywords
driving
cable
fixing plate
assembly
actuator
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Pending
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CN202110363677.1A
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Chinese (zh)
Inventor
王雨溥
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Agile Medical Technology Suzhou Co ltd
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Agile Medical Technology Suzhou Co ltd
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Application filed by Agile Medical Technology Suzhou Co ltd filed Critical Agile Medical Technology Suzhou Co ltd
Priority to CN202110363677.1A priority Critical patent/CN115177306A/en
Priority to CN202310245747.2A priority patent/CN116236238A/en
Publication of CN115177306A publication Critical patent/CN115177306A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00353—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery one mechanical instrument performing multiple functions, e.g. cutting and grasping
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A61B2017/00469—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for insertion of instruments, e.g. guide wire, optical fibre

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a medical instrument actuator and an instrument, and relates to the technical field of medical treatment, wherein the instrument actuator comprises a driving assembly, a hollow transmission rod, an upper fixing plate and a lower fixing plate; the driving assembly comprises a screw rod, a nut, a guide piece and a driving piece, and the screw rod is coupled with the nut; the upper end of the driving piece is connected with the nut, the lower end of the driving piece extends into the hollow transmission rod and is connected with the actuator after passing through the hollow transmission rod, and the central axis of the driving piece in the hollow transmission rod is parallel to the central axis of the hollow transmission rod; two ends of the guide piece and the screw rod are respectively connected with the upper fixing plate and the lower fixing plate; the upper end of the hollow transmission rod penetrates through the lower fixing plate. The instrument includes an instrument actuator and an effector. The invention adopts the motor to drive the screw rod or the thread, thereby realizing accurate transmission.

Description

Medical instrument actuator and instrument
Technical Field
The invention relates to the technical field of medical treatment, in particular to a medical instrument actuator and an instrument.
Background
Surgical robots assist in minimally invasive surgery and are becoming mature and widely used. During the operation of the surgical robot, a doctor sends an instruction through the master control end, the multiple mechanical arms at the slave end are operated to cooperate with each other to complete the surgery at a specified position, the instrument power box is arranged on the mechanical arm at the slave end, one end of the instrument power box is connected to the mechanical arm, and the other end of the instrument power box is connected to the actuator. The instrument power box is used as a driven end driving mechanism of the surgical robot to drive the executing device, and is matched with different instructions sent by medical staff at the main control end to complete various actions or postures, such as pitching, rotating, deflecting/clamping and the like. And when the number of arms of the existing surgical robot is large, such as four or more, the size of the instrument power box is larger, the movement space of the opposite arm is smaller, and the movement range is limited.
Chinese patent CN106109019B provides an instrument box and surgical instruments, the instrument box includes a turnover table component, two sets of driving wires, two wire rotating bodies and four output wires, each driving wire includes two driving wires, two fixings formed by each driving wire on the rotating component are symmetrical about a first intersection point, four fixing points formed by the four driving wires on the rotating component are sequentially connected to form a first parallelogram, and the intersection point of the diagonal line of the first parallelogram is the first intersection point, the other ends of the two driving wires in each driving wire are wound on the corresponding wire rotating body in opposite directions, so that the turnover table component is driven to move based on the four driving wires, and then the motion of the turnover table component is transmitted to the end instrument component by the output wires, so that the end instrument component realizes the motion of multiple directions and multiple degrees of freedom, the design of the instrument box is simplified, the volume of the instrument box is reduced, and the space utilization rate of the instrument box is improved.
Chinese patent CN105286999B discloses a minimally invasive surgical instrument with a terminal rotation function, which comprises an instrument terminal and an instrument box, wherein the instrument terminal comprises an opening and closing assembly, the opening and closing assembly comprises a left opening and closing clamp and a right opening and closing clamp, the left opening and closing clamp and the right opening and closing clamp are rotatably mounted on a terminal self-rotation seat through a support shaft, the terminal self-rotation seat is rotatably mounted on a deflection base, the terminal self-rotation seat is connected with a rotation driving device, a deflection wheel is fixed on the deflection base, the front end of the terminal support is rotatably connected to the deflection base through a rotation shaft of the deflection wheel and is fixedly connected with the terminal support, the rear end of the connection long shaft is fixedly connected with a rotation shaft of the instrument box, and an opening and closing transmission device, a terminal rotation transmission device, a deflection transmission device and a rotation transmission device are arranged in the instrument box. The device adopts a novel four-degree-of-freedom layout form, and can effectively reduce the difficulty of the robot in the operation operations such as suturing and knotting besides higher flexibility.
Chinese patent CN102171006B discloses an automated medical system that utilizes a passive preload system connected to a tendon wrapped around a capstan to control the tension of slack in the tendon. The passive preload system can utilize springs or other structures to apply tension to the tendons. The capstan may be motor driven when the tendon is required to pull on a structural member of the instrument. For example, to apply a clamping pressure or move the structural member against a resistive force, capstan friction can generate tendon tension many times that applied by the passive preload system. But when the tendon is not required to apply force to the member, the capstan can be released so that the spring system provides sufficient tension to prevent the tendon from moving laterally or otherwise failing in operation. A small tension in a relaxed tendon can reduce tendon friction, particularly in instruments with a flexible shaft.
The patent CN106109019B adopts a steel wire rope as a driving wire, a guide wheel corresponds to the driving wire, the movement of a plurality of output wires and a terminal apparatus assembly connected with the output wires is controlled by an overturning platform assembly connected with the driving wire, and the overturning platform is composed of a rotating part, has a complex structure and is easy to be confused; although the steel wire rope in the patent CN105286999B is arranged on the wire fixing mechanism, the wire fixing mechanism is connected with the tail end rotation transmission device, and the guide wheel of the invention is arranged on the rotating shaft, so that the occupied space is large; the patent CN102171006B is mainly fixed on a reel through one end of a tendon, and the other end of the tendon extends to the end of an actuator through a slender rod; different sheaves of different motor drive rotate, realize shortening or putting long of each cable, accomplish action or gesture such as pitching, rotation of final controlling element, this kind of scheme is widely used, but the capstan winch all distributes at approximate same horizontal plane with various leading wheels, causes the flat form of apparatus power box, and length and width direction is great, causes the apparatus power box size great, to sum up, still exists above technical problem in the prior patent.
Disclosure of Invention
In order to solve the above technical problems, the present invention provides a medical instrument actuator and an instrument.
In order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:
a medical instrument actuator comprises a driving assembly, a hollow transmission rod, an upper fixing plate and a lower fixing plate; the driving assembly comprises a screw rod, a nut, a guide piece and a driving piece, the screw rod is coupled with the nut, and the guide piece is in clearance fit with a guide hole in the nut; the upper end of the driving piece is connected with the nut, the lower end of the driving piece extends into the hollow transmission rod and passes through the hollow transmission rod, and the central axis of the driving piece in the hollow transmission rod is parallel to the central axis of the hollow transmission rod; two ends of the guide piece and the screw rod are respectively connected with the upper fixing plate and the lower fixing plate; the upper end of the hollow transmission rod penetrates through the lower fixing plate.
Furthermore, the driving part is a cable, the cable comprises a first cable and a second cable which move in opposite directions, the head ends of the first cable and the second cable are fixed on the nut, and the tail end of the first cable and the tail end of the second cable are both led into the hollow transmission rod and penetrate through the hollow transmission rod.
Further, the driving assembly further comprises an upper guide wheel assembly and a lower guide wheel assembly, the upper guide wheel assembly is arranged above the nut, and the lower guide wheel assembly is arranged below the nut; the first cable is wound on the upper guide wheel assembly, and the second cable is wound on the lower guide wheel assembly.
Further, the driving member is a rigid rod.
The invention also adopts the following technical scheme;
a medical instrument comprising an actuator and at least one pitch drive assembly; the pitching driving assembly comprises a driving assembly, and is installed between the upper fixing plate and the lower fixing plate; the actuator includes a pitch unit; the tail end of a driving piece of the pitching driving assembly is connected with the pitching unit of the actuator.
Further, at least one swing drive assembly including the actuator; the swing driving assembly comprises a driving assembly, and is arranged between the upper fixing plate and the lower fixing plate; the actuator includes a swing unit; the tail end of a driving piece of the swing driving assembly is connected with a swing unit of the actuator.
Further, the device also comprises a rotary driving unit; the rotary driving unit comprises a main transmission shaft, a driving gear and a driven gear which are meshed with each other, the driven gear is sleeved at the upper end of the hollow transmission rod, the driving gear is assembled on the main transmission shaft, and the driving gear and the main transmission shaft are respectively installed on the lower fixing plate through supporting bearings.
Furthermore, a limiting structure is arranged on the driven gear and used for limiting the driven gear to move.
Further, the limiting structure straddles on the driven gear and is provided with a limiting arm, and the limiting arm is connected with the lower fixing plate.
The upper fixing plate, the pitching driving assembly, the swinging driving assembly and the rotating driving unit are all contained in the cover body, and an opening of the cover body is detachably connected with the lower fixing plate.
Compared with the prior art, the invention has the following beneficial effects:
(1) Compared with a winch mechanism, the winch mechanism is driven by a screw rod or a thread mechanism, a driving shaft mechanism of the winch mechanism is more compact, and guide wheels are distributed in the vertical direction to save space;
(2) The motor is adopted to drive the screw rod or the thread, so that more accurate transmission is realized;
(3) The invention can also utilize the self-locking performance of the screw rod or the thread, and the actuator can still keep the original posture under the condition of power failure of the motor;
(4) The power transmission method of the present invention is not limited to the cable, and the actuator may be driven by a rigid rod.
Drawings
FIG. 1 is a schematic structural view of a medical device of the present application;
FIG. 2 is a schematic structural view of a medical device actuator of the present application;
FIG. 3 is a schematic view of the actuator structure of the medical device shown in FIG. 2 without the mounting plate;
FIG. 4 is a schematic structural diagram of a rotation driving unit;
fig. 5 is a schematic structural view of a swing drive assembly in embodiment 1;
fig. 6 is a schematic structural view of a pitch drive assembly in embodiment 1;
FIG. 7 is a distribution diagram of a plurality of cables in the hollow transmission rod of the embodiment 1;
FIG. 8 is a schematic structural view of an actuator of the medical device according to embodiment 2, wherein the guide member is a rigid rod;
the reference numbers are as follows: 1. an upper fixing plate; 2. a hollow transmission rod; 3. an actuator; 4. a screw rod; 5. a nut; 6. a guide member; 7. a drive member; 71. a first cable; 72. a second cable; 73. a rigid rod; 8. a main drive shaft; 9. a driving gear; 10. a driven gear; 12. a lower fixing plate; 13. a swing drive assembly; 14. a pitch drive assembly; 15. a limiting structure; 16. an upper guide wheel assembly; 161. a first guide wheel; 162. a second guide wheel; 17. a lower guide wheel assembly; 171. a third guide wheel; 172. and a fourth guide wheel.
Detailed Description
In order to make the purpose and technical solution of the present invention clearer, the following will clearly and completely describe the technical solution of the present invention with reference to the embodiments.
Example 1
A medical device actuator according to one of the embodiments shown in fig. 1-7 comprises a drive assembly, a hollow transmission rod 2, an upper fixed plate 1 and a lower fixed plate 12.
The driving assembly comprises a screw rod 4, a nut 5, a guide piece 6 and a driving piece 7; the screw 4 is coupled with the nut 5.
The guide piece 6 is in clearance fit with a guide hole on the nut 5, and the guide piece 6 can limit the rotation freedom degree of the nut 5; the lead screw 4 with the both ends of guide 6 respectively with upper fixed plate 1 and bottom plate 12 link to each other, and wherein the tip is fixed on bottom plate 12 under the lead screw 4, and the upper end of lead screw 4 is connected with upper fixed plate 1, and guide 6 sets up between bottom plate 12 and upper fixed plate 1 and the lower extreme of guide 6 is fixed on bottom plate 12, supports through guide 6 between bottom plate 12 and the upper fixed plate 1, guarantees the relative position relation between upper fixed plate 1 and the bottom plate 12. The upper end of the driving piece 7 is connected with the nut 5 through the fixing part, the lower end of the driving piece 7 extends into the hollow transmission rod 2, and the central axis of the driving piece 7 in the hollow transmission rod 2 is parallel to the central axis of the hollow transmission rod 2. As shown in fig. 3, the guide member 6 is cylindrical, the guide member 6 is positioned at one side of the screw rod 4, and the guide member 6 is matched with the nut 5; the present embodiment does not limit the specific shape of the guide bar 6 as long as the guide bar can limit the rotation of the nut 5.
The upper end of the hollow transmission rod 2 penetrates through the lower fixing plate 12. The driving elements 7 are arranged uniformly within the hollow driving rod 2.
The invention also discloses a medical instrument, which further comprises an actuator 3, at least one pitching driving component 14 and at least one swinging driving component 13, wherein the pitching driving component 14 and the swinging driving component 13 comprise driving components with the same structure; the pitch drive assembly 14 is installed between the upper fixing plate 1 and the lower fixing plate 12; the actuator 3 includes a pitch unit; the end of the driving part 7 of the pitch driving component 14 passes through the hollow transmission rod 2 and then is connected with the pitch unit of the actuator 3. The swing driving assembly 13 is installed between the upper fixing plate 1 and the lower fixing plate 12; the actuator 3 includes a swing unit; the tail end of the driving part 7 of the swing driving component 13 passes through the hollow transmission rod 2 and then is connected with the swing unit of the actuator 3.
As shown in fig. 2 and 3, the swing drive assembly 13 is provided in two, and the pitch drive assembly 14 is provided in one.
As shown in fig. 2-7, the driving member 7 is provided as a cable, and the driving member 7 of the swing driving assembly 13 includes a first cable 71 and a second cable 72; the head ends of a first cable 71 and a second cable 72 in the swing driving assembly 13 are respectively fixed on the nut 5 through fixing parts, and the tail ends of the cables are introduced into the hollow transmission rod 2; the first cable 71 and the second cable 72 in the swing driving assembly 13 are driven by the nut 5 to perform reverse linear motion; the head ends of the cables in the pitching driving assembly 14 are respectively fixed on the nuts 5 through fixing parts, and the tail ends of the cables are all led into the hollow transmission rod 2; the cable in the pitching driving component 14 is driven by the nut 5 to perform reverse linear motion; the central axes of the first cable 71 and the second cable 72 of the swing driving assembly 13 and the central axis of the cable of the pitch driving assembly 14 extending into the hollow transmission rod 2 are parallel to the central axis of the hollow transmission rod 2; the first cable 71 and the second cable 72 of the swing drive assembly 13 are wound around the swing unit, and the cable of the pitch drive assembly 14 is wound around the pitch unit. Specifically, the swing unit is a swing wheel; the pitching unit is a pitching wheel.
The driving assembly further comprises an upper guide wheel assembly 16 and a lower guide wheel assembly 17, the upper guide wheel assembly 16 and the lower guide wheel assembly 17 are distributed in the vertical direction, the upper guide wheel assembly 16 is fixed above the nut 5 through a fixed base, and the lower guide wheel assembly 17 is fixed below the nut 5 through a fixed base; the first cable 71 is wound around the upper guide wheel assembly 16, and the second cable 72 is wound around the lower guide wheel assembly 17. The upper guide wheel assembly 16 and the lower guide wheel assembly 17 are arranged, so that firstly, in the wire winding and wire unwinding processes, cables between the upper guide wheel assembly 16 and the nut 5 and between the lower guide wheel assembly 17 and the nut 5 can be parallel to the axis of the screw rod 4, and secondly, the central axis of the cable extending into the hollow transmission rod 2 is always parallel to the central axis of the hollow transmission rod 2. Specifically, the fixing bases are fixed above and below the nut 5 by means of screws or the like, each fixing base includes two fixing panels, the upper guide wheel assembly 16 can be installed between the two fixing panels by means of screws or the like, and the lower guide wheel assembly 17 can also be installed between the two fixing panels by means of screws or the like.
The rotary drive unit comprises a main drive shaft 8, a drive gear 9 and a driven gear 10.
The driven gear 10 is sleeved at the upper end of the hollow transmission rod 2, a supporting bearing is arranged at the joint of the driven gear 10 and the hollow transmission rod 2 and used for realizing self-use rotation of the driven gear 10 and the hollow transmission rod 2, and the relative fixing position of the driven gear 10 and the hollow transmission rod 2 is ensured by the acting force of the driving piece 7.
The driving gear 9 is arranged on the main transmission shaft 8, the driving gear 9 is meshed with the driven gear 10, and the driving gear 9 and the main transmission shaft 8 are respectively arranged on the lower fixing plate 12 through supporting bearings; the upper end of the main transmission shaft 8 is fixedly connected with the upper fixing plate 1 through a supporting bearing, a limiting snap spring is installed on an inner ring at the upper end of the supporting bearing, and an outer ring at the lower end of the supporting bearing is fixedly connected with the upper fixing plate 1.
The lower fixing plate 12 is further provided with a limiting structure 15, and the limiting structure 15 is used for limiting the transverse movement or the longitudinal movement of the driven gear 10; specifically, the limiting structure 15 straddles the driven gear 10, and the limiting structure 15 has limiting arms, two ends of each limiting arm extend downward until being connected to the lower fixing plate 12, and a through hole is further formed in the middle of the limiting structure 15, is coaxial with the hollow transmission rod 2, and is sleeved on the hollow transmission rod 2.
Description of the principle according to one of the medical devices shown in fig. 1-6: the main transmission shaft 8 rotates to drive the driving gear 9 to rotate, the driving gear 9 rotates to further drive the driven gear 10 meshed with the driving gear to rotate, the driven gear 10 rotates to drive the hollow transmission rod 2 to rotate, and the hollow transmission rod 2 rotates to further control the actuator 3 to complete rotation.
As shown in fig. 5, the upper guide wheel assembly 16 on the swing driving assembly 13 includes a first guide wheel 161 and a second guide wheel 162, the lower guide wheel assembly 17 includes a third guide wheel 171 and a fourth guide wheel 172, the first cable 71 in the swing driving assembly 13 firstly bypasses the first guide wheel 161 and then bypasses the second guide wheel 162 in parallel with the axis of the screw rod 4, and the first cable 71 passing through the second guide wheel 162 is always parallel with the central axis direction of the hollow transmission rod 2 until extending to be connected with the swing unit on the actuator 3; the second cable 72 firstly downwardly bypasses the fourth guide wheel 172 and then bypasses the third guide wheel 171 in parallel with the axis of the screw rod 4, the second cable 72 after passing through the third guide wheel 171 is always parallel with the axis direction of the hollow transmission rod 2 until extending to be connected with the swinging unit on the actuator 3, wherein the tail end of the first cable 71 and the tail end of the second cable 72 are connected to different sides of the same swinging unit on the actuator 3. The upper guide wheel assembly 16 and the lower guide wheel assembly 17 of the pitching drive assembly 14 are moved on the same principle as the upper guide wheel assembly 16 and the lower guide wheel assembly 17 of the swinging drive assembly 13, i.e., the ends of the cables in the pitching drive assembly 14 are connected to different sides of the same pitching unit on the actuator 3.
The screw rod 4 in the swing driving assembly 13 rotates to drive the nut 5 coupled with the screw rod 4 to move, and the nut 5 is matched with the guide piece 6 to limit the nut 5 to only move up and down but not rotate around the screw rod 4. When the screw rod 4 rotates to drive the nut 5 to move upwards, the swing unit on the actuator 3 is pulled to move towards one direction through the second cable 72, and meanwhile, the first cable 71 releases part of the first cable 71, so that the swing of the swing unit is not subjected to resistance generated by the first cable 71; when the nut 5 is driven by the rotation of the screw rod 4 to move downwards, the swing unit is pulled to move towards the other direction through the first cable 71, and meanwhile, the second cable 72 releases part of the second cable 72, so that the swing of the swing unit is prevented from being subjected to the resistance action generated by the second cable 72, and the actions of deflection, clamping and the like of the swing unit at the end of the actuator 3 are realized.
As shown in fig. 6, the schematic diagram of the pitch driving assembly 14 is the same as the schematic diagram of the swing driving assembly 13 shown in fig. 5, the movement principle of the driving assembly of the pitch driving assembly 14 is also the same as the movement principle of the driving assembly in the swing driving assembly 13, and under the action of the driving assembly, the cable in the pitch driving assembly 14 drives the pitch unit to move, that is, the pitch action of the pitch unit at the end of the actuator 3 is realized.
Specifically, the medical device of the present application may include only one pitch driving assembly 14, one roll driving assembly 13, one pitch driving assembly 14 and one roll driving assembly 13, or include one pitch driving assembly 14, one roll driving assembly 13 and a rotation driving unit, which are all within the scope of the present application and can be set according to actual requirements.
Example 2
As shown in fig. 8, unlike the present embodiment 1, the driving member 7 of the present embodiment is a rigid rod 73,
one end of a rigid rod 73 in the swing driving assembly 13 is connected with the nut 5 in the swing driving assembly 13, and the other end of the rigid rod 73 is connected with a swing unit at the end of the actuator 3. In particular, the upper end of the rigid rod 73 is rigidly connected to the nut 5 by welding or other rigid connection means.
When the screw rod 4 in the swing driving assembly 13 rotates to drive the nut 5 to move upwards, the rigid rod 73 drives the swing unit at the end of the actuator 3 to move towards one direction, and when the screw rod 4 drives the nut 5 to move downwards, the rigid rod 73 drives the swing unit at the end of the actuator 3 to move towards the other direction, so that the actions of deflection, tightening and the like of the swing unit at the end of the actuator 3 are realized.
The movement principle of the rigid rod 73 in the pitch driving assembly 14 is the same as that of the rigid rod 73 in the swing driving assembly 13, and the pitch action of the pitch unit at the end of the actuator 3 is realized.
The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.

Claims (10)

1. A medical instrument actuator comprising at least one drive assembly, a hollow drive rod, an upper fixed plate and a lower fixed plate; the driving assembly comprises a screw rod, a nut, a guide piece and a driving piece, the screw rod is coupled with the nut, and the guide piece is in clearance fit with a guide hole in the nut; the upper end of the driving piece is connected with the nut, the lower end of the driving piece extends into the hollow transmission rod and passes through the hollow transmission rod, and the central axis of the driving piece in the hollow transmission rod is parallel to the central axis of the hollow transmission rod; two ends of the guide piece and the screw rod are respectively connected with the upper fixing plate and the lower fixing plate; the upper end of the hollow transmission rod penetrates through the lower fixing plate.
2. The medical instrument actuator of claim 1, wherein the driving member is a cable, the cable comprises a first cable and a second cable with opposite movement directions, the head ends of the first cable and the second cable are fixed on the nut, and the tail end of the first cable and the tail end of the second cable are both led into the hollow transmission rod and pass through the hollow transmission rod.
3. The medical instrument actuator of claim 2, wherein the drive assembly further comprises an upper guide wheel assembly disposed above the nut and a lower guide wheel assembly disposed below the nut; the first cable is wound on the upper guide wheel assembly, and the second cable is wound on the lower guide wheel assembly.
4. The medical instrument actuator of claim 1, wherein the driving member is a rigid rod.
5. A medical instrument comprising the medical instrument actuator of any one of claims 1-4 and an effector, the medical instrument actuator comprising at least one pitch drive assembly; the pitching driving assembly comprises a driving assembly, and is installed between the upper fixing plate and the lower fixing plate; the actuator includes a pitch unit; the tail end of a driving piece of the pitching driving assembly is connected with the pitching unit of the actuator.
6. The medical instrument of claim 5, wherein the medical instrument actuator comprises at least one oscillating drive assembly; the swing drive assembly comprises a drive assembly; the swing driving assembly is arranged between the upper fixing plate and the lower fixing plate; the actuator includes a swing unit; the tail end of a driving piece of the swing driving assembly is connected with a swing unit of the actuator.
7. The medical device of claim 6, further comprising a rotational drive unit; the rotary driving unit comprises a main transmission shaft, a driving gear and a driven gear which are meshed with each other, the driven gear is sleeved at the upper end of the hollow transmission rod, the driving gear is assembled on the main transmission shaft, and the driving gear and the main transmission shaft are respectively installed on the lower fixing plate through supporting bearings.
8. The medical device of claim 7, wherein the driven gear is provided with a limiting structure for limiting the movement of the driven gear.
9. The medical device of claim 8, wherein the retaining structure rides over the driven gear and has retaining arms that are connected to a lower retaining plate.
10. The medical apparatus according to claim 9, further comprising a cover, wherein the upper fixing plate, the pitch driving assembly, the yaw driving assembly and the rotation driving unit are accommodated in the cover, and the opening of the cover is detachably connected to the lower fixing plate.
CN202110363677.1A 2021-04-02 2021-04-02 Medical instrument actuator and instrument Pending CN115177306A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202110363677.1A CN115177306A (en) 2021-04-02 2021-04-02 Medical instrument actuator and instrument
CN202310245747.2A CN116236238A (en) 2021-04-02 2021-04-02 Medical instrument actuator and instrument

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Application Number Priority Date Filing Date Title
CN202110363677.1A CN115177306A (en) 2021-04-02 2021-04-02 Medical instrument actuator and instrument

Related Child Applications (1)

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CN202310245747.2A Division CN116236238A (en) 2021-04-02 2021-04-02 Medical instrument actuator and instrument

Publications (1)

Publication Number Publication Date
CN115177306A true CN115177306A (en) 2022-10-14

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CN202110363677.1A Pending CN115177306A (en) 2021-04-02 2021-04-02 Medical instrument actuator and instrument
CN202310245747.2A Pending CN116236238A (en) 2021-04-02 2021-04-02 Medical instrument actuator and instrument

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CN202310245747.2A Pending CN116236238A (en) 2021-04-02 2021-04-02 Medical instrument actuator and instrument

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