CN115998443A - Driving wire tensioning device for surgical instrument and surgical instrument - Google Patents

Abstract

The present disclosure provides a drive wire tensioning device for a surgical instrument comprising: a support assembly, the support assembly comprising: a bracket; a wire winding wheel rotatably installed on the bracket in a direction orthogonal to the bracket and configured to be connected with one end of a driving wire for driving an external surgical instrument such that the driving wire is in a state of tensioning the surgical instrument under a first tensile force; a measurement assembly, comprising: the measuring wire is connected with the wire winding wheel and is configured to apply a second pulling force which is opposite to the first pulling force and has the same magnitude to the wire winding wheel, so that the wire winding wheel is in a relatively static balanced state; and a tension detecting mechanism configured to be connected to the measuring wire to obtain a value of the first tension applied to the surgical instrument by the driving wire by detecting the second tension in a state in which the wire winding wheel is in balance.

Description

Driving wire tensioning device for surgical instrument and surgical instrument

Technical Field

The present disclosure relates to the technical field of surgical instruments, and more particularly, to a driving wire tensioning device for a surgical instrument and a surgical instrument.

Background

The surgical robot operation instrument has a plurality of degrees of freedom such as deflection, autorotation, opening and closing, and the like, and in the assembly process, the same tensile force on two driving wires controlling the same degree of freedom is required to be ensured, so that the instrument is in a neutral position in an initial state, no tiny deflection or rotation is generated, and the follow-up master-slave control of the pose of the instrument is facilitated.

At present, a method which is frequently adopted for controlling the same pulling force on two driving wires with the same degree of freedom is to take a result as a guide, observe the pose of the tail end of the instrument with naked eyes and directly rotate a wire winding wheel to tension the driving wires of the instrument. When the instrument tip is observed to be in the neutral position, the proper condition for tensioning the drive wire is deemed to be reached. Because the method relies on naked eyes of a person and operation hand feeling, the tensioning result often has a certain error, the actual position of the tail end of the instrument has a small deviation from an ideal neutral position, and the tensioning force of each driving wire relative to the surgical instrument cannot be known.

Disclosure of Invention

For solving at least one technical problem among the prior art and other aspects, the present disclosure provides a driving wire tensioning device for surgical instruments, through winding driving wires and measuring wires with opposite and equal magnitudes of pulling force on the same winding wheel, the pulling force of the driving wires is transferred to the measuring wires, the second pulling force value on the measuring wires is detected through a pulling force detection mechanism, the first pulling force applied by the driving wires to the surgical instruments is obtained, and the pulling force on the driving wires is measured on the premise of not disassembling and refitting the surgical instruments.

An aspect of an embodiment of the present disclosure provides a driving wire tensioning device for a surgical instrument, including: a support assembly comprising: a bracket; a wire winding wheel rotatably installed on the bracket in a direction orthogonal to the bracket and configured to be connected to one end of a driving wire for driving an external surgical instrument such that the driving wire is in a state of tensioning the surgical instrument by a first tensile force; a measurement assembly, comprising: a measuring wire connected to the wire winding wheel and configured to apply a second tensile force to the wire winding wheel, the second tensile force being opposite in direction to the first tensile force and equal in magnitude to the first tensile force, so that the wire winding wheel is in a relatively stationary equilibrium state; and a tension detecting mechanism configured to be connected to the measuring wire so as to obtain a value of the first tension applied to the surgical instrument by the driving wire by detecting the second tension in the balanced state of the wire winding wheel.

According to some embodiments of the present disclosure, the apparatus further comprises an adjustment assembly disposed between the support assembly and the measurement assembly, the adjustment assembly comprising: a first adjusting portion configured to move between a near position near the wire winding wheel and a far position far from the wire winding wheel in a first direction extending in a tangential direction of a circumferential surface of the wire winding wheel, and adjust a first tension of the driving wire by adjusting a magnitude of a second tension of the measuring wire; and a second adjusting portion configured to adjust a position of the measuring wire with respect to the wire winding wheel in a direction orthogonal to the first direction to adjust a direction of the second pulling force.

According to some embodiments of the present disclosure, the first adjusting portion includes a first slide table configured to move longitudinally in a horizontal direction; the second adjusting portion includes a second slide table configured to move in a lateral direction of the horizontal direction and/or a third slide table configured to move in a vertical direction.

According to some embodiments of the present disclosure, one axial end of the circumferential surface of the wire winding wheel is provided with a wire fixing hole for passing and fixing the driving wire, the other axial end of the wire winding wheel is provided with a wire fixing hole for passing and fixing the measuring wire, and the outer surface of the wire winding wheel between the wire fixing hole and the wire fixing hole is provided with a spiral wire groove so that the driving wire and the measuring wire are wound in the wire groove in opposite directions.

According to some embodiments of the disclosure, the drive wire fixing hole and the measurement wire fixing hole are each configured to extend in a tangential direction of the wire winding wheel.

According to some embodiments of the present disclosure, the bracket includes two plate-shaped members disposed in parallel at a spacing; the support assembly further comprises: a rotating shaft configured to be rotatably installed between the two plate-shaped members in a direction orthogonal to the plate-shaped members, the wire winding wheel being rotatably sleeved outside the rotating shaft to adjust a rotation angle of the wire winding wheel with respect to the rotating shaft; and the fastening part is detachably arranged at the end parts of the rotating shaft and the wire winding wheel so as to limit the angle of the wire winding wheel relative to the rotating shaft in an assembled state, and the wire winding wheel rotates around the axis of the rotating shaft along with the rotating shaft.

According to some embodiments of the present disclosure, one of the winding wheels is mounted at each of two axial ends of the rotating shaft, and the two winding wheels are used for connecting the two driving wires of one of the surgical instruments to obtain a first tensile force of the two driving wires.

According to some embodiments of the present disclosure, the tension detecting mechanism includes: a tension sensor, the sensing end of the tension sensor being configured to be coupled to the measurement wire to sense the second tension; and the tension receiver is connected with the signal end of the tension sensor so as to acquire the value of the first tension by acquiring and/or displaying the magnitude of the second tension.

According to some embodiments of the disclosure, the tension detecting mechanism further includes: the sensor connecting part is arranged at the detection end of the tension sensor; and a connector detachably mounted on the sensor connecting portion and configured to restrict one end of the measuring wire to the sensor connecting portion in a state of being assembled with the sensor connecting portion so that the second tensile force can be detected by the tension sensor.

Another aspect of an embodiment of the present disclosure provides a surgical instrument comprising: a rod-shaped member having a passage extending in an axial direction provided inside thereof; the swing joint is sleeved at one axial end of the rod-shaped piece; a driving wire, one end of which is connected with the swing joint, and the other end of which extends along a channel formed by the rod-shaped piece and extends from the end of the rod-shaped piece far away from the swing joint; and an end portion of the drive wire extending from the rod-shaped member is connected to the wire winding wheel of the drive wire tensioning device for the surgical instrument.

According to the driving wire tensioning device for the surgical instrument and the surgical instrument, the driving wires and the measuring wires with opposite pulling force directions and equal sizes are wound on the same wire winding wheel, the pulling force of the driving wires is transmitted to the measuring wires, the second pulling force value on the measuring wires is detected through the pulling force detection mechanism, the first pulling force applied by the driving wires to the surgical instrument is obtained, and the tensioning force of the driving wires relative to the surgical instrument is measured on the premise that the surgical instrument is not dismounted or refitted.

Drawings

FIG. 1 is a perspective view of a drive wire tensioning device for a surgical instrument according to one illustrative embodiment of the present disclosure;

FIG. 2 is a perspective view of a portion of a third sled of the drive wire tensioning apparatus for a surgical instrument of the illustrative embodiment shown in FIG. 1;

FIG. 3 is a perspective view of a portion of a wire wrapping wheel of the drive wire tensioning device for a surgical instrument of the illustrative embodiment shown in FIG. 1;

FIG. 4 is a working state diagram of the wire wrapping wheel connection drive wire and the measurement wire of the exemplary embodiment shown in FIG. 3;

FIG. 5 is a perspective view of a portion of a measurement assembly of the drive wire tensioning device for a surgical instrument of the illustrative embodiment shown in FIG. 1;

FIG. 6 is a perspective view of a surgical instrument according to an illustrative embodiment of the present disclosure; and

fig. 7 is an exploded view of a part of the surgical instrument of the exemplary embodiment shown in fig. 6.

In the drawings, the reference numerals have the following meanings:

01. a surgical instrument;

011. a rod-shaped member;

012. swinging the joint;

013. a drive wire;

014. a positioning plate;

015. a fastening screw;

02. a support assembly;

021. a wire winding wheel;

021a, driving the wire fixing hole;

021b, measuring a wire fixing hole;

022. a rotating shaft;

023. a first godet wheel;

024. a second godet wheel;

025. a bracket;

026. a rotating shaft bearing;

027. a lock nut;

028. locking a screw;

03. a measurement assembly;

031. measuring wires;

032. a tension detecting mechanism;

032a, a tension sensor;

032b, a tension receiver;

032c, connectors;

032d, sensor connection;

04. an adjustment assembly;

041. a fixing part;

042. a moving part;

043. an adjustment knob;

05. a platform floor.

Detailed Description

For the purposes of promoting an understanding of the principles and advantages of the disclosure, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms, including technical and scientific terms, used herein have the meaning commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.

Where expressions like at least one of "A, B and C, etc. are used, the expression" system having at least one of A, B and C "shall be construed, for example, in general, in accordance with the meaning of the expression as commonly understood by those skilled in the art, and shall include, but not be limited to, systems having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc. Where a formulation similar to at least one of "A, B or C, etc." is used, such as "a system having at least one of A, B or C" shall be interpreted in the sense one having ordinary skill in the art would understand the formulation generally, for example, including but not limited to systems having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.

For the purposes of promoting an understanding of the principles and advantages of the disclosure, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same.

Fig. 1 is a perspective view of a drive wire tensioning device for a surgical instrument according to one illustrative embodiment of the present disclosure.

As shown in fig. 1, a driving wire tensioning device for a surgical instrument according to an embodiment of the present disclosure includes a support assembly 02 and a measurement assembly 03. The support assembly 02 includes a support frame 025 and a wire wrap wheel 021. The wire-wrapping wheel 021 is rotatably mounted on the stand 025 in a direction orthogonal to the stand 025, and the wire-wrapping wheel 021 is configured to be connected to one end of a driving wire 013 for driving the external surgical instrument 01 so that the driving wire 013 is in a state of tensioning the surgical instrument 01 under the first tension. The measuring assembly 03 includes a measuring wire 031 and a tension detecting mechanism 032. The measuring wire 031 is connected to the winding wheel 021, and the measuring wire 031 is configured to apply a second pulling force to the winding wheel 021 which is opposite to the first pulling force and equal in magnitude, so that the winding wheel 021 is in a relatively stationary equilibrium state. The tension detecting mechanism 032 is configured to be connected with the measuring wire 031 so as to obtain the value of the first tension applied to the surgical instrument 01 by the driving wire 013 by detecting the second tension when the wire winding wheel 021 is in a balanced state.

In such an embodiment, the driving wire 013 and the measuring wire 031 having the opposite directions and the same magnitude of the pulling force are wound around the same winding wheel 021, so that the pulling force of the driving wire 013 is transmitted to the measuring wire 031. The second tension value on the measurement wire 031 is detected by the tension detection mechanism 032, and the first tension applied by the driving wire 013 to the surgical instrument 01 is obtained, so that the tension of the driving wire 013 relative to the surgical instrument is measured on the premise of not disassembling and refitting the surgical instrument 01.

As shown in fig. 1, the driving wire tensioning device for the surgical instrument further comprises an adjusting assembly 04 arranged between the supporting assembly 02 and the measuring assembly 03. The adjustment assembly 04 includes a first adjustment portion and a second adjustment portion. The first adjusting portion is configured to move between a close position close to the wire winding wheel 021 and a distant position distant from the wire winding wheel 021 in a first direction extending in a tangential direction to a circumferential surface of the wire winding wheel 021, and adjusts a first tension of the driving wire 013 by adjusting the magnitude of a second tension of the measuring wire 031. The second adjustment portion is configured to adjust the position of the measurement wire 031 relative to the wire-wrapping wheel 021 in a direction orthogonal to the first direction to adjust the direction of the second pulling force.

According to an embodiment of the present disclosure, as shown in fig. 1, the first adjustment portion includes a first slide table configured to move longitudinally in a horizontal direction. The second adjusting portion includes a second slide table configured to move in a lateral direction of the horizontal direction and/or a third slide table configured to move in a vertical direction.

In an exemplary embodiment, as shown in fig. 1, the drive wire tensioning device for a surgical instrument further comprises a platform floor 05.

In detail, the support assembly 02 and the measuring assembly 03 may be fixed to the platform floor 05 by an adjustment assembly 04.

In an exemplary embodiment, as shown in fig. 1, the adjusting assembly 04 includes a first sliding table, a second sliding table, and a third sliding table. As shown in the coordinate system of fig. 1, defining a first direction extending in a tangential direction to the circumferential surface of the wire-wrapping wheel 021 as x-direction; the direction orthogonal to the first direction and extending in the vertical direction is the z direction; the direction orthogonal to both the x-direction and the z-direction is the y-axis direction. In detail, the third sliding table is disposed at one end of the platform floor 05 (the left end of the platform floor as shown in fig. 1). Further, the support member 02 is mounted at a left position of the upper end of the third slide table. The support assembly 02 is configured to move with the third slipway in a vertical direction (z-direction as shown in fig. 1).

Further, the first sliding table and the second sliding table are stacked on the other end of the platform bottom plate 05 (the right end of the platform bottom plate as shown in fig. 1). Wherein the second slipway is mounted on the platform floor 05, and the first slipway is mounted on the second slipway and is configured to move with the second slipway along a horizontal direction (a y direction as shown in fig. 1). The measuring assembly 03 is mounted on the first slide and is configured to move with the first slide in a longitudinal direction (x-direction as shown in fig. 1) of the horizontal direction.

In an exemplary embodiment, the platform floor 05 is constructed in a perforated plate-shaped structure, kong Chengheng being longitudinally and uniformly arranged on the platform floor 05 such that the second and third sliding tables are fixed to the platform floor 05 by means of screws.

In such an embodiment, the first sliding table provided in the adjusting assembly 04 may be used to adjust the position of the tension detecting mechanism 032 relative to the wire winding wheel 021 in a first direction (x direction as shown in fig. 1) extending in a tangential direction of the circumferential surface of the wire winding wheel 021. In the process that the tension detection mechanism 032 moves close to the winding wheel 021 and away from the winding wheel 021, the second tension applied by the measuring wire 031 to the winding wheel 021 is adjusted, so that the first tension of the driving wire 013 is adjusted along with the second tension. The second sliding table provided by the adjusting component 04 can be used for adjusting the position of the tension detecting mechanism 032 along the transverse direction (the y direction shown in fig. 1) of the horizontal direction. The third sliding table provided by the adjusting assembly 04 can be used to adjust the position of the supporting assembly 02 in the vertical direction (the z direction as shown in fig. 1) to change the direction of the second pulling force.

Fig. 2 is a perspective view of a portion of a third sled of the drive wire tensioning apparatus for a surgical instrument of the illustrative embodiment shown in fig. 1.

In an exemplary embodiment, taking a third sliding table as an example, as shown in fig. 2, the third sliding table in the adjusting assembly 04 includes a fixed portion 041, a moving portion 042, and an adjusting knob 043.

In an exemplary embodiment, the moving portion 042 of the third sliding table is configured to slide with respect to the fixed portion 041, and an adjustment knob 043 is provided on the fixed portion 041 for driving the position of the moving portion 042 with respect to the fixed portion 041.

Further, the first sliding table and the second sliding table have similar structures to the third sliding table.

Fig. 3 is a perspective view of a portion of a wire wrap wheel 021 of the drive wire tensioning device for surgical instruments of the illustrative embodiment shown in fig. 1.

According to an embodiment of the present disclosure, as shown in fig. 3, one axial end of the circumferential surface of the wire winding wheel 021 is provided with a driving wire fixing hole 021a for passing and fixing a driving wire 013, and the other end of the wire winding wheel 021 is provided with a measuring wire fixing hole 021b for passing and fixing a measuring wire 031. The outer surface of the winding wheel 021 between the driving wire fixing hole 021a and the measuring wire fixing hole 021b is provided with a spiral wire groove, so that the driving wire 013 and the measuring wire 031 are wound in the wire groove along opposite directions.

In an exemplary embodiment, the manner of securing the drive wire 013 to the drive wire securing aperture 021a and/or the manner of securing the measurement wire 031 to the measurement wire securing aperture 021b includes, but is not limited to, any of adding a metal button to the end of the wire, tying a knot to the end of the wire, and other means of preventing the wire from escaping from the aperture.

According to an embodiment of the present disclosure, both the driving wire fixing hole 021a and the measuring wire fixing hole 021b are configured to extend in the tangential direction of the wire winding wheel 021.

In an exemplary embodiment, the drive wire fixing hole 021a is configured to extend in a tangential direction of the wire winding wheel 021 such that the drive wire 013 is in a state of tensioning the surgical instrument 01 under a first tension. The measurement wire fixing hole 021b is configured to extend in a tangential direction of the wire winding wheel 021 so as to rotate about the axis of the wire winding wheel 021 when subjected to the second tension applied by the measurement wire 031.

According to an embodiment of the present disclosure, the stand 025 of the support assembly 02 comprises two plate-shaped members arranged in parallel and spaced apart relationship. The support assembly 02 further includes a rotation shaft 022 and a fastening part, the rotation shaft 022 being configured to be rotatably installed between the two plate-shaped members in a direction orthogonal to the plate-shaped members, and the wire-winding wheel 021 being rotatably sleeved outside the rotation shaft 022 to adjust a rotation angle of the wire-winding wheel 021 with respect to the rotation shaft 022. The fastening part is detachably disposed at the end of the rotating shaft 022 and the winding wheel 021, so as to limit the angle of the winding wheel 021 relative to the rotating shaft 022 in the assembled state, so that the winding wheel 021 rotates around the axis of the rotating shaft 022 along with the rotating shaft 022.

In an exemplary embodiment, the fastening portion includes a spindle bearing 026, a lock nut 027, and a lock screw 028.

In an exemplary embodiment, shaft bearings 026 are configured to be provided at both axial ends of the shaft 022. In detail, the outer ring of the shaft bearing 026 is sleeved in a hole formed by the support 025, so that the shaft 022 can rotate around the axis relative to the support. Further, the size of the shaft bearings 026 is suitable to meet the assembly requirement with the support 025, and the two shaft bearings 026 may be configured with the same or different sizes.

In one illustrative embodiment, as shown in FIG. 2, the wire wrap wheel 021 includes a wire wrap portion and a connecting portion.

In detail, the wire wrapping portion is configured as a cylindrical mechanism, and a hole for being sleeved outside the rotation shaft 022 is provided at the center of the wire wrapping portion in the axial direction.

Further, the connection portion extends in the axial direction of the winding portion, and is integrally provided at one axial end of the winding portion (provided at an upper end portion of the winding wheel 021 located above and a lower end portion of the winding wheel 021 located below as shown in fig. 2).

In an exemplary embodiment, as shown in fig. 2, the driving wire fixing hole 021a, the measuring wire fixing hole 021b and the wire groove are all disposed on the circumferential surface of the wire winding part.

In detail, if the measuring wire fixing hole 021b is provided at the upper end of the wire wrapping portion of the wire wrapping wheel 021 located above as shown in fig. 2, the driving wire fixing hole 021a is provided at the lower end of the wire wrapping portion, and the positions of the driving wire fixing hole 021a and the measuring wire fixing hole 021b can be interchanged according to the specific embodiment.

Further, a wire groove is formed on the outer surface of the wound portion between the driving wire fixing hole 021a and the measuring wire fixing hole 021b.

In one illustrative embodiment, the connection is configured in an arcuate configuration (including, but not limited to, being configured in a semi-circular ring shape).

Further, the lock nut 027 is configured as an arc mechanism, and in a state where the lock nut 027 and the connecting portion are spliced, the lock nut 027 and the connecting portion are configured as a substantially annular structure and are locked in a parallel direction in a radial direction by the lock screw 028, so that the connecting portion and the lock screw 028 are locked to an outer surface of the rotating shaft 022, so that a circumferential position of the wire wrapping wheel 021 with respect to the rotating shaft 022 is restricted.

According to an embodiment of the present disclosure, as shown in fig. 3, one wire winding wheel 021 is respectively installed at both axial ends of the rotation shaft 022, and the two wire winding wheels 021 are used for connecting two driving wires 013 of one surgical instrument 01 to obtain a first tensile force of the two driving wires 013. In detail, the two driving wires 013 are wound around the two winding wheels 021 in opposite winding directions. In this way, the balance of the surgical instrument 01 in the same degree of freedom can be adjusted by the equal tension of the two drive wires 013. Wherein the same degree of freedom is characterized by a front-to-back position and/or a left-to-right position. It should be understood that embodiments of the present disclosure are not limited thereto.

For example, the specific number of wire winding wheels 021 should be configured to be the same as the number of drive wires 013 that need to be measured and/or adjusted. So that the first tension of the plurality of driving wires 013 can be adjusted by the wire winding wheel 021. In such an embodiment, by detecting the tension of the two driving wires 013, the ideal initialization of the surgical instrument 01 can be achieved by ensuring that the tension on the two driving wires 013 driving the same degree of freedom is the same without disassembling or modifying the surgical instrument 01.

Fig. 4 is a working state diagram of the wire winding wheel 021 of the exemplary embodiment shown in fig. 3 connected with the driving wire 013 and the measuring wire 031.

In an exemplary embodiment, as shown in fig. 4, the support assembly 02 further includes a guidewire portion disposed between the surgical device 01 and the wire wrap wheel 021. In detail, the wire guide part includes a first wire guide wheel 023 and a second wire guide wheel 024. Further, the extending directions of the axes of the first godet wheel 023 and the second godet wheel 024 are configured to be orthogonal.

In an exemplary embodiment, a first godet wheel 023 is disposed in the cradle 025, the first godet wheel 023 being configured with an axial direction parallel to the location of the winding wheel 021 (the first godet wheel 023 being on the left side of the winding wheel 021 as shown in FIG. 4) for maintaining the drive wire 013 in stable sliding in a horizontal direction after passing the first godet wheel 023 and winding onto the winding wheel 021. A second godet 024 is disposed in the cradle 025, the second godet 024 being configured to be positioned orthogonal to the first godet 023 (the second godet 024 being to the left of the first godet 023 as shown in fig. 4) for maintaining a stable sliding movement of the drive wire 013 after it has been extended from the longitudinal direction of the shaft 011 of the surgical device 01.

In an exemplary embodiment, the specific number of guide wire portions should be configured to be the same as the number of drive wires 013.

Fig. 5 is a perspective view of a portion of the measurement assembly 03 of the drive wire tensioning device for a surgical instrument of the illustrative embodiment shown in fig. 1.

According to an embodiment of the present disclosure, the measurement assembly 03 includes a measurement wire 031 and a tension detection mechanism 032, as shown in fig. 5, the tension detection mechanism 032 includes a tension sensor 032a and a tension receiver 032b. The sensing end of the tension sensor 032a is configured to couple with the measurement wire 031 to detect the second tension. The tension receiver 032b is connected with the signal end of the tension sensor 032a to acquire the value of the first tension by acquiring and/or displaying the magnitude of the second tension.

In an exemplary embodiment, the tension detecting mechanism 032 further includes a connector 032c and a sensor connector 032d. The sensor connection portion 032d is provided at the detection end of the tension sensor 032 a. The connector 032c is detachably mounted on the sensor connection portion 032d, and is configured to restrict one end of the measurement wire 031 to the sensor connection portion 032d in a state of being assembled with the sensor connection portion 032d, so that the second pulling force can be detected by the pulling force sensor 032 a.

In an exemplary embodiment, the sensor connection portion 032d is configured in an L-shaped block structure to be fixed at the detection end of the tension sensor 032 a. In detail, a screw through hole is provided on the inner surface of the center position of the sensor connection part 032d. Further, the connection member 032c is configured as a knob structure with a screw thread on a surface thereof, so that the connection member 032c is detachably mounted on the sensor connection portion 032d by screw-fitting. Further, the measuring wire 031 is fixed to the connecting member 032c by a spiral winding manner, and the connecting member 032c can be screwed into the threaded through hole of the sensor connecting portion 032d in a state that the measuring wire is assembled with the sensor connecting portion 032d.

In an exemplary embodiment, the sensor connection portion 032d of the tension sensor 032a is installed on the first sliding table to face the direction of the winding wheel 021 while maintaining the axial direction of the threaded through hole of the central position of the sensor connection portion 032d at a position orthogonal to the measuring wire 031 at all times. The tension detecting mechanism 032 can only detect the tension of one measuring wire 031 alone, if the tension of a plurality of measuring wires 031 is to be detected, the tension detecting mechanism 032 can be detected multiple times or the number of the tension detecting mechanisms 032 can be set according to the number of the measuring wires 031.

Fig. 6 is a perspective view of a surgical instrument 01 according to one illustrative embodiment of the present disclosure. Fig. 7 is an exploded view of the surgical instrument 01 of the exemplary embodiment shown in fig. 6.

According to an embodiment of the present disclosure, as shown in fig. 6 and 7, a surgical instrument 01 includes a shaft 011, a swing joint 012, and a drive wire 013. The inside of the rod-shaped piece 011 is provided with a passage extending in the axial direction. The swing joint 012 is fitted over one axial end of the rod 011. One end of the driving wire 013 is connected to the swing joint 012, and the other end of the driving wire 013 extends along a channel formed by the rod-shaped member 011, and extends from an end of the rod-shaped member 011 away from the swing joint 012, and an end of the driving wire 013 extending from the rod-shaped member 011 is connected to a wire winding wheel 021 of a driving wire tensioning device for a surgical instrument.

In an exemplary embodiment, the support assembly 02 is mounted on the moving portion 042 of the third ramp in a direction that coincides with the direction of the bottom surface of the support 025 in the support assembly 02 and the bottom plate on the moving portion 042 of the third ramp, while maintaining the rod 011 of the surgical instrument 01 always in a position orthogonal to the platform bottom plate 05.

In one illustrative embodiment, the positioning plate 014 is disposed at an end of the rod 011 (e.g., the left end of fig. 6) that extends away from the drive wire 013, and the center of the positioning plate 014 has a semicircular groove that forms a circular path when the two positioning plates are aligned. Further, a fastening screw 015 for fixing the swing joint 012 within the circular passage to restrict the swing joint 012 from swinging in a direction orthogonal to the axial direction of the circular passage.

In an exemplary embodiment, in the process of assembling the surgical instrument 01, in order to avoid the surgical instrument 01 from generating tiny deflection, autorotation and opening and closing in multiple degrees of freedom, the swing joint 012 at the front end of the surgical instrument 01 is locked at a neutral position, the driving wire 013 and the measuring wire 031 with opposite and equal pulling force directions are wound on the same winding wheel 021, the pulling force of the driving wire 013 is transmitted to the measuring wire 031, the second pulling force value on the measuring wire 031 is detected by the pulling force detecting mechanism 032, and the first pulling force applied to the swing joint 012 of the surgical instrument 01 by the driving wire 013 is obtained by detecting the second pulling force, so that the pulling force on the driving wire 013 is measured on the premise of not disassembling and refitting the surgical instrument 01, and the same degree of freedom of the surgical instrument 01 is adjusted by arranging two driving wires 013, so that the surgical instrument 01 is ideally initialized.

It should be further noted that, the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "rear", "left", "right", etc., are only referring to the directions of the drawings, and are not intended to limit the scope of the present disclosure. Like elements are denoted by like or similar reference numerals throughout the drawings. Conventional structures or constructions will be omitted when they may cause confusion in understanding the present disclosure.

The embodiments of the present disclosure are described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the disclosure, and such alternatives and modifications are intended to fall within the scope of the disclosure.

Claims (10)

1. A drive wire tensioning device for a surgical instrument, comprising:

a support assembly (02) comprising:

a bracket (025);

a wire winding wheel (021) rotatably mounted on the support (025) along a direction orthogonal to the support (025), and configured to be connected with one end of a driving wire (013) for driving an external surgical instrument (01), so that the driving wire (013) is in a state of tensioning the surgical instrument (01) under the action of a first tensile force;

a measurement assembly (03) comprising:

a measuring wire (031) connected to said wire-wrapping wheel (021) and configured to apply a second pulling force to said wire-wrapping wheel (021) opposite to said first pulling force and of equal magnitude, so that said wire-wrapping wheel (021) is in a relatively stationary equilibrium state; and

a tension detection mechanism (032) configured to be connected to the measurement wire (031) to obtain a value of the first tension applied by the drive wire (013) to the surgical instrument (01) by detecting the second tension in the balanced state of the winding wheel (021).

2. The device according to claim 1, further comprising an adjustment assembly (04) arranged between the support assembly (02) and the measurement assembly (03), the adjustment assembly (04) comprising:

a first adjustment section configured to move between a close position close to the wire winding wheel (021) and a distant position distant from the wire winding wheel (021) in a first direction extending in a tangential direction to a circumferential surface of the wire winding wheel (021), the first tension of the driving wire (013) being adjusted by adjusting the magnitude of the second tension of the measuring wire (031); and

a second adjustment part configured to adjust a position of the measuring wire (031) with respect to the wire winding wheel (021) in a direction orthogonal to the first direction to adjust a direction of the second pulling force.

3. The apparatus of claim 2, wherein the first adjustment portion comprises a first ramp configured to move longitudinally in a horizontal direction;

the second adjusting portion includes a second slide table configured to move in a lateral direction of the horizontal direction and/or a third slide table configured to move in a vertical direction.

4. The device according to claim 1, characterized in that one axial end of the circumferential surface of the wire winding wheel (021) is provided with a drive wire fixing hole (021 a) for passing and fixing the drive wire (013), the other end of the wire winding wheel (021) is provided with a measurement wire fixing hole (021 b) for passing and fixing the measurement wire (031), and the outer surface of the wire winding wheel (021) between the drive wire fixing hole (021 a) and the measurement wire fixing hole (021 b) is provided with a spiral wire groove, so that the drive wire (013) and the measurement wire (031) are wound in opposite directions in the wire groove.

5. The device according to claim 4, characterized in that the drive wire fixing hole (021 a) and the measuring wire fixing hole (021 b) are each configured to extend in the tangential direction of the wire winding wheel (021).

6. The device according to any one of claims 1 to 5, wherein the support (025) comprises two plate-shaped elements arranged in parallel and spaced apart relationship;

the support assembly (02) further comprises:

a rotation shaft (022) configured to be rotatably installed between two plate-shaped members in a direction orthogonal to the plate-shaped members, the wire-winding wheel (021) being rotatably sleeved outside the rotation shaft (022) to adjust a rotation angle of the wire-winding wheel (021) with respect to the rotation shaft (022); and

the fastening part is detachably arranged at the end parts of the rotating shaft (022) and the wire winding wheel (021) so as to limit the angle of the wire winding wheel (021) relative to the rotating shaft (022) in an assembling state, so that the wire winding wheel (021) rotates along with the rotating shaft (022) around the axis of the rotating shaft (022).

7. The device according to claim 6, wherein one of the winding wheels (021) is mounted on each of both axial ends of the rotating shaft (022), and the two winding wheels (021) are used for connecting the two driving wires (013) of one surgical instrument (01) to obtain the first tensile force of the two driving wires (013).

8. The device according to any one of claims 1 to 5, wherein the tension detection mechanism (032) comprises:

-a tension sensor (032 a), the detection end of the tension sensor (032 a) being configured to be connected to the measurement wire (031) for detecting the second tension; and

and the tension receiver (032 b) is connected with the signal end of the tension sensor (032 a) so as to acquire the value of the first tension by acquiring and/or displaying the magnitude of the second tension.

9. The device according to claim 8, wherein the tension detection mechanism (032) further comprises:

a sensor connection unit (032 d) provided at the detection end of the tension sensor (032 a); and

and a connector (032 c) detachably mounted on the sensor connection part (032 d) and configured to restrict one end of the measurement wire (031) to the sensor connection part (032 d) in a state of being assembled with the sensor connection part (032 d) so that the second tensile force can be detected by the tension sensor (032 a).

10. A surgical instrument (01), characterized by comprising:

-a rod-shaped member (011), the interior of the rod-shaped member (011) being provided with a channel extending in the axial direction;

a swing joint (012) which is sleeved at one axial end of the rod-shaped piece (011);

a driving wire (013), one end of the driving wire (013) is connected with the swing joint (012), and the other end of the driving wire (013) extends along a channel formed by the rod-shaped piece (011) and extends from the end of the rod-shaped piece (011) far away from the swing joint (012); and

the drive wire tensioning device for a surgical instrument according to any one of claims 1 to 9, an end of the drive wire (013) protruding from the rod (011) being connected to the wire winding wheel (021) of the drive wire tensioning device for a surgical instrument.

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