CN116269801A - Surgical instrument and surgical robot - Google Patents

Abstract

The invention provides a surgical instrument and a surgical robot, which comprise a swing arm nut, a swing arm screw rod and a swing piece, wherein the swing arm nut is in transmission connection with a driving mechanism and rotates by taking a first axis as a shaft under the driving of the driving mechanism; the swing arm screw is in transmission fit with the swing arm nut and moves along the first axis under the drive of the swing arm nut; the swinging piece can swing and is connected with the surgical instrument, and the swinging piece is matched with the swing arm screw in a transmission way and drives the executing piece of the surgical instrument to swing under the drive of the swing arm screw. Through adopting sharp conversion mechanism to promote the mechanism that the swinging member drove the swinging of executive component, the part on the transmission path has better intensity, difficult fracture, and whole swing drive mechanism has higher intensity and reliability, can promote the security and the accuracy of operation.

Description

Surgical instrument and surgical robot

Technical Field

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

Background

Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.

With the progress of technology, minimally invasive surgical robot technology is gradually mature and widely applied. Minimally invasive surgical robots generally include a master operation console for transmitting control commands to a slave operation device according to operations of a doctor to control the slave operation device, and a slave operation device for responding to the control commands transmitted from the master operation console and performing corresponding surgical operations.

A surgical instrument is connected to the slave manipulator and is detachable from the slave manipulator, the surgical instrument comprising a drive device and an end effector for performing surgery, and a long shaft for connecting the end effector and the drive device, the drive device being for connecting the surgical instrument to the slave manipulator and receiving a driving force from the slave manipulator to drive movement of the end effector, the drive device being connected to the end effector by a cable, the drive device manipulating movement of the end effector by the cable. The swinging of the actuator in the related art uses two groups of cables to drive the swinging and pitching of the actuator respectively, but the cable driving has the problem of poor strength and reliability, for example, the cable may break during the use process, thereby affecting the safety of the operation.

Disclosure of Invention

The invention mainly aims to provide a surgical instrument and a surgical robot, and aims to solve the technical problem that an oscillating cable of an existing actuator is easy to break in the driving process.

To achieve the above object, the present invention provides a surgical instrument having an effector that performs a surgery, the surgical instrument comprising:

the swing arm nut is in transmission connection with a driving mechanism so as to rotate around a first axis under the driving of the driving mechanism;

the swing arm screw is in transmission fit with the swing arm nut and moves along the first axis under the drive of the swing arm nut;

the swinging piece can swing and is connected with the executing piece, and the swinging piece is in transmission fit with the swing arm screw and drives the executing piece to swing under the driving of the swing arm screw.

As an alternative implementation manner, the swing mechanism further comprises a swing transmission piece, a first swing part and a second swing part are respectively formed on two sides of a swing shaft of the swing piece, the swing transmission piece comprises a first transmission part, the first transmission part is in transmission connection with the swing arm screw so as to move along the first axis under the driving of the swing arm screw, the first transmission part is in rotatable connection with the first swing part, and when the first transmission part moves along the first axis, the swing piece swings.

As an alternative embodiment, the swing transmission member further includes a second transmission portion and a connection portion, the second transmission portion is disposed parallel to the first transmission portion, one end of the second transmission portion is rotatably connected to the second swing portion, and the other end of the second transmission portion is connected to the first transmission portion through the connection portion and is respectively rotatably connected to the connection portion.

As an alternative embodiment, the first transmission part, the swinging member, the second transmission part and the connection part are rotatably connected end to end in order to form a parallelogram transmission structure.

As an alternative embodiment, the first swing portion and the second swing portion are formed with bosses, the first transmission portion and the second transmission portion are respectively formed with grooves matched with the bosses, and the grooves and the bosses form rotary fit.

As an alternative embodiment, the first transfer portion and the second transfer portion are elastic members.

As an optional implementation manner, the swing transmission piece further comprises a linkage part, the swing arm screw is connected with the first transmission part through the linkage part, the swing arm screw is relatively fixed with the linkage part, and the linkage part is rotatably connected with the first transmission part.

The base rod is arranged on the base rod in a swinging way, and the swinging piece is arranged on the base rod in a swinging way through the swinging shaft, so that the swinging piece can be driven to swing when the swinging piece moves.

As an optional embodiment, the surgical instrument further comprises a bracket, the swing transmission mechanism further comprises a limiting piece, the limiting piece is fixed relative to the bracket or is a part of the bracket, and when the swing arm nut rotates, the swing arm screw rod moves relative to the bracket under the constraint of the limiting piece.

As an alternative implementation mode, one of the swing arm screw and the limiting piece is provided with a sliding groove, the other is provided with a sliding block matched with the sliding groove, the sliding groove extends along the first axis, and when the swing arm nut rotates, the swing arm screw moves along the first axis under the limit fit of the sliding groove and the sliding block.

As an alternative embodiment, the swing arm further comprises a swing rod, one of the swing rod and the swing arm screw is provided with a step end in a revolving body shape, the other of the swing rod and the swing arm screw is provided with a caulking groove matched with the step end, the caulking groove is partially opened to allow the step end to be embedded, and the swing arm screw is in transmission connection with the swing piece through the swing rod.

As an optional implementation mode, the swing arm nut and the swing arm screw are mutually nested, the swing arm screw and the limiting piece are mutually nested, the outer tube is sleeved outside the swing rod, and the swing rod is slidable relative to the outer tube.

As an alternative embodiment, the rotary connecting assembly further comprises a rotary connecting assembly, the rotary connecting assembly comprises two rotary pieces, the two rotary pieces are respectively positioned at two opposite sides outside the swinging piece, and the executing piece is rotationally connected with the outer tube through the two rotary pieces.

As an alternative embodiment, the rotating member includes a first rotating portion and a second rotating portion that are disposed at intervals, the first rotating portion is rotatably connected with the outer tube, and the second rotating portion is rotatably connected with the executing member.

As an alternative embodiment, the device further comprises a flexible sleeve, one end of the flexible sleeve is connected with the outer tube, the other end of the flexible sleeve is connected with the executing piece, and the flexible sleeve covers the rotating connecting assembly.

To achieve the above object, the present invention also provides a surgical instrument comprising:

the driving disc is used for connecting a mechanical arm of a robot and receiving and converting the power of the mechanical arm into rotary driving force;

the swing driving assembly comprises a transmission piece and a swing rod assembly, the transmission piece receives the rotary driving force of the driving disc and converts the rotary driving force into linear motion, and the swing rod assembly receives the driving of the transmission piece to perform linear motion; and

and one end of the swinging piece is connected with the executing piece, and the swinging piece is driven by the swinging rod assembly to rotate and swing so as to drive the executing piece to swing.

In order to achieve the above object, the present invention also provides a hand-held robot including a master operation console and a slave operation device including the surgical instrument described above.

According to the surgical instrument and the surgical robot, the linear conversion mechanism is adopted to push the swinging piece to drive the mechanism of the executing piece to swing, the components on the transmission path have good strength and are not easy to break, the whole swinging transmission mechanism has high strength and reliability, and the safety and the accuracy of a surgery can be improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 shows a schematic view of the overall structure of a surgical instrument provided by an embodiment of the present invention;

FIG. 2 illustrates a partial schematic view of a surgical instrument provided by an embodiment of the present invention;

FIG. 3 shows a cross-sectional view of FIG. 2;

FIG. 4 is a schematic view showing an assembled structure of a holder for a surgical instrument according to the present embodiment;

FIG. 5 shows an exploded view of FIG. 3;

FIG. 6 illustrates a schematic diagram of an assembled configuration of a swing drive mechanism of a surgical instrument provided by an embodiment of the present invention;

FIG. 7 shows an exploded view of FIG. 6;

FIG. 8 illustrates a partial cross-sectional schematic view of a wobble transmission provided by an embodiment of the invention;

FIG. 9 shows an exploded view of FIG. 8;

FIG. 10 illustrates a partially exploded view of a wobble drive transmission provided by an embodiment of the invention;

FIG. 11 is a schematic view showing a first partial cross-sectional structure of a swing drive mechanism provided by an embodiment of the present invention;

FIG. 12 is a schematic view showing a second partial cross-sectional structure of a swing drive mechanism provided by an embodiment of the present invention;

FIG. 13 is a schematic view showing a third partial cross-sectional structure of a swing drive mechanism provided by an embodiment of the present invention;

fig. 14 shows a first state diagram of a parallelogram structure constituted by a first transmission part, a swinging member, a second transmission part and a connecting part of the swinging transmission mechanism;

fig. 15 is a schematic view showing a second state of the parallelogram structure constituted by the first transmitting portion, the swinging member, the second transmitting portion and the connecting portion of the swing transmission mechanism;

fig. 16 shows a partially enlarged schematic view at a in fig. 13.

Reference numerals illustrate:

10-a bracket; 101-a base; 102-a top seat; 103-a first connection plate; 104-a second connection plate; 100-swinging transmission mechanism; 110-a swing arm nut; 111-firing section; 112-fourth bearings; 113-clamping springs; 120-swing arm screw; 121-a non-rotating section; 130-swinging member; 131-a first swing part; 132-a second swing portion; 140-limiting pieces; 150-swinging rod; 160-a swing transmission member; 161-a first transfer section; 162-a second transfer section; 163-linkage; 164-a connection; 170-an outer tube; 180-rotating the connection assembly; 181-rotating members; 1811-a first rotation part; 1812-a second rotation part; 190-base bar; 191-a swinging shaft; 200-swinging driving mechanism; 210-a swing drive; 211-driving a winch; 212-a first bearing; 213-drive spindle; 214-a coupling; 220-a first transmission gear; 230-a first gear shaft; 231-a second bearing; 240-nut; 250-a second transmission gear; 251-a third bearing; 252-snap springs; 300-actuator.

Detailed Description

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment. The terms "distal," "proximal," and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the procedure that is distal to the operator and "proximal" refers to the end of the procedure that is proximal to the operator.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items, and the term "cable bundle" in the text means that each of the cables in a bundle are relatively close to each other and extend in a substantially uniform direction. Unless otherwise specified, the term "cable harness direction" or "cable direction" in this application refers to the direction of the cable harness or cable in the longitudinal direction.

The following detailed description will be given with reference to the accompanying drawings.

The surgical robot generally includes a slave operation device and a master operation console, on which a doctor performs related control operations on the slave operation device, and the slave operation device performs a surgical operation on a human body according to an input instruction of the master operation console. The master and slave operating consoles may be located in one operating room or in different rooms, or even the master and slave operating consoles may be remote from each other, e.g. the master and slave operating consoles are located in different cities, respectively. The master operation console and the slave operation device can perform data transmission in a wired manner, or can perform data transmission in a wireless manner, for example, the master operation console and the slave operation device are located in an operating room, data transmission is performed between the master operation console and the slave operation device in a wired manner, and long-distance data transmission is performed between the master operation console and the slave operation device through wireless signals such as 4G and 5G in different cities respectively.

The slave operating device comprises a mechanical arm and an actuating device arranged at the distal end of the mechanical arm, wherein a surgical instrument for performing a surgical operation is connected with the actuating device, and the actuating device drives the surgical instrument to move through a plurality of actuators in the actuating device.

The surgical instrument is applied to the surgical robot and is used for performing corresponding surgical operation on the surgical site or the affected part of a patient according to a set program under the control of a main operation console of the surgical robot. The surgical instrument comprises a transmission mechanism and a driving mechanism, wherein the driving mechanism is in transmission connection with the actuating device and is used for providing power for the action execution of the surgical instrument, the transmission mechanism is used for converting the power accessed by the driving mechanism and outputting different actions, so that an executing piece for executing the surgical operation can perform different actions, such as movement, rotation, opening and closing, pinching, swinging and the like.

As shown in fig. 1, fig. 1 shows a schematic view of the overall structure of a surgical instrument according to an embodiment of the present invention.

The surgical instrument 1000 of the present embodiment includes the swing transmission mechanism 100, the swing drive mechanism 200, and the actuator 300, and the swing drive mechanism 200 drives the swing transmission mechanism 100 to act so that the actuator 300 outputs a corresponding swing motion, whereby adjustment of the direction of motion thereof can be achieved by driving the actuator 300 to swing.

The swing driving mechanism 200 is used for connecting the power of the actuating device of the mechanical arm of the robot and transmitting the rotating power to the swing transmission mechanism 100, and is a rotary transmission mechanism, and the adjustment of the output rotating speed and torque can be realized through multistage transmission; the swing transmission mechanism 100 converts a rotation motion of the swing drive mechanism 200 into a swing motion, and is a motion conversion mechanism. The executing piece 300 may be a surgical executing component such as a surgical knife or a forceps head of an anastomat, and the embodiment is described by taking the executing piece 300 as the forceps head of the anastomat as an example, and the surgical instrument is an anastomat, and the anastomat is used for suturing a postoperative wound.

Referring to fig. 2 and 3 together, fig. 2 is a schematic view illustrating a partial structure of a surgical instrument according to an embodiment of the present invention; fig. 3 shows a cross-sectional view of fig. 2.

The swing driving mechanism 200 includes a bracket 10, a swing driving member 210 and a first transmission gear 220, and the swing driving member 210 drives the first transmission gear 220 to rotate. The swing driving member 210 is used for being connected with the mechanical arm and used for being connected with the rotating power of the mechanical arm. The swing driving mechanism 200 further includes a first gear shaft 230, and the swing driving member 210 drives the first transmission gear 220 to rotate through the first gear shaft 230, where the first transmission gear 220 is used for being in transmission connection with the swing transmission mechanism 100, so as to transmit the power of the swing driving mechanism 200 to the swing transmission mechanism 100.

As shown in fig. 3 and 4, fig. 3 shows a schematic view of an assembled structure of a holder of a surgical instrument according to the present embodiment, and fig. 4 shows a schematic view of an exploded structure of fig. 3.

The bracket 10 is used to carry and mount components of a surgical instrument and is connected to a robotic arm to secure the entire surgical instrument to the robotic arm. In some embodiments, the bracket 10 includes a base 101, a top base 102, and first and second connection plates 103 and 104, where the top base 102 and the base 101 are disposed substantially parallel and spaced apart and connected by the first and second connection plates 103 and 104, e.g., the first and second connection plates 103 and 104 are supported between the top base 102 and the base 101, and the first and second connection plates 103 and 104 and the top base 102, 101 may be screwed, snap-connected, or welded.

Referring to fig. 3, 6 and 7, fig. 6 is a schematic diagram illustrating an assembly structure of a swing driving mechanism of a surgical instrument according to an embodiment of the present invention; fig. 7 shows an exploded view of fig. 6.

In this embodiment, the swing driver 210 includes a driving capstan 211, a first bearing 212, and a driving spindle 213. The lower surface of the first bearing 212 is attached to the bearing attachment surface of the drive capstan 211, and the drive spindle 213 is inserted into the drive capstan 211 from above and fixedly connected by screws. The driving capstan 211 is fitted into the base 101 from below, and the upper surface of the first bearing 212 is flush with the bearing mounting hole step surface of the base 101. The drive capstan 211 is used to engage the rotational power of the robotic arm and the outer surface may have teeth for engagement. Of course, in other embodiments, the driving capstan 211 and the driving spindle 213 of the swing driver 210 may be an integral member, whose optical axis is externally provided with the first bearing 212, and mounted on the base 101 through the first bearing 212.

The driving main shaft 213 of the swing driving member 210 is connected to one end of a first gear shaft 230 through a coupling 214, and the other end of the first gear shaft 230 is rotatably mounted to the top chassis 102 through a second bearing 231. Illustratively, the top seat 102 is sleeved into the first gear shaft 230 from the upper part, the second bearing 231 is sleeved into the first gear shaft 230 from the upper part, the lower surface of the inner ring of the second bearing 231 is jointed with the bearing installation surface of the first gear shaft 230, the lower surface of the outer ring of the second bearing 231 is jointed with the step surface of the bearing installation hole of the top seat 102, and the upper surface of the second bearing 231 is limited by using a nut 240 installed on the first gear shaft 230. The first transmission gear 220 is coaxially disposed with the first gear shaft 230, and the first transmission gear 220 may be integrally disposed with the first gear shaft 230 or may be connected by a gear key, thereby allowing the first transmission gear 220 to rotate along with the first gear shaft 230. The first gear shaft 230 is connected between the top base 102 and the base 101 at both ends thereof, and also has a supporting effect on stable connection of the top base 102 and the base 101.

Referring to fig. 3, 7 and 8, fig. 8 is a schematic diagram illustrating an assembly structure of a second transmission gear of a swing driving mechanism of a surgical instrument according to an embodiment of the present invention, and fig. 9 is a schematic diagram illustrating an exploded structure of fig. 8.

In this embodiment, the swing driving mechanism 200 further includes a second transmission gear 250, and the first transmission gear 220 is meshed with the second transmission gear 250 and is in driving connection with the swing driving mechanism 100 through the second transmission gear 250. By arranging the second transmission gear 250, the gap between the first transmission gear 220 and the swing transmission mechanism 100 is compensated, the transmission ratio of the swing driving mechanism 200 is increased, the speed and moment reducing effect is achieved, larger moment can be provided for the swing transmission mechanism 100, and meanwhile, the reduction of the rotation speed is also beneficial to improving the driving precision of the swing transmission mechanism 100.

Illustratively, the second transmission gear 250 is mounted on the top base 102 through a third bearing 251, the third bearing 251 is sleeved on the gear shaft of the second transmission gear 250 from the upper part, the lower surface of the third bearing 251 is jointed with the gear shaft bearing mounting step surface of the second transmission gear 250, the top base 102 is sleeved on the gear shaft of the second transmission gear 250 from the upper part, the third bearing 251 is sleeved on the gear shaft of the second transmission gear 250 from the upper part, the lower surface of the inner ring of the third bearing 251 is jointed with the bearing mounting surface of the gear shaft of the second transmission gear 250, the lower surface of the outer ring of the third bearing 251 is jointed with the bearing mounting hole step surface of the top base 102, and the upper surface of the third bearing 251 is limited by using a snap spring 252 mounted on the gear shaft of the second transmission gear 250.

It will be appreciated that in other embodiments, the first transmission gear 220 may be directly in driving engagement with the swing transmission mechanism 100 without the provision of the second transmission gear 250, however, in order to satisfy the transmission ratio, the first transmission gear 220 may be in driving engagement with the swing transmission mechanism 100 by means of adjusting the gear diameter, or the first transmission gear 220 may be in driving engagement with the swing transmission mechanism 100 through more intermediate transition gears, so as to achieve the desired transmission ratio.

It should be noted that, the "transmission connection" in the present application may be a transmission of motion by direct transmission cooperation, or may be a transmission of motion by indirect transmission cooperation of other intermediate transition components.

Referring to fig. 10-13 together, fig. 10 is a schematic diagram showing a partially exploded structure of a mobile driving mechanism according to an embodiment of the invention; FIG. 11 is a schematic view showing a first partial cross-sectional structure of a swing drive mechanism provided by an embodiment of the present invention; FIG. 12 is a schematic view showing a second partial cross-sectional structure of a swing drive mechanism provided by an embodiment of the present invention; FIG. 13 is a schematic view showing a third partial cross-sectional structure of a swing drive mechanism provided by an embodiment of the present invention; the first section, the second section and the third section form an overall view of the rod-like transmission structure emerging from the support.

The swing drive mechanism 200 drives the actuator 300 to swing through the swing transmission mechanism 100. The swing transmission mechanism 100 includes a swing arm nut 110, a swing arm screw 120, and a swing member 130. The swing arm nut 110 is in transmission connection with the swing driving mechanism 200 and rotates with the first axis as an axis under the driving of the swing driving mechanism 200, and the swing arm screw 120 is in transmission fit with the swing arm nut 110 and moves along the first axis under the driving of the swing arm nut 110, thereby changing the rotation of the swing arm nut 110 into the movement of the swing arm screw 120. The swing driving mechanism 200 further includes a bracket 10, the swing arm nut 110 is rotatably connected to the bracket 10, the swing member 130 is swingably disposed relative to the bracket 10, and the swing member 130 is connected to the actuator 300, the swing member 130 is in driving engagement with the swing arm screw 120 and drives the swing arm screw 120 to swing, and the swing member 130 is connected to the actuator 300, so that the actuator 300 can be linked to swing when the swing member 130 swings.

The swing transmission mechanism 100 is in a straight rod shape as a whole, and the swing transmission mechanism 100 is used as a cutter bar of the anastomat in the embodiment. The extending direction of the first axis is identical to the extending direction of the swing transmission mechanism 100, and the extending directions of the driving main shaft 213, the first gear shaft 230, and the gear shaft of the second transmission gear 250 of the swing driving mechanism 200 are all parallel to the first axis. The swing axis of the swing member 130 is the swing axis of the actuator 300, and in one embodiment, the swing axis of the swing member 130 is perpendicular to the first axis.

By adopting the linear conversion mechanism to push the swinging member 130 to drive the executing member 300 to swing, the components on the transmission path have better strength and are not easy to break, and the whole swinging transmission mechanism 100 has higher strength and reliability, so that the safety and the accuracy of the operation can be improved.

In the present embodiment, the swing transmission mechanism 100 and the swing drive mechanism 200 share the same holder 10, and in other embodiments, the swing transmission mechanism 100 and the swing drive mechanism 200 may be mounted on the respective holders 10 and then assembled.

In this embodiment, the swing transmission mechanism 100 further includes a limiting member 140, where the limiting member 140 is fixed relative to the bracket 10 or the limiting member 140 is a part of the bracket 10, and when the swing arm nut 110 rotates, the swing arm screw 120 moves relative to the bracket 10 under the constraint of the limiting member 140. By arranging the limiting piece 140 to limit the rotation of the swing arm screw 120, the swing arm screw 120 can move relative to the swing arm nut 110 and cannot rotate, and the effectiveness of the movement of the swing arm screw 120 is improved. The swing arm screw 120 is limited to rotate in a mechanical limiting manner by the limiting member 140, and no complicated decoupling operation is required.

The swing arm nut 110 and the swing arm screw 120 form threaded fit connection, one of the swing arm screw 120 and the limiting piece 140 is provided with a sliding groove, the other is provided with a sliding block matched with the sliding groove, the sliding groove extends along the first axis, and when the swing arm nut 110 rotates, the swing arm screw 120 moves along the first axis under the limiting fit of the sliding groove and the sliding block. The threaded connection of the swing arm nut 110 and the swing arm screw 120 can convert rotary motion into linear motion, and meanwhile, the swing arm nut 110 and the swing arm screw 120 can be mutually nested, so that the rod-shaped integrity of the swing transmission mechanism 100 is facilitated, and the structure is more compact. The swing arm nut 110 includes a swing firing portion 111, and the swing firing portion 111 is configured to be in transmission connection with an output member of the swing driving mechanism 200, so as to couple power of the swing driving mechanism 200 to the swing transmission mechanism 100.

In this embodiment, the swing firing portion 111 is a gear meshed with the second transmission gear 250 and disposed on the outer peripheral surface of the swing arm nut 110, the swing arm nut 110 is provided with a threaded hole, the swing arm screw 120 is a screw disposed in the threaded hole, the limiting member 140 is provided with a sliding slot, and the swing arm screw 120 is provided with a sliding block. The swing arm nut 110 and the swing arm screw 120 form a screw pair, wherein the limiting member 140 is used for limiting the rotation movement of the swing arm screw 120, so that the rotation movement of the swing arm nut 110 can be converted into the linear movement of the swing arm screw 120.

Illustratively, the various components are assembled as follows: the swing arm nut 110 is installed on the top seat 102 through the fourth bearing 112, the swing arm nut 110 is installed into the top seat 102 from the right side, the fourth bearing 112 is installed into the top seat 102 from the left side, the left side face of the inner ring of the fourth bearing 112 is attached to the bearing installation face of the swing arm nut 110, the left side face of the outer ring of the fourth bearing 112 is attached to the step face of the bearing installation hole of the top seat 102, the right side face of the inner ring of the fourth bearing 112 is limited by using the clamp spring 113 installed on the swing arm nut 110, and therefore the swing arm nut 110 rotates relative to the support 10 under the driving of the swing driving mechanism 200. The swing arm screw 120 has a non-rotating section 121 and a threaded section, the threaded section is inserted into the swing arm nut 110 to be screwed therewith, and the non-rotating section 121 protrudes from the swing arm nut 110. The limiting piece 140 is provided with a sliding groove matched with the non-revolving section of the swing arm screw 120, the limiting piece 140 is fixedly connected with the top seat 102 through screws, so that the limiting piece 140 and the top seat 102 are fixed, further the swing arm screw 120 is limited in rotation, the limiting piece 140 is provided with a boss, the boss can be used for limiting the right side face of the outer ring of the fourth bearing 112, and accordingly the fourth bearing 112 is installed.

As shown in fig. 11, in the present embodiment, the swing transmission mechanism 100 of the surgical instrument further includes a swing rod 150, the swing arm screw 120 is in transmission connection with the swing member 130 through the swing rod 150, and the swing rod 150 is in rotation connection with the swing arm screw 120, so that the swing rod 150 can be driven to move together when the swing arm screw 120 moves, and the swing rod 150 is not limited by the swing arm screw 120 when the swing arm screw 120 is to perform a rotation motion.

Illustratively, one of the swing lever 150 and swing arm screw 120 has a stepped end in the form of a solid of revolution, and the other of the swing lever 150 and swing arm screw 120 has a caulking groove that mates with the stepped end, the caulking groove being partially open to allow the stepped end to be inserted, thereby forming a swivel connection. The decoupling mechanism with a complex structure is simpler, and the transmission of the movement is more effective. In addition, the length of the swing arm screw 120 can be shortened by arranging the swing rod 150, the actuation resistance of the swing arm nut 110 can be reduced, the transmission length of the cutter bar of the anastomat can be ensured, and in addition, the swing rod 150 is arranged to be connected by a rotatable hook, and other driving modes can be arranged on the swing rod 150, so that a combined transmission structure with more transmission actions is formed.

As shown in fig. 12 and 13, in the present embodiment, the swing transmission mechanism 100 includes a swing transmission member 160, both sides of a swing shaft of the swing member 130 form a first swing portion 131 and a second swing portion 132, respectively, the swing transmission member 160 includes a first transmission portion 161, the first transmission portion 161 is in transmission connection with the swing arm screw 120 to move along the first axis under the drive of the swing arm screw 120, and the first transmission portion 161 is rotatably connected with the first swing portion 131. The first transmission portion 161 extends in the direction of the first axis, is used for transmitting movement of the swing arm screw 120 to the swing member 130, and forms a link structure with the swing member 130, and can push the swing member 130 to swing around the swing joint as an axis during movement.

The swing transmission member 160 further includes a linkage part 163, the swing arm screw 120 is connected to the first transmission part 161 through the linkage part 163, and in this embodiment, the swing arm screw 120 is connected to the linkage part 163 through the swing lever 150, the swing arm screw 120 is relatively fixed to the linkage part 163, and the linkage part 163 is rotatably connected to the first transmission part 161. The transmission of the swing transmission mechanism 100 is thereby transmitted to the swinging member 130 by the swing arm nut 110, and the swinging member 130 is driven to swing through the swing arm screw 120, the swing lever 150, the linkage part 163, and the first transmission part in this order. The linkage part 163 is connected to the outside of the swing lever 150, thereby avoiding the center position on the power transmission path, enabling other transmission joints to be provided at the center position, compounding more transmission actions, and enabling the actuator 300 to output more actions.

Illustratively, the end of the linkage part 163 is bent, the outer surface of the swing rod 150 is provided with a caulking groove, and the bent end of the linkage part 163 is embedded into the caulking groove, so that the linkage part 163 and the swing rod 150 form a hook fixed connection. The other end of the linkage part 163 is rotatably connected to the first transmission part 161, and illustratively, the linkage part 163 has a mounting hole therein, and the mounting hole is opened, and the end of the first transmission part is curled into a cylinder which is inserted into the linkage part 163 through the opening to form a rotatable connection with the linkage part 163.

In some embodiments, the swing transmission member 160 further includes a second transmission portion 162 and a connection portion 164, where the second transmission portion 162 is disposed parallel to the first transmission portion, one end of the second transmission portion 162 is rotatably connected to the second swing portion 132, and the other end of the second transmission portion 162 is connected to the first transmission portion through the connection portion 164 and is respectively rotatably connected to the connection portion 164, and the connection portion 164 is swingably disposed relative to the bracket 10.

As shown in fig. 14 and 15, fig. 14 shows a first state schematic view of a parallelogram structure constituted by the first transmitting portion 161, the swinging member 130, the second transmitting portion 162, and the connecting portion 164, and fig. 15 shows a second state schematic view of a parallelogram structure constituted by the first transmitting portion 161, the swinging member 130, the second transmitting portion 162, and the connecting portion 164.

The connection parts of the first transmission part 161, the swinging member 130, the second transmission part 162 and the connection part 164 are rotatably connected, when the linkage part 163 drives the first transmission part 161 to move forwards, the swinging member 130 swings, the first swinging part 131 swings forwards, the second swinging part 132 swings backwards, the second transmission part 162 moves backwards to drive one end of the connection part 164 to move forwards, and the other end moves backwards, namely, the parallelogram structure formed by the first transmission part 161, the swinging member 130, the second transmission part 162 and the connection part 164 is switched from the first state shown in fig. 14 to the second state shown in fig. 15. Compared with a single-shaft transmission mechanism, the parallelogram transmission structure has the function of mutual support among the first transmission part 161, the swinging piece 130, the second transmission part 162 and the connecting part 164, has better structural strength and is beneficial to better transmission of force.

Illustratively, the first transmission portion 161 and the second transmission portion 162 have equal lengths, and both ends are curled into a cylindrical shape, two convex shafts disposed at intervals are formed on the swing portion, the two convex shafts are respectively inserted into the cylinders of the first transmission portion 161 and the second transmission portion 162 to realize rotatable connection, the first swing portion 131 and the second swing portion 132 of the swing member 130 are respectively provided with the convex shafts, and the two convex shafts are respectively inserted into the cylinders of the first transmission portion 161 and the second transmission portion 162 to realize rotatable connection, thereby realizing the parallelogram frame type transmission mechanism.

In some embodiments, the first transmission portion 161 and the second transmission portion 162 are elastic members, such as elastic sheets, and can generate a certain degree of bending deformation, but not be easy to generate compression in the extending direction, so that the first transmission portion 161 and the second transmission portion 162 have better toughness, can avoid the problem of brittle failure in the force transmission process due to slimness, and can stably transmit the force.

As described above, since each transmission member is divided into multiple sections in the length extending direction of the swing transmission mechanism 100, in order to enable the multiple transmission sections to be capable of independently transmitting and being mutually linked, the outside is complete, and interference of the outside on the actions of each transmission section is reduced. In some embodiments, the swing transmission mechanism 100 further includes an outer tube 170, where the outer tube 170 is connected to the bracket 10, and the components of the swing transmission mechanism 100 from the bracket 10 to the actuator 300 are sleeved therein, so as to protect the multi-section transmission structure from interference.

Referring to fig. 13 and 16 together, fig. 16 is a partially enlarged schematic view of fig. 13 a, which is intended to show the mounting and swing connection structure of the swing member 130. In some embodiments, the swing transmission mechanism 100 further includes a base rod 190, the base rod 190 is nested within the outer tube 170, the base rod 190 is slidable relative to the swing arm screw 120 to remain fixed as the swing arm screw 120 moves, the swing member 130 is mounted on the base rod 190 by a swing shaft 191, the swing shaft 191 is fixed relative to the base rod 190, which may be a part of the base rod 190, and the swing screw 120 is movable relative to the swing shaft 191 to oscillate the swing member 130 when moved. The base rod in the swing transmission mechanism 100 is nested in the sleeve structure and is used for installing the swinging member 130, so that the swinging shaft 191 of the swinging member 130 can be relatively fixed in position when the swing arm screw 120 moves, and the swing arm screw 120 can stably drive the swinging member 130 to swing. In some embodiments, the swing transmission mechanism 100 further includes a rotation connection assembly 180, the rotation connection assembly 180 includes two rotation members 181, the two rotation members 181 are respectively located at two opposite sides outside the swing member 130, and the actuator 300 is rotatably connected to the outer tube 170 through the two rotation members 181. The rotation pieces 181 are arranged on two sides, so that penetration of internal transmission parts is not affected, meanwhile, the outer tube 170 can be used for installing swing, swing installation is formed on the executing piece 300, stable support is formed, and swing transmission stability of the executing piece 300 is further improved.

The rotating member 181 includes a first rotating portion 1811 and a second rotating portion 1812 disposed at intervals, the first rotating portion 1811 is rotatably connected to the outer tube 170, and the second rotating portion 1812 is rotatably connected to the actuator 300. The rotation axes of the first and second rotation portions 1811 and 1812 are parallel to the rotation axis of the swing member 130, and the rotation connection of the actuator 300 can be made without interference to the rotation of the swing member 130 by the first and second rotation portions 1811 and 1812 provided at intervals, and a swing support is obtained with high structural stability. Illustratively, the first rotating portion 1811 and the second rotating portion 1812 are bosses provided on the rotating member 181, and the actuating member 300 and the outer tube 170 are provided with connection holes, respectively, thereby implementing rotatable connection, although the cooperation of the bosses and the holes between the components may be interchanged.

In some embodiments, the swing drive mechanism 100 further includes a flexible sleeve having one end connected to the outer tube 170 and the other end connected to the actuator 300, and housing the rotational connection assembly 180 therein. The flexible sleeve can be deformed along with the swing of the actuator 300, and by housing the rotational coupling assembly 180 therein, interference with the outside, such as a human body, during the swing can be prevented. Hard connecting rings are respectively connected to the two ends of the flexible sleeve, and are connected with the outer tube 170 and the executing piece 300, so that the flexible sleeve is connected. Further, in order to make the surface of the flexible sleeve always have a certain tension, the flexible sleeve cannot be pulled out or loosened due to repeated deformation, soft rubber such as silica gel, rubber and other materials can be selected as the flexible sleeve, leather which is relatively skin-friendly can be selected as the flexible sleeve, and the flexible sleeve can be a metal sleeve which can be bent and deformed.

As described above, the swing transmission mechanism 100 of the present embodiment is in a rod shape, the swing arm nut 110 and the swing arm screw 120 are nested with each other, the limiting member 140 and the swing arm screw 120 are nested with each other, and the swing arm screw 120 and the end portion of the swing rod 150 form a hook type rotation connection. Specifically, the swing arm screw 120 is embedded in the swing arm nut 110, the limiting member 130 is sleeved outside the swing arm screw 120, and the swing arm screw 120 can move relative to the limiting member 130. The swing lever 150 protrudes from the bracket 100 and is built into the outer tube 170 and is capable of sliding with respect to the inner tube 180.

Further, the linkage 163 is connected to the end of the swinging rod 150, and the linkage 163 is connected to a point of the parallelogram structure, so as to push one side of the parallelogram to translate, so that the swinging member 130 swings, and the linkage 163 and the first transmission part 161, the second transmission part 162 and the connection part 164 in the parallelogram structure are all built in the outer tube 170 and can move relative to the outer tube. Thus, the entire travel drive mechanism 100 is rod-shaped with the various components of the outer tube 170 nested in one another to form a drive connection or sliding relationship, with each component being associated with each other and independent of each other.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims (17)

1. A surgical instrument having an implement for performing a procedure, the surgical instrument comprising:

the swing arm nut is in transmission connection with a driving mechanism so as to rotate around a first axis under the driving of the driving mechanism;

the swing arm screw is in transmission fit with the swing arm nut and moves along the first axis under the drive of the swing arm nut;

the swinging piece can swing and is connected with the executing piece, and the swinging piece is in transmission fit with the swing arm screw and drives the executing piece to swing under the driving of the swing arm screw.

2. A surgical instrument as recited in claim 1, further comprising a swing transmission member having a swing shaft with first and second swing portions formed on opposite sides thereof, the swing transmission member including a first transmission portion drivingly connected to the swing arm screw for movement along the first axis, the first transmission portion being rotatably connected to the first swing portion, the swing member swinging when the first transmission portion moves along the first axis.

3. A surgical instrument according to claim 2, wherein the swing transmission member further includes a second transmission portion and a connection portion, the second transmission portion being disposed in parallel with the first transmission portion, one end of the second transmission portion being rotatably connected to the second swing portion, the other end of the second transmission portion being connected to the first transmission portion through the connection portion and being rotatably connected to the connection portion, respectively.

4. A surgical instrument as recited in claim 3, wherein the first transmission portion, the oscillating member, the second transmission portion, and the connecting portion are rotatably connected end-to-end in sequence to form a parallelogram transmission structure.

5. A surgical instrument as recited in claim 3, wherein the first and second swing portions have bosses formed thereon, and wherein the first and second transfer portions have grooves formed thereon that mate with the bosses, respectively, the grooves forming a swivel fit with the bosses.

6. A surgical instrument as recited in claim 3, wherein the first and second transfer portions are resilient members.

7. A surgical instrument as recited in claim 2, wherein the swing transmission member further includes a linkage portion, the swing arm screw being connected to the first transmission portion by the linkage portion, the swing arm screw being relatively fixed to the linkage portion, the linkage portion being rotatably connected to the first transmission portion.

8. A surgical instrument as recited in claim 2, further comprising a base rod, the oscillating member being swingably mounted to the base rod via the oscillating shaft, the oscillating screw being movable relative to the base rod to oscillate the oscillating member when moved.

9. A surgical instrument as recited in claim 1, further comprising a bracket, wherein the swing drive mechanism further comprises a stop, wherein the stop is fixed with respect to or is part of the bracket, and wherein the swing arm screw moves with respect to the bracket under the constraint of the stop as the swing arm nut rotates.

10. A surgical instrument as recited in claim 9, wherein one of the swing arm screw and the stop has a chute and the other has a slide mated with the chute, the chute extending along the first axis, the swing arm screw moving along the first axis with the chute and slide in limited engagement as the swing arm nut rotates.

11. The surgical instrument of claim 9, further comprising a swing rod, one of the swing rod and the swing arm screw having a stepped end in the form of a solid of revolution, the other of the swing rod and the swing arm screw having a mating groove with the stepped end, the groove being partially open to permit the stepped end to be inserted, the swing arm screw being drivingly connected to the swing member by the swing rod.

12. The surgical instrument of claim 11, further comprising an outer tube, wherein the swing arm nut and the swing arm screw are nested with each other, wherein the swing arm screw and the stop are nested with each other, wherein the outer tube is sleeved outside the swing rod, and wherein the swing rod is slidable relative to the outer tube.

13. A surgical instrument as recited in claim 12, further comprising a rotational coupling assembly including two rotational members, the rotational members being located on opposite sides of the swinging member, respectively, the actuating member being rotatably coupled to the outer tube by the rotational members.

14. A surgical instrument as recited in claim 13, wherein the rotating member includes first and second rotating portions disposed in spaced relation, the first rotating portion being rotatably coupled to the outer tube and the second rotating portion being rotatably coupled to the actuating member.

15. A surgical instrument as recited in claim 12, further comprising a flexible sleeve having one end connected to the outer tube and another end connected to the actuator, and the flexible sleeve housing the rotational connection assembly therein.

16. A surgical instrument having an implement for performing a procedure, comprising:

the driving disc is used for connecting a mechanical arm of a robot and receiving and converting the power of the mechanical arm into rotary driving force;

the swing driving assembly comprises a transmission piece and a swing rod assembly, the transmission piece receives the rotary driving force of the driving disc and converts the rotary driving force into linear motion, and the swing rod assembly receives the driving of the transmission piece to perform linear motion; and

and one end of the swinging piece is connected with the executing piece, and the swinging piece is driven by the swinging rod assembly to rotate and swing so as to drive the executing piece to swing.

17. A surgical robot comprising a master operating console and a slave operating device, the slave operating device comprising the surgical instrument of any one of claims 1 to 16.

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