CN116421329A - Safe-to-use instrument drive assembly and robotic surgical system - Google Patents

Abstract

The embodiment of the invention discloses a safe-to-use instrument driving assembly and a robotic surgical system. The instrument driving assembly comprises a driving unit and a connecting unit connected with the driving unit, wherein the connecting unit is used for connecting an instrument; the driving unit comprises one or more driving mechanisms, and each driving mechanism comprises a driving rotary piece; the connecting unit comprises one or more driven mechanisms, and each driven mechanism comprises a translation piece; each driving mechanism is connected with a corresponding driven mechanism and is configured to cause the translation of the translation member through the rotation movement of the driving rotation member, and the central axis of the driving rotation member is perpendicular to the translation direction of the translation member. The instrument driving assembly and the robot operation system are convenient to operate, can effectively prevent injury to human organs, and are safe to use.

Description

Safe-to-use instrument drive assembly and robotic surgical system

Technical Field

Embodiments of the present invention relate to the field of machinery, and more particularly, to a safe-to-use instrument drive assembly and robotic surgical system.

Background

Robotic surgical systems are surgical tools that are remotely manipulated by a physician to perform a procedure in place of a human hand. The robotic surgical system consists essentially of a console supporting a robotic arm and a surgical instrument having an end effector. The robotic arm typically includes an instrument drive assembly for powering the surgical instrument to cause the end effector to perform a desired action. The end effector may be, for example, a clip, a hook, or the like.

Existing instrument drive assemblies are generally classified into wire rope-driven and link-driven types. The steel wire rope transmission type instrument driving assembly has high flexibility, and can realize more degrees of freedom of movement in a limited space. However, the wire rope driven instrument drive assembly has the disadvantages of insufficient rigidity, susceptibility to creep, and the like. The linkage-type instrument drive assembly can just solve these problems.

However, the existing linkage-driven instrument drive assemblies are inconvenient to operate and are prone to damage to human organs, increasing the risk of surgery.

Disclosure of Invention

The embodiment of the invention provides a safe-to-use instrument driving assembly and a robot operation system, which can effectively prevent injury to human organs, reduce operation risk and are convenient to operate.

The embodiment of the invention provides a safe-to-use instrument driving assembly, which comprises a driving unit and a connecting unit connected with the driving unit, wherein the connecting unit is used for connecting an instrument; the driving unit comprises one or more driving mechanisms, and each driving mechanism comprises a driving rotary piece; the connecting unit comprises one or more driven mechanisms, and each driven mechanism comprises a translation piece; each driving mechanism is connected with a corresponding driven mechanism and is configured to cause the translation of the translation member through the rotation movement of the driving rotation member, and the central axis of the driving rotation member is perpendicular to the translation direction of the translation member. Through designing the central axis of initiative rotating member to be perpendicular with the translation direction of translation piece for connecting unit installs to drive unit from the side becomes possible, and this convenient operation not only helps avoiding causing the damage to human tissue owing to shifting from top to bottom moreover, reduces the operation risk, has effectively solved the drive assembly operation inconvenience among the prior art, and the problem of damaging human organ easily.

In one possible solution, the driving unit comprises two driving mechanisms and the connecting unit comprises two driven mechanisms. The instrument drive assembly provided by this embodiment is particularly suited for driving instruments that include two push rods that need to be pushed and/or pulled.

In one possible solution, each of the driving mechanisms further includes a motor, and a speed reducing mechanism coupled to an output shaft of the motor, and the driving rotary member is coupled to the speed reducing mechanism. The rotating speed of the motor is reduced through the reducing mechanism and then is transmitted to the driving rotating piece, so that the movement requirement of the surgical instrument is met.

In one possible solution, the reduction mechanism includes a reduction gearbox coupled to an output shaft of the motor, and a belt transmission mechanism coupled to the reduction gearbox, the active rotating member being coupled to the belt transmission mechanism. It will be appreciated that in other embodiments, other arrangements of reduction mechanisms may be employed.

In one possible implementation, each of the driven mechanisms further includes a driven rotating member coupled to a corresponding one of the driving rotating members and configured to be driven to rotate by the driving rotating member, and the translating member is coupled to the driven rotating member and configured to cause translation of the translating member by rotational movement of the driven rotating member. The power of the driving rotating part is transmitted to the translation part through the driven rotating part, so that the transmission is more stable, and the driving unit and the connecting unit are more convenient to connect.

In one possible solution, the central axis of the driven rotation element coincides with the central axis of the driving rotation element, and the central axis of the driven rotation element is perpendicular to the translation direction of the translation element. The torque of the driving rotating member is transmitted to the driven rotating member through the coaxial transmission of the driving rotating member and the driven rotating member, so that the transmission is stable.

In one possible arrangement, the driven rotation member includes a projection offset from its central axis, and the translating member has an elongate slot in which the projection is slidably received to cause translation of the translating member by rotation of the driven rotation member. The torque of the driven rotating member is converted into the linear motion of the translation member through the cooperation of the eccentric protrusion and the elongated groove, so that the transmission is stable. It will be appreciated that in other embodiments, the driven rotary member and translating member may take other structures/configurations to convert rotary motion to linear motion.

In one possible arrangement, the driven rotation member is detachably connected to the driving rotation member, and the driving rotation member is configured to rotate up to 360 ° to be connected to the driven rotation member. This helps to achieve automatic connection of the driving rotary member and the driven rotary member, and is convenient to install.

In a possible solution, the driving unit further comprises a first support assembly for supporting the one or more driving mechanisms, and the connecting unit further comprises a second support assembly for supporting the one or more driven mechanisms, the first support assembly being detachably connected with the second support assembly. The driving unit and the connecting unit are connected through the detachable connection of the first supporting component and the second supporting component, so that the installation is convenient.

In one possible solution, the first support assembly is snap-connected to the second support assembly. The mode of buckle connection is quicker, more convenient and more stable.

In one possible solution, one of the first support assembly and the second support assembly is provided with an elastic snap assembly, the other of which is provided with an engagement hole for engagement with the snap assembly. The first support component and the second support component are connected through the engagement of the buckle component and the engagement hole, so that the device is quick, convenient and stable.

The embodiment of the invention also provides a robotic surgical system, which comprises the device driving assembly and a surgical device connected with the connecting unit of the device driving assembly. The technical effects that can be achieved by the robotic surgical system are referred to above as the technical effects that can be achieved by the instrument drive assembly and are not described in detail herein.

Based on the above scheme, the driving rotation piece of the driving unit drives the translation piece of the connecting unit to translate, so as to drive the surgical instrument connected with the connecting unit to perform corresponding actions. When the connecting unit with the surgical instrument is installed to the driving unit, the central axis of the driving rotating piece is designed to be perpendicular to the translation direction of the translation piece, so that the connecting unit is installed to the driving unit from the side face, the operation is convenient, the damage to human tissues caused by up-and-down displacement is avoided, the operation risk is reduced, and the problems that the driving assembly is inconvenient to operate and human organs are easy to damage in the prior art are effectively solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.

Fig. 1 is a schematic perspective view of a robotic surgical system according to a first embodiment of the present invention;

FIG. 2 is a front view of a surgical instrument of the robotic surgical system of FIG. 1;

FIG. 3 is an exploded view of the surgical instrument of FIG. 2;

FIG. 4 is an exploded view of the robotic surgical system of FIG. 1;

FIG. 5 is another angular schematic view of the robotic surgical system of FIG. 4;

FIG. 6 is a schematic view of a partial connection of an instrument drive assembly of the robotic surgical system of FIG. 1;

FIG. 7 is a cross-sectional view of the robotic surgical system of FIG. 1;

FIG. 8 is an exploded view of a drive unit of an instrument drive assembly of the robotic surgical system of FIG. 1;

FIG. 9 is an exploded view of a connection unit of an instrument drive assembly of the robotic surgical system of FIG. 1;

FIG. 10 is another angular schematic view of the connection unit of FIG. 9;

FIG. 11 is an installation schematic of the robotic surgical system of FIG. 1;

FIG. 12 is a schematic view of the robotic surgical system of FIG. 1 in a disassembled state;

FIG. 13 is an exploded view of a robotic surgical system according to a second embodiment of the present invention;

FIG. 14 is another angular schematic view of the robotic surgical system of FIG. 13;

FIG. 15 is an exploded view of a drive unit of the instrument drive assembly of the surgical system of FIG. 13;

fig. 16 is an exploded view of a connection unit of an instrument drive assembly of the surgical system of fig. 13.

Reference numerals in the drawings:

600. a robotic surgical system; 610. an instrument drive assembly; 20. a surgical instrument; 630. a driving unit; 631. an active mechanism; 632. an active rotation member; 6321. a first section; 6322. a second section; 6323. a third section; 320. a convex column; 320A, a limit section; 320B, first section; 320C, a second section; 321. a first hole; 322. a second hole; 323. a third hole; 324. a fourth hole; 325. a first spring; 326. an end cap; 326A, a support section; 326B, a propping section; 633. a first support assembly; 331. a positioning pin; 6330. a joint hole; 6331. a first support plate; 6332. a second support plate; 6333. a first chamber; 6334. a second chamber; 34. a motor; 635. a speed reducing mechanism; 36. a belt drive mechanism; 360. a driving wheel; 361. driven wheel; 362. a conveyor belt; 37. a reduction gearbox; 38. a transmission shaft; 39. a mounting base; 40. a housing assembly; 41. a sheath; 42. a first connector; 43. a second connector; 650. a connection unit; 651. a driven mechanism; 652. a driven rotating member; 6521. a cylindrical section; 6522. a connection section; 6523. a protrusion; 6524. a bearing; 520. a groove; 653. a second support assembly; 531. positioning holes; 6531. a third support plate; 6532. a fourth support plate; 6533. a fifth support plate; 6534. a third chamber; 6535. a rib; 6536. a first through hole; 6537. a second through hole; 654. a clasp assembly; 655. a button; 656. a latch hook; 657. a support pin; 658. a second spring; 670. a guide post; 671. a translation member; 672. an elongated slot; 60. a link mechanism; 61. a push rod; 62. swing rod; 63. a crank; 80. an end effector; l1, a first central axis; l2, a second central axis;

700. a robotic surgical system; 710. an instrument drive assembly; 720. a surgical instrument; 730. a driving unit; 733. a first support assembly; 7331. a first support plate; 7332. a second support plate; 750. a connection unit; a first translation 671A; a second translation 671B;671B1, a first connection; 671B2, a second connection; 753. a second support assembly; 7531. and a third support plate.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; the device can be mechanically connected, electrically connected and communicated; either directly, or indirectly, through intermediaries, may be in communication with each other, or may be in interaction with each other, unless explicitly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances. The technical scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.

The robotic surgical system consists essentially of a console supporting a robotic arm and a surgical instrument having an end effector. The robotic arm typically includes an instrument drive assembly for powering the surgical instrument to cause the end effector to perform a desired action. The end effector may be, for example, a clip, a hook, or the like. Existing instrument drive assemblies are generally classified into wire rope-driven and link-driven types. The connecting rod transmission type instrument driving assembly has the advantages of high transmission efficiency, high structural rigidity, stable transmission and the like. The linkage-driven instrument drive assembly generally includes a drive unit and a connection unit coupled to the drive unit. The connecting unit is used for connecting the connecting rod type surgical instrument. The driving unit is used for driving the push rod of the surgical instrument to move through the connecting unit so as to enable the end effector of the surgical instrument to execute the required actions.

However, the present inventors have discovered that there are a number of problems with existing linkage-driven instrument drive assemblies, such as: the surgical instrument is installed from bottom to top, so that human tissues such as the trachea in the abdominal cavity are easily damaged, the actual operation is inconvenient, and the surgical risk is increased; when the connecting unit with the surgical instrument is mounted on the driving unit, the opening and closing of the end effector of the surgical instrument after the surgical instrument enters the body, such as the abdominal cavity, cannot be controlled, so that each push rod is displaced, and at this time, the position of each push rod needs to be manually adjusted to correctly mount the connecting unit on the driving unit, so that the mounting is inconvenient.

To this end, referring to fig. 1, a robotic surgical system 600 is provided that includes an instrument drive assembly 610 and a surgical instrument 20. The instrument drive assembly 610 includes a drive unit 630 and a connection unit 650 connected to the drive unit 630. The surgical instrument 20 is connected to the connection unit 650. The connection unit 650 of the present embodiment is adapted to be connected to the driving unit 630 from the side of the driving unit 630, which is convenient to operate, but also helps to avoid damage to human tissues due to up-and-down displacement, and reduce the risk of surgery.

Referring to fig. 2 and 3, by way of example, the surgical instrument 20 includes a housing assembly 40, one or more linkages 60 housed within the housing assembly 40, and an end effector 80 connected to a distal end of the one or more linkages 60. The housing assembly 40 includes a sheath 41, and first and second connectors 42 and 43 connected to the distal and proximal ends of the sheath 41, respectively. The link mechanism 60 includes a push rod 61, a swing link 62 rotatably connected to the push rod 61, and a crank 63 rotatably connected to the swing link 62. The push rod 61 is accommodated in the sheath 41, and has one end inserted through the second connector 43 and the other end slidably connected to the first connector 42. The crank 63 is rotatably connected to the first connecting member 42. The end effector 80 is coupled to the crank 63. The first connecting member 42, the push rod 61, the swing rod 62, and the crank 63 form a slider-crank mechanism, so that when the push rod 61 translates, the crank 63 rotates to drive the end effector 80 to rotate. It will be appreciated that the surgical instrument 20 may also be other linkage type surgical instruments 20.

Referring to fig. 4 and 5, the drive unit 630 includes one or more active mechanisms 631. In this embodiment, the driving unit 630 includes two symmetrically designed driving mechanisms 631. Each of the driving mechanisms 631 includes a driving rotator 632. The connection unit 650 includes one or more driven mechanisms 651. In this embodiment, the connection unit 650 includes two symmetrically designed driven mechanisms 651. The driven mechanism 651 is configured to couple with a corresponding pushrod 61 of the surgical instrument 20 and to drive translation of the pushrod 61. Each of the driven mechanisms 651 includes a driven rotary member 652.

In particular, the driving rotation member 632 has a unique positional correspondence with a respective driven rotation member 652, and the driving rotation member 632 is adapted to rotate into connection with a respective driven rotation member 652, in particular at most 360 ° to connect with a respective driven rotation member 652. When the driving rotator 632 is coupled to the corresponding driven rotator 652, the driving rotator 632 drives the driven rotator 652 to rotate, preferably coaxially. Thus, when the connection unit 650 with the surgical instrument 20 is mounted to the driving unit 630, even if each push rod 61 of the surgical instrument 20 is displaced because the opening and closing of the end effector 80 cannot be controlled after it enters the abdominal cavity, the driving rotator 632 can be actively rotatably connected to a corresponding driven rotator 652 without manually adjusting the position of the push rod 61, which is convenient and quick to install.

Specifically, each active rotating member 632 of the present embodiment is provided with one or more movable posts 320, and the posts 320 are offset from the central axis of the active rotating member 632. Correspondingly, each driven rotating member 652 is also provided with one or more grooves 520. The recess 520 is offset from the central axis of the driven rotation member 652. During a maximum of one revolution of the driving rotator 632 about its own central axis, each post 320 automatically displaces and engages a corresponding groove 520, thereby enabling the corresponding driven rotator 652 to follow the rotation of the driving rotator 632.

Preferably, when two or more of the bosses 320 are provided on the active rotation member 632, at least two of the bosses 320 are offset from the central axis of the active rotation member 632 by different distances. Accordingly, when two or more grooves 520 are provided on the driven rotation member 652, at least two of the grooves 520 are offset from the central axis of the driven rotation member 652 by different distances. As shown in the drawing, the driving rotator 632 of the present embodiment is provided with two protruding columns 320, and the distances between the two protruding columns 320 deviating from the central axis of the driving rotator 632 are different; accordingly, two grooves 520 are provided on the driven rotation member 652, and the distances of the two grooves 520 from the central axis of the driven rotation member 652 are different.

It will be appreciated that in other embodiments, one or more movable lugs 320 may be provided on the driven swivel 652 and a corresponding one or more grooves 520 may be provided on the driving swivel 632. In this case, the driving rotator 632 is rotated such that the boss 320 of the driven rotator 652 is received in the recess 520 thereof, and also without manually adjusting the position of the push rod 61, the installation is convenient and quick.

Preferably, the movable function of the stud 320 is achieved by means of a first spring 325. Specifically, referring to fig. 6, the active rotating member 632 is provided with one or more first holes 321 penetrating the first end surface of the active rotating member 632. Each boss 320 is slidably received in a first hole 321, and a first spring 325 abuts against a corresponding boss 320. When the lugs 320 are not aligned with the corresponding grooves 520, the ends of the lugs 320 are abutted against the surface of the driven rotation member 652 and pressed by the first springs 325. When the active rotation member 632 is rotated such that the lugs 320 are aligned with the corresponding recesses 520, the lugs 320 are moved into the recesses 520 by the compression of the first springs 325. The first spring 325 is used to elastically move the boss 320, so that the transmission is stable, the installation is convenient, and the manufacturing cost is relatively low.

Preferably, the first hole 321 is formed as a stepped hole, including a second hole 322 with a smaller hole diameter and a third hole 323 with a larger hole diameter, wherein the second hole 322 penetrates the first end surface of the driving rotator 632. The boss 320 includes a limiting section 320A, and a first section 320B and a second section 320C connected to both ends of the limiting section 320A, wherein an outer diameter of the limiting section 320A is greater than an outer diameter of the second section 320C. The first spring 325 is sleeved on the first section 320B and abuts against the limiting section 320A, the first section 320B and the limiting section 320A are accommodated in the third hole 323, and the outer diameter of the limiting section 320A is larger than that of the second hole 322, so that the protrusion 320 cannot be completely removed from the first hole 321 under the extrusion action of the first spring 325. The second section 320C is received in the second hole 322 and can extend into the corresponding recess 520 under the compression of the first spring 325.

The end of the first spring 325 opposite the stop section 320A may abut against an abutment member, such as an end cap 326, additionally disposed within the active rotation member 632. For easy installation, preferably, a fourth hole 324 is further provided in the driving rotator 632 and is in communication with the third hole 323, and the fourth hole 324 penetrates the second end surface of the driving rotator 632. Preferably, the fourth holes 324 have a larger pore diameter than the third holes 323. The end cap 326 includes a support section 326A having a larger outer diameter and a abutment section 326B having a smaller outer diameter, the outer diameter of the support section 326A being larger than the aperture of the third aperture 323. In the installation process, the boss 320 sleeved with the first spring 325 is installed into the first hole 321 from the fourth hole 324, at this time, the limiting section 320A abuts against the bottom wall of the third hole 323, and then the end cover 326 is inserted into the abutting section 326B of the fourth hole 324 to extend into the third hole 323 to abut against the first spring 325 until the supporting section 326A of the end cover 326 abuts against the bottom wall of the fourth hole 324.

It will be appreciated that in other embodiments, other arrangements of the abutment member may be employed to abut the first spring 325. Alternatively, the abutment may not be provided additionally, but provided by the active rotation member 632 itself.

It will also be appreciated that in other embodiments, the stud 320 may be displaced in other ways than by the first spring 325. For example, each of the end caps 326 may be configured as a permanent magnet that repels the corresponding boss 320 so that the boss 320 inserts into the corresponding recess 520. Alternatively, a permanent magnet may be disposed in each of the grooves 520 to attract the protrusions 320, so that the protrusions 320 are inserted into the corresponding grooves 520.

Referring again to fig. 4 and 5, in the present embodiment, the driving unit 630 includes a first supporting assembly 633 for supporting the one or more driving mechanisms 631. The connection unit 650 includes a second support member 653 for supporting the one or more driven mechanisms 651. Preferably, the first support assembly 633 is detachably connected, preferably snap-connected, to the second support assembly 653.

Specifically, the first supporting component 633 is provided with an engagement hole 6330, and the second supporting component 653 is provided with an elastic fastening component 654. The first supporting member 633 and the second supporting member 653 can be connected by inserting the fastening member 654 into the engagement hole 6330. When the connection unit 650 is required to be detached from the driving unit 630, only the latch assembly 654 needs to be pressed so that the latch assembly 654 is released from the engagement hole 6330.

As an example, the buckle assembly 654 includes a button 655, a latch hook 656 fixedly connected to the button 655, two support pins 657 slidably connected to the latch hook 656, and a second spring 658 sleeved on the support pins 657 and abutting against the second support assembly 653 and the latch hook 656. In use, the first support member 633 and the second support member 653 may be connected by engaging the latch hooks 656 to the corresponding engagement holes 6330, and at this time, the second spring 658 presses the latch hooks 656 to be stably received in the engagement holes 6330. When it is necessary to detach the connection unit 650 from the driving unit 630, it is only necessary to press the button 655 and release the latch hook 656 from the engagement hole 6330.

Preferably, the first supporting member 633 is provided with two opposite engaging holes 6330, and the second supporting member 653 is provided with two opposite fastening members 654, so as to improve the connection stability of the first supporting member 633 and the second supporting member 653.

It will be appreciated that in other embodiments, a snap assembly 654 may be provided on the first support member 633 and an engagement hole 6330 may be provided on the second support member 653. Alternatively, the first support member 633 and the second support member 653 may be detachably connected, such as by magnetic connection, etc.

Preferably, the first supporting component 633 is provided with one or more protruding positioning pins 331. The second supporting component 653 is provided with one or more positioning holes 531. Each positioning pin 331 mates with a corresponding positioning hole 531 to rapidly position the first support member 633 and the second support member 653 while the driving rotator 632 is also coaxially aligned with the corresponding driven rotator 652, i.e., the central axis of the driving rotator 632 coincides with the central axis of the driven rotator 652. As shown in the drawing, in the present embodiment, two protruding positioning pins 331 are disposed on the first supporting component 633. The second supporting component 653 is provided with two corresponding positioning holes 531.

It will be appreciated that in other embodiments, the positioning holes 531 may be provided on the first support member 633 and the positioning pins 331 may be provided on the second support member 653. Alternatively, other positioning structures may be used to position the first support member 633 and the second support member 653.

Referring to fig. 7 and 8, in the present embodiment, the first support assembly 633 includes a first support plate 6331 having a substantially rectangular shape, and a second support plate 6332 having a substantially rectangular shape and vertically connected to one side of the first support plate 6331. The driving mechanism 631 is mounted to the second support plate 6332. The positioning pin 331 protrudes from a side of the second support plate 6332 facing the second support component 653. Two of the engagement holes 6330 are provided on opposite sides of the second support plate 6332. The second support plate 6332 is provided with two first chambers 6333 and two second chambers 6334 that are disposed up and down, wherein the two first chambers 6333 are configured to receive the driving rotary member 632 respectively.

Optionally, each of the driving mechanisms 631 further includes a motor 34, and a speed reduction mechanism 635 coupled to an output shaft of the motor 34. The active rotation member 632 is coupled to the reduction mechanism 635. Preferably, the reduction mechanism 635 includes a reduction gearbox 37 connected to an output shaft of the motor 34, and a belt transmission mechanism 36 coupled to the reduction gearbox 37. Specifically, the belt transmission mechanism 36 includes a driving pulley 360, a driven pulley 361, and a belt 362 connecting the driving pulley 360 and the driven pulley 361. The output shaft of the motor 34 is connected to the input shaft of the reduction gearbox 37 via a transmission shaft 38. The output shaft of the reduction gearbox 37 is connected to a corresponding driving wheel 360. The driving rotary member 632 is coupled to a corresponding driven wheel 361. Thus, the torque of the motor 34 can be sequentially transmitted to the corresponding driving rotator 632 through the reduction gearbox 37, the driving pulley 360, the transmission belt 362, and the driven pulley 361. It will be appreciated that in other embodiments, other reduction mechanisms 635 may be employed to connect the motor 34 and the active rotating member 632, such as a gear train may be used in place of the belt drive 36.

In order to facilitate the installation of the driving mechanism 631 and optimize the overall structural layout of the driving unit 630, it is preferable that the motor 34 is connected to the reduction gearbox 37 through a mounting seat 39. The mounting seat 39 is hollow and is used for accommodating the transmission shaft 38. The motor 34 and the mount 39 are arranged on a side of the second support plate 6332 facing the second support assembly 653. The reduction gearbox 37 is housed in a respective second chamber 6334. The belt drive 36 is arranged on the side of the second support plate 6332 facing away from the second support assembly 653.

The driving rotator 632 of the present embodiment includes a first section 6321, a second section 6322, and a third section 6323 connected in sequence, where the first section 6321 and the second section 6322 are accommodated in a first chamber 6333 on a second support plate 6332, and the third section 6323 protrudes from the first chamber 6333 and is connected to a driven wheel 361. The second section 6322 is rotatably coupled (e.g., by a bearing) to the first chamber 6333 of the second support plate 6332. The boss 320, first spring 325, and end cap 326 are disposed within the first section 6321.

Referring to fig. 7, 9 and 10, in the present embodiment, the second supporting component 653 is substantially U-shaped, and includes a third supporting plate 6531 having a substantially rectangular shape, and a fourth supporting plate 6532 and a fifth supporting plate 6533 having a substantially rectangular shape and connected to opposite sides of the third supporting plate 6531. The positioning hole 531 is disposed on a side of the third support plate 6531 facing the first support assembly 633. Two third cavities 6534 and two ribs 6535 connected to the outer walls of the two third cavities 6534 and perpendicular to the third support plate 6531 are provided on a side surface of the third support plate 6531 facing away from the first support assembly 633, and two first through holes 6536 are further provided on the third support plate 6531.

The driven rotation member 652 is preferably substantially cylindrical and includes a cylindrical section 6521 as a main body, and a connection section 6522 and a projection 6523 connected to both ends of the cylindrical section 6521. The connecting section 6522 and the cylindrical section 6521 are coaxially arranged and housed within a respective third chamber 6534. The groove 520 is provided on an end surface of the connection section 6522 facing the first supporting component 633. The cylindrical section 6521 is rotatably connected (e.g., by a bearing) to the third chamber 6534. The projection 6523 is offset from the central axis of the cylindrical section 6521.

The support pin 657 of the catch assembly 654 is fixed to the rib 6535. The latch hook 656 of the latch assembly 654 passes through the first through hole 6536 to a side of the third support plate 6531 facing the second support plate 6332. Therefore, when the first supporting component 633 and the second supporting component 653 are connected, only the third supporting component 6531 is required to be aligned with one side surface of the second supporting component 6332 and the two supporting components are pressed with force, in this process, the latch hook 656 is automatically shifted to avoid the second supporting component 6332 and extend into the joint hole 6330 of the second supporting component 6332, and simultaneously, the latch hook is reset under the action of the second spring 658 to be locked on one side of the second supporting component 6332, which is away from the third supporting component 6531, so that the operation is convenient.

In this embodiment, each of the driven mechanisms 651 further includes one or more guide posts 670 connected between the fourth support plate 6532 and the fifth support plate 6533, and a translation member 671 slidably disposed around the guide posts 670. In this embodiment, the connection unit 650 includes two parallel translation members 671 and four parallel guide posts 670, and each of the parallel translation members 671 is correspondingly sleeved on two adjacent guide posts 670. The translating member 671 is coupled to the driven rotating member 652 and is configured to cause translation of the translating member 671 by rotational movement of the driven rotating member 652. The center axis of the driven rotation member 652 of the present embodiment is perpendicular to the translation direction of the translation member 671. Therefore, the central axis of the driving rotation member 632 of the present embodiment is also perpendicular to the translation direction of the translation member 671, or the translation direction of the translation member 671 is parallel to the third support plate 6531, and thus is also parallel to the side surface of the second support plate 6332 of the first support assembly 633.

Specifically, the translating member 671 is generally elongated and has an elongated slot 672 on a side thereof facing the driven rotating member 652. Preferably, the length of the elongated slot 672 coincides with the length of the translating member 671. The protuberance 6523 is slidably received within the elongated slot 672. Preferably, the end of the projection 6523 is provided with a bearing 6524, the bearing 6524 being received in the elongated slot 672, and more preferably the diameter of the bearing is approximately the same as the width of the elongated slot 672. Therefore, when the driven rotating member 652 rotates, the protrusion 6523 drives the bearing 6524 to perform a circular motion, and further drives the translating member 671 to perform a linear motion along the guide post 670.

Optionally, a second through hole 6537 is further formed at the center of the fifth support plate 6533. The second connection member 43 of the surgical instrument 20 is fixedly mounted to the side of the fifth support plate 6533 facing away from the fourth support plate 6532, for example, by a screw), and the link of the surgical instrument 20 passes through the second through hole 6537 to be connected with the corresponding translation member 671.

The overall operation of the robotic surgical system 600 of this embodiment is summarized as follows: the output shaft of the motor 34 drives the driving wheel 360 to rotate through the reduction gearbox 37, the driving wheel 360 drives the driven wheel 361 to rotate through the conveyor belt 362, the driven wheel 361 drives the driving rotary member 632 to rotate, the driving rotary member 632 drives the driven rotary member 652 to rotate, the driven rotary member 652 drives the translation member 671 to linearly move along the guide pillar 670, and the translation member 671 then drives the push rod 61 to linearly move, so that the end effector 80 performs a desired action to perform a surgery.

It can be seen that, in the connection unit 650, the rotation angle of the end effector 80 is determined by the distance that the push rod 61 moves, that is, the rotation angle of the end effector 80 has a one-to-one correspondence with the distance that the push rod 61 moves, and the movement distance of the push rod 61 is determined by the movement distance of the translation member 671, that is, the movement distance of the push rod 61 has a one-to-one correspondence with the movement distance of the translation member 671, and the movement distance of the translation member 671 is determined by the rotation angle of the driven rotation member 652, and the displacement generated by one rotation of the driven rotation member 652 includes the movement distance range of the translation member 54, that is, the movement distance of the translation member 54 has a one-to-one correspondence with the rotation angle of the driven rotation member 652 in one rotation, so that the rotation angle of the driven rotation member 652 has a one-to-one correspondence with the rotation angle of the end effector 80. Further, in the driving unit 630, the rotation angle of the output shaft of the motor 34, the rotation angle of the driving wheel 360, the rotation angle of the driven wheel 361, and the rotation angle of the driving rotating member 632 have a one-to-one correspondence, and the rotation angle of the driving rotating member 632 and the rotation angle of the driven rotating member 652 also have a one-to-one correspondence, so that in the zeroing state, the rotation angle of the output shaft of the motor 34 and the rotation angle of the end effector 80 have a one-to-one correspondence, the motor 34 automatically zeroes after each operation, and moment mutation is generated by the motor 34 before and after the combination of the protrusion 320 and the groove 520, at this time, the motor 34 can determine that the combination of the protrusion 320 and the groove 520 is completed, the rotation angle of the driven rotating member 652 at this time can be known through the motor encoder, and the corresponding state of the end effector 80 can be determined, and the rotation angle of the end effector 80 can be further controlled through controlling the motor 34.

Referring to fig. 11, the robotic surgical system 600 of the present embodiment is installed as follows: the surgical instrument 20 is connected to the connection unit 650 by connecting the driving unit 630 to the robot arm through the first support plate 6331, opening an opening on the surface of the human body (for example, opening an opening on the abdominal wall to mount a stab card), inserting the surgical instrument 20 into the human body through the opening, and connecting the connection unit 650 to the driving unit 630 from the side of the second support plate 6332.

Referring to fig. 12, the robotic surgical system 600 of the present embodiment is disassembled as follows: the connection unit 650 is detached from the side of the second support plate 6332 of the driving unit 630, and then the surgical instrument 20 connected to the connection unit 650 is moved out of the human body through the opening.

Referring to fig. 13 to 16, a robotic surgical system 700 according to a second embodiment of the present invention is substantially the same as the robotic surgical system 600 according to the first embodiment, and particularly, the working principle, the mounting manner, and the dismounting manner are the same, and the main differences are that: the surgical instrument 720 of the robotic surgical system 700 of the present embodiment includes three link mechanisms 60 (and thus three pushrods 61), and correspondingly, the drive unit 730 of the instrument drive assembly 710 of the robotic surgical system 700 of the present embodiment includes three driving mechanisms 631 and the connection unit 750 includes three driven mechanisms 651.

Specifically, referring to fig. 13 to 15, the driving unit 730 of the present embodiment includes three motors 34 arranged side by side, three reduction boxes 37 arranged side by side, three belt transmission mechanisms 36 arranged side by side, and three symmetrically arranged driving rotary pieces 632. As in the embodiment, the output shaft of each motor 34 is connected with the input shaft of the reduction gearbox 37, the output shaft of the reduction gearbox 37 is connected with the driving wheel 360, and the driven wheel 361 is connected with a corresponding driving rotating member 632, so that the rotation speed of the motor 34 is reduced and then transmitted to the driving rotating member 632 to enable the driving rotating member 632 to rotate. In addition, the first support assembly 733 of the present embodiment also includes a first support plate 7331 and a second support plate 7332 vertically connected. However, unlike the first embodiment, the second support plate 7332 of the present embodiment includes three symmetrically arranged first chambers 6333 for accommodating the three driving rotary members 632, and three second chambers 6334 arranged side by side for accommodating the three reduction boxes 37. The three second chambers 6334 may or may not be in communication with each other.

Referring to fig. 13, 14, and 16, the connection unit 750 of the present embodiment includes three symmetrically arranged driven rotating members 652, and three translating members 671. As with the embodiment, when each driven rotating member 652 is driven to rotate by the driving rotating member 632, the translating member 671 moves along a straight line, and the translating member 671 pushes the corresponding pushing rod 61 to move. However, although the two first translation members 671A are elongated in shape as in the embodiment and are respectively sleeved on the two guide posts 670, the other second translation member 671B is substantially T-shaped and includes an elongated first connection portion 671B1 and an elongated second connection portion 671B2 perpendicularly connected to the first connection portion 671B 1. The first connection portion 671B1 is for sliding connection with the two guide posts 670, and the second connection portion 671B2 is for connection with the corresponding push rod 61. Preferably, the first connecting portion 671B1 is sleeved on two adjacent guide posts 670 for connecting the two first translation members 671A, so as to simplify the structure and weight of the connecting unit 750.

In addition, the second support group 753 of the present embodiment also includes a third support plate 7531, and a fourth support plate 6532 and a fifth support plate 6533 that are vertically connected to both sides of the third support plate 7531, and two fastening members 654 are also provided on the second support member 753. However, unlike the first embodiment, the third support plate 7531 of the present embodiment includes three symmetrically arranged third chambers 6534 for receiving three driven rotation members 652. The two ribs 6535 are respectively connected to the outer walls of the two third cavities 6534 near the sides of the third support plate 7531 for connecting the two snap members 654.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be a direct contact between the first feature and the second feature, or an indirect contact between the first feature and the second feature through an intervening medium.

Moreover, a first feature "above," "over" and "on" a second feature may be a first feature directly above or obliquely above the second feature, or simply indicate that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is at a lower level than the second feature.

In the description of the present specification, reference to the description of the terms "one embodiment," "some embodiments," "examples," "particular 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 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 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.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (12)

1. An instrument drive assembly that is safe in use, the instrument drive assembly comprising a drive unit, and a connection unit coupled to the drive unit for connecting an instrument; the driving unit comprises one or more driving mechanisms, and each driving mechanism comprises a driving rotary piece; the connecting unit comprises one or more driven mechanisms, and each driven mechanism comprises a translation piece; each driving mechanism is connected with a corresponding driven mechanism and is configured to cause the translation of the translation member through the rotation movement of the driving rotation member, and the central axis of the driving rotation member is perpendicular to the translation direction of the translation member.

2. The instrument drive assembly of claim 1, wherein the drive unit includes two of the drive mechanisms and the connection unit includes two of the driven mechanisms.

3. The instrument drive assembly of claim 2 wherein each of the drive mechanisms further comprises a motor and a reduction mechanism coupled to an output shaft of the motor, the drive rotary member being coupled to the reduction mechanism.

4. The instrument drive assembly of claim 3 wherein the reduction mechanism comprises a reduction gearbox coupled to an output shaft of the motor and a belt drive coupled to the reduction gearbox, the active rotating member being coupled to the belt drive.

5. The instrument drive assembly of claim 2, wherein each of the driven mechanisms further comprises a driven rotation member coupled to a corresponding one of the driving rotation members and configured to be driven in rotation by the driving rotation member, and wherein the translation member is coupled to the driven rotation member and configured to cause translation of the translation member by rotational movement of the driven rotation member.

6. The instrument drive assembly of claim 5, wherein a central axis of the driven rotation member coincides with a central axis of the driving rotation member, the central axis of the driven rotation member being perpendicular to a direction of translation of the translation member.

7. The instrument drive assembly of claim 6 wherein the driven rotation member includes a projection offset from a central axis thereof, the translation member having an elongated slot, the projection being slidably received within the elongated slot to cause translation of the translation member by rotation of the driven rotation member.

8. The instrument drive assembly of claim 5 wherein the driven rotation member is detachably connected to the driving rotation member and the driving rotation member is configured to rotate up to 360 ° to connect to the driven rotation member.

9. The instrument drive assembly of claim 2, wherein the drive unit further comprises a first support assembly for supporting the one or more drive mechanisms, and the connection unit further comprises a second support assembly for supporting the one or more driven mechanisms, the first support assembly being detachably connected to the second support assembly.

10. The instrument drive assembly of claim 9, wherein the first support assembly is snap-fit with the second support assembly.

11. The instrument drive assembly of claim 10 wherein one of the first support assembly and the second support assembly is provided with a resilient snap assembly and the other of the first support assembly and the second support assembly is provided with an engagement aperture for engagement with the snap assembly.

12. A robotic surgical system comprising the instrument drive assembly according to any one of claims 1 to 11, and a surgical instrument connected to the connection unit of the instrument drive assembly.

Images