CN116983087A

CN116983087A - Surgical instrument and surgical robot

Info

Publication number: CN116983087A
Application number: CN202310027500.3A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Shenzhen Konuositeng Technology Co ltd
Current assignee: Shenzhen Konuositeng Technology Co ltd
Priority date: 2023-01-09
Filing date: 2023-01-09
Publication date: 2023-11-03

Abstract

The application provides a surgical robot with a surgical instrument, wherein the surgical instrument comprises a rear end transmission device and an execution device, a transmission mechanism extending along the length direction is connected between the rear end transmission device and the execution device, and the rear end transmission device comprises a base body, a connecting piece, a first guide wheel set, a first binding post and a first transmission cable. The first guide wheel group is arranged to the base body, the first guide wheel group comprises at least two guide wheels, the first binding post is arranged to the base body, and the first binding post is configured to rotate around the axis of the first binding post relative to the base body under the action of the driving device. The both ends of first transmission cable are around opposite and fixed connection to first terminal, and first transmission cable bypasses two at least leading wheels and is connected to the connecting piece, and the connecting piece sets up to drive mechanism, and when first terminal rotated, first transmission cable drove connecting piece and drive mechanism and remove along length direction for the pedestal.

Description

Surgical instrument and surgical robot

Technical Field

The present application relates generally to the technical field of medical instruments, and more particularly, to a surgical instrument and a surgical robot having the same.

Background

Surgical instruments in surgical robots typically have an end effector in the form of a surgical tool, such as forceps, scissors, clamps, etc., at one end of an elongate tube. The conventional drive for the end effector is to use a wire rope to turn the end effector to accomplish the pitch, yaw and grip actions. The surgeon can meet the use requirements of different surgical instruments in the operation by controlling the instruments on the surgical side driver on the console side.

The existing driving device has the problem that the space for placing parts and pulleys is small, and the space for placing the parts is insufficient. The volume of the part is smaller and thinner, the structural strength of the part is greatly reduced, the driving bearing capacity is reduced, and the larger continuous driving force is difficult to support. And, the reduction of pulley placement space makes the diameter of pulley reduce, reduces the efficiency and the driving force of being transmitted by wire rope, is insufficient to provide great continuous clamping force to end effector.

Accordingly, there is a need to provide a surgical instrument and a surgical robot having the same to at least partially solve the above-mentioned problems.

Disclosure of Invention

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the application is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

To at least partially solve the above problems, a first aspect of the present application provides a surgical instrument for connection to a drive device, the surgical instrument comprising a rear end transmission and an actuation device, a transmission extending in a length direction being connected between the rear end transmission and the actuation device,

the rear end transmission device includes:

a base;

a connecting member provided to the transmission mechanism;

the first guide wheel set is arranged on the seat body and comprises at least two guide wheels;

a first binding post rotatably provided to the housing, the first binding post being configured to be rotatable about its own axis relative to the housing by the drive device; and

the two ends of the first transmission cable are respectively fixed and wound on the first binding post, the two ends of the first transmission cable are wound oppositely, the first transmission cable bypasses the at least two guide wheels, and the first transmission cable is connected to the connecting piece;

when the first binding post rotates, the first transmission cable drives the connecting piece to move along the length direction relative to the base body, so that the transmission mechanism is driven to move along the length direction relative to the base body.

Optionally, the base body is provided with a supporting seat;

the first guide wheel group comprises a first guide wheel and a second guide wheel, and the first guide wheel and the second guide wheel are arranged to the supporting seat at intervals along the length direction;

the connecting position of the first transmission cable and the connecting piece is located between the first guide wheel and the second guide wheel.

Optionally, the first drive cable comprises a first section between the first guide wheel and the connection and a second section between the connection and the second guide wheel;

the first section is parallel to the length direction, and the second section is parallel to the length direction.

the first section and the second section are located on the same straight line.

Optionally, the supporting seat is provided with a guiding part, and the connecting piece is provided with a matching part matched with the guiding part;

when the first binding post rotates, the matching part is matched with the guiding part, so that the connecting piece moves along the length direction relative to the base body, and the connecting piece is prevented from deflecting relative to the length direction.

Optionally, the guide portion is configured as a sliding groove extending in the length direction;

the matching part is configured as a sliding block matched with the sliding groove;

when the first binding post rotates, the sliding block slides along the sliding groove so as to drive the connecting piece to move between a first position and a second position relative to the base body.

Optionally, the connecting piece is configured as an annular block, and the annular block is sleeved to the transmission mechanism;

the radial edge of the annular block is provided with at least two of the sliders distributed at intervals.

Optionally, the connecting piece is provided with a binding post, and the first transmission cable is fixedly connected to the binding post.

Optionally, the connecting piece is provided with a cable channel extending along the length direction so as to allow the first transmission cable to pass through, and the connecting terminal is embedded in the cable channel.

Optionally, the first guiding wheel set further comprises a third guiding wheel, and the third guiding wheel is arranged to the supporting seat;

the first transmission cable extends from the first binding post and sequentially bypasses the third guide wheel and the first guide wheel and is connected to the connecting piece, or the first transmission cable extends from the first binding post and sequentially bypasses the third guide wheel and the second guide wheel and is connected to the connecting piece.

Optionally, the first terminal is pivotably connected to the support base at an end remote from the base body by a first bearing.

Optionally, the support base includes:

the first guide wheel seat is provided with a first clamping groove used for connecting the first guide wheel; and

the second guide wheel seat is connected to the seat body and the first guide wheel seat, and the second guide wheel seat is provided with a second clamping groove used for connecting the second guide wheel.

Optionally, the transmission mechanism includes:

the transmission rod is provided with a first end and a second end which are opposite along the length direction, the first end is provided with the connecting piece, and the second end is provided with the executing device; and

the sleeve is connected to the transmission rod, sleeved outside the transmission rod and coaxially arranged with the transmission rod;

wherein the sleeve is configured to be rotatable about its own axis relative to the housing, and the drive rod is configured to be rotatable about its own axis with the sleeve;

the drive rod is connected to the connector, the drive rod being configured to be movable along the length direction with the connector relative to the sleeve.

Optionally, the rear end transmission device further comprises a gear set, wherein the gear set at least comprises an input gear and an output gear, the input gear is connected to the driving device, and the output gear is connected to the sleeve to drive the sleeve to rotate around the axis of the sleeve.

Optionally, the gear set includes a first gear and a second gear, the first gear is the input gear, the second gear is the output gear, and the first gear and the second gear are meshed;

the sleeve is fixedly connected to the second gear and is driven by the second gear to rotate around the axis of the sleeve.

Optionally, a first limiting component is arranged between the transmission rod and the connecting piece, so that the transmission rod and the connecting piece synchronously move along the length direction;

and a second limiting assembly is arranged between the transmission rod and the sleeve, so that the transmission rod and the sleeve synchronously rotate around the axis of the transmission rod and the sleeve.

Optionally, the transmission rod is pivotally connected with the connecting piece.

Optionally, the connecting member is connected to the transmission rod through a second bearing or a sleeve.

Optionally, the sleeve is provided with a waist-shaped hole extending along the length direction, the transmission rod is fixedly connected with a pin, and the pin is at least partially positioned in the waist-shaped hole, so that the transmission rod and the sleeve synchronously rotate, and when the transmission rod moves along the length direction relative to the sleeve, the pin moves along the waist-shaped hole.

Optionally, the rear end transmission further comprises:

the second guide wheel set is arranged on the seat body and comprises at least one guide wheel;

a second binding post provided to the housing, the second binding post being configured to be rotatable about its own axis relative to the housing by the drive device; and

the second transmission cable is wound on the second binding post, and the second transmission cable bypasses at least one guide wheel of the second guide wheel set;

the two ends of the second transmission cable are used for being connected to the actuating device, so that the actuating device moves along a first direction along with the rotation of the second binding post.

Optionally, the rear end transmission further comprises:

the third guide wheel set is arranged on the seat body and comprises at least one guide wheel;

a third binding post provided to the housing, the third binding post being configured to be rotatable about its own axis relative to the housing by the drive device; and

The third transmission cable is wound on the third binding post, and bypasses the at least one guide wheel of the third guide wheel set;

the two ends of the third transmission cable are used for being connected to the actuating device, so that the actuating device moves along a second direction along with the rotation of the third binding post.

Optionally, the rear end transmission further comprises:

the shell is matched with the seat body;

the housing has a through hole provided along a length direction of the transmission mechanism to allow an external tool to be connected to the transmission mechanism through the through hole.

Optionally, the end of the transmission mechanism away from the actuating device is provided with threads, grooves, protrusions or connecting holes for cooperation with the external tool.

A second aspect of the application also provides a surgical robot comprising a drive device and a surgical instrument rear end transmission according to any of the first aspects of the application.

The surgical instrument comprises a rear end transmission device and an execution device, wherein a transmission mechanism extending along the length direction is connected between the rear end transmission device and the execution device, and the rear end transmission device comprises a base body, a connecting piece, a first guide wheel set, a first binding post and a first transmission cable. The first guide wheel group is arranged to the base body, the first guide wheel group comprises at least two guide wheels, the first binding post is arranged to the base body, and the first binding post is configured to rotate around the axis of the first binding post relative to the base body under the action of the driving device. The both ends of first transmission cable are around opposite and fixed connection to first terminal, and first transmission cable bypasses two at least leading wheels and is connected to the connecting piece, and the connecting piece sets up to drive mechanism, and when first terminal rotated, first transmission cable drove connecting piece and drive mechanism and remove along length direction for the pedestal. The surgical instrument provided by the application has a simple structure, and the motion of the transmission mechanism is smoother under the drive of the rear-end transmission device.

Drawings

The following drawings of embodiments of the present application are included as part of the application. Embodiments of the present application and their description are shown in the drawings to explain the principles of the application. In the drawings of which there are shown,

FIG. 1 is one of the perspective views of the rear end drive of a surgical instrument according to a preferred embodiment of the present application;

FIG. 2 is a second perspective view of the rear end drive of the surgical instrument according to FIG. 1, showing the drive mechanism;

FIG. 3 is an enlarged schematic view of the structure according to F in FIG. 2;

FIG. 4 is a third perspective view of the rear end drive of the surgical instrument according to FIG. 1;

FIG. 5 is a schematic cross-sectional view of the rear end drive of the surgical instrument of FIG. 1 along the axis of the drive rod; and

fig. 6 is a schematic perspective view of a surgical instrument according to a preferred embodiment of the present application, in which a housing is shown.

Reference numerals illustrate:

10: surgical instrument 100: rear end transmission device

110: the base 121: transmission rod

122: sleeve 131: first guide wheel

132: second guide wheel 133: first binding post

133A: first transmission disc 133B: first bearing

134: first transmission cable 134A: first section

134B: second section 135: third guide wheel

140: the support base 141: first guide wheel seat

141A: first card slot 142: second guide wheel seat

142A: second clamping groove 143: sliding groove

151: connection 151A: sliding block

151B: cable slot 152: connecting terminal

153: second bearing 154: first limiting retainer ring

155: second limit retainer 161: second guiding wheel set

162: a second transmission cable 163: second binding post

163A: the second drive disk 171: third guiding wheel group

172: third drive cable 173: third binding post

173A: third drive disk 181: first transmission gear

181A: fourth drive plate 182: second transmission gear

183: a fixing pin 184: waist-shaped hole

190: housing 191: through hole

200: the execution means 220: clamp assembly

230: rotating shaft 241: transmission pin

242: track groove 243: long slot

D: in the length direction

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. It will be apparent, however, to one skilled in the art that embodiments of the application may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the embodiments of the application.

In the following description, a detailed structure will be presented for a thorough understanding of embodiments of the present application. It will be apparent that embodiments of the application may be practiced without limitation to the specific details that are set forth by those skilled in the art. The preferred embodiments of the present application are described in detail below, however, the present application may have other embodiments in addition to the detailed description, and should not be construed as limited to the embodiments set forth herein.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application, as the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," and/or "including," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The terms "upper", "lower", "front", "rear", "left", "right" and the like are used herein for illustrative purposes only and are not limiting.

Ordinal numbers such as "first" and "second" cited in the present application are merely identifiers and do not have any other meaning, such as a particular order or the like. Also, for example, the term "first component" does not itself connote the presence of "second component" and the term "second component" does not itself connote the presence of "first component".

Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings, which illustrate representative embodiments of the present application and not limit the present application.

The application provides a surgical instrument and a surgical robot with the same. In order to facilitate a more accurate understanding of the technical solution of the present application, the structure of the surgical instrument will be described first.

As shown in fig. 1-6, in a particular example, the surgical device 10 is configured to be coupled, directly or indirectly, to a driving apparatus. The surgical device 10 may be directly connected to the drive apparatus. For example, the surgical device 10 is directly connected to the output of the drive apparatus.

The surgical device 10 may also be indirectly connected to the drive means. For example, a sterile adapter is provided between the surgical device 10 and the drive apparatus. During operation of a surgical robot, it is often desirable to maintain a sterile environment at the surgical site. The surgical instrument can be isolated from a sterile environment by providing a sterile adapter. For example, as for the transmission connection of the surgical instrument and the driving device, the disclosures of patent documents CN113349937a and CN113693727a are cited.

The surgical instrument 10 includes a rear end transmission 100 and an actuator 200, and a transmission mechanism extending in the longitudinal direction D is connected between the rear end transmission 100 and the actuator 200.

The rear end transmission 100 includes a housing 110, a connector 151, a first guide pulley set, a first post 133, and a first transmission cable 134.

Wherein, the first terminal 133 is rotatably disposed to the base 110. The first post 133 is for connection to a driving device, and the first post 133 is configured to be rotatable about its own axis relative to the housing 110 by the driving device. In the present application, the driving device may be, for example, a driving motor, and the first terminal 133 may be directly or indirectly connected to an output terminal of the driving motor.

Both ends of the first driving cable 134 are connected to the first post 133. Both ends of the first driving cable 134 are wound around the first binding post 133. The two ends of the first transmission cable 134 are wound on the first binding post 133 in opposite directions. In other words, when the first post 133 rotates about its own axis, one of the two ends of the first transmission cable 134 is pulled in and the other is released.

The first guiding wheel set is arranged to the seat body 110, and the first guiding wheel set comprises at least two guiding wheels. The first drive cable 134 bypasses at least two guide wheels of the first set of guide wheels, which in an embodiment may be provided as fixed pulleys. The connection 151 is provided to the transmission mechanism and is connected with the first transmission cable 134. When the first binding post 133 rotates, the first transmission cable 134 drives the connecting member 151 to move along the length direction D relative to the base 110, so as to drive the transmission mechanism to move along the length direction D relative to the base 110.

The surgical instrument 10 of the application drives the transmission mechanism to move by arranging the rear end transmission device 100, so that the movement of the transmission mechanism is more stable.

It will be appreciated that the first guiding wheel set is used for guiding the first driving cable 134 wound around the first terminal post 133 to be fixed to the connecting member 151, so that the connecting member 151 and the driving mechanism can move along the length direction D along with the rotation of the first terminal post 133.

As shown in fig. 2, in a specific example, the first guide wheel set includes a first guide wheel 131 and a second guide wheel 132. The first guide wheel 131 is connected to the base 110, the second guide wheel 132 is connected to the base 110, and the second guide wheel 132 is spaced apart from the first guide wheel 131 in the length direction D. The first driving cable 134 passes around the first guide wheel 131 and the second guide wheel 132, and is connected to the connection member 151. The connection position of the first driving cable 134 and the connection member 151 is located between the first guide wheel 131 and the second guide wheel 132.

When the first binding post 133 rotates counterclockwise, one end of the first driving cable 134 is pulled in and the other end is released. When the first binding post 133 rotates clockwise, the other end of the first driving cable 134 is pulled in, and the other end is released. When the first binding post 133 rotates, the first transmission cable 134 moves relative to the first guide wheel 131 and the second guide wheel 132, and drives the connecting piece 151 and the transmission mechanism to move along the length direction D relative to the base 110.

As shown in fig. 3, the first drive cable 134 includes a first section 134A and a second section 134B. The first section 134A is located between the first guide wheel 131 and the connection 151. The second section 134B is located between the connection 151 and the second guide wheel 132. The first section 134A is parallel to the length direction D, and the second section 134B is parallel to the length direction D. When the first terminal 133 rotates, the first section 134A and the second section 134B move along the length direction D, and the connecting member 151 and the transmission mechanism are driven to move along the length direction D relative to the base 110, so that the length of the first transmission cable 134 pulled in and the length of the first transmission cable 134 released are equal, that is, the first section 134A and the second section 134B of the first transmission cable 134 are always in a tensioning state, no matter the first terminal 133 rotates counterclockwise or rotates clockwise.

Preferably, the first section 134A and the second section 134B are collinear. The extending direction of the straight line is parallel to the length direction D, so as to ensure that the connecting piece 151 and the transmission structure move along the length direction D along with the first transmission cable 134, so that when the first binding post 133 rotates, the first transmission cable 134 is always in a tensioning state.

The first terminal 133 is configured as a column arranged spaced apart from the transmission structure (see fig. 1 and 2). The rotation axis of the first post 133 is parallel to the length direction D. In this embodiment, a third guide wheel 135 is further provided between the first guide wheel 131 and the first post 133 (see fig. 2 and 3). The third guide wheel 135 functions to change the direction in which the first driving cable 134 between the first guide wheel 131 and the first post 133 moves, and guide the first driving cable 134 to the first guide wheel 131, so that an avoidance passage for the first driving cable 134 does not need to be additionally considered or processed. As shown in fig. 3, a first end of the first driving cable 134 is connected to the first binding post 133, and a second end of the first driving cable 134 is sequentially wound around the third guide wheel 135, the first guide wheel 131 and the second guide wheel 132 and then connected to the first binding post 133. In this embodiment, the first guide wheel 131, the second guide wheel 132, and the third guide wheel 135 are fixed pulleys.

It will be appreciated that in other embodiments of the present application, the number of guide wheels in the first guide wheel set may be flexibly set according to actual needs.

In order to prevent the transmission mechanism from deflecting or shaking during the movement along the length direction D, in the present embodiment, the support base 140 has a guide portion, and the connection member 151 has an engagement portion engaged with the guide portion. When the first terminal 133 rotates, the guide portion mates with the mating portion to move the connection member 151 relative to the housing 110 in the length direction D and prevent the connection member 151 from deflecting relative to the length direction D. It will be appreciated that the guide may be, for example, a guide surface which is a straight surface extending in the length direction D. When the connecting member 151 moves in the longitudinal direction D, the engaging portion contacts the guide surface and moves along the guide surface.

Referring to fig. 4, in the present embodiment, the guide portion is configured as a sliding groove 143 extending in the length direction D, and the engaging portion is configured as a slider 151A engaged with the sliding groove 143. Preferably, the sliding groove 143 has a first end and a second end opposite to the first end along the length direction D, the sliding block 151A slides along the sliding groove 143 between the first end and the second end, and the connecting piece 151 is driven to move between a first position and a second position relative to the base 110, and the connecting piece 151 drives the transmission member to move synchronously. It is understood that the first location and the second location are determined according to the performing means 200. In the present application, the actuator 200 may be, for example, a clamp. For example, when the actuator 200 is a clamp and rotating the first post 133 corresponds to controlling the opening and closing of the clamp, the range of the opening and closing angle of the clamp can be determined by setting the first position and the second position.

The guide part and the matching part have the function of improving the stability of the transmission mechanism when the transmission mechanism moves linearly along the length direction D. In an undisclosed embodiment of the application, the guide may also be configured as a rail extending in the length direction D.

Or the guiding part can be a linear bearing connected with the base body through an outer bearing or a shaft sleeve, and the matching part can be a hard shaft matched with the linear bearing. The hard shaft and the transmission rod are relatively and fixedly arranged. The hard shaft is movable in a linear direction relative to the linear bearing, and the hard shaft rotates together with the linear bearing relative to the housing. The form of the guide and the mating part can be flexibly set by a person skilled in the art.

The function of the connection 151 connects the transmission mechanism and the first transmission cable so that the transmission mechanism can move along the length direction D with the movement of the first transmission cable 134. The form of the connection member 151 can be flexibly set by those skilled in the art according to the actual circumstances.

The base 110 is provided with a support base 140. The support block 140 includes a first guide wheel block 141 and a second guide wheel block 142 (see fig. 2). The first guide wheel seat 141 and the second guide wheel seat 142 are disposed along the length direction D, the second guide wheel seat 142 is fixedly connected to the seat body 110, and the first guide wheel seat 141 is fixedly connected to the second guide wheel seat 142. The first guide wheel seat 141 and the second guide wheel seat 142 can better support the first guide wheel set, so that the movement of the transmission mechanism relative to the seat body 110 is smoother and more reliable. In the present embodiment, the first guide wheel seat 141 is configured in a cylindrical shape, and the first guide wheel seat 141 is located outside the transmission mechanism. The second guide pulley mount 142 is configured in a cylindrical shape, and the second guide pulley mount 142 is located outside the transmission mechanism. The second guide wheel seat 142, the first guide wheel seat 141 and the transmission mechanism are coaxially disposed.

The transmission mechanism and the actuator 200 can stably move with respect to the housing 110 under the support of the first and second guide wheel housings 141 and 142, thereby improving the safety of the operation of the surgical instrument 10. For example, when the actuator 200 is a clamp and the first terminal 133 is turned to control the opening and closing of the clamp to clamp the target, the rear end driving device 100 can carry a large and continuous clamping force.

Wherein the first guide wheel seat 141 has a first clamping groove 141A (see fig. 1 and 3) for connecting the first guide wheel 131. The second guide wheel seat 142 has a second clamping groove 142A (see fig. 2 and 3) for connecting the second guide wheel 132. When the first binding post 133 rotates to drive the first transmission cable 134 to move, the first guiding wheel 131 rotates in the first clamping groove 141A, and the second guiding wheel 132 rotates in the second clamping groove 142A. The first transmission cable 134 drives the transmission mechanism to move along the length direction D.

Referring to fig. 2 and 5, in the present embodiment, the transmission mechanism includes a transmission rod 121 and a sleeve 122 coaxially disposed, and an axial direction of the sleeve 122 is an axial direction of the transmission mechanism. The axial direction of the sleeve 122 is the longitudinal direction D.

The drive rod 121 has first and second ends opposite in length direction D. The transmission rod 121 is arranged through the seat 110, a connecting piece 151 is arranged at a first end of the transmission rod 121, and an executing device 200 is arranged at a second end of the transmission rod 121. The sleeve 122 is connected to the transmission rod 121 and is sleeved outside the transmission rod 121. The sleeve 122 is rotatable about its own axis relative to the housing 110. Wherein the transmission rod 121 is configured to be rotatable about its own axis with the sleeve 122. The transmission rod 121 is configured to be movable in the length direction D with the connection member 151 with respect to the sleeve 122.

In this embodiment, the first driving cable 134 is connected to the driving rod 121 through a connection 151. The connection member 151 is configured as an annular block sleeved outside the transmission rod 121 (see fig. 2). The connecting member 151 is provided with at least one slider 151A along an edge of the transmission rod 121 in a radial direction, and any one of the first and second guide wheel seats 141 and 142 is provided with a sliding groove 143 (see fig. 4) that matches the slider 151A, the sliding groove 143 extending in an axial direction of the transmission rod 121. When the link 151 moves in the axial direction of the transmission rod 121 with respect to the housing 110, the slider 151A moves in the slide groove 143. In the present embodiment, two sliders 151A are provided, the two sliders 151A are symmetrically disposed, and the second guide wheel seat 142 is provided with a slide groove 143 corresponding to the sliders 151A.

As shown in fig. 3, the connecting member 151 is provided with a cable groove 151B at an edge in the radial direction of the transmission rod 121, the cable groove 151B extending in the axial direction of the transmission rod 121 to allow the first transmission cable 134 to pass through. A connection terminal 152 for fixing the first driving cable 134 is provided in the cable groove 151B. The first driving cable 134 between the second guide wheel 132 and the first guide wheel 131 is connected to the connection terminal 152, and when the first connection terminal 133 rotates, the first driving cable 134 moves relative to the first guide wheel 131 and the second guide wheel 132, driving the connection member 151 and the driving rod 121 connected to the connection member 151 to move relative to the base 110 along the axial direction of the driving rod 121.

The transmission lever 121 is pivotably connected to the link 151 such that the transmission lever 121 can rotate about its own axis direction with respect to the link 151. Referring to fig. 5, in the present embodiment, the transmission rod 121 is connected to the connection member 151 through the second bearing 153. Along the axial direction of the transmission rod 121, one second bearing 153 is provided at each of both end positions of the connecting member 151 in the longitudinal direction D. The connection 151 may also be coupled to the drive rod 121 by a bushing to enable the drive rod 121 to be pivotable relative to the connection 151.

In order to limit the sliding of the connecting member 151 with respect to the driving rod 121, a first limiting assembly is provided between the driving rod 121 and the connecting member 151, so that the driving rod 121 and the connecting member 151 can move synchronously in the length direction D. As shown in fig. 5, the transmission rod 121 is provided with a first limiting retainer 154 and a second limiting retainer 155 at two ends of the connecting member 151, and the transmission rod 121 is limited to move along the axial direction of the transmission rod relative to the second bearing 153 by the first limiting retainer 154 and the second limiting retainer 155.

It will be appreciated that in the embodiment shown in fig. 5, the connecting member 151 is fixedly connected to the outside of the second bearing 153, and the transmission rod 121 is fixed to the inner ring of the second bearing 153 by the first limit retainer 154 and the second limit retainer 155, so that the transmission rod 121 moves along the axial direction (i.e., the length direction D in fig. 5) along with the connecting member 151. Meanwhile, the transmission rod 121 may rotate about the axial direction with respect to the connection member 151.

To effect rotation of the control gear, the rear end drive 100 also includes a gear set. The gear set includes at least an input gear and an output gear. Wherein the input gear is for connection to a drive device. The output gear is for connection to a sleeve 122 of the transmission. The gear set drives the sleeve 122 to rotate along the axis of the sleeve 122 under the action of the driving device.

Referring to fig. 1, 2 and 5, in this embodiment, the gear set includes a first transfer gear 181 and a second transfer gear 182. The first transmission gear 181 is provided to the base 110, and the first transmission gear 181 is connected to the base 110 through a bearing. The second transmission gear 182 is provided to the base 110, the second transmission gear 182 is connected with the base 110 through a bearing, and the second transmission gear 182 is engaged with the first transmission gear 181. The second transmission gear 182 is sleeved outside the transmission mechanism and is coaxial with the transmission mechanism. The second drive gear 182 is fixedly connected to the sleeve 122. When the second transmission gear 182 rotates, the sleeve 122 is driven to rotate synchronously around the axis thereof.

In order to realize synchronous rotation of the transmission rod 121 along the axis direction of the sleeve 122 along with the sleeve 122, a second limiting assembly is further arranged between the transmission rod 121 and the sleeve 122. The second limiting assembly is used for limiting the rotation of the transmission rod 121 relative to the sleeve 122, and enabling the transmission rod 121 to synchronously rotate along with the sleeve 122 around the axis of the transmission rod.

In the embodiment shown in fig. 5, the sleeve 122 is connected to the drive rod 121 by a second stop assembly. The second limiting assembly includes a fixing pin 183 provided to the transmission rod 121 and a waist-shaped hole 184 provided to the sleeve 122, the waist-shaped hole 184 being configured to extend in the axial direction of the transmission rod 121. The retaining pin is at least partially located within the kidney hole 184. So that the drive rod 121 can rotate synchronously with the sleeve 122, while the drive rod 121 can also move along the kidney-shaped hole 184 relative to the sleeve 122. Thus, when the second transmission gear 182 rotates, the transmission rod 121 can rotate synchronously with the sleeve 122 around its own axis direction. When the connecting member 151 moves in the length direction D (i.e., the axial direction of the transmission rod 121 in the drawing), the transmission rod 121 can be driven to move in the axial direction of the transmission rod 121 relative to the second transmission gear 182.

Preferably, in order to facilitate control of the rotation of the first terminal post 133, the housing 110 is provided with a first transmission plate 133A (see fig. 4) for connection to a driving device, an output end of which is connected to the first transmission plate 133A to control the rotation of the first transmission plate 133A. The first driving disc 133A rotates to drive the first binding post 133 to rotate. The first driving disc 133A and the first binding post 133 are respectively located at two sides of the base 110.

Preferably, in the present embodiment, the rear end driving device 100 further includes a second guide pulley set 161, a second driving cable 162, and a second post 163. The second guide wheel set 161 is connected to the base 110. The second guiding wheel set 161 comprises at least one guiding wheel. The second terminal 163 is pivotally connected to the housing 110 and spaced apart from the first terminal 133. The second terminal 163 is used for being directly or indirectly connected to a driving device, and the second terminal 163 can rotate around the axis thereof relative to the base 110 under the action of the driving device. The second transmission cable 162 is wound around the second guiding wheel set 161, and two ends of the second transmission cable 162 are used for being connected to the executing device 200.

The second transmission cable 162 is coiled around the second binding post 163, so that the actuator 200 can be driven to move along the first direction when the second binding post 163 rotates. The first direction may be, for example, a direction in which the actuator 200 is rotated about a first predetermined axis direction. Preferably, in the present embodiment, the first direction is a direction in which the actuator 200 is biased.

In order to facilitate control of the rotation of the second terminal 163, in the present embodiment, a second driving disk 163A (see fig. 4) is provided on the housing 110, and an output end of the driving device is connected to the second driving disk 163A to control the rotation of the second driving disk 163A. The second driving disc 163A rotates to drive the second binding post 163 to rotate around its own axis. The second post 163 is configured in a columnar shape parallel to the axial direction of the transmission rod 121. The second driving plate 163A and the second binding post 163 are respectively located at two sides of the base 110.

Preferably, in the present embodiment, the rear end transmission device 100 further includes a third guiding wheel set 171, a third driving cable 172, and a third post 173. Wherein, the third guiding wheel set 171 is connected to the base 110. The third guide wheel set 171 includes at least one guide wheel. The third post 173 is pivotally connected to the housing 110 and is spaced apart from the first post 133. The third post 173 is disposed spaced apart from the second post 163. The third binding post 173 is used for being directly or indirectly connected to a driving device, and the third binding post 173 can rotate around the axis thereof relative to the base 110 under the action of the driving device.

The third driving cable 172 is wound around the third guide pulley set 171, and both ends of the third driving cable 172 are used for being connected to the actuator 200. The third transmission cable 172 is coiled around the third binding post 173. When the third terminal 173 rotates, the actuator 200 is driven to move along the second direction. The second direction is different from the first direction. The second direction may be, for example, a direction in which the actuator 200 is biased about a second predetermined axis direction. Preferably, in the present embodiment, the second direction is a direction in which the actuator 200 is made to pitch.

In order to facilitate control of the rotation of the second post 163, in the present embodiment, a third driving disk 173A (see fig. 4) is provided on the housing 110, and an output end of the driving device is connected to the third driving disk 173A to control the rotation of the third driving disk 173A. When the third driving disc 173A rotates, the third binding post 173 is driven to rotate around its own axis. The third post 173 is configured in a columnar shape parallel to the axial direction of the transmission rod 121. The third driving disc 173A and the third binding post 173 are respectively located at two sides of the base 110. The base 110 is provided with a fourth driving disc 181A (see fig. 4), and an output end of the driving device is connected to the fourth driving disc 181A to control the rotation of the fourth driving disc 181A. The fourth driving disk 181A rotates to drive the first driving gear 181 to rotate. The first transmission gear 181 rotates to drive the second transmission gear 182 to rotate around the axial direction of the driving shaft. The fourth driving disk 181A and the first driving gear 181 are respectively located at both sides of the base 110.

Referring to fig. 6, the rear end transmission 100 further includes a housing 190 mated with the base 110. For example, a protrusion is provided at an edge position of the housing 110, and a slot matching the protrusion is provided at a corresponding position of the housing 190. The protrusions cooperate with the slots to achieve a secure connection of the housing 110 to the seat 190. The connection of the housing 190 to the base 110 may function to protect structures within the housing 190.

Preferably, in this embodiment, the housing 190 is provided with a through hole 191. The through hole 191 is provided along the axial direction of the transmission rod 121 to allow an external tool to be connected to the transmission rod 121 through the through hole 191. In this way, the transmission rod 121 may also be manually operated by an external tool. For example, after the user connects the external tool to the transmission rod 121, the user may operate the transmission rod 121 to rotate around the axis of the user, or may operate the transmission rod 121 to move along the length direction D, thereby manually operating the actuator 200 (see fig. 6) connected to the end of the transmission rod 121.

To facilitate the connection of the external tool to the transmission rod 121, one skilled in the art may flexibly set the end structure of the transmission rod 121. For example, the drive rod 121 may be threaded at an end remote from the actuator 200 to provide a threaded engagement with an external tool. Or a groove, a protrusion, a connecting hole, a pattern, or the like for matching with an external tool may be provided at the end of the transmission rod 121 remote from the actuator 200.

Referring to fig. 6, the actuator 200 of the surgical device 10 is embodied as a vascular sealer, and the back-end transmission 100 of the present application is used to control the motion of the vascular sealer.

Specifically, when the transmission rod 121 moves in the axial direction, the fixing pin 183 slides along the waist-shaped hole 184 of the sleeve 122. Thereby realizing the movement of the transmission rod 121 and the vascular sealer connected with the tail end of the transmission rod 121 along the axial direction of the transmission rod 121 relative to the sleeve 122, and further realizing the opening and closing of the vascular sealer.

Specifically, in the present embodiment, the actuator 200 is a vascular sealer. As shown in fig. 6, the vascular sealer includes a deflectable wrist mechanism (not shown) and a collapsible clamp assembly 220. The wrist mechanism is connected to the front end of the cannula 122. The clamp assembly 220 is located at the front end of the wrist mechanism. The clamp assembly includes two clamp arms pivotally connected to the wrist mechanism by a pivot 230.

The front end of the transmission rod 121 is connected with a transmission pin 241, the rear ends of the two clamp arms opposite to the jaw direction of the front end are provided with track grooves 242, and the front end outer wall of the sleeve 122 is provided with a long groove hole 243 extending along the length direction D.

The drive pin 241 extends through the respective track slot 242 of the two clamp arms into the slot 243. When the transmission rod 121 moves along the length direction D, the transmission pin 241 is driven to move synchronously, at this time, the transmission pin 241 moves in the track grooves 242 of the two clamp arms, and the transmission pin 241 moves along the long groove holes 243. At this time, the driving pin 241 generates an actuating force on the track surface of the track groove 242 of each of the two clamp arms, so that the two clamp arms can pivot relatively to the sleeve 122 around the rotation shaft 230, and the two clamp arms can be opened and closed at the jaw positions. For example, the track grooves 242 of the two clamp arms are each configured such that the extending directions thereof form a predetermined angle with the longitudinal direction D, respectively, and the extending directions of the two track grooves intersect. Thus, when the driving pin 241 moves to the other end along one end of the long slot 243, the driving pin 241 moves in the two track grooves 242, respectively, and the braking force generated by the driving pin 241 and the track surfaces of the two track grooves 242 causes the two clamp arms to pivot in opposite directions around the rotation shaft 230.

For example, when the rear end transmission device 100 drives the transmission rod 121 to move toward the vascular sealer along the axial direction, the clamp assembly 220 of the vascular sealer is opened, and conversely, the clamp assembly 220 of the vascular sealer is closed.

Preferably, in the present embodiment, the first direction is a direction in which the vascular sealer is deflected, and the second direction is a direction in which the vascular sealer is pitched.

Preferably, both ends of the second transmission cable 162 are connected to the wrist mechanism, and the wrist mechanism is controlled to swing by controlling the second terminal 163.

Both ends of the third driving cable 172 are connected to the wrist mechanism, and the pitch of the wrist mechanism is controlled by controlling the third post 173.

The transmission rod 121 is made of deformable materials at a position close to the wrist mechanism, and when the wrist mechanism swings or tilts, the transmission rod 121 can deform and bend along with the swing.

The surgical robot of the present application comprises a driving device for driving the surgical instrument 10 and the surgical instrument 10 according to the present application. The surgical robot of the present application has the same advantages as the surgical instrument 10.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the application. Terms such as "disposed" or the like as used herein may refer to either one element being directly attached to another element or one element being attached to another element through an intermediate member. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features unless the features are not applicable or otherwise indicated in the other embodiment.

The present application has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the application to the embodiments described. Those skilled in the art will appreciate that many variations and modifications are possible in light of the teachings of the application, which variations and modifications are within the scope of the application as claimed.

Claims

1. A surgical instrument for connection to a drive device, the surgical instrument comprising a rear end transmission and an actuator, a transmission extending in a longitudinal direction being connected between the rear end transmission and the actuator,

the rear end transmission device is characterized by comprising:

a base;

a connecting member provided to the transmission mechanism;

2. A surgical instrument as recited in claim 1, wherein the housing is provided with a support base;

3. The surgical instrument of claim 2, wherein the first drive cable includes a first section between the first guide wheel and the connector and a second section between the connector and the second guide wheel;

4. The surgical instrument of claim 2, wherein the first drive cable includes a first section between the first guide wheel and the connector and a second section between the connector and the second guide wheel;

the first section and the second section are located on the same straight line.

5. A surgical instrument as recited in claim 2, wherein the support base has a guide portion and the connector has a mating portion that mates with the guide portion;

6. A surgical instrument as recited in claim 5, wherein the guide is configured as a sliding channel extending along the length direction;

7. A surgical instrument as recited in claim 6, wherein the connector is configured as an annular block that is sleeved to the transmission;

8. A surgical instrument as claimed in claim 1, wherein the connector is provided with a connection terminal, the first drive cable being fixedly connected to the connection terminal.

9. A surgical instrument as recited in claim 8, wherein the connector defines a cable passage extending along the length to allow the first drive cable to pass therethrough, the terminal post being embedded within the cable passage.

10. The surgical instrument of claim 2, wherein the first set of guide wheels further comprises a third guide wheel disposed to the support base;

11. A surgical instrument as recited in claim 2, wherein the first post is pivotally connected to the support base at an end remote from the base body by a first bearing.

12. A surgical instrument as recited in claim 2, wherein the support base includes:

13. A surgical instrument as recited in any one of claims 1-12, wherein the transmission mechanism includes:

14. A surgical instrument as recited in claim 13, wherein the rear end transmission further includes a gear set including at least an input gear connected to the drive and an output gear connected to the cannula to rotate the cannula about its own axis.

15. The surgical instrument of claim 14, wherein the gear set comprises a first gear and a second gear, the first gear being the input gear and the second gear being the output gear, the first gear and the second gear being meshed;

16. A surgical instrument as recited in claim 13, wherein a first stop assembly is disposed between the drive rod and the connector to allow the drive rod and the connector to move in synchronization along the length direction;

17. A surgical instrument as recited in claim 13, wherein,

the transmission rod is pivotally connected with the connecting piece.

18. A surgical instrument as recited in claim 17, wherein the connector is coupled to the drive rod by a second bearing or bushing.

19. A surgical instrument as recited in claim 13, wherein the cannula defines a kidney-shaped aperture extending in the longitudinal direction, the drive rod is fixedly coupled with a pin, and the pin is at least partially positioned within the kidney-shaped aperture such that the drive rod rotates in synchronization with the cannula such that the pin moves along the kidney-shaped aperture as the drive rod moves in the longitudinal direction relative to the cannula.

20. A surgical instrument as recited in claim 1, wherein the rear end transmission further comprises:

21. A surgical instrument as recited in claim 1, wherein the rear end transmission further comprises:

22. A surgical instrument as recited in any one of claims 1-12, 14-21, wherein the rear end transmission further comprises:

the shell is matched with the seat body;

23. A surgical instrument as claimed in claim 22, wherein the transmission is provided with threads, grooves, protrusions or attachment holes for cooperation with the external tool at an end remote from the implement.

24. A surgical robot comprising a drive device and a surgical instrument according to any one of claims 1 to 23.