CN117323013A - Surgical instrument transmission mechanism, assembling method and surgical instrument driving device - Google Patents

Surgical instrument transmission mechanism, assembling method and surgical instrument driving device Download PDF

Info

Publication number
CN117323013A
CN117323013A CN202311275460.0A CN202311275460A CN117323013A CN 117323013 A CN117323013 A CN 117323013A CN 202311275460 A CN202311275460 A CN 202311275460A CN 117323013 A CN117323013 A CN 117323013A
Authority
CN
China
Prior art keywords
transmission member
boss
surgical instrument
fitting surface
groove
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311275460.0A
Other languages
Chinese (zh)
Inventor
李献杰
马峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Edda Technology Shanghai Ltd
Far Star Medical Technology Suzhou Co ltd
Original Assignee
Edda Technology Shanghai Ltd
Far Star Medical Technology Suzhou Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Edda Technology Shanghai Ltd, Far Star Medical Technology Suzhou Co ltd filed Critical Edda Technology Shanghai Ltd
Priority to CN202311275460.0A priority Critical patent/CN117323013A/en
Publication of CN117323013A publication Critical patent/CN117323013A/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02—Operational features
    • A61B2560/0204—Operational features of power management
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/04—Constructional details of apparatus
    • A61B2560/0456—Apparatus provided with a docking unit

Abstract

The invention provides a surgical instrument transmission mechanism, an assembling method and a surgical instrument driving device, which can reduce friction moment between transmission members during assembling so as to prevent the transmission members from following rotation before the butt joint is completed. The surgical instrument drive mechanism includes: a first transmission member having a first substantially circular fitting surface provided with a projection at the center, an alignment block near the projection, and a boss disposed away from the projection and circumferentially, wherein the projection has a height with respect to the first fitting surface greater than a height of the alignment block with respect to the first fitting surface, and the alignment block has a height with respect to the first fitting surface greater than a height of the boss with respect to the first fitting surface; and a second transmission member having a second fitting surface opposite to the first fitting surface, the second fitting surface being provided with an alignment groove corresponding to the protrusion and the alignment block, and a recess corresponding to the boss.

Description

Surgical instrument transmission mechanism, assembling method and surgical instrument driving device
Technical Field
The invention relates to the technical field of medical instruments, in particular to a surgical instrument transmission mechanism, an assembling method of the surgical instrument transmission mechanism and a surgical instrument driving device.
Background
In recent years, with the development of science and technology and the improvement of medical requirements, a minimally invasive surgical robot for assisting in realizing minimally invasive surgery has been developed rapidly, and the minimally invasive surgical robot is modern medical equipment integrating three systems, namely an image system, a control system, a mechanism system and the like. Robotic minimally invasive surgery has many unique advantages such as lower tissue trauma, higher quality of surgical procedure, shorter recovery time, more comfortable surgical procedure, and stronger complex surgical adaptability. Thus, has a great number of clinical applications.
Surgical instruments used in surgical robots to perform surgical operations typically require a motor connected by a transmission member, through which the surgical instrument is driven by the motor.
In addition, surgical instruments are often required to perform aseptic manipulation, and therefore, it is necessary to connect a motor transmission member for connection to a mechanical arm of a surgical robot and an instrument transmission member for connection to the surgical instrument with a sterile adapter to achieve aseptic isolation while rotating or moving the instrument transmission member, the sterile adapter, and the motor transmission member together with the mechanical arm.
Disclosure of Invention
Technical problem to be solved by the invention
In the prior art, there are connections of the sterile adapter to the motor drive member by aligning the axis of rotation of the motor drive member with the axis of rotation of the sterile adapter and locking the recess of the sterile adapter to receive the projection of the motor drive member.
However, in the above method, since the moment of the friction force generated by the contact of the motor transmission member and the aseptic adapter is large, a problem that the motor transmission member rotates together with the aseptic adapter before the engagement of the projection and the groove is completed easily occurs.
In the prior art, the cross-sectional shape of the protruding portion is generally square or the like. Because of the small contact area, an increased contact stress is caused, which may cause damage to the transmission member.
In addition, in the conventional art, when the motor transmission member is provided with a plurality of protrusions, if the protrusions are symmetrically arranged with respect to the rotation shaft and the shapes of the protrusions are the same, there is a technical problem that it is difficult to secure a fixed docking angle between the motor transmission member and the aseptic adapter.
The invention aims to provide a surgical instrument transmission mechanism, an assembling method and a surgical instrument driving device, which can reduce friction moment among transmission members during assembling, thereby preventing the transmission members from rotating along before the completion of butt joint and ensuring the butt joint precision among the transmission members.
Technical proposal for solving the technical problems
The surgical instrument transmission mechanism according to the first aspect of the present invention includes:
a first transmission member having a first substantially circular fitting surface provided with a projection at the center, an alignment block near the projection, and a boss disposed away from the projection and circumferentially, wherein the projection has a height with respect to the first fitting surface greater than a height of the alignment block with respect to the first fitting surface, and the alignment block has a height with respect to the first fitting surface greater than a height of the boss with respect to the first fitting surface; and
the second transmission member is provided with a second assembling surface opposite to the first assembling surface, and the second assembling surface is provided with an alignment groove corresponding to the protrusion and the alignment block and a groove corresponding to the boss.
In addition, it is preferable that the first fitting surface is provided with at least two or more bosses disposed asymmetrically with respect to the center.
Further, it is preferable that at least two or more of the bosses have different shapes.
Preferably, the first mounting surface is provided with at least two or more bosses arranged symmetrically with respect to the center, and at least two or more bosses have different shapes.
In addition, the boss is preferably in interference fit with the corresponding groove.
In addition, the cross section of the boss parallel to the first fitting surface is preferably fan-shaped.
In addition, preferably the second transmission member comprises a sterile film.
In addition, preferably, the first transmission member further includes: the fixed part is provided with an axial limiting member arranged on the side wall and is connected with the motor; a movable portion having an axial limit chute provided on a side wall, and provided with the first fitting surface so as to be movable relative to the fixed portion in a direction perpendicular to the first fitting surface; and an elastic member interposed between the movable portion and the fixed portion for providing a force for separating the movable portion and the fixed portion from each other, wherein the axial stopper member is inserted into the axial stopper chute to restrict relative movement between the movable portion and the fixed portion in a direction perpendicular to the first fitting surface and a circumferential direction.
In addition, preferably, the length of the axial limiting chute along the direction perpendicular to the first assembling surface is greater than or equal to the height of the alignment block relative to the first assembling surface.
In addition, preferably, the elastic member is a spring.
In addition, a surgical instrument drive device according to a second aspect of the present invention includes:
a motor; a first transmission member according to an embodiment of the present invention, wherein a side of the first transmission member opposite to the first fitting surface is connected to the motor;
a second transmission member according to an embodiment of the present invention, the second fitting surface of the second transmission member being contiguous with the first fitting surface, the second transmission member having a third fitting surface on a side opposite to the second fitting surface;
a third drive member having a fourth mating face that interfaces with the third mating face; and
and the surgical instrument is connected with one side of the third transmission member opposite to the fourth assembling surface S4, and the motor drives the surgical instrument through the first transmission member, the second transmission member and the third transmission member.
In addition, a method of assembling a surgical instrument transmission mechanism according to a third aspect of the present invention is a method of assembling a surgical instrument transmission mechanism according to the first aspect of the present invention, including: the second transmission member is abutted against the first transmission member, and the first transmission member and the second transmission member are pressed mutually, so that the protrusion is matched with the alignment groove; continuously pressing the first transmission member and the second transmission member to each other so that the alignment block is contacted with the second assembly surface; rotating the first transmission member about a rotational axis passing through the center and perpendicular to the first mounting surface; along with the rotation of the first transmission component, the alignment block is matched with the alignment groove, and the boss is matched with the groove; and further pressing the first transmission member to the second transmission member to enable the boss and the groove to be in butt joint.
In addition, a method of assembling a surgical instrument transmission mechanism according to a fourth aspect of the present invention is a method of assembling a surgical instrument transmission mechanism according to the first aspect of the present invention, including: the second transmission member is abutted against the first transmission member, and the first transmission member and the second transmission member are mutually pressed, so that the protrusion is matched with the alignment groove; continuously pressing the first transmission member and the second transmission member to each other, so that the alignment block is contacted with the second assembling surface; rotating the first transmission member about a rotational axis passing through the center and perpendicular to the first mounting surface; the rotation causes the elastic member to be compressed, and then causes the movable portion to move toward the fixed portion by a compression amount corresponding to a height of the alignment block relative to the first fitting surface; along with the rotation of the first transmission component, the alignment block is matched with the alignment groove, and the boss is matched with the groove; and the movable part is further pressed towards the second transmission member by utilizing the force provided by the elastic member, so that the boss and the groove are in butt joint.
Effects of the invention
According to the surgical instrument transmission mechanism, the assembly method and the surgical instrument driving device, friction moment among transmission members can be reduced during assembly, so that the transmission members can be prevented from rotating along before the butt joint is completed, and the butt joint precision among the transmission members is ensured.
Drawings
The disclosure may be better understood by describing exemplary embodiments thereof in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic view showing an assembly structure of a surgical instrument transmission mechanism according to embodiment 1 of the present invention.
Fig. 2 is a schematic view showing an assembly surface of a surgical instrument transmission mechanism according to embodiment 1 of the present invention.
Fig. 3 is a side view showing a first transmission member according to embodiment 1 of the present invention.
Fig. 4 is a flowchart showing a method of assembling a surgical instrument transmission mechanism according to embodiment 1 of the present invention.
Fig. 5 is a schematic view showing an assembly structure of a surgical instrument transmission mechanism according to embodiment 2 of the present invention.
Fig. 6 is a side view showing a first transmission member according to embodiment 2 of the present invention.
Fig. 7 is a flowchart showing a method of assembling a surgical instrument transmission mechanism according to embodiment 2 of the present invention.
Fig. 8 is a schematic diagram showing an assembly structure of a surgical instrument drive device according to embodiment 3 of the present invention.
Fig. 9 is a schematic view showing an assembly surface of a surgical instrument drive device according to embodiment 3 of the present invention.
Description of the reference numerals: 10. 20 surgical instrument transmission mechanism, 30 surgical instrument transmission device, 110, 120 first transmission member, 100 fixed portion, 200 axial stop member, 300 elastic member, 400 movable portion, 401 first boss, 402 second boss, 410 first protrusion, 420 first alignment block, 430 axial stop chute, 500 second transmission member, 501 third boss, 502 fourth boss, 503 first groove, 504 second groove, 510 second protrusion, 520 second alignment block, 530 first alignment groove, 600 third transmission member, 603 third groove, 604 fourth groove, 630 second alignment groove, S1 first fitting surface S1, S2 second fitting surface S2, S3 third fitting surface S3, S4 fourth fitting surface S4.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
In the description of the present disclosure, it is to be noted that, unless otherwise indicated, the meaning of "plurality" is two or more; the terms "upper," "lower," "left," "right," and the like indicate an orientation or positional relationship merely for convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present disclosure. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The "vertical" is not strictly vertical but is within the allowable error range. "parallel" is not strictly parallel but is within the tolerance of the error.
The directional terms appearing in the following description are all directions shown in the drawings and do not limit the specific structure of the disclosure. In the description of the present disclosure, it should also be noted that, unless explicitly specified and limited otherwise, the terms "assembled," "connected," "opposite," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in the present disclosure may be understood as appropriate by those of ordinary skill in the art.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present disclosure. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments.
In addition, the matching in the invention refers to the state that the alignment block or the boss is slightly clamped into the alignment groove or the groove, and the abutting joint refers to the state that the alignment block or the boss is pushed into the alignment groove or the groove. The interference fit means that the shape and size of the boss is greater than or equal to the shape and size of the groove, so that the boss can be tightly butted with the groove.
< embodiment 1>
Hereinafter, a schematic diagram of the structure of a surgical instrument transmission mechanism according to embodiment 1 of the present invention will be described with reference to fig. 1 to 3. Fig. 1 is a schematic view showing an assembly structure of a surgical instrument transmission mechanism according to embodiment 1 of the present invention. Fig. 2 is a schematic view showing an assembly surface of a surgical instrument transmission mechanism according to embodiment 1 of the present invention. Fig. 3 is a side view showing a first transmission member of a surgical instrument transmission mechanism according to embodiment 1 of the present invention.
As shown in fig. 1, the surgical instrument transmission mechanism 10 according to embodiment 1 of the present invention includes a first transmission member 110 and a second transmission member 500.
As shown in fig. 1 and 2, the first transmission member 110 has a first fitting surface S1 that is substantially circular. The term "substantially circular" means that the first mounting surface S1 has an imaginary center (hereinafter, simply referred to as "center"), and each point on the first mounting surface S1 is located on the circumference of a circle centered on the center. Therefore, the first fitting surface S1 may also have a semicircular shape as shown in fig. 1.
The first fitting surface S1 is provided with a first projection 410 located at the center of the first fitting surface S1, a first alignment block 420 located close to the first projection 410, and first and second bosses 401, 402 located away from the first projection 410 and arranged in the circumferential direction. As shown in fig. 3, the height of the first projection 410 with respect to the first fitting surface S1 is larger than the height of the first alignment block 420 with respect to the first fitting surface S1, and the height of the first alignment block 420 with respect to the first fitting surface S1 is larger than the heights of the first boss 401 and the second boss 402 with respect to the first fitting surface S1. That is, the height of the first protrusion 410 with respect to the first fitting surface S1 is greater than the height of the first alignment block 420 with respect to the first fitting surface S1, and the height of the first alignment block 420 with respect to the first fitting surface S1 is greater than the heights of the first boss 401 and the second boss 402 with respect to the first fitting surface S1.
In the prior art, the assembly is usually performed by aligning the rotation axes of the two transmission members and by having the recess of one transmission member receive the projection of the other transmission member, i.e. only by the relationship of the rotation axis, the projection and the recess, and not by the relationship of the heights of the three parts of the projection, the alignment block and the boss with respect to the assembly surface, i.e. the height of the projection is greater than the height of the alignment block and the height of the alignment block is greater than the height of the boss.
When the first transmission member 110 is to be assembled to the second transmission member 500, since the first protrusion 410 is located at the center of the first assembly surface S1 and the height with respect to the first assembly surface S1 is greater than the height of the first alignment block 420, the first boss 401, and the second boss 402 with respect to the first assembly surface S1, first, the center alignment of the first transmission member 110 and the second transmission member 500 can be achieved by the engagement of the first protrusion 410 with the second transmission member 500, which will be described later. And, by the cooperation of the first alignment block 420 and the second transmission member 500, preliminary alignment of the first transmission member 110 and the second transmission member 500 in the circumferential direction can be achieved.
Further, since the height of the first alignment block 420 with respect to the first fitting surface S1 is greater than the heights of the first boss 401 and the second boss 402 with respect to the first fitting surface S1, the first alignment block 420 contacts the second fitting surface S2 of the second transmission member 500 prior to the first boss 401 and the second boss 402. In addition, since the first alignment block 420 is disposed near the center of the first mounting surface S1, the moment of the friction force generated by the contact between the first alignment block 420 and the second mounting surface S2 is small, so that the second transmission member 500 is not driven to rotate before the first boss 401 and the second boss 402 of the first transmission member 110 are successfully engaged.
More specifically, the first protrusion 410 may be cylindrical in shape, for example. The first alignment block 420 may have a substantially rectangular cross-sectional shape parallel to the first fitting surface S1, and may be formed integrally with the first protrusion 410 or may be formed separately.
The first boss 401 and the second boss 402 are asymmetrically arranged with respect to the center of the first fitting surface S1 and are radially further toward the edge of the first fitting surface S1 than the first alignment block 420 is, for example, the first boss 401 may be disposed at a distance from the edge of the first fitting surface S1, and the second boss 402 may be disposed at the outermost edge of the first fitting surface S1. Since the first boss 401 and the second boss 402 are asymmetrically arranged, uniqueness of the mating direction of the first transmission member 110 and the second transmission member 500 can be achieved in the entire circumferential direction, and the accuracy of the mating between the transmission members can be ensured.
In embodiment 1, the first boss 401 and the second boss 402 are bosses having the same shape and a fan-shaped cross-section parallel to the first mounting surface S1. In addition, the boss is also provided as a tapered boss having a sector-shaped cross-section, i.e., the sector-shaped cross-section of the lower surface of the boss located on the first fitting surface S1 is smaller than the sector-shaped cross-section of the upper surface of the boss located away from the first fitting surface S1 in the direction perpendicular to the first fitting surface S1. Compared with the prior art that the cross section of the protruding part or the boss is in a square shape with a small contact area, the cross sections of the first boss 401 and the second boss 402 are fan-shaped, so that the joint area of the transmission member can be increased, the contact stress can be reduced, and the damage of the transmission member can be prevented. The cross-sectional shape of the boss is a sector, but is not limited to this, and may be any other shape such as a trapezoid, as long as the joint area between the transmission members can be increased and the contact stress can be reduced.
In the above description, the first boss 401 and the second boss 402 are disposed asymmetrically with respect to the center of the first fitting surface S1 and have the same shape, but the shapes of the first boss 401 and the second boss 402 may be different, for example, in the cross section of the first boss 401 and the second boss 402, the angle of the fan shape of one boss is large and the angle of the fan shape of the other boss is small, whereby the uniqueness of the fitting direction of the first transmission member 110 and the second transmission member 500 in the entire circumferential direction can be further ensured, and the accuracy of the abutting joint between the transmission members can be ensured.
The first boss 401 and the second boss 402 may be symmetrically disposed with respect to the center of the first assembling surface S1 and have different shapes, so that uniqueness of the assembling direction of the first transmission member 110 and the second transmission member 500 can be achieved in the whole circumferential direction, and the accuracy of the abutting joint between the transmission members is ensured.
The first boss 401 and the second boss 402, that is, the number of bosses is two, are described above, but the present invention is not limited thereto, and the number of bosses may be one, three, or more than three.
As shown in fig. 2, the second transmission member 500 has a second fitting surface S2 opposite to the first fitting surface S1, and the second fitting surface S2 is provided with a first projection 410 of the first transmission member 110, a first alignment groove 530 corresponding to the first alignment block 420, and a first groove 503 and a second groove 504 corresponding to the first boss 401 and the second boss 402.
The first alignment groove 530 is a groove capable of receiving the first protrusion 410 and the first alignment block 420, and has the same cross-sectional shape parallel to the second fitting surface S2 as the cross-sectional shape of the first alignment block 420 parallel to the first fitting surface S1, but preferably has a cross-sectional shape slightly larger than that of the first alignment block 420.
In addition, the first and second grooves 503 and 504 corresponding to the first and second bosses 401 and 402 may be disposed in an asymmetric configuration with respect to the center of the second fitting surface S2, the first groove 503 may be disposed at a position corresponding to a distance from the edge of the second fitting surface S2, may entirely surround the first boss 401, and the second groove 504 may be disposed at the edge of the corresponding second fitting surface S2 and have an opening at the edge, but is not limited thereto, as long as the first and second grooves 503 and 504 can correspond to the first and second bosses 401 and 402. In addition, the first boss 401 and the second boss 402 are in interference fit with the first groove 503 and the second groove 504, in other words, the shapes and the sizes of the first boss 401 and the second boss 402 are larger than or equal to the shapes and the sizes of the first groove 503 and the second groove 504 corresponding to the first boss 401 and the second boss 402, so that when the first boss 401 and the second boss 402 are assembled, the first boss 401 and the second boss 402 can be closely butted with the first groove 503 and the second groove 504 without gaps, and the butting precision between transmission members is ensured. In addition, since the first boss 401 and the second boss 402 and the first recess 503 and the second recess 504 are tapered designs, the interference fit can be efficiently performed.
As described above, since the first protrusion 410 of the first transmission member 110 is located at the center of the first fitting surface S1 and the height with respect to the first fitting surface S1 is larger than the height of the first alignment block 420, the first boss 401, and the second boss 402 with respect to the first fitting surface S1, first, the first protrusion 410 can be engaged with the first alignment groove 530 by the engagement of the first protrusion 410 with the first alignment groove 530, and thus the center alignment of the first fitting surface S1 and the second fitting surface S2 can be completed. And, by the cooperation of the first alignment block 420 and the first alignment groove 530, preliminary positioning of the first transmission member 110 and the second transmission member 500 in the circumferential direction can be achieved.
Further, since the height of the first alignment block 420 with respect to the first fitting surface S1 is larger than the heights of the first boss 401 and the second boss 402 with respect to the first fitting surface S1, the first alignment block 420 contacts the second fitting surface S2 prior to the first boss 401 and the second boss 402 at the time of fitting. In addition, since the first alignment block 420 is disposed near the center of the first mounting surface S1, the moment of the friction force generated by the contact between the first alignment block 420 and the second mounting surface S2 is small, so that the second transmission member 500 is not driven to rotate until the first groove 503 and the second groove 504 are successfully matched with the first boss 401 and the second boss 402 of the first transmission member 110. Conversely, if the first alignment block 420 is not provided, or the height of the first alignment block 420 relative to the first mounting surface S1 is lower than or equal to the height of the first boss 401 and the second boss 402 relative to the first mounting surface S1, the first boss 401 and the second boss 402 will be in contact with the second mounting surface S2 of the first transmission member 500, so that a larger friction moment will be generated, and the second transmission member 500 will be driven to rotate after the first groove 503 and the second groove 504 are successfully matched with the first boss 401 and the second boss 402.
In the case where the second transmission member 500 of embodiment 1 is used as a sterile adapter, the second transmission member 500 may include a sterile film. The sterile film may be provided on the second fitting surface S2 of the second transmission member 500, on the surface of the second transmission member 500 opposite to the second fitting surface S2, or on both surfaces of the second transmission member 500 including the second fitting surface S2. With this structure, the second transmission member 500 can be made to function as a sterile isolation.
In embodiment 1, the case where the first mounting surface S1 is provided with the projection, the alignment block, and the boss, and the second mounting surface S2 is provided with the alignment groove and the recess corresponding thereto has been described, but the present invention is not limited to this, and the second mounting surface S2 may be provided with the projection, the alignment block, and the boss, and the first mounting surface S1 may be provided with the alignment groove and the recess corresponding thereto.
Next, a method of assembling the first transmission member 110 and the second transmission member 500 according to embodiment 1 of the present invention will be described with reference to fig. 4.
As shown in fig. 4, when the second transmission member 500 is to be assembled to the first transmission member 110, the second transmission member 500 is abutted against the first transmission member 110 while the first transmission member 110 and the second transmission member 500 are pressed against each other, so that the first protrusion 410 of the first transmission member 110 is engaged with the first alignment groove 530 of the second transmission member 500, thereby completing the centering of the first assembling surface S1 of the first transmission member 110 and the second assembling surface S2 of the second transmission member 500, in step S1. At this time, the first alignment block 420, the first boss 401, and the second boss 402 are not yet in contact with the second fitting surface S2 of the second transmission member 500.
In step S2, the second transmission member 500 and the first transmission member 110 are continuously pressed against each other, so that the first alignment block 420 is brought into contact with the second fitting surface S2 of the second transmission member 500. Therefore, the first transmission member 110 and the second transmission member 500 are primarily positioned along the circumferential direction, and the moment of the friction force is smaller, so that the second transmission member 500 is not driven to rotate until the first groove 503 and the second groove 504 are successfully matched with the first boss 401 and the second boss 402 of the first transmission member 110.
In step S3, the first transmission member 110 is rotated about a rotation axis passing through the center of the first fitting surface S1 and perpendicular to the first fitting surface S1.
In step S4, as the first transmission member 110 rotates, the first alignment block 420 is engaged with the first alignment groove 530, and the first and second bosses 401 and 402 are engaged with the first and second grooves 503 and 504. Therefore, by matching the first alignment block 420 with the first alignment groove 530, the first boss 401, and the second boss 402 with the first groove 503 and the second groove 504, uniqueness of the matching direction of the first transmission member 110 and the second transmission member 500 can be achieved in the entire circumferential direction, and the accuracy of the butt joint between the transmission members can be ensured.
In step S5, the first transmission member 110 is further pressed against the second transmission member 500, so that the first boss 401 and the second boss 402 are abutted with the first groove 503 and the second groove 504. Therefore, by the butt joint of the first boss 401 and the second boss 402 and the first groove 503 and the second groove 504, the first boss 401 and the second boss 402 are closely butted with the first groove 503 and the second groove 504 in an interference fit without gaps, the butt joint precision between the transmission members is ensured, and the contact stress can be reduced due to the increase of the joint area of the transmission members, and the damage of the transmission members is prevented.
Thereby completing the assembly of the first transmission member 110 with the first transmission member 500.
< embodiment 2>
Next, embodiment 2 of the present invention will be described with reference to fig. 5 to 7.
Fig. 5 is a schematic view showing an assembly structure of a surgical instrument transmission mechanism according to embodiment 2 of the present invention. Fig. 6 is a side view showing a first transmission member according to embodiment 2 of the present invention. Fig. 7 is a flowchart showing a method of assembling a surgical instrument transmission mechanism according to embodiment 2 of the present invention.
As shown in fig. 5, the surgical instrument transmission mechanism 20 according to embodiment 2 of the present invention includes a first transmission member 120 and a second transmission member 500.
The first transmission member 120 is different from the first transmission member 110 in embodiment 1 in that it further includes a fixed portion 100, an elastic member 300, and a movable portion 400.
As shown in fig. 5, one side wall of the fixing portion 100 is provided with an axial stopper member 200, and the other side wall of the fixing portion 100 opposite to the one side wall is also provided with an axial stopper member, although not shown.
As shown in fig. 5 and 6, the movable portion 400 has an axial limit chute 430 provided on a side wall of the movable portion 400 so that the movable portion 400 can move with respect to the fixed portion 100 in a direction perpendicular to the first fitting surface S1 of the first transmission member 110. The first mounting surface S1 is disposed on the movable portion 400.
The elastic member 300 is sandwiched between the movable part 400 and the fixed part 100, and the elastic member 300 may be in a pre-compressed state for providing a force to separate the movable part 400 and the fixed part 100 from each other. In the present embodiment, the elastic member 300 is, for example, a spring. But the invention is not limited thereto. The elastic member 300 may have any known structure as long as it can provide a force for separating the movable portion 400 and the fixed portion 100 from each other.
The axial stopper member 200 is inserted into the axial stopper slide groove 430 to restrict relative movement between the movable portion 400 and the fixed portion 100 in the direction perpendicular to the first fitting surface S1 and the circumferential direction. Specifically, as shown in fig. 5, an end of the axial limiting chute 430 away from the first assembling surface S1 abuts against the axial limiting member 200, that is, the movable portion 400 reaches the maximum extension position under the elastic force of the elastic member 300 and the limiting of the axial limiting member 200, that is, the first assembling surface S1 is at the highest position at this time. The elastic member 300 may be in a pre-compressed state at this time. When the elastic member 300 is in a further compressed state, one end of the axial limit chute 430 near the first fitting surface S1 abuts against the limit member 200, or the limit member 200 is in the limit chute 430 and has a certain distance from one end near the first fitting surface S1. This ensures successful abutting of the first transmission member 120 and the second transmission member 500, and also realizes the restriction of the movable portion 400 in the left-right direction in fig. 5, that is, in the axial direction. Further, both sides of the axial stopper chute 430 perpendicular to the first fitting surface S1 are abutted against the upper and lower portions of the axial stopper member 200, and therefore, the stopper of the movable portion 400 in the up-down direction in fig. 5, that is, in the circumferential direction can be achieved.
Thus, by the cooperation of the elastic member 300, the fixed portion 100, and the movable portion 400, it is possible to ensure that the first transmission member is stably coupled to the second transmission member 500 by the restoring force provided by the elastic member 300 when the first transmission member 120 and the second transmission member 500 are completed to be coupled. In addition, after the first boss 401 and the first boss 402 are pushed into the first groove 503 and the second groove 504, the possibility that the tapered boss is separated under a large torque can be effectively prevented by the restoring force provided by the elastic member 300, so that the stability of the butt joint between the transmission members can be further ensured.
In the present embodiment, the length of the axial limit chute 430 in the direction perpendicular to the first fitting surface S1 is greater than or equal to the height of the first alignment block 420 with respect to the first fitting surface S1. Thus, when the movable portion 400 is pushed toward the second transmission member 500 by the elastic member 300 to complete the abutting, the first boss 401 and the second boss 402 can be completely pushed into the first groove 503 and the second groove 504, and the abutting cannot be completed because the movable portion 400 is limited in movement in the axial direction due to the insufficient length of the axial limit chute 430.
Next, a method of assembling the first transmission member 120 and the second transmission member 500 according to embodiment 2 of the present invention will be described with reference to fig. 7. The assembly method of steps S1 to S3 and S4 is the same as that of steps S1 to S3 and S4 in embodiment 1, and therefore the same step numbers are used.
In step S1, when the second transmission member 500 is to be assembled to the first transmission member 120, the second transmission member 500 is abutted against the first transmission member 120 while the first transmission member 120 and the second transmission member 500 are pressed against each other, so that the first protrusion 410 is engaged with the first aligning groove 530, and the centering of the first assembly surface S1 and the second assembly surface S2 is completed. At this time, the first alignment block 420, the first boss 401, and the second boss 402 are not yet in contact with the second fitting surface S2 of the second transmission member 500. And at this time, the elastic member 300 may be in a pre-compressed state.
In step S2, the second transmission member 500 and the first transmission member 120 are continuously pressed against each other to bring the first alignment block 420 into contact with the second fitting surface S2.
In step S3, the first transmission member 120 is rotated about a rotation axis passing through the center of the first fitting surface S1 and perpendicular to the first fitting surface S1.
In step S6, the second transmission member 500 and the first transmission member 120 are continuously pressed against each other while rotating, thereby further compressing the elastic member 300, so that the movable part 400 moves toward the fixed part 100 by the compression amount corresponding to the height of the first alignment block 420 with respect to the first fitting surface S1.
In step S4, as the first transmission member 120 rotates, and under the restoring force provided by the elastic member 300, the first alignment block 420 is engaged with the first alignment groove 530, and the first boss 401 and the second boss 402 are engaged with the first recess 503 and the second recess 504.
In step S7, the first transmission member 120 is further pressed against the second transmission member 500 by the pre-compressed restoring force provided by the elastic member 300, so that the first boss 401 and the second boss 402 are stably abutted with the first groove 503 and the second groove 504. Thus, the elastic member 300 can be used to continue providing resistance against the first boss 401 and the second boss 402 coming out of the first groove 503 and the second groove 504, so that the stability of the abutment between the transmission members can be further ensured. Moreover, since the first boss 401 and the second boss 402 are in interference fit with the first groove 503 and the second groove 504, after the first boss 401 and the second boss 402 are matched with the first groove 503 and the second groove 504, the first assembling surface S1 cannot rebound to the highest position, so that the axial limiting sliding groove 430 is just contacted or not contacted with the axial limiting member 200, the elastic force of the elastic member 300 is still kept between the movable part 400 and the second transmission member 500, so that the stability of the matching is further increased, and the possibility that the conical boss is separated under a large torque is effectively prevented.
Thereby completing the assembly of the first transmission member 120 with the first transmission member 500.
< embodiment 3>
Next, a surgical instrument driving device according to embodiment 3 of the present invention will be described with reference to fig. 8 to 9. Fig. 8 is a schematic diagram showing an assembly structure of a surgical instrument drive device according to embodiment 3 of the present invention. Fig. 9 is a schematic view showing an assembly surface of a surgical instrument drive device according to embodiment 3 of the present invention.
In this embodiment, a specific example of a surgical instrument driving device that uses the surgical instrument transmission mechanism of embodiments 1 and 2 above for driving a surgical instrument will be described.
As shown in fig. 8, the surgical instrument driving device is composed of a motor, not shown, connected to the right side of the first transmission member 120, the second transmission member 500, the third transmission member 600, and a surgical instrument, not shown, connected to the left side of the third transmission member 600. In this embodiment, the first transmission member 120 is used as a motor transmission member, the second transmission member 500 is used as a sterile adapter, and the third transmission member is used as an instrument transmission member.
Specifically, the first transmission member 120 is connected to the motor on the opposite side of the first mounting surface S1, and the specific connection method is not particularly limited.
The second fitting surface S2 of the second transmission member 500 is in contact with the first fitting surface S1, and the connection method thereof can be the docking method described in embodiments 1 and 2.
Further, as shown in fig. 9, the second transmission member 500 has a third fitting surface S3 on the opposite side to the second fitting surface S2. The third transmission member 600 has a fourth fitting surface S4 that contacts the third fitting surface S3.
In embodiment 3, the third mounting surface S3 has the same structure as the first mounting surface S1, and the fourth mounting surface S4 has the same structure as the second mounting surface S2. That is, the third fitting surface S3 and the second protrusions 510, the second alignment blocks 520, the third bosses 501, and the fourth bosses 502 on the same shape as the first fitting surface S1 and the first protrusions 410, the first alignment blocks 420, the first bosses 401, and the second bosses 402 on the same shape, and the fourth fitting surface S4 and the second alignment grooves 630, the third grooves 603, and the fourth grooves 604 on the same shape as the second fitting surface S2 and the first alignment grooves 530, the first grooves 503, and the second grooves 504 on the same shape.
A surgical instrument, not shown, is connected to the third transmission member 600 on the opposite side of the fourth mounting surface S4, and the specific connection method is not particularly limited.
As described above, the surgical instrument driving device according to the present embodiment includes: a motor (not shown); a first transmission member 120 connected to the motor; a second transmission member 500 connected to the first transmission member 120 by the abutment of the first fitting surface S1 and the second fitting surface S2; a third transmission member 600 connected with the second transmission member 500 by the abutment of the third fitting surface S3 and the fourth fitting surface S4; and a surgical instrument (not shown) coupled to the third transmission member 600. Thus, the motor can drive the surgical instrument via the first transmission member 120, the second transmission member 500, and the third transmission member 600.
Further, since the structures and connection manners between the first transmission member 120 and the second transmission member 500 and between the second transmission member 500 and the third transmission member 600 are the same as those of the above-described embodiments 1 and 2, the first transmission member 120, the second transmission member 500, and the third transmission member 600 can be assembled by the assembly method of the transmission members in embodiment 1 and embodiment 2, and further, transmission between the three transmission members is completed, and rapid positioning and rotational fixation between the respective transmission members are realized.
In addition, the structure and the connection method of embodiments 1 and 2 may be used only for any one of the connection of the first transmission member 120 and the second transmission member 500 and the connection of the second transmission member 500 and the third transmission member 600, and the other connection may be implemented by any other connection method. Even with this structure, the technical effects of the present invention can be partially achieved as well.
It is to be understood that the above description is intended to be illustrative, and not restrictive. For example, the above-described embodiments (and/or aspects thereof) may be used in combination with one another. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the various embodiments of the invention without departing from the scope thereof. While the dimensions and types of materials described herein are intended to define the parameters of the various embodiments of the invention, the various embodiments are not meant to be limiting and are exemplary embodiments. Many other embodiments will be apparent to those of skill in the art upon reading the above description. The scope of the various embodiments of the invention should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

Claims (13)

1. A surgical instrument drive mechanism, comprising:
a first transmission member having a first substantially circular fitting surface provided with a projection at the center, an alignment block near the projection, and a boss disposed away from the projection and circumferentially, wherein the projection has a height with respect to the first fitting surface greater than a height of the alignment block with respect to the first fitting surface, and the alignment block has a height with respect to the first fitting surface greater than a height of the boss with respect to the first fitting surface; and
the second transmission member is provided with a second assembling surface opposite to the first assembling surface, and the second assembling surface is provided with an alignment groove corresponding to the protrusion and the alignment block and a groove corresponding to the boss.
2. A surgical instrument drive mechanism according to claim 1,
the first fitting surface is provided with at least two or more bosses asymmetrically arranged with respect to the center.
3. A surgical instrument drive mechanism according to claim 2,
at least two or more of the bosses have different shapes.
4. A surgical instrument drive mechanism according to claim 1,
the first fitting surface is provided with at least two or more bosses symmetrically arranged with respect to the center,
at least two or more of the bosses have different shapes.
5. The surgical instrument drive mechanism according to any one of claim 1 to 4,
the boss is in interference fit with the corresponding groove.
6. The surgical instrument drive mechanism according to any one of claim 1 to 4,
the cross section of the boss parallel to the first assembling surface is fan-shaped.
7. The surgical instrument drive mechanism according to any one of claim 1 to 4,
the second transmission member includes a sterile membrane.
8. The surgical instrument drive mechanism according to any one of claim 1 to 4,
the first transmission member further includes:
the fixed part is provided with an axial limiting member arranged on the side wall and is connected with the motor;
a movable portion having an axial limit chute provided on a side wall, and provided with the first fitting surface so as to be movable relative to the fixed portion in a direction perpendicular to the first fitting surface; and
An elastic member interposed between the movable portion and the fixed portion for providing a force for separating the movable portion and the fixed portion from each other,
the axial limiting member is inserted into the axial limiting sliding groove, and limits relative movement between the movable portion and the fixed portion along the direction perpendicular to the first assembly surface and along the circumferential direction.
9. The surgical instrument drive mechanism of claim 8,
the length of the axial limiting sliding groove along the direction perpendicular to the first assembly surface is greater than or equal to the height of the alignment block relative to the first assembly surface.
10. The surgical instrument drive mechanism of claim 8,
the elastic member is a spring.
11. A surgical instrument drive device, comprising:
a motor;
a first transmission member as claimed in claim 1, connected to the motor on a side of the first transmission member opposite the first mounting face;
a second drive member as claimed in claim 1, the second mounting face of the second drive member meeting the first mounting face, the side of the second drive member opposite the second mounting face having a third mounting face;
A third drive member having a fourth mating face that interfaces with the third mating face; and
the surgical instrument is connected with one side of the third transmission member opposite to the fourth assembly surface, and the motor drives the surgical instrument through the first transmission member, the second transmission member and the third transmission member.
12. A method for assembling the surgical instrument drive mechanism of any one of claims 1 to 7, comprising:
the second transmission member is abutted against the first transmission member, and the first transmission member and the second transmission member are pressed mutually, so that the protrusion is matched with the alignment groove;
continuously pressing the first transmission member and the second transmission member to each other so that the alignment block is contacted with the second assembly surface;
rotating the first transmission member about a rotational axis passing through the center and perpendicular to the first mounting surface;
along with the rotation of the first transmission component, the alignment block is matched with the alignment groove, and the boss is matched with the groove; and
And further pressing the first transmission member to the second transmission member to enable the boss and the groove to be in butt joint.
13. A method for assembling the surgical instrument drive mechanism of any one of claims 8 to 10, comprising:
the second transmission member is abutted against the first transmission member, and the first transmission member and the second transmission member are mutually pressed, so that the protrusion is matched with the alignment groove;
continuously pressing the first transmission member and the second transmission member to each other, so that the alignment block is contacted with the second assembling surface;
rotating the first transmission member about a rotational axis passing through the center and perpendicular to the first mounting surface;
compressing the elastic member while rotating such that the movable portion moves toward the fixed portion by a compression amount corresponding to a height of the alignment block relative to the first fitting surface;
along with the rotation of the first transmission component, under the action of the restoring force of the elastic component, the alignment block is matched with the alignment groove, and the boss is matched with the groove;
And the movable part is further pressed towards the second transmission member by utilizing the force provided by the elastic member, so that the boss and the groove are in butt joint.
CN202311275460.0A 2023-09-28 2023-09-28 Surgical instrument transmission mechanism, assembling method and surgical instrument driving device Pending CN117323013A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311275460.0A CN117323013A (en) 2023-09-28 2023-09-28 Surgical instrument transmission mechanism, assembling method and surgical instrument driving device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311275460.0A CN117323013A (en) 2023-09-28 2023-09-28 Surgical instrument transmission mechanism, assembling method and surgical instrument driving device

Publications (1)

Publication Number Publication Date
CN117323013A true CN117323013A (en) 2024-01-02

Family

ID=89276680

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311275460.0A Pending CN117323013A (en) 2023-09-28 2023-09-28 Surgical instrument transmission mechanism, assembling method and surgical instrument driving device

Country Status (1)

Country Link
CN (1) CN117323013A (en)

Similar Documents

Publication Publication Date Title
WO2021037170A1 (en) Transmission, driving, and sterile assemblies, surgical instrument and system, and surgical robot
JP7087124B2 (en) Sterile adapter for use in robotic surgical systems
CN113367798A (en) Sterile adapter and surgical instrument transmission connection structure and surgical robot instrument driving transmission mechanism
CN111134740B (en) Method for connecting surgical instrument and driving device, slave operation device, and surgical robot
CN111000636B (en) Transmission assembly, drive box, surgical instrument system and robot system
RU2763502C2 (en) Connecting block
CN216317968U (en) Transmission connection structure and instrument driving transmission mechanism of surgical robot
CN117323013A (en) Surgical instrument transmission mechanism, assembling method and surgical instrument driving device
CN111012412A (en) Coupling device for coupling a drive device and a surgical instrument, and surgical robot
CN107374734B (en) Transmission assembly, surgical instrument of surgical robot and surgical robot
CN116551742B (en) Surgical robot and method for initializing zero position of transmission shaft of instrument box
CN211911680U (en) Coupling device for coupling a drive device and a surgical instrument, and surgical robot
CN219109732U (en) Sterile adapter
JP2001508220A (en) Coupling device for tape drive
CN114224404B (en) Instrument assembly assembling and detecting mechanism, detecting method and instrument assembly thereof
CN116557445B (en) Adapter, instrument driving assembly and driving connection method
WO2022037075A1 (en) Connection adapter, connection assembly, and surgical robot system
CN117377556A (en) Compression ring, compression tool and adapter element
JP2023542675A (en) Detachable surgical tool configured as a finite state machine
CN111012399A (en) Surgical instrument transmission mechanism without manual butt joint
CN113289194B (en) Expiratory valve and breathing machine
CN114533282B (en) Transmission disc, sterile isolation plate and surgical instrument assembly
CN219712229U (en) Transmission structure and vascular intervention operation robot
WO2021139457A1 (en) Method for joining surgical instrument and drive device, joining device, and surgical robot
CN114483808A (en) Connection adapter, mechanical arm assembly and surgical robot system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination