CN211484896U - Minimally invasive surgery robot - Google Patents

Abstract

The utility model provides a minimally invasive surgery robot, which comprises a trolley, an mechanical arm, a surgical instrument assembly and a sliding table, wherein the sliding table is used for connecting the mechanical arm and the surgical instrument assembly; the minimally invasive surgery robot can control the front and back movement of a surgical instrument through the telescopic arm, can limit the linear movement of the surgical instrument along the sliding table through the limiting assembly, and prevents the surgical instrument from moving to a limit position to reduce the risk of damage; the surgical instrument can be controlled to perform deflection motion and opening and closing motion, so that the degree of freedom and flexibility of the surgical instrument are increased, and a doctor can operate and control the surgical instrument more conveniently.

Description

Minimally invasive surgery robot

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to a minimally invasive surgery robot.

Background

With the application and development of the robot technology, especially the development of the computing technology, the medical surgical robot has more and more paid attention to its clinical function. The minimally invasive surgery robot can reduce the physical labor of doctors in the surgery process, and simultaneously achieves the purpose of accurate surgery, so that patients have less trauma, less blood loss, less postoperative infection and quick postoperative recovery. Minimally invasive surgical robotic systems typically use a master-slave mode of control: when an operator operates the master hand, the motion of the hand of the operator drives the master hand to move along with the master hand, the sensor at the joint of the master hand can measure motion information, the motion of the master hand is mapped to the master arm of the slave hand through a master-slave control algorithm, and each joint of the master arm of the slave hand moves passively to drive the surgical instrument to realize corresponding motion. The key components of the active arm of the minimally invasive surgery robot mainly comprise a remote motion center mechanism and a surgical instrument, the performance of the minimally invasive surgery robot is directly influenced by the quality of the design of the mechanical structure of the minimally invasive surgery robot, and the research and development and design of other components in the system are also restricted.

In minimally invasive surgery, a doctor is often required to manually cut, peel and suture tissues, and for some complex surgeries, the doctor is required to stand for a long time and hold a miniature surgical instrument for performing the surgery, so that the doctor is easily fatigued, and the quality of the surgery is affected. During robotically-assisted minimally invasive surgery, a surgeon performs surgical tasks with the aid of elongated minimally invasive surgical instruments. One end of the surgical instrument is arranged on a quick-change interface device at the tail end of an operator hand of the robot, and the other end of the surgical instrument is inserted into the body through a tiny incision on the surface of the human body to perform surgical operation, so that the surgical instrument is the only part which is contacted with pathological tissues of the human body and is also the robot part which directly performs the surgical operation.

Because the degree of freedom of the existing robot-assisted surgical instrument is low, and the requirements of a doctor on the degree of freedom, flexibility and sensitivity of the surgical instrument during operation cannot be met during a complicated minimally invasive operation, the robot operation in the prior art has the technical problem of inflexibility.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned problem among the prior art, this application has proposed a minimally invasive surgical robot, and it can prevent that the rectilinear motion of surgical instruments from causing the damage to extreme position to this surgical instruments can also carry out rotary motion, deflection motion and the motion that opens and shuts, has strengthened surgical instruments' degree of freedom, flexibility and sensitivity.

The utility model provides a minimally invasive surgery robot, including platform truck, arm, surgical instruments subassembly and connection the arm with the slip table of surgical instruments subassembly, be provided with flexible arm on the platform truck, linear motion can be followed to flexible arm, arm and flexible arm fixed connection, the surgical instruments subassembly is fixed on the slip table to can carry out deflection motion and the motion that opens and shuts, the slip table is provided with the injecture the spacing subassembly of the linear motion scope of surgical instruments subassembly.

In one embodiment, the surgical instrument assembly includes an instrument holder and a surgical instrument, the surgical instrument is connected to the instrument holder through an instrument rod, and a driving device is disposed on the instrument holder and can drive the surgical instrument to perform a deflecting motion and an opening and closing motion.

In one embodiment, the driving device includes a deflection driving device, the deflection driving device includes a first motor, the first motor is connected to a first transmission shaft, the first transmission shaft is connected to a first sliding seat, the first sliding seat is slidably connected to the fixing device, the first motor drives the first sliding seat to reciprocate along an axial direction of the first transmission shaft through the first transmission shaft, the first sliding seat pulls the instrument rod to reciprocate along the axial direction of the first transmission shaft through a first lead screw, and drives the executing instrument to perform deflection motions on two sides of an axial extension line of the instrument rod with a connecting position of the executing instrument and the instrument rod as a center.

In one embodiment, the driving device further includes an opening and closing driving device, the opening and closing driving device includes a second motor, the second motor is connected with a second transmission shaft, the second transmission shaft is connected with a second sliding seat, the second sliding seat is connected with the fixing device in a sliding manner, the second motor drives the second sliding seat to reciprocate along the axial direction of the first transmission shaft through the second transmission shaft, the second sliding seat pulls the instrument rod to reciprocate along the axial direction of the second transmission shaft through a second lead screw, and the linear reciprocating motion is converted into the opening and closing motion of the executing instrument at the end of the instrument rod.

In one embodiment, the slide table further comprises a poking mechanism including a poking card to enable insertion and extraction of the surgical instrument assembly in the patient along an axial direction of the poking card.

In one embodiment, the telescopic arm comprises a fixed arm and a moving arm, the fixed arm is fixedly connected to the trolley, the fixed arm and the moving arm are connected together through a linear sliding rail, and the moving arm can move linearly along the axial direction of the telescopic arm through the linear sliding rail.

In one embodiment, the bottom of the trolley base is provided with hydraulic lifting trundles, each hydraulic lifting trundle comprises a hydraulic supporting leg and a universal wheel, the hydraulic supporting leg is connected with a hydraulic pump arranged at the bottom of the trolley through a hydraulic pipe, and the hydraulic pump is provided with a rocker handle.

In one embodiment, the slide table includes a first limit switch and a second limit switch respectively located at both end portions of the slide table.

In one embodiment, the instrument fixing device includes a driving seat, an isolation seat disposed on the driving seat, and a transmission seat disposed on the isolation seat, the transmission seat and the isolation seat are connected by a first quick-release mechanism and/or a third quick-release mechanism, and the isolation seat and the driving seat are connected by a second quick-release mechanism and/or a fourth quick-release mechanism.

In one embodiment, the trolley comprises a trolley base and a stand column fixedly arranged on the base, wherein the stand column comprises a stand column main body, outer guide rail assemblies, movable pulley assemblies and fixed pulley assemblies, the outer guide rail assemblies are respectively arranged on the left side and the right side of the stand column main body, the movable pulley assemblies are respectively arranged on the outer guide rail assemblies, the fixed pulley assemblies are arranged on the top of the trolley, and the movable pulley assemblies positioned on the two sides of the stand column are connected together through the fixed pulley assemblies.

The minimally invasive surgery robot can control the front and back movement of the surgical instrument through the telescopic arm, can limit the linear movement of the surgical instrument along the sliding table through the limiting assembly, and prevents the surgical instrument from moving to the limit position to reduce the risk of damage; the surgical instrument can be controlled to perform deflection motion and opening and closing motion, so that the degree of freedom and flexibility of the surgical instrument are increased, and a doctor can operate and control the surgical instrument more conveniently.

The above-mentioned technical characteristics can be combined in various suitable ways or replaced by equivalent technical characteristics as long as the purpose of the invention can be achieved.

Drawings

The present invention will be described in more detail hereinafter based on embodiments and with reference to the accompanying drawings. Wherein:

fig. 1 shows a schematic view of a minimally invasive surgical robot according to an embodiment of the present invention;

fig. 2 to 4 show schematic structural diagrams of the trolley according to the embodiment of the present invention;

fig. 5 shows a schematic structural diagram of a fixed pulley assembly of a trolley column according to an embodiment of the present invention;

FIG. 6 is a schematic view showing the installation state of the telescopic arm and the trolley of the minimally invasive surgery robot according to the embodiment of the present invention;

fig. 7 to 8 show schematic structural views of a telescopic arm according to an embodiment of the present invention;

fig. 9 to 12 show schematic views of a slide table according to an embodiment of the present invention;

FIG. 13 illustrates a perspective view of a surgical instrument connection block in accordance with an embodiment of the present invention;

figure 14 shows a schematic view of a surgical instrument assembly according to an embodiment of the present invention;

fig. 15 shows a schematic view of an instrument fixation device according to an embodiment of the present invention;

fig. 16 to 17 show schematic views of a first quick release mechanism according to an embodiment of the present invention;

fig. 18 to 19 show schematic views of a second quick release mechanism according to an embodiment of the present invention;

fig. 20 to 28 show schematic views of a third quick release mechanism and a fourth quick release mechanism according to an embodiment of the present invention;

fig. 29 to 31 show the mechanism of the rotational movement, the yaw movement, and the opening and closing movement according to the embodiment of the present invention;

fig. 32-34 show schematic views of an instrument shaft and surgical instrument according to an embodiment of the present invention.

In the drawings, like parts are provided with like reference numerals. The drawings are not to scale.

Detailed Description

The invention will be described in further detail with reference to the drawings and specific examples. It should be noted that, as long as no conflict is formed, the embodiments and the features in the embodiments of the present invention may be combined with each other, and the technical solutions formed are all within the scope of the present invention.

As shown in fig. 1, the minimally invasive surgical robot 1 includes a cart 2, a robot arm 3, a slide table 5, and a surgical instrument assembly 6. The both sides of platform truck 2 all are provided with flexible arm 21, and the axis of flexible arm 21 sets up with the axis of platform truck 2 is perpendicular, and flexible arm 21 can be along the upper and lower linear motion of the axis of platform truck 2, arm 3 and flexible arm 21 fixed connection.

As shown in fig. 2, the cart 2 includes a cart base 10 and a column 11 fixedly provided on the cart base, and the robot arm 3 is provided on the column 11. The trolley base 10 and the upright post 11 are both arranged inside the trolley shell, and the trolley shell integrates a control part and a mechanical part, so that the trolley shell can play a role in beautifying and protecting an internal structure.

Four corners of the bottom of the trolley base 10 are respectively provided with hydraulic lifting caster wheels, the hydraulic lifting caster wheels comprise hydraulic supporting legs 101 and universal wheels 102,

hydraulic pressure supporting legs 101 is connected with the hydraulic pump 103 that sets up in the platform truck bottom through the hydraulic pressure pipe, hydraulic pump 103 is provided with rocker handle 104, through artificial control rocker handle 104, can control the flexible of hydraulic pressure supporting legs 101 and universal wheel 102, when waveing rocker handle 104 and receive hydraulic pressure supporting legs 101, universal wheel 102 lands, can realize the removal of platform truck 2, when waveing rocker handle 104 and stretching out hydraulic pressure supporting legs 101, hydraulic pressure supporting legs 101 can support the platform truck and make universal wheel 102 liftoff, realize that platform truck 2 parks.

A handle 9 is connected to the rear of the trolley 2 and can be used to push the trolley 2.

As shown in fig. 2 and 3, the upright 11 includes an upright main body 112, outer guide rail assemblies 113, movable pulley assemblies 114 and fixed pulley assemblies 115, the outer guide rail assemblies 113 are respectively installed at the left and right sides of the upright main body 112, the movable pulley assemblies 114 are respectively arranged on the outer guide rail assemblies 113, the fixed pulley assemblies 115 are arranged at the top of the trolley 2, the movable pulley assemblies at the two sides of the upright are connected together through the fixed pulley assemblies 115,

the outer guide rail assembly 113 comprises adapter flanges 131 arranged on the left side and the right side of the upright, and a first drag chain 132 arranged on the front side of the upright 11, wherein the adapter flanges 131 can do up-and-down linear motion along the axis of the upright. One end of the first drag chain 132 is connected to the adaptor flange 131, and the other end is connected to the first mounting plate 116 located below the first drag chain 132, and the first drag chain 132 is bent into a semi-circular arc shape by its own structure. The cable is nested in the hollow structure formed by the first drag chain 132, and when the adapter flange 131 moves up and down, the following state of the first drag chain 132 can keep the shape in a certain space range, and simultaneously, the semi-circular arc bent at the top end of the first drag chain 132 is kept unchanged and follows the linear movement of the adapter flange 132. The cable is protected from being abraded and leakage caused by friction with an external structure, and abnormal sound caused by collision and scraping between the cable and other structures due to unlimited movement of the cable is eliminated.

As shown in fig. 3, 4 and 5, the fixed pulley assembly 115 includes an electromagnetic brake 151, a main fixed pulley 152 and a secondary fixed pulley 153, the electromagnetic brake 151 is respectively connected to the main fixed pulley 151 through a shaft, a wire rope 154 is wound around the fixed pulley, and after the wire rope 154 is connected to the mounting base outside the column, the wire rope is wound and combined with the fixed pulley of the fixed pulley assembly 15 and the movable pulley of the movable pulley assembly 14, and then connected to the inner guide rail inside the column 11 and the counterweight assembly 117. The turning on and off of the pulley rotation function is controlled by turning on and off the electromagnetic brake 151 when power is turned on. The electromagnetic brake 151 can move the outer guide rail assembly 13 up and down to a target position after being powered on, so that the opening and closing of one degree of freedom of movement can be realized, and the hovering of the outer guide rail assembly 13 can be realized after the power is off.

The shell of platform truck 2 includes preceding shell and backshell, and connecting plate 19 is installed to the centre of shell lock department around the platform truck, and both sides all have a bar groove and an opening about the shell around platform truck 2, and the exterior structure cooperation installation that supplies the adaptor flange 132 to connect and carry out linear motion from top to bottom, and connecting plate 119 then is used for covering the opening, makes things convenient for the maintenance of internals. A graduated scale 118 is provided on one side of the strip groove to provide a height indication relative to the ground for the telescopic arm 21 which moves linearly up and down.

As shown in fig. 6, 7 and 8, the telescopic arm 21 is mounted on the bogie 2 via a telescopic arm mounting base 231 and connected to the adaptor flange 131 via an adaptor flange mounting plate 232, and a telescopic arm housing 250 is provided on the outer surface of the telescopic arm 21 to protect the telescopic arm 21. The telescopic arm 21 includes a fixing arm 230 and a moving arm 240, a linear slide rail 260 is fixedly mounted on the fixing arm 230 along an axial direction of the fixing arm 230, the moving arm 240 is slidably connected to the linear slide rail 260, a first slider 242 is disposed between the moving arm 240 and the linear slide rail 260, and the moving arm 24 can axially move along the linear slide rail 241 through the first slider 242, so that the moving arm 240 can linearly move along the axial direction of the fixing arm 230, that is, the axial direction of the telescopic arm 21, and the length of the telescopic arm 21 can be adjusted. Meanwhile, the linear sliding rail 241 can bear loads applied to the moving arm 240 in other directions besides the axial force.

A second drag chain 243 for accommodating and protecting the signal cable passing through the telescopic arm 21 is disposed between the moving arm 240 and the fixed arm 230, the second drag chain 243 is bent into an arc shape depending on its structure, one end of the second drag chain is connected to the end of the moving arm 240, and the other end of the second drag chain is fixedly connected to the fixed arm 230. When the moving arm 240 moves linearly along the linear guide 260, the following state of the second drag chain 243 can keep its shape within a certain space range, while the curved semi-circular arc of the second drag chain 243 remains unchanged and follows the linear movement of the moving arm 240.

A positioning electromagnet 243 is attached to the rear end of the moving arm 240 to axially position the moving arm 240. And rubber anti-collision blocks 233 are respectively installed at both sides of the fixing arm 230 to limit the moving direction of the moving arm 240, thereby preventing the moving arm 240 from moving beyond a desired range.

After the telescopic arm 21 is installed, if the positioning electromagnet 243 is not energized, the positioning electromagnet 241 fixed on the moving arm 24 is attracted to the fixed arm 23 due to the magnetic force, and the normal operating force of the operator cannot overcome the electromagnetic force, so that the moving arm 24 is fixed. When the length of the telescopic arm 21 needs to be adjusted, an unlocking button at the front end of the moving arm 240 is triggered, meanwhile, the system energizes the positioning electromagnet 243 to release the attraction force of the electromagnet, the positioning electromagnet 243 is lifted under the action of the spring, the moving arm 24 and the fixed arm 23 are separated at the same time, and at the moment, the moving arm 240 can be easily pushed to slide in the axial direction of the linear slide rail 260. After the locking arm 240 and the fixing arm 230 are fixed together, the unlocking button is released.

The robot arm 3 is mounted on the moving arm 240 of the telescopic arm 21, and the robot arm 3 is provided with a plurality of degrees of freedom.

As shown in fig. 1, the sliding table 5 is composed of a housing 51, a driving motor 52, a second mounting plate 53, a fourth transmission portion 54, a surgical instrument assembly connecting support 55, and a card poking mechanism 56, wherein the fourth transmission portion 54 includes a driving wheel 541, a driven wheel 542, a synchronous belt 543, a bracket 544, and a screw pair 545, and the screw pair 545 includes a screw 546 and a second slider 547.

As shown in fig. 9 and 10, the driving motor 52 is preferably provided with an encoder, the driving motor 52 is disposed on the front surface of the second mounting plate 53 along the length direction of the second mounting plate 53 by a driving motor fixing member 57, and the driving motor fixing member 57 includes mounting pieces 571 disposed on both sides of the second mounting plate 53 and a sliding mounting plate 572 supported above the two mounting pieces 571. Specifically, a mounting groove 531 extending in the width direction of the second mounting plate 53 is opened at the top end of the second mounting plate 53 where the driving motor 52 is mounted, and the width of the mounting groove 531 is equal to the length of the mounting pieces 571 (perpendicular to the mounting plate direction) so that the mounting pieces 571 can be fixedly mounted in the mounting groove 531, respectively, by bolts. The slide mounting plate 572 is preferably of a square configuration having a width equal to that of the second mounting plate 53, and has a plurality of first screw holes 5721 provided on both side edges of the top, the first screw holes 5721 being configured as elongated screw holes having semicircular sides, and the slide mounting plate 572 is securely mounted on the top of the both side mounting pieces 571 by passing bolts through the first screw holes 5721.

In addition, a first central circular hole 5722 is disposed at the top center of the sliding mounting plate 572, and the diameter of the first central circular hole 5722 is larger than that of the output shaft of the driving motor 52, so that the output shaft of the driving motor 52 can pass through the first central circular hole 5722, and a plurality of screw holes are uniformly distributed around the first central circular hole 5722, so that the sliding mounting plate 572 and the driving motor 52 are fastened and connected. Due to the special shape of the first screw hole 5721, the installation distance of the driving motor 52 with respect to the second installation plate 53 can be adjusted.

An output shaft of the driving motor 52 passes through the first central circular hole 5722 and is fixedly connected with the driving wheel 541, so that the driving wheel 541 rotates along with the rotation of the driving motor 52.

A bracket 544 is fixedly provided on the rear surface of the second mounting plate 53, and as shown in fig. 11 and 12, the length of the bracket 544 is preferably substantially equal to the length of the second mounting plate 53 to ensure a compact structure. Specifically, a plurality of screw holes are equally and uniformly distributed along the length direction of the second mounting plate 53 and the bracket 544, so that the fixed connection is achieved by the screws. The rack 544 includes a first rack portion 5441 at the top and a second rack portion 5442 at the bottom, the centers of the first rack portion 5441 and the second rack portion 5442 are respectively provided with a second central circular hole 5443 and a third central circular hole 5444, and two ends of the screw rod are respectively arranged in the second central circular hole 5443 and the third central circular hole 5444. The second center circular hole 5443 is provided with a rotation portion 5445, and a gap is provided between the rotation portion 5445 and the second center circular hole 5443 so that the rotation portion can freely rotate in the second center circular hole 5443. The rotating portion 5445 is provided with a fourth center circular hole 5446, the diameter of the fourth center circular hole 5446 is equal to the diameter of the lead screw so that the lead screw can be inserted and fastened therein, a notch groove is provided along the radial direction of the fourth center circular hole 5446, an engaging piece corresponding to the notch groove is provided at a position close to the first end portion of the lead screw, and after the end portion of the lead screw is inserted through the fourth center circular hole 5446, the engaging piece and the notch groove form a snap connection, so that the lead screw and the rotating portion can be more firmly fixed. A coupling shaft portion of a smaller diameter is formed at a first end portion of the screw 545, the diameter of the coupling shaft portion is configured to be fixedly secured with the driven wheel 542, and the length of the coupling shaft portion is configured such that the driven wheel 542 is located at the same height as the driving wheel 541 to ensure transmission efficiency and accuracy.

A timing belt 543 is interposed between the driving wheel 541 and the driven wheel 542, so that the driven wheel 542 can rotate along with the rotation of the driving wheel 541.

In order to be able to preload the timing belt 543 when the timing belt 543 is installed, two lugs 573 may be provided at a bottom portion of the slide mounting plate 572 remote from the second mounting plate 53, the lugs 573 extending from a top end of the second mounting plate 53 in a direction toward a bottom end, screw holes being provided at the two lugs 573, respectively, and by passing the tightening bolts 574 therethrough, abutting against side portions of the corresponding mounting pieces 571 when the drive motor 52 is installed. Under the structure, when the synchronous belt 543 is installed, the bolt is tightened to enable the sliding installation plate 572 to translate for a certain distance in the opposite direction of the movement of the bolt, so that the driving motor 52 and the driving wheel 541 are driven to translate for the same distance, the pre-tightening of the synchronous belt 543 is achieved, and the high overall precision of a traditional system is guaranteed.

A through hole having a thread is provided inside the second slider 547 along the length direction of the second slider 547, and a lead screw is passed through the through hole to form a lead screw pair 545 with the lead screw, and the lead screw pair 545 can convert the rotational motion of the lead screw 546 into the linear motion of the second slider 547. A plurality of screw holes are uniformly distributed along the circumference at the top of the second sliding block 547 so as to be tightly connected with the surgical instrument assembly attachment seat 55.

Here, as shown in fig. 13, the surgical instrument assembly attachment base 55 is "i" shaped in cross-section and includes a first upper base portion 551, a second lower base portion 552, and a rib 553 connecting the two, preferably integrally formed therewith. The first seating portion 551 is larger in size than the second seating portion 552, and a plurality of screw holes are uniformly distributed along the circumference of the first seating portion 551, so as to be tightly coupled with corresponding circumferential screw holes of the top of the second slider 547 by means of screws. The second support portion 552 is used to fix the spacer of the surgical instrument assembly 6, so as to fixedly connect the slide table 5 and the surgical instrument assembly 6. A line clamp 554 is fixedly arranged on the side of the rib plate 553 of the surgical instrument assembly connecting support 55 away from the second slide 547 to allow a cable to pass through and be electrically connected with the surgical instrument assembly 6. In addition, a movement avoiding groove 511 is formed in the sliding table housing 51 at a position corresponding to the top of the sliding table 5 along the longitudinal direction of the sliding table 5, after the sliding table 5 is installed, the first support portion 551 is located inside the housing 51, the second support portion 552 is located outside the housing 51, and the rib plate 553 can move along with the movement of the second slider 547 in the movement avoiding groove 511.

Referring back to fig. 12, a limit assembly including a first limit switch 532 and a second limit switch 533 is provided at one side portion of the second mounting plate 53 to minimize the occurrence of the second slider 547 moving beyond the limit position. Specifically, the first limit switch 532 and the second limit switch 533 are fixedly disposed at positions close to the top and bottom of the second mounting plate 53, respectively. The limit switch may include a limit switch body fixedly disposed on a side portion of the second mounting plate 53 and a limit plate fixedly connected to the limit switch body or integrally formed, where a limit block 5471 is fixedly connected to a corresponding side portion of the second slider 547, so that when the second slider 547 moves to a limit switch position, the limit block 5471 contacts with the limit plate, the corresponding limit switch changes a level output model, and the system limits the movement of the sliding table according to the signal. For example, the second 547 can no longer continue to move to the top when the first limit switch 532 is signaled, and the second 547 can no longer continue to move to the bottom when the second limit switch 533 is signaled. Preferably, both ends of the limiting block 5471 are in the form of slopes to provide a certain buffer for the limiting block. More preferably, the limit sheet is fixedly connected or integrally connected with the limit switch body at a certain angle. Preferably, the end of the limiting sheet contacting the limiting block 5471 is provided with a roller to reduce the friction between the limiting sheet and the limiting block, and the service life is prolonged.

Preferably, the fastening screw hole on the limit switch is a long-strip-shaped screw hole with two semicircular ends, so that the advance or retreat of the limit switch can be adjusted by adjusting the position of the bolt, and the purpose of controlling the limit position of the movement of the second sliding block 547 more flexibly is achieved.

On the other hand, the second sliding block 547 will automatically move toward the driving motor 52 until colliding with the first limit switch 532 when the system is started each time, and the system will automatically calibrate the position as the zero position of the sliding table. Because the encoder is installed on the driving motor 52, the subsequent second sliding block 547 can be calculated when moving to any position on the sliding table 5 through the recording of the encoder and the conversion of the routing drag chain 548, specifically, when the second sliding block 547 moves subsequently, because the encoder installed on the driving motor 52 can accurately detect the rotation angle of the driving motor 52, the actual linear movement distance of the second sliding block 547 can be calculated through the fixed mechanical transmission ratio according to the rotation angle, so that the position of the second sliding block 547 on the sliding table relative to the zero position can be obtained in real time, and the positions of the second sliding block 547 and the surgical instrument assembly installed on the second sliding block 547 can be effectively monitored. The range of motion of the second 547 slide, as defined by the system software, is compared by feedback of this data. When the position of the second sliding block 547 is calculated to be beyond the limited range, the continuous movement of the second sliding block 547 can be stopped from the software, so that the purpose of limiting by using the software is achieved.

A cable drag chain 548 for receiving and protecting a signal cable leading from the slide table to the surgical instrument module is provided on the other side portion of the second mounting plate 53, the cable drag chain 548 is a straight chain structure formed by connecting a plurality of drag chain units end to end, and a cable from the control system passes through the drag chain unit at the leading end portion, passes out from the drag chain unit at the trailing end portion along the extending direction of the cable drag chain 548, and is connected to the surgical instrument module 6 through a cable clamp 554 provided on the surgical instrument module connecting support 55. A first wire-connecting drag chain mechanism is fixedly disposed at a certain position of the other side portion of the second mounting plate 53, a second wire-connecting drag chain mechanism is fixedly disposed at the corresponding side of the second sliding block 547, the initial end of the wire-connecting drag chain 548 is fixedly connected with the second mounting plate 53 through the first wire-connecting drag chain mechanism, and the final end of the wire-connecting drag chain mechanism is fixedly connected with the second mounting plate 53 through the second wire-connecting drag chain mechanism. Under the above configuration, the distal end portion of the routing drag chain 548 moves accordingly with the linear reciprocating motion of the second slider 547.

In fig. 12, it is also shown that a poking mechanism 56 is fixedly provided at the bottom of the second mounting plate 53 to realize the insertion and extraction function of the surgical instrument assembly 6 in the human body along the axial direction of the poking. This stab card mechanism 56 is including stabbing card 561 and stabbing card mounting bracket 562, and the one end fixed connection of stabbing card mounting bracket 562 is in the back bottom of second mounting plate 53, and the other end then connects stabbing the card through stabbing card quick detach mechanism to realize quick installation and the dismantlement between operation preparation process and the end stage stabs card 561 and the slip table 5.

The stab card 561 basically includes a mounting cavity 5611 and a tubular wall 5612, the mounting cavity 5611 being used to mount a surgical instrument assembly and a laparoscope, which are passed through the interior of the tubular wall 5612 to allow access to the patient for viewing and surgical procedures. On the outside surface of pipe wall 5612, be provided with the identification line, can fix a position the card 561 device of stabbing that gets into the patient internal through the identification line to grasp the inserted position and the degree of depth of stabbing the card 561 device, reach the requirement of operation.

As shown in fig. 12, the first identification line 5613 is disposed at a position that can be exposed to the skin of the patient and observed by naked eyes when the poke card 561 device is normally installed, and the specific disposition position can be adjusted by those skilled in the art according to actual needs. The second marker line 5614 is provided at a position where it can be completely buried in the skin layer when the stab 561 device is normally mounted, and the third marker line 5615 is provided at a position where it can be observed through the endoscope when the stab 561 device is normally mounted. Similarly, the specific arrangement positions of the second mark line 5614 and the third mark line 5615 can be adjusted by those skilled in the art according to actual needs, and are not limited in size. By such an arrangement, it is possible to satisfy the requirement that the precise setting and depth of the insertion position of the device of the card stick 561 be made uniform every time.

Preferably, one or more of the above identified lines, such as the first identified line 5613, the second identified line 5614, and the third identified line 5615, are circumferentially disposed along the outside of the shroud wall 5612. With this arrangement, the operator can clearly observe the position of the identification line from various angles, thereby grasping the insertion depth and position of the stab card 561 device.

Preferably, the identification line is disposed on the front portion of the tube wall 5612. By arranging the identification line in the front of the tube wall 5612, the insertion depth and position of the stab card 561 device can be conveniently grasped by observing the identification line near the skin of the patient during actual use.

Preferably, the identification line is a solid black line. Through such setting, can have the better visual effect to the marking line under the operation light.

Preferably, the second score line 5614 has a greater width in the axial direction of the shroud wall 5612 than the first score line 5613 and the third score line 5615. With such an arrangement, the individual identification lines can be quickly distinguished during insertion, and the second identification line 5614, which is relatively thick, can be placed in the position of the skin layer of the patient, thereby preventing the error in the placement position due to the misrecognition and the confusion of the identification lines.

The sliding table 5 further includes a mechanical arm mounting portion 549, the mechanical arm mounting portion 549 is fastened to the front surface of the second mounting plate 53, and includes a first mechanical arm mounting portion near the bottom of the front surface of the second mounting plate 53 and a second mechanical arm mounting portion near the driving motor 52, the connecting mechanism of the mechanical arm is fixedly connected between the first mechanical arm mounting portion and the second mechanical arm mounting portion, and the distance between the first mechanical arm mounting portion and the second mechanical arm mounting portion depends on the length of the connecting mechanism of the mechanical arm 4.

As shown in fig. 14 and 15, the surgical instrument assembly 6 includes an instrument holder 7, an instrument attachment mechanism, and a surgical instrument 8. The instrument fixing device 7 comprises a driving seat 71, an isolation seat 72 arranged on the driving seat 71 and a transmission seat 73 arranged on the isolation seat 72. Wherein, the transmission seat 73 is provided with an appliance connecting mechanism, the driving seat 71 is fixed with a driving mechanism 75, and in addition, the driving seat 71 also plays a supporting role for the appliance connecting mechanism.

The connection between the driving seat 71, the isolation seat 72 and the driving seat 73 will be described in detail.

The transmission seat 73 and the isolation seat 72 are quickly connected through a first quick release mechanism 76.

As shown in fig. 16 and 17, the first quick release mechanism 76 includes a first positioning portion 761, wherein the first positioning portion 761 includes third slide rails 7611 disposed on two sides of the transmission seat 73 and third slide grooves 7612 disposed on the isolation seat 72, and the two third slide rails 7611 are respectively disposed in the corresponding third slide grooves 7612, so that the transmission seat 73 can slide along the length direction of the isolation seat 72.

In order to facilitate smooth introduction of the third slide rail 7611 into the third slide groove 7612, a guide slope 7613 inclined downward is provided at an end portion of the third slide rail 7611 to reduce resistance when the third slide rail 7611 enters the third slide groove 7612, thereby improving assembly efficiency.

The driving seat 73 and the isolation seat 72 are completely positioned in the Y-axis direction and the Z-axis direction by the third slide rail 7611 and the third slide groove 7612.

Further, the first quick release mechanism 76 further includes a second positioning portion 762, wherein the second positioning portion 762 includes a first accommodating cavity 7621 and a first elastic body 7622 disposed in the first accommodating cavity 7621. A guide part 7628 is arranged at the top end of the first elastic body 7622, wherein one end of the guide part 7628 is a slope inclined downwards, and the other end is a stopping part; after the driving seat 73 is mounted on the isolation seat 72, an end portion of the driving seat 73 contacts an end portion (i.e., a stopper portion) of the guide portion 7628, so that the driving seat 73 and the isolation seat 72 are completely positioned in the X-axis direction.

The bottom end of the first elastic body 7622 is provided with at least two claws 7623. For example, four pawls 7623 are shown in fig. 10, respectively located at four corners of the resilient seat 7622 and integrally formed with the first resilient body 7622. First catching holes 7625 are provided in the first receiving cavity 7621, and the catching claws 7623 are respectively provided in the corresponding first catching holes 7625. The pawl 7623 is provided at a bottom thereof with a barb 7624, and the barb 7624 is caught at the bottom of the first catching hole 7625, thereby limiting a maximum displacement amount of the first elastic body 7622 when moving in a direction away from the first accommodating chamber 7621 (i.e., moving upward in the Z-axis direction).

At least one side wall of the first elastic body 7622 is provided with an arc-shaped guide groove 7626, for example, four arc-shaped guide grooves 7626 are shown in fig. 10, respectively located on four side walls of the first elastic body 7622; a semi-cylindrical guide bar 7627 is provided on an inner wall of the first receiving cavity 7621, and the guide bar 7627 is provided in the arc-shaped guide groove 7626 for keeping the movement of the first elastic body 7622 in the Z-axis direction to move linearly.

The initial state of the first elastic body 7622 is that an end of the first elastic body 7622 is flush with an end of the first accommodating cavity 7621, and a guide 7628 of a tip of the first elastic body 7622 is higher than the end of the first accommodating cavity 7621; the pawl 7623 of the first elastic body 7622 is disposed in the first catching hole 7625, and the barb 7624 at the bottom of the pawl 7623 is caught at the bottom of the first catching hole 7625. That is, the first elastic body 7622 is in an initial state, and it can move downward only in the Z-axis direction.

A spring is disposed between the first elastic body 7622 and the first receiving cavity 7621, and the spring is used to restore the first elastic body 7622 to an original state.

The transmission seat 73 and the isolation seat 72 are installed as follows:

the bottom surface of the transmission seat 73 is in contact with the upper surface of the isolation seat 72, the transmission seat 73 is pushed along the length direction (i.e., the X-axis direction) of the isolation seat 72, during the movement of the transmission seat 73, the first end of the transmission seat 73 first contacts the first elastic body 7622, and when the transmission seat 73 continues to move, a downward pressure is applied to the first elastic body 7622, and the first elastic body 7622 is forced to move downward along the Z-axis direction. In this process, the driving seat 73 can be easily moved above the first elastic body 7622 by the guide portion 7628 of the top end of the first elastic body 7622, so that the movement of the driving seat 73 is not hindered.

In the process of continuously moving the transmission seat 73, the third slide rails 7611 on both sides of the transmission seat 73 smoothly enter the third slide groove 7612 through the guide inclined plane 7613 and continuously move along the third slide groove 7612 until the bottom end of the transmission seat 73 is completely separated from the first elastic body 7622, so that the first elastic body 7622 is no longer pressed, and the first elastic body 7622 moves upward along the Z-axis direction under the action of the spring and returns to the initial state. At this time, the blocking portion of the first elastic body 7622 contacts the second end of the transmission seat 73, so that the transmission seat 73 cannot move backward any more.

The mounting of the driving seat 73 and the isolation seat 72 is completed.

When the transmission seat 73 is detached, the elastic seat 7622 is only pressed down, so that the stopping portion of the first elastic body 7622 is not in contact with the end portion of the transmission seat 73, and the transmission seat 73 can be moved in the direction opposite to the above direction, so as to separate the transmission seat 73 from the isolation seat 72.

Because the transmission seat 73 is provided with the instrument connecting mechanism, the transmission seat 73 and the instrument connecting mechanism can be conveniently and quickly detached from the isolation seat 72 through the quick detaching mechanism between the transmission seat 73 and the isolation seat 72, so that the instrument replacement in the operation is more convenient.

The isolation seat 72 and the driving seat 71 are quickly connected through a second quick release mechanism 77.

As shown in fig. 18 and 19, the second quick release mechanism 77 includes a third positioning portion 71, wherein the third positioning portion 71 includes a fourth sliding groove 7711 disposed at the bottom of the isolation seat 72 and a third sliding block 7712 disposed on the driving seat 71, and the third sliding block 7712 is disposed in the fourth sliding groove 7711 to enable the isolation seat 72 to slide along the length direction of the driving seat 71. The transmission seat 73 and the isolation seat 72 are completely positioned in the Y-axis direction by the third slider 7712 and the fourth slide 7711.

Further, the second quick release mechanism 77 includes a fourth positioning portion 772, wherein the fourth positioning portion 772 includes a clamping block 7721 disposed at a first end of the isolation seat 72 and a slot 7722 disposed at a second end of the isolation seat 72, the slot 7722 extends along a length direction of the isolation seat 72, the driving seat 71 is provided with a long hole 7723, after the isolation seat 72 is installed on the driving seat 71, the clamping block 7721 is inserted into the long hole 7723, and simultaneously, a rear end of the driving seat 71 is engaged with the slot 7722, so that the driving seat 73 and the isolation seat 72 are completely positioned in the X-axis direction.

In addition, the front end of the latch 7721 is provided with a downward inclined surface to facilitate the insertion of the latch 7721 into the long hole 7723.

Further, the second quick release mechanism 77 includes a fifth positioning portion 773, the fifth positioning portion 773 includes a pressing piece 7731 provided on the isolation seat 72 and a second elastic body 7732 provided on the driving seat 71, and the second elastic body 7732 is provided in a stepped hole 7733 on the isolation seat 72. Specifically, the pressing piece 7731 is disposed in a hole with a larger diameter in the stepped hole 7733, and the second elastic body 7732 is inserted into the hole with a smaller diameter in the stepped hole 7733 from the bottom of the stepped hole 7733 and then contacts with the bottom of the pressing piece 7731, so that the top end of the pressing piece 7731 is flush with the upper surface of the spacer 72, and the transmission seat 73 and the spacer 72 are completely positioned in the Z-axis direction.

The pressing sheet 7731 is a silicone membrane, and has a certain elastic deformation capability.

When the pressing piece 7731 is pressed, the second elastic body 7732 can be moved downward in the Z-axis direction, so that the second elastic body 7732 is disengaged from the stepped hole 7733, and the restraint of the spacer 72 and the driving seat 71 in the Z-axis direction is released.

In order to improve the response sensitivity of the second elastic body 7732, a slope surface inclined downward is provided on the upper end surface of the second elastic body 7732, so that the volume of the second elastic body 7732 protruding into the stepped hole 7733 is reduced, and then when the pressing piece 7731 presses the second elastic body 7732 downward, the elastic body 7732 can be quickly separated from the stepped hole 7733.

The driving seat 71 is provided with a mounting hole 7734, the mounting hole 7734 is provided with a fixed disk 7735, and the bottom of the fixed disk 7735 is in contact with the bottom end of the driving seat 71. The driving seat 71 is provided with an ear 7736 at the bottom, the fixed disk 7735 is provided with a notch 7737 for accommodating the ear 7736, and the cover 7738 at the bottom end of the fixed disk 7734 is fixedly connected with the ear 7736, so that the fixed disk 7735 is fixed with the driving seat 71.

The second elastic body 7732 is provided in the fixed tray 7734, and a spring is provided between the second elastic body 7732 and the cover 7738 to restore the second elastic body 7732 to an original state.

The second elastic body 7732 is in an initial state in which the top end of the second elastic body 7732 protrudes outside the fixed disk 7735, that is, the top end of the second elastic body 7732 is higher than the upper surface of the driving seat 71.

The isolation seat 72 and the driving seat 71 are installed as follows:

the bottom surface of the isolation seat 72 is in contact with the upper surface of the driving seat 71, the isolation seat 72 is pushed along the length direction (i.e., the X-axis direction) of the driving seat 71, and in the moving process of the isolation seat 72, the fourth sliding groove 7711 at the bottom end of the isolation seat 72 is matched with the third sliding block 7712, so as to guide the movement of the isolation seat 72.

As the isolation seat 72 continues to move, the first end of the isolation seat 72 may contact the second elastic body 7732, and as the isolation seat 72 continues to move, a downward pressure may be applied to the second elastic body 7732, and the second elastic body 7732 is forced to move downward along the Z-axis direction. In this process, the spacer 72 can be easily moved above the second elastic body 7732 by the slope of the top end of the second elastic body 7732, so that the movement of the spacer 72 is not hindered.

Subsequently, the stepped hole 7733 at the bottom end of the isolation seat 72 moves above the second elastic body 7732, at this time, the second elastic body 7732 is not compressed any more, and the second elastic body 7732 moves upward in the Z-axis direction under the action of the spring to be inserted into the stepped hole 7733 and returns to the original state. At this time, the second elastic body 7732 is engaged with the stepped hole 7733, so that the spacer 72 cannot move any more.

Thus, the isolation seat 72 and the driving seat 71 are installed.

When detaching the isolation seat 72, the pressing piece 7731 is simply pressed down to disengage the second elastic body 7732 from the stepped hole 7733, so that the isolation seat 72 can move in the direction opposite to the above direction, and the isolation seat 72 is separated from the driving seat 71.

The driving seat 71 includes a base 711 fixedly connected to the slide table of the carriage, and a fixed seat 712 integrally provided with the base 711. The base 711 is used for fixing the driving plate 752 of the driving mechanism 75, the side wall of the fixing base 712 is used for fixing the driving device 751 of the driving mechanism 75, and the driving device 751 is electrically connected with the driving plate 752.

The instrument connecting mechanism comprises an instrument rod 741, one end of the instrument rod 741 is provided with a surgical instrument 8, and the other end of the instrument rod 741 penetrates through the side wall of the fixing seat 712, the side wall of the isolation seat 72 and the side wall of the transmission seat 73 in sequence and then is fixed on the transmission seat 73.

The transmission seat 73 and the isolation seat 72 can also be quickly connected through a third quick release mechanism.

As shown in fig. 20 to 21, the third quick release mechanism includes a sixth positioning portion, wherein the sixth positioning portion includes a fifth sliding slot 31 disposed at the bottom of the transmission seat 73 and a fourth sliding block 21 disposed on the isolation seat 72. The fourth slider 21 can be accommodated in the fifth slide groove 31 and slide along the fifth slide groove 31.

The fifth link 31 is configured in two portions of unequal width, with a wider portion near one end of the implement attachment mechanism and a narrower portion away from the end of the implement attachment mechanism, with a step 32 formed between the wider and narrower portions. The first positioning blocks 22 are symmetrically arranged on both sides of the fourth sliding block 21 of the isolation seat 72, and the first positioning blocks 22 comprise inclined grooves 221 and convex parts 222 (shown in fig. 22) positioned at the ends of the inclined grooves 221. In the process of introducing the fourth slider 21 into the fifth chute 31, the first positioning block 22 can abut against the step 32 of the fifth chute 31, thereby limiting the movement range of the transmission seat 73 in the X direction. Thus, the driving seat 73 and the spacer 72 are completely positioned in the Y-axis direction and the X-direction by the fourth slider 21 and the fifth sliding chute 31.

Further, the third quick release mechanism further includes a seventh positioning portion, the seventh positioning portion includes a projection 33 disposed at one end of the fifth sliding groove 31 far from the apparatus connection mechanism (the projection 33 is located on the plane where the lower surface of the transmission seat 73 is located), a sixth groove 23 is disposed at one end of the fourth sliding block 21 far from the apparatus connection mechanism, and when the transmission seat 73 slides to the state of being assembled with the isolation seat 72, the projection 33 can be accommodated in the sixth groove 23. So that the isolation seat 72 and the driving seat 73 are completely positioned in the Z-axis direction.

In order to facilitate the smooth guiding of the fourth slider 21 into the fifth sliding groove 321, a downwardly inclined guiding inclined surface 211 is provided at an end of the fourth slider 21 away from the instrument connection mechanism to reduce resistance when the fourth slider 21 enters the fifth sliding groove 31, thereby improving assembly efficiency.

As shown in fig. 23 and 24, the two sides of the transmission seat 73 are symmetrically provided with the first quick release assembly 34, the first quick release assembly 34 includes a button 341, a guide block 342, a stop 343 and a small cylinder 344 which are connected in sequence, and the button 341, the guide block 342, the stop 343 and the small cylinder 344 are integrally formed. The small cylinder 344 is disposed at a center position of the stopper 343, and preferably, an end surface of the stopper 343 on which the small cylinder 344 is disposed is provided with a first catching groove 3441 to limit unnecessary movement of the spring. The guide block 342 further includes an inclined portion 3421 (inclined upward) and a flat portion 3422, and the inclined portion 3421 allows the button start 341 to be always positioned above the side of the first positioning block 22 so as not to interfere with the first positioning block 22. A second locking hole 3423 is formed at a middle position of the flat part 3422, and a second positioning block 345 is formed at a lower surface of a position where the inclined part 3421 and the flat part 3422 are coupled. The width of the second positioning block 345 is smaller than the width of the inclined slot 221, and when the lower surface of the transmission seat 73 contacts with the upper surface of the isolation seat 72 and slides relatively along the X axis, the second positioning block 345 is always located above the first positioning block 22. So that the second positioning block 345 can smoothly pass through the inclined groove 221 when the driving seat moves in the X-axis direction.

As shown in fig. 25, the transmission base 73 is provided with a guide groove 35 at a position corresponding to the first quick release assembly 34, and the flat portion 3422 of the guide block 342 can be received in the guide groove 35, so that the guide block 342 can move in the guide groove 35 along the Y-axis direction. The guide groove 35 is further provided with a guide post 351, and the guide post 351 can be received in the second latching hole 3423 of the planar portion 3422, so that when the button 341 is pressed, the guide block 342 is restricted and guided by the guide groove 35.

As shown in fig. 26, springs (not shown) are sleeved between the small cylinders 344 of the two first quick release assemblies 34, and the springs respectively abut against the stop 343 of each first quick release assembly 34. Preferably, the springs abut in the first catching grooves 3441, respectively. When the button 341 is released, the spring can quickly reset the two first quick release assemblies 34. As shown in fig. 27, when the transmission seat 73 and the isolation seat 72 are installed, the second positioning block 345 is caught on the protrusion 222.

The transmission seat 73 and the isolation seat 72 are installed as follows:

the lower surface of the transmission seat 73 is in contact with the upper surface of the isolation seat 72, the transmission seat 73 is pushed along the length direction (i.e. the X-axis direction) of the isolation seat 72, during the movement of the transmission seat 73, the second positioning block 345 on the first quick release assembly 34 enters the chute 221 of the first positioning block 22 (close to the outer side of the chute 221), and under the limiting and guiding effects of the chute 221, the spring of the first quick release assembly 34 is gradually compressed to move the second positioning block 345 towards the direction close to the fourth slider 21, so that the second positioning block 345 can smoothly pass through the narrow part of the chute 221. The second positioning block 345 passes through the inclined groove 221 and then is reset under the action of the spring, and at the moment, the second positioning block 345 is just clamped on the convex part 222 of the first positioning block 22, so that the transmission seat 73 is prevented from moving reversely to the X axis. And at this time, the projection 33 on the fifth sliding chute 31 and the sixth groove 23 on the fourth sliding block 21 are just matched. At this time, the driving seat 73 and the isolation seat 72 are completely installed.

When the transmission seat 73 needs to be detached from the isolation seat 72, the buttons 341 on both sides are pressed simultaneously, at this time, the second positioning block 345 is no longer limited by the protrusion 222 of the first positioning block 22, the transmission seat 73 is pushed along the X-axis negative direction, the second positioning block 345 passes through the chute 221, at this time, the button 341 can be released, and the transmission seat 73 is continuously pushed along the X-axis negative direction, so that the detachment of the transmission seat 73 and the isolation seat 72 can be realized.

Returning to fig. 20 and 21, the isolation seat 72 and the driving seat 71 can also be quickly connected through a fourth quick release mechanism.

The fourth quick release mechanism comprises a third positioning portion, wherein the third positioning portion comprises a sixth sliding groove 24 formed in the bottom of the isolation seat 72 and a fifth sliding block 11 arranged on the driving seat 71, and the fifth sliding block 11 can be accommodated in the sixth sliding groove 24, so that the isolation seat 72 can slide along the length direction of the driving seat 71. The driving seat 71 and the spacer seat 72 are completely positioned in the Y-axis direction by the fifth slider 11 and the sixth sliding groove 24.

Further, the fourth quick release mechanism 7 further includes a fourth positioning portion, the fourth positioning portion includes a clamping block 25 disposed at the bottom of the isolation seat 72 at an end far away from the instrument connection mechanism, and an insertion block 26 disposed at an end of the isolation seat 72 close to the instrument connection mechanism, and the insertion block 26 extends along the length direction of the isolation seat 72. The driving seat 71 is provided with an insertion hole 27 which is matched with the insertion block 26, when the isolation seat 72 is installed on the driving seat 71, the insertion block 26 is inserted into the insertion hole 27, and the end part of the driving seat 71 far away from the instrument connecting mechanism is clamped in the clamping block 25 of the isolation seat 72, so that the transmission seat 1 and the isolation seat 72 are completely positioned in the X-axis direction and the Z-axis direction.

As shown in fig. 20 and 28, the fourth quick release mechanism 7 further includes a second quick release assembly 12, and the second quick release assembly 12 includes a slot seat 121 and a linkage block 122 capable of being accommodated in the slot seat 121 and sliding up and down along the slot seat 121. The bottom of the slot seat 121 is provided with two guide rods 1211 and 1212, and the guide rods 1211 and 1212 are sleeved with springs (not shown). The linkage block 122 includes a sixth slider 1221 and a pressing rod 1222 provided on the sixth slider 1221 (the pressing rod 1222 is located near one end of the instrument connection mechanism), and the pressing rod 222 is integrally formed with the sixth slider 1221. The linkage block 122 has a first cylindrical hole 1223 inside, the position of the first cylindrical hole 1223 corresponds to the position of the first guide rod 1211, and the first guide rod 1211 can be accommodated in the first cylindrical hole 1223 after being sleeved with a spring. The position of the first cylindrical hole 1223 may or may not correspond to the position of the pressing rod 1222, and the sixth slider 1221 may be moved downward in the socket 121 by pressing the pressing rod 1222. The linkage block 122 is further provided with a through hole 1223, the diameter of the lower portion of the through hole 1223 is larger than that of the upper portion of the through hole 1223, the linkage button 123 is arranged in the through hole 1223, the diameter of the lower portion of the linkage button 123 is larger than that of the upper portion of the linkage button 123, the lower portion of the linkage button 123 is accommodated in the lower portion of the through hole 1223, and the upper portion of the linkage button 123 is accommodated in the upper portion of the through hole. Thus, the steps formed at the upper and lower portions of the through hole 1223 are abutted against the steps formed at the upper and lower portions of the interlocking button 123. The linkage button 123 is provided inside with a second cylindrical hole 1231, the position of the second cylindrical hole 1231 corresponds to the position of the second guide rod 1212, and the second guide rod 1212 can be accommodated in the second cylindrical hole 1231 after being sleeved with a spring.

Further, referring again to fig. 9 and 10, the second quick release assembly 12 further includes a third locking hole 28 disposed at the bottom of the isolation seat 72 (the third locking hole 28 is located at an end near the tool connection mechanism), and when the isolation seat 72 is installed with the driving seat 71, the linkage button 123 is accommodated inside the locking hole 28.

The isolation seat 72 and the driving seat 71 are installed as follows:

the bottom surface of the isolation seat 72 is in contact with the upper surface of the driving seat 71, the isolation seat 72 is pushed along the length direction of the driving seat 71 (i.e. the X-axis direction), and in the moving process of the isolation seat 72, the sixth sliding groove 24 at the bottom of the isolation seat 2 is matched with the fifth sliding block 11 on the upper surface of the driving seat, so as to limit and guide the movement of the isolation seat 72.

The isolation seat 72 continues to move, the plug block 26 of the isolation seat 72 is inserted into the insertion hole 27 of the driving seat, and the end (the end far away from the instrument) of the bottom plate of the driving seat 71 is clamped in the clamping block 25 of the isolation seat 72. Meanwhile, the linkage button 123 of the second quick release assembly is just accommodated in the clamping hole 28 at the bottom of the isolation seat, so that the installation of the isolation seat 72 and the driving seat 71 is completed.

When the isolation seat 72 needs to be detached from the driving seat 71, only the pressing rod 1222 needs to be pressed, the sixth slider 1221 moves downward to drive the linkage button 123 to move downward, so that the linkage button 123 moves out of the clamping hole 28 of the isolation seat 72, and at this time, the isolation seat 72 is pushed in the direction opposite to the mounting direction, so that the isolation seat 72 is separated from the driving seat 71. When the push rod 1222 is not forced any more, the push rod 1222 and the link button 123 are reset by the spring.

The surgical instrument 8 of the present invention includes an instrument having three degrees of freedom, two degrees of freedom, or one degree of freedom, wherein the surgical instrument 8 having three degrees of freedom, such as a surgical forceps, a surgical scissors, etc.; a surgical instrument 8 such as a scalpel or the like having two degrees of freedom; a surgical instrument 8, such as an endoscope or the like, having one degree of freedom. Multiple degrees of freedom of the surgical instrument 8 are enabled by the instrument linkage and the actuator base 73, the specific implementation of which will be described in detail below.

According to one aspect of the present invention, an implementation is provided having an instrument with one degree of freedom.

In one embodiment of the present invention, the surgical device 8 has a first degree of freedom (e.g., an endoscope). The first degree of freedom of the surgical instrument 8 is rotatable about the axis of the instrument rod 741 (along the X-axis direction in fig. 17) as a rotation axis, and the first degree of freedom of the surgical instrument 8 can realize a rotation motion that simulates the arm of a human body.

As shown in fig. 29 to 31, in the present embodiment, a first hole 7121 is provided on a side wall of the fixing base 712, the driving device 751 includes a third motor 7511, and an output shaft of the third motor 7511 is provided in the first hole 7121. In order to improve space utilization, the axial direction of the instrument rod 741, the axial direction of the third motor 7511, and the longitudinal direction of the holder 712 are the same.

The power transmission of the third motor 7511 is as follows:

the third motor 7511 is disposed on a sidewall of the fixing base 712, and an output shaft thereof passes through the first hole 7121 and is then fixedly connected to the first coupling 753 at an end of the output shaft. The side wall of the isolation seat 72 and the side wall of the transmission seat 73 are respectively provided with a second coupler 721 and a third coupler 731, and the second coupler 721 is respectively connected with the first coupler 753 and the third coupler 731, in a manner which will be described in detail below.

A rotating shaft 733 is further disposed on the side wall of the transmission seat 73, a driven gear 734 is disposed at one end of the rotating shaft 733, a main gear 732 is disposed at the end of the third coupler 731, and the main gear 732 is meshed with the driven gear 734.

Therefore, when the drive plate 752 receives a command for the instrument to rotate along the X-axis, the drive plate 752 drives the third motor 7511 to rotate, and power is transmitted along the output shaft of the third motor 7511, the first coupling 753, the second coupling 721, the third coupling 731, the main gear 732, and the slave gear 734 to rotate the rotating shaft 733. The rotation shaft 733 is a hollow shaft, and the instrument lever 741 is disposed in the rotation shaft 733 so as to rotate together with the rotation shaft 733.

The instrument rod 741 is connected to the rotation shaft 733 in the following manner:

as shown in fig. 29, a positioning protrusion 7331 is disposed at an end of the rotating shaft 733, a first locking groove 744 is disposed on an outer wall of the instrument rod 741, and after the instrument rod 741 is inserted into the rotating shaft 733, the positioning protrusion 7331 is locked with the first locking groove 744, so that the instrument rod 741 and the rotating shaft 733 are positioned in a radial direction.

Further, the rotating shaft 733 is provided with external threads, the outer wall of the instrument rod 741 is provided with a threaded sleeve 743, after the instrument rod 741 extends into the rotating shaft 733, the instrument rod 741 is fixedly connected with the rotating shaft 733 through the threaded sleeve 743, and therefore the instrument rod 741 and the rotating shaft 733 are positioned in the axial direction.

To this end, the rotation shaft 733 and the instrument rod 741 are fixed in both directions, so that when the rotation shaft 733 rotates, the instrument rod 741 and the surgical instrument 8 rotate therewith.

The fixed connection between the instrument rod 741 and the rotation shaft 733 is a fixed point between the instrument rod 741 and the transmission seat 73, but because the length of the instrument rod 741 is long, there is instability through single-point fixation. In order to improve the connection stability between the instrument rod 741 and the transmission seat 73, a first sliding seat 735 is further disposed on the transmission seat 73, and an end of the instrument rod 741 is fixed to the first sliding seat 735, so that two fixing points between the instrument rod 741 and the transmission seat 73 are increased, and the connection stability between the two is improved.

Specifically, the instrument rod 741 is fixed between the end of the instrument rod 741 and the first carriage 735 in the following manner:

as shown in fig. 30 and 31, the first slide 735 is provided with a first locking hole 7351 for installing the instrument rod 741, and an axis of the first locking hole 7351 coincides with an axis of the rotation shaft 733. The first locking hole 7351 is provided therein with a first elastic locking plate 7352, and the first elastic locking plate 7352 is movable in a radial direction of the first locking hole 7351, thereby reducing the installation diameter of the first locking hole 7351 (i.e., smaller than the actual diameter of the first locking hole 7351) or increasing the installation diameter of the first locking hole 7351 (i.e., equal to the actual diameter of the first locking hole 7351).

The end of the first sliding seat 735 is provided with a first pressing portion 7353, the first pressing portion 7353 may be a pressing rod, the first pressing portion 7353 is connected to the first elastic locking plate 7352, and when the first pressing portion 7353 is pressed, the first elastic locking plate 7352 moves downward, so that the installation diameter of the first locking hole 7351 is increased; when the pressure applied to the first pressing part 7353 is removed, the first elastic catch plate 7352 is sprung upward by the elastic member, so that the installation diameter of the first catch hole 7351 is reduced.

A push rod 746 is coaxially disposed in the instrument rod 741, the push rod 746 extending beyond an end of the instrument rod 741, and relative rotation between the instrument rod 741 and the push rod 746 is possible. The outer wall of the pushing rod 746 is provided with a second locking groove 745, and when the pushing rod 746 extends into the first locking hole 7351, the elastic first locking plate 7352 is locked with the second locking groove 745, so that the pushing rod 746 is fixed in the first locking hole 7351, and is thereby fixed with the first sliding seat 735.

When the instrument rod 741 needs to be removed, the pushing rod 746 can be removed from the first locking hole 7351 by pressing the first pressing portion 7353 to move the first elastic locking plate 7352 in the radial direction of the first locking hole 7351, so as to increase the installation diameter of the first locking hole 7351.

In this embodiment, since it is necessary to rotate the surgical instrument 8 in the axial direction of the instrument rod 741, it is only necessary to fix the surgical instrument 8 to the end of the instrument rod 741 to rotate the surgical instrument 8 and the instrument rod 741 at the same time.

The connection of the first coupling 753, the second coupling 721 and the third coupling 731 will be described below.

The end of the first coupling 753 is provided with a first recess 7531, the end of the second coupling 721 is provided with a second recess 7211 and a first clamping strip 7212, respectively, and the end of the third coupling 731 is provided with a second clamping strip 7311, wherein the first clamping strip 7212 is arranged in the first recess 7531 and the second clamping strip 7311 is arranged in the second recess 7211, thereby positioning the first coupling 753, the second coupling 721 and the third coupling 731 in the radial direction.

The first coupling 753, the second coupling 721 and the third coupling 731 are then positioned in the axial direction by a fixed connection between the transmission seat 73, the isolation seat 72 and the drive seat 71.

Further, as shown in fig. 29, in order to improve the ease of assembly between the first coupling 753, the second coupling 721, and the third coupling 731, the first spring 756 is provided between the first coupling 753 and the third motor 7511, and therefore, when the first coupling 753 is connected to the second coupling 721, the alignment of the first click strip 7212 and the first groove 7531 is no longer a necessary operation, in other words, the first click strip 7212 on the end face of the second coupling 721 can be brought into contact with an arbitrary position of the end face of the second coupling 721, and when the first click strip 7212 is not inserted into the first groove 7531, in this case, the first coupling 753 is pushed by the second coupling 721, so that the first spring 756 is compressed. When the third motor 7511 rotates and drives the first coupling 753 to rotate, since the first coupling 753 is not positioned in the radial direction with the second coupling 721, relative movement is generated between the first coupling 753 and the second coupling 721, so that the first groove 7531 of the first coupling 753 rotates to a position matched with the first clamping strip 7212 of the second coupling 721 and is clamped with the first clamping strip 7212 under the pushing of the first spring 756, and the radial positioning between the first coupling 753 and the second coupling 721 is realized.

Similarly, when the third coupling 731 is connected to the second coupling 721, the alignment of the second locking strip 7311 with the second groove 7211 is no longer necessary, in other words, the second locking strip 7311 on the end surface of the third coupling 731 can contact with any position on the end surface of the second coupling 721, when the second coupling 721 rotates, the second groove 7211 of the second coupling 721 will rotate to the position matching with the second locking strip 7311 of the third coupling 731, and will engage with the second locking strip 7311 under the pushing of the first spring 756, so as to achieve the radial positioning between the second coupling 721 and the second coupling 731.

As described above, in the present embodiment, the rotational motion of the third motor 7511 is converted into the rotational motion of the instrument rod 741, so that the surgical instrument 8 is rotated.

Referring back to fig. 29-31 in another embodiment of the present invention, the surgical device 8 has a second degree of freedom (e.g., a scalpel that only performs a prescribed positional cut). The second degree of freedom of the surgical instrument 8 is rotatable about the Z axis (perpendicular to the axis of the instrument rod 741) as a rotation axis, and the second degree of freedom of the surgical instrument 8 can realize a rotation motion that simulates a wrist joint of a human body.

In this embodiment, a second hole 7122 is disposed on a side wall of the fixing base 712, the driving device 51 includes a first motor 7512, and an output shaft of the first motor 7512 is disposed in the second hole 7122. In order to improve space utilization, the axial direction of the instrument rod 741, the axial direction of the first motor 7512, and the longitudinal direction of the holder 712 are the same.

The power of the first motor 7512 is transmitted to the instrument rod 741 through a screw mechanism, and the specific transmission mode is as follows:

first, the first sliding base 735 is configured to be slidably connected to the transmission base 73, so that when the first sliding base 735 makes a linear reciprocating motion, the instrument rod 741 is driven to make a linear reciprocating motion, and the linear reciprocating motion is converted into a deflecting motion (i.e., a rotation around the Z axis) at the end of the instrument rod 741.

The implementation of the linear reciprocating motion of the first slider 735 will be described as follows:

the first motor 7512 is disposed on a side wall of the fixing base 712, and an output shaft thereof passes through the second hole 7122 and is then fixedly connected to the fourth coupling 754 at an end portion of the output shaft. A fifth coupling 737 and a sixth coupling 722 are respectively disposed on the side wall of the isolation seat 72 and the side wall of the transmission seat 73, and the fifth coupling 737 is respectively connected to the fourth coupling 754 and the sixth coupling 722.

The sixth coupling 737 is coupled to the first lead screw 7354, wherein the first lead screw 7354 passes through the first slider 735 and is threadedly coupled to the first slider 735. The first sliding base 735 is provided with a first sliding groove 7355 at the bottom, the first sliding rail 356 on the transmission base 73 is provided in the first sliding groove 7355, and when the first lead screw 7354 rotates, the first sliding base 735 moves along the axial direction of the first lead screw 7354.

Further, the limit position of the first sliding seat 735 moving to the right is limited by the first spring limiting body 7358, as shown in fig. 23, the first spring limiting body 7358 is disposed on the first lead screw 7354, and when the first sliding seat 735 moves to the right (direction close to the surgical instrument 8) and compresses the spring to the most contracted amount, the first sliding seat 735 can not move to the right any more, and the spring can avoid the first sliding seat 735 moving to the limit position to collide with the first spring limiting body 7358.

Similarly, the limit position of the left movement of the first slider 735 is defined by the rear retainer 7357, as shown in fig. 23, the rear retainer 7357 is disposed on the first lead screw 7354, and when the first slider 735 moves to the left (in a direction away from the surgical instrument 8) and contacts the rear retainer 7357, it cannot move to the left any more.

By mechanically limiting the extreme positions of the first slide 735 in both directions, the maximum angle of rotation of the surgical instrument 8 can be controlled.

In addition, the implement rod 741 is fixed to the transmission base 73 in the following manner:

alternatively, the implement rod 741 may be fixed to the driving seat 73 in the same manner as in the previous embodiment.

Alternatively, since the instrument rod 741 does not need to rotate about the X-axis in the present embodiment, the instrument rod 741 may be fixed directly to the sidewall of the transmission seat 73.

Moreover, the fixing manner of the pushing rod 746 and the first sliding seat 735 has been described in detail in the foregoing embodiments, and will not be described herein again.

Therefore, when the driving plate 752 receives the command of the instrument to rotate along the Z-axis, the driving plate 752 drives the first motor 7512 to rotate, and the power is transmitted along the output shaft of the first motor 7512, the fourth coupling 754, the fifth coupling 737, the sixth coupling 722, the first lead screw 7354, and the first slider 735, so as to convert the rotation of the first motor 7512 into the linear reciprocating motion of the first slider 735.

Next, the end of the instrument rod 741 is articulated to the surgical instrument 8, thereby effecting conversion of the linear reciprocating motion into a deflecting motion (i.e., rotation about the Z-axis in fig. 14).

The implementation of the deflecting motion (i.e., rotation about the Z-axis) of the surgical device 8 will now be described:

a push rod 746 is provided inside the instrument rod 741, and the push rod 746 is movable in the instrument rod 741 in the axial direction. The pushing rod 746 is connected to the first slider 735 at one end and to the surgical device 8 at the other end, and when the first slider 735 moves, the pushing rod 746 is driven to move, thereby pulling or pushing the surgical device 8 to generate a deflecting motion of the surgical device 8.

Specifically, as shown in fig. 32 and 33, the instrument rod 741 includes an outer tube 7411 and an inner tube 7414 coaxially disposed in the outer tube 7411, a rotation head 7412 is disposed at a first end of the outer tube 7411, a limiting head 7413 is disposed at a second end of the outer tube, a limiting ring 7416 is disposed on an outer wall of the limiting head 7413, and the first engaging groove 744 is disposed on the limiting ring 7416 and engaged with the positioning protrusion 7331 of the rotation shaft 733.

The inner tube 7414 is disposed within the outer tube 7411, and a first end of the inner tube 7414 extends out of the outer tube 7411 into the rotary head 7412 to contact a collar inside the rotary head 7412; the second end of the inner tube 7414 is fitted over the outside of the stopper 7413 and contacts the end surface of the stopper ring 7416, so that the inner tube 7414 is held between the rotary head 7412 and the stopper 7413.

Since the inner tube 7414 has the same outer diameter as the outer tube 7411, the inner tube 7414 and the outer tube 7411 are tightly fitted to each other and can rotate together.

Further, the first end of the inner tube 7414 is further opened with a groove 7415 extending in the axial direction of the inner tube 7414, and the groove 7415 is provided to avoid interference with the swinging rod 7463 described below.

The push rod 746 is coaxially disposed within the inner tube 7414, with a first end of the push rod 746 provided with an adapter 7461, and the adapter 7461 disposed within the inner tube 7414.

End connection of adapter 7461 has swinging arms 7463, and the other end of swinging arms articulates there is clamping head 7465, and the first end of clamping head 7465 is connected with surgical instruments 8, and the second end and the rotating head 7412 of clamping head 7465 rotate and be connected, consequently when swinging arms 7463 received thrust or tensile effect, clamping head 7465 drove surgical instruments 8 and rotates around its junction with rotating head 7412 to it is rotatory around the Z axle to realize surgical instruments 8.

Specifically, the two sides of the gripping head 7465 are respectively provided with a connection plane 464, the upper end of the rotating head 7412 is provided with an open slot 7417, the end of the gripping head 7465 is disposed in the open slot 7417, the connection plane 464 contacts with the inner wall of the open slot 7417, and the rotating head 7412 is connected with the connection plane 464 by a pin, so that the gripping head 7465 can rotate with the axis of the pin as a rotation axis.

The second end of the push rod 746 passes through the inner tube 7414 and the limiting head 7413 in turn, and is connected with the clamping tube 7462 outside the limiting head 7413. Specifically, the second end of push rod 746 extends into clamping tube 7462 to contact the collar inside clamping tube 7462; the second engaging groove 745 is provided on an outer wall of the engaging pipe 7462, and engages with the first engaging hole 7351 of the first slider 735.

The inner diameter of the clamping tube 7462 is the same as the outer diameter of the pushing rod 746, so that when the first slider 735 moves and pulls the clamping tube 7462 to move linearly, the pushing rod 746 also moves linearly, that is, the movement of the first slider 735 moves the pushing rod 746 along the axis thereof, so that the swinging rod 7463 is subjected to the pushing or pulling force, and the clamping head 7465 drives the surgical device 8 to rotate.

In the present embodiment, the first end refers to an end close to the surgical instrument 8, and the second end refers to an end far from the surgical instrument 8.

It should be noted that the connection manner among the fourth coupling 754, the fifth coupling 737, and the sixth coupling 722 in this embodiment is the same as the connection manner among the first coupling 753, the second coupling 721, and the third coupling 731 in the first embodiment, wherein the second spring 757 is disposed between the fourth coupling 754 and the first motor 7512, and similarly, the assembly among the three couplings can be faster by the second spring 757, and therefore, the description thereof is omitted.

As described above, in the present embodiment, the rotational motion of the first motor 7512 is transmitted to the first lead screw 7354, and the rotational motion of the first lead screw 7354 is converted into the linear reciprocating motion of the first sliding seat 735, and the linear reciprocating motion is converted into the deflecting motion (i.e., the rotation about the Z axis) of the surgical device 8.

In addition, referring to fig. 22 to 24, in another embodiment of the present invention, the surgical instrument 8 has a third degree of freedom (e.g., a surgical scissors that only performs a cutting at a specific position). The third degree of freedom of the surgical instrument 8 is capable of performing opening and closing operations, and the third degree of freedom of the surgical instrument 8 can simulate the closing and opening actions of human fingers.

In the present embodiment, a third hole 7123 is provided on a side wall of the fixed base 712, the driving device 51 includes a second motor 7513, and an output shaft of the second motor 7513 is provided in the third hole 7123. In order to improve space utilization, the axial direction of the instrument rod 741, the axial direction of the second motor 7513, and the longitudinal direction of the holder 712 are the same.

The power of the second motor 7513 is transmitted to the instrument rod 741 through a screw mechanism, and the specific transmission mode is as follows:

first, the second slide seat 736 is slidably disposed on the transmission seat 73, and the instrument rod 741 is connected to the second slide seat 736, so that when the second slide seat 736 makes a linear reciprocating motion, the instrument rod 741 is driven to make a linear reciprocating motion, and the linear reciprocating motion is converted into an opening and closing motion at an end of the instrument rod 741.

The implementation of the linear reciprocating motion of the second slider 736 will be described as follows:

the second motor 7513 is disposed on the sidewall of the fixing base 712, and after the output shaft passes through the third hole 7123, a seventh coupling 755 is fixedly connected to an end of the output shaft. The side wall of the isolation seat 72 and the side wall of the transmission seat 73 are respectively provided with an eighth coupler 723 and a ninth coupler 738, and the eighth coupler 723 is respectively connected with a seventh coupler 755 and the ninth coupler 738.

The ninth coupling 738 is connected to the second lead screw 7364, wherein the second lead screw 7364 passes through the second slide 736 and is in threaded connection with the second slide 736. The bottom of the second slide 736 is provided with a second sliding groove 7365, the second sliding rail 366 on the transmission base 73 is arranged in the second sliding groove 7365, and when the second lead screw 7364 rotates, the second slide 736 moves along the axial direction of the second lead screw 7364.

Therefore, when the driving plate 752 receives an instruction of opening or closing the instrument, the driving plate 752 drives the second motor 7513 to rotate, and power is transmitted along the output shaft of the second motor 7513, the seventh coupler 755, the eighth coupler 723, the ninth coupler 738, the second lead screw 7364 and the second slide 736, so that the rotation of the second motor 7513 is converted into the linear reciprocating motion of the second slide 736.

Further, the limit position of the second slide seat 736 moving to the right is limited by a second spring limiting body 7367, as shown in fig. 22, the second spring limiting body 7367 is disposed on the second lead screw 7364, and when the second slide seat 736 moves to the right (direction close to the surgical instrument 8) and compresses the spring to the most contracted amount, the second slide seat 736 can not move to the right any more, and the spring can avoid the second slide seat 736 moving to the limit position to collide with the second spring limiting body 7367.

The limit position of the leftward movement of the second sliding seat 736 is defined by the circuit board 7368, as shown in fig. 22, the circuit board 7368 is disposed on the transmission seat 73 and located at the left side of the second sliding seat 736, and when the first sliding seat 735 moves leftward (in the direction away from the surgical device 8) to the limit position, the end of the first sliding seat 735 can not move leftward any more after contacting with the end of the rear limit body 7357.

By mechanically limiting the extreme positions of the second slide 736 in both directions, the maximum opening angle of the surgical instrument 8 can be controlled.

In addition, the implement rod 741 is fixed to the transmission base 73 in the following manner:

alternatively, the implement rod 741 may be fixed to the driving seat 73 in the same manner as in the previous embodiment.

Alternatively, since the instrument rod 741 does not need to rotate about the X-axis in the present embodiment, the instrument rod 741 may be fixed directly to the sidewall of the transmission seat 73.

Further, the fixing manner between the push rod 746 and the second carriage 736 is as follows:

the second slide 736 is provided with a second first locking hole 7361 for installing the push rod 746, and an axis of the second first locking hole 7361 coincides with an axis of the rotation shaft 733. The second elastic locking plate 7362 is disposed in the second first locking hole 7361, and the second elastic locking plate 7362 can move in the radial direction of the second first locking hole 7361, so that the installation diameter of the second first locking hole 7361 is decreased (i.e., smaller than the actual diameter of the second first locking hole 7361), or the installation diameter of the second first locking hole 7361 is increased (i.e., equal to the actual diameter of the second first locking hole 7361).

A second pressing part 7363 is arranged at an end of the second sliding seat 736, the second pressing part 7363 may be a pressing rod, the second pressing part 7363 is connected to the second elastic clamping plate 7362, and when the second pressing part 7363 is pressed, the second elastic clamping plate 7362 moves downward, so that the installation diameter of the second first clamping hole 7361 is increased; when the pressure applied to the second pressing part 7363 is removed, the second elastic catch plate 7362 is sprung upward by the elastic member, so that the installation diameter of the second first catch hole 7361 is reduced.

A pull rod 747 is coaxially disposed in the push rod 746, the pull rod 747 extends beyond the end of the push rod 746, and the pull rod 747 is capable of moving in the push rod 746 along the axial direction thereof.

The outer wall of the traction rod 747 is provided with a third locking groove 748, and when the traction rod 747 extends into the second first locking hole 7361, the elastic second locking plate 7362 is locked with the third locking groove 746, so that the traction rod 747 is fixed in the second first locking hole 7361, and is fixed with the second sliding seat 736.

When the instrument rod 741 needs to be removed, the second pressing portion 7363 is pressed to move the second elastic locking plate 7362 along the radial direction of the second first locking hole 7361, so that the installation diameter of the second first locking hole 7361 is increased, and the traction rod 747 can be taken out from the second first locking hole 7361.

The implementation of the opening and closing movement of the surgical instrument 8 will be described below:

as shown in fig. 34, a first end of the pull rod 747 passes through the push rod 746 and the gripping head 7465 in sequence and is connected to the surgical device 8. In contact with the collar inside the gripping head 7465. A fourth spring 7471 is disposed between the traction rod 747 and the clamping head 7465, a first end of the fourth spring 7471 is connected to an inner wall of the clamping head 7465, and a second end of the fourth spring 7471 is connected to an inner wall of the adaptor 7461, so that the fourth spring 7471 is limited between the clamping head 7465 and the adaptor 7461.

The side wall of the surgical instrument 8 is provided with an inclined hole 81, two sides of the first end of the traction rod 747 are provided with pin shafts 7472, the pin shafts 7472 are arranged in the inclined hole 81, and when the traction rod 747 is under the action of pulling force or pushing force, the pin shafts 7472 are pushed to move in the inclined hole 81, so that the surgical instrument 8 is opened or closed.

The outer wall of the second end of the traction rod 747 is provided with a third clamping groove 748, and the third clamping groove 748 is clamped with a second first clamping hole 7361 of the second sliding seat 736, so that when the second sliding seat 736 moves, the traction rod 747 is driven to move along the axial direction, and the pin shaft 7472 moves in the inclined hole 81, so that the surgical instrument 8 is opened or closed.

In the present embodiment, the first end refers to an end close to the surgical instrument 8, and the second end refers to an end far from the surgical instrument 8.

It should be noted that the connection manner among the seventh coupling 755, the eighth coupling 723 and the ninth coupling 738 in this embodiment is the same as the connection manner among the first coupling 753, the second coupling 721 and the third coupling 731 in the first embodiment, wherein the third spring 58 is disposed between the seventh coupling 755 and the second motor 7513, and similarly, the assembly among the three couplings can be faster by the third spring 58, and therefore, the description thereof is omitted.

As described above, in the present embodiment, the rotational motion of the second motor 7513 is transmitted to the second lead screw 7364, the rotational motion of the second lead screw 7364 is converted into the linear reciprocating motion of the second slider 736, and the linear reciprocating motion is converted into the opening and closing motion of the surgical instrument 8.

According to another aspect of the present invention, a method of securing an instrument having two degrees of freedom is provided.

In a fourth embodiment of the present invention, the surgical device 8 has a first degree of freedom and a second degree of freedom (e.g., a scalpel).

In this embodiment, a first hole 7121 and a second hole 7122 are disposed on a side wall of the fixing base 712, the driving device 51 includes a third motor 7511 and a first motor 7512, an output shaft of the third motor 7511 is disposed in the first hole 7121, and an output shaft of the first motor 7512 is disposed in the second hole 7122. In order to improve space utilization, the axial direction of the instrument rod 741, the axial direction of the third motor 7511, the axial direction of the first motor 7512, and the longitudinal direction of the holder 712 are the same.

The power transmission modes of the third motor 7511 and the first motor 7512 are the same as those in the previous embodiment, and are not described again here.

In this embodiment, since it is necessary to realize the rotation of the instrument rod 741 along the X axis and the rotation of the instrument rod 741 along the Z axis, the instrument rod 741 is connected to the transmission seat 73 through the rotation shaft 733 and is connected to the transmission seat 73 through the first sliding seat 735, and the connection manner is the same as the transmission manner in the foregoing embodiment, and will not be described again here.

Further, a pushing rod 746 is coaxially disposed in the instrument rod 741, and the specific manner of disposing the pushing rod 746 has been described in detail in the foregoing embodiments, and will not be described in detail herein.

In summary, in the present embodiment, the rotational motion of the third motor 7511 is converted into the rotational motion of the instrument rod 741, the rotational motion of the first motor 7512 is transmitted to the first lead screw 7354, the rotational motion of the first lead screw 7354 is converted into the linear reciprocating motion of the first slide carriage 735, and the linear reciprocating motion is converted into the deflecting motion (i.e., the rotation about the Z axis) of the surgical instrument 8.

In a fifth embodiment of the present invention, the surgical instrument 8 has a first degree of freedom and a third degree of freedom (e.g., a surgical shears that only performs a prescribed positional cut).

In this embodiment, the side wall of the fixed base 712 is provided with a first hole 7121 and a third hole 7123, the driving device 51 includes a third motor 7511 and a second motor 7513, an output shaft of the third motor 7511 is disposed in the first hole 7121, and an output shaft of the second motor 7513 is disposed in the third hole 7123. In order to improve space utilization, the axial direction of the instrument rod 741, the axial directions of the third motor 7511 and the second motor 7513, and the longitudinal direction of the holder 712 are the same.

The power transmission modes of the third motor 7511 and the second motor 7513 are the same as those in the previous embodiment, and are not described again here.

In this embodiment, since it is necessary to realize both the rotation of the instrument rod 741 along the X-axis and the opening and closing motion of the surgical instrument 8, the instrument rod 741 is connected to the transmission seat 73 through the rotation shaft 733 and connected to the transmission seat 73 through the second slide seat 736, and the connection manner is the same as the transmission manner in the foregoing embodiment, and will not be described again here.

Further, a pushing rod 746 is coaxially disposed in the instrument rod 741, a pulling rod 747 is coaxially disposed in the pushing rod 746, and the specific arrangement of the pushing rod 746 and the pulling rod 747 has been described in detail in the foregoing embodiments, and will not be described again.

As described above, in the present embodiment, the rotational motion of the third motor 7511 is converted into the rotational motion of the instrument rod 741, the rotational motion of the second motor 7513 is transmitted to the second lead screw 7364, the rotational motion of the second lead screw 7364 is converted into the linear reciprocating motion of the second slider 736, and the linear reciprocating motion is converted into the opening and closing motion of the surgical instrument 8.

In a sixth embodiment of the present invention, the surgical device 8 has a second degree of freedom and a third degree of freedom (e.g., forceps holding a suture needle).

In this embodiment, the second hole 7122 and the third hole 7123 are disposed on the sidewall of the fixing base 712, the driving device 51 includes a first motor 7512 and a second motor 7513, an output shaft of the first motor 7512 is disposed in the second hole 7122, and an output shaft of the second motor 7513 is disposed in the third hole 7123. In order to improve space utilization, the axial direction of the instrument rod 741, the axial directions of the first motor 7512 and the second motor 7513, and the longitudinal direction of the holder 712 are the same.

The power transmission modes of the first motor 7512 and the second motor 7513 are the same as those in the previous embodiment, and are not described again here.

In this embodiment, the instrument rod 741 is connected to the transmission seat 73 through the rotation shaft 733 and is connected to the transmission seat 73 through the first sliding seat 735, and the connection manner is the same as the transmission manner in the previous embodiment, and the description thereof is omitted.

Further, a pushing rod 746 is coaxially disposed in the instrument rod 741, a pulling rod 747 is coaxially disposed in the pushing rod 746, and the specific arrangement of the pushing rod 746 and the pulling rod 747 has been described in detail in the foregoing embodiments, and will not be described again.

According to a third aspect of the present invention, there is provided a fastening system for an instrument having three degrees of freedom.

Wherein the surgical instrument 8 has a first degree of freedom, a second degree of freedom, and a third degree of freedom (e.g., surgical scissors).

In this embodiment, the side wall of the fixed base 712 is provided with a first hole 7121, a second hole 7122 and a third hole 7123, and the driving device 751 comprises a third motor 7511, a first motor 7512 and a second motor 7513; an output shaft of the third motor 7511 is disposed in the first hole 7121, an output shaft of the first motor 7512 is disposed in the second hole 7122, and an output shaft of the second motor 7513 is disposed in the third hole 7123. In order to improve space utilization, the axial direction of the instrument rod 741, the axial directions of the first motor 7512 and the second motor 7513, and the longitudinal direction of the holder 712 are the same.

The power transmission modes of the third motor 7511, the first motor 7512, and the second motor 7513 are the same as those in the foregoing embodiments, and are not described again here.

In this embodiment, the instrument rod 741 is connected to the transmission seat 73 through the rotation shaft 733, and is connected to the transmission seat 73 through the first slide 735 and the second slide 736, respectively, in the same manner as that in the previous embodiment, and therefore, the connection method is not described herein again.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.

Claims (10)

1. The utility model provides a minimally invasive surgery robot, includes platform truck, arm, surgical instruments subassembly and connection the arm with the slip table of surgical instruments subassembly, a serial communication port, be provided with flexible arm on the platform truck, linear motion can be followed to flexible arm, arm and flexible arm fixed connection, the surgical instruments subassembly passes through surgical instruments and connects the support to be fixed on the slip table to can deflect the motion and open and shut the motion, the slip table is provided with the injecture the spacing subassembly of the linear motion scope of surgical instruments subassembly.

2. The minimally invasive surgical robot according to claim 1, wherein the surgical instrument assembly comprises an instrument fixing device and a surgical instrument, the surgical instrument is connected with the instrument fixing device through an instrument rod, and a driving device is arranged on the instrument fixing device and can drive the surgical instrument to perform deflection motion and opening and closing motion.

3. The minimally invasive surgery robot according to claim 2, wherein the driving device comprises a deflection driving device, the deflection driving device comprises a first motor, the first motor is connected with a first transmission shaft, the first transmission shaft is connected with a first sliding seat, the first sliding seat is slidably connected with the fixing device, the first motor drives the first sliding seat to reciprocate along the axial direction of the first transmission shaft through the first transmission shaft, the first sliding seat pulls the instrument rod to reciprocate along the axial direction of the first transmission shaft through a first lead screw, and drives the surgical instrument to perform deflection motion on two sides of the axial extension line of the instrument rod by taking the connection position of the surgical instrument and the instrument rod as a center.

4. The minimally invasive surgery robot according to claim 3, wherein the driving device further comprises an opening and closing driving device, the opening and closing driving device comprises a second motor, the second motor is connected with a second transmission shaft, the second transmission shaft is connected with a second sliding seat, the second sliding seat is slidably connected with the fixing device, the second motor drives the second sliding seat to reciprocate along the axial direction of the second transmission shaft through the second transmission shaft, the second sliding seat pulls the instrument rod to reciprocate along the axial direction of the second transmission shaft through a second lead screw, and the linear reciprocating motion is converted into the opening and closing motion of the surgical instrument at the end of the instrument rod.

5. The minimally invasive surgery robot according to any one of claims 1 to 4, wherein the telescopic arm comprises a fixed arm and a moving arm, the fixed arm is fixedly connected to the trolley, the fixed arm and the moving arm are connected together through a linear sliding rail, and the moving arm can move linearly along the axial direction of the telescopic arm through the linear sliding rail.

6. The minimally invasive surgery robot according to any one of claims 1 to 4, wherein the trolley comprises a trolley base and a column fixedly arranged on the base, the column comprises a column main body, outer guide rail assemblies, movable pulley assemblies and fixed pulley assemblies, the outer guide rail assemblies are respectively arranged on the left side and the right side of the column main body, the movable pulley assemblies are respectively arranged on the outer guide rail assemblies, the fixed pulley assemblies are arranged on the top of the trolley, and the movable pulley assemblies on the two sides of the column are connected together through the fixed pulley assemblies.

7. The minimally invasive surgery robot according to claim 6, wherein a hydraulic lifting caster is arranged at the bottom of the trolley base and comprises hydraulic supporting legs and universal wheels, the hydraulic supporting legs are connected with a hydraulic pump arranged at the bottom of the trolley through hydraulic pipes, and the hydraulic pump is provided with a rocker handle.

8. The minimally invasive surgical robot according to any one of claims 1 to 4, wherein the sliding table includes a first limit switch and a second limit switch respectively located at both end portions of the sliding table.

9. The minimally invasive surgery robot according to claim 2, wherein the instrument fixing device comprises a driving seat, an isolation seat arranged on the driving seat, and a transmission seat arranged on the isolation seat, the transmission seat and the isolation seat are connected through a first quick-release mechanism and/or a third quick-release mechanism, and the isolation seat and the driving seat are connected through a second quick-release mechanism and/or a fourth quick-release mechanism.

10. The minimally invasive surgical robot according to any one of claims 1 to 4, wherein the slide table further comprises a poking mechanism including a poking card to enable insertion and extraction of the surgical instrument assembly in a patient body along an axial direction of the poking card.

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