CN213940822U

CN213940822U - Manual braking unit for minimally invasive surgery

Info

Publication number: CN213940822U
Application number: CN202022288948.5U
Authority: CN
Inventors: 王瑞锋; 曹其冲
Original assignee: Jixian Artificial Intelligence Co Ltd
Current assignee: Jixian Artificial Intelligence Co Ltd
Priority date: 2020-10-14
Filing date: 2020-10-14
Publication date: 2021-08-13
Anticipated expiration: 2030-10-14

Abstract

The utility model discloses a minimal access surgery manual brake unit, include: the surgical instrument comprises a power device, a torsion adapter, a manual unit and a main controller, wherein the power device is in transmission connection with an instrument driving device, a plurality of motor assemblies are arranged in the power device, and the instrument driving device comprises an execution unit fixedly connected with a surgical instrument; the torsion adapter is driven by the motor assembly and is connected with the execution unit; the manual unit is connected with the execution unit; the main controller is respectively electrically connected with the manual unit and the motor assembly, can acquire the twisting information of the manual unit, and controls the motor assembly to drive the twisting adapter to drive the execution unit to twist. The utility model discloses a twist reverse the adapter and can acquire the operator to the torsional information of manual unit to send to main control unit, through main control unit driving motor subassembly, and then for the operation executor of execution unit tip provides torsional power, guarantee the accurate transmission of moment of torsion, effectively improve the operation precision, the simplified operation.

Description

Manual braking unit for minimally invasive surgery

Technical Field

The utility model relates to a minimal access surgery technical field, concretely relates to minimal access surgery manual brake unit.

Background

With the development of scientific technology, minimally invasive surgical medical techniques have been widely used in many fields of surgery. The minimally invasive surgery technology can reduce the operation wound, greatly reduce the postoperative recovery time of a patient, relieve the discomfort of the patient and reduce harmful side effects.

Minimally invasive surgery is usually implemented by using a robotic surgery system, which generally includes an arm with multiple degrees of freedom, a manual braking unit disposed at an end of the arm, an instrument driving device disposed on the manual braking unit, and a surgical actuator disposed on the instrument driving device, where the surgical actuator includes at least scissors, a clamp, and the like. The manual braking unit comprises a power device and a manual unit, and when an operator operates an instrument driving device on the manual braking unit to act, the manual braking unit can further control the operation executor to perform clamping, shearing and other operations.

When the operator controls the power device, the power device comprises two control parts: one part of the manual control device controls a motor assembly in the power device to enable the surgical actuator to deflect, and the other part of the manual control device controls a manual unit arranged on the power device to enable the surgical actuator to twist. However, in a minimally invasive surgery, in some cases, the surgical actuator on the instrument driving device needs to be inserted into the patient, that is, the manual unit is too far away from the surgical actuator, when an operator controls the manual unit to rotate the surgical actuator, due to the material, the torque cannot be completely transmitted to the surgical actuator at the end, and the operator needs to control the manual unit to rotate multiple times to provide sufficient torque, which causes inconvenience in surgical operation.

Disclosure of Invention

In order to solve one or more technical problems in the prior art, or at least provide a profitable selection, the utility model provides a minimal access surgery manual braking unit improves moment of torsion transmission efficiency, reduces the operation degree of difficulty.

The utility model discloses a minimal access surgery manual brake unit, include:

the power device is used for being in transmission connection with the instrument driving device, a plurality of motor components are arranged in the power device, and the instrument driving device comprises an execution unit fixedly connected with the surgical instrument;

the torsion adapter is driven by the motor assembly and is connected with the execution unit;

a manual unit connected to the execution unit;

and the main controller is electrically connected with the manual unit and the motor assembly respectively, can acquire the torsion information of the manual unit, and controls the motor assembly to drive the torsion adapter to drive the execution unit to twist.

As a preferred technical scheme of the minimally invasive surgery manual brake unit, the torsion adapter comprises a torque output shaft in transmission connection with an output shaft of the motor assembly, and the execution unit is in synchronous rotating connection with the torque output shaft.

As a preferred technical scheme of the manual brake unit for minimally invasive surgery, the torsion adapter further comprises a transmission worm, an output shaft of the motor assembly is in transmission connection with the transmission worm through a connector, and the torque output shaft is a gear shaft meshed with the transmission worm.

As a preferred technical scheme of the minimally invasive surgery manual brake unit, the manual unit comprises a rotatable handle assembly and a detection assembly used for detecting rotation information of the handle assembly, and the detection assembly is electrically connected with the main controller.

As a preferred technical scheme of the minimally invasive surgery manual brake unit, the manual unit comprises a manual knob assembly and a driven assembly driven by the manual knob assembly, and the detection assembly acts on the driven assembly.

As a preferred technical scheme of the minimally invasive surgery manual brake unit, a locking matching part is arranged between the handle assembly and the manual knob assembly.

As a preferred technical scheme of the minimally invasive surgery manual braking unit, the locking matching part comprises a first locking unit arranged on the handle assembly and a second locking unit arranged on the manual knob assembly, and the plurality of second locking units are arranged on the first locking unit along the rotation path of the handle assembly.

As a preferred technical scheme of the minimally invasive surgery manual brake unit, the manual unit further comprises a sleeve assembly arranged on the power device, the handle assembly can rotate relative to the sleeve assembly, the handle assembly is provided with a flexible output shaft, and the flexible output shaft penetrates through the sleeve assembly to be fixedly connected with the execution unit.

As a preferred technical scheme of the manual brake unit for minimally invasive surgery, the detection assembly is fixed on the sleeve assembly.

As a preferred technical scheme of the manual brake unit for minimally invasive surgery, a magnetic disc is arranged by taking the rotating axis of the handle assembly as the center, and the detection assembly is an encoder fixed on the sleeve assembly.

Due to the adoption of the technical scheme, the beneficial effects obtained by the application are as follows:

1. the utility model provides a motor element of the inside setting of power device, can provide the power that deflects for the execution unit, and further twist reverse the adapter at the inside setting of power device, twist reverse the adapter and can acquire the operator to the torsional information of manual unit, and send to main control unit, through main control unit driving motor subassembly, and then provide torsional power for the execution unit, can make the setting have remote control's deflection power and torsional force simultaneously at the operation executor of execution unit tip, guarantee the accurate transmission of moment of torsion, effectively improve the operation precision, the simplified operation.

2. The utility model discloses a twist reverse the moment of torsion output shaft that the adapter set up can be by the motor element direct drive who sets up in power device to drive the synchronous rotation of execution unit by moment of torsion output shaft, power transmission is reliable and stable.

3. The utility model discloses a manual unit is equipped with the detection subassembly that detects handle assembly pivoted information, can acquire operator control handle assembly pivoted angle through detection subassembly to send to main control unit, send the start control information to motor element by main control unit and make the execution unit carry out the rotation, execution unit pivoted angle information can be the same with handle assembly pivoted angle or be linear proportion, thereby improves control accuracy.

4. The utility model discloses set up manual unit into including handle components, manual knob subassembly and driven subassembly, when handle components rotates certain angle, because ergonomic reason, need the callback with the adjustment position appearance to handle components further rotation. Under this prerequisite, the accessible is held manual knob subassembly so that manual knob subassembly keeps fixed, readjusts handle subassembly to suitable angle to the rotation of drive handle subassembly once more, can not influence the execution unit, avoids unexpected rotatory. The driven assembly is linked with the manual knob assembly, and the action amplitude of the driven assembly can be adjusted by utilizing the transmission ratio of the driven assembly and the manual knob assembly, so that the detection precision of the detection assembly in the detection process is improved.

5. The utility model provides a locking cooperation portion can make handle components and manual knob subassembly have different cooperation relations, when handle components and manual knob subassembly locking are in the same place, can be rotated by the manual knob subassembly of handle components drive, and when handle components and manual knob subassembly do not have the locking in the same place, the turned angle of independent adjustment handle components can not exert an influence to manual knob subassembly to can not detect the detection subassembly and detect rotation information, the operator of being convenient for adjusts the operation position appearance.

6. Because the output shaft on the handle subassembly is flexible output shaft, the utility model discloses a set up the thimble assembly on power device in order to form the guide effect to flexible output shaft, can guide flexible output shaft and execution unit high-speed joint when installing handle subassembly, improve assembly efficiency.

7. The utility model provides a detection subassembly also can set up on the sleeve pipe assembly, because handle assembly and sleeve pipe assembly are relative pivoted, handle assembly's turned angle is judged to the relative pivoted angle of accessible to come to control the execution to twist reverse the adapter with corresponding control parameter by motor element, and then control the execution unit.

8. The utility model provides a detection module is the fixed encoder that sets up to set up pivoted disk thereupon on handle components, but disk and encoder cooperation accurate detection handle components's turned angle, turned angle send to main control unit, and drive execution unit rotates with the angle that corresponds. The matching structure of the disk encoder can reduce the abrasion of the handle assembly, simplify the structural complexity of the device and reduce the occupation of the installation space.

Drawings

The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it. In the drawings:

fig. 1 is a top view of a minimally invasive surgical device according to an embodiment of the present invention, without showing a manual unit.

Fig. 2 is a perspective view of the embodiment shown in fig. 1.

Fig. 3 is a schematic structural diagram of a manual braking unit according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of distribution of internal motor components of the power device according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram illustrating the turning of the torsion adapter according to an embodiment of the present invention.

Fig. 6 is a partially enlarged view of a portion a in fig. 5.

Fig. 7 is a schematic diagram of an internal structure of the torsion adapter according to an embodiment of the present invention.

Fig. 8 is a partial enlarged view of fig. 7 at B.

Fig. 9 is a schematic structural diagram of a manual unit according to an embodiment of the present invention.

Fig. 10 is a schematic structural diagram of a manual knob assembly according to an embodiment of the present invention.

Fig. 11 is a schematic view illustrating an installation of the driven assembly according to an embodiment of the present invention.

Fig. 12 is a schematic view of the handle assembly and the manual knob assembly locking according to an embodiment of the present invention.

Fig. 13 is a schematic view of a handle assembly and a manual knob assembly locking arrangement in another embodiment of the present invention.

Fig. 14 is a schematic structural diagram of an execution unit according to an embodiment of the present invention.

Fig. 15 is a partial enlarged view at C in fig. 14.

Description of reference numerals:

1-manual brake unit, 11-power unit, 111-first motor assembly, 112-second motor assembly, 12-torsion adapter, 121-torque output shaft, 122-drive worm, 13-manual unit, 131-handle assembly, 1311-flexible output shaft, 1312-first locking unit, 1313-magnetic disc, 132-encoder, 133-manual knob assembly, 1331-knob body, 1332-sleeve assembly, 1333-second locking unit, 134-driven assembly, 2-instrument drive, 21-actuator unit, 211-joint, 22-input shaft, 3-connector.

Detailed Description

In order to more clearly explain the overall concept of the present invention, the following detailed description is given by way of example in conjunction with the accompanying drawings.

It should be noted that in the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.

In addition, in the description of the present invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element 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.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. However, the direct connection means that the two bodies are not connected to each other by the intermediate structure but connected to each other by the connecting structure to form a whole. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The specific scheme is as follows:

referring to fig. 1-6, the present invention discloses a manual brake unit 1 for minimally invasive surgery, which is applied to a minimally invasive surgery device. In some embodiments, the minimally invasive surgery apparatus includes a manual brake unit 1 and an instrument driving device 2, the instrument driving device 2 is detachably mounted on the manual brake unit 1, the instrument driving device 2 is provided with an execution unit 21, a surgical actuator is disposed on the execution unit 21 of the instrument driving device 2, and an operator drives the instrument driving device 2 by operating the manual brake unit 1, so as to further enable the surgical actuator to perform corresponding surgery actions, such as clamping, shearing and the like. During the actual surgical procedure, it is necessary to ensure that the instrument drive 2 is located in a sterile field with the patient.

Referring to fig. 3 and 4, the manual brake unit 1 includes a power device 11, a torsion adapter 12, a manual unit 13 and a main controller, wherein the power device 11 is connected to the instrument driving device 2, a plurality of motor assemblies are disposed in the power device 11, the instrument driving device 2 is provided with an input shaft 22, and the plurality of motor assemblies in the power device 11 are in transmission connection with the input shaft 22 of the instrument driving device 2 through a connector 3. When power transmission is carried out, the output shaft drives the input shaft 22 to directly rotate along with the rotation of the output shaft of the motor assembly, and the power transmission is simple and reliable. The motor components in the power device 11 include a plurality of first motor components 111 for driving the executing unit to deflect up, down, left and right and a plurality of second motor components 112 for driving the executing unit 21 to twist, and different motor components can be controlled to drive the input shaft 22 of the instrument driving device 2, so as to drive the executing unit 21 to execute the effect of deflecting and twisting towards a plurality of directions, and the control precision of the operation is improved by utilizing the independent or matched control of the plurality of motor components. Generally, the instrument driving device 2 is provided with 2 input shafts 22, the forward and reverse rotation of the input shafts 22 are respectively matched with the execution unit 21 to enable the execution unit 21 to deflect in four directions of up, down, left and right, and the deflection of a certain angle is realized by utilizing the matching of two adjacent directions in the four directions, correspondingly, 2 first motor assemblies 111 are arranged in the power device 11 to be matched with the first motor assemblies, and respectively correspond to the 2 input shafts 22, and the respective forward and reverse rotation of the two input shafts 22 can realize the up, down, left and right control of the execution unit 21; secondly, the instrument driving device 11 is provided with at least 1 input shaft 22 acting on the executing unit 21 to enable the executing unit 21 to rotate clockwise and anticlockwise, and correspondingly, at least one second motor assembly 112 is arranged in the power device 11 to be matched with the executing unit 21.

The manual brake unit 1 further comprises a torsion adapter 12 driven by the motor assembly, the torsion adapter 12 is connected with the execution unit 21; the torque adapter 12 receives the torque transmitted by the second motor assembly 112 and acts on the actuator unit 21. In addition, the manual brake unit 1 further includes a manual unit 13 connected to the execution unit 21, and a main controller respectively connected to the manual unit 13 and the second motor assembly 112, wherein the main controller is capable of acquiring the torsion information of the manual unit 13, and controlling the second motor assembly 112 to drive the torsion adapter 12 to drive the execution unit 21 to twist.

Referring to fig. 4, an attitude sensor is disposed inside the power device 11, and the operator controls the first motor assembly 111 to mainly control the attitude of the power device 11 for recognition by the attitude sensor, and the attitude sensor sends a corresponding signal to the main control board, and the main control board drives the corresponding motor to further drive the execution unit 21 to deflect. The operator controls the second motor assembly 112 by rotating the manual unit 13, the rotation information is sent to the main controller in the form of digital signals, the main controller drives the second motor assembly 112 to rotate, then the second motor assembly 112 drives the torsion adapter 12, and the torque of the second motor assembly 112 is input from the middle section or even the rear section of the execution unit 21 (according to the setting position of the torsion adapter), so that the torque obtained by the tail end of the execution unit 21 is larger, and the operator can conveniently control the surgical actuator to perform minimally invasive surgery. Through the first motor element 111 arranged in the power device 11, the power for deflection can be provided for the execution unit 21, the torsion adapter 12 is further arranged in the power device 11, the torsion adapter 12 can obtain the torsion information of the operator to the manual unit 13 and send the torsion information to the main controller, the second motor element 112 is driven through the main controller, and then the torsion power is provided for the execution unit 21, so that the surgical actuator arranged at the end part of the execution unit 21 has the deflection force and the torsion force which are remotely controlled at the same time, the accurate transmission of the torque is ensured, the surgical precision is effectively improved, and the operation is simplified.

Referring to fig. 6 and 8, in some embodiments, the torque adapter 12 includes a torque output shaft 121 drivingly connected to the output shaft of the motor assembly, and the actuator unit 21 is rotationally connected to the torque output shaft 121. The motor assembly is the second motor assembly 112 for driving the execution unit 21 to twist, and the twisting adapter 12 and the instrument driving device 2 are both disposable, so in the practical application process, the twisting adapter 12 and the instrument driving device 2 are both in a sterile area, and the second motor assembly 112 in the power device 11 is connected with the torque output shaft 121 on the twisting adapter 12 through the connector 3, so as to transmit the power of the motor assembly to the instrument driving device 2. The torque output shaft 121 can be directly driven by a motor assembly, and the torque output shaft 121 drives the execution unit 21 to synchronously rotate, so that the power transmission is stable and reliable.

Further, the torsion adapter 12 further comprises a driving worm 122, an output shaft of the second motor assembly 112 is in driving connection with the driving worm 122 through the connector 3, and the torque output shaft 121 is a gear shaft engaged with the driving worm 122. Specifically, the driving worm 122 has one end fixed to the housing portion of the torque adapter 12 and the other end protruding from the housing portion of the torque adapter 12 as the input shaft 22 and connected to the connector 3. Because the torque output shaft 121 is a gear shaft, the power of the driving worm 122 can be vertically output, when the second motor assembly 112 is started to rotate, the connector 3 is driven to rotate, the connector 3 further drives the driving worm 122 to rotate, the driving worm 122 drives the torque output shaft 121 to rotate, and the torque output shaft 121 drives the execution unit 21 of the instrument driving device 2 to twist.

With continued reference to fig. 4, in some embodiments, the motor assembly is horizontally disposed inside the power device 11 to flatten the power device 11, the instrument driving device 2 is mounted on the upper surface of the power device 11, and a transmission member is disposed inside the power device 11 and vertically transmits the horizontal power of the motor assembly to the instrument driving device 2. If the transmission part is a bevel gear set, namely, first bevel gears are respectively arranged on output shafts of the motor components, an axis body is arranged perpendicular to the first bevel gears, a second bevel gear is sleeved on the axis body, meanwhile, the axis body can also be connected with a connector, and the first bevel gears and the second bevel gears are matched to realize power transmission in the vertical direction. Motor element level sets up inside power device, and reducible power device 11 occupies in the space of vertical direction, realizes power device 11's flattening structure, and the operator of being convenient for operates power device 11 and carries out the operation to the patient.

Referring to fig. 9, in some embodiments, the manual unit 13 includes a rotatable handle assembly 131 and a detection assembly for detecting rotation information of the handle assembly 131, the detection assembly being electrically connected to the main controller. The handle assembly 131 is held by an operator, and different surgical actuators located in the execution unit 21 can be operated, such as clamping, shearing and the like, by controlling the handle assembly 131; the operator may also rotate handle assembly 131 to twist the surgical implement. The torsion parameters are acquired by the detection component and sent to the main controller, the main controller sends starting control information to the second motor component 112 to sequentially drive the transmission worm 122 and the torque transmission shaft 121 in the torsion adapter 12 to rotate, so that the execution unit 21 executes torsion, and the rotation angle information of the execution unit 21 can be the same as or in linear proportion to the rotation angle of the handle component 131, so that the control precision is improved.

Referring to fig. 10 and 11, further, the manual unit 13 further includes a manual knob assembly 133 and a driven assembly 134 driven by the manual knob assembly 133, and the detecting assembly acts on the driven assembly 134. Specifically, the manual knob assembly 133 includes a knob body 1331 for holding and a sleeve assembly 1332 fixedly connected to the knob body 1331, the sleeve assembly 1332 is fixedly connected to the manual knob assembly 133 and relatively rotatable to the handle assembly 131, the sleeve assembly 1332 is a hollow structure, the handle assembly 131 is provided with a flexible output shaft 1311, the flexible output shaft 1311 can pass through the sleeve assembly 1332 and is connected to the execution unit 21 through the torsion adapter 12, the sleeve assembly 1332 is provided on the power device 11 to provide a guiding function for the flexible output shaft 1311, and the flexible output shaft 1311 can be guided to be rapidly connected to the execution unit 21 when the handle assembly 131 is installed, so as to improve the assembly efficiency.

The periphery of sleeve subassembly 1332 is equipped with the gear, driven subassembly 134 is the driven gear with the gear complex on the sleeve subassembly 1332, driven gear can fix on power device 11, because the determine module sets up on driven gear, the accessible detects driven gear's rotation parameter and obtains manual knob subassembly 133's rotation information, because the operator is when performing the operation, handle subassembly 131 and manual knob subassembly 133 are synchronous pivoted, therefore, when the determine module acquires driven gear's information, can acquire handle subassembly 131's rotation information, and then by the operation executor of main control board drive second motor element 112 transmission moment of torsion to execution unit 21 tip. However, after the operator rotates the handle assembly 131 by a certain angle, the operator cannot continue to rotate due to ergonomic limitation, and is difficult to adjust to a proper use position, and needs to adjust the posture of the operator, and for convenience of operation, the operator can adjust the position of the handle assembly 131 to continue to rotate, but the adjustment cannot be used as a surgical operation step, cannot affect the execution unit 21, and does not need to rotate the surgical actuator along with the surgical operation step. At this time, the handle assembly 131 is disconnected from the manual knob assembly 133, the manual knob assembly 133 can be kept fixed by holding the manual knob assembly 133, the handle assembly 131 is adjusted to a proper angle to drive the handle assembly 131 to rotate again, the detection assembly 132 only acts on the driven assembly 134, the rotation angle information of the handle assembly 131 can be avoided, and the influence is reduced. It is understood that the present application may also utilize the transmission ratio of the driven assembly 134 to the manual knob assembly 133 to adjust the action amplitude of the driven assembly 134, so as to improve the detection accuracy of the detection assembly during the detection process.

Referring to fig. 12, a locking engagement portion is provided between the handle assembly 131 and the manual knob assembly 133. The locking matching part can enable the handle assembly 131 and the manual knob assembly 133 to have different matching relations, when the handle assembly 131 and the manual knob assembly 133 are locked together, the manual knob assembly 133 can be driven to rotate by the handle assembly 131, and when the handle assembly 131 and the manual knob assembly 133 are not locked together, the manual knob assembly 133 cannot be affected by independently adjusting the rotating angle of the handle assembly 131, so that the rotating information cannot be detected by the detection assembly, and an operator can conveniently adjust the operation posture.

In some embodiments, the lock fitting portion includes a first lock unit 1312 provided to the handle assembly 131 and a second lock unit 1333 provided to the manual knob assembly 133, and a plurality of the second lock units 1333 are provided on the first lock unit 1312 along a rotation path of the handle assembly 131. When the first locking unit 1312 rotates with the handle assembly 131, it can form a locking fit with any one of the second locking units 1333 during rotation. Specifically, the first locking unit 1312 is a set screw disposed at an axial end portion of the handle assembly 131, and the second locking unit 1333 is disposed at a positioning recess point at an axial end portion of the manual knob assembly 133. Handle component 131 and manual knob subassembly 133 are coaxial counterpoint installation, because the holding screw stretches out in the axial tip of handle component 131, when the installation with the location concave point butt of manual knob subassembly 133, when rotating handle component 131 this moment, can make handle component 131 and manual knob subassembly 133 together rotatory because holding screw and the cooperation of location concave point, and when handle component 131 axially withdrawed from manual knob subassembly 133, the holding screw no longer cooperates with the location concave point, rotating handle component 131 can not drive manual knob subassembly 133 yet and rotate, can adjust back the turned angle of handle component 131 fast and not influence execution unit 21, the operator of being convenient for adjusts the operation position appearance.

Referring to fig. 13, in some embodiments, the detecting assembly is fixed to the sleeve assembly 1332, and since the handle assembly 131 and the sleeve assembly 1332 are rotated relatively, the rotation angle of the handle assembly 131 can be determined by the relative rotation angle, so that the motor assembly controls the execution of the twisting adaptor 12 according to the corresponding control parameters, and further controls the execution unit 21. Specifically, a disk 1313 is provided around the rotational axis of the handle assembly, and the detection assembly is the encoder 132 fixed to the sleeve assembly 1332. The magnetic disc 1313 cooperates with the encoder 132 to precisely detect the rotation angle of the handle assembly 131, and the rotation angle is transmitted to the main controller, and drives the actuator unit 21 to rotate at a corresponding angle. The matching structure of the disk encoder can reduce the abrasion of the handle component 131, simplify the structural complexity of the device and reduce the occupation of the installation space.

Referring to fig. 14 and 15, the instrument driving device 2 of the present application further includes a traction unit (not shown) acting on the actuating unit 21, the traction unit includes a plurality of sets of traction ropes oppositely arranged and a rotating shaft engaged with each traction rope, and the input shaft 22 is in transmission connection with the rotating shaft to pull the traction ropes in the rotating direction of the rotating shaft. The traction unit comprises two groups of traction assemblies, each traction assembly comprises two traction ropes, the two traction ropes belonging to the same traction assembly are arranged oppositely to define the deflection angle of the execution unit 21 in opposite directions. The traction ropes are all provided with rotating shafts to drive so as to realize tensioning of the traction ropes. The rotating shaft is arranged on the input shaft 22 of the instrument driving device 2, when the motor component inside the power device 11 rotates to drive the connector 3 to rotate, and further drives the input shaft 22 on the instrument driving device 2 to rotate, the rotating shaft rotates along with the rotating shaft along one direction, and as the traction rope is wound on the rotating shaft, the rotation of the rotating shaft can drive the traction rope to be tensioned. Referring to fig. 13 and 14, one end of the pulling rope is disposed at the end of the actuating unit 21, and the actuating unit 21 includes a thin-walled tubular structure formed by a plurality of joints 211 hinged to each other, and the hinged parts of the adjacent joints 211 are perpendicular to each other, so as to control the bending deflection angle in any direction. The deflection control of the execution unit 21 is realized through the traction unit, when the execution unit 21 is required to deflect towards a certain direction, the corresponding motor assembly is started to drive the traction unit to rotate, and the structure is simple and easy to realize.

The technical solution protected by the present invention is not limited to the above embodiments, and it should be noted that the technical solution of any one embodiment is combined with the technical solution of one or more other embodiments in the protection scope of the present invention. Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. A minimally invasive surgical hand brake unit, comprising:

the power device is used for being in transmission connection with the instrument driving device, a plurality of motor assemblies are arranged in the power device, and the instrument driving device comprises an execution unit fixedly connected with the surgical instrument;

a torsion adapter driven by the motor assembly, the torsion adapter being connected to the execution unit;

a manual unit connected to the execution unit;

and the main controller is electrically connected with the manual unit and the motor assembly respectively, and can acquire the torsion information of the manual unit and control the motor assembly to drive the torsion adapter to drive the execution unit to twist.

2. The manual brake unit of claim 1, wherein the torsion adapter includes a torque output shaft in driving connection with the output shaft of the motor assembly, and the actuator unit is in synchronous rotational connection with the torque output shaft.

3. The manual brake unit of claim 2, wherein the torsion adapter further comprises a driving worm, the motor assembly output shaft is in driving connection with the driving worm through a connector, and the torque output shaft is a gear shaft engaged with the driving worm.

4. The manual brake unit of claim 1, wherein the manual unit comprises a rotatable handle assembly and a detection assembly for detecting rotation information of the handle assembly, and the detection assembly is electrically connected to the main controller.

5. The manual brake unit of claim 4, further comprising a manual knob assembly and a driven assembly driven by the manual knob assembly, wherein the detection assembly acts on the driven assembly.

6. The manual brake unit for minimally invasive surgery of claim 5, wherein a locking engagement portion is arranged between the handle assembly and the manual knob assembly.

7. The manual brake unit of claim 6, wherein the locking engagement portion comprises a first locking unit disposed on the handle assembly and a second locking unit disposed on the manual knob assembly, and a plurality of the second locking units are disposed on the first locking unit along a rotation path of the handle assembly.

8. The manual brake unit for minimally invasive surgery according to claim 4, further comprising a sleeve assembly mounted to the power device, wherein the handle assembly is capable of rotating relative to the sleeve assembly, and the handle assembly is provided with a flexible output shaft, and the flexible output shaft passes through the sleeve assembly to be fixedly connected with the execution unit.

9. The manual brake unit of claim 8, wherein the detection assembly is fixed to the cannula assembly.

10. The manual brake unit for minimally invasive surgery according to claim 8, wherein a magnetic disc is disposed around a rotation axis of the handle assembly, and the detection assembly is an encoder fixed to the cannula assembly.