CN215606248U

CN215606248U - Surgical robot and surgical instrument thereof

Info

Publication number: CN215606248U
Application number: CN202121318322.2U
Authority: CN
Inventors: 叶鹤松
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2021-06-11
Filing date: 2021-06-11
Publication date: 2022-01-25
Anticipated expiration: 2031-06-11

Abstract

The utility model relates to a surgical robot and a surgical instrument thereof. The surgical instrument includes: the method comprises the following steps: an end effector having a joint; and the force multiplication mechanism comprises a pulley assembly, the pulley assembly is provided with a force input end and a force output end, the force output end is used for being connected with the joint, and the pulley assembly can realize that the output force of the force output end is greater than the input force of the force input end. When surgical robot's surgical instruments performed the operation, under the certain circumstances of input strength to pulley assembly provides, pulley assembly exports to articular output strength and increases, thereby can improve articular output strength, make end effector can accomplish some and require higher operations to efforts such as clamping-force, tractive power, and then need not additionally improve drive arrangement's power (need not increase drive arrangement's volume promptly), the beneficial effect of compromise drive arrangement's miniaturized design and surgical instruments's output strength demand has been realized.

Description

Surgical robot and surgical instrument thereof

Technical Field

The utility model relates to the technical field of surgical instruments, in particular to a surgical robot and a surgical instrument thereof.

Background

Instruments (i.e., surgical instruments) for surgical robots having dexterous multi-joint (i.e., multiple dexterous joints) kinematic capabilities have found widespread use in today's clinical surgical treatment field. The dexterous joints of most surgical instruments are each driven by a pair of very thin cables. Since the operation is usually performed by driving a plurality of surgical instruments to move by a plurality of robot arms respectively and simultaneously, interference between different robot arms and the surgical instruments needs to be avoided as much as possible, and therefore, miniaturization of the robot arms and the surgical instruments is very important.

The miniaturized design of the mechanical arm and the surgical instrument can lead to that a plurality of driving devices (such as motors) for driving the flexible multi-joint movement are selected to be in a miniaturized structure so as to meet the requirement of miniaturization of the mechanical arm. Miniaturized driving devices are typically relatively low in power, which tends to result in too low an output force of the end effector of the surgical instrument, which in turn may not meet the requirements of certain surgical scenarios for force performance.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide a surgical robot and a surgical instrument that can satisfy both the miniaturization of a driving device and the output power requirement of the surgical instrument, in order to solve the problem of insufficient output power due to the miniaturization of the conventional surgical instrument.

An embodiment of the present application provides a surgical instrument, including:

an end effector having one or more joints; and

the force multiplication mechanism comprises a pulley assembly, wherein the pulley assembly is provided with a force input end and a force output end, the force output end is used for being connected with the joint, and the pulley assembly can realize that the output force of the force output end is larger than the input force of the force input end.

According to the surgical instrument, the force input end of the pulley assembly provides input force, so that the force output end of the pulley assembly can provide output force for the corresponding joint, and the end effector can perform corresponding surgical actions. Because pulley assembly can realize that the output power of power output end is greater than the input power of power input end, therefore, when surgical robot's surgical instruments performed the operation, drive arrangement on the arm is certain under the circumstances to the input power that pulley assembly provided, pulley assembly exports the output power increase to the joint, thereby can improve articular output power, make end effector can accomplish some and require higher operations to power such as clamping-force, traction force, and then need not additionally improve drive arrangement's power (need not increase drive arrangement's volume promptly), the beneficial effect of the output power demand of compromise drive arrangement's miniaturized design and surgical instruments has been realized.

In one embodiment, the force multiplying mechanism further comprises a housing, and the pulley assembly is accommodated in the housing;

the sheave assembly includes:

at least one movable pulley;

one end of the first traction rope is pulled by the movable pulley, and the other end of the first traction rope is the force output end; and

and one end of the second traction rope is a fixed end, the other end of the second traction rope is the force input end, the force input end bypasses the movable pulley, and the second traction rope is matched with the movable pulley.

In one embodiment, each of the joints is connected with two pulley assemblies;

one of the two pulley assemblies is used for drawing the corresponding joint to move along a first direction, and the other pulley assembly is used for drawing the corresponding joint to move along a second direction, wherein the second direction is opposite to the first direction.

In one embodiment, the force multiplier mechanism further comprises: a reel housed in the case and rotationally connected to the case; the force input end is connected to the reel after passing around the movable pulley.

In one embodiment, the two second traction ropes of the two pulley assemblies corresponding to each joint are respectively connected to the same reel; when the same reel rotates, one of the second traction ropes can be wound, and the other second traction rope can be released.

In one embodiment, the surgical device further comprises a cannula, and the first traction rope is arranged through the cannula.

In an embodiment, the at least one movable pulley comprises: at least two movable pulleys; the at least two movable pulleys jointly pull the first traction rope;

the pulley assembly further comprises a fixed pulley; two adjacent movable pulleys are correspondingly provided with one fixed pulley; the matching relation between the second traction rope and the two adjacent movable pulleys and the corresponding fixed pulley is configured as follows: and the force input end of the second traction rope sequentially passes around one of the movable pulleys, the fixed pulley and the other movable pulley.

In one embodiment, the sheave assembly further comprises: the traction rod sequentially penetrates through the at least two movable pulleys and is respectively in rotary connection with the at least two movable pulleys, and the traction rod pulls the first traction rope;

the fixed pulleys are used for changing the traction direction of the second traction rope, so that two adjacent movable pulleys drive the traction rod to move along the same direction.

In an embodiment, the pulley assembly further includes a limiting portion disposed on the drawbar or the movable pulley, and the limiting portion is configured to limit axial movement of the movable pulley along the drawbar.

In one embodiment, the sheave assembly further comprises: the device comprises a first rotating shaft, a second rotating shaft and a connecting rod, wherein two ends of the connecting rod are respectively connected with the first rotating shaft and the second rotating shaft; the first rotating shaft is arranged in a penetrating mode and is connected to one of the two adjacent movable pulleys in a rotating mode, and the second rotating shaft is arranged in a penetrating mode and is connected to the other movable pulley in the adjacent movable pulley in a rotating mode.

In one embodiment, the force multiplying mechanism further comprises a guide slide rail for limiting the moving direction of the movable pulley.

In one embodiment, the pulley assembly further comprises a reversing wheel, and the reversing wheel is a fixed pulley; the force output end bypasses behind the reversing wheel and is connected to the joint.

In one embodiment, the number of joints is plural.

Another embodiment of the present application also provides a surgical robot, including: the surgical instrument is arranged on the mechanical arm, and a driving device arranged on the mechanical arm is used for providing input force for the force input end.

According to the surgical instrument of the surgical robot, the force input end of the pulley assembly provides input force, so that the force output end of the pulley assembly can provide output force for the corresponding joint, and the end effector can perform corresponding surgical actions. Because pulley assembly can realize that the output power of power output end is greater than the input power of power input end, therefore, when surgical robot's surgical instruments performed the operation, drive arrangement on the arm is certain under the circumstances to the input power that pulley assembly provided, pulley assembly exports the output power increase to the joint, thereby can improve articular output power, make end effector can accomplish some and require higher operations to power such as clamping-force, traction force, and then need not additionally improve drive arrangement's power (need not increase drive arrangement's volume promptly), the beneficial effect of the output power demand of compromise drive arrangement's miniaturized design and surgical instruments has been realized.

Drawings

FIG. 1 is a schematic structural view of a surgical instrument of a first embodiment;

FIG. 2 is a schematic structural view of a second embodiment of the surgical device;

FIG. 3 is a schematic structural view of a force multiplier mechanism of a third embodiment of a surgical instrument;

fig. 4 is a schematic structural view of a surgical instrument according to a fourth embodiment.

Description of reference numerals:

a surgical instrument 100;

a joint 110; a first joint 111; a second joint 112; an actuator body 120; a first opening and closing flap 131; a second opening and closing flap 132;

a sheave assembly 150; a movable pulley 151; a first pull cord 152; a second pull cord 153; a first pulley assembly 150 a; a second pulley assembly 150 b;

a housing 160; a fixing portion 161;

a reel 170; a bobbin 171;

a sleeve 180;

a surgical instrument 200;

a joint 210;

a pulley assembly 250; a first pull cord 252; a second pull cord 253; a fixed pulley 254; a drawbar 255;

a housing 260;

a sheave assembly 350; a first pull cord 352; a second traction rope 353; a fixed pulley 354; a connecting rod 356; a first shaft 357; a second rotating shaft 358;

a surgical instrument 400; a joint 410; a pulley assembly 450; a movable pulley 451; a first pull-cord 452; a second pull cord 453; a housing 460; a sleeve 480; a reversing wheel 490.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1, an embodiment of the present application provides a surgical instrument 100. The surgical instrument 100 includes: an end effector and a force multiplier mechanism. The end effector has a joint 110. The force multiplier mechanism includes a pulley assembly 150. The sheave assembly has a force input end and a force output end. The sheave assembly enables the output force of the force output to be greater than the input force of the force input.

In particular, joint 110 may be a smart joint. The sheave assembly includes: at least one movable pulley 151, a first traction rope 152 and a second traction rope 153. The first traction rope 152 has one end pulled by the movable pulley 151 and the other end serving as a force output end and connected to the joint 110. One end of the second pulling rope 153 is a fixed end and has a fixed position, and the other end is a force input end. The force input end passes around the movable pulley 151 and the second traction rope 153 is engaged with the movable pulley 151.

Those skilled in the art will appreciate that there are many types of end effectors, such as surgical scissors, forceps, scalpels, forceps, and the like. Surgical instrument 100 is used to perform a particular surgical action via an end effector. The actuator of the end effector performs a particular surgical action, which is accomplished by movement of its joint 110. Different types of end effectors are used to perform different actions, such as opening and closing actions, rotating actions, pitching actions, yawing actions, and the like. The present embodiment will be described below by taking an opening/closing type end effector that performs an opening/closing operation as an example. As shown in fig. 1, the open-close type end effector may be a forceps, a scissors, etc., and includes an effector body 120, a first joint 111, a first open-close flap 131, a second joint 112, and a second open-close flap 132. The first opening and closing flap 131 is rotatably connected with the actuator body 120 through the first joint 111, and the second opening and closing flap 132 is rotatably connected with the actuator body 120 through the second joint 112, so that relative opening and closing movements of the first opening and closing flap 131 and the second opening and closing flap 132 can be realized.

Pulley assembly 150 is coupled to joints 110(111, 112) and is configured to rotate joints 110 such that the end effector performs a surgical action via rotation of joints 110(111, 112). The pulley assembly 150 may be driven by an additional driving device, for example, when the surgical instrument 100 is applied to a surgical robot (not shown), the pulley assembly 150 may be driven by a driving motor provided on a mechanical arm of the surgical robot.

As shown in fig. 1, in the present embodiment, each joint 110 is connected to two pulley assemblies 150. The two pulley assemblies 150 are a first pulley assembly 150a and a second pulley assembly 150b, respectively. The first joint 111 will be described below as an example. The first joint 111 is connected to its corresponding first and

second pulley assemblies

150a and 150b, respectively. The first pulley assembly 150a is configured to drive the first joint 111 to rotate along the first direction W1, so as to open the first opening/closing flap 131 (relative to the second opening/closing flap 132). The second pulley assembly 150b is used to drive the first joint 111 to rotate along the second direction W2, so as to realize the closing action of the first opening/closing flap 131 (relative to the second opening/closing flap 132). In fig. 1, the first direction W1 is a clockwise direction, and the second direction W2 is a direction opposite to the first direction W1, specifically, a counterclockwise direction.

As shown in fig. 1, in the present embodiment, the first pulley assembly 150a includes a movable pulley 151, a first traction rope 152 and a second traction rope 153. One end of the first traction rope 152 is connected to the movable pulley 151, and the other end is a force output end and connected to the first joint 111. One end of the second pull rope 153 is a fixed end and the other end is a force input end. The position of the fixed end is fixed relative to the overall structure of the surgical instrument 100. The fixed end of the second traction rope 153 is located on the side of the movable pulley 151 facing away from the first joint 111. The force input end of the second traction rope 153 is also located on the side of the movable pulley 151 facing away from the first joint 111 after passing around the movable pulley 151. The second traction rope 153 is engaged with the outer peripheral surface of the movable sheave 151.

As can be understood from fig. 1, when the force input end of the second pulling rope 153 is applied with a pulling force, so that the force input end of the second pulling rope 153 moves in a direction away from the first joint 111, the second pulling rope 153 can drive the movable pulley 151 to move in a direction away from the first joint 111, so that the movable pulley 151 pulls the first pulling rope 152 in a direction away from the first joint 111, and further, the first pulling rope 152 applies a pulling force to the first joint 111, so that the first joint 111 rotates in the first direction W1, and the first opening/closing flap 131 opens relative to the second opening/closing flap 132. One end of the first traction rope 152 may be tied to the axial center of the movable pulley 151, and the other end (force output end) may be tied to the outer circumferential surface of the first joint 111.

Also shown in fig. 1 are the force profiles of the first pull cord 152 and the second pull cord 153. The labor-saving principle of the movable pulley is combined, so that the traction force of the first traction rope 152 is twice as large as that of the second traction rope 153 by matching the movable pulley 151 with the first traction rope 152 and the second traction rope 153, and the traction force of the first joint 111 from the first traction rope 152 is twice as large as that of the second traction rope 153. Therefore, when the driving device provides a constant input force to the pulley assembly 150 (the force input end of the second traction rope 153) during the operation of the surgical instrument 100 of the surgical robot, the output force of the pulley assembly 150 (the force output end of the first traction rope 152) to the first joint 111 is increased in multiple, and the output force of the first joint 111 can be significantly increased.

As shown in fig. 1, the second pulley assembly 150b has the same structure and movement principle as the first pulley assembly 150a, and will not be described in detail. However, in the present embodiment, the installation direction of the second sheave assembly 150b is opposite to the installation direction of the first sheave assembly 150 a. Therefore, when the force input end of the second pulling rope 153 pulling the second pulley assembly 150b moves in the direction away from the first joint 111, the movable pulley 151 of the second pulley assembly 150b moves in the direction away from the first joint 111, and the first pulling rope 152 of the second pulley assembly 150b drives the first joint 111 to rotate in the second direction W2, so that the first opening/closing flap 131 performs the closing motion relative to the second opening/closing flap 132.

Similar to the first joint 111, the second joint 112 is also connected to its corresponding first and

second pulley assemblies

150a and 150b, respectively. The connection relationship and movement principle of the second joint 112 and the corresponding first pulley assembly 150a and second pulley assembly 150b are similar to those of the first joint 111, and detailed description thereof is omitted, and specific reference may be made to the above description of the first joint 111. Through the cooperation of the second joint 112 and the corresponding first pulley assembly 150a and second pulley assembly 150b, the opening and closing action of the second opening and closing flap 132 with respect to the first opening and closing flap 131 can be realized, and further: in the case where the driving device provides a constant input force to the pulley assembly 150 (the force input end of the second traction rope 153), the output force of the pulley assembly 150 (the force output end of the first traction rope 152) to the second joint 112 is increased by a multiple, so that the output force of the second joint 112 can be significantly increased.

Because the output force of the first joint 111 and the output force of the second joint 112 can be significantly increased under the condition that the input force provided by the driving device is constant, the end effector can complete some surgeries requiring higher forces such as clamping force and pulling force under the condition that the power of the driving device is constant, the power of the driving device does not need to be additionally increased, the size of the driving device does not need to be increased, and the miniaturization design of the driving device and the output force requirement of the surgical instrument 100 can be considered.

The surgical instrument 100 described above provides an input force to the force input end of the pulley assembly 150, such that the force output end of the pulley assembly can provide an output force to the corresponding joint, thereby enabling the end effector to perform a corresponding surgical action. Because the pulley assembly can realize that the output force of the force output end is greater than the input force of the force input end, therefore, when the surgical instrument 100 of the surgical robot performs surgery, under the condition that the driving device on the mechanical arm provides certain input force to the pulley assembly 150, the output force output from the pulley assembly 150 to the joint 110 is increased, thereby improving the output force of the joint 110, enabling the end effector to complete surgeries with higher requirements on the clamping force, the pulling force and other forces, further not needing to additionally improve the power of the driving device (namely not needing to increase the volume of the driving device), and realizing the beneficial effects of considering the miniaturization design of the driving device and the output force requirements of the surgical instrument 100.

Referring to fig. 1, in an embodiment, the force multiplier mechanism further includes a housing 160, and the pulley assembly is accommodated in the housing 160.

Specifically, in the present embodiment, the housing 160 has a box shape, and thus can serve as an instrument box of the surgical instrument 100. The housing 160 facilitates housing the sheave assembly 150 such that the sheave assembly 150 is not exposed. When the surgical instrument 100 is applied to a surgical robot, the surgical instrument 100 can be integrally mounted on the robot arm by mounting the housing 160 on the robot arm of the surgical robot, thereby also facilitating the mounting of the surgical instrument 100.

In addition, the fixed end of the second traction rope 153 may be coupled to the inner wall of the housing 160. As shown in fig. 1, alternatively, a fixing portion 161 may be provided in the housing 160, and then the fixing end of the second traction rope 153 is tied to the fixing portion 161, so that the position of the fixing end of the second traction rope 153 is fixed.

Further, in one embodiment, the pulley assembly 150 further includes a connecting shaft (not shown). The movable pulley 151 is provided on the connecting shaft, and the axial direction of the movable pulley 151 is the same as the axial direction of the connecting shaft. A guide rail (not shown) is provided in the housing 160. The guide rail is, for example, a guide groove provided on the inner wall of the housing 160. The connecting shaft is slidably engaged with the guide groove, so that the guide groove can limit the moving direction of the connecting shaft, and further, the moving direction of the movable pulley 151. Because the moving direction of the movable pulley 151 is accurately limited, when the second traction rope 153 pulls the movable pulley 151 to move, the stress of the first traction rope 152 and the second traction rope 153 can be ensured to meet the requirement, and the output force of the end effector can be ensured to meet the requirement.

It is understood that in other embodiments, the end effector may also be a non-opening and closing type end effector. As previously described, different types of end effectors are used to perform different motions, such as an opening and closing motion, a rotating motion, a pitching motion, a yawing motion, and so forth. And different types of end effectors may have different numbers of joints. Thus, the number of joints is not limited to two, but may be, for example, one, three, or more, the number depending on the particular type of end effector. When the number of the joints is plural, the pulley assemblies 150 corresponding to the plural joints may be accommodated in the same housing 160.

Referring to fig. 1, in an embodiment, the force multiplying mechanism further includes: a reel 170. The reel 170 is housed in the case 160 and is rotatably connected to the case 160. The other end (force input end) of the second traction rope 153 is wound around the movable pulley 151 and then connected to the reel 170.

Specifically, a spool 171 fixedly connected to the housing 160 may be provided in the housing 160, and the reel 170 may be rotatably connected to the spool 171. The force input end of the second traction rope 153 may be tied to the reel 170 and partially wound around the outer circumferential surface of the reel 170.

As shown in fig. 1, in the present embodiment, the reel 170 is located on the side of the movable sheave 151 away from the joint 110. The reel 170 is driven to rotate by a driving device on the robot arm of the surgical robot, so that the reel 170 can wind the second traction rope 153, and the second traction rope 153 pulls the movable pulley 151 in a direction away from the joint 110. When the second traction rope 153 needs to be released, the reel 170 may be rotated in a direction opposite to the direction in which the second traction rope 153 is wound.

Referring to fig. 1, in one embodiment, the two second traction ropes 153 of the two pulley assemblies 150 connected to each joint 110 are respectively connected to the same reel 170. When the reel 170 rotates, it is possible to take up one of the second traction ropes 153 and release the other second traction rope 153.

Specifically, in fig. 1, of the two pulley assemblies 150 corresponding to the first joint 111, the force input end of the second traction rope 153 corresponding to the first pulley assembly 150a is connected to the lower end of the corresponding reel 170, and the force input end of the second traction rope 153 corresponding to the second pulley assembly 150b is connected to the upper end of the reel 170.

As can be appreciated from fig. 1, rotation of the reel 170 in the first direction W1 (clockwise) winds the second pull-cord 153 at its lower end (first pulley assembly 150a) and simultaneously releases the second pull-cord 153 at its upper end (second pulley assembly 150 b). Accordingly, the second pulling rope 153 at the lower end (the first pulley assembly 150a) drives the first joint 111 to rotate along the first direction W1 (clockwise) through the movable pulley 151 and the first pulling rope 152, so that the first opening and closing flap 131 makes an opening motion. Meanwhile, when the first joint 111 rotates along the first direction W1 (clockwise), the first pulling rope 152 of the second pulley assembly 150b is pulled and wound, so that the first pulling rope 152 drives the corresponding movable pulley 151 to move toward the first joint 111, and the movable pulley 151 drives the second pulling rope 153 at the upper end (the second pulley assembly 150b) to move toward the first joint 111. At this time, since the reel 170 rotates in the first direction W1 (clockwise direction) while releasing the second traction rope 153 of the upper end (second pulley assembly 150b), the second traction rope 153 of the upper end (second pulley assembly 150b) can be adapted to be moved in a direction approaching the first joint 111 by the corresponding movable pulley 151.

When the reel 170 rotates in the second direction W2 (counterclockwise), the second traction rope 153 at the lower end (the first pulley assembly 150a) thereof is released and the second traction rope 153 at the upper end (the second pulley assembly 150b) thereof is simultaneously wound up. It will be appreciated that the movement of the pulley assembly 150 and end effector is reversed when the reel 170 is rotated in the second direction W2 (counterclockwise) as compared to when the reel 170 is rotated in the first direction W1 (clockwise). The movement of the pulley assembly 150 and the end effector when the reel 170 is rotated in the second direction W2 (counterclockwise) will not be described again.

It can be seen that in the present embodiment, the two second traction ropes 153 of the two pulley assemblies 150 connected to each joint 110 are respectively connected to the same reel 170. When the reels 170 rotate, one of the second traction ropes 153 can be wound and the other second traction rope 153 can be released, so that the corresponding joint 110 can be driven to rotate along the clockwise/counterclockwise direction by rotating the same reel 170 along the clockwise/counterclockwise direction, and further, the joint 110 can rotate along the clockwise/counterclockwise directions only by arranging one driving device and one reel 170 for one joint 110. There is no need to provide too many reels 170 and no need to provide too many driving devices.

Referring to fig. 1, in one embodiment, the surgical instrument 100 further includes a cannula 180. The first pull cord 152 is disposed through the sleeve 180.

Specifically, as shown in fig. 1, in the present embodiment, the sleeve 180 is located between the housing 160 and the end effector. A sleeve 180 may be mounted to an end of the housing 160 proximate the end effector.

By threading the first pull cord 152 through the sleeve 180, tangling interference between a plurality of first pull cords 152, or between the first pull cord 152 and other components of the surgical device 100, can be avoided, thereby facilitating management of the first pull cord 152. Especially, when the number of the first pulling ropes 152 is large, the plurality of first pulling ropes 152 are simultaneously inserted into the sleeve 180, so that the first pulling ropes 152 can be well accommodated.

Referring to fig. 2, a surgical instrument 200 is also provided in the second embodiment of the present application. Surgical instrument 200 includes an end effector and a force multiplier mechanism. The end effector has a joint 210. The force multiplier mechanism includes a pulley assembly 250. The sheave assembly 250 includes: at least one movable pulley, a first traction rope 252 and a second traction rope 253. One end of the first traction rope 252 is pulled by the movable pulley, and the other end (force output end) is connected with the joint 210. The position of one end of the second traction rope 253 is fixed, the other end (force input end) passes around the movable pulley, and the second traction rope 253 is matched with the movable pulley. The surgical instrument 200 of the second embodiment is substantially identical in construction to the surgical instrument 100 of the first embodiment. The surgical instrument 200 of the second embodiment is identical to the surgical instrument 100 of the first embodiment and will not be described in detail herein. The following focuses on the differences between the surgical instrument 200 of the second embodiment and the surgical instrument 100 of the first embodiment.

In this embodiment, the at least one movable pulley comprises at least two movable pulleys. The pulley assembly also includes a fixed pulley 254. One fixed pulley 254 is disposed between two adjacent movable pulleys. The second traction rope 253 is configured to be matched with two adjacent movable pulleys and the corresponding fixed pulley 254: the force input end of the second traction rope 253 passes around one of the movable pulleys, then passes around the corresponding fixed pulley 254, and then passes around the other movable pulley. The first traction rope 252 is jointly pulled by the at least two movable pulleys.

Specifically, as shown in fig. 2, the present embodiment will be described by taking the number of the movable pulleys as two as an example. The two movable pulleys are a first movable pulley 251a and a second movable pulley 251b, respectively. The sheave assembly 250 further includes: a drawbar 255. The pull rod 255 is disposed within the housing 260 and is movably coupled to the housing 260. Specifically, two guide rails may be provided within the housing 260. Both ends of the traction bar 255 are respectively matched with the two guide sliding rails, so that the guide sliding rails can limit the moving direction of the traction bar 255. The draw bar 255 passes through the axial center of the first movable pulley 251a and the axial center of the second movable pulley 251b in sequence, and is rotatably connected to the first movable pulley 251a and the second movable pulley 251b, respectively. The first traction rope 252 is connected to the traction bar 255 and is pulled by the traction bar 255.

The force input end of the second traction rope 253 sequentially passes around the first movable pulley 251a, the fixed pulley 254 and the second movable pulley 251b, and the second traction rope 253 is respectively matched with the first movable pulley 251a, the fixed pulley 254 and the second movable pulley 251 b. The fixed pulley 254 is used to change the traction direction of the second traction rope 253 so that the first movable pulley 251a and the second movable pulley 251b can move the traction rod 255 in the same direction.

Specifically, as can be understood from fig. 2, when the force input end of the second traction rope 253 is moved in a direction away from the joint 210 by applying traction to the force input end of the second traction rope 253, the second traction rope 253 can drive the first movable pulley 251a and the second movable pulley 251b to move in a direction away from the joint 210. Because the draw bar 255 sequentially penetrates through the first movable pulley 251a and the second movable pulley 251b, the first movable pulley 251a and the second movable pulley 251b can simultaneously drive the draw bar 255 to move towards a direction away from the joint 210, so that the draw bar 255 drives the first draw rope 252 to draw the joint 210 to rotate, and the end effector can perform an operation action.

The force input end of the second traction rope 253 sequentially passes around the first movable pulley 251a, the fixed pulley 254 and the second movable pulley 251b, so that the stress directions of the first movable pulley 251a and the second movable pulley 251b can be balanced through the fixed pulley 254, the first movable pulley 251a and the second movable pulley 251b can move in the same direction under the traction of the second traction rope 253, and the traction rod 255 can drive the traction joint 210 of the first traction rope 252 to rotate in a stable direction.

The first traction rope 252 is indirectly connected with the first movable pulley 251a and the second movable pulley 251b through the connection with the traction rod 255 by passing the traction rod 255 through the first movable pulley 251a and the second movable pulley 251b, so that the first movable pulley 251a and the second movable pulley 251b are facilitated to jointly draw the first traction rope 252 to move.

Also shown in fig. 2 are the force profiles of the first pull cord 252 and the second pull cord 253. The labor-saving principle of the movable pulleys is combined, so that the traction force of the first traction rope 252 is four times of that of the second traction rope 253 through the matching of the two movable pulleys and the first traction rope 252 and the second traction rope 253, and the traction force of the joint 210 from the first traction rope 252 is four times of that of the second traction rope 253. Therefore, when the driving device provides a constant input force to the pulley assembly 250 during the operation of the surgical instrument 200 of the surgical robot, the output force of the pulley assembly 250 to the joint 210 is increased by more than two times, and the output force of the joint 210 can be further significantly increased.

As described above, in the first embodiment, only one movable pulley is provided for each pulley assembly. In the second embodiment, each force multiplying mechanism is provided with only two movable pulleys. It is understood that in other embodiments, each sheave assembly may include three, four, etc. more traveling sheaves. According to the labor-saving principle of the movable pulleys, the larger the number of the movable pulleys is, the larger the output power of the power doubling mechanism can be, and therefore the larger output power can be provided.

In one embodiment, the sheave assembly further includes a stop (not shown). The stopper is provided on the traction rod 255 to restrict the movement of the brake pulley in the axial direction of the traction rod 255.

Specifically, the stopper portion is, for example, a flange protruding from a surface of the traction rod 255. Two axial sides of each movable pulley can be respectively provided with a limiting part, so that the movable pulleys are clamped between the two limiting parts, the axial movement of the brake pulleys along the traction rod 255 can be limited, and the axial deviation of the movable pulleys along the traction rod 255 is prevented.

In other embodiments, the stopper portion may be provided on the movable pulley, the stopper portion may be provided coaxially with the movable pulley, and the draw bar may be provided with an annular groove, so that the stopper portion is engaged with the annular groove, thereby restricting the movable pulley from moving in the axial direction of the draw bar 255.

Referring to fig. 3, a surgical instrument is also provided in the third embodiment of the present application. The surgical instrument of the third embodiment is substantially identical in structure to the surgical instrument 200 of the second embodiment. The surgical instrument of the third embodiment is identical to the surgical instrument 200 of the second embodiment and will not be described in detail herein. The following focuses on differences in the construction of the surgical instrument of the third embodiment from the surgical instrument 200 of the second embodiment.

In this embodiment, the sheave assembly includes: a first movable pulley 351a, a second movable pulley 351b, a fixed pulley 354, a first traction rope 352 and a second traction rope 353. In addition, the sheave assembly 350 further includes: a first rotating shaft 357, a second rotating shaft 358, and a connecting rod 356. The first rotating shaft 357 is disposed through the first movable pulley 351a and rotatably connected to the first movable pulley 351 a. The second rotating shaft 358 penetrates through the second movable pulley 351b and is rotatably connected with the second movable pulley 351 b. The connecting rod 356 connects the first rotating shaft 357 and the second rotating shaft 358 so that the first movable pulley 351a and the second movable pulley 351b can be connected, and the first rotating shaft 357 and the second rotating shaft 358 can be moved in the same direction so that the first movable pulley 351a and the second movable pulley 351b can be moved together.

The first and second

rotating shafts

357 and 358 may be provided in a housing (not shown), and a moving direction of the first and second

rotating shafts

357 and 358 may be defined by guide rails provided in the housing, so that the moving direction of the first and second

movable pulleys

351a and 351b is accurate.

Also shown in fig. 3 are the force profiles of the first and

second pull lines

352, 353. In combination with the force saving principle of the travelling block, it can be seen that in this embodiment the traction of the first traction rope 352 is four times as high as the traction of the second traction rope 353.

Referring to fig. 4, a surgical instrument 400 is also provided in accordance with the fourth embodiment of the present application. Surgical instrument 400 includes an end effector and a force multiplier mechanism. The end effector has a joint 410. The force multiplier mechanism includes a pulley assembly 450. The sheave assembly 450 includes: at least one movable pulley 451, a first traction rope 452 and a second traction rope 453. One end of the first traction rope 452 is pulled by the movable pulley 451, and the other end (force output end) is connected with the joint 410. One end of the second traction rope 453 is fixed in position, the other end (force input end) passes around the movable pulley 451, and the second traction rope 453 is engaged with the movable pulley 451. The surgical instrument 400 of the fourth embodiment has substantially the same structure as the surgical instruments of the first, second and third embodiments, and the description of the parts that are the same is omitted here. The following description focuses on differences between the surgical instrument 400 of the fourth embodiment and the surgical instruments of the first, second, and third embodiments.

In this embodiment, the pulley assembly 450 further includes a reversing wheel 490. The reversing wheel 490 is a fixed pulley. The other end (force output end) of the first pull cord 452 is routed around the reverse wheel 490 and then attached to the joint 410.

Specifically, in this embodiment, the diverter wheel 490 may be disposed within the sleeve 480. One reversing wheel 490 may be provided for each first traction rope 452, such that the number of reversing wheels 490 may correspond to the number of first traction ropes 452.

The direction of traction of the first pull cord 452 can be changed by reversing the direction of the first pull cord 452 by the reversing wheel 490, e.g., in fig. 4, the direction of traction of the first pull cord 252 can be changed by 90 ° by the reversing wheel 490, thereby changing the orientation of the housing 460 by 90 ° from the orientation of the end effector. Because the spatial orientation relationship between the movable pulley 451 and the end effector can be flexibly changed through the reversing wheel 490, the spatial orientation relationship between the housing 460 and the end effector can be flexibly set, and further, the surgical instrument 400 can be more flexibly manipulated during the surgical operation.

An embodiment of the present application also provides a surgical robot (not shown). The surgical robot includes: the surgical instrument comprises a mechanical arm and the surgical instrument, wherein the surgical instrument is mounted on the mechanical arm, and a driving device arranged on the mechanical arm is used for providing input force for the force input end.

According to the surgical instrument of the surgical robot, the force input end of the pulley assembly provides input force, so that the force output end of the pulley assembly can provide output force for the corresponding joint, and the end effector can perform corresponding surgical actions. Because pulley assembly can realize that the output power of power output end is greater than the input power of power input end, therefore, when surgical instruments of surgical robot performed the operation, under the certain circumstances of input power that drive arrangement provided to the power multiplication mechanism, the output power that the power multiplication mechanism exported to the joint increased, thereby can improve articular output power, make end effector can accomplish some and require higher operations to power such as clamping-force, traction force, and then need not additionally improve drive arrangement's power (need not increase drive arrangement's volume promptly), the beneficial effect of the output power demand of compromise drive arrangement's miniaturized design and surgical instruments has been realized.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A surgical instrument, comprising:

an end effector having one or more joints; and

2. A surgical instrument as recited in claim 1, wherein the force multiplier mechanism further includes a housing, the pulley assembly being received within the housing;

the sheave assembly includes:

at least one movable pulley;

3. A surgical instrument according to claim 2,

each joint is respectively connected with two pulley assemblies;

4. A surgical instrument as recited in claim 3, wherein the force multiplier mechanism further comprises: a reel housed in the case and rotationally connected to the case; the force input end is connected to the reel after passing around the movable pulley.

5. The surgical instrument according to claim 4, wherein the two second traction ropes of the two pulley assemblies corresponding to each joint are respectively connected to the same reel; when the same reel rotates, one of the second traction ropes can be wound, and the other second traction rope can be released.

6. A surgical instrument according to claim 2,

the sheave assembly includes: at least two movable pulleys; the at least two movable pulleys jointly pull the first traction rope;

7. A surgical instrument according to claim 6,

the sheave assembly further includes: the traction rod sequentially penetrates through the at least two movable pulleys and is respectively in rotary connection with the at least two movable pulleys, and the traction rod pulls the first traction rope;

8. A surgical instrument as recited in claim 7, wherein the pulley assembly further includes a limiting portion disposed on the drawbar or the movable pulley, the limiting portion being configured to limit axial movement of the movable pulley along the drawbar.

9. The surgical instrument of claim 6, wherein the pulley assembly further comprises: the device comprises a first rotating shaft, a second rotating shaft and a connecting rod, wherein two ends of the connecting rod are respectively connected with the first rotating shaft and the second rotating shaft; the first rotating shaft is arranged in a penetrating mode and is connected to one of the two adjacent movable pulleys in a rotating mode, and the second rotating shaft is arranged in a penetrating mode and is connected to the other movable pulley in the adjacent movable pulley in a rotating mode.

10. A surgical instrument according to claim 2,

the force multiplying mechanism further comprises a guide sliding rail used for limiting the moving direction of the movable pulley.

11. The surgical instrument of claim 2, wherein the pulley assembly further comprises a reversing wheel, the reversing wheel being a fixed pulley; the force output end is connected to the joint.

12. A surgical instrument as recited in claim 2, further comprising a cannula, wherein the first pull cord is disposed through the cannula.

13. A surgical robot, comprising: a robotic arm and a surgical device as claimed in any one of claims 1 to 12, the surgical device being mounted to the robotic arm, the robotic arm being provided with drive means for providing an input force to the force input.