CN217772508U - Safe-to-use instrument drive assembly and robotic surgical system - Google Patents

Abstract

The embodiment of the utility model discloses safe in utilization's apparatus drive assembly and robotic surgery system. The instrument driving component of the utility model comprises a driving unit and a connecting unit which is detachably connected with the driving unit, wherein the connecting unit is used for connecting an instrument; the driving unit comprises one or more driving mechanisms, and each driving mechanism comprises a driving rotating piece; the connecting unit comprises one or more driven mechanisms, and each driven mechanism comprises a translation piece; each driving mechanism is connected with a corresponding driven mechanism and is configured to cause the translation of the translation piece through the rotation of the driving rotating piece, and the central axis of the driving rotating piece is perpendicular to the translation direction of the translation piece. The utility model discloses an apparatus drive assembly and robot operation system convenient operation can effectively prevent to harm human organ, safe in utilization.

Description

Safe-to-use instrument drive assembly and robotic surgical system

Technical Field

The embodiment of the utility model provides a relate to machinery, especially relate to an apparatus drive assembly and robotic surgery system safe in utilization.

Background

Robotic surgical systems are surgical tools that are remotely manipulated by a surgeon to perform an operation in place of a human hand. A robotic surgical system is generally comprised of a console supporting robotic arms and a surgical instrument having an end effector. Robotic arms typically include an instrument drive assembly for powering a surgical instrument to cause an end effector to perform a desired action. The end effector may be, for example, a clip, hook, or the like.

Existing instrument drive assemblies are generally classified into a cable drive type and a link drive type. The steel wire rope transmission type instrument driving component has high flexibility, and can realize more freedom of movement in a limited space. However, the wireline-driven instrument drive assembly suffers from insufficient stiffness, creep, and the like. A link-driven instrument drive assembly can just solve these problems.

However, the existing link transmission type instrument driving assembly is inconvenient to operate, easily damages human organs, and increases the risk of operation.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides an apparatus drive assembly and robot surgery system safe in utilization, it can effectively prevent to harm human organ, reduces the operation risk, convenient operation.

The embodiment of the utility model provides an instrument driving component safe in utilization, the instrument driving component comprises a driving unit and a connecting unit detachably connected with the driving unit, and the connecting unit is used for connecting instruments; the driving unit comprises one or more driving mechanisms, and each driving mechanism comprises a driving rotating piece; the connecting unit comprises one or more driven mechanisms, and each driven mechanism comprises a translation piece; each driving mechanism is connected with a corresponding driven mechanism and is configured to cause the translation of the translation piece through the rotation of the driving rotating piece, and the central axis of the driving rotating piece is perpendicular to the translation direction of the translation piece. The central axis through with initiative rotating member designs for perpendicular with the translation direction of translation piece for the linkage unit from the side-mounting to the drive unit becomes possible, and this convenient operation not only helps avoiding moreover because the upper and lower aversion causes the damage to human tissue, reduces the operation risk, has effectively solved among the prior art drive assembly operation inconvenience, and has damaged the problem of human organ easily. In addition, the connecting unit is detachably connected to the driving unit, and the mounting and dismounting are convenient.

In one possible embodiment, the drive unit includes three driving mechanisms, and the connection unit includes three driven mechanisms. This embodiment provides an instrument drive assembly that is particularly suited for driving an instrument that includes three push rods that need to be pushed and/or pulled.

In a possible solution, each of the driving mechanisms further includes a motor, and a speed reducing mechanism coupled to an output shaft of the motor, and the driving rotating member is coupled to the speed reducing mechanism. The rotating speed of the motor is reduced through the speed reducing mechanism and then is transmitted to the driving rotating part, and the motion requirement of the surgical instrument is better met.

In a possible solution, the speed reducing mechanism comprises a speed reducing box coupled with the output shaft of the motor, and a belt transmission mechanism coupled with the speed reducing box, and the driving rotating member is coupled with the belt transmission mechanism. It will be appreciated that in other embodiments, other reduction mechanism arrangements may be employed.

In one possible implementation, each of the driven mechanisms further includes a driven rotating member coupled to a corresponding one of the driving rotating members and configured to be driven by the driving rotating member for rotation, and the translating member is coupled to the driven rotating member and configured to cause translation of the translating member by rotational movement of the driven rotating member. The power transmission of the driving rotating piece is transmitted to the translation piece through the driven rotating piece, the transmission is more stable, and the connection of the driving unit and the connecting unit is more convenient.

In one possible solution, the central axis of the driven rotating member coincides with the central axis of the driving rotating member, and the central axis of the driven rotating member is perpendicular to the translation direction of the translating member. The torque of the driving rotating piece is transmitted to the driven rotating piece through the coaxial transmission of the driving rotating piece and the driven rotating piece, and the transmission is stable.

In one possible arrangement, the driven rotation member includes a projection offset from its central axis, and the translation member has an elongated slot in which the projection is slidably received to cause translation of the translation member by rotation of the driven rotation member. The torque of the driven rotating part is converted into the linear motion of the translation part through the matching of the eccentric protrusion and the slender groove, and the transmission is stable. It will be appreciated that in other embodiments, the driven rotary and translational members may take on other configurations to convert rotary motion to linear motion.

In one possible solution, the driven rotation member is detachably connected to the driving rotation member, and the driving rotation member is configured to rotate up to 360 ° to be connected to the driven rotation member. This helps to realize automatic connection of the driving rotary member and the driven rotary member, and is convenient to install.

In a possible solution, the driving unit further comprises a first supporting component for supporting the one or more driving mechanisms, the connecting unit further comprises a second supporting component for supporting the one or more driven mechanisms, and the first supporting component is detachably connected with the second supporting component. The driving unit and the connecting unit are connected by detachably connecting the first supporting component and the second supporting component, and the installation is convenient.

In one possible embodiment, the first support component is snap-fit connected to the second support component. The mode of buckle connection is faster, more convenient, stable.

In one possible embodiment, one of the first support member and the second support member is provided with an elastic snap member, and the other is provided with an engagement hole engaged with the snap member. The first support component and the second support component are connected through the engagement of the buckle component and the engagement hole, and the operation is quick, convenient and stable.

An embodiment of the present invention further provides a robotic surgery system, which comprises the aforementioned instrument driving assembly and a surgical instrument connected to the connection unit of the instrument driving assembly. The technical effects that can be achieved by the robotic surgical system are referred to the technical effects that can be achieved by the previous instrument drive assembly and will not be described in detail herein.

According to the above technical scheme, the utility model discloses a drive unit's initiative rotating member drive linkage unit's translation piece translation to the surgical instruments that drive and linkage unit are connected carries out corresponding action. When the connecting unit with the surgical instrument is installed to the driving unit, the central axis of the driving rotating piece is designed to be perpendicular to the translation direction of the translation piece, so that the connecting unit can be installed to the driving unit from the side face, operation is convenient, damage to human tissues caused by up-down displacement is avoided, operation risks are reduced, and the problems that in the prior art, the driving assembly is inconvenient to operate and easily damages human organs are solved. In addition, the connecting unit is detachably connected to the driving unit, and the dismounting and the mounting are convenient.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic perspective view of a robotic surgical system according to a first embodiment of the present invention;

FIG. 2 is a front view of a surgical instrument of the robotic surgical system of FIG. 1;

FIG. 3 is an exploded view of the surgical instrument illustrated in FIG. 2;

FIG. 4 is an exploded view of the robotic surgical system of FIG. 1;

FIG. 5 is another perspective view of the robotic surgical system of FIG. 4;

FIG. 6 is a partial schematic connection view of an instrument drive assembly of the robotic surgical system of FIG. 1;

FIG. 7 is a cross-sectional view of the robotic surgical system shown in FIG. 1;

FIG. 8 is an exploded view of a drive unit of the instrument drive assembly of the robotic surgical system of FIG. 1;

FIG. 9 is an exploded view of a linkage unit of the instrument drive assembly of the robotic surgical system of FIG. 1;

FIG. 10 is another perspective view of the connection unit of FIG. 9;

FIG. 11 is a schematic view of the installation of the robotic surgical system of FIG. 1;

FIG. 12 is a disassembled schematic view of the robotic surgical system of FIG. 1;

fig. 13 is an exploded view of the robotic surgical system according to the second embodiment of the present invention;

FIG. 14 is another perspective view of the robotic surgical system of FIG. 13;

FIG. 15 is an exploded view of a drive unit of the instrument drive assembly of the surgical system illustrated in FIG. 13;

FIG. 16 is an exploded view of the coupling unit of the instrument drive assembly of the surgical system of FIG. 13.

The reference numbers in the figures:

600. a robotic surgical system; 610. an instrument drive assembly; 20. a surgical instrument; 630. a drive unit; 631. an active mechanism; 632. a driving rotating member; 6321. a first section; 6322. a second section; 6323. a third section; 320. a convex column; 320A, a limiting section; 320B, a first section; 320C, a second section; 321. a first hole; 322. a second hole; 323. a third aperture; 324. a fourth aperture; 325. a first spring; 326. an end cap; 326A, a support section; 326B, a butting section; 633. a first support assembly; 331. positioning pins; 6330. an engagement hole; 6331. a first support plate; 6332. a second support plate; 6333. a first chamber; 6334. a second chamber; 34. a motor; 635. a speed reduction mechanism; 36. a belt drive mechanism; 360. a driving wheel; 361. a driven wheel; 362. a conveyor belt; 37. a reduction gearbox; 38. a drive shaft; 39. a mounting seat; 40. a housing assembly; 41. a sheath tube; 42. a first connecting member; 43. a second connecting member; 650. a connection unit; 651. a driven mechanism; 652. a driven rotary member; 6521. a cylindrical section; 6522. a connecting section; 6523. a protrusion; 6524. a bearing; 520. a groove; 653. a second support assembly; 531. positioning holes; 6531. a third support plate; 6532. a fourth support plate; 6533. a fifth support plate; 6534. a third chamber; 6535. a rib portion; 6536. a first through hole; 6537. a second through hole; 654. a buckle assembly; 655. a button; 656. a latch hook; 657. a support pin; 658. a second spring; 670. a guide post; 671. a translation member; 672. a long and thin groove; 60. a link mechanism; 61. a push rod; 62. a swing rod; 63. a crank; 80. an end effector; l1, a first central axis; l2, a second central axis;

700. a robotic surgical system; 710. an instrument drive assembly; 720. a surgical instrument; 730. a drive unit; 733. a first support assembly; 7331. a first support plate; 7332. a second support plate; 750. a connection unit; a first translator 671A; a second translator 671B;671B1, a first connection; 671B2, a second connection part; 753. a second support assembly; 7531. and a third support plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.

In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as a fixed connection, a detachable connection, or an integral part; the connection can be mechanical connection, electrical connection or communication connection; either directly or indirectly through intervening media, either internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art. The technical solution of the present invention will be described in detail with reference to specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

A robotic surgical system is comprised primarily of a console supporting robotic arms and a surgical instrument having an end effector. Robotic arms typically include an instrument drive assembly for powering a surgical instrument to cause an end effector to perform a desired action. The end effector may be, for example, a clip, hook, or the like. Existing instrument drive assemblies are generally classified into a cable drive type and a link drive type. The connecting rod transmission type instrument driving assembly has the advantages of high transmission efficiency, high structural rigidity, stable transmission and the like. The link-driven instrument drive assembly generally includes a drive unit, and a coupling unit coupled to the drive unit. The connecting unit is used for connecting a connecting rod type surgical instrument. The driving unit is used for driving the push rod of the surgical instrument to move through the connecting unit, so that the end effector of the surgical instrument executes the desired action.

However, the present inventors have discovered that there are a number of problems with existing link-driven instrument drive assemblies, such as: the surgical instrument adopts a bottom-up mounting mode, so that human tissues such as an air tube in an abdominal cavity are easily damaged, not only is the actual operation inconvenient, but also the surgical risk is increased; when the connecting unit with the surgical instrument is installed on the driving unit, the position of each push rod needs to be adjusted manually to install the connecting unit on the driving unit correctly, and the installation is inconvenient because the opening and closing of the end effector of the surgical instrument after the surgical instrument enters the body, such as an abdominal cavity, cannot be controlled.

To this end, and with reference to fig. 1, an embodiment of the present invention provides a robotic surgical system 600 including an instrument drive assembly 610 and a surgical instrument 20. The instrument drive assembly 610 includes a drive unit 630, and a coupling unit 650 coupled to the drive unit 630. The surgical instrument 20 is connected to the connection unit 650. The connection unit 650 of the present embodiment is adapted to be connected to the driving unit 630 from the side of the driving unit 630, which not only facilitates the operation, but also helps to prevent the human tissue from being damaged due to the up-and-down displacement, and reduces the risk of the operation.

Referring to fig. 2 and 3, by way of example, the surgical instrument 20 includes a housing assembly 40, one or more linkages 60 housed within the housing assembly 40, and an end effector 80 connected at a distal end of the one or more linkages 60. The housing assembly 40 includes a sheath 41, and first and second connectors 42 and 43 attached to distal and proximal ends of the sheath 41, respectively. The link mechanism 60 includes a push rod 61, a swing rod 62 rotatably connected to the push rod 61, and a crank 63 rotatably connected to the swing rod 62. The push rod 61 is accommodated in the sheath tube 41, and has one end inserted through the second connector 43 and the other end slidably connected to the first connector 42. The crank 63 is rotatably connected to the first link 42. The end effector 80 is connected to the crank 63. The first connecting member 42, the push rod 61, the swing rod 62, and the crank 63 form a slider-crank mechanism, so that when the push rod 61 translates, the crank 63 rotates to drive the end effector 80 to rotate. It is understood that the surgical device 20 may be other linkage-type surgical devices 20.

Referring to fig. 4 and 5, the drive unit 630 includes one or more active mechanisms 631. In this embodiment, the driving unit 630 includes two symmetrically designed active mechanisms 631. Each of the driving mechanisms 631 includes a driving rotating member 632. The connection unit 650 includes one or more driven mechanisms 651. In this embodiment, the connection unit 650 comprises two symmetrically designed follower mechanisms 651. The follower mechanism 651 is adapted to couple with a corresponding push rod 61 of the surgical device 20 and drive the push rod 61 in translation. Each of the driven mechanisms 651 includes a driven rotary member 652.

In particular, the driving rotary member 632 has a unique positional correspondence with a corresponding driven rotary member 652, and the driving rotary member 632 is adapted to rotate into connection with a corresponding driven rotary member 652, in particular up to 360 ° in connection with a corresponding driven rotary member 652. When the driving rotating member 632 is connected to the corresponding driven rotating member 652, the driving rotating member 632 can drive the driven rotating member 652 to rotate together, preferably coaxially. Therefore, when the connection unit 650 with the surgical instrument 20 is installed on the driving unit 630, even if each push rod 61 of the surgical instrument 20 is displaced because the end effector 80 cannot control the opening and closing thereof after entering the abdominal cavity, the driving rotating member 632 can be actively and rotatably connected with a corresponding driven rotating member 652 without manually adjusting the position of the push rod 61, and the installation is convenient and quick.

Specifically, each driving rotating member 632 of the present embodiment is provided with one or more movable protruding columns 320, and the protruding columns 320 are offset from the central axis of the driving rotating member 632. Accordingly, one or more grooves 520 are also provided in each driven rotary member 652. The groove 520 is offset from the central axis of the driven rotary member 652. During a maximum rotation of the driving rotary member 632 about its own central axis, each post 320 is automatically displaced and engaged to a corresponding groove 520, thereby enabling the corresponding driven rotary member 652 to rotate together with the driving rotary member 632.

Preferably, when two or more than two convex columns 320 are disposed on the driving rotating member 632, at least two of the convex columns 320 deviate from the central axis of the driving rotating member 632 by different distances. Accordingly, when two or more grooves 520 are provided on the driven rotary member 652, at least two of the grooves 520 are different in distance from the central axis of the driven rotary member 652. As shown in the figure, the driving rotating member 632 of the present embodiment is provided with two protruding columns 320, and the two protruding columns 320 deviate from the central axis of the driving rotating member 632 by different distances; accordingly, the driven rotary member 652 is provided with two grooves 520, and the two grooves 520 are different in distance from the central axis of the driven rotary member 652.

It will be appreciated that in other embodiments, one or more movable posts 320 may be provided on the driven rotary member 652 and a corresponding one or more recesses 520 may be provided on the driving rotary member 632. In this case, the driving rotator 632 rotates to receive the stud 320 of the driven rotator 652 in the groove 520 thereof, and the position of the push rod 61 does not need to be manually adjusted, so that the installation is convenient and fast.

Preferably, the movable function of said stud 320 is achieved by means of a first spring 325. Specifically, referring to fig. 6, one or more first holes 321 are formed in the driving rotating member 632 and extend through a first end surface of the driving rotating member 632. Each post 320 is slidably received in a first hole 321, and a first spring 325 abuts against a corresponding post 320. When the studs 320 are not aligned with the corresponding recesses 520, the ends of the studs 320 abut against the surface of the driven rotating member 652 and are compressed by the first spring 325. When the driving rotator 632 is rotated such that the bosses 320 are aligned with the corresponding grooves 520, the bosses 320 are moved into the grooves 520 by the pressing action of the first spring 325. The convex column 320 is elastically moved by the first spring 325, so that the transmission is stable, the installation is convenient, and the manufacturing cost is relatively low.

Preferably, the first hole 321 is formed as a stepped hole, and includes a second hole 322 having a smaller hole diameter and a third hole 323 having a larger hole diameter, wherein the second hole 322 penetrates through the first end surface of the driving rotating member 632. The convex pillar 320 includes a limiting section 320A, and a first section 320B and a second section 320C connected to both ends of the limiting section 320A, wherein the outer diameter of the limiting section 320A is larger than the outer diameter of the second section 320C. The first spring 325 is sleeved on the first section 320B and abuts against the limiting section 320A, the first section 320B and the limiting section 320A are accommodated in the third hole 323, and the outer diameter of the limiting section 320A is larger than that of the second hole 322, so that the boss 320 cannot be completely removed from the first hole 321 under the pressing action of the first spring 325. The second section 320C is received in the second hole 322 and can be protruded into the corresponding groove 520 by the pressing action of the first spring 325.

An end of the first spring 325 opposite to the limiting section 320A may abut against an abutting member additionally disposed in the active rotating member 632, such as an end cap 326. For convenience of installation, it is preferable that a fourth hole 324 communicating with the third hole 323 is further formed in the driving rotating member 632, and the fourth hole 324 penetrates through a second end surface of the driving rotating member 632. Preferably, the aperture of the fourth hole 324 is larger than that of the third hole 323. The end cap 326 includes a supporting section 326A with a larger outer diameter and an abutting section 326B with a smaller outer diameter, and the outer diameter of the supporting section 326A is larger than the bore diameter of the third hole 323. During installation, the convex column 320 sleeved with the first spring 325 is installed into the first hole 321 from the fourth hole 324, at this time, the limiting section 320A abuts against the bottom wall of the third hole 323, and then the end cover 326 is inserted from the fourth hole 324 so that the abutting section 326B extends into the third hole 323 to abut against the first spring 325 until the supporting section 326A of the end cover 326 abuts against the bottom wall of the fourth hole 324.

It is understood that in other embodiments, other structures of the urging member may be adopted to urge against the first spring 325. Alternatively, instead of providing an abutting member, the active rotating member 632 itself may provide an abutting portion.

It is also understood that in other embodiments, the post 320 may be displaced without the first spring 325, but in other manners. For example, each end cap 326 may be configured as a permanent magnet that repels the corresponding post 320 such that the post 320 is inserted into the corresponding recess 520. Or, a permanent magnet may be disposed in each of the grooves 520 to attract the protruding pillars 320, so that the protruding pillars 320 are inserted into the corresponding grooves 520.

Referring again to fig. 4 and 5, in the present embodiment, the driving unit 630 includes a first support assembly 633 for supporting the one or more active mechanisms 631. The connection unit 650 includes a second support assembly 653 for supporting the one or more driven mechanisms 651. Preferably, the first support member 633 is detachably connected, preferably snap-connected, to the second support member 653.

Specifically, the first support member 633 is provided with a joint hole 6330, and the second support member 653 is provided with an elastic snap member 654. The first and second support members 633, 653 may be connected by snapping the snap members 654 into the engagement holes 6330. When it is required to detach the connection unit 650 from the driving unit 630, it is only necessary to press the catch assembly 654 so that the catch assembly 654 is released from the engagement hole 6330.

Illustratively, the latch assembly 654 includes a button 655, a latch hook 656 fixedly coupled to the button 655, two support pins 657 slidably coupled to the latch hook 656, and a second spring 658 sleeved on the support pins 657 and abutting against the second support assembly 653 and the latch hook 656. In use, snapping the latch hooks 656 into the corresponding engagement holes 6330 connects the first and second support members 633, 653, and at this time, the second spring 658 compresses the latch hooks 656 so that they are stably received in the engagement holes 6330. When it is necessary to detach the connection unit 650 from the driving unit 630, it is only necessary to press the button 655 and release the latch hook 656 from the engagement hole 6330.

Preferably, two opposite engagement holes 6330 are provided on the first support member 633, and two opposite snap members 654 are provided on the second support member 653, so as to improve the connection stability of the first support member 633 and the second support member 653.

It will be appreciated that in other embodiments, a snap assembly 654 may be provided on first support assembly 633 and an engagement hole 6330 may be provided on second support assembly 653. Alternatively, the first support member 633 and the second support member 653 can be detachably connected, such as magnetically attracted, for example.

Preferably, one or more protruding positioning pins 331 are disposed on the first supporting member 633. One or more positioning holes 531 are formed on the second supporting member 653. Each of the positioning pins 331 is engaged with a corresponding positioning hole 531 to thereby rapidly position the first support assembly 633 and the second support assembly 653, and at the same time, the driving rotator 632 is coaxially aligned with the corresponding driven rotator 652, i.e., the central axis of the driving rotator 632 coincides with the central axis of the driven rotator 652. As shown in the figure, in this embodiment, two protruding positioning pins 331 are provided on the first supporting component 633. The second supporting component 653 is provided with two corresponding positioning holes 531.

It is understood that in other embodiments, positioning holes 531 may be provided on first support member 633 and positioning pins 331 may be provided on second support member 653. Alternatively, other positioning structures may be used to position first support assembly 633 and second support assembly 653.

Referring to fig. 7 and 8, in the present embodiment, the first support assembly 633 includes a substantially rectangular first support plate 6331, and a substantially rectangular second support plate 6332 perpendicularly connected to one side of the first support plate 6331. The active mechanism 631 is mounted to the second support plate 6332. The positioning pin 331 protrudes from a side of the second support plate 6332 facing the second support member 653. Two of the engagement holes 6330 are provided on opposite sides of the second support plate 6332. The second supporting plate 6332 is provided with two first cavities 6333 and two second cavities 6334 distributed vertically, wherein the two first cavities 6333 are used for respectively accommodating one of the driving rotation members 632.

Optionally, each of the driving mechanisms 631 further includes a motor 34, and a speed reduction mechanism 635 coupled to an output shaft of the motor 34. The driving rotating member 632 is coupled to the speed reducing mechanism 635. Preferably, the speed reducing mechanism 635 includes a speed reducing box 37 connected to an output shaft of the motor 34, and a belt transmission mechanism 36 coupled to the speed reducing box 37. Specifically, the belt transmission mechanism 36 includes a driving pulley 360, a driven pulley 361, and a transmission belt 362 connecting the driving pulley 360 and the driven pulley 361. The output shaft of the motor 34 is connected with the input shaft of the reduction box 37 through a transmission shaft 38. The output shaft of the reduction gearbox 37 is connected with a corresponding driving wheel 360. The driving rotary member 632 is connected to a corresponding driven wheel 361. Thus, the torque of the motor 34 can be transmitted to the corresponding driving rotary member 632 through the reduction gear box 37, the driving pulley 360, the transmission belt 362, and the driven pulley 361 in sequence. It will be appreciated that in other embodiments, other speed reducing mechanisms 635 may be used to couple the motor 34 to the driving rotator 632, such as a gear train instead of the belt train 36.

In order to facilitate the installation of the active mechanism 631 and optimize the overall structural layout of the driving unit 630, the motor 34 and the reduction box 37 are preferably connected by a mounting seat 39. The mounting seat 39 is hollow and is used for accommodating the transmission shaft 38. The motor 34 and the mounting base 39 are disposed on a side of the second support plate 6332 facing the second support assembly 653. The reduction boxes 37 are housed in respective second chambers 6334. The belt drive mechanism 36 is disposed on a side of the second support plate 6332 facing away from the second support assembly 653.

The driving rotating member 632 of the embodiment includes a first segment 6321, a second segment 6322, and a third segment 6323 connected in sequence, wherein the first segment 6321 and the second segment 6322 are accommodated in the first cavity 6333 of the second supporting plate 6332, and the third segment 6323 protrudes from the first cavity 6333 and is connected to the driven wheel 361. The second section 6322 is rotatably connected to the first chamber 6333 of the second support plate 6332 (e.g., by being sleeved with a bearing). The post 320, first spring 325, and end cap 326 are disposed within the first segment 6321.

Referring to fig. 7, 9 and 10, in the present embodiment, the second support assembly 653 is substantially U-shaped, and includes a substantially rectangular third support plate 6531, and substantially rectangular fourth and fifth support plates 6532, 6533 attached to opposite sides of the third support plate 6531. The positioning hole 531 is provided on a side surface of the third support plate 6531 facing the first support member 633. A side surface of third support plate 6531 facing away from first support assembly 633 is provided with two third cavities 6534 and two ribs 6535 connected to outer walls of the two third cavities 6534 and perpendicular to third support plate 6531, and third support plate 6531 is further provided with two first through holes 6536.

The driven rotary member 652 is preferably substantially cylindrical, and includes a cylindrical section 6521 as a main body, and a coupling section 6522 and a projection 6523 coupled to both ends of the cylindrical section 6521. The connecting section 6522 and the cylindrical section 6521 are coaxially arranged and are received within respective third chambers 6534. The groove 520 is disposed on an end surface of the connecting section 6522 facing the first support element 633. The cylindrical section 6521 is rotatably coupled to the third chamber 6534 (e.g., by a bearing). The protrusion 6523 is offset from the central axis of the cylindrical section 6521.

The support pin 657 of the snap assembly 654 is secured to the rib 6535. The latch hook 656 of the snap assembly 654 passes through the first through hole 6536 to a side of the third support plate 6531 facing the second support plate 6332. Therefore, when the first support assembly 633 and the second support assembly 653 are connected, only the third support plate 6531 needs to be aligned with one side surface of the second support plate 6332 and the two support plates need to be pressed forcibly, in the process, the locking hook 656 automatically shifts to avoid the second support plate 6332 and extends into the engagement hole 6330 of the second support plate 6332, and simultaneously resets under the action of the second spring 658 to be locked on the side of the second support plate 6332, which is away from the third support plate 6531, so that the operation is convenient.

In this embodiment, each of the driven mechanisms 651 further includes one or more guide posts 670 connected between the fourth support plate 6532 and the fifth support plate 6533, and a displacement member 671 slidably received on the guide posts 670. In this embodiment, the connection unit 650 includes two parallel translation members 671 and four parallel guide pillars 670, and each translation member 671 is correspondingly sleeved on two adjacent guide pillars 670. The translator 671 is coupled to the driven rotation member 652 and is configured to cause translation of the translator 671 by rotational movement of the driven rotation member 652. The central axis of the driven rotary member 652 of the present embodiment is perpendicular to the translation direction of the translation member 671. Therefore, the central axis of the active rotating element 632 of the present embodiment is also perpendicular to the translation direction of the translation element 671, or the translation direction of the translation element 671 is parallel to the third support plate 6531, and thus parallel to the side surface of the second support plate 6332 of the first support assembly 633.

Specifically, the translation member 671 is generally elongated and has an elongated slot 672 on a side facing the driven rotation member 652. Preferably, the length of the elongated slot 672 coincides with the length of the translator 671. The projection 6523 is slidably received within the elongated slot 672. Preferably, the end of the projection 6523 is provided with a bearing 6524, the bearing 6524 being received within the elongated slot 672, and more preferably the diameter of the bearing is substantially equal to the width of the elongated slot 672. Therefore, when the driven rotary member 652 rotates, the protrusion 6523 drives the bearing 6524 to make a circular motion, and further drives the translation member 671 to make a linear motion along the guide pillar 670.

Optionally, a second through hole 6537 is further formed in the center of the fifth support plate 6533. Second connector 43 of the surgical instrument 20 is fixedly mounted, for example by screws, to a side of the fifth support plate 6533 facing away from the fourth support plate 6532, and the links of the surgical instrument 20 pass through the second through-holes 6537 to connect with the respective translator 671.

The overall operation of the robotic surgical system 600 of the present embodiment is summarized as follows: the output shaft of the motor 34 drives the driving wheel 360 to rotate through the reduction box 37, the driving wheel 360 drives the driven wheel 361 to rotate through the transmission belt 362, the driven wheel 361 drives the driving rotating piece 632 to rotate, the driving rotating piece 632 drives the driven rotating piece 652 to rotate, the driven rotating piece 652 rotates to drive the translation piece 671 to linearly move along the guide post 670, and the translation piece 671 drives the push rod 61 to linearly move, so that the end effector 80 performs a desired action to perform an operation.

It can be seen that in the connection unit 650, the rotation angle of the end effector 80 is determined by the moving distance of the push rod 61, i.e. the rotation angle of the end effector 80 and the moving distance of the push rod 61 have a one-to-one correspondence, and the moving distance of the push rod 61 is determined by the moving distance of the translation member 671, i.e. the moving distance of the push rod 61 and the moving distance of the translation member 671 are determined by the rotation angle of the driven rotation member 652, and the displacement generated by one rotation of the driven rotation member 652 includes the moving distance range of the translation member 54, i.e. the moving distance of the translation member 54 and the rotation angle of the driven rotation member 652 have a one-to-one correspondence within one rotation, so that the rotation angle of the driven rotation member 652 and the rotation angle of the end effector 80 have a one-to-one correspondence. Further, in the driving unit 630, the rotation angle of the output shaft of the motor 34, the rotation angle of the driving wheel 360, the rotation angle of the driven wheel 361, and the rotation angle of the driving rotating element 632 have a one-to-one correspondence relationship, and the rotation angle of the driving rotating element 632 and the rotation angle of the driven rotating element 652 also have a one-to-one correspondence relationship, so that the rotation angle of the output shaft of the motor 34 and the rotation angle of the end effector 80 have a one-to-one correspondence relationship in the state of returning to zero, the motor 34 automatically returns to zero after each operation, the motor 34 generates moment sudden changes before and after the convex column 320 is combined with the groove 520, at this time, the motor 34 can determine that the convex column 320 is combined with the groove 520, the rotation angle of the driven rotating element 652 at this time can be known through a motor encoder, the state of the end effector 80 can be correspondingly determined, and further, the rotation angle of the end effector 80 can be controlled by controlling the motor 34.

Referring to fig. 11, the robotic surgical system 600 of the present embodiment is mounted as follows: the operation can be performed by connecting the driving unit 630 to the robot arm through the first support plate 6331, connecting the surgical instrument 20 to the connecting unit 650, opening an opening in the surface of the human body (for example, opening an opening in the abdominal wall to attach a stab card), inserting the surgical instrument 20 into the human body through the opening, and connecting the connecting unit 650 to the driving unit 630 from the side of the second support plate 6332.

Referring to fig. 12, the robotic surgical system 600 of the present embodiment is disassembled as follows: the connection unit 650 is detached from the side of the second support plate 6332 of the driving unit 630, and then the surgical instrument 20 connected to the connection unit 650 is removed from the human body through the opening.

Referring to fig. 13 to 16, a robotic surgery system 700 according to the second embodiment of the present invention is substantially the same as the robotic surgery system 600 according to the first embodiment, and particularly, the working principle, the installation manner, and the detachment manner are the same, and the main differences therebetween are: the surgical instrument 720 of the robotic surgical system 700 of the present embodiment includes three linkages 60 (and thus three pushrods 61), and accordingly the drive unit 730 of the instrument drive assembly 710 of the robotic surgical system 700 of the present embodiment includes three driving mechanisms 631, and the coupling unit 750 includes three driven mechanisms 651.

Specifically, referring to fig. 13 to 15, the driving unit 730 of the present embodiment includes three motors 34 arranged side by side, three reduction gearboxes 37 arranged side by side, three belt transmission mechanisms 36 arranged side by side, and three symmetrically arranged driving rotation members 632. As in the embodiment, the output shaft of each motor 34 is connected to the input shaft of the reduction gearbox 37, the output shaft of the reduction gearbox 37 is connected to the driving wheel 360, and the driven wheel 361 is connected to a corresponding driving rotating member 632, so that the rotating speed of the motor 34 is reduced and then transmitted to the driving rotating member 632 to rotate the driving rotating member 632. In addition, the first support assembly 733 of the present embodiment also includes a first support plate 7331 and a second support plate 7332 that are vertically connected. However, unlike the first embodiment, the second supporting plate 7332 of the present embodiment includes three first cavities 6333 symmetrically distributed for accommodating the three driving rotating members 632, and three second cavities 6334 arranged side by side for accommodating the three reduction boxes 37. The three second chambers 6334 may, although may not, be in communication with each other.

Referring to fig. 13, 14, and 16, the connection unit 750 of the present embodiment includes three symmetrically arranged driven rotation members 652, and three translation members 671. In a similar manner to the embodiment, when each driven rotary member 652 is driven by the driving rotary member 632 to rotate, the translation member 671 moves along a straight line, and the translation member 671 pushes the corresponding pushing rod 61 to move. However, although the two first translation members 671A of the present embodiment are elongated and respectively sleeved on the two guide posts 670 as in the present embodiment, the other second translation member 671B is substantially T-shaped and includes an elongated first connection portion 671B1 and an elongated second connection portion 671B2 perpendicularly connected to the first connection portion 671B 1. The first connection portion 671B1 is used for sliding connection with the two guide posts 670, and the second connection portion 671B2 is used for connection with the corresponding push rod 61. Preferably, the first connection portion 671B1 is sleeved on two adjacent guide pillars 670 for connecting two first translation members 671A, so as to simplify the structure and weight of the connection unit 750.

In addition, the second supporting set 753 of the present embodiment also includes a third supporting plate 7531, and a fourth supporting plate 6532 and a fifth supporting plate 6533 vertically connected to both sides of the third supporting plate 7531, and the second supporting member 753 is also provided with two snap assemblies 654. However, unlike the first embodiment, the third support plate 7531 of the present embodiment includes three symmetrically distributed third chambers 6534 for receiving the three driven rotators 652. The two ribs 6535 are connected to the outer walls of the two third chambers 6534, respectively, near the side of the third support plate 7531, for connecting the two snap assemblies 654.

In the present application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first feature or the second feature or indirectly contacting the first feature or the second feature through an intermediate.

Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or may simply mean 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 lower level than the second feature.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples," or the like, means 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. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims (12)

1. A safe-to-use instrument drive assembly, comprising a drive unit, and a coupling unit detachably connectable to the drive unit for coupling to an instrument; the driving unit comprises three or more driving mechanisms, and each driving mechanism comprises a driving rotating piece; the connecting unit comprises three or more driven mechanisms, and each driven mechanism comprises a translation piece; each driving mechanism is connected with a corresponding driven mechanism and is configured to cause the translation of the translation piece through the rotation of the driving rotating piece, and the central axis of the driving rotating piece is perpendicular to the translation direction of the translation piece.

2. The instrument drive assembly according to claim 1, wherein the drive unit includes three of the driving mechanisms and the connection unit includes three of the driven mechanisms.

3. The instrument drive assembly according to claim 2, wherein each of the drive mechanisms further includes a motor and a reduction mechanism coupled to an output shaft of the motor, the drive rotating member being coupled to the reduction mechanism.

4. The instrument drive assembly according to claim 3, wherein the reduction mechanism includes a reduction gearbox coupled to an output shaft of the motor, and a belt drive mechanism coupled to the reduction gearbox, the active rotating member being coupled to the belt drive mechanism.

5. The instrument drive assembly according to claim 2, wherein each of the driven mechanisms further comprises a driven rotation member coupled to a respective one of the driving rotation members and configured to be driven in rotation by the driving rotation member, the translation member coupled to the driven rotation member and configured to cause translation of the translation member by rotational movement of the driven rotation member.

6. The instrument drive assembly according to claim 5, wherein a central axis of the driven rotation member coincides with a central axis of the driving rotation member, the central axis of the driven rotation member being perpendicular to a direction of translation of the translation member.

7. The instrument drive assembly according to claim 6 wherein said driven rotation member includes a projection offset from a central axis thereof, said translation member having an elongated slot, said projection being slidably received in said elongated slot to cause translation of said translation member by rotation of said driven rotation member.

8. The instrument drive assembly according to claim 5, wherein the driven rotation member is detachably connected to the driving rotation member, and the driving rotation member is configured to rotate up to 360 ° to connect to the driven rotation member.

9. The instrument drive assembly according to claim 2, wherein the drive unit further includes a first support assembly for supporting three of the driving mechanisms, and the coupling unit further includes a second support assembly for supporting three of the driven mechanisms, the first support assembly being detachably coupled to the second support assembly.

10. The instrument drive assembly according to claim 9, wherein the first support assembly is snap-fit connected to the second support assembly.

11. The instrument drive assembly according to claim 10 wherein one of said first support member and said second support member is provided with a resilient snap member and the other is provided with an engagement hole for engaging said snap member.

12. A robotic surgical system comprising the instrument drive assembly of any one of claims 1-11 and a surgical instrument connected with the connection unit of the instrument drive assembly.

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