RU2790785C1 - Transmission, drive and sterile assembly, surgical instrument and system and surgical robot - Google Patents

Abstract

FIELD: medical instruments.

SUBSTANCE: group of inventions relates to medicine, namely to transmitting, driving and sterile units for a surgical instrument, as well as to a surgical instrument, system and robot. Transmission unit for the surgical instrument contains a first transmission disk and a second transmission disk. The first transmission disk has a second end, and the second transmission disk has a third end located face to face with the second end. One of the face sides of the second end and the face side of the third end has a first guide surface formed thereon, and the other face side of the second end and the face side of the third end is provided with a second engaging component. The first engaging component is provided on the first guide surface, and the second engaging component is configured to engage with the first engaging component. The second engagement component is configured movable along the first guide surface until the second engagement component engages with the first engagement component so that to provide torque transmission between the first transmission disc and the second transmission disc. The surgical instrument system for a surgical robot comprises a driving force box with a drive mechanism, a surgical instrument, a transmission unit, and a sterile plate.

EFFECT: fast and strong engagement between the surgical instrument and the sterile plate is achieved, which avoids the occurrence of connection failure and improves the safety of the surgical robot.

30 cl, 18 dwg

Description

The field of technology to which the present invention relates

The present disclosure relates to the field of surgical instruments, and more specifically to transmission, drive and sterile assemblies, a surgical instrument and system, and a surgical robot.

Background of the Invention

In recent years, with the increasing use and development of robotics, especially computing, the role of surgical robots in clinical practice has become increasingly important. On the one hand, a minimally invasive surgical robot can reduce the physical burden on the surgeon during surgery. On the other hand, it can achieve the goal of precision surgery by offering the advantages of minimal trauma, less bleeding, reduced post-operative infection, and fast post-operative recovery.

It is often necessary to sterilize surgical instruments used in surgery. However, since the surgical robot itself includes many components (such as motors, sensors, and so on) that are not suitable for sterilization using conventional methods, it is not possible to sterilize the entire surgical robot. Therefore, to isolate non-sterilizable parts from sterilizable surgical instruments, sterile plates are usually used in combination with sterile bags. However, during surgery, it is often necessary to frequently change surgical instruments. Moreover, when replacing the surgical instrument, it is necessary to disassemble and assemble the surgical instrument and the sterile plate each time. Therefore, it is desirable to provide a simple and efficient transmission connection between the sterile plate and the surgical instrument.

Chinese Patent Application No. CN106102640A relates to a method of engaging a surgical instrument with a remote control drive, in which the transmission interface connection is made by a rotary coupling between the carriage drive in the instrument manipulator and the instrument drive in the surgical instrument. However, such a structure is associated with the following disadvantages: (1) Such a structure transmits an axial force to the bogie drive through the elastic component to cause the bogie drive to move in the axial direction. However, the axial movements of the carriage drive must lead to the presence of a circumferential clearance with respect to the input drive shaft, which leads to errors in surgical accuracy and is detrimental to precision surgery; (2) In such a solution, the carriage drive is frictionally connected to the corresponding tool drive. This tends to result in clutch failures in some specific rotating disc positions (see Paragraph [0006] CN 106102641A); (3) In order for the elastic component to apply an axial force to the carriage drive, it is necessary to provide stationary components, relative sliding components, limiting components, precise sliding chute in the whole device, which increases the structural complexity of the device. In addition, it is also required to provide a sufficient axial length of the device to ensure the stability of the carriage, which makes the device rather bulky; (4) in such a solution, the various functions of the apparatus can only be implemented through complex control programs.

Chinese Patent Application No. CN103533908A mentions a tool interface that drives a tool with a conical structure friction gear. This design is associated with the following disadvantages: (1) The interface can be engaged with the driving motor at any position of the driving disk, which makes it impossible to determine the initial position of the tool tip, and thus makes it impossible for the robot system to obtain information about the absolute position of the tool terminal, which is detrimental to ensuring safety during the operation; (2) frictional transmission is associated with the risk of slippage. As soon as slippage occurs, an accuracy error will occur, which can adversely affect surgical operations.

Brief summary of the present invention

The purpose of this disclosure is to present transmission, drive and sterile assemblies, a surgical instrument, a surgical instrument system, and a surgical robot that provides fast and strong engagement between the surgical instrument and the sterile plate and avoids connection failure and improves the safety of the surgical robot.

In order to achieve the above object, the present disclosure provides a transfer assembly for a surgical instrument, comprising a first transfer disk and a second transfer disk, wherein:

the first transfer disk has a second end and the second transfer disk has a third end facing the second end,

one of the end side of the second end and the end side of the third end has a first guide surface formed thereon, the other of the end side of the second end and the end side of the third end is provided with a second engagement component, wherein at least one first engagement component is provided on the first guide surface, and the second engagement component is configured to engage with the first engagement component;

the second engaging component is movable along the first guiding surface until the second engaging component engages with the first engaging component in order to transfer torque between the first transfer disk and the second transfer disk.

It is possible that the first guide surface has at least one peak and at least one cavity, which are distributed around the circumference along the end side of the end on which the first guide surface is formed, and the first engaging component is provided in the cavity of the first guide surface.

Perhaps the axial projection of the first guide surface has a diameter greater than or equal to a tenth of the axial distance from the top to the bottom of the first guide surface.

It is possible that the second end of the first transfer disk is additionally provided with a first locating pin extending in the axial direction, and the third end of the second transfer disk is additionally provided with a first locating hole extending in the axial direction, the first locating pin and the first locating hole being configured to interact with each other to facilitate the concentric arrangement of the first transfer disk and the second transfer disk.

Optionally, the first engaging component is a recess and the second engaging component is a protrusion, wherein the first protective wall surrounding the protrusion is provided on the end side where the second engaging component is provided, and the first protective wall is annular and connected to the protrusion;

and wherein the axial projection of the end side where the first guide surface is located has a diameter less than or equal to the inner diameter of the first protective wall.

Possibly, the second engaging component comprises a first guiding section and a first driving force transmission section;

the first guide section is configured to contact the first guide surface to guide the sliding of the second engaging component along the first guide surface, and

the first driving force transmission portion is configured to transmit the driving force when the first engagement component is engaged with the second engagement component.

It is possible that each of the axial projection of the first engagement component and the axial projection of the first driving force transmission section has the shape of a crescent-shaped ellipsoid, or

each of the axial projection of the first engaging component and the axial projection of the first driving force transmission portion is fan-shaped, and the fan formed by the first engaging component has an angle greater than or equal to the angle of the fan formed by the first driving force transmission portion.

Possibly, the second engaging component comprises a first guiding section, wherein the first guiding section is configured to contact the first guiding surface to guide the second engaging component to slide along the first guiding surface and to transmit driving force when the second engaging component is engaged with the first engaging component. component.

Possibly, the first guide section and the first engaging component are made with the possibility of surface contact to increase the frictional force between them.

Optionally, at least two second engagement components are provided, wherein the first guide surface and the second engagement components are configured such that when an axial external force is applied to the second transmission disc and the first guide surface is in contact with the second engagement components, the second components of the engagement are affected by unbalanced forces.

Optionally, each of the second engaging components includes a first guide section, with each first guide section comprising two wedge-shaped surfaces that form a first line of intersection;

wherein the first guide surface comprises a plurality of guide subsurfaces that are connected in series, and adjacent guide subsurfaces form a second line of intersection at the tops of the first guide surface; And

wherein the first and second intersection lines are configured such that when the second engaging components are in contact with the first guide surface at the tops of the first guide surface, the axial projection of the first intersection line at least partially coincides with the axial projection of the corresponding second intersection line; or

the first and second intersection lines are designed such that when the second engaging components are in contact with the first guide surface at the tops of the first guide surface, at least two axial projections of several first intersection lines are in a straight line, and at least two axial projections several second lines of intersection are on the same straight line.

It is possible that each of the second engaging components comprises a first guide section, each first guide section comprising two wedge-shaped surfaces and one first transition surface between two wedge-shaped surfaces, the first transition surface being cut by a group of flat or curved imaginary cutting surfaces, and between the first transition surface and a group of flat or curved imaginary cutting surfaces is formed by a group of lines of intersection of the section, and the first line of intersection is formed in the form of a connecting line formed by connecting each of the characteristic points of the group of lines of intersection of the section;

the first guiding surface comprises a plurality of guiding auxiliary surfaces, the adjacent guiding auxiliary surfaces being connected by a second transition surface at the top of the first guide surface, the second transition surface being cut by a group of flat or curved imaginary cutting surfaces, and between the second transition surface and the group of flat or curved imaginary cutting surfaces formed by a group of lines of intersection of the section, and while the second line of intersection is formed in the form of a connecting line formed by connecting each of the characteristic points of the group of lines of intersection of the section; And

moreover, several first intersection lines and several second intersection lines are made in such a way that when the first engaging component is engaged with the second engaging components, the axial projection of the first intersection line at least partially coincides with the axial projection of the corresponding second intersection line; or

several first intersection lines and several second intersection lines are made in such a way that when the first engaging component is engaged with the second engaging components, at least two axial projections of several first intersection lines are on the same line, and at least two axial projections of several the second intersection lines are on the same straight line.

It is possible that the first mating surface is formed on the end side where the second engaging component is located, and the second engaging component is provided on the first mating surface, the first mating surface being made so as not to prevent the movement of the second engaging component along the first guide surface and to engage with the first engaging component.

Optionally, the first mating surface is configured such that when the second engaging component is engaged with the first engaging component, the first mating surface at least partially abuts against the first guide surface.

Possibly, the first guide surface has at least one peak and at least one cavity, which are distributed around the circumference along the end side where the first guide surface is located, and the first engaging component is provided in the cavity of the first guide surface;

moreover, the first mating surface has at least one top and at least one cavity, which are distributed around the circumference along the corresponding end side, and the second engaging component is provided at the top of the first mating surface;

moreover, the top of the first mating surface is made in accordance with the cavity of the first guide surface, and the cavity of the first mating surface is made in accordance with the top of the first guide surface; And

the cavity of the first mating surface is designed so as not to interfere with the engagement between the first and second engaging components.

It is possible that the first mating surface recess is configured such that when the first transfer disc is engaged with the second transfer disk, the first mating surface recess is not at all in contact with the corresponding top of the first guide surface; or

the trough of the first mating surface is not in contact with the corresponding top of the first guiding surface, while a line contact or surface contact is formed between the two side sections of the trough of the first mating surface and the two side sections of the corresponding top of the first guiding surface.

Possibly, the first guide surface has at least one peak and at least one cavity, which are distributed around the circumference along the end side where the first guide surface is located, and the first engaging component is provided in the cavity of the first guide surface;

moreover, the top of the first mating surface is made in accordance with the cavity of the first guide surface, and the cavity of the first mating surface is made in accordance with the top of the first guide surface; And

wherein the first mating surface is additionally provided with a first containing groove on it, and the containing groove is configured to accommodate the top of the first guide surface.

Possibly, the transfer assembly further comprises a third transfer disk, wherein the first transfer disk, the second transfer disk, and the third transfer disk are connected in series;

moreover, the second transfer disk additionally has a fourth end opposite the third end, and the third transfer disk has a fifth end located end to end with the fourth end;

wherein one of the end side of the fourth end and the end side of the fifth end has a second guide surface formed thereon, and the other of the end side of the fourth end and the end side of the fifth end is provided with a fourth engagement component, wherein at least one third engagement component is provided on the second guide surface, and the fourth engaging component is configured to engage the third engaging component, and

wherein the fourth engagement component is slidable along the second guide surface until the fourth engagement component engages with the third engagement component to enable torque transmission between the second transmission disc and the third transmission disc.

Optionally, the first engagement component has the same shape and size as the third engagement component, the second engagement component has the same shape and size as the fourth engagement component, and the first guide surface has the same shape as the second guide surface.

Possibly, the transfer assembly comprises at least two mutually engaged second transfer disks, one of which is engaged with the first transfer disk, and the other of which is engaged with the third transfer disk.

Possibly, the fourth engagement component and the second engagement component are alternately disposed along the circumferential direction of the transmission assembly.

To achieve the above object, the present disclosure provides a surgical instrument system for a surgical robot, comprising:

a driving force box comprising a first box body and a drive mechanism disposed in the first box body, the first box body being provided with at least one outlet;

a surgical instrument comprising an instrument shaft, an instrument tip and an instrument box, wherein the instrument box comprises a second box body and a transmission module, the transmission module being located in the second box body and configured to drive the instrument shaft and/or the instrument tip, the second body the box is provided with at least one inlet; And

transmission unit as defined above,

the first transfer disk is located in the outlet and the second transfer disk is located in the inlet, and when the first transfer disk is engaged with the second transfer disk, the driving force provided by the drive mechanism is transmitted by the transfer assembly to the transfer module, which in turn , drives the tool shaft and/or tool tip.

To achieve the above object, the present disclosure further provides a surgical instrument system for a surgical robot, comprising:

a driving force box comprising a first box body and a drive mechanism disposed in the first box body, the first box body being provided with at least one outlet;

at least one sterile plate, each of which is provided with at least one transfer hole;

a surgical instrument containing an instrument shaft, an instrument tip and an instrument box, the instrument box comprising a second box body and a transmission module, the transmission module being located in the second box body and configured to drive the instrument shaft and/or the instrument tip, and the second body the box is provided with at least one inlet; And

transmission unit as defined above, wherein:

driving force box, sterile plate and instrument box are arranged in series;

the first transfer disk is provided in the outlet and further comprises a first end opposite the second end, and the first end of the first transfer disk is connected to the drive mechanism; wherein the second transfer disk is provided in the transfer hole, and the third transfer disk is provided in the inlet and further comprises a sixth end opposite the fifth end, the sixth end of the third transfer disk being connected to the transfer module; And

when the first transfer disk, the second transfer disk, and the third transfer disk are engaged in series, the driving force provided by the drive mechanism is transmitted by the transfer assembly to the transfer module, which in turn drives the tool shaft and/or tool tip.

Possibly, the surgical instrument system further comprises at least one set of magnets for position adjustment,

wherein the third transfer disk has a zero position, and the position correction magnet set is configured to assist the third transfer disk to reach the zero position.

Possibly, the set of position correction magnets comprises a first magnet and a second magnet, the first magnet being located on the third transfer disk, the second magnet being located on the toolbox, the first and second magnets being retractable to assist the third transfer disk to reach a zero position. .

It is possible that the surgical instrument system further comprises at least one set of anti-displacement magnets,

wherein the transmission assembly has the worst position, and the set of anti-displacement magnets is configured to prevent the transmission assembly from falling into the worst position.

Optionally, the anti-displacement magnet set comprises a third magnet and a fourth magnet, wherein the third magnet is provided on the second transfer disc, the fourth magnet is provided on the sterile plate, and the third and fourth magnets are positioned to repel each other to keep the transfer assembly out of the worst position under the influence of the repulsive force.

Possibly, the surgical instrument system further comprises a circular limiter configured to limit the range of rotation of the third transmission disk.

It is possible that the circular stop includes a limit protrusion provided on the circular side wall of the third transfer disc and a sliding groove provided in the inner wall of the inlet, and the limit protrusion is provided inside the slide groove and can move along the slide groove.

Possibly, the surgical instrument system further comprises an axial stop configured to prevent the second transfer disk from being forced out of the sterile plate.

It is possible that the sterile plate contains a sterile substrate and a sterile cover, wherein the sterile substrate is connected to the driving force box, the sterile substrate is provided with a first through hole, the sterile cover is provided with a second through hole, the second through hole constitutes a transfer hole together with the first through hole, and the axial stop contains a restrictive collar provided on the circular side wall of the second transfer disc, wherein the second through hole section adjacent to the first through hole has an inner diameter greater than each of the inner diameter of the second through hole section remote from the first through hole and the inner diameter of the first through hole, and corresponds to the outer diameter of the restrictive shoulder.

In order to achieve the above object, the present disclosure further provides a surgical robot comprising a surgical instrument system as defined above.

Optionally, the surgical robot further comprises a robotic arm, wherein a drive box is attached to the end of the robotic arm, and a tool box is detachably attached to the drive box.

In order to achieve the above object, the present disclosure further provides a surgical robot comprising a surgical instrument system as defined above.

Optionally, the surgical robot further comprises a robotic arm, wherein a drive box is attached to the end of the robotic arm, and a detachable sterile plate is provided on the drive box, and a detachable instrument box is attached to the sterile plate.

To achieve the above object, the present disclosure further provides a drive assembly for a surgical instrument, which includes:

a first box body provided with at least one outlet;

a drive mechanism located in the first case of the box; And

the first transfer disk configured to engage with the second transfer disk containing the second engaging component, or with the third transfer disk containing the fourth engaging component, the first transfer disk being located in the outlet, the first transfer disk having two opposite end parts, one of which is connected to the drive mechanism, the other of which has a guide surface formed on its end side, wherein the guide surface is provided with at least one first engagement component, and the guide surface is configured to move the second engagement component of the second transmission disk or the fourth engagement component the third transfer disk along the guide surface until they engage with the first engaging component.

Possibly, the guide surface of the first transmission disk has at least one peak and at least one cavity, which are located along the circumferential direction of the corresponding end part, and the first engagement component is provided in the cavity of the guide surface.

Possibly, the guiding surface of the first transfer disc is provided with at least two first engaging components which are centrally symmetrically located on the guiding surface.

To achieve the above object, the present disclosure further provides a drive assembly for a surgical instrument, which includes:

a first box body provided with at least one outlet;

a drive mechanism located in the first case of the box; And

the first transfer disk configured to engage with the second transfer disk containing the first guiding surface and the first engaging component, or with the third transfer disk containing the second guiding surface and the third engaging component, the first transfer disk being located in the outlet, the first transfer disk the disk has two opposite end parts, one of which is connected to the drive mechanism, and the other of which has at least one second engaging component formed on its end side, the second engaging component being movable along the first guide surface until it engages with by the first engaging component or movable along the second guide surface until it engages with the third engaging component.

It is possible that the first mating surface is formed on the end side of the other of the end parts of the first transfer disk, and the first mating surface has at least one top and at least one depression, which are located along the circumferential direction of the end side, and the second engagement component is located at the top of the first mating surface.

To achieve the above object, the present disclosure further provides a sterile assembly comprising:

at least one sterile plate provided with at least one transfer hole; And

at least one second transfer disk configured to engage with the first transfer disk and the third transfer disk, wherein the second transfer disk is located inside the transfer hole, the second transfer disk has two opposite end parts, and at least one of the end parts is provided with a guide surface on its end side, wherein each of the two end parts of the second transfer disk is provided with at least one engaging component on the corresponding end side, and the guide surface and the engaging components are configured to engage the second transfer disk with each of the first and third transfer disks.

Possibly, the guide surface of the second transmission disk has at least one peak and at least one cavity, which are located along the circumferential direction of the corresponding end part, and in the cavity of the guide surface there is an engagement component (components) provided on the guide surface.

It is possible that each of the two end portions of the second transmission disc has a guide surface formed on a respective end side, and at least one engagement component is provided on each guide surface, the engagement component being a recess.

It is possible that only one of the end portions of the second transfer disc has a guide surface formed on its end side, and the engaging component provided on the guide surface is a recess, while the engaging component provided on the end side of the other of the end portions is ledge.

Possibly, the sterile assembly further comprises at least one set of anti-displacement magnets,

wherein the transmission assembly has the worst position, and the set of anti-displacement magnets is configured to prevent the transmission assembly from falling into the worst position.

Possibly, the sterile assembly comprises at least two sterile plates stacked together, and the transfer holes in at least two sterile plates are aligned with each other, and each of them is equipped with one transfer disk.

Optionally, the sterile assembly further comprises an axial stop configured to prevent the transfer disk from being forced out of the transfer hole.

It is possible that the sterile plate contains a sterile substrate and a sterile cover, wherein the sterile substrate is configured to be connected to the driving force box, the sterile substrate is provided with a first through hole, the sterile cover is provided with a second through hole, the second through hole constitutes a transfer hole together with the first through hole, and the axial stop comprises a restrictive shoulder provided on the circular side wall of the second transmission disk, and the second through hole section next to the first through hole has an inner diameter greater than each of the inner diameter of the second through hole section remote from the first through hole and the inner diameter of the first through hole, and corresponds to the outer diameter of the restrictive collar.

To achieve the above object, the present disclosure further provides a sterile assembly that contains:

at least one sterile plate, each of which is provided with at least one transfer hole; And

at least one second transfer disk configured to engage with the first transfer disk containing the first guiding surface and the first engaging component, and with the third transfer disk containing the second guiding surface and the third engaging component, the second transfer disk being located in the transfer hole, wherein the second transfer disk has two opposite end parts, each of which has at least one engaging component formed on its end side, and the engaging components are configured to engage the second transfer disk with each of the first and third transfer disks.

It is possible that each of the two opposite end portions of the second transfer disk has a mating surface formed on the respective end side, and the mating surface is provided with at least one peak and at least one cavity, which are located along the circumferential direction of the corresponding end side, and at the same time each of the engagement components is provided on top of a respective mating surface.

To achieve the above object, the present disclosure further provides an instrument box assembly for a surgical instrument, comprising an instrument shaft and an instrument tip, which comprises:

a tool box comprising a second box body and a transfer module located in the second box body, the transfer module being configured to drive the tool shaft and/or tool tip, the second box body having at least one inlet provided therein; And

the third transfer disk configured to engage with the first transfer disk containing the second engaging component, or with the second transfer disk containing the fourth engaging component, the third transfer disk being located in the inlet, the third transfer disk having two opposite end parts, one of which connected to the transmission module, and the other of which has a guide surface formed on its end side, the guide surface being provided with at least one third engagement component, and the guide surface being configured to move the second engagement component of the first transmission disc along the guide surface until it engages with a third engaging component or with the possibility of moving the fourth engaging component of the second transfer disk along the guide surface until it engages with the third engaging component.

It is possible that the guide surface of the third transmission disk has at least one peak and at least one cavity, which are located along the circumferential direction of the corresponding one of the end parts, and at the same time, a third engaging component is provided in the cavity of the guide surface.

Possibly, the transmission module contains a rotating element, a flexible element and a group of guide pulleys, wherein the group of guide pulleys is configured to change the direction of the extension of the flexible element, the rotating element is configured to drive the tool tip through the flexible element, the rotating element being detachably connected to the third transfer disk or is made in the form of a single whole with it.

Optionally, the surgical instrument further comprises at least one set of magnets for position adjustment,

the third transfer disk has a zero position, and the position correction magnet set is configured to assist the third transfer disk to reach the zero position.

Possibly, the surgical instrument further comprises a circular limiter configured to limit the range of rotation of the third transmission disk.

To achieve the above object, the present disclosure further provides an instrument box assembly for a surgical instrument, comprising an instrument shaft and an instrument tip, which comprises:

a tool box comprising a second box body and a transfer module located in the second box body, the transfer module being configured to drive the tool shaft and/or the tool tip, the tool box having at least one inlet provided therein; And

the third transfer disk configured to engage with the first transfer disk containing the first guiding surface and the first engaging component, or with the second transfer disk containing the second guiding surface and the third engaging component, wherein the third transfer disk is located in the inlet, the third transfer disk has two opposite end parts, one of which is connected to the transmission module, and the other of which has at least one fourth engagement component formed on its end side, the fourth engagement component being movable along the first guide surface until it engages with the first engagement component component of the first transfer disk or movable along the second guide surface until it engages with the third engaging component of the second transfer disk.

It is possible that the other of the two opposite end portions has a first mating surface formed on its end side, wherein the first mating surface has at least one peak and at least one cavity, which are located along the circumferential direction of the corresponding end side, and at the same time on a fourth engagement component is provided at the top of the first mating surface.

Compared with the prior art, the transmission, drive, and sterile assemblies, surgical instrument, surgical instrument system, and surgical robot of the present disclosure have the following advantages:

First, the surgical instrument transfer assembly includes at least a first transfer disk and a second transfer disk. The first transfer disk has a second end, and the second transfer disk has a third end located end to end with the second end. The end side of the second or third end has a first guiding surface formed thereon, and at least one first engaging component is provided on the first guiding surface. In addition, the other end side of the second or third end is provided with a second engagement component that can engage with the first engagement component. The second engaging component is movable along the first guide surface until it engages with the first engaging component in order to transfer torque between the first transfer disk and the second transfer disk. The guiding function of the first guiding surface and the engagement configuration between the first and second engagement components can avoid the occurrence of engagement failure. In addition, the combination of the first guiding surface and the second engaging component makes it possible to achieve fast engagement without installing an additional control program.

Secondly, the transfer unit further comprises a third transfer disk. The first transfer disk, the second transfer disk and the third transfer disk are connected in series. The second transfer disk additionally has a fourth end opposite the third end, and the third transfer disk has a fifth end located end to end with the fourth end. The end side of the fourth or fifth ends has a second guiding surface formed thereon, and at least one third engaging component is provided on the second guiding surface. In addition, the other end side of the fourth or fifth ends is provided with a fourth engagement component that can engage with the third engagement component. The fourth engagement component is slidable along the second guide surface until the fourth engagement component engages with the third engagement component to enable torque transmission between the second transmission disk and the third transmission disk. The guiding function of the second guiding surface and the engagement configuration between the third and fourth engagement components allow the surgical instrument system to be equipped with a sterile plate to isolate the drive assembly from the surgical instrument so that it is not necessary to disinfect the entire surgical robot system.

Third, by providing the first and second mating surfaces and mounting the second and fourth engagement components on the first and second mating surfaces, respectively, it is possible to improve the stress state between the second and fourth engagement components during transmission and improve the structural strength of the transmission discs to extend the service life. their services.

Fourthly, the first protective wall connected to the second engagement component and located on the periphery of the second engagement component can not only improve the voltage state of the second engagement component during transmission, but also reduce the axial size of the entire transmission assembly, thereby increasing the utilization factor. axial size and additional reduction in the weight of the transmission unit. Likewise, the second protective wall connected to the fourth engaging component and located on the periphery of the fourth engaging component makes it possible to improve the stress state of the second engaging component during transmission, thereby increasing the utilization factor of the axial dimension and further reducing the weight of the transmission assembly.

Brief description of the drawings

In FIG. 1 schematically shows an operating surgical robot according to an embodiment of the present disclosure.

In FIG. 2a is a diagram of the construction of a surgical instrument system according to an embodiment of the present disclosure.

In FIG. 2b schematically shows the surgical instrument system of FIG. 2a disassembled.

In FIG. 2c is a schematic exploded view of the surgical instrument system of FIG. 2a, which does not show some elements.

In FIG. 3 schematically shows the surgical instrument system of FIG. 2a, with the sterile support, sterile cap, and set of magnets for adjusting the position shown exploded.

In FIG. 4 is a partial cross-sectional view of a sterile assembly according to an embodiment of the present disclosure.

In FIG. 5a is a construction diagram of a transmission assembly according to Embodiment 1 of the present disclosure.

In FIG. 5b is a diagram of the construction of the first transfer disk of the transfer unit of FIG. 5a from one direction.

In FIG. 5c is a diagram of the construction of the first transfer disk of FIG. 5b from the other direction.

In FIG. 5d is a diagram of the construction of the second transfer disc of the transfer assembly of FIG. 5a from one direction.

In FIG. 5e is a diagram of the construction of the second transfer disk of FIG. 5d from another direction.

In FIG. 5f is a diagram of the construction of the third transfer disc of the transfer assembly of FIG. 5a from one direction.

In FIG. 5g is a diagram of the construction of the third transfer disc of FIG. 5f from the other direction.

In FIG. 6a and 6b schematically show the wedge-shaped surfaces of the guide portion connected by the transition surface according to Embodiment 1, in which the intersection lines are obtained with imaginary cutting surfaces.

In FIG. 7a is a schematic exploded view of an embodiment of the transfer assembly of FIG. 5a.

In FIG. 7b is a schematic exploded view of the transmission assembly of FIG. 7a from the other direction.

In FIG. 7c is a schematic exploded view of another embodiment of the transfer assembly of FIG. 5a.

In FIG. 7d is a schematic exploded view of the transmission assembly of FIG. 7c from the other direction.

In FIG. 7e is a schematic exploded view of an additional embodiment of the transfer assembly of FIG. 5a.

In FIG. 7f is a schematic exploded view of the transmission assembly of FIG. 7e from the other direction.

In FIG. 7g is a schematic exploded view of an additional embodiment of the transfer assembly of FIG. 5a.

In FIG. 7h is a schematic exploded view of the transmission assembly of FIG. 7g from the other direction.

In FIG. 8a is a construction diagram of a transmission assembly according to Embodiment 2 of the present disclosure.

In FIG. 8b is a diagram of the construction of the first transfer disc of the transfer assembly of FIG. 8a from one direction.

In FIG. 8c is a diagram of the construction of the first transfer disk of FIG. 8b from the other direction.

In FIG. 8d is a diagram of the construction of the second transfer disc of the transfer assembly of FIG. 8a from one direction.

In FIG. 8e is a diagram of the construction of the second transfer disc of FIG. 8d from the other direction.

In FIG. 8f is a diagram of the construction of the third transfer disc of the transfer assembly of FIG. 8a from one direction.

In FIG. 8g is a diagram of the construction of the third transfer disc of FIG. 8f from the other direction.

In FIG. 9a is a construction diagram of a transmission assembly according to Embodiment 3 of the present disclosure.

In FIG. 9b is a schematic exploded view of the transmission assembly of FIG. 9a.

In FIG. 10 is a structure diagram of a transmission assembly according to Embodiment 4 of the present disclosure.

In FIG. 11 is a construction diagram of a drive box according to an embodiment of the present disclosure.

In FIG. 12 is a design diagram of a sterile assembly according to an embodiment of the present disclosure.

In FIG. 13 is a diagram of the design of the transfer disc in the sterile assembly of FIG. 12, in which each of the two end sides of the transfer disc is formed as a guide surface.

In FIG. 14 is a diagram of the design of the transfer disc in the sterile assembly of FIG. 12, in which one end side of the transfer disc is formed as a guide surface, and the other end side of the transfer disc is formed as a mating surface.

In FIG. 15 is a diagram of the design of the transfer disc in the sterile assembly of FIG. 12, in which one end side of the transfer disc is formed as a guide surface, and the other end side of the transfer disc has a protective wall formed thereon.

In FIG. 16 is a diagram of the construction of a sterile assembly according to an embodiment of the present disclosure, in which two sterile plates are located.

In FIG. 17 is a diagram of the construction of a surgical instrument according to an embodiment of the present disclosure.

In FIG. 18 is a schematic enlarged view of section A in FIG. 17.

On figures

10 - surgeon's console; 20 - surgical rack; 30 - patient stand;

100 - drive unit;

200 - sterile node;

300 - surgical instrument;

310 - tool tip; 320 - tool shaft;

400 - trocar;

1000 - transmission unit;

1100 - the first transfer disk;

1110 - the first connecting headstock; 1120 - second connecting hole; 1130 - fixing hole; 1140 - first locating pin;

1200 - second transfer disk;

1210 - the first mounting hole; 1220 - second locating pin; 1230 - restrictive shoulder;

1300 - the third transfer disk;

1310 - second connecting headstock; 1320 - second connecting hole; 1330 - second mounting hole; 1340 - receiving hole; 1350 - restrictive ledge;

1010 - first guide surface;

1011, 1011' - the first guide auxiliary surfaces;

1020 - first engaging component;

1030 - second engaging component;

1031 - the first section of the transmission of the driving force; 1032 - the first guide section;

1040 - second guide surface;

1050 - third engaging component;

1060 - fourth engaging component;

1061 - second transmission section; 1062 - second guide section;

1001 - first mating surface; 1002 - first containing groove; 1003 - second mating surface; 1004 - second containing groove; 1005 - the first protective wall; 1006 - second protective wall;

2000 - drive mechanism;

3000 - the first body of the box;

4000 - sterile plate; 4000a - first sterile plate; 4000b - second sterile plate;

4100 - sterile substrate; 4200 - sterile cap;

5000 - the second body of the box;

6000 - a set of magnets for position correction;

6100 - the first magnet; 6200 - second magnet;

7000 - a set of anti-displacement magnets;

7100 - third magnet; 7200 is the fourth magnet.

Detailed disclosure of the present invention

To make the objects, advantages, and features of the present disclosure more apparent, the transmission assembly, surgical instrument system, surgical robot, drive assembly, sterile assembly, and surgical instrument of the present disclosure are described in more detail below in conjunction with the drawings. It should be noted that the drawings are presented in a very simplified form, not necessarily to exact scale, for the sole purpose of helping to explain embodiments of the present disclosure in a more convenient and understandable manner.

Within the scope of the present invention and in the appended claims, the singular forms include plural references, and unless the context clearly dictates otherwise, the phrase "several" is used in the sense that includes "two or more". Within the scope of the present invention and in the appended claims, the term "or" generally includes the meaning of "and/or" unless the context clearly indicates otherwise. Further, the terms "assembly", "connection" and "connection" should be interpreted in a broad sense. For example, a connection may be a fixed, releasable or integral connection, a mechanical or electrical connection, a direct or indirect connection to one or more intermediate elements, or an internal connection or interaction between two separate elements. Specialists in this field can understand the specific meanings of the above terms in accordance with specific circumstances. In the accompanying drawings, like or like reference numerals refer to the same or like elements.

In FIG. 1 schematically shows an operating surgical robot according to an embodiment of the present disclosure. As shown in FIG. 1, the surgical robot includes a control station and an end effector station. The control station contains the console 10 of the surgeon, equipped with leading manipulators, while the station of the working bodies contains the surgical rack 20, the patient rack 30 and other equipment. The patient lies on a surgical stand 20 for a surgical operation. The patient stand 30 is provided with robotic arms (not shown in the figures) for receiving surgical instrument systems. Each element of the robotic arm and the surgical instrument system has a predetermined mapping relationship with the master arm such that a master-slave relationship is formed between it and each robotic arm. Each element of the robotic arm and the system of surgical instruments moves in different directions, following the movements of the leading manipulators, performing a surgical operation.

As shown in FIG. 2a and 2b, each surgical instrument system includes a drive assembly 100, a sterile assembly 200, and a surgical instrument 300. The surgical instrument 300 includes an instrument box assembly and an instrument tip 310 coupled to the instrument box assembly. The tool box assembly is provided with a transfer interface. The drive assembly 100 is configured to actuate the surgical instrument 300. The sterile assembly 200 is configured to provide a driving force transmission medium for the transmission interfaces of the drive assembly 100 and the instrument box assembly that are located on opposite sides of the sterile pouch (e.g., the sterile side and the non-sterile side ). A transmission interface located in the instrument box assembly receives the torque transmitted from the drive assembly 100 and drives the various articulations of the instrument handpiece 310. The surgical instrument 300 further comprises an instrument shaft 320. if the tool shaft 320 is rotatably connected to the tool box assembly, the transmission interface located in the tool box assembly receives the torque transmitted from the drive assembly 100 and causes the tool shaft 320 to rotate about its axis.

In general, both the drive unit 100 and the sterile unit 200 are provided with transmission interfaces. The transmission interfaces of the drive assembly 100 and the sterile assembly 200 correspond to the transmission interfaces of the instrument box assembly. These transmission interfaces form a transmission assembly by being connected to each other to transmit the driving force provided by the drive assembly 100 to the tool tip 310, thereby causing the tool tip 310 to perform various movements. In addition, the drive unit 100 includes a driving force box and transmission disks located on the driving force box. The box of driving forces is attached to the tip of the robotic arm. For example, the tip of a robotic arm contains a movable joint, and a box of driving forces is located on the movable joint so as to move with movements of the movable joint. The sterile assembly 200 is located on the sterile bag and connected to the drive assembly 100 in a detachable manner. In addition, the sterile assembly 200 includes a sterile plate and transfer discs provided on the sterile plate. The sterile plate is located with the possibility of detachment on the box of driving forces. The surgical instrument 300 is releasably connected to the sterile assembly 200 via the instrument box assembly. In addition, the tool box assembly further comprises a tool box and transfer discs provided on the tool box, and the tool box is releasably connected to the sterile plate. In an alternative embodiment, the surgical robot may be completely sterilized using a specific method such as ozone sterilization, hydrogen peroxide sterilization, etc.). In this case, the surgical instrument system may include a driving assembly 100 and a surgical instrument 300. Accordingly, the transmission assembly is composed of connecting the transmission interfaces of the driving assembly 100 with the corresponding transmission interfaces of the instrument box assembly, so as to transmit the driving force provided by the driving assembly 100 directly on the tool tip 310.

The first purpose of the embodiments of the present disclosure is to provide a transfer assembly 1000 suitable for use in a surgical instrument system of a surgical robot. As shown in FIG. 5a-5g, the transfer assembly 1000 shown in embodiments of the present disclosure includes a first transfer disk 1100, a second transfer disk 1200, and a third transfer disk 1300 that are arranged in series. The first transfer disc 1100 has a first end and a second end opposite the first end. The second transfer disc 1200 has a third end and a fourth end opposite the third end. The third end and the second end are located end to end. The third transfer disc 1300 has a fifth end and a sixth end opposite the fifth end. The fifth end and the fourth end are located end to end.

The first guide surface 1010 is provided on one of the end side of the second end and the end side of the third end. The first engaging component 1020 is provided on the first guide surface 1010, and the second engaging component 1030 is provided on the other of the end side of the second end and the end side of the third end. A second guide surface 1040 is provided on one of the end side of the fourth end and the end side of the fifth end. A third engaging component 1050 is provided on the second guide surface 1040, and a fourth engaging component 1060 is provided on the other of a fourth end end side and a fifth end end side.

The second engaging component 1030 is slidable along the first guide surface 1010 until they engage with the first engaging component 1020, so as to transfer torque between the first and second transmission disks. The fourth engagement component 1060 is slidable along the second guide surface 1040 until it engages with the third engagement component 1050 so as to transfer torque between the second and third transmission discs.

The configuration of the first guide surface 1010 for determining the sliding direction of the second engagement component 1030 ensures that the second engagement component 1030 is accurately moved to the position corresponding to the first engagement component 1020 and engages with the first engagement component 1020, thus avoiding connection failure caused by misalignment between the first transmission disk. 1100 and the second transfer disk 1200. Similarly, by configuring the second guide surface 1040 to guide the movement of the fourth engagement component 1060, quick engagement between the fourth engagement component 1060 and the third engagement component 1050 can be achieved, thereby providing a connection between the second transmission disk 1200 and third transfer disk 1300.

In practical use, as shown in Fig. 2b, the first transfer disc 1100 is located in the transmission interface of the drive unit 100, and the first end of the first transfer disc is connected to the drive mechanism. The second transfer disk 1200 is located in the transfer interface of the sterile assembly 200. The third transfer disk 1300 is located in the transfer interface of the instrument box assembly and is connected to the instrument handpiece 310 via a transfer mechanism. In this regard, the first transmission disc 1100, the second transmission disc 1200, and the third transmission disc 1300 are engaged with each other to obtain the transmission assembly 1000, and transmit the driving force provided by the driving mechanism to the tool tip 310 to control the movement of the tool tip 310.

In addition, the first engaging component 1020 may be a recess, and the second engaging component 1030 may be a protrusion corresponding to the recess. The third engaging component 1050 may be a recess, and the fourth engaging component 1060 may be a projection corresponding to the recess.

In addition, the first guiding surface has at least one top and at least one trough, which are distributed around the circumference along the end side of the end on which the first guiding surface is formed. The second guiding surface has at least one top and at least one trough, which are distributed around the circumference along the end side of the end on which the second guiding surface is formed. In addition, a first engagement component 1020 is provided in the cavity of the first guide surface 1010, and a third engagement component 1050 is provided in the cavity of the second guide surface 1040. In this regard, the second engagement component 1030 can slide along the first guide surface 1010 along the direction from top to bottom to engagement of the second engagement component with the first engagement component 1020. In this process, that is, the sliding process from the mutual displacement configuration at the top of the first guide surface to the mutual engagement configuration at the cavity of the first guide surface, the axial dimension of the transmission unit 1000 gradually decreases, that is, the change in axial position between the top and bottom of the first guide surface 1010 allows to compensate for the change in the axial dimension of the transmission assembly 1000 due to the engagement of the first engagement component 1020 with the second engagement component 1300. Similarly, the fourth The third engaging component 1060 can slide along the second guide surface 1040 along the top-to-bottom direction until the fourth engaging component engages with the third engaging component 1050. The change in axial position between the top and bottom of the second guide surface 1040 can compensate for the change in the axial dimension of the transmission assembly 1000 due to the engagement of the third engaging component 1050 with a fourth engaging component 1060.

In addition, the first guide surface 1010 may have one or more first engagement components 1020. Preferably, at least two first engagement components 1020 are centrally symmetrically located on the corresponding end face. Similarly, the second guide surfaces 1040 may have one or more third engagement components 1050. Preferably, at least two third engagement components 1050 are arranged centrally symmetrically on the respective end face.

In addition, the shape and size of the first guide surface 1010 and the second guide surface 1040 may or may not be identical. The numbers of peaks and valleys on the first guide surface 1010 and the second guide surface 1040 may or may not be identical. The number, shape, and size of the first engaging components 1020 and the third engaging components 1050 may or may not be identical. Second engaging components 1030 may be present in an amount comparable to the number of first engaging components 1020. That is, the number of second engaging components 1030 may either be the same as the number of first engaging components 1020 or not. In the latter case, the number of first engaging components 1020 is greater than the number of second engaging components 1030, and the second engaging components 1030 are arranged in the same manner as at least some of the first engaging components 1030. Similarly, the fourth engaging components 1060 may be present in a number comparable to the number of third engaging components 1050. Specific configurations in these aspects may be determined by practical needs.

The structure of the transfer assembly 1000 will be described in detail below with reference to the accompanying drawings. In the following different embodiments, the first guide surface 1010 is identical to the second guide surface 1040. Accordingly, the number of first engagement components 1020 is the same as the number of third engagement components 1050, and each of the first engagement components 1020, the second engagement components 1030, the third engagement components 1050, and the fourth engaging components 1060 are centrally symmetrically presented on their respective end faces. However, the present disclosure is not limited to these configurations. In addition, for ease of description, the plane perpendicular to the axis of the transmission unit 1000 is referred to below as a "reference plane".

Next, reference is made to FIG. 5a-5g. In FIG. 5a is a schematic diagram of the construction of the transfer assembly 1000 according to Embodiment 1. FIG. 5b and 5c are diagrams of the construction of the first transfer disc 1100. FIG. 5d and 5e are diagrams of the construction of the second transfer disc 1200. FIG. 5f and 5g are diagrams of the construction of the third transfer disk 1300. In this embodiment, the projections of each of the first transfer disk 1100, the second transfer disk 1200 and the third transfer disk 1300 on the reference plane are annular, that is, each of the first transfer disk 1100, the second transfer disk 1200 and the third transfer disc 1300 has an annular closed loop. In addition, the projection of each of the first guide surface 1010 and the second guide surface 1040 on the reference plane is circular. In alternative embodiments, the first transfer disk 1100, the second transfer disk 1200, and the third transfer disk 1300 may take other forms, such as a five-element structure. In these cases, for each of the first transfer disk 1100, the second transfer disk 1200, and the third transfer disk 1300, the radius of its projection on the reference plane is defined as the largest distance from the center to the edge, and its diameter is defined as twice the radius. Furthermore, regardless of the specific shapes of these discs, the space occupied by the rotation of each disc still takes the form of a rotating body such as a cylinder, an annular truncated cone, or a cone. Therefore, the projection of each first transfer disk 1100, second transfer disk 1200, and third transfer disk 1300 on the reference plane can be considered as a circle at its center and a radius.

As shown in FIG. 5b, in this embodiment, the first end of the first transfer disk 1100 may be connected to the drive mechanism. Specifically, the first end headstock 1110 may be provided, and the first headstock 1110 may be provided with a first connection hole 1120 configured to receive a drive output shaft therein. In addition, a fixing hole 1130 is provided in the side wall of the first connecting headstock 1110, communicating with the first connecting hole 1120. The fixing hole 1130 is configured to cause synchronized rotation of the output shaft of the drive mechanism with the first transmission disk 1100. Preferably, the axis of the fixing hole 1130 is perpendicular to the axis of the first connecting hole 1120. A drive mechanism, such as a motor output shaft, may be inserted into the first connecting hole 1120, and a locking fixture is used to fix the motor output shaft in the fixing hole 1130.

As shown in FIG. 5c, the end side of the second end of the first transfer disc 1100 has the first guide surface 1010 formed thereon. The first guide surface 1010 has two tops and two bottoms, which are located along the circumference of the second end. In addition, the two peaks are symmetrical to each other about the center of the first guide surface 1010, and the two valleys are also symmetrical to each other about the center of the first guide surface 1010. One first engaging component 1020 is provided in each valley. pin 1140 extending in the axial direction. The first locating pin 1140 is configured to facilitate placement when the first transfer disk 1100 is engaged with the second transfer disk 1200. In addition, the annular projection of the first guide surface 1010 on the reference plane has a diameter d. that is, the axial projection of the first guide surface 1010 has a diameter d. In addition, the first guide surface 1010 has an axial distance from top to bottom h, which satisfies the condition h≥1/10d.

In addition, the first mating surface 1001 is formed on the end side of the third end, and the second engaging components 1020 are provided on the first mating surface 1001. This embodiment is not limited to any particular shape of the first mating surface 1001, provided that it does not interfere with the movement of the second engaging surfaces. components 1030 along the first guide surface 1010 and engagement of the second engaging components 1030 with the first engaging components 1020. In other words, the first mating surface 1001 may or may not be in contact with the first guide surface 1010. Preferably, when the second engagement components 1030 are engaged with the first engagement components 1020, the first guide surface 1010 is at least partially aligned with the first mating surface 1001.

As shown in FIG. 5d, two second engagement components 1030 are positioned at the third end of the second transfer disk 1200. Preferably, the two second engagement components 1030 are positioned symmetrically about the center of the end side of the third end. In this embodiment, the first mating surface 1001 has two tops and two bottoms, which are located along the circumference of the third end. One second engagement component 1030 is provided at each of the two peaks. In addition, the cavity may include a first containing groove 1002 for receiving the top of the first guide surface 1010. The first mating surface 1001 may substantially abut against the first guide surface 1010. By providing the first mating surface 1001, when the second engagement components 1030 are engaged with the first engagement components 1020 for transmission, excessive axial extension length of the second engagement components 1030 can be avoided, thereby improving the stress state of the second engagement components 1030 and increasing the service life of the second engagement components 1030. In addition, , the first mating surface 1001 can also increase the structural strength of the second transfer disc 1200.

Again with reference to FIG. 5d, the second engagement component 1030 may include a first drive force transmission portion 1031 and a first guide portion 1032 that are connected together. The end of the first driving force transmission portion 1031 remote from the first guide portion 1032 is connected to the first mating surface 1001, and the first driving force transmission portion 1031 is configured to transmit torque when it engages with the first engaging components 1020. This embodiment is not limited to any particular shape of the first driving force transmission portion 1031, provided that it can form circumferential contact (eg, point contact, line contact, or surface contact) when it engages with the first engaging component 1020. Preferably, the projection of the first the driving force transmission section 1031 on the reference plane has a shape corresponding to the projection shape of the first engaging component on the reference plane. For example, when the projection of the first engaging component 1020 on the reference plane is in the shape of a crescent-shaped ellipsoid, the projection of the first driving force transmission portion 1031 on the reference plane is also in the shape of a crescent-shaped ellipsoid, that is, the first engaging component 1020 is a depression with the shape of a crescent-shaped ellipsoid. Here, the crescent-shaped ellipsoid recess refers to a recess formed by two side planes and one transition surface and having an open end, where the two side planes are parallel to each other, and the open end of the recess is located on the side remote from the axis of the second transfer disc 1200. First the driving force transmission section 1031 is also formed by two side planes and one transition surface. Alternatively, the projection of the first engaging component 1020 on the reference plane is fan-shaped. In this case, the fan-shaped recess also has an open end remote from the axis of the second transmission disk 1200. The projection of the first driving force transmission section 1031 on the reference plane is also fan-shaped, which, however, has an angle slightly smaller than the angle of the fan formed by the first engagement component 1020.

The first guide section 1032 is configured to contact the first guide surface 1010 and slide along the first guide surface 1010. Specifically, the first guide section 1032 may have a wedge-shaped structure and may include two wedge-shaped surfaces. The two wedge-shaped surfaces meet at the end of the first guide section 1032 remote from the first drive-transmission section 1031 to form an intersection line that contacts the first guide surface 1010. In alternative designs, the two wedge-shaped surfaces are connected by a curved transition surface at the end remote from the first section 1031 transfer of driving force. In this regard, between the first guide section 1032 and the first guide surface 1010 may be formed in line or surface contact. Alternatively, the first guide portion 1032 has a apex at an end remote from the first drive force transmission portion 1031, and point contact is formed between the apex and the first guide surface 1010. In other words, this embodiment is not limited to any particular shape of the first guide portion 1032, provided that when the second transfer disc 1200 is subjected to an axial external force and the first two guide portions 1032 come into contact with the first guide surface 1010, the first two guide portion 1032 are subject to unbalanced forces and can thus move along the first guide surface 1010 to engage with the first engaging components 1020. In this case, the axial external force refers not only to an external force parallel to the axial direction and directed towards the second transfer disk, but also to an external force directed towards the second transmission disk and having a component parallel to the axial direction. In addition, the surface of the wedge-shaped structure may be a continuous curved surface.

In addition, the first locating hole 1210 is provided at the center of the third end of the second transfer disc 1200. The first locating hole 1210 is configured to match the first locating pin 1140 of the first transfer disc 1100 to facilitate the concentric arrangement of the first transfer disc 1100 and the second transfer disc 1200. Fourth end the second transfer disc 1200 and the fifth end of the third transfer disc 1300 may be constructed in the same way, so their detailed description is omitted.

As shown in FIG. 5e, the end side of the fourth end of the second transfer disk 1200 forms the second guide surface 1040, and two peaks and two valleys are located on the second guide surface 1040 along the circumference of the fourth end. In addition, third engagement components 1050 are provided in the recesses of the second guide surface 1040. Two engagement components 1050 are provided in the respective recesses. In addition, the projection of the second guide surface 1040 on the reference plane is a circle having a diameter d', and the second guide surface 1040 has axial distance from top to bottom h', which satisfies the condition h'≥1/10d'.

With reference to FIG. 5f, the end side of the fifth end of the third transfer disc 1300 is provided with two fourth engagement components 1060. Preferably, the end side of the fifth end forms a second mating surface 1003, and the second mating surface 1003 has two peaks and two valleys along the circumference of the fifth end. In addition, one fourth engagement component 1060 is provided at each apex, and a second accommodating groove 1004 may be provided in each trough to accommodate the apex of the second guide surface 1040. Preferably, when the fourth engagement components 1060 are engaged with the third engagement components 1050, the second guide surface 1040 at least partially coincides with the second mating surface 1003. By providing the second mating surface 1003 and configuring the fourth engaging components 1060 on the vertices of the second mating surface 1003, excessive axial extension length of the fourth engaging components 1060 can be avoided, thereby improving the stress state of the fourth engaging components. 1060 and extending the life of the second engagement components 1030 when the fourth engagement components 1060 engage with the third engagement components 1050 for transmission. In addition, the third mating surface 1001 can also improve the structural strength of the third transfer disc 1300.

Again with reference to FIG. 5f, the fourth engagement components 1060 may be of a similar design to the second engagement components 1030. The fourth engagement component 1060 may include a second drive force transmission portion 1061 and a second guide portion 1062 that are connected together. The end of the second driving force transmission portion 1061 remote from the second guide portion 1062 is connected to the second mating surface, and the second driving force transmission portion 1061 is configured to transmit torque when it engages with the third engaging components 1050. This embodiment does not limited to any particular shape of the second driving force transfer portion 1061, provided that it can form circumferential contact (e.g., point contact, line contact, or surface contact) with the third engagement component 1050 when it engages with the third engagement component 1050. Preferably, the projection of the second portion 1061 of the transmission of the driving force on the reference plane has a shape corresponding to the shape of the projection of the first engaging component on the reference plane. For example, when the projection of the first engaging component 1020 on the reference plane is in the form of a crescent-shaped ellipsoid, the cross-section of the second portion 1061 of the transmission of the driving force, perpendicular to the axis, may also be in the form of a crescent-shaped ellipsoid. Alternatively, when the projection of the first engaging component 1020 on the reference plane is fan-shaped, the cross section of the second driving force transmission portion 1061 perpendicular to the axis may also be fan-shaped.

The second guide portion 1062 is configured to contact the second guide surface 1040 and slide along the second guide surface 1040. Specifically, the second guide portion 1062 may be wedge-shaped and may comprise two wedge-shaped surfaces. The two wedge-shaped surfaces are joined at the end of the second guide section 1062, remote from the second section 1061 of the transmission of driving force with the formation of the line of intersection, which contacts with the second guide surface 1040. In alternative designs, the two wedge-shaped surfaces are connected by a curved transition surface at the end remote from the second section 1061 transfer of driving force. In this regard, linear or surface contact may be formed between the second guide section 1062 and the second guide surface 1040. Alternatively, the second guide section 1062 has a vertex at an end remote from the second drive force transmission section 1061, and between the apex and the second guide surface 1060 point contact is formed. In other words, this embodiment is not limited to any particular form of the second guide portion 1062, provided that when the third transfer disc 1300 is subjected to an axial external force and the two second guide portions 1062 come into contact with the second guide surface 1040, the two second The guide portions 1062 are subject to unbalanced forces and may thus move along the second guide surface 1040 to engage with the third engaging components 1050. Similarly, the surface of the wedge-shaped structure may be a continuous curved surface.

In this embodiment, the first engaging components 1020 are identical to the third engaging components 1050. Accordingly, the second engaging components 1030 may be identical to the fourth engaging components 1060. In alternative embodiments, the first engaging components 1020 may be different from the third engaging components 1050. Accordingly, the second engaging components 1030 may also be different from the fourth engaging components 1060.

As shown in FIG. 5g, the sixth end of the third transmission disc 1300 may be connected to the transmission module of the tool box assembly for torque transmission. Specifically, the second headstock 1310 may be provided at the sixth end, and the second headstock 1310 may be provided with the second connection hole 1320. This embodiment is not limited to any particular design of the transfer module. For example, the transfer module may include a rotating element, a flexible element, and a set of guide pulleys. The flexible element is configured to couple the rotating element to the tool tip joint 410. The guide pulley group is configured to change the direction of the extension of the flexible element. The rotating member is configured to actuate the articulation of the tool tip 410 for movement via the flexible member. The second connection hole 1320 is configured to be permanently connected to the rotating element or detachable to transmit torque to the transmission module.

An exemplary method of using the transfer assembly 1000 according to this embodiment is described as follows: the second end of the first transfer disk 1100 is placed end to end with the third end of the second transfer disk 1200, and the fourth end of the second transfer disk 1200 is placed end to end with the fifth end of the third transfer disk 1300 Thereafter, the second engagement component 1030 slides along the first guide surface 1010 until it enters the first engagement component 1020 and engages with the first engagement component 1020, and the fourth engagement component 1060 slides along the second guide surface 1040 until it enters the third engagement component 1050 and engages with the third engagement component 1050. When the first end of the first transfer disk 1100 is connected to the drive mechanism, and the drive mechanism rotates the first transfer disk 1100, the second engagement components 1030 will interact with the first gears. the engaging torque transmission components 1020 to rotate the second transmission disk 1200 with the first transmission disk 1100. In addition, the fourth engagement components 1060 will cooperate with the third engagement torque transmission components 1050 to rotate the third transmission disk 1300.

In a further modification, as shown in FIG. 5c, the first guide surfaces 1010 include first guide subsurfaces 1011 and second guide subsurfaces 1011'. The first guiding subsurfaces 1011 and the second guiding subsurfaces 1011' meet at the tops and form two intersection lines. The two intersection lines are projected onto a reference plane to obtain projection lines labeled as the first projection line and the third projection line. As shown in FIG. 5d, the second engagement component 1030 includes first guide portions 1032, with each first guide portion 1032 comprising two wedge-shaped surfaces. Two wedge-shaped surfaces are joined to form an intersection line. the intersection lines are projected onto the reference plane to obtain projection lines labeled as the second projection line and the fourth projection line. Depending on the shapes of the guide surface and the wedge-shaped surfaces, the first to fourth projection lines may be straight or S-, C-, L-, or other shape, which is not particularly limited in this embodiment. The first, second, third and fourth projection lines are configured such that when the second engaging components 1030 come into contact with the first guide surface 1010, the first projection line coincides completely or partially with the second projection line, and the third projection line coincides completely or partially with fourth line of projection. Alternatively, the first projection line is co-linear with the third projection line, and the second projection line is co-linear with the fourth projection line. Preferably, the first and third projection lines are co-linear and intersect with the axis of the transmission assembly 1000. The first through fourth projection line configurations ensure that each of the above first guide portions 1032 is subjected to an unbalanced force when it comes into contact with a first guide surface 1010 that can cause the second engagement components 1030 to move along the first guide surface and engage with the first engagement components, thereby allowing torque transmission between the first transmission disc and the second transmission disc. Similarly, the second guide surface 1040 has fifth and seventh projection lines, and the second guide portions 1062 have sixth and eighth projections. The fifth to eighth projection lines are similar to the projection lines described above so that each of the second guide portions 1062 is subjected to an unbalanced force when it is in contact with the second guide surface 1040.

In addition, when the guide subsurfaces are connected by a transition surface, there is no distinct intersection line between the two guide subsurfaces. Likewise, when two wedge-shaped surfaces of the guide section are connected by a transition surface, there is no distinct line of intersection between the two wedge-shaped surfaces. In these cases, the intersection line is formed as follows. The transition surface is cut by a group of flat or curved imaginary cutting surfaces, and a group of cut intersection lines is formed between the transition surface and the group of flat or curved imaginary cutting surfaces. The connecting line formed by connecting each of the characteristic points of the group of section intersection lines is formed as an intersection line. For example, the characteristic point is the highest point of the line of intersection of the cut in the direction along the axis of the transfer disk. As shown in FIG. 6a (taking the second transfer disc 1200 in FIG. 6a as an example for illustration), the number of imaginary flat or curved cutting surfaces is at least two. In FIG. 6a shows three curved imaginary cutting surfaces P1, P2 and P3, and the highest point refers to the point on the intersection line which is farthest from the center of the second transfer disk 1200 along the axial direction of the second transfer disk 1200.

As another example, the flat imaginary cutting surfaces may be parallel to the axis of the transfer disc and the group of curved imaginary cutting surfaces may be coaxial cylindrical surfaces. As shown in FIG. 6a, the first guide portion 1032 of the second engagement component 1030 comprises two wedge-shaped surfaces. Two wedge-shaped surfaces are connected by a transitional surface. To obtain the second and fourth projection lines, flat imaginary cutting surfaces parallel to the axis of the transmission assembly 1000 can be used to cut the first guide section 1032. As shown in FIG. 6b, the planar imaginary cutting surfaces form cut intersection lines with the first guide portion 1032, and take the highest points (ie, point A shown in FIG. 6) of the cut intersection lines. When the number of cutting surfaces is at least two, at least the two highest points can be taken. all of these highest points are projected onto the reference plane to obtain projection points, and the projection points are connected to obtain a second or fourth projection line. In general, the more cutting surfaces used, the higher the accuracy of the resulting second or fourth projection line will be. if the second guide portion 1062 of the fourth engaging components 1060 is formed in the same way, then the corresponding projection lines are obtained using the same method. Similarly, the second guide surface 1040 is identical to the first guide surface 1010, and the fourth engagement components 100 are identical to the second engagement components 1030.

Further, in this embodiment, the first guide surface 1010 is composed of a series of curved surfaces, a series of flat surfaces, or a single continuous curved surface. Likewise, the second guide surface 1040 consists of a series of curved surfaces, a series of flat surfaces, or a single continuous curved surface. The first mating surface 1001 consists of a series of curved surfaces, a series of flat surfaces, or a single continuous curved surface. The second mating surface 1003 is made in the same way. In fact, for each of the first transfer disk 1100, the second transfer disk 1200, and the third transfer disk 1300, it is preferred that all intersecting surfaces smoothly transition from one to the other so as to avoid any sharp joint that could cause injury to the user.

Next, reference is made to FIG. 7a and 7b, which schematically show the structure of Embodiment 1. As shown in FIG. 7a and 7b, a first guiding surface 1010 is formed at the second end of the first transfer disc 1100. The first guiding surface 1010 has one peak and one valley, which are located in the circumferential direction of the second end. Accordingly, one first engagement component 1020 and one second engagement component 1030 are provided. A second guide surface 1040 is formed at the fourth end of the second transfer disc 1200. The second guide surface 1040 has one peak and one valley, which are located in the circumferential direction of the fourth end. Accordingly, one third engagement component 1050 and one fourth engagement component 1060 are provided. Further, in this embodiment, preferably, the first locating pin 1140 is provided at the center of the second end side of the first transfer disc 1010, and the first is provided at the center of the third end side of the second transmission disc 1200. a locating hole 1210 coinciding with the first locating pin 1140. A second locating pin 1220 is provided at the center of the fourth end side of the second transfer disc 1200, and a second locating hole 1330 is provided at the center of the fifth end side of the third transmission disc 1300, coinciding with the second locating pin 1220. by matching the first locating pin 1140 and the first locating hole 1210 and matching the second locating pin 1220 and the second locating hole 1330, the transmission process can be secured when only one first engagement is made. an engaging component 1020, one second engaging component 1030, one third engaging component 1050, and one fourth engaging component 1060.

In fact, the numbers of peaks and valleys on the first guide surface 1010 are determined depending on the number of the first engaging component(s) 1020, while the number of the first engaging component(s) is determined depending on the desired fault-tolerant angle. In general, a larger fault-tolerant angle requires fewer first engaging components.

For example, when the fail-safe angle is 180°, at least the first two engaging components 1020 are needed. The term "fail-safe angle" will be explained in detail below. In addition, the thickness (size in the torque transmission direction) of the first engaging component 1020 refers to the amount of torque. Greater torque requires greater thickness of the first engagement component 1020. The principle of configuring the first guide surface 1010 is also applicable to the second guide surface 1040. In addition, for the case where there are two or more first engagement components 1020, two or more second engagement components 1030, two or more third engaging components 1050 and two or more fourth engaging components 1060, depending on the circumstances, there may be a first locating pin 1140 and a second locating pin 1220.

Next, reference is made to FIG. 7c and 7d, which schematically show the construction of another embodiment 1. As shown in FIG. 7c and 7d, the first guide surface 1010 is formed at the second end of the first transfer disc 1100, and the first guide surface 1010 is provided with three peaks and three valleys. In addition, the first guide surface 1010 is annular and partially covers a portion of the second end of the first transfer disc 1100. Three first engagement components 1020 and three second engagement components 1030 are provided.

Next, reference is made to FIG. 7e and 7f, which schematically show the structure of the Additional Embodiment 1. As shown in FIG. 7e and 7f, a first mating surface 1001 is provided at the second end of the first transfer disk 1100. The first guiding surface 1010 is formed at the third end of the second transfer disk 1200, and the second guiding surface 1040 is formed at the fourth end of the second transfer disk 1200, with the second mating surface 1003 provided at the fifth end of the third transfer disc 1300. In addition, the second mating surface 1003 is an annular surface and partially covers the fifth end of the third transfer disc 1300. The second mating surfaces 1003 have three tops and three bottoms. Accordingly, three fourth engagement components 1060 and three third engagement components 1050 are provided. The first mating surface 1001 lacks a first accommodating groove. This embodiment is not limited to any particular shape of the cavity of the first mating surface 1001, provided that the cavity of the first mating surface 1001 does not interfere with the engagement of the first transfer disk 1100 with the second transfer disk 1200. surface 1001, the first transfer disk 1100 engages with the second transfer disk 1200. In other words, the shape of the depression on the first mating surface 1001 is made such that when the first transfer disk 1100 is engaged with the second transfer disk 1200, there is no contact between the depressions. the first mating surface 1001 and the tops of the first guide surface 1010 (for example, the first mating surface 1001 is not in contact with the first guide surface 1010 at all; or the trough of the first mating surface 1001 is not in contact with the corresponding top and the first guide surface 1010, with a line contact or surface contact formed between the two side portions of the depression of the first mating surface 1001 and the two side portions of the corresponding top of the first guide surface 1010). Alternatively, the shape of the pits on the first mating surface 1001 needs to be made such that when the pits of the first mating surface 1001 are in contact with the tops of the first guide surface 1010, the first transfer disk 1100 is also engaged with the second transfer disk 1200. For example, , the shape of the depression of the first mating surface 1001 is complementary to the shape of the top of the first guide surface 1010. In this case, when the first transfer disc 1100 engages the second transfer disc 1200, the tops of the first guide surface 1010 coincide with the depressions of the first mating surface 1001.

Again with reference to FIG. 7e, the first engagement components 1020 and the third engagement components 1050 are alternatively located on the second transfer disk 1200. This may result in the use of an increased axial dimension of the second transfer disk 1200.

Next, reference is made to FIG. 7g and 7h, which schematically represent the construction of the Additional Embodiment 1. As shown in FIG. 7g and 7h, the first guiding surface 1010 is formed at the second end of the first transfer disc 1100, the first mating surface 1001 is formed at the third end of the second transfer disc 1200, the second mating surface 1003 is formed at the fourth end of the second transfer disc 1200, the second guiding surface 1040 is formed at the fifth end of the third transfer disk 1300. In this embodiment, each of the first mating surface 1001 and the second mating surface 1003 is provided with two tops and two valleys, and the tops of the first mating surface 1001 and the tops of the second mating surface 1003 are located in the same circular positions. Of course, the vertices of the first mating surface 1001 and the vertices of the second mating surface 1003 may be located in different circular positions, such as in an alternate location.

In alternative embodiments, the first mating surface may be further formed at the second end of the first transfer disk, the first guiding surface is formed at the third end of the second transfer disk, the second guiding surface is formed at the fourth end of the second transfer disk. The second mating surface is formed at the fifth end of the third transfer disk (not shown).

Next, reference is made to FIG. 8a-8g. In FIG. 8a is a structural diagram of the transfer assembly 1000 according to Embodiment 2. FIG. 8b and 8c are diagrams of the construction of the first transfer disc 1100. FIG. 8d and 8e are diagrams of the construction of the second transfer disc 1200. FIG. 8f and 8g are diagrams of the construction of the third transfer disc 1300.

As shown in FIG. 8b, the first end of the first transfer disc 1100 may be configured to couple the drive mechanism. Therefore, their designs can be the same. as in Embodiment 1, and their detailed description is omitted. In FIG. 8c schematically shows the construction of the second end of the first transfer disc 1100. As shown in FIG. 8c, the first guide surface 1010 is formed at the second end of the first transfer disk 1100, and the first guide surface 1010 is projected on the reference plane to obtain a projection circle. Such a projection circle has a diameter smaller than that of the projection circle of the first transfer disk 1100 on the reference plane. The first engaging components 1020 are provided on the first guide surface 1010.

As shown in FIG. 8d, the second engaging components 1030 are provided at the third end of the second transmission disk 1200, and the first protective wall 1005 is provided on the end side of the third end, surrounding the second engaging components 1030. The first protective wall 1005 is annular and can be put on the first guide surface 1010. In addition in addition, the second engaging components 1030 are located in the first protective wall 1005 and are rigidly connected to it. The inner diameter of the first protective wall 1005 may be greater than or equal to the diameter of the projection circle of the first guide surface 1010 on the reference plane and less than the diameter of the projection circle of the first transfer disk 1100 on the reference plane. Preferably, the thickness of the first protective wall 1005 may be equal to the value of the difference between the diameters of the projection circles of the first guide surface 1010 and the first transfer disc 1100. Therefore, when the first engagement components 1020 engage with the second engagement components 1030, the end where the first guide surface 1010 is inserted into the first protective wall 1005, while the end of the first protective wall 1005, remote from the second transfer disk 1200, abuts against the first transfer disk 1100.

As shown in FIG. 8e, a second guide surface 1040 is formed at the fourth end of the second transfer disc 1200. The second guide surface 1040 is projected onto a reference plane to obtain a projection circle. This projection circle has a diameter smaller than that of the projection circle of the second transfer disk 1200 on the reference plane. Third engaging components 1050 are provided on the second guide surface 1040.

As shown in FIG. 8f, fourth engagement components 1060 are provided at the fifth end of the third transfer disc 1300. In addition, at the fifth end, a second protective wall 1006 surrounding the fourth engagement components 1060 is provided. in addition, the fourth engaging component 1060 is located on the second protective wall 1006 and is fixedly connected to it. The inner diameter of the second protective wall 1006 is greater than or equal to the diameter of the projection circle of the second guide surface 1040 and less than the diameter of the projection circle of the second transfer disc 1200 on the reference plane. Preferably, the thickness of the second protective wall 1006 may be equal to the value of the difference between the diameters of the projection circles of the second guide surface 1040 and the second transfer disc 1200. In this regard, when the third engaging components 1050 engage with the fourth engaging components 1060, the end where the second the guide surface 1040 is inserted into the second protective wall 1006 while the end of the second protective wall 1006, remote from the third transfer disk 1300, abuts against the second transfer disk 1200.

Since the second engagement components 1030 interact with the first protective wall 1005, when the second engagement components 1030 engage with the respective first engagement components 1020 for transmission, the first protective wall 1005 improves the voltage state of the second engagement components 1030, reduces exposure to dust or other foreign materials, and increases service life of the second engagement components 1030. In addition, this arrangement further reduces the weight of the second transfer disk 1200 and simplifies the construction of the second transfer disk 1200. Similarly, the second protective wall 1006 can help increase the life of the fourth engagement components 1060 and reduce the weight of the third transfer disk 1300.

In FIG. 9a and 9b are diagrams of the construction of the transfer assembly 1000 according to Embodiment 3. In the case of an application requiring multiple levels of protection, multiple sterile assemblies 200 may be required. 1200. In the embodiment shown in FIG. 9a and 9b, two second transfer discs 1200 are provided. In addition, the two second transfer discs 1200 are identical, and each of them has third and fourth ends with a different design. For example, in this embodiment, for each second transfer disc 1200, the first mating surface 1001 is formed at the third end, and the second engaging components 1030 are provided at the first mating surface 1001. In addition, for each second transfer disc 1200, the second guide surface 1040 is formed at the fourth end. , and third engagement components 1050 are provided on the second guide surface 1040. In this regard, the second engagement components 1030 of one second transfer disc 1200 can engage third engagement components 1050 of another second transmission disc 1200, thereby enabling the two second transmission discs 1200 to be coupled. Accordingly, the first guide surface 1010 is formed at the second end of the first transmission disc 1100, and the second mating surface 1003 is formed at the fifth end of the third transmission disc 1300, the fourth engagement components 1060 being represented on the third column. yarn surface 1003. Thus, the transmission assembly 1000 can be assembled in the same manner as in the above embodiments. It should be understood that it is also possible to have the first guide surface 1001 formed on the end side of the third end of the second transfer discs 1200 and the fourth engagement component 1060 provided on the end side of the fourth end. In one alternative embodiment, the two second transfer discs are different but each have an identical design at the third and fourth ends. For example, the second transfer disk closest to the first transfer disk 1100 has third and fourth ends, each provided with a mating surface, and the second transfer disk, remote from the first transfer disk 1100, has third and fourth ends, each with a guide surface.

In FIG. 10 is a structural diagram of a transmission assembly 1000 according to Embodiment 4. As shown in FIG. 10, in this embodiment, the second engagement component includes a first guiding portion 1032, but not a first driving force transmission portion. The structure of the fourth engagement component is similar to that of the second engagement component 1030, that is, the fourth engagement component does not include a second driving force transmission portion. Specifically, two first engagement components 1020 are provided on the end side of the second end of the first transmission disc 1100, and two second engagement components 1030 are provided on the end side of the third end of the second transmission disc 1200. second end of the first guide section 1032. Similarly, two third engagement components 1050 are provided on the end side of the fourth end of the second transmission disc 1200, and two fourth engagement components are provided on the end side of the fifth end of the third transmission disc 1300. The fourth engagement component includes a second guide section 1062, directly connected to the end face of the fifth end. In this case, the first 1020 and third 1050 engaging components correspond to the first 1032 and second 1062 guide portions both in shape and size. This provides sufficient surface contact between the engaging components and the guide portions to increase mutual friction, providing both torque transmission and guiding properties of the guide portions.

Obviously, for a surgical instrument system containing no sterile assembly, the transfer assembly comprises a first transfer disk and a second transfer disk arranged in series. The first transfer disk is similar to the first transfer disk 1100 of the above embodiments. In addition, in the above embodiments, the end side of the third end of the second transfer disk is similar to the end side of the third end of the second transfer disk 1200, and the end side of the fourth end is similar to the end side of the sixth end of the third transfer disk. Therefore, a detailed description of them has been omitted.

Based on the transmission assembly 1000 described above, a second object of the present disclosure is to provide a surgical instrument system for use in a surgical robot. As shown in FIG. 2a-2c in combination with FIG. 5a, the surgical instrument system includes a driving force box, a sterile plate 4000, a surgical instrument 300, and a transmission assembly 1000 as described above. The drive box includes a drive mechanism 2000 and a first box body 3000. The drive mechanism 2000 is located in the first box body 3000, and at least one outlet (not marked in the figures) is provided in the first box body 3000. provided at least one sterile plate 4000, provided with at least one transfer hole (not marked in the figures). The surgical instrument 300 includes an instrument box, an instrument shaft 320, and an instrument tip 310. In addition, the instrument box includes a second box body 5000 and a transmission module (not marked in the figures). The transmission module is located in the second box body 5000 and is connected to the tool shaft 320 and/or tool tip 310 so as to drive the tool shaft 320 and/or tool tip 310. In addition, at least one inlet. The first box body 3000, the sterile plate 4000, and the second box body 5000 are arranged in series, and the outlets are aligned with the respective transfer holes and inlets. The first transfer disk 1100 is located in the exit hole, and its first end is connected to the drive mechanism 2000. The second transfer disk 1200 is located in the transfer hole, and the third transfer disk 1300 is located in the inlet hole, and its sixth end is connected to the transfer module. In general, the number of drive mechanisms 2000 and the number of transmission units 1000 are determined by the freedom of movement of the surgical instrument 300. The driving force box and the first transmission disk 1100 constitute the drive assembly 100. The sterile plate 4000 and the second transmission disk 1200 constitute the sterile assembly 200. The instrument box and the third transmission disk disc 1300 constitute the toolbox assembly.

When the first engagement components 1020 are engaged with the second engagement components 1030 and the third engagement components 1050 are engaged with the fourth engagement components 1060, the driving force provided by the drive mechanism 2000 may be transmitted by the transmission assembly 1000 to the transmission module, which in turn , actuates the various articulations of the tool tip 310. For example, the tool tip 310 includes an end work member and articulations that control the angular rotation and/or tilt of the end work member. The end working body may contain an opening-closing joint. Specific examples of the end effector may include, but are not limited to, tweezers, scissors, grippers, needle holders, cutting blades, staplers, and so on. The tool tip 310 may further comprise a serpentine articulation at the proximal end of the end member to allow the end member to be adjusted over a wider range in a more flexible manner.

Before assembling the surgical instrument system, the first transfer disk 1100, the second transfer disk 1200, and the third transfer disk 1300 may be randomly oriented. However, when the assembly of the surgical instrument system is completed, each of the first transfer disk 1100, the second transfer disk 1200, and the third transfer disk 1300 must have a predetermined orientation. In this case, the specified orientation is called "zero position", and any other orientation is called "non-zero position". In practice, the zero position can be set by the user as needed. For example, as shown in FIG. 2a, in which the assembly of the surgical instrument system is completed and the transfer module is connected to the instrument handpiece 310 via the instrument shaft 320, the orientation that the first transfer disc 1100, the second transfer disc 1200, and the third transfer disc 1300 have is determined as the zero position when the instrument handpiece 310 lies in a straight line or parallel to the shaft 320 of the tool. In addition, certain positions are unfavorable for the assembly or rotation of the transfer discs, such as the position where the second engagement component 1030 is in contact with the top of the first guide surface 1010, and the position where the fourth engagement component 1060 is in contact with the top of the second guide surface 1040 These positions are referred to as the "worst position" of the transfer assembly 1000.

As shown in FIG. 2c, the surgical instrument system (more specifically, the instrument box assembly) may further comprise at least one set of position adjustment magnets 6000 to assist third transfer disk 1300 in reaching a zero position. Specifically, the position correction magnet set 6000 includes a first magnet 6100 and a second magnet 6200, the first magnet 6100 is located on the second box body 5000, the second magnet 6200 is located on the third transfer disc 1300. This embodiment is not limited to any particular locations where the first magnet 6100 and the second magnet 6200, provided that the first magnet 6100 and the second magnet 6200 attract each other, and the attraction force between the first magnet 6100 and the second magnet 6200 along the entire circumference reaches its maximum value when the third transfer disk 1300 is at zero position.

For the third transfer disc 1300, the second magnet 6200 may be located at the sixth end. As shown in FIG. 5g, the sixth end of the third transfer disk 1300 may have a receiving opening 1340 for receiving the second magnet 6200.

Optionally, the surgical instrument system may further comprise at least one anti-displacement magnet set 7000 (specifically, the sterile assembly 200 contains an anti-displacement magnet set 7000). The anti-displacement magnet set 7000 is configured to prevent the transfer assembly 1000 from reaching the worst position. As shown in FIG. 3, the anti-bias magnet set 7000 includes a third magnet 7100 and a fourth magnet 7200. The third magnet 7100 may be located on the circular side wall of the second transfer disc 1200, and the fourth magnet 7200 may be located on the transfer hole wall. When the transfer assembly 1000 is in the worst position, the third magnet 7100 and the fourth magnet 7200 repel each other, and the repulsion force causes the second transfer disk 1200 to rotate and hold from the worst position.

Optionally, the surgical instrument system further comprises a circular stop configured to limit the range of rotation of the third transfer disc 1300 (Specifically, the instrument box assembly includes a circular stop). The circumferential stop may include a stop protrusion 1350 provided on the circumferential side wall of the third transfer disc 1300. The second box body 5000 may have a sliding groove (not shown) corresponding to the stop protrusion 1350. The slide groove may be provided with a stop protrusion 1350 that can slide along it. By providing a circular stop, the rotation angle of the third transfer disc 1300 can be finely adjusted, which in turn allows for safety during use of the surgical instrument.

Optionally, the surgical instrument system further comprises an axial stop configured to prevent the second transfer disc 1200 from being ejected from the sterile plate 4000. As shown in FIG. 4, the sterile plate 4000 includes a sterile support 4100 and a sterile cap 4200. The sterile substrate 4100A is provided with a first through hole 4110 and the sterile cap 4200 is provided with a second through hole 4210. The second through hole 4210 and the first through hole 4110 constitute the transfer hole. In addition, the sterile cap 4200 is releasably attached to the sterile backing 4100, and the sterile backing 4100 is releasably attached to the driving force box, eg by snapping). A restrictive collar 1230 is provided on the circular sidewall of the second transfer disc 1200, and the second through hole 4210 in the sterile cap 4200 has a variable inner diameter. Specifically, the section of the second through hole 4210 adjacent to the first through hole 4110 has an inner diameter greater than each of the inner diameter of the section of the second through hole 4210 remote from the first through hole 4110 and the inner diameter of the first through hole 4110. In addition, the inner diameter of the second through hole section 4110. holes 4210 adjacent to the first through hole 4110 corresponds to the outer diameter of the restrictive collar 1230, and the inner diameter of the section of the second through hole 4210 remote from the first through hole 4110 corresponds to the outer diameter of the second transfer disc 1200. Thus, the first through hole 4110 and the second through hole 4210 together form a restrictive recess in which the restrictive shoulder 1230 is located so that the second transfer disc 1200 is not pushed out of the transfer hole. In other words, the restrictive recess and the restrictive shoulder 1230 together constitute an axial stop. In this embodiment, the restrictor collar 1230 may be a continuous rib extending along the circumference of the second transfer disk 1200, or may be composed of a plurality of rib segments spaced along the circumference of the second transfer disk 1200.

Usually, before assembling the drive mechanism 2000, the first transfer disk 1100, the second transfer disk 1200, the third transfer disk 1300, and the surgical instrument 300, each of them is in a non-zero position. After assembling them, the drive mechanism 2000, the first transmission disk 1100, the second transmission disk 1200, the third transmission disk 1300, and the surgical instrument 300 must each be in a zero position. In this case, the metrological term "zero position" is a reference for measuring parameters of intraoperative movement (eg, direction, offset, angle, and so on) of the transfer disc, surgical instrument, and the like. Typically, when the surgical instrument 300 is in the zero position, the instrument tip 310 is aligned or parallel to the axis of the instrument shaft 320. A detailed description of the assembly of the surgical instrument system is given below.

First of all, when an encoder (not shown) is provided on the drive mechanism 2000, information about the position of the first transfer disc 1100 after the system is turned on can be obtained with the encoder. Then, the drive mechanism 2000 drives the first transmission disc 1100 to rotate to the zero position. This process can be controlled by a predefined program. When the zero position is reached, the first transfer disk 1100 is left in this position. Thereafter, the second transfer disk 1200 can be engaged with the first transfer disk 1100 in any orientation and directly reaches its zero position.

Thereafter, the second transfer disk 1200 is engaged with the first transfer disk 1100. The second transfer disk 1200 in a non-zero position comes into contact with the first transfer disk 1100 under the action of an external force. Then, the second engaging component 1030 slides along the first guide surface and accurately hits the first engaging component 1020 to engage the first engaging component 1020. At this time, the second transfer disk accurately rotates to the zero position.

Thereafter, the position of the tool tip 310 is adjusted. As shown in FIG. 2b, the surgical instrument includes an instrument tip 310 and an instrument shaft 320 that are connected to each other. The tool tip 310, for example, is a tweezer. Before assembling the surgical instrument system, the instrument shaft 320 must be inserted into the trocar 400 that is placed in the incision of the human body so that the instrument tip 310 of the surgical instrument 300 in the surgical instrument system can be inserted into the human body.

Since the inner diameter of the trocar 400 is comparable to the outer diameter of the instrument tip 310, in order to successfully insert the tweezers into the trocar 400, the tweezers must be straightened so that its axis of symmetry coincides with the axis of the instrument shaft 320. In this process, the third transfer disc 1300 will be forced to rotate. When the axis of symmetry of the tweezers is in line with the axis of the tool shaft 320, the third transfer disk 1300 reaches its zero position. However, in practice, manual adjustment may only place the third transfer disc 1300 approximately at its zero position.

Therefore, the third transfer disc 1300 comes into contact with the second transfer disc 1200 under the action of an external force. Then, the fourth engaging component 1060 slides along the second guide surface and accurately hits the third engaging component 1050 to engage the third engaging component 1050. At this time, the third transfer disc 1300 accurately rotates to the zero position.

In addition, it should be noted that although information about the orientation of the first transfer disk 1100 can be measured before assembling the surgical instrument system, it is impossible to obtain information about the orientation of the third transfer disk 1300. When the second transfer disk 1200 and the third transfer disk 1300 are assembled according to the steps described above, the third transfer disc 1300 can be adjusted manually so that it is approximately in its zero position with a certain angular deviation. When this angular deviation is less than the fault-tolerant angle, the third transfer disk 1300 can provide accurate zeroing of the tool.

The fault-tolerant angle depends on the number of engagement components on the third transmission disk 1300. Taking for example the third transmission disk 1300 provided with two fourth engagement components 1060 (i.e., there are four first guide surfaces 1010), the allowable angular deviation of the third transmission disk 1300 relative to the zero position exceeds ±90°. In this case, the fourth engagement components 1060 can successfully slide and thus engage with the third engagement components 1500 provided that the fourth engagement components 1060 are positioned between the two peaks. In this case, the angle between adjacent vertices is called the fault-tolerant angle. The fault-tolerant angle in this example is 180°. Indeed, the fault-tolerant angle is 360°/N, where N represents the number of fourth engaging components 1060. When the angular deviation is within the fault-tolerant angle, the instrument tip 310 can maintain the same position during multiple assembly processes of the surgical instrument system. This feature makes it easy to determine the absolute position information of the individual transfer discs after the surgical instrument system is assembled, thus ensuring the safety of the surgical operation.

A third object of the present disclosure is to provide a surgical robot comprising the surgical instrument system described above. In addition, the surgical robot further comprises a robotic arm for holding the surgical instrument system. The drive assembly 100 is attached to the tip of the robotic arm. For example, the tip of the robotic arm includes a movable joint, and the drive assembly 100 is located on the movable joint and moves with movements of the movable joint. The sterile assembly 200 is provided on a sterile pouch and is releasably coupled to the drive assembly 100. The surgical instrument is releasably coupled to the sterile assembly 200 via the instrument box assembly.

In an alternative embodiment, the surgical robot may be completely sterilized using a specific sterilization method (eg, ozone sterilization, hydrogen peroxide sterilization, and so on). In this case, the surgical instrument system may include a drive assembly 100 and a surgical instrument 300. Accordingly, the transmission assembly is connected to the transmission interfaces provided in the drive assembly 100, constituting the transmission assembly so as to directly transmit the driving force provided by the drive assembly 100 directly to toolbox assembly.

A fourth object of the present disclosure is to provide a drive assembly 100. The drive assembly 100 includes: a drive mechanism 2000 and a first box body 3000 configured to receive the drive mechanism 2000 and provided with at least one outlet (not marked in the figures); and at least one transfer disk that engages with another transfer disk containing another engagement component. The transfer disk is rotatably located in the outlet and has two opposite end parts, one of which is connected to the drive mechanism 2000, and the other has a guide surface formed on its end side. In addition, at least one engaging component is provided on the guide surface, and the guide surface is configured to cause the other engaging component to move along the guide surface and engage with the at least one engaging component. In an alternative embodiment, the drive assembly 100 includes one transfer disk that engages with another transfer disk containing a different engagement component and a different guide surface. The transfer disk is located in the outlet and has two opposite end parts. One of the two opposite end portions is connected to the drive mechanism 2000, and the other of the two opposite end portions has at least one engagement component formed on its end side. The engagement component is configured to move along the guide surface of the other transmission disk and engage with the engagement component of the other transmission disk.

As shown in FIG. 11, in one embodiment, the transfer disk may be the first transfer disk 1100 and the other transfer disk may be the second 1200 or third 1300 transfer disk. The first end of the first transfer disc 1100 is configured to connect with the drive mechanism 2000. For example, the first headstock 1110 is provided at the first end, and the first connection headstock 1110 is provided with the first connection hole 1120, configured to receive the output shaft of the drive mechanism. In addition, a fixing hole 1130 is provided in the side wall of the first connecting headstock 1110, communicating with the first connecting hole 1120. The fixing hole 1130 is configured to cause the output shaft of the drive mechanism to synchronize with the first transmission disk 1100. The first guide surface 1010 is formed at the second end of the first transfer disc 1100. The first guide surface 1010 has two peaks and two valleys, which are located along the circumference of the end side where the first guide surface 1010 is located.

Two first engagement components 1020 are provided on the first guide surface 1010. The first engagement component 1020 is a recess provided in a respective recess. The first guide surface 1010 is configured such that the second engagement component of the second 1200 or third 1300 transmission disc slides along the first guide surface until it engages with the first engagement components 1020 to transmit torque.

The fifth object of the present disclosure is to provide a sterile assembly 200. As shown in FIG. 12, the sterile assembly 200 includes: at least one sterile plate 4000 provided with at least one transfer port; at least one transfer disk that engages with another transfer disk containing another engaging component, the transfer disk being rotatably located in the transfer hole and having two opposite end portions. At least one of the two opposite end parts has a guide surface formed on its end side, and the guide surface is provided with at least one engaging component. The guiding surface is designed in such a way that the other engaging component moves along the guiding surface until it engages with at least one engaging component. In an alternative embodiment, in addition to the sterile plate 4000 provided with at least one transfer hole, the sterile assembly 200 further comprises at least one transfer disk that engages with another transfer disk comprising a guide surface and another engagement component provided on the guide surface. . At least one transfer disk is rotatably located in the transfer hole and has two opposite end parts. The engagement component is formed by at least one of the two end portions. The engaging component is configured to move along the guide surface and engage with another engaging component.

Specifically, the transfer disk may be a second transfer disk 1200. The second transfer disk 1200 is configured to engage with each of the first transfer disk 1100 and the third transfer disk 1300. In one embodiment shown in FIG. 13, a guide surface is formed on each of the end sides of the two ends of the second transfer disk 1200, and an engaging component is provided on each guide surface. Accordingly, other engaging components are provided on the end sides of the first transmission disc 1100 and the third transmission disc 1300. That is, the second engagement component 1030 is provided on the end side of the second end of the first transmission disc 1100, and the fourth engagement component 1060 is provided on the end side of the fifth end of the third transmission disc 1300 The first guide surface 1010 may be formed on the end side of the third end of the second transmission disc 1200, and the first guide surface 1010 may have at least one first engagement component 1020 configured to engage with the second engagement component 1030. Preferably, the first engagement component 1020 is a recess. The second guide surface 1040 is provided on the end side of the fourth end of the second transmission disk 1200, and the second guide surface 1040 may have at least one third engagement component 1050 configured to engage with the fourth engagement component. Preferably, the third engagement component 1050 is a recess. The first guide surface 1010 is configured such that the second engagement component 1030 moves along the first guide surface 1010 until it engages with the first engagement component 1020 so as to transfer torque between the first transmission disc 1100 and the second transmission disc 1200. The second guide surface 1040 is configured as that the fourth engaging component 1060 can move along it in engagement with the third engaging component 1050, allowing the transmission of torque between the second transmission disk 1200 and the third transmission disk 1300.

Again with reference to FIG. 4, the sterile plate 4000 includes a sterile backing 4100 and a sterile cap 4200. A first through hole 4110 is provided in the sterile backing 4100 and a second through hole 4210 is provided in the sterile cap 4200. The second through hole 4210 and the first through hole 4110 together constitute the transfer hole. In addition, the sterile cap 4200 is detachably attached to the sterile substrate 4100. The sterile cap 4200 can prevent the transfer disc from being expelled from the sterile substrate 4100. In addition, a restrictive collar 1230 is provided on the circular side wall of the second transfer disc 1200, and the second through hole 4210 in The sterile cap 4200 has a variable inner diameter. Specifically, the section of the second through hole 4210 adjacent to the first through hole 4110 has an inner diameter greater than each of the inner diameter of the section of the second through hole 4210 remote from the first through hole 4110 and the inner diameter of the first through hole 4110. In addition, the inner diameter of the second through hole section 4110. hole 4210 adjacent to the first through hole 4110 corresponds to the outer diameter of the restrictive collar 1230, and the inner diameter of the section of the second through hole 4210 remote from the first through hole 4110 corresponds to the outer diameter of the second transfer disk 1200. In addition, the inner diameter of the first through hole 4110 also corresponds to outer diameter of the second transfer disc 1200. Thus, the first through hole 4110 and the second through hole 4210 together form a restrictive recess on which the restrictive collar 1230 is located, so that the second transfer disc 1200 is not in pushed out of the transfer hole.

In an alternative embodiment shown in FIG. 14, a guide surface is formed on the end side of one end of the second transmission disc 1200, and at least each first engagement component 1020 is provided on the guide surface, implemented as a recess. For example, the first guide surface 1010 is provided on the end side of the third end of the second transfer disc 1200. at least one fourth engaging component 1060 implemented as a protrusion. In this case, a second mating surface 1003 may be provided on the end face of the fourth end, and a fourth engagement component 1060 is provided on the second mating surface 1003.

Of course, in the alternative embodiment shown in FIG. 15, the end face of the fourth end may have an annular second protective wall 1006 surrounding and connected to the fourth engaging component 1060.

Further, it should be understood that, in this embodiment, the second transfer disk may have a second guide surface formed on the end side of the fourth end and a second engagement component provided on the end side of the third end. In this regard, the first mating surface may be formed on the end side of the third end. Alternatively, an annular first protective wall (not shown) is provided on the end side of the third end of the second transfer disk, surrounding and connected to the second engaging component.

In addition, second and fourth engagement components are provided on end sides of opposite ends of the second transfer disk 1200, respectively. The second engagement component is movable along the first guide surface and engages with the first engagement component on the first guide surface to provide torque transmission between the first and second transmission discs. The fourth engagement component is movable along the second guide surface and engages with the third engagement component on the second guide surface to transfer torque between the second and third transmission disks.

In addition, the first engaging component 1020 may coincide with the fourth engaging component 1060 so that the first engaging component 1020 may engage with the fourth engaging component 1060. Based on this, the sterile assembly 200 may include two sterile plates 4000 that are detachably attached to each other. to friend. As shown in FIG. 16, the two sterile plates 4000 are the first sterile plate 4000a and the second sterile plate 4000b. The first sterile plate 4000a and the second sterile plate 4000b may be of identical construction and each includes a sterile backing 4100 and a sterile cap 4200 releasably connected to the sterile backing 4100. This sterile assembly is suitable for applications requiring multiple layers of sterile protection. It should be understood that although a sterile assembly has been described herein as containing, for example, two sterile plates 4000, in practical use, it may also contain three or more sterile plates 4000.

A sixth object of the present disclosure is to provide an instrument box assembly for a surgical instrument 300 comprising an instrument shaft 320 and an instrument tip 310. As shown in FIG. 2a-2c, the toolbox assembly includes a toolbox and a transfer disk for engagement with another transfer disk containing another engagement component. The toolbox includes a second box body 5000 and a transfer module (not shown in the figures). In addition, the second box body 5000 includes a base, and at least one inlet is provided in the base. The transfer module is connected to the tool shaft 320 and/or tool tip 310 so as to drive the tool shaft 320 and/or tool tip 310. The transfer disk is rotatably located in the inlet and has two opposite end portions. One of the two end parts is connected to the transmission module, and the other of the two end parts has a guide surface formed on its end side. At least one engagement component is provided on the guide surface, and the guide surface is configured such that another engagement component on the other transfer disc moves along the guide surface until it engages with at least one engagement component. In an alternative embodiment, a transfer disk configured to interact with another transfer disk comprising a guide surface and another engaging component is located in the inlet and has two opposite end portions. One of the end parts is connected to the transmission module, and the other of the end parts has an engaging component provided on its end side. The engaging component is configured to move along the guide surface and engage with another engaging component.

As shown in FIG. 17 and 18, in this embodiment, the transfer disk may be the third transfer disk 1300, and the other transfer disk may be the second transfer disk 1200 or the first transfer disk 1100. The third transfer disk 1300 has a second guide surface 1040 formed at its fifth end, and the second guide surface 1040 is provided with at least one peak and at least one depression around the circumference. The third engaging component 1050 is provided on the second guide surface 1040. Specifically, the third engaging component 1050 is a depression and is in a depression.

As discussed above, the tool tip 310 contains multiple articulations. The transmission module contains a rotating element, a flexible element and a group of guide pulleys. The flexible element is configured to couple the rotating element to the tool tip joint 410. The guide pulley group is configured to change the direction of the extension of the flexible element. The rotating member is configured to drive the articulation of the tool tip 310 via the flexible member. In addition, the tool shaft 320 has one end connected to the tool tip 310 and the other end rotatably connected to the second box body 5000. The transfer module is further configured to cause the tool shaft 320 to rotate about its own axis. This embodiment is not limited to any particular means for causing the tool shaft 320 to rotate about its own axis. For example, the rotating element is connected to the tool shaft 320 by a gear. The sixth end of the third transfer disc 1300 is configured to pass through the inlet and connect to the rotating member. In this case, the third transfer disk 1300 may be connected to the rotating element either detachably or integrally.

In addition, the tool box assembly also includes a circular stop configured to limit the rotation range of the third transfer disk 1300. case 5000 boxes. The limiting protrusion 1350 cooperates with the sliding groove to limit the range of rotation of the third transfer disk 1300. By providing a circular stop, the rotation angle of the third transfer disk 1300 can be accurately controlled, which in turn allows for safety during use of the surgical instrument. In general, the restrictive protrusion 1350 on the thick portion of the third transfer disc 1300 has a good tension state.

In addition, as shown in FIG. 2c, the tool box assembly may further comprise a set of position correction magnets 6000 to assist third transfer disk 1300 in reaching a zero position. The position correction magnet set includes a first magnet 6100 and a second magnet 6200. The first magnet 6100 is located on the third transfer disc 1300, while the second magnet 6200 is provided on the second box body 5000. In addition, the first magnet 6100 and the second magnet 6200 are configured to provide a maximum magnetic force between them when the third transfer disc 1300 is in the zero position.

Although the present invention has been disclosed above, it is not limited to the above disclosure. Those skilled in the art may make various changes and modifications to the disclosure without deviating from its spirit and scope. Accordingly, any and all such changes and modifications are also intended to fall within the scope of the present disclosure, as defined by the appended claims and their equivalents.

Claims (83)

1. Transfer unit for a surgical instrument, containing the first transfer disk and the second transfer disk, and: the first transfer disk has a second end, and the second transfer disk has a third end located end to end with the second end, one of the end side of the second end and the end side of the third end has a first guiding surface formed thereon, and the other of the end side of the second end and the end side of the third end is provided with a second engaging component, wherein at least one first engaging component is provided on the first guiding surface, and the second engaging component is configured to engage with the first engaging component, and the second engagement component is movable along the first guide surface until the second engagement component engages with the first engagement component to ensure torque transmission between the first transmission disk and the second transmission disk, wherein the first guiding surface has at least one top and at least one trough, which are distributed circumferentially along the end side of the end on which the first guiding surface is formed. 2. The transmission assembly of claim. 1, in which the axial projection of the first guide surface has a diameter greater than or equal to a tenth of the axial distance from the top to the bottom of the first guide surface. 3. The transmission assembly according to claim 1, wherein the second end of the first transmission disk is further provided with a first locating pin extending in the axial direction, and the third end of the second transmission disk is further provided with a first locating hole extending in the axial direction, the first locating pin and the first the mounting hole is configured to cooperate with each other to facilitate the concentric arrangement of the first transfer disk and the second transfer disk. 4. The transmission assembly according to claim 3, wherein the first engagement component is a recess and the second engagement component is a protrusion, wherein the first protective wall surrounding the protrusion is provided on the end side where the second engagement component is provided, and the first protective wall is annular and connected to the ledge; And while the axial projection of the end side, where the first guide surface is located, has a diameter less than or equal to the inner diameter of the first protective wall. 5. The transmission unit according to claim 4, in which a) the second engaging component contains the first guide section and the first driving force transmission section, wherein the first guide section is configured to contact the first guide surface to guide the sliding of the second engaging component along the first guide surface, and the first driving force transmission portion is configured to transmit the driving force when the first engagement component is engaged with the second engagement component, or b) the second engaging component comprises a first guiding portion, wherein the first guiding portion is configured to contact the first guiding surface to guide the second engaging component to slide along the first guiding surface and to transmit driving force when the second engaging component is engaged with the first engaging component. component 6. The transmission unit according to claim 5, in which: c) each of the axial projection of the first engagement component and the axial projection of the first driving force transmission section has the shape of a crescent-shaped ellipsoid, or each of the axial projection of the first engaging component and the axial projection of the first driving force transmission portion is fan-shaped, and the fan formed by the first engaging component has an angle greater than or equal to the angle of the fan formed by the first driving force transmission portion, and b) the first guide section and the first engaging component are made with the possibility of surface contact to increase the friction force between them. 7. Transmission node according to any one of paragraphs. 5-6, wherein at least two second engagement components are provided, wherein the first guide surface and the second engagement components are configured such that when an axial external force is applied to the second transmission disc and the first guide surface is in contact with the second engaging components, unbalanced forces act on the second engagement components. 8. Transmission node according to claim 7, in which each of the second engaging components contains the first guide section, and each first guide section contains two wedge-shaped surfaces that form the first line of intersection; wherein the first guiding surface comprises guiding sub-surfaces that are connected in series, and adjacent guiding sub-surfaces form a second line of intersection at the vertices of the first guiding surface; And wherein the first and second intersection lines are configured such that when the second engaging components are in contact with the first guide surface at the tops of the first guide surface, the axial projection of the first intersection line at least partially coincides with the axial projection of the corresponding second intersection line; or the first and second intersection lines are configured such that when the second engaging components are in contact with the first guide surface at the tops of the first guide surface, at least two axial projections of the first intersection lines are in a straight line, and at least two axial projections second lines of intersection are on the same straight line, or at the same time each of the second engaging components contains the first guide section, and each first guide section contains two wedge-shaped surfaces and one first transition surface between two wedge-shaped surfaces, while the first transition surface is cut by a group of flat or curved imaginary cutting surfaces, and between the first transition surface and the group flat or curved imaginary cutting surfaces formed by a group of lines of intersection of the section, and the first line of intersection is formed in the form of a connecting line formed by connecting each of the characteristic points of the group of lines of intersection of the section; wherein the first guide surface comprises guides of the auxiliary surfaces, wherein the adjacent guide auxiliary surfaces are connected by a second transition surface at the top of the first guide surface, the second transition surface being cut by a group of flat or curved imaginary cutting surfaces, and between the second transition surface and the group of flat or curved imaginary cutting surfaces surfaces formed by a group of lines of intersection of the section, and while the second line of intersection is formed in the form of a connecting line formed by connecting each of the characteristic points of the group of lines of intersection of the section; And wherein the first and second intersection lines are configured such that when the first engagement component is engaged with the second engagement components, the axial projection of the first intersection line at least partially coincides with the axial projection of the corresponding second intersection line; or the first intersection lines and the second intersection lines are configured such that when the first engagement component is engaged with the second engagement components, at least two axial projections of the first intersection lines are in a straight line, and at least two axial projections of the second intersection lines are on the same line. 9. The transmission assembly according to claim 1, wherein the first mating surface is formed on the end side where the second engaging component is located, and the second engaging component is provided on the first mating surface, and the first mating surface is configured so as not to interfere with the movement of the second engaging component along the first guide surface and engage with the first engaging component. 10. The transmission unit according to claim 9, in which the first guide surface has at least one peak and at least one cavity, which are distributed circumferentially along the end side where the first guide surface is located, and in the cavity of the first guide surface, the first engaging component; wherein the top of the first mating surface is made in accordance with the cavity of the first guide surface, and the cavity of the first mating surface is made in accordance with the top of the first guide surface; And or: a) the first guide surface has at least one apex and at least one trough, which are distributed circumferentially along the corresponding end side, and a second engagement component is provided at the apex of the first mating surface, and wherein the cavity of the first mating surface is made so as not to interfere with the engagement between the first and second engaging components, or b) the first mating surface is additionally provided with the first containing groove on it, and the containing groove is made with the possibility of accommodating the top of the first guide surface. 11. The transmission assembly according to claim 10, wherein in a) the cavity of the first mating surface is made in such a way that when the first transmission disk is engaged with the second transmission disk, the trough of the first mating surface is not at all in contact with the corresponding apex of the first guiding surface, or the trough of the first mating surface is not in contact with the corresponding top of the first guiding surface, while a line contact or surface contact is formed between the two side sections of the trough of the first mating surface and the two side sections of the corresponding top of the first guiding surface. 12. The transfer unit according to claim 1, further comprising a third transfer drive, the first transfer drive, the second transfer drive and the third transfer drive are connected in series; wherein the second transfer disk further has a fourth end opposite the third end, and the third transfer disk has a fifth end located end to end with the fourth end; wherein one of the end side of the fourth end and the end side of the fifth end has a second guide surface formed thereon, and the other of the end side of the fourth end and the end side of the fifth end is provided with a fourth engagement component, wherein at least one third engagement component is provided on the second guide surface, and the fourth engaging component is configured to engage the third engaging component, and wherein the fourth engagement component is slidable along the second guide surface until the fourth engagement component engages with the third engagement component to enable torque transmission between the second transmission disc and the third transmission disc. 13. The transmission assembly of claim. 12, in which the first engaging component has a shape and size identical to the third engaging component, and the second engaging component has a shape and size identical to the fourth engaging component, and the first guide surface has a shape identical to the second guide surfaces, and/or the transmission assembly comprises at least two mutually engaged second transmission disks, one of which is engaged with the first transmission disk, and the other of which is engaged with the third transmission disk, and/or the fourth engagement component and the second engagement component are alternately disposed along the circumferential direction of the transmission assembly. 14. A surgical instrument system for a surgical robot, comprising: a driving force box comprising a first box body and a drive mechanism disposed in the first box body, the first box body being provided with at least one outlet; a surgical instrument comprising an instrument shaft, an instrument tip and an instrument box, wherein the instrument box comprises a second box body and a transmission module, the transmission module being located in the second box body and configured to drive the instrument shaft and/or the end of the instrument, the second body the box is provided with at least one inlet; And transmission unit according to claim 1, wherein the first transfer disk is located at the outlet and the second transfer disk is located at the inlet, and wherein, when the first transfer disk is engaged with the second transfer disk, the driving force provided by the drive mechanism is transmitted by the transfer assembly to the transfer module, which, in in turn drives the tool shaft and/or tool tip. 15. A surgical instrument system for a surgical robot, comprising: a driving force box comprising a first box body and a drive mechanism disposed in the first box body, the first box body being provided with at least one outlet; at least one sterile plate, each of which is provided with at least one transfer hole; a surgical instrument containing an instrument shaft, an instrument tip and an instrument box, the instrument box comprising a second box body and a transmission module, the transmission module being located in the second box body and configured to drive the instrument shaft and/or the instrument tip, and the second body the box is provided with at least one inlet; And transmission unit according to claim 1, in which: driving force box, sterile plate and instrument box are arranged in series; the first transfer disk is provided in the outlet and further comprises a first end opposite the second end, and the first end of the first transfer disk is connected to the drive mechanism; wherein the second transfer disk is provided in the transfer hole, and the third transfer disk is provided in the inlet and further comprises a sixth end opposite the fifth end, the sixth end of the third transfer disk being connected to the transfer module; And when the first transfer disk, the second transfer disk, and the third transfer disk are engaged in series, the driving force provided by the drive mechanism is transmitted by the transfer assembly to the transfer module, which in turn drives the tool shaft and/or tool tip. 16. The surgical instrument system of claim 15, further comprising at least one set of position correction magnets and/or at least one set of anti-bias magnets, and wherein the third transfer disk has a zero position, and the set of magnets for position correction is configured to help the third transfer disk reach the zero position, and the transfer assembly has an improper position, and the set of anti-displacement magnets is configured to prevent the transfer assembly from falling into an improper position . 17. The surgical instrument system of claim 16, wherein the set of position correction magnets comprises a first magnet and a second magnet, the first magnet is located on the third transfer disk, the second magnet is located on the instrument box, the first and second magnets are configured to attract each other. a friend to help the third transfer disc reach the zero position; and the set of anti-displacement magnets comprises a third magnet and a fourth magnet, wherein the third magnet is provided on the second transfer disc, the fourth magnet is provided on the sterile plate, and the third and fourth magnets are positioned to repel each other to prevent the transfer assembly from being misplaced. position under the force of repulsion. 18. The system of the surgical instrument according to claim 15, further comprising a circular limiter configured to limit the range of rotation of the third transmission disk; and/or an axial stop configured to prevent displacement of the second transfer disk from the sterile plate 19. The surgical instrument system of claim 18, wherein the circular stop includes a stop protrusion provided on the circumferential side wall of the third transmission disk and a sliding groove provided in the inner wall of the inlet, and the stop protrusion is provided within the sliding groove and can be moved. along the sliding groove, and at the same time the sterile plate contains a sterile substrate and a sterile cap, wherein the sterile substrate is connected to the driving force box, the sterile substrate is provided with a first through hole, the sterile cap is provided with a second through hole, the second through hole forms a transfer hole together with the first through hole, and the axial stop contains a restrictive shoulder provided on the circular side wall of the second transfer disc, wherein the section of the second through hole near the first through hole has an inner diameter greater than each of the inner diameter of the section of the second through hole remote from the first through hole and the inner diameter of the first through hole, and corresponds to outer diameter of the restrictive collar. 20. Surgical robot containing a system of surgical instruments according to claim 14 or 15. 21. A drive unit for a surgical instrument, comprising: a first box body provided with at least one outlet; a drive mechanism located in the first case of the box; And or i) a first transfer disk configured to engage with a second transfer disk containing a second engaging component, or with a third transfer disk containing a fourth engaging component, the first transfer disk being located in the outlet, the first transfer disk having two opposite end parts, one of which is connected to the drive mechanism, the other of which has a guide surface formed on its end side, and the guide surface is provided with at least one first engagement component, and the guide surface is configured to move the second engagement component of the second transmission disk or the fourth engaging component of the third transmission disk along the guide surface until they engage with the first engagement component, wherein the guide surface of the first transmission disk has at least one vertex and at least one recess, which are located along the circumferential direction of the corresponding end part, or ii) the first transfer disk, configured to engage with the second transfer disk, containing the first guiding surface and the first engaging component, or with the third transfer disk, containing the second guiding surface and the third engaging component, wherein the first transfer disk is located in the outlet, the first transfer disk has two opposite end parts, one of which is connected to the drive mechanism, and the other of which has at least one second engaging component formed on its end side, and the second engaging component is movable along the first guiding surface until it engages with the first engaging component or is movable along the second guiding surface until it engages with the third engaging component, wherein the first mating surface The surface is formed on the end side of the other of the end portions of the first transfer disk, and the first mating surface has at least one peak and at least one depression, which are located along the circumferential direction of the end side. 22. The drive unit according to claim 21, wherein i) a first engagement component is provided in the recess of the guide surface, and/or the guide surface of the first transmission disc is provided with at least two first engaging components that are centrally symmetrical on the guide surface; And the second engagement component is located on top of the first mating surface. 23. Sterile assembly for a surgical instrument, containing: at least one sterile plate provided with at least one transfer hole; And at least one second transfer disk configured to engage with the first transfer disk and the third transfer disk, wherein the second transfer disk is located inside the transfer hole, the second transfer disk has two opposite end parts, and at least one of the end parts is provided with a guide surface on its end side, wherein each of the two end parts of the second transfer disk is provided with at least one engaging component on the corresponding end side, and the guide surface and the engaging components are configured to engage the second transfer disk with each of the first and third transfer disks , wherein the guide surface of the second transfer disc has at least one peak and at least one depression, which are located along the circumferential direction of the corresponding end portion. 24. The sterile assembly according to claim 23, wherein the engagement component(s) provided on the guide surface is disposed in the recess of the guide surface. 25. The sterile assembly according to claim 23, in which a) each of the two end parts of the second transfer disk has a guide surface formed on the corresponding end side, and at least one engaging component is provided on each guide surface, and the engaging component is a recess , or b) only one of the end portions of the second transmission disk has a guide surface formed on its end side, and the engaging component provided on the guide surface is a recess, while the engaging component provided on the end side of the other of the end portions is ledge. 26. The sterile assembly according to claim 23, wherein in b) the sterile assembly comprises at least two sterile plates stacked together, and the transfer holes in at least two sterile plates are aligned with each other, and each of them is equipped with one transfer disk. 27. Sterile assembly for a surgical instrument, containing: at least one sterile plate, each of which is provided with at least one transfer hole; And at least one second transfer disk configured to engage with the first transfer disk containing the first guiding surface and the first engaging component, and with the third transfer disk containing the second guiding surface and the third engaging component, the second transfer disk being located in the transfer hole, wherein the second transfer disk has two opposite end parts, each of which has at least one engaging component formed on its end side, and the engaging components are configured to engage the second transfer disk with each of the first and third transfer disks, each of two opposite end parts of the second transfer disk has a mating surface formed on the corresponding end side, and the mating surface is provided with at least one peak and at least one cavity, which are located along the direction along approx. the circumference of the corresponding end side. 28. The sterile assembly of claim 27, wherein each of the engagement components is provided on top of a respective mating surface. 29. An instrument box assembly for a surgical instrument, comprising an instrument shaft and an instrument tip, comprising: a tool box comprising a second box body and a transfer module located in the second box body, the transfer module being configured to drive the tool shaft and/or tool tip, the second box body having at least one inlet provided therein; And or i) a third transfer disk configured to engage with a first transfer disk containing a second engaging component, or with a second transfer disk containing a fourth engaging component, the third transfer disk being located in the inlet, the third transfer disk having two opposite end portions , one of which is connected to the transmission module, and the other of which has a guide surface formed on its end side, wherein the guide surface is provided with at least one third engagement component, and the guide surface is configured to move the second engagement component of the first transmission disk along the guide surface until it engages with the third engaging component or with the possibility of moving the fourth engaging component of the second transfer disk along the guide surface until it engages with the third engaging component, and the guide the surface of the third transfer disk has at least one peak and at least one cavity, which are located along the circumferential direction of the corresponding one of the end portions; or ii) a third transfer disk configured to engage with a first transfer disk containing a first guiding surface and a first engaging component, or with a second transfer disk containing a second guiding surface and a third engaging component, the third transfer disk being located in the inlet, the third the transfer disk has two opposite end parts, one of which is connected to the transfer module, and the other of which has at least one fourth engagement component formed on its end side, the fourth engagement component being movable along the first guide surface until it engages with the first engaging component of the first transmission disk or with the possibility of moving along the second guide surface until it engages with the third engagement component of the second transmission disk, the other of the two opposite end parts having the first a strained surface formed on its end side, wherein the first mating surface has at least one peak and at least one depression, which are located along the circumferential direction of the corresponding end side. 30. The tool box assembly of claim 29, wherein i) a third engagement component is provided in the recess of the guide surface, and ii) wherein a fourth engagement component is provided at the top of the first mating surface.

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