WO2022082374A1 - Drive assembly, actuator, and surgical robot - Google Patents

Abstract

A drive assembly (11), an actuator (100), and a surgical robot. The drive assembly (11) comprises: a drive source (113), a driving member (111), a transmission member (112), and a detecting unit. The driving member (111) is connected to an output end of the drive source (113) and can rotate along with the output end; the transmission member (112) has a motion input part (1122) and a stretch-draw drive part (1123); the motion input part (1122) is in transmission fit with the driving member (111), so that the transmission member (112) can swing within a preset angle range; a slide slot (1124) for connecting to an instrument rod (122) is formed on the stretch-draw drive part (1123); the slide slot (1124) penetrates through the tail end and the side surface of the stretch-draw drive part (1123), to respectively form an end port (1125) and a side gap (1126); the detecting unit is used for detecting a first limit position and/or a second limit position of swinging of the transmission member (112); the detecting unit detecting the first limit position aims at preventing a sliding end (1221) from being stuck in the slide slot (1124), and detecting the second limit position aims at informing a user that the transmission member (112) swings to a position where the instrument rod (122) can be axially pulled out, so that the user can safely pulls out the instrument rod (122) to complete a replacement operation for a surgical instrument (12).

Description

Drive components, actuators and surgical robots technical field

The present application relates to the field of medical devices, and in particular, to a drive assembly, an actuator and a surgical robot.

Background technique

Minimally invasive surgery refers to opening a tiny wound on the patient's body. Part of the actuator of the surgical robot passes through the tiny wound and enters the lesion position, and makes the telecentric fixed point of the actuator coincide with the position of the wound. The robotic arm part of the robot is controlled to drive the actuator to swing in space within a certain angle range with the telecentric fixed point as the hinge point, assisting the action of the actuator itself to complete the minimally invasive surgery. Minimally invasive surgery is gradually gaining favor among medical staff and patients in recent years due to its small incision and less bleeding.

The actuator generally includes: a surgical instrument for extending into the lesion position, and a driving component for driving the surgical instrument to rotate, open and close, etc. Driven by the driving component, the operating end of the surgical instrument extends into the human body. Complete the preset surgical action. In order to precisely control the surgical instruments, the driving components are generally precise and complex. For example, in the Da Vinci surgical robot, the operation end of the surgical instrument is driven by a wire cable. During the entire operation, the surgical instrument should be guaranteed to act in a preset manner. In addition, since different surgeries require different types of surgical instruments to complete the preset surgical actions, there is a need for disassembly and assembly between the drive assembly and the surgical instruments. Reliable assembly to the preset position.

In the executive mechanism of the existing surgical robot, there is a lack of detection and judgment of the execution state of the surgical instrument and/or whether the disassembly and assembly are in place, especially the problem of inconvenient detection when the operation of the surgical instrument is driven by a wire.

SUMMARY OF THE INVENTION

According to various embodiments of the present application, a drive assembly is provided, including: a drive source, a driving part, a transmission part, and a detection unit, wherein:

The driving element is connected to the output end of the driving source, and can rotate with the output end;

The transmission member has a motion input portion and a tensioning drive portion, and the motion input portion is in driving cooperation with the driving member, so that the transmission member swings around a fixed axis within a preset angle range;

The tensioning drive part is provided with a chute for connecting the instrument rod, the chute runs through the end and the side of the tensioning drive part, respectively forming a port and a side gap, and the port is used for accommodating the instrument The sliding end of the rod slides in/out, and the side clearance is used to accommodate one end of the instrument rod to protrude;

The detection unit is arranged on the swinging path of the transmission member, and is used for detecting the first limit position and/or the second limit position of the swing of the transmission member, and, at the first limit position, the sliding end Slide to the end of the chute away from the port, and at the second limit position, the sliding end slides to the port.

In the above drive assembly, the significance of detecting the first limit position by the detection unit is to prevent the sliding end from sliding to the farthest end away from the port and causing the sliding end to be stuck in the chute; and the significance of detecting the second limit position is to inform the user that the transmission The device has been swung to the position where the instrument rod can be pulled out axially. At this time, the system can send out a signal for pulling out the instrument rod, so that the user can safely pull out the instrument rod to perform the replacement operation of the surgical instrument.

In one embodiment, the detection unit includes a first photoelectric switch and a second photoelectric switch corresponding to the first limit position and the second limit position of the transmission member, respectively.

Using the photoelectric switch as the detection unit is beneficial to realize the automatic control of the drive components.

In one of the embodiments, the driving assembly further includes a calibration member fixed on one side of the transmission member, the calibration member swings with the transmission member and is used to trigger the detection unit to send out a corresponding electrical signal.

The calibration piece is fixed on the transmission piece and oscillates with the transmission piece. The position of the transmission piece can be judged by the position of the calibration piece. In this way, the calibration piece cooperates with the detection unit to improve the detection accuracy of the movement position of the transmission piece.

In one of the embodiments, the drive assembly further includes a base, the base includes a first fork plate, and the plane on which the transmission member swings is parallel to the first fork plate;

The detection unit is fixed on the first fork plate, an arc-shaped groove is formed on the first fork plate, and one end of the calibration piece passes through the arc-shaped groove to trigger the detection unit to send an electrical signal .

The surface of the first fork plate provides the installation plane of the detection unit, and one end of the calibration piece passes through the arc-shaped groove to trigger the detection unit, which can further improve the detection accuracy of the moving position of the transmission piece.

In one embodiment, the machine base further includes a second fork plate parallel to the first fork plate, and the transmission member is arranged between the first fork plate and the second fork plate, so The driving source is fixed on a side of the second fork plate facing away from the transmission member.

The second fork plate provides a plane required for drive installation, and at the same time, the space between the first fork plate and the second fork plate is used to install the transmission parts, making full use of the space on the machine base.

In one embodiment, the transmission member has a pivot portion, and the pivot portion is connected with a pivot for swinging the transmission member to be connected between the first fork plate and the second fork plate. pivot shaft.

In one embodiment, the two end surfaces of the pivoting portion are respectively parallel to the two opposite side surfaces of the first fork plate and the second fork plate.

In one embodiment, the transmission member is provided with a weight reduction groove.

The design of the weight-reducing groove can reduce the overall mass of the transmission member to reduce its moment of inertia.

According to various embodiments of the present application, there is also provided an actuator of a surgical robot, including the above-mentioned drive assembly, and a surgical instrument, wherein:

The surgical instrument includes a sleeve rod, an instrument rod and an operating end, the sleeve rod is sleeved outside the instrument rod and has a preset position relative to the driving assembly;

One end of the instrument rod protrudes from the sleeve rod and is provided with a sliding end, the sliding end is slidably connected to the sliding groove of the transmission member, and the other end of the instrument rod is free from the side clearance extending said chute;

The end of the instrument rod protruding from the side gap is connected to the operation end, and when the transmission member swings between the first limit position and the second limit position, it can drive the The instrument rod is translated along its own axial direction to drive the operating end to perform a preset surgical action;

When the transmission member swings to the first limit position and/or the second limit position, the detection unit sends out an electrical signal.

According to various embodiments of the present application, there is also provided a surgical robot, including the above-mentioned actuator, and a telecentric control mechanism, wherein the telecentric control mechanism includes a moving platform, a static platform, and a plurality of telescopic units, each of the Both ends of the telescopic unit are respectively rotatably connected to the moving platform and the static platform, and a plurality of the telescopic units cooperate to expand and contract to control the movement of the moving platform relative to the static platform;

The actuator is arranged on the moving platform, and the surgical instrument has a preset telecentric fixed point, and the movement of the moving platform can drive the surgical instrument around the telecentric fixed point in a predetermined position. The movable platform is also provided with a motor for driving the overall rotation of the actuator.

In the above-mentioned drive assembly, actuator and surgical robot, the detection unit detects the first limit position and the second limit position of the swing of the transmission member, wherein the significance of detecting the first limit position is to prevent the sliding end from sliding to the farthest end away from the port. The sliding end is stuck in the chute; the significance of detecting the second limit position is to inform the user that the transmission member has swung to the position where the instrument rod can be pulled out axially. At this time, the system can send a signal to pull out the instrument rod. It is convenient for the user to safely pull out the instrument rod to perform the replacement operation of the surgical instrument. In this way, the user can simply know the current position of the transmission member through the detection result of the detection unit, and then judge the relative state of the current drive assembly and the instrument rod, so as to avoid the instrument rod. It is damaged by jamming with the transmission parts or by mistakenly disassembling the instrument rod.

Description of drawings

In order to better describe and illustrate embodiments and/or examples of those inventions disclosed herein, reference may be made to one or more of the accompanying drawings. The additional details or examples used to describe the drawings should not be construed as limiting the scope of any of the disclosed inventions, the presently described embodiments and/or examples, and the best mode presently understood of these inventions.

Figure 1 is a three-dimensional structural diagram of a surgical robot, in which part of the structure of the preoperative positioning mechanism is omitted;

Fig. 2 is the exploded structure diagram of the actuator;

Figure 3 is another exploded structural view of the actuator, in which the casing is omitted;

Fig. 4 is the perspective view of the partial structure of the actuator;

FIG. 5 is an enlarged view of part A of the structure shown in FIG. 3 , which shows the circumferential matching structure between the sleeve rod and the stopper;

FIG. 6 is an enlarged view of part B of the structure shown in FIG. 4 , and the enlarged view shows the relative positional relationship between the plug-in limit assembly and the sleeve rod;

Fig. 7 is a half-section view of a part of the structure of the actuator;

Fig. 8 is the C part enlarged view of the structure shown in Fig. 7, this enlarged view has shown the specific structure of the plug-in limit assembly, and the relative positional relationship between it and the sleeve rod;

9 is a perspective structural view of an upper plate body in the detection element;

FIG. 10 is a three-dimensional structural view of the limiting element in the plug-in limiting assembly;

Figure 11 is a three-dimensional structural view of a part of the structure of the drive assembly, and the figure shows the matching relationship between the driving part, the transmission part and the instrument rod;

FIG. 12 is a perspective structural view of a transmission member according to an embodiment;

Figure 13 is a cross-sectional view of the matching structure of the transmission member and the instrument rod;

Fig. 14 is a perspective view of the partial structure of the actuator, and the figure shows the setting positions of the first photoelectric switch and the second photoelectric switch on the base;

Figure 15 is a perspective structural view of the base in the drive assembly;

Figure 16 is a cross-sectional view of the base in the drive assembly, showing the structure at the sliding connection hole in the sliding connection part;

Figure 17 is a structural diagram of a part of the structure of the drive assembly, wherein the viewing angle is selected to be the viewing angle that is facing the outer surface of the second fork plate;

FIG. 18 is a structural diagram of a part of the structure of the drive assembly, wherein the viewing angle is selected to be a viewing angle looking directly at the outer surface of the first fork plate;

Figure 19 is a perspective view of a part of the structure of the telecentric control mechanism, showing the installation positional relationship between the moving platform and the connecting assembly;

Figure 20 is a perspective view of the moving platform from one perspective, and the figure shows the distribution of the weight-reducing groove and the avoidance space on one side of the moving platform;

Figure 21 is a perspective view of the moving platform from another perspective, showing the distribution of the internal chambers on the other side of the moving platform;

Fig. 22 is a sectional view of a part of the structure of the surgical robot, showing the installation positions of various components inside the moving platform.

Numerals in the figure: 100 denotes an actuator; 11 denotes a drive assembly; 12 denotes a surgical instrument; 13 denotes a plug-in limit assembly; 14 denotes a limiter; 15 denotes a casing; 114 represents the base; 115 represents the first photoelectric switch; 116 represents the second photoelectric switch; 117 represents the calibration part; 118 represents the fixed bracket; 119 represents the pivot shaft; 1124 is the chute; 1125 is the port; 1126 is the side clearance; 1131 is the drive body; 1141 is the mounting hole; 1142 is the sliding travel space; 1143 is the first fork plate; 1144 is the second fork plate 1145 represents the sliding connection part; 1146 represents the rotating connection part; 11431 represents the arc groove; 11441 represents the avoidance opening; 11451 represents the sliding hole; 121 represents the sleeve rod; ; 1212 represents the card slot; 1213 represents the limit ring groove; 12111 represents the introduction slope; 12131 represents the stop surface; 1221 represents the sliding end; 131 represents the limit element; 132 represents the elastic element; 1311 represents the limit hole; 1312 represents the trigger section; 13111 represents the large aperture part; 13112 represents the small aperture part; 13121 represents the trigger end; 1341 represents the detection channel; 13432 represents the guide groove segment; 141 represents the through hole; 1411 represents the protrusion; 151 represents the sliding hole; 200 represents the motor; 21 represents the rotor; 22 represents the stator; 23 represents the hollow shaft; 300 represents the telecentric control mechanism; unit; 32 is a moving platform; 33 is a static platform; 34 is a connecting assembly; 35 is a bearing; 36 is a first sensor; 37 is a second sensor; 38 is a casing; 351, bearing inner ring; 352, roller; 353, bearing outer ring; 361, fixed seat; 400, preoperative setting mechanism; X, first axis; Y, second axis.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

In the description of this application, it should be understood that the terms "center", "portrait", "horizontal", "top", "bottom", "front", "rear", "left", "right", " The orientation or positional relationship indicated by vertical, horizontal, top, bottom, inner, outer, axial, radial, circumferential, etc. is based on the drawings. The orientation or positional relationship shown is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a reference to the present application. limit.

In this application, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , it can also be integrated; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two components or two components. interactions, unless otherwise expressly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations. The technical solutions of the present application will be described in detail below with specific examples. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

The surgical robot involved in this application is used to assist doctors in completing minimally invasive surgery. The so-called minimally invasive surgery refers to opening a tiny wound on the patient's body, and making the operating end of the surgical instrument pass through the tiny wound to reach the lesion. Perform a spatial swing for a fixed point to complete the corresponding operation. In this process, in order to prevent the tiny wound on the patient's body from being cut open or pulled by the surgical instrument, the surgical robot needs to have a telecentric fixed point on the surgical instrument. During minimally invasive surgery, the surgical instrument passes through the tiny When the operating end of the wound and located in the patient's body reaches the lesion, the telecentric fixed point coincides with the tiny wound, and the spatial swing motion of the surgical instrument is performed with the telecentric fixed point as the fixed point. In this way, when the surgical instrument swings, There is no relative displacement between the surgical instrument at the distal fixed point and the tiny wound, so the tiny wound will not be further slashed or pulled during the operation.

In order to obtain the telecentric fixed point, the Da Vinci structure is mostly used in the existing surgical robots, and the telecentric fixed point in the Da Vinci structure is obtained by a parallelogram mechanism. However, in the surgical robot using the Da Vinci structure, there are inevitably the following problems: 1. Due to the motion characteristics of the parallelogram mechanism, the instrument arm in the Da Vinci structure needs a larger movement space, so multiple Movement interference between the instrument arms is prone to occur; 2. In the Da Vinci structure, the action of the surgical instrument is completed by the pulling of the steel belt. In order to make the movement of the surgical instrument accurate, the elastic deformation of the steel belt during the pulling process needs to be strictly controlled. It puts forward extremely high requirements on the material and processing technology of the steel strip; 3. The parallelogram mechanism is a series mechanism, and the motion errors between the various parts in the mechanism are superimposed on each other. Therefore, the overall motion error of the final mechanism is relatively large. 4. In the Da Vinci structure, the action of the surgical instrument is driven by the flexible steel belt. Therefore, a force feedback system cannot be established, and the doctor at the operating table cannot perceive the force between the operating end and the lesion, and the doctor's control changes. difficulty.

FIG. 1 is a three-dimensional structural view of a surgical robot according to an embodiment of the present application. Referring to FIG. 1 , the surgical robot involved in the present application includes a preoperative positioning mechanism 400 (part of the structure is omitted in the figure), a telecentric The control mechanism 300 and the actuator 100, etc., wherein: the telecentric control mechanism 300 adopts a parallel mechanism. In the structure shown in FIG. 1, the parallel mechanism used as the telecentric control mechanism 300 is a Stewart platform, which includes a The moving platform 32 on the side, the static platform 33 on the side close to the preoperative positioning mechanism 400 , and the telescopic unit 31 connected between the moving platform 32 and the static platform 33 .

In the telecentric control mechanism 300 : the two ends of the telescopic unit 31 are rotatably connected to the moving platform 32 and the static platform 33 respectively through the connecting assembly 34 . In some embodiments, the connecting assembly 34 may be configured as a ball hinge, a universal joint, or the like, which can satisfy the degree of freedom requirement. When the actuator 100 is manipulated to perform a surgical operation, the plurality of telescopic units 31 cooperate to expand and contract the same or different distances, so that the movable platform 32 can move to different positions relative to the static platform 33, thereby driving the actuator 100 on the movable platform 32 to extend into One end of the patient's body swings in a conical space with the telecentric fixed point O as the vertex, the first axis X as the axis, and the vertex angle α.

The telecentric fixed point O shown in FIG. 1 is a point on the first axis X, and the telecentric fixed point O needs to coincide with the position of the wound on the patient's body during the operation. In the da Vinci surgical robot, since the parallelogram mechanism is used to obtain the telecentric fixed point, the position of the telecentric fixed point is fixed in this type of surgical robot. Different from this, in the telecentric control mechanism 300 of the present application, the telecentric fixed point O is a pseudo-telecentric fixed point, which can have a certain adjustment range on the first axis X, the telecentric fixed point The adjustment of O can be realized by the telescopic device in the preoperative positioning mechanism 400 .

In the surgical robot provided by the present application, the telecentric control mechanism 300 adopts a parallel mechanism, and the moment of inertia at one end of the moving platform 32 is small. At the same time, the multiple telescopic units 31 in the telecentric control mechanism 300 work in parallel. Therefore, the position errors of the multiple telescopic units 31 acting on the moving platform 32 are parallel and non-accumulative. Therefore, compared with the Da Vinci surgical robot, The moving platform 32 in the present application can obtain higher positional accuracy; the plurality of telescopic units 31 are rigid telescopic units, so force can be transmitted between the actuator 100 and the telecentric control mechanism 300 , therefore, the surgical robot in the present application A force feedback structure can be provided to facilitate the doctor's manipulation at one end of the operating table; the multiple telescopic units 31 jointly bear the force transmitted by the actuator 100, so the overall carrying capacity of the surgical robot is correspondingly improved.

Fig. 2 is an exploded structure diagram of the actuator, and Fig. 3 is another exploded structure diagram of the actuator. Compared with the structure in Fig. 2, the plug-in limit assembly 13 and the casing 15 are omitted in the figure; the actuator part A perspective view of the structure; FIG. 5 is an enlarged view of part A of the structure shown in FIG. 3 , and the enlarged view shows the circumferential matching structure between the sleeve rod and the stopper.

Referring to FIGS. 2 to 5 , the actuator 100 includes a drive assembly 11 , a surgical instrument 12 and a limiter 14 , wherein the drive assembly 11 includes a base 114 , and a transmission component installed on the base 114 to limit The position member 14 is detachably and fixedly connected to the base 114 . The actuator 100 may further include a casing 15 , one end of the casing 15 is connected to the moving platform, one end of the surgical instrument 12 protrudes from the casing 15 , and structures such as the driving assembly 11 are arranged inside the casing 15 .

The surgical instrument 12 includes a sleeve shaft 121 , an instrument shaft 122 , and an operating end 123 located on one end of the instrument shaft 122 away from the driving assembly 11 . The sleeve shaft 121 is coaxially sleeved outside the instrument shaft 122, and the operating end 123 is used to complete a specific surgical action, which can be configured as an electric knife, forceps, clips or other similar instruments. One end of the instrument rod 122 is drivingly connected to the transmission part, so as to slide relative to the sleeve rod 121 along the first axis X under the driving of the transmission part, so as to drive the operation end 123 to complete a specific surgical action, for example, when the operation end 123 is configured as When the surgical forceps is used, the sliding of the instrument rod 122 along the first axis X can drive the surgical forceps to complete the opening and closing actions.

One end of the sleeve rod 121 disposed close to the transmission component extends into the limiting member 14 and forms a circumferential limit fit with the limiting member 14 . A mounting hole 1141 is defined on the base 114 , and the limiting member 14 is fixed in the mounting hole 1141 . When the base 114 is driven by the motor in the driven platform 32 to rotate the base 114, since the limiter 14 is fixed to the base 114, the sleeve rod 121 and the limiter 14 can be linked in a circumferential direction. Therefore, the sleeve rod The 121 can be rotated by the rotation of the base 114 . At the same time, since the movement of the instrument rod 122 along the first axis X is driven by the transmission member, and the transmission member is installed on the base 114, the circumferential movement of the instrument rod 122 is also driven by the base 114, and the surgical instrument 12 as a whole can be The random seat 114 rotates.

In the executive mechanism of the existing surgical robot, the axial and circumferential connection relationship of the surgical instrument is often set on a connecting structure. For example, the structure used to drive the axial movement of the surgical instrument is a rotating shaft. An external thread is provided on the outer peripheral surface, and the surgical instrument establishes an axial linkage relationship with the rotating shaft through a threaded sleeve with an internal thread; at the same time, a positioning protrusion is provided on the end face of the shaft end of the rotating shaft, and the surgical instrument is axially connected to the rotating shaft The position is provided with a clamping groove matched with the positioning protrusion, and a circumferential linkage relationship is established between the rotating shaft and the surgical instrument through the cooperation of the positioning protrusion and the clamping groove. During installation, it is first necessary to align the groove on the surgical instrument with the positioning protrusion on the shaft end of the rotating shaft, and then dock the two in place in the axial direction, and then fix the space between the two by screwing the threaded sleeve with the external thread on the outer circumference of the rotating shaft. the axial position.

In the connection structure of this kind of surgical instrument, the linkage between the axial direction and the circumferential direction needs to establish a connection relationship through the shaft end of the rotating shaft. In the use of the surgical robot, since the positioning protrusion and the groove need to be squeezed circumferentially with each other Therefore, after a period of time, there will be a large degree of wear on the rotating shaft, and the overall driving structure where the rotating shaft is located needs to be replaced as a whole.

In contrast, in the actuator 100 shown in FIGS. 2 to 5 , the limiting member 14 and the mounting hole 1141 on the base 114 are detachably connected. When the limiting member 14 is worn, only Replacing the stop 14 eliminates the effects of wear without replacing the rest of the drive assembly 11 . Since the surgical instrument 12 needs to be disassembled and replaced when dealing with different operations, frequent disassembly of the surgical instrument 12 will also accelerate the wear rate of the limiter 14. Therefore, a limiter 14 that can be easily disassembled and replaced is added to the drive assembly 11. There are This facilitates the maintenance of the actuator 100 after wear. In some embodiments, it is also possible to select the material so that the wear occurs preferentially on the stopper 14 , so that when the stopper 14 and the sleeve rod 121 press each other to transmit circumferential force, the wear mainly occurs on the stopper 14 , the wear and tear can be eliminated by replacing the limiting member 14 , so as to protect the surgical instrument 12 .

In one embodiment, the limiting member 14 is fitted in the mounting hole 1141 by interference. In other embodiments, the limiting member 14 and the base 114 can also be assembled in other detachable connection forms, as long as the limiting member 14 can drive the sleeve rod 121 to rotate with the base 114 in the circumferential direction.

Referring to the enlarged view of part A in FIG. 5 , in one embodiment, the limiting member 14 is provided with a through hole 141 through which the sleeve rod 121 passes, and the inner hole wall of the through hole 141 and the outer circumference of the sleeve rod 121 One of the walls is provided with a radially extending protrusion 1411, and the other is provided with a snap groove 1212 that can accommodate the protrusion 1411. When the circumferential force is transmitted, the protrusion 1411 and the groove side wall of the snap groove 1212 They are pressed against each other, so that the sleeve rod 121 can rotate in the circumferential direction with the limiting member 14 .

In the illustrated embodiment, the engaging groove 1212 is formed on the outer peripheral wall of the sleeve rod 121 , and the protrusion 1411 is disposed in the mounting hole 1141 of the limiting member 14 . Further, a plurality of protrusions 1211 are provided on the outer peripheral wall of the sleeve rod 121 , and the plurality of protrusions 1211 are arranged at intervals along the direction of the outer peripheral wall of the sleeve rod 121 , and a slot 1212 is formed between two adjacent protrusions 1211 . In other embodiments, the retaining groove 1212 can also be formed on the outer peripheral wall of the sleeve rod 121 by removing material. The number of the protrusions 1411 can be set to two, and the two protrusions 1411 are arranged at an interval of 180° in the circumferential direction, so as to uniformly transmit the circumferential force to the sleeve rod 121 in the circumferential direction of the limiting member 14 . The number of the grooves 1212 formed between the bumps 1211 may be more than the number of the protrusions 1411 . Therefore, during assembly, the user can correspondingly snap the protrusions 1411 into different grooves 1212 as required.

Continuing to refer to FIG. 5 , one end of the protrusion 1211 for forming the card slot 1212 is provided with a lead-in slope 12111 , and the lead-in slope 12111 is arranged on the end of the convex block 1211 that first contacts the protrusion 1411 to guide the protrusion 1411 to be gradually inserted in the slot 1212 between the adjacent bumps 1211 . Preferably, in the assembled state, there is a certain circumferential gap between the side wall of the protrusion 1411 and the side wall of the card slot 1212, so as to facilitate the installation of the two, and avoid unnecessary pressing force between the two.

As mentioned above, when different surgical operations are completed, different surgical instruments 12 need to be replaced. The instrument rod 122 in the surgical instrument 12 is connected with the transmission member, so its axial position along the first axis X direction changes with the transmission member, in order to limit the axial direction of the sleeve rod 121 and facilitate the removal of the sleeve when the surgical instrument 12 is replaced. The rod 121 and the actuator 100 also include the plug-in limit assembly 13 .

Referring to FIG. 4 , the outer circumference of the sleeve rod 121 is provided with a limit ring groove 1213 concave in the radial direction of the sleeve rod 121 , and the insertion and removal limit assembly 13 is provided at the position corresponding to the limit ring groove 1213 , and here The axial position of the sleeve rod 121 along the first axis X direction is limited.

Fig. 6 is an enlarged view of part B of the structure shown in Fig. 4, which shows the relative positional relationship between the plug-in limit assembly and the sleeve rod; Fig. 7 is a half-section view of the partial structure of the actuator; Fig. 8 is a diagram The enlarged view of the C part of the structure shown in 7, the enlarged view shows the specific structure of the plug-in limit assembly, and the relative positional relationship between it and the sleeve rod; FIG. 9 is the three-dimensional structure of the upper plate body in the detection element Fig. 10 is a three-dimensional structural view of the limiting element in the plug-in limiting assembly.

Referring first to FIGS. 7 and 8 , the base 114 is provided with a sliding travel space 1142 perpendicular to the direction of the first axis X, the sliding travel space 1142 penetrates part of the surface of the base 114 and communicates with the sleeve rod 121 through The location of the base 114 . The plug-in limit assembly 13 includes a limit element 131 , the limit element 131 is slidably connected to the sliding travel space 1142 , and a limit hole 1311 through which the sleeve rod 121 passes is opened on the limit element 131 . In the assembled state , the limiting hole 1311 is correspondingly sleeved outside the limiting ring groove 1213 .

Along the sliding direction of the limiting element 131 , that is, the direction indicated by the solid arrow in FIG. 8 , the limiting element 131 has a first preset position and a second preset position. In the first preset position, the limiting hole 1311 on the limiting element 131 limits the axial sliding of the sleeve rod 121 relative to the base 114 at the limiting ring groove 1213; in the second preset position, the limiting hole 1311 releases the axial locking of the sleeve rod 121, and at this time, the sleeve rod 121 can be pulled out along the direction of the first axis X. At this time, the surgical instrument 12 can be separated from the driving assembly 11 by correspondingly controlling the transmission component to move to a position where the instrument rod 122 is detachable.

Referring to FIG. 8, the limit ring groove 1213 has a stop surface 12131, the stop surface 12131 is parallel to a side surface of the limit element 131, and the limit element 131 can abut on the stop surface 12131 to reliably limit the sleeve The axial relative position of the rod 121 and the limiting element 131 .

In some existing surgical robot structures, the sleeve rod is screwed with the outer thread on the outer circumference of the rotating shaft to fix the axial position between the two, while the instrument rod is connected to the transmission where the rotating shaft is located through an appropriate form of axial limit structure. Structural axial connection. In contrast to this, when the plug-in limit assembly 13 in the present application is assembled, the limit element 131 can be slidably connected to the sliding travel space 1142 on the base 114 first, and then the sleeve rod 121 can be inserted into the base 114 And the limit hole 1311 on the limit element 131, and the limit ring groove 1213 is snapped into the limit hole 1311, so that the two can form a stable limit relationship, and when disassembling, only need to slide along the travel space 1142. The unlocking can be realized by sliding the limiting element 131 . Compared with the threaded connection, the disassembly and assembly of the sleeve rod 121 and the base 114 in the present application are relatively simple.

Referring to FIG. 8 , further, an elastic element 132 is further disposed between the base 114 and the limiting element 131 , and the elastic force of the elastic element 132 acts on the limiting element 131 to keep it at the first preset Location. The limiting element 131 is kept at the first preset position. When no external force causes the limiting element 131 to slide, the limiting element 131 is kept at a position limiting the axial displacement of the sleeve rod 121 , which can prevent the sleeve rod 121 from being accidentally disengaged. In one embodiment, the elastic element 132 is disposed on the end of the limiting element 131 where the limiting hole 1311 is opened, and is compressed between the limiting element 131 and the base 114 . In this way, the elastic force of the elastic element 132 presses against the limiting element 131 to keep it in the first preset position.

Referring to FIGS. 6 and 8 , a pressing portion 133 is fixedly connected to the end of the limiting element 131 away from the limiting hole 1311 . In the sliding hole 151 , one end of the pressing portion 133 protrudes from the sliding hole 151 to the outside of the casing 15 . When the pressing portion 133 is pushed by an external force, the pressing portion 133 pushes the limiting element 131 downward, and the elastic element 132 is further compressed under the action of the external force. At this time, the limiting element 131 can slide from the first preset position to the second position. Preset position.

FIG. 16 is a cross-sectional view of the base in the drive assembly. Referring to FIG. 16 , the sliding travel space 1142 has a rectangular section, and the cross-sectional shape of the limiting element 131 is adapted to it, so as to prevent the limiting element 131 from rotating relative to the sliding travel space 1142 . In other embodiments, the cross-sectional shape of the sliding travel space 1142 can also be set to any other non-circular surface, as long as the rotation of the limiting element 131 therein can be avoided. In other embodiments, a circumferential limiting structure for limiting the rotation of the limiting element 131 may be provided between the limiting element 131 and the base 114 , instead of necessarily limiting the limiting element 131 by the cross-sectional shape of the sliding travel space 1142 rotation.

In one embodiment, the limiting hole 1311 may include a large aperture portion and a small aperture portion, both of which are disposed along the sliding direction of the limiting element 131 . At a preset position, the small aperture portion of the limiting hole 1311 is limitedly matched with the limiting ring groove 1213 on the sleeve rod 121; when the limiting element 131 slides along the sliding travel space 1142 to the second preset position under the action of an external force , the large aperture portion is aligned with the sleeve rod 121 to accommodate the sleeve rod 121 to slide out of the limiting hole 1311 . In other embodiments, the limiting hole 1311 can also be set as a waist-shaped hole. When the limiting element 131 is in the first preset position, the hole wall at the lower end of the waist-shaped hole is clamped into the limiting ring groove 1213 . When the positioning element 131 slides to the second preset position, the waistline of the waist-shaped hole is aligned with the sleeve rod 121, so that the hole wall of the waist-shaped hole no longer restricts the sleeve rod 121 from coming out in the axial direction.

When designing the plug-in limit assembly 13 , not only the reliable axial limit of the sleeve rod 121 should be considered, but also the need for quick disassembly of the sleeve rod 121 must be considered. During the operation, the time for the operator to replace the surgical instrument 12 is limited. Therefore, in the existing surgical robot, the connection position of the surgical instrument is often inclined to select some quick-release seat assemblies that are convenient for disassembly and assembly. However, when disassembling a surgical instrument, the user generally judges whether the surgical instrument is detachable by manipulating the hand feel. For example, when the action of releasing the axial lock of the surgical instrument is a pressing action, the user needs to apply pressure based on experience, and then pull out in the axial direction. Surgical instruments, when the pressing force is insufficient, may cause the surgical instruments to be dismantled.

In order to avoid the above problems, the plug-in limit assembly 13 in the present application further includes a detection element 134, which is used to assist the user in determining whether the sleeve rod 121 can be pulled out currently. Referring to FIG. 6 , the detection element 134 is disposed on the sliding path of the limiting element 131 , and is used to determine the stop position of the limiting element 131 relative to the base 114 .

Referring to FIG. 10 , an end of the limiting element 131 close to the detection element 134 is provided with a triggering section 1312 , and the end of the triggering section 1312 has a triggering end 13121 . The elastic element 132 is sleeved outside the triggering section 1312 of the limiting element 131 , and two ends of the elastic element 132 abut against the limiting element 131 and the inner side surface of the base 114 respectively.

On the basis of FIG. 10 and as shown in FIG. 6, the detection element 134 has a detection channel 1341. When the trigger end 13121 on the limit element 131 extends into the detection channel 1341, the detection element 134 is triggered and can emit corresponding electrical power Signal.

In one embodiment, the detection element 134 is selected as a photoelectric limit switch. A pair of opposite sidewalls in the detection channel 1341 are provided with a pair of opposite radiation devices. When the trigger end 13121 extends into the detection channel 1341 and is blocked between the pair of opposite radiation devices, the detection element 134 is triggered.

Further, when the detection element 134 is triggered, an electrical signal sent by the detection element 134 can control a prompt light to emit light, thereby prompting the user that the limiting element 131 is at the second preset position, and the sleeve rod 121 can be removed. In other embodiments, the device that prompts the user to stop the position of the limiting element 131 may also be a sounding device such as a buzzer, and its function is to prompt the user that the sleeve rod 121 can be removed currently.

As mentioned above, in the present application, the axial limit of the sleeve rod 121 and the instrument rod 122 in the surgical instrument 12 is realized by the insertion and extraction of the limit assembly 13 and the transmission part, respectively. Therefore, after the detection element 134 is triggered, the The electrical signal can also be used to control the action of the transmission component, so that the instrument rod 122 is also driven to the detachable position, so as to facilitate the user to disassemble the surgical instrument 12 . In order to prevent the surgical instrument 12 from being disassembled by mistake, before the detection element 134 is triggered to send out an electrical signal, the control system of the surgical robot can control the instrument shaft 122 to remain in the axial connection position and cannot be disassembled.

Referring to FIG. 8 , an upper plate body 1342 is fixedly connected to the base 114 , and the detection element 134 is connected to the upper plate body 1342 to be fixedly connected to the base 114 . On the basis of FIG. 8 and in combination with the three-dimensional structural diagram of the upper plate body 1342 shown in FIG. 9 , the upper plate body 1342 is provided with an escape groove 1343 , and the escape groove 1343 includes an inlet groove section 13431 and a guide groove that communicate with each other. Section 13432, wherein: the size of the notch of the inlet groove section 13431 can accommodate the trigger end 13121 to pass through the upper plate body 1342, and the cross-sectional size of the notch of the guide groove section 13432 is smaller than the size of the trigger end 13121, when the limit element 131 slides laterally When entering the guide groove section 13432, the trigger end 13121 is limited to the side of the upper plate body 1342 facing the installation of the detection element 134, and can slide into/exit the detection channel 1341 under the guiding action of the groove wall of the guide groove section 13432. .

As mentioned above, there is often a need to replace the surgical instrument 12 before or during the operation. Therefore, in order to facilitate the disassembly and assembly of the sleeve rod 121 , the actuator 100 of the present application is provided with a plug-in limit assembly 13 . To completely remove the surgical instrument 12, it is also necessary to release the connection relationship of the instrument shaft 122 at the same time. Different from the limit of the sleeve rod 121 , the instrument rod 122 needs to be stretched during the operation, so that the operation end 123 at the end of the instrument rod 122 can complete the intended surgical action. Taking the operating end configured as surgical forceps as an example, the surgical forceps must at least be able to rotate about the first axis X as an axis and to open and close the surgical forceps during the operation. In the Da Vinci surgical robot and some other existing surgical robots, in order to drive the opening and closing movement of the operating end, a driving component composed of a steel belt and a pulley is generally used. The higher requirements are met, and the equipment cost is extremely high. At the same time, the connection between the drive assembly and the surgical instrument is also complicated, and it is difficult to meet the requirements of rapid disassembly and assembly of the surgical instrument.

To solve the above problems, an improved drive assembly 11 is used in the actuator 100 of the present application. Fig. 11 is a perspective structural view of a partial structure of a drive assembly; Fig. 12 is a perspective structural view of a transmission member according to an embodiment; Fig. 13 is a cross-sectional view of the matching structure of the transmission member and the instrument rod; Fig. 14 is a perspective view of the partial structure of the actuator; Fig. 15 is a perspective structural view of the base in the drive assembly; Fig. 16 is a cross-sectional view of the base in the drive assembly.

11 to 14 , the drive assembly 11 includes a driving member 111 , a transmission member 112 and a driving source 113 , wherein: the driving source 113 is fixedly connected to the base 114 , and the output end of the driving source 113 is connected to the driving member 111 , In order to drive the driving member 111 to rotate, the driving member 111 and the transmission member 112 are driven to cooperate to drive the transmission member 112 to swing.

Referring to FIG. 12 and FIG. 13 , the transmission member 112 can be configured as an integral metal part, and includes a body having a pivot portion 1121 , a motion input portion 1122 and a tension driving portion 1123 . Wherein: the pivot part 1121 is provided with a pivot shaft 119, so that the main body of the transmission member 112 is rotatably connected to the base 114 shown in FIG. 14 through the pivot shaft 119; the motion input part 1122 and the driving member 111 Cooperate with transmission to drive the body to swing around the axis of the pivot part 1121 within a preset angle range; along the swing direction of the body, the tensioning drive part 1123 and the motion input part 1122 are arranged at an angle to each other; the tensioning drive part 1123 is provided with The sliding groove 1124, the sliding groove 1124 penetrates the end and the side surface of the tensioning driving part 1123, and is respectively formed with a port 1125 and a side gap 1126. In some embodiments, the body of the transmission member 112 may also be provided with a weight reduction groove, so as to reduce the moment of inertia of the transmission member 112 .

12 and 13, one end of the instrument shaft 122 protrudes from the sleeve shaft 121 and has a sliding end 1221. In some embodiments, the sliding end 1221 can be configured as a spherical end similar to a ball head, so that the sliding end 1221 It can be rotated within the chute 1124 to accommodate the angle change between the transmission member 112 and the instrument shaft 122 . The sliding end 1221 of the instrument rod 122 can slide into/out of the chute 1124 from the port 1125 on the tensioning drive part 1123, and at the same time, when the sliding end 1221 is slidably connected to the chute 1124, the rest of the instrument rod 122 slides from the side External gap 1126 protrudes.

The other end of the instrument rod 122 is connected to the operation end 123. When the instrument rod 122 translates along the direction of the first axis X, the operation end 123 can be driven to perform a surgical action. For example, when the surgical action is the opening and closing movement of the surgical forceps, the instrument rod 122 translates closer to or away from the operation end 123, which can drive the opening and closing mechanism of the operation end 123 to open or close. Compared with the method of using the steel belt to pull the operating end to complete the operation in the traditional technology, the instrument rod 122 basically elastically elongates or shortens in the process of being stretched. Therefore, it can be controlled by controlling the movement of the instrument rod 122. The degree of opening and closing of the operation end 123, and when the steel belt is used as the pulling member, the elastic deformation of the steel belt during the pulling process makes the movement range of the operation end uncontrollable. In order to control the amplitude error, special materials must be used. belt, and the installation accuracy should be improved accordingly.

Referring to FIG. 11 , the motion input portion 1122 is configured as a plurality of gear teeth distributed along the swing direction of the body, and the plurality of gear teeth are distributed to form a sector-shaped gear area, and the driving member 111 is configured as a gear capable of meshing with the sector-shaped gear area for transmission. . In this way, when the driving member 111 rotates, the driving body oscillates within a preset angle range through the meshing of the driving member 111 with the gear teeth serving as the motion input portion 1122 . In one embodiment, a plurality of gear teeth are arranged on one side of the swing plane of the body, and cooperate with the driving member 111 to form a space gear transmission. Compared with the unfolded arrangement, the arrangement of the space gear transmission shortens the distance between the driving member 111 and the driving member 111. The length along the X direction of the first axis where the transmission member 112 is matched.

Referring to Figures 13 and 14, in one embodiment, the chute 1124 extends in a straight line. As mentioned above, the sleeve rod 121 is kept relatively fixed to the machine base 114 under the axial limit action of the plug-in limit assembly 13 . The instrument rod 122 is coaxially disposed inside the sleeve rod 121 , so the instrument rod 122 is guided by the sleeve rod 121 . In this way, when the driving source 113 works, the output end of the driving source 113 drives the driving member 111 to rotate, and the driving member 112 is caused to swing around the fixed axis through the meshing transmission between the driving member 111 and the motion input portion 1122 on the transmission member 112; the instrument rod 122 The sliding end 1221 is slidably connected to the sliding groove 1124. When the tensioning drive part 1123 swings, the sliding end 1221 slides in the sliding groove 1124. Since the part of the instrument rod 122 extending out of the sliding groove 1124 simultaneously receives the sliding of the sleeve rod 121 Therefore, the oscillating motion of the transmission member 112 is finally converted into a translation of the instrument shaft 122 along its own axial direction (or in the direction of the first axis X).

Continuing to refer to Fig. 13, along the swing path of the transmission member 112, it has a first limit position and a second limit position. At the first extreme position, the sliding end 1221 is close to the port 1125, and the user can pull out the sliding end 1221 from the port 1125 along the sliding direction of the instrument rod 122, thereby realizing the disassembly of the instrument rod 122 and the driving assembly 11; at the second extreme position, the sliding The end 1221 slides along the chute 1124 to the farthest farthest away from the port 1125. At this time, the sliding end 1221 and the end wall of the chute 1124 are spaced apart to prevent the sliding end 1221 from abutting against the end wall of the chute 1124. As a result, the transmission member 112 is stuck in the chute 1124 and affects the reverse swing of the transmission member 112 .

When the drive assembly 11 in the present application is used, the swing of the transmission member 112 can achieve two purposes at the same time: the instrument rod 122 slides along its own axis, thereby driving the operation end 123 to perform a surgical action; when the transmission member 112 swings to the first limit position , the instrument rod 122 can be disassembled from the port 1125 , that is, a quick-release structure of the instrument rod 122 is also formed. The driving assembly 11 in the present application can realize the manipulation of the surgical instrument 12 and the disassembly of the instrument shaft 122 with a simple structure.

Further, similar to the detection element 134 introduced into the plug-in limit assembly 13, when the instrument rod 122 is disassembled, it is also necessary to detect the position where the transmission member 112 stops swinging, so as to assist the user in judging whether the current instrument rod 122 can be pulled out. In addition, the drive assembly 11 can also be equipped with a relevant detection unit to detect the limit position of the transmission member 112 in another swing direction, so as to prevent the transmission member 112 from swinging beyond the second limit position, causing the sliding end 1221 to be stuck in the chute 1124 .

Based on the above purpose, referring to FIG. 14 , the drive assembly 11 further includes a detection unit disposed on the swing path of the transmission member 112 for detecting the first limit position and/or the second limit position of the transmission member 112 swinging. It can be understood that when it is necessary to detect both extreme positions, the detection unit can achieve the above two purposes at the same time - prompting the user that the instrument rod 122 can currently be pulled out and that the further swing of the transmission member 112 will exceed the second extreme position. , there is a risk of jamming the instrument shaft 122 . The following describes an embodiment including two detection functions as an example, and those skilled in the art should understand that only one of the detection functions may be provided.

13 and 14, the detection unit may include a first photoelectric switch 115 and a second photoelectric switch 116 corresponding to the first limit position and the second limit position of the transmission member 112, respectively. When the first photoelectric switch 115 is triggered, the further sliding of the instrument rod 122 in the original direction can drive the sliding end 1221 to slide out of the chute 1124 from the port 1125; and when the second photoelectric switch 116 is triggered, the surgical robot can pass the driving source 113 Control the transmission member 112 to stop to avoid further swinging, or directly control the transmission member 112 to swing in the opposite direction, so as to prevent the transmission member 112 from swinging over travel and being stuck.

Referring to FIGS. 11 and 14 , a marking piece 117 is fixed on one side surface of the transmission member 112 . The marking piece 117 swings with the transmission member 112 and is used to trigger the detection unit to send out a corresponding electrical signal. In one embodiment, in the electronic control system of the surgical robot, the detection element 134 for detecting the sliding stop position of the limit element 131 can be associated with the detection unit for detecting the swing stop position of the transmission member 112, for example, Only when the first photoelectric switch 115 detects that the transmission member 112 is in the first limit position, and the detection element 134 detects that the limit element 131 is in the second preset position, will an electrical signal be sent to prompt the user that the surgical instrument 12 can be replaced.

Referring to FIGS. 14 to 16 , in order to reduce the volume of each part of the surgical robot to make it more flexible, a special design is made for the arrangement of each component in the drive assembly 11 in this application, so that the components can pass through the components. The rationalized layout reduces the local size of the surgical robot.

The base 114 is adapted to the layout requirements of the driving element 111 , the transmission element 112 and the detection unit, and may include a sliding connection portion 1145 , and a first fork plate 1143 and a second fork plate fixed or integrally provided at one end of the sliding connection portion 1145 . 1144, wherein: two fork plates are arranged parallel to each other and spaced apart, and each fork plate is parallel to the plane where the transmission member 112 swings. In one embodiment, the two end surfaces of the pivot portion 1121 of the transmission member 112 are parallel to the first fork plate 1143 and the second fork plate 1144 respectively, and there is a certain gap between them and the inner side surfaces of the two fork plates, respectively. In order to avoid the swinging motion of the transmission member 112 being affected by the two fork plates.

The first photoelectric switch 115 and the second photoelectric switch 116 serving as detection units are both mounted on the first fork plate 1143 , the calibration member 117 is mounted on the side of the transmission member 112 facing the first fork plate 1143 , and the first fork plate 1143 An arc-shaped slot 11431 is opened on the upper part. In the assembled state, the calibration piece 117 extends from the arc-shaped slot 11431 to trigger the first photoelectric switch 115 or the second photoelectric switch 116 installed on the outer surface of the first fork plate 1143 .

17 and 18 are structural diagrams of part of the structure of the drive assembly. Referring to FIGS. 16 and 17 , the driving source 113 includes a driving body 1131 , the driving body 1131 is arranged as an elongated structure extending along the direction of the first axis X, and one end of its length direction is an output end for connecting the active Piece 111. The driving main body 1131 is fixedly connected to the second fork plate 1144 through a fixing bracket 118 . Further, in order to enable the driving member 111 to engage with the transmission member 112, an escape opening 11441 is formed on the second fork plate 1144, and a part of the structure of the driving member 111 extends into the first fork plate 1143 and the second fork plate from the escape opening 11441. 1144, and engages with the motion input portion 1122 of the transmission member 112 between the two fork plates.

7 and 16, the sliding connecting portion 1145 is provided with a sliding hole 11451 along the direction of the first axis X, and one end of the sliding hole 11451 penetrates to the sliding connecting portion 1145 adjacent to the two fork plates. On one end, the other end of the sliding hole 11451 communicates with the mounting hole 1141 . The sliding travel space 1142 is also provided on the sliding connecting portion 1145 . The limiter 14 is embedded in the installation hole 1141 , the sleeve rod 121 passes through the limiter 14 and extends into the sliding hole 11451 , and after passing through the sliding travel space 1142 , it is limited by the plug-in limiter 13 to a preset axial direction Position; the part of the instrument rod 122 passing through the sleeve rod 121 is passed out between the two fork plates along the sliding hole 11451 , and is slidably connected with the sliding groove 1124 of the transmission member 112 .

Referring to FIGS. 17 and 18 , the active member 111 is connected to the output end of the driving source 113, and is rotated around the second axis Y under the driving of the driving source 113. As mentioned above, the instrument rod 122 is along the first axis X. The direction is telescopic and sliding, and the first axis X is parallel to the second axis Y. Further, the second axis Y is in a line-to-plane parallel relationship with the plane where the transmission member 112 swings. In this way, the driving source 113 is arranged substantially parallel to the surgical instrument 12, reducing the space occupation of the relevant position.

Referring to FIG. 17 , further, the output end of the driving source 113 faces away from the position where the instrument shaft 122 is connected to the chute 1124 , so that the driving main body 1131 of the driving source 113 in the direction of the first axis X is substantially coincident with The base 114 avoids occupying space in the extended axial direction of the driving body 1131 of the driving source 113 . In addition, the two sides of the driving source 113 do not exceed the area between the two extreme positions of the transmission member 112. In this way, the driving source 113 and the transmission member 112 are generally arranged in an up-down relationship as shown in FIG. , the local space occupation is further reduced.

Compared with the da Vinci surgical robot, the surgical robot in the present application not only takes up less space at the telecentric control mechanism 300, but also at the actuator 100, through the structural adjustment of each component and the change in the layout of the structure, so that the The space occupied by the actuator 100 is also small, which makes the surgical robot small in size and flexible in movement.

In order to further reduce the space occupied by the telecentric control mechanism 300 , the present application also provides an improved moving platform 32 . Fig. 19 is a perspective view of a part of the structure of the telecentric control mechanism, showing the installation positional relationship between the moving platform and the connecting assembly; Fig. 20 is a perspective view of the moving platform from one perspective, showing that the weight-reducing groove and the avoidance space are in The distribution on one side of the moving platform; Figure 21 is a perspective view of the moving platform from another perspective, the figure shows the distribution of the internal chamber on the other side of the moving platform; Figure 22 is a cross-sectional view of a part of the structure of the surgical robot, and the figure shows the moving platform. The installation position of each component inside the platform.

Referring to FIGS. 19 to 21 , a recessed space 321 is formed on a side surface of the moving platform 32 , and the connecting assembly 34 between the telescopic unit 31 and the moving platform 32 is at least partially located in the avoiding space 321 . Compared with the form in which the connecting assembly 34 is directly disposed on one side surface of the movable platform 32 , the arrangement of the avoidance space 321 reduces the space occupied by the movable telecentric control mechanism 300 along the first axis X direction.

In some embodiments, the movable platform 32 is further provided with a weight reduction groove 322 on the side where the avoidance space 321 is provided, and the setting position of the weight reduction groove 322 is staggered from the avoidance space 321 . Preferably, there are multiple weight-reducing grooves 322 , and the multiple weight-reducing grooves 322 balance the weight of the moving platform 32 so that the center of mass of the moving platform 32 coincides with the center of the circle where the plurality of connecting components 34 are located. The setting of the weight-reducing groove 322 reduces the overall weight of the moving platform 32, and the setting of the avoidance space 321 makes the moving platform 32 in the present application lighter in overall weight compared with the common solid platform structure, and its motion inertia is also smaller when it swings. It is small, which is beneficial to the flexible movement of the moving platform 32 . In particular, when the center of mass of the movable platform 32 coincides with the centers of the circles where the plurality of connecting components 34 are located, the motion accuracy of the movable platform 32 is higher.

Further, referring to FIG. 21 and FIG. 22 , the moving platform 32 includes a body, and an inner chamber 323 is formed on the side of the body facing away from the avoidance space 321, and the inner chamber 323 is used for embedding the motor 200, The motor 200 is used to drive the actuator 100 to rotate as a whole. The motor 200 is built into the inner chamber 323 of the moving platform 32, which can further reduce the volume of the surgical robot, which is beneficial to the miniaturization of the surgical robot.

Specifically, as shown in FIG. 22 , the motor 200 includes a rotor 21 , a stator 22 and a hollow shaft 23 . The rotor 21 is fixedly connected with a bearing inner ring 351 , the moving platform 32 is fixed with a bearing outer ring 353 , and a roller 352 is arranged between the inner and outer rings of the bearing, which together constitute the bearing 35 . The rollers 352 may be selected as crisscross rollers to enable the bearing 35 to transmit space forces between the inner and outer rings. In other embodiments, the bearing 35 can also adopt other bearings that can bear the space force, or use a combination of multiple bearings to bear the space force.

The base 114 of the actuator 100 is fixedly connected to the rotor 21 . Specifically, the end of the base 114 close to the moving platform 32 is provided with a rotating connecting portion 1146 , and the base 114 is directly or indirectly fixed with the rotor 21 in the motor 200 through the rotating connecting portion 1146 , so that it can be driven by the motor 200 to turn.

As can be seen from the foregoing, since the drive in the actuator 100 no longer uses a flexible drive such as a steel belt, the aforementioned drive assembly 11 is used to pull the instrument rod 122. Therefore, the operating end 123 of one end of the instrument rod 122 is Forces may be transmitted to the moving platform 32 . Therefore, in one embodiment, a first sensor 36 is further disposed between the rotary connection portion 1146 and the rotor 21 , and the first sensor 36 can be selected as a torque sensor and is used to sense the environmental torque received by the actuator 100 . In this way, the torque received by the actuator 100 can be fed back to the first sensor 36 through the rotational connection portion 1146 of the base 114 . Further, the connecting wire of the first sensor 36 can pass through the cavity inside the hollow shaft 23 .

Continuing to refer to as shown in FIG. 22 , in order to install the first sensor 36 on the rotor 21 , the moving platform 32 is further provided with a fixed seat 361 . In addition, the moving platform 32 is also provided with a second sensor 37 , and the second sensor 37 is used to detect the angle that the actuator 100 rotates with the motor 200 . In the illustrated embodiment, part of the second sensor 37 is relatively fixed to the rotor 21 through the hollow shaft 23 , and the other part of the second sensor 37 is fixed to the moving platform 32 , so as to detect the rotation of the rotor 21 relative to the stator 22 . The angle detects the angle that the actuator 100 has rotated. The second sensor 37 is disposed on the side of the movable platform 32 on which the connecting assembly 34 is connected.

Referring to FIG. 19 , the side of the movable platform 32 facing away from the connecting assembly 34 is also connected with a cover 38 , and the cover 38 covers the structure installed in the movable platform 32 inside.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the patent application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims (10)

1. A drive assembly of a surgical robot, comprising: a drive source, a driving part, a transmission part and a detection unit, wherein:

   The driving element is connected to the output end of the driving source, and can rotate with the output end;

   The transmission member has a motion input portion and a tensioning drive portion, and the motion input portion is in driving cooperation with the driving member, so that the transmission member swings around a fixed axis within a preset angle range;

   The tensioning drive part is provided with a chute for connecting the instrument rod, the chute runs through the end and the side of the tensioning drive part, respectively forming a port and a side gap, and the port is used for accommodating the instrument The sliding end of the rod slides in/out, and the side clearance is used to accommodate one end of the instrument rod to protrude;

   The detection unit is arranged on the swing path of the transmission member, and is used to detect the first limit position and/or the second limit position of the swing of the transmission member, and,

   At the first extreme position, the sliding end slides to the end of the chute away from the port, and at the second extreme position, the sliding end slides to the port.
2. The drive assembly according to claim 1, wherein the detection unit comprises a first photoelectric switch and a second photoelectric switch corresponding to the first limit position and the second limit position of the transmission member, respectively.
3. The drive assembly according to claim 1, characterized in that, the drive assembly further comprises a calibration member fixed on one side of the transmission member, the calibration member swings with the transmission member and is used to trigger the detection The unit sends out a corresponding electrical signal.
4. The drive assembly according to claim 3, wherein the drive assembly further comprises a machine base, the machine base comprises a first fork plate, and the plane on which the transmission member swings is parallel to the first fork plate ;

   The detection unit is fixed on the first fork plate, an arc-shaped groove is formed on the first fork plate, and one end of the calibration piece passes through the arc-shaped groove to trigger the detection unit to send an electrical signal .
5. The drive assembly according to claim 4, wherein the machine base further comprises a second fork plate parallel to the first fork plate, and the transmission member is disposed on the first fork plate and the first fork plate. Between the two fork plates, the driving source is fixed on a side of the second fork plate facing away from the transmission member.
6. The drive assembly according to claim 5, wherein the transmission member has a pivot portion, and the pivot portion is connected with a pivot for connecting the transmission member to the first fork plate and the first fork plate oscillatingly. The pivot shaft between the second fork plates.
7. The drive assembly according to claim 6, wherein the two end faces of the pivoting portion are respectively parallel to two opposite side surfaces of the first fork plate and the second fork plate.
8. The drive assembly according to claim 1, wherein a weight reduction groove is formed on the transmission member.
9. An executive mechanism of a surgical robot, characterized in that it comprises the drive assembly described in any one of claims 1-9, and a surgical instrument, wherein:

   The surgical instrument includes a sleeve rod, an instrument rod and an operating end, the sleeve rod is sleeved outside the instrument rod and has a preset position relative to the driving assembly;

   One end of the instrument rod protrudes from the sleeve rod and is provided with a sliding end, the sliding end is slidably connected to the sliding groove of the transmission member, and the other end of the instrument rod is free from the side clearance extending said chute;

   The end of the instrument rod protruding from the side gap is connected to the operation end, and when the transmission member swings between the first limit position and the second limit position, it can drive the The instrument rod is translated along its own axial direction to drive the operating end to perform a preset surgical action;

   When the transmission member swings to the first limit position and/or the second limit position, the detection unit sends out an electrical signal.
10. A surgical robot is characterized in that it includes the actuator according to claim 9, and a telecentric control mechanism, wherein the telecentric control mechanism includes a moving platform, a static platform, and a plurality of telescopic units, and each telescopic unit has a Both ends are respectively rotatably connected to the moving platform and the static platform, and a plurality of the telescopic units cooperate to expand and contract to control the movement of the moving platform relative to the static platform;

    The actuator is arranged on the moving platform, and the surgical instrument has a preset telecentric fixed point, and the movement of the moving platform can drive the surgical instrument around the telecentric fixed point in a predetermined position. Swing within the set conical space;

    The moving platform is also provided with a motor for driving the actuator to rotate as a whole.

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