WO2022127003A1 - 手术器械以及手术机器人 - Google Patents

手术器械以及手术机器人 Download PDF

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Publication number
WO2022127003A1
WO2022127003A1 PCT/CN2021/092632 CN2021092632W WO2022127003A1 WO 2022127003 A1 WO2022127003 A1 WO 2022127003A1 CN 2021092632 W CN2021092632 W CN 2021092632W WO 2022127003 A1 WO2022127003 A1 WO 2022127003A1
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WO
WIPO (PCT)
Prior art keywords
box
surgical instrument
groove
connector
matching
Prior art date
Application number
PCT/CN2021/092632
Other languages
English (en)
French (fr)
Inventor
查传兵
孙强
高元倩
王建辰
Original Assignee
深圳市精锋医疗科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市精锋医疗科技有限公司 filed Critical 深圳市精锋医疗科技有限公司
Publication of WO2022127003A1 publication Critical patent/WO2022127003A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities

Definitions

  • the invention relates to the technical field of medical instruments, in particular to a surgical instrument and a surgical robot.
  • Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscope and thoracoscope and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.
  • the minimally invasive surgical robot usually includes a master console and a slave operation device.
  • the master console is used to send control commands to the slave operation device according to the operation of the doctor to control the slave operation device, and the slave operation device is used to respond to the control command sent by the master console. , and perform corresponding surgical operations.
  • the slave operating equipment usually includes a robotic arm, a power mechanism arranged on the robotic arm, and surgical instruments.
  • the robotic arm is used to adjust the position of the instruments, the surgical instruments are used to extend into the body and perform surgical operations, and the power mechanism is used to drive the surgical instruments.
  • the end device performs the corresponding operation.
  • End instruments include endoscopes for viewing the surgical field and end effectors (such as forceps, scissors, needle holders, etc.) for performing surgical operations. These surgical instruments need to be individually sterilized due to their proximity to the patient's lesion area.
  • surgical instruments include structures such as motors, sensors, encoders, and electrical connectors. Therefore, they cannot be sterilized by steam, heat, pressure, or chemical methods. This will cause the surgical instruments to be damaged during the sterilization process, making it impossible to sterilize. Normal use.
  • the main purpose of the present invention is to provide a surgical instrument and a surgical robot, which aims to solve the technical problem that the existing surgical instrument is easily damaged during the sterilization process and cannot be used normally.
  • the present invention provides a surgical instrument, comprising:
  • the main control box has a first matching part
  • a drive box comprising a box body and a first control member disposed on the box body, the first control member including a second matching portion for matching with the first matching portion;
  • the first control member is used to move in a first direction when subjected to a force, so as to separate the second matching portion from the first matching portion, so as to separate the drive box from the main control box.
  • the first control member further includes a moving body disposed on the box body, and a locking portion connected with the moving body, and the second matching portion is directed from the moving body to the main control
  • the movable body is used to move in the first direction relative to the box body when the locking part receives a force, so that the second matching part is matched with the first part to separate the drive box from the main control box.
  • the drive box further includes a support body fixed in the box for carrying the moving body, the locking portion includes a button portion connected to the moving body and an elastic portion, the elastic portion is connected between the button part and the support body, the first control part is used for moving along the first direction when the button part is pressed, and the elastic part is used for the first control part
  • the control element is elastically deformed when moving in the first direction, and elastically recovers to reset the first control element when the pressing force on the button part disappears.
  • an accommodating groove for accommodating the elastic portion is recessed on the support body, one end of the elastic portion is connected with the button portion, and the other end is connected with the accommodating groove.
  • the drive box further includes a support body fixed in the box for carrying the moving body, the moving body is movable relative to the support body, and the locking portion includes a rotating body and a The rotating part connected with the rotating body, the rotating body is provided with a spiral groove, the first control member also includes a connecting column extending from the moving body to the direction of the locking part, the connecting column is protruding There is a convex column body, the convex column body is located in the spiral groove, and the rotating part is used for rotation to drive the convex column body to move in the spiral groove, thereby driving the movable body to move relative to the support body.
  • a threaded portion is concavely provided on the support body, and the locking portion further comprises a convex rib portion protruding on the rotating body, the convex rib portion is used for engaging with the threaded portion, and the
  • the convex rib part moves in the direction away from the moving body in the threaded part, so that the convex cylinder moves in the direction away from the rotating part in the helical groove , so that the moving body moves in the first direction;
  • the convex rib part moves in the direction of approaching the moving body in the threaded part, so that the The protruding column body moves in the direction of the rotating portion in the helical groove, so that the movable body moves in a second direction opposite to the first direction.
  • the rotating body is further provided with a stop groove which is located on one side of the rotating part and communicates with the helical groove; It moves into the stopper groove along the helical groove and collides with the groove wall of the stopper groove, thereby preventing the rotating part from continuing to rotate.
  • the moving body protrudes toward the connector with a latching portion, and the latching portion is used for abutting against the edge portion of the support body to prevent the bottom case from moving relative to the moving body.
  • the main control box includes a bottom case provided with the first matching part, and the first matching part is a slot; the support body is recessed with a positioning groove, and the second matching part is The latching portion is used for latching with the locating groove to restrict the bottom case from moving away from the connector; the latching portion is used for latching with the positioning groove to restrict the bottom case from approaching the connection move in the direction of the device.
  • a sliding groove is recessed at one end of the support body close to the first direction;
  • the first control member further includes an abutting portion for moving along the sliding groove toward the first direction, and an extension portion extending from the moving body to the first direction, the extension portion is fixedly matched with the abutting portion;
  • the connector is provided with a stop wall on one side close to the first direction; The abutting portion is used for colliding with the blocking wall when the driving box is not separated from the connector and when the first control member is pressed, so that the moving body cannot move.
  • the box body is provided with a through hole corresponding to the position of the abutting portion, so that the abutting portion can protrude through the first direction when the moving body moves along the supporting body to the first direction. the through hole; or
  • the box body is correspondingly provided with a through hole at the position of the abutting part, so that one end of the abutting part can protrude out of the box, and the moving body can move toward the first part along the supporting body. When moving in one direction, it moves to the first direction along the through hole.
  • the abutting portion is concavely provided with a groove toward the connector, and the extending portion is protruded toward the connector with a flange body that fits with the groove.
  • the abutting portion is driven to move in the first direction.
  • the main control box includes a bottom case provided with the first matching portion, and the first matching portion is a slot; the second matching portion is used to pass through the first matching portion and connect with the first matching portion.
  • the bottom case is snapped away from the side of the connector, so that the drive box and the main control box are fixedly connected; the second matching part is also used for the moving body to move in the first direction , separate from the side surface, and separate the drive box from the main control box.
  • the surgical instrument further comprises a connector for detachable connection with the drive box, and a second control member provided on the box body, the connector has a fastener;
  • the drive box It also includes a bracket fixed in the box, the second control member includes a lever pivotally connected to the bracket, and a separate pressing portion movably connected with the first end of the lever; the toggle The second end of the rod is used to collide with the fastener; the separation pressing part is used to drive the second end of the lever to collide with the fastener outward when being pressed, so that the fastener is pressed.
  • the fastener is separated from the fastening portion to separate the drive box from the connector.
  • the separation pressing portion includes a body and an elastic portion whose one end is connected to the inside of the body and the other end is connected to the bracket; the first end of the lever is protruded toward the connector with a first a convex column, the body is concavely provided with a movable groove for movably connecting the first convex column; the body is used for elastically deforming the elastic part when being pressed, and driving the movable groove in the movable groove The inward movement of the first post moves the second end outward against the fastener.
  • a second protruding post is protruded from the second end of the lever toward the connector, and a limiting groove is recessed on the bracket at a position corresponding to the second protruding post, and the limiting slot is in There is a limit wall on the side away from the main body, the second protruding column is used for the pressing force on the main body to disappear, the elastic part elastically pushes the main body to move outward, and drives the movable groove When the inner first protruding post moves outward, it collides with the limiting wall to stop the movement of the separating pressing part.
  • the separation pressing part further includes an operating part connected to the outside of the main body, the operating part is used to push the main body to move, elastically deform the elastic part, and drive the The first protruding post in the movable groove moves inward, thereby causing the second end to move outward against the fastener.
  • the surgical instrument further includes a connector for detachable connection with the drive box, the connector has a fastener matched with the box body;
  • the drive box further includes a connector fixed on the drive box.
  • the first control member includes a moving body carried on the support body and movable relative to the support body, and the moving body is located between the support body and the box cover body.
  • the surgical instrument further comprises a connector for detachable connection with the drive box, and a second control member provided on the box body, the connector has a fastener; the second control element The control part is used for resisting the fastener when the force is applied to separate the drive box from the connector; the first control part is used for separating the drive box from the connector And when the force is applied, it moves to the first direction, so that the second matching part is separated from the first matching part, so that the driving box and the main control box are separated.
  • the surgical instrument further comprises a connecting rod connected with the driving box and passing through the connector, and an image capturing part connected with the connecting rod.
  • the present invention also provides a surgical robot, which includes the above surgical instrument.
  • a first matching portion is provided on the main control box, a first control member is provided on the box body of the drive box, and the second matching portion of the first control member is connected to the The first matching portion is matched so that the first control member moves in the first direction when subjected to a force, so that the second matching portion is separated from the first matching portion, so that the drive box and the main controller are separated from each other. Box separated.
  • the motors, sensors, encoders, electrical connectors and other structures in the main control box from being sterilized during the sterilization process. be damaged, so that the service life of the surgical instrument can be improved.
  • 1-1 is a schematic structural diagram of an embodiment of a surgical robot of the present invention.
  • 1-2 are schematic diagrams of application scenarios where the surgical instrument of the present invention is suitable for hand-held;
  • FIG. 2 is a schematic structural diagram of the first embodiment of the surgical instrument of the present invention.
  • Fig. 3 is the partial exploded structure schematic diagram of Fig. 2;
  • Fig. 4 is the partial exploded structure schematic diagram of the main control box in Fig. 2;
  • FIG. 5 is a schematic structural diagram of the surgical instrument in FIG. 3 with the connecting rod removed;
  • Fig. 6 is the partial exploded structure schematic diagram of the bottom case and the drive box of the main control box in Fig. 5;
  • Fig. 7 is the assembly structure schematic diagram of Fig. 6;
  • FIG. 8 is a schematic diagram of the moving body and the supporting body from another perspective in FIG. 6;
  • FIG. 9 is a schematic structural diagram of another embodiment of the first control member and the support body in FIG. 2;
  • FIG. 10 is a schematic structural diagram of the rotating part from another perspective in FIG. 9;
  • Fig. 11 is a schematic diagram of the opening direction and the locking direction of the rotating part in Fig. 10;
  • FIG. 12 is a schematic structural diagram of another viewing angle of FIG. 2;
  • FIG. 13 is a schematic structural diagram of the second embodiment of the surgical instrument of the present invention.
  • Figure 14 is a schematic diagram of a partial explosion structure with the connecting rod removed in Figure 13;
  • FIG. 15 is a schematic diagram of the mating structure of the second control member and the connector in FIG. 14;
  • Fig. 16 is the structural representation of the lever in Fig. 15;
  • FIG. 17 is a schematic structural diagram of the separated pressing portion in FIG. 15;
  • Fig. 18 is the structural representation of the bracket in Fig. 5;
  • FIG. 19 is a schematic structural diagram of the signal processing module in FIG. 4 .
  • the terms "connected”, “fixed” and the like should be understood in a broad sense, for example, “fixed” may be a fixed connection, a detachable connection, or an integrated; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be an internal communication between two elements or an interaction relationship between the two elements, unless otherwise explicitly defined.
  • “fixed” may be a fixed connection, a detachable connection, or an integrated; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be an internal communication between two elements or an interaction relationship between the two elements, unless otherwise explicitly defined.
  • the present invention provides a surgical robot 1000.
  • the surgical robot 1000 includes a master console 200 and a slave operation device 300.
  • the master console 200 is used to send control to the slave operation device 300 according to the operation of the doctor command to control the slave operating device 300; the slave operating device 300 is used to respond to the control command sent by the master operating console 200, and perform corresponding surgical operations.
  • the slave operating device 300 includes a robot arm 301, a power mechanism (not shown in the figure) and a surgical instrument (not shown in the figure) provided on the robot arm 301, an image host 302 and an image display 303.
  • the surgical instrument is used to extend into the body under the driving action of the power mechanism, perform surgical operations through the end effector located at the distal end, and acquire image signals in the body through the image acquisition part located at the distal end, and use the acquired image signal.
  • the image signal is transmitted to the image host 302 .
  • the image host 302 is used for analyzing and processing the received image signal, for example, decoding the received image signal, and then outputting the video signal to the image display 303 for display.
  • the image host 302 can also perform noise reduction, white balance and other processing on the received image signal, so as to obtain an image with higher picture quality.
  • the main console is also used for displaying the images acquired by the endoscope.
  • the surgical instrument 100 is also suitable for handheld application scenarios. Therefore, the surgical instrument 100 provided in this embodiment can not only be applied to the application scenario of controlling a surgical robot to perform surgery, but also applicable to the application scenario of controlling a surgical robot to perform surgery. Application scenarios for hand-held surgery.
  • the present invention provides a surgical instrument 100.
  • the surgical instrument 100 may be an instrument with an endoscope for observing a surgical area, or an instrument with an end effector and used for performing a surgical operation.
  • the following whole text will be described by taking an instrument with an endoscope as an example.
  • the surgical instrument may have a bendable structure or an inflexible structure.
  • the surgical instrument 100 may include a main control box 1 , a driving box 2 connected to the main control box 1 , and an image capture device connected to the driving box 2 Section 5.
  • the image acquisition part further comprises a connecting rod 51 connected with the drive box 2, and an image acquisition part 5 arranged at the end of the connecting rod 5, and the image acquisition part 5 is used to collect the image signal of the patient's lesion area,
  • the image signal may specifically include a target tissue image of the lesion area and an operation process image of the end effector performing surgery.
  • the main control box 1 is used for accommodating structures such as motors, encoders, signal processing modules and electrical connectors.
  • the main control box 1 includes a casing (not shown in the figure), a signal processing module 15 and the like accommodated in the casing.
  • the casing has a bottom shell 11 on the side close to the drive box 2 , and one or more first matching parts 12 are provided on the bottom shell 11 .
  • the first matching portion 12 is a slot, and the four slots are arranged on the bottom case 11 to form a rectangle, a square, or a circle.
  • the first matching portion 12 may also be a through hole; the first matching portion 12 may also be a buckle structure protruding toward the drive box 2.
  • the drive box 2 includes a box body 21 , a first control member 24 arranged on the box body 21 , and a bracket (not shown in the figures) fixed in the box body 21 . out), a support body 28 provided on the bracket, and a box cover body 29 connected to the support body 28 .
  • an accommodation space (not shown in the figure) is formed between the bracket and the support body 28 to accommodate structures such as the drive shaft (not shown in the figure) and the reversing wheel (not shown in the figure).
  • the first control member 24 includes a moving body 240 carried on the supporting body 28 and movable relative to the supporting body 28 , and a locking portion 250 connected with the moving body 240 .
  • the box body 21 is provided with a receiving groove (not shown in the figure) for inserting the locking portion 250 and facilitating the operator to perform a pressing operation.
  • the locking portion 250 is used to push the moving body 240 to move in the first direction A when receiving a force.
  • the support body 28 , the moving body 240 , and the box cover body 29 are stacked in sequence, that is, the moving body 240 is located between the support body 28 and the box cover body 29 .
  • the box cover body 29 , the support body 28 and the bracket are fixedly connected by studs, and the support body 28 , the movable body 240 and the box cover body 29 are fixed in the box body 21 .
  • the box cover body 29 , the support body 28 and the bracket are not limited to being fixed by studs, but can also be fixed and matched by means of snapping or the like.
  • the box cover body 29 is correspondingly provided with a first matching portion (not shown in the figure) having the same position, quantity and shape as the bottom case 11 .
  • the first matching portion on the box cover 29 may also be located in the same position as the first matching portion 12 on the bottom case 11 , but with different shapes and numbers.
  • the box cover body 29 may also only retain the frame portion for connecting with the support body 28 , and the middle portion thereof is a hollow structure.
  • a second matching portion 241 is protruded from the moving body 240 toward the main control box 1 .
  • the second matching portion 241 may be a snap-fit structure, and specifically, the extending direction of the hook-shaped end thereof is a second direction B opposite to the first direction A.
  • the moving body 240 is protruded from the supporting body 28 with a locking portion 242 , and the extension direction of the hook-shaped end of the locking portion 242 can be the same as the extension direction of the hook-shaped end of the second matching portion 241 . same.
  • the direction of the hook-shaped end of the latching portion 242 may also be different from the extension direction of the hook-shaped end of the second matching portion 241 .
  • the extension direction of the hook-shaped end of the latching portion 242 may be outward along the direction of the paper surface, or may be inward along the direction of the paper surface.
  • the second matching portion 241 may also be a magnet structure to be adsorbed on the first matching portion 12 .
  • the number of the second matching parts 241 is the same as the number of the first matching parts 12 , or less than the number of the first matching parts 12 .
  • the number of the deducting parts 242 and the number of the second matching parts 241 may not have a corresponding relationship, that is, the two may be the same or different.
  • the second matching portion 241 is used for engaging with the first matching portion 12 on the bottom case 11 , such as a slot, so as to restrict the bottom case 11 from moving away from the drive box 2 .
  • the supporting body 28 is recessed with a positioning groove 281 (shown in FIG. 6 ), and the latching portion 242 is used for engaging with the positioning groove 281 to restrict the bottom case 11 from approaching the driving Box 2 moves in the direction.
  • the positioning groove 281 may not be provided, and the latching portion 242 can directly buckle the edge portion of the support body 28 .
  • the positioning groove 281 is provided to avoid increasing the volume of the drive box 2 .
  • the latching portion 242 can buckle the edge portion of the support body 28 , so that the second matching portion 241 can be added.
  • the force between the first matching part 12 and the first matching part 12 prevents the bottom case 11 from moving relative to the moving body 240 , that is, the fixing between the main control box 1 and the driving box 2 can be increased. Strength, which in turn can prevent accidents caused by loose instruments during surgery.
  • the moving body 240 may only be provided with the second matching portion 241 , or may be provided with the second matching portion 241 and the abutting portion 242 at the same time. Reasonable settings can be made according to actual needs.
  • the locking portion 250 includes a button portion 251 connected with the moving body 240 and an elastic portion 252 connected with the button portion 251 .
  • a receiving groove 282 for receiving the elastic portion 252 is recessed on the support body 28 .
  • One end of the elastic portion 252 is connected to the button portion 251 , and the other end is connected to the groove wall 283 of the receiving groove 282 .
  • the elastic portion 252 is used for elastic deformation when the push button portion 251 is pushed by the pressing force to push the moving body 240 to move in the first direction A, and elastically recovers when the pressing force on the button portion 251 disappears.
  • the moving body 240 is reset.
  • the button portion 251 When the button portion 251 is pressed, the button portion 251 pushes the moving body 240 to move along the support body 28 to the first direction A, so that the second matching portion 241 and the first A matching part 12 is separated, so that the driving box 2 is separated from the main control box 1 .
  • the elastic portion 252 is in an elastically contracted state under the action of the pushing force of the button portion 251 .
  • the first control member 24 is reset under the elastic recovery action of the elastic portion 252 .
  • the locking portion 250 includes a rotating body 253 with a concave spiral groove 254 , and a convex ridge portion convexly disposed on the rotating body 253 .
  • the fixing part 259 protruding from one side of the 257.
  • the fixing portion 259 is used to enhance the strength of the locking portion 250 .
  • a stop groove 255 communicating with the helical groove 254 may be provided on the side of the rotating body 253 located on the rotating portion 257 .
  • the support body 28 is recessed with a threaded portion 287 that cooperates with the protruding edge portion 256
  • the first control member 24 further includes a connecting column 263 extending from the moving body 240 toward the locking portion 250 .
  • the connecting column 263 is protruded with a convex column body 264 .
  • the elastic portion 258 can also be connected with the connecting post 263 . That is, the elastic portion 258 can be sleeved outside the connecting column 263. At this time, one end of the elastic portion 258 is connected to the moving body 240, and the other end is connected to the rotating portion 257; the The elastic portion 258 can also be arranged in the connecting column 263 .
  • the connecting column 263 is a hollow column, one end of the elastic portion 258 is connected to the movable body 240 , and the other end is connected to the rotating portion 257 .
  • connection; the elastic part 258 can also be arranged in the connecting post 263, if the connecting post 263 is a blind hole post, one end of the elastic part 258 is connected to the connecting post 263, and the other end is connected to the connecting post 263.
  • the rotating part 257 is connected.
  • the position of the elastic portion 258 can be reasonably set according to actual needs, and is not limited to the above-mentioned situations.
  • the protruding rib part 256 moves in the direction away from the moving body 240 at the screw part 287 , so that the protruding cylinder 264 is in the direction of the moving body 240 .
  • the helical groove 254 moves in a direction away from the rotating portion 257 , so that the moving body 240 moves in the first direction.
  • the protruding cylinder 264 moves along the helical groove 254 into the blocking groove 255 , and is different from the blocking groove 255 .
  • the groove wall interferes.
  • the opening direction M may be clockwise; after the rotating portion 257 is rotated to the opening direction M by a predetermined angle such as 90°, the protruding cylinder 264 is snapped into the blocking groove 255 Inside. Due to the arrangement of the blocking groove 255 and the elastic portion 258 , during the movement of the protruding cylinder 264 from the helical groove 254 to the blocking groove 255 , the elastic portion 258 is elastically deformed, and When the protruding cylinder 264 is located in the blocking groove 255 , the protruding cylinder 264 elastically recovers, so that the protruding cylinder 264 collides with the groove wall of the blocking groove 255 , thereby preventing the protruding cylinder 264 from being released from the stopper groove 255 out of the stop groove 255 . In this way, the operator can feel the resilience during operation, so as to know that the rotating part 257 has been rotated in place, so that the operator does not need to confirm with his eyes, thereby improving the user
  • the protruding rib part 256 moves in the direction of approaching the moving body 240 in the threaded part 287 , causing the protruding post
  • the body 264 moves in the direction of the rotating part 257 in the helical groove 254, so that the moving body 240 moves in a second direction opposite to the first direction.
  • a sliding groove 284 is recessed at one end of the support body 28 close to the first direction A, and a sliding groove 284 is recessed along the sliding groove 284 to the first direction A or any other direction.
  • the abutting portion 285 that moves in the second direction B is described.
  • the first control member 24 further includes an extension portion 261 extending from the moving body 240 toward the first direction A, and the extension portion 261 is used for fixedly engaging with the abutting portion 285 .
  • the abutting portion 285 is recessed with a groove 286 (such as a T-shaped groove or a circular groove) in a direction away from the main control box 1 , and the extension portion 261 is directed away from the main control box 1 .
  • the main control box 1 is protruded with a flange body 262 (shown in FIG. 6 ) that is matched with the groove 286 .
  • the box body 21 is correspondingly provided with a through hole 20 for the abutting portion 285 to extend into, and the moving body 240 moves along the supporting body 28 to the first direction A. When moving, the abutting portion 285 can extend out of the through hole 20 .
  • the abutting portion 285 may also have one end slightly protruding from the through hole 20 when the initial installation is completed, so that the moving body 240 can move along the When the support body 28 moves to the first direction A, it moves to the first direction A along the through hole 20; when the thickness and other dimensions of the box body 21 are satisfied, the abutment The portion 285 may also not extend out of the through hole 20 .
  • the main control box 1 and the driving box 2 can be connected between the main control box 1 and the driving box 2
  • the fixing strength of the second matching portion 241 and the first matching portion 12 can be improved, thereby enhancing the connection between the main control box 1 and the first matching portion 12 .
  • the moving body 240 moves along the supporting body 28 to the first direction A, and the flange body 262 can drive the abutting portion 285 to move toward the The first direction A moves.
  • the surgical instrument 100 may further include a connector 4 connected to the drive box 2 and a second control member 22 provided on the box body. That is, the connector 4 may be one of the structures of the surgical instrument 100 , or may be a structure independent of the surgical instrument 100 . As shown in FIG. 14 , the connector 4 is fixed with two fasteners 41 arranged opposite to each other. Of course, in other embodiments, there may be only one or more fasteners 41 .
  • the connector 4 is provided with a stop wall 42 on the side close to the first direction A. Specifically, the stop wall 42 is formed by protruding from the connector 4 toward the drive box 2 .
  • the height of the stop wall 42 may be lower than the height of the driving box 2 , may also be higher than the height of the driving box 2 , or may be the same as the height of the driving box 2 .
  • This embodiment is also not limited to the shape of the stop wall 42 , which is subject to the fact that it does not affect the operator's operation or does not affect the aesthetic appearance of the drive box 2 .
  • the fastener 41 may be a T-shaped or L-shaped buckle structure with elasticity. It can be understood that, when the fastener 41 is a snap-fit structure, its corresponding matching structure may be a snap-fit structure or a hole-like structure. In other embodiments, the fastener 41 may also be a hole-shaped or groove-shaped structure, and its corresponding matching structure may be a snap-fit structure.
  • a fastening portion 291 protrudes from the box cover 29 toward the support body 28 , and a positioning hole 292 is formed on the fastening portion 291 for the The fasteners 41 are snapped in to make the drive box 2 and the connector 4 fixedly connected.
  • the box cover body 29 is protruded from the support body 28 with a latching portion (not shown in the figure), so as to be buckled with the fastener 41 to enable the drive box 2 is fixedly connected with the connector 4 .
  • the fastening portion 291 or the buckling portion may also be provided at other reasonable positions on the drive box 2 as required.
  • the second control member 22 is used to buckle the fastener 41 when subjected to a force, so that the fastener 41 is disengaged from the box body 21, and the drive box 2 is connected to the 4 is separated.
  • the second control member 22 includes a lever 220 pivotally connected to the bracket 27 and having a first end 221 and a second end 222 , and is movably connected to the first end 221
  • the separation pressing part 230 of the second end 222 is used to interfere with the fastener 41 .
  • the separation pressing portion 230 moves inward along the bracket 27 and drives the second end 222 of the lever 220 to abut against the fastener 41 outward. , to separate the fastener 41 from the fastening part 291 or the clasping part, and then separate the drive box 2 from the connector 4 .
  • the separation pressing part 230 includes a main body 231 , an operation part 233 connected to the outside of the main body 231 , and an elastic part 234 connected to the inside of the main body 231 at one end and connected to the bracket 27 at the other end.
  • a moving groove (not shown in the figure) is recessed on the bracket 27 for the operation part 233 to move inward or outward.
  • the operation part 233 stops moving.
  • the body 231 can be suspended relative to the bracket 27 , or can be slidably connected to the bracket 27 .
  • the bracket 27 When the main body 231 is slidably connected to the bracket 27 , the bracket 27 is provided with a slide rail at a position corresponding to the main body 231 , and the main body 231 is provided with a corresponding groove 286 or a protrusion adapted to the slide rail. In this way, when the operation part 233 is pressed, the separation pressing part 230 will not shake when moving relative to the bracket 27 , thereby making the movement of the separation pressing part 230 more stable.
  • first end 221 of the lever 220 is protruded with a first protruding post 223 toward the connector 4
  • the body 231 is recessed with a movable groove for movably connecting the first protruding post 223 232.
  • a second protrusion 224 is protruded from the second end 222 of the lever 220 toward the connector 4 .
  • the bracket 27 has a concave limit corresponding to the second protrusion 224 .
  • a position slot 271 the position limit slot 271 has a position limit wall 272 on the side away from the main body 231 .
  • the operating portion 233 pushes the body 231 to move inward to elastically deform the elastic portion 234 and drives the first protruding post 223 in the movable slot 232 to move inward , at this time, under the rotation of the pivot 225 of the lever 220 , the second end 222 is moved outward to abut against the fastener 41 .
  • the elastic portion 234 pushes the body 231 to move outward, and drives the first protruding column 223 in the movable slot 232 to move toward the move outward.
  • the second protruding column 224 in the limiting groove 271 is driven to collide with the limiting wall 272 to cause the separation
  • the pressing portion 230 stops moving.
  • the moving groove and the limiting groove 271 can respectively limit the inward moving path of the separation pressing portion 230 and the outward moving path of the separation pressing portion 230, so that the separation and pressing portion 230 can be respectively restricted.
  • the precise control of the pressing portion 230 further improves the operator's operating experience.
  • the supporting body 28 can be fixed on the bracket 27 first, and then the latching portion 242 on the moving body 240 can be matched with the positioning groove 281 to make the
  • the moving body 240 is supported on the supporting body 28 , and the second matching portion 241 on the moving body 240 passes through the first matching portion 12 on the box cover 29 or the hollow of the box cover 29 .
  • the cover body 29 and the support body 28 will be fixed by stud connection, so as to complete the installation of the drive box 2 .
  • the second mating portion 241 can pass through the first mating portion 12 of the bottom case 11 and be away from the side surface 13 of the connector 4 with the bottom case 11 (Fig. 6), the drive box 2 is fixedly connected with the main control box 1, thereby completing the installation of the drive box 2 and the main control box 1.
  • the fastener 41 of the connector 4 can be matched with the fastening portion 291 to realize the drive box 2 and the connector 4 fixed connection between. It can be understood that the drive box 2 is not limited to be installed with the main control box 1 first or with the connector 4 first, and the drive box 2 is connected to the main control box 1 or the The installation sequence of the device 4 does not affect the implementation of the solution of the present invention.
  • the disassembly sequence among the three is as follows: first apply a force to the separation pressing part 230 to separate the fastener 41 from the fastening part 291 , so as to separate the drive box 2 from the Connector 4 is separated. Then, the locking portion 250 is pressed to separate the second matching portion 241 from the first matching portion 12 , thereby separating the drive box 2 from the main control box 1 .
  • the first matching portion 12 is provided on the main control box 1
  • the first control member 24 is provided on the box body of the driving box 2
  • the second matching portion 241 of the first control member 24 is connected to the The first matching portion 12 is engaged, so that the first control member 24 moves to the first direction when subjected to a force, so that the second matching portion 241 is separated from the first matching portion 12, so that the drive box is 2 is separated from the main control box 1.
  • structures such as motors, sensors, encoders, and electrical connectors in the main control box 1 can be avoided. damaged during the sterilization process, so that the service life of the surgical instrument 100 can be increased.
  • the second control member 22 separates the drive box 2 from the connector 4 when subjected to a force, and then the first control member 24 separates from the first matching portion 12 when subjected to a force, And the drive box 2 is separated from the main control box 1 .
  • the drive box 2 can be separated from the main control box 1 only after the drive box 2 is separated from the connector 4 and the first control member 24 is subjected to a force, so that the operation
  • the instrument 100 performs a surgical operation during the operation, even if the first control member 24 is touched by mistake, the main control box 1 and the driving box 2 will not be separated, thereby improving the safety during the operation. or in the process of installing the surgical instrument 100 to the mechanical arm 301, to prevent the risk of the main control box 1 falling from the drive box 2 due to erroneous touch operation, thereby improving the surgical instrument 100 service life.
  • the signal processing module 15 converts the image signal into a target signal, and transmits the target signal to the image host.
  • the transmission distance of the target signal is greater than the transmission distance of the image signal.
  • the signal processing module 15 may specifically include a first processing unit (not shown in the figure) and a second processing unit (not shown in the figure), which are arranged in the main control box and connected in sequence. and a third processing unit (not shown in the figure), wherein the first processing unit is configured to convert the image signal into a low-voltage differential signal, and send the low-voltage differential signal to the second processing unit;
  • the second processing unit is configured to decode the received low-voltage differential signal, and perform optical signal encoding on the decoded low-voltage differential signal to obtain an optically encoded signal;
  • the third processing unit is configured to receive the received low-voltage differential signal.
  • the optical encoded signal transmitted by the second processing unit is converted into an optical signal, so as to transmit the optical signal to the image host as the target signal. It can be understood that, after receiving the optical signal, the image host converts the optical signal into an electrical signal for further analysis and processing.
  • This embodiment is applicable to the processing method conducted through the optical cable. By converting the image signal into an optical signal and transmitting it to the image host through an optical cable, signal attenuation during the transmission to the image host can be avoided.
  • the signal processing module 15 ′ includes a first processing unit, a second processing unit and a third processing unit which are arranged in the main control box and are connected in sequence, wherein the first processing unit for converting the image signal into a low-voltage differential signal, and sending the low-voltage differential signal to the second processing unit; the second processing unit is configured to decode the received low-voltage differential signal, and performing SDI (serial digital interface, digital component serial interface) signal encoding on the decoded low-voltage differential signal to obtain an SDI encoded signal; the third processing unit is configured to receive the SDI transmitted by the second processing unit encoding a signal, and converting the SDI encoded signal into an SDI signal, so as to transmit the SDI signal to the image host as the target signal.
  • SDI serial digital interface, digital component serial interface
  • the SDI signal may be further processed to increase the quality of the signal transmitted to the image host. It can be understood that this embodiment is applicable to the processing method conducted through a cable. By converting the image signal into the SDI signal and transmitting it to the image host through a cable, signal attenuation during the transmission to the image host 302 can be avoided.
  • the first processing unit includes a first PCB board 154 provided in the main control box and a first chip (not shown in the figure) provided on the first PCB board 154
  • the second processing unit includes a second PCB 155 arranged in the main control box and a second chip (not shown in the figure) arranged on the second PCB
  • the third processing unit includes The third PCB board 156 provided in the main control box and the third chip (not shown in the figure) provided on the third PCB board 156, the first PCB board 154, the second PCB board 155 And the third PCB boards 156 are stacked in sequence in a direction away from the image capturing part.
  • the present invention is not limited to the number of processing units and PCB boards, and the specific number mainly depends on the structural size of the main control box. Specifically, according to the structure and size of the main control box, the number of the processing unit and the PCB board may be only one, or two in other embodiments.
  • the drive box further includes an electrical connector 31 with a plurality of contact pins 310 disposed in the box body, and the signal processing module 15 abuts against the image acquisition part 5 .
  • An electrical connector seat 157 having a plurality of pin seats 158 is provided on one side. The contact pins 310 of the electrical connector 31 are used to be inserted into the needle seat 158 of the electrical connector seat 157, so that the image signals collected by the image capture unit 5 are transmitted to the main control box through the drive box Inside.
  • the bottom case is provided with a plug-in port 14, the box body is provided with a docking port 210 at a position corresponding to the plug-in port 14, and the contact pins 310 of the electrical connector 31 are used to pass through the docking port in sequence 210 and the plug port 14 to be inserted into the needle seat 158 of the electrical connector seat 157, so that the image signal collected by the image capture unit 5 is transmitted to the main control box through the drive box.
  • the shape of the plug port 14 and/or the docking port 210 corresponds to the arrangement of the plurality of contact pins 310 .
  • the array shape of the plurality of contact pins 310 may be a rectangle, a square, a circle, a cross, a T shape, etc., and the shape of the plug port 14 and/or the docking port 210 is a corresponding rectangle, square, Round, cross, T-shaped. It can be understood that, the arrangement of the plurality of needle bases 158 on the electrical connector base 157 is also a corresponding rectangle, square, circle, cross, and T shape.

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Abstract

一种手术器械(100)以及手术机器人(1000)，手术器械(100)包括主控盒(1)，具有第一配合部(12)；驱动盒(2)，包括盒体(21)、设于盒体(21)上的第一控制件(24)，第一控制件(24)包括用于与第一配合部(12)配合的第二配合部(241)；第一控制件(24)用于在受到作用力时向第一方向移动，使第二配合部(241)与第一配合部(12)分离，以使驱动盒(2)与主控盒(1)分离。可以解决现有手术器械在灭菌过程中容易受到损坏，从而无法正常使用的技术问题。

Description

手术器械以及手术机器人
本申请要求于2020年12月19日提交中国专利局、申请号为202011509536.8、申请名称为“手术器械以及手术机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及医疗器械技术领域，尤其涉及一种手术器械以及手术机器人。
背景技术
微创手术是指利用腹腔镜、胸腔镜等现代医疗器械及相关设备在人体腔体内部施行手术的一种手术方式。相比传统手术方式，微创手术具有创伤小、疼痛轻、恢复快等优势。
随着科技的进步，微创手术机器人技术逐渐成熟，并被广泛应用。微创手术机器人通常包括主操作台及从操作设备，主操作台用于根据医生的操作向从操作设备发送控制命令，以控制从操作设备，从操作设备用于响应主操作台发送的控制命令，并进行相应的手术操作。
从操作设备通常包括机械臂、设置于机械臂上的动力机构以及手术器械，机械臂用于调节器械的位置，手术器械用于伸入体内，并执行手术操作，动力机构用于驱动手术器械的末端器械执行对应的操作。末端器械包括用于观察手术区域的内窥镜以及执行手术操作的末端执行器(如夹钳、剪刀以及持针器等)。这些手术器械由于临近患者的病灶区域，因此，需要单独进行灭菌。但手术器械包括电机、传感器、编码器和电气连接器等结构，因此，不能进行蒸汽、加热、压力或化学等方式进行灭菌，如此，会导致手术器械在灭菌过程中受到损坏，从而无法正常使用。
发明内容
本发明的主要目的在于提供一种手术器械以及手术机器人，旨在解决现有手术器械在灭菌过程中容易受到损坏，从而无法正常使用的技术问题。
为实现上述目的，本发明提供一种手术器械，包括：
主控盒，具有第一配合部；
驱动盒，包括盒体、设于所述盒体上的第一控制件，所述第一控制件包括用于与所述第一配合部配合的第二配合部；
所述第一控制件用于在受到作用力时向第一方向移动，使所述第二配合部与所述第一配合部分离，以使所述驱动盒与所述主控盒分离。
优选地，所述第一控制件还包括设于所述盒体上的移动体，以及与所述移动体连接的锁止部，所述第二配合部自所述移动体向所述主控盒方向凸设而成；所述移动体用于在所述锁止部受到作用力时，相对所述盒体向所述第一方向移动，使所述第二配合部与所述第一配合部分离，而使所述驱动盒与所述主控盒分离。
优选地，所述驱动盒还包括固设于所述盒体内用于承载所述移动体的支撑体，所述锁止部包括与所述移动体连接的按键部以及弹性部，所述弹性部连接于所述按键部与所述支撑体之间，所述第一控制件用于在所述按键部受到按压力时沿所述第一方向移动，所述弹性部用于在所述第一控制件沿所述第一方向移动时弹性变形，并在所述按键部上的按压力消失时弹性回复而使所述第一控制件复位。
优选地，所述支撑体上凹设有用于容置所述弹性部的容纳槽，所述弹性部的一端与所述按键部连接，另一端与所述容纳槽连接。
优选地，所述驱动盒还包括固设于所述盒体内用于承载所述移动体的支撑体，所述移动体相对所述支撑体可移动，所述锁止部包括旋转体及与所述旋转体连接的旋转部，所述旋转体上设有螺旋槽，所述第一控制件还包括自所述移动体向所述锁止部方向延伸的连接柱，所述连接柱上凸设有凸柱体，所述凸柱体位于所述螺旋槽中，所述旋转部用于旋转而带动所述凸柱体在所述螺旋槽移动从而带动所 述移动体相对所述支撑体移动。
优选地，所述支撑体上凹设有螺纹部，所述锁止部还包括凸设于所述旋转体上的凸棱部，所述凸棱部用于与所述螺纹部咬合，所述旋转部用于向打开方向旋转时，所述凸棱部在所述螺纹部内向背离所述移动体的方向移动，使所述凸柱体在所述螺旋槽中向背离所述旋转部方向移动，从而使所述移动体向所述第一方向移动；所述旋转部还用于向锁止方向旋转时，所述凸棱部在所述螺纹部内向靠近所述移动体的方向移动，使所述凸柱体在所述螺旋槽中向所述旋转部方向移动，从而使所述移动体向与所述第一方向相反的第二方向移动。
优选地，所述旋转体上还设有位于所述旋转部的一侧并与所述螺旋槽连通的止挡槽，所述凸柱体用于在所述旋转部向锁止方向旋转时，沿着所述螺旋槽移动至所述止挡槽内而与所述止挡槽的槽壁抵触，而阻止所述旋转部继续旋转。
优选地，所述移动体向所述连接器的方向凸设有抵扣部，所述抵扣部用于抵触所述支撑体的边缘部分，而防止所述底壳相对所述移动体移动。
优选地，所述主控盒包括设有所述第一配合部的底壳，所述第一配合部为卡槽；所述支撑体向内凹设有定位槽，所述第二配合部用于与所述卡槽卡扣，以限制所述底壳向远离所述连接器方向移动；所述抵扣部用于与所述定位槽卡扣，以限制所述底壳向靠近所述连接器方向移动。
优选地，所述支撑体在靠近所述第一方向的一端凹设有滑动槽；所述第一控制件还包括用于沿着所述滑动槽向所述第一方向移动的顶抵部，以及自所述移动体向所述第一方向延伸的延伸部，所述延伸部与所述顶抵部固定配合；所述连接器在靠近所述第一方向的一侧设有止挡壁；所述顶抵部用于在所述驱动盒与所述连接器未分离时，并在所述第一控制件受到按压力时，与所述止挡壁抵触而使所述移动体无法移动。
优选地，所述盒体在所述顶抵部的位置对应设有通孔，以供所述顶抵部在所述移动体沿着所述支撑体向所述第一方向移动时 伸出所述通孔；或
所述盒体在所述顶抵部的位置对应设有通孔，以供所述顶抵部的一端伸出所述盒体外，并在所述移动体沿着所述支撑体向所述第一方向移动时，沿着所述通孔向所述第一方向移动。
优选地，所述顶抵部向所述连接器方向凹设有凹槽，所述延伸部向所述连接器方向凸设有与所述凹槽配合的凸缘体，所述凸缘体用于在所述移动体沿着所述支撑体向所述第一方向移动时，带动所述顶抵部向所述第一方向移动。
优选地，所述主控盒包括设有所述第一配合部的底壳，所述第一配合部为卡槽；所述第二配合部用于穿过所述第一配合部，并与所述底壳远离所述连接器的侧面卡扣，而使所述驱动盒与所述主控盒固定连接；所述第二配合部还用于在所述移动体向所述第一方向移动时，与所述侧面分离，而使所述驱动盒与所述主控盒分离。
优选地，所述手术器械还包括用于与所述驱动盒可拆卸连接的连接器，以及设于所述盒体上的第二控制件，所述连接器具有一紧固件；所述驱动盒还包括固设于所述盒体内的支架，所述第二控制件包括枢接于所述支架上的拨杆，以及与所述拨杆的第一端活动连接的分离按压部；所述拨杆的第二端用于与所述紧固件抵触；所述分离按压部用于在受到按压力时，带动所述拨杆的第二端向外抵触所述紧固件，使所述紧固件与所述紧固部分离，而使所述驱动盒与所述连接器分离。
优选地，所述分离按压部包括本体以及一端与所述本体内侧连接、另一端连接于所述支架上的弹力部；所述拨杆的第一端向所述连接器方向凸设有第一凸柱，所述本体上凹设有用于活动连接所述第一凸柱的活动槽；所述本体用于在受到按压力时，使所述弹力部弹性变形，并带动所述活动槽内的第一凸柱向内移动，使所述第二端向外移动抵触所述紧固件。
优选地，所述拨杆的第二端向所述连接器方向凸设有第二凸柱，所述支架在对应所述第二凸柱的位置凹设有限位槽，所述限位槽在远离所述本体的一侧具有限位壁，所述第二凸柱用于在所述本体 受到的按压力消失，所述弹力部弹性回复推动所述本体向外移动，并带动所述活动槽内的第一凸柱向外移动时，与所述限位壁抵触而使所述分离按压部停止移动。
优选地，所述分离按压部还包括与所述本体外侧连接的操作部，所述操作部用于在受到按压力时，推动所述本体移动，使所述弹力部弹性变形，并带动所述活动槽内的第一凸柱向内移动，进而使所述第二端向外移动抵触所述紧固件。
优选地，所述手术器械还包括用于与所述驱动盒可拆卸连接的连接器，所述连接器具有与所述盒体配合的紧固件；所述驱动盒还包括固设于所述盒体内的支撑体以及与所述支撑体固定连接的盒盖体，所述盒盖体向所述支撑体的方向凸设有紧固部，所述紧固部上设有一定位孔，以供所述紧固件卡入而使所述驱动盒与所述连接器固定连接。
优选地，所述第一控制件包括承载于所述支撑体上并相对所述支撑体可移动的移动体，所述移动体位于所述支撑体与所述盒盖体之间。
优选地，所述手术器械还包括用于与所述驱动盒可拆卸连接的连接器，以及设于所述盒体上的第二控制件，所述连接器具有一紧固件；所述第二控制件用于在受到作用力时抵触所述紧固件，而使所述驱动盒与所述连接器分离；所述第一控制件用于在所述驱动盒与所述连接器分离后，且受到作用力时向第一方向移动，使所述第二配合部与所述第一配合部分离，以使所述驱动盒与所述主控盒分离。
优选地，所述手术器械还包括与所述驱动盒连接并穿过所述连接器的连杆，以及与所述连杆连接的图像采集部。
为实现上述目的，本发明还提供一种手术机器人，所述手术机器人包括如上所述的手术器械。
本发明提供的手术器械以及手术机器人，通过在主控盒上设置第一配合部，在驱动盒的盒体上设置第一控制件，并使所述第一控制件的第二配合部与所述第一配合部配合，使得第一控制件在受到作用力时向第一方向移动，使所述第二配合部与所述第一配合部分离， 以使所述驱动盒与所述主控盒分离。如此，通过将所述驱动盒与所述主控盒分离，对所述驱动盒进行灭菌，可以避免所述主控盒内的电机、传感器、编码器和电气连接器等结构在灭菌过程中受到损坏，从而可以提高所述手术器械的使用寿命。
附图说明
图1-1为本发明手术机器人一实施例的结构示意图；
图1-2为本发明手术器械适用于手持式的应用场景示意图；
图2为本发明手术器械第一实施例的结构示意图；
图3为图2的部分爆炸结构示意图；
图4为图2中主控盒的部分爆炸结构示意图；
图5为图3中手术器械去掉连杆的结构示意图；
图6为图5中主控盒的底壳与驱动盒的部分爆炸结构示意图；
图7为图6的组装结构示意图；
图8为图6中移动体和支撑体另一视角的示意图；
图9为图2中第一控制件和支撑体另一实施例的结构示意图；
图10为图9中旋转部另一视角的结构示意图；
图11为图10中旋转部的打开方向和锁止方向的示意图；
图12为图2另一视角的结构示意图；
图13为本发明手术器械第二实施例的结构示意图；
图14为图13去掉连杆的部分爆炸结构示意图；
图15为图14中第二控制件与连接器的配合结构示意图；
图16为图15中拨杆的结构示意图；
图17为图15中分离按压部的结构示意图；
图18为图5中支架的结构示意图；
图19为图4中信号处理模组的结构示意图。
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明，本发明实施例中所有方向性指示(诸如上、下、左、右、前、后......)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
在本发明中，除非另有明确的规定和限定，术语“连接”、“固定”等应做广义理解，例如，“固定”可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
另外，在本发明中如涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
如图1-1所示，本发明提供一种手术机器人1000，所述手术机器人1000包括主操作台200及从操作设备300，主操作台200用于根据医生的操作向从操作设备300发送控制命令，以控制从操作设备300；从操作设备300用于响应主操作台200发送的控制命令，并进行相应的手术操作。所述从操作设备300包括机械臂301、设于所述机械臂301上的动力机构(图中未示出)以及手术器械(图中未 示出)、图像主机302以及图像显示器303。所述手术器械用于在动力机构的驱动作用下伸入体内，通过其位于远端的末端执行器执行手术操作，并通过其位于远端的图像采集部获取体内的图像信号，并将获取的图像信号传输至图像主机302。所述图像主机302用于对接收的图像信号进行分析处理，例如，对接收的图像信号进行解码处理，然后输出视频信号至图像显示器303上进行显示。当然，所述图像主机302还可以对接收的图像信号进行降噪、白平衡等处理，以得到画面质量更高的图像。所述主操作台还用于显示所述内窥镜获取的图像。
如图1-2所示，所述手术器械100还适用于手持式的应用场景，因此，本实施例提供的手术器械100不仅可以适用于控制手术机器人执行手术的应用场景，也可以适用于通过手持式执行手术的应用场景。
本发明提供一种手术器械100，所述手术器械100可以是用于观察手术区域的具有内窥镜的器械，也可以是具有末端执行器并用于执行手术操作的器械。以下全文以具有内窥镜的器械为例进行说明。所述手术器械可以为可弯曲的结构，也可以为不可弯曲的结构。
如图2和图3所示，在一实施例中，所述手术器械100可以包括主控盒1、与所述主控盒1连接的驱动盒2以及与所述驱动盒2连接的图像采集部5。所述图像采集部进一步包括与所述驱动盒2连接的连杆51，以及设于所述连杆5末端的图像采集部5，所述图像采集部5用于采集患者病灶区的图像信号，所述图像信号具体可以包括病灶区的目标组织图像以及所述末端执行器执行手术的操作过程图像。
如图4所示，所述主控盒1用于收容电机、编码器、信号处理模组以及电连接器等结构。所述主控盒1包括壳体(图中未标出)，收容于所述壳体内的信号处理模组15等。所述壳体在靠近所述驱动盒2的一侧具有底壳11，所述底壳11上设有一个或多个第一配合部12。在一实施例中，所述第一配合部12为卡槽，且4个卡槽在所述底壳11上排列形成长方形、正方形或圆形等形状。在其他实施例中，所述第一配合部12也可以为通孔；所述第一配合部12还可以 为向所述驱动盒2方向凸设的卡扣结构。
如图5至图7所示，所述驱动盒2包括盒体21、设于所述盒体21上的第一控制件24、固设于所述盒体21内的支架(图中未示出)、设于所述支架上的支撑体28以及与所述支撑体28连接的盒盖体29。其中，所述支架与所述支撑体28之间形成收容空间(图中未示出)，以收容驱动轴(图中未示出)以及换向轮(图中未示出)等结构。
进一步地，所述第一控制件24包括承载于所述支撑体28上并相对所述支撑体28可移动的移动体240以及与所述移动体240连接的锁止部250。可以理解的是，所述盒体21上设有一收容槽(图中未示出)，以供所述锁止部250嵌入，并方便操作者进行按压操作。所述锁止部250用于在受到作用力时，推动所述移动体240向第一方向A移动。
所述盒体21内所述支撑体28、移动体240、盒盖体29依次堆叠，也即，所述移动体240位于所述支撑体28与所述盒盖体29之间。所述盒盖体29、所述支撑体28以及所述支架通过螺柱固定连接，而将所述支撑体28、所述移动体240以及所述盒盖体29固定于所述盒体21内。当然，所述盒盖体29、支撑体28以及所述支架之间并不限于通过螺柱固定，还可以卡扣等方式进行固定配合。
进一步地，所述盒盖体29上对应设有与所述底壳11位置、数量以及形状相同的第一配合部(图中未标出)。当然，在其他实施例中，所述盒盖体29上的第一配合部也可以与所述底壳11上的第一配合部12位置相同，但形状和数量不同。所述盒盖体29也可以仅保留与用于与所述支撑体28连接的边框部分，而使其中间部分为中空结构。
进一步地，如图8所示，所述移动体240向所述主控盒1方向凸设有第二配合部241。在一实施例中，所述第二配合部241可以为卡扣结构，具体地，其钩形末端的延伸方向为与所述第一方向A相反的第二方向B。所述移动体240向所述支撑体28的方向凸设有抵扣部242，所述抵扣部242的钩形末端的延伸方向可以与所述第二 配合部241的钩形末端的延伸方向相同。当然，在其他实施例中，所述抵扣部242的钩形末端方向也可以与所述第二配合部241的钩形末端的延伸方向不同。例如，所述抵扣部242的钩形末端的延伸方向可以沿着纸面方向向外，也可以沿着纸面方向向内。在其他实施例中，所述第二配合部241还可以是磁铁结构以吸附于所述第一配合部12上。所述第二配合部241的数量与所述第一配合部12的数量相同，或少于所述第一配合部12的数量。而所述抵扣部242的数量与所述第二配合部241的数量可以没有对应关系，也即二者可以相同也可以不同。
所述第二配合部241用于与所述底壳11上的第一配合部12如卡槽卡扣，以限制所述底壳11向远离所述驱动盒2方向移动。而所述支撑体28向内凹设有定位槽281(图6所示)，所述抵扣部242用于与所述定位槽281卡扣，以限制所述底壳11向靠近所述驱动盒2方向移动。在其他实施例中，也可以不设置所述定位槽281，而使所述抵扣部242直接卡扣所述支撑体28的边缘部分。本实施例设置所述定位槽281，可以避免增大所述驱动盒2的体积。可以理解的是，无论所述支撑体28上是否设置所述定位槽281，所述抵扣部242均可以卡扣所述支撑体28的边缘部分，如此，可以增加所述第二配合部241与所述第一配合部12之间的作用力，从而防止所述底壳11相对所述移动体240移动，也即，可以增加所述主控盒1与所述驱动盒2之间的固定强度，进而可以防止手术过程中由于器械松动造成意外的情况发生。
可以理解的是，所述移动体240可以仅设有所述第二配合部241，也可以同时设有所述第二配合部241和所述抵扣部242。具体根据实际需要，可以进行合理设置。
进一步地，如图8所示，在一实施例中，所述锁止部250包括与所述移动体240连接的按键部251以及与所述按键部251连接的弹性部252。所述支撑体28上凹设有用于容置所述弹性部252的容纳槽282，所述弹性部252的一端与所述按键部251连接，另一端与所述容纳槽282的槽壁283连接。所述弹性部252用于在所述按 键部251受到按压力推动所述移动体240向所述第一方向A移动时弹性变形，在所述按键部251上的按压力消失时弹性回复而使所述移动体240复位。
在所述按键部251受到按压力时，所述按键部251推动所述移动体240沿着所述支撑体28向所述第一方向A移动，使所述第二配合部241与所述第一配合部12分离，从而使所述驱动盒2与所述主控盒1分离。此时，所述弹性部252在所述按键部251的推动力作用下处于弹性收缩状态。当所述按键部251受到的按压力消失时，在所述弹性部252的弹性回复作用下，所述第一控制件24复位。
进一步地，如图9和图10所示，在另一实施例中，所述锁止部250包括凹设有螺旋槽254的旋转体253、凸设于所述旋转体253上的凸棱部256以及与所述旋转体253的连接的旋转部257、一端与所述移动体240连接、另一端与所述旋转部257连接的弹性部258，以及自所述旋转体253远离所述旋转部257的一侧凸设的固定部259。其中，所述固定部259用于增强所述锁止部250的强度。可选地，所述旋转体253在位于所述旋转部257的一侧可以设置与所述螺旋槽254连通的止挡槽255。
所述支撑体28上凹设有与所述凸棱部256配合的螺纹部287，所述第一控制件24还包括自所述移动体240向所述锁止部250方向延伸的连接柱263，所述连接柱263上凸设有凸柱体264。所述弹性部258还可以与所述连接柱263连接。也即，所述弹性部258可以套设于所述连接柱263之外，此时，所述弹性部258的一端与所述移动体240连接、另一端与所述旋转部257连接；所述弹性部258还可以设于所述连接柱263之内，若所述连接柱263为空心柱，则所述弹性部258的一端与可以所述移动体240连接，另一端与所述旋转部257连接；所述弹性部258还可以设于所述连接柱263之内，若所述连接柱263为盲孔柱，则所述弹性部258的一端与所述连接柱263连接，另一端与所述旋转部257连接。所述弹性部258的位置可以根据实际需要进行合理设置，并不限于上述列举的几种情况。
如图11所示，在所述旋转部257向打开方向M旋转时， 所述凸棱部256在所述螺纹部287向背离所述移动体240的方向移动，使所述凸柱体264在所述螺旋槽254中向背离所述旋转部257方向移动，从而使所述移动体240向所述第一方向移动。具体地，在所述旋转部257向所述打开方向M旋转时，所述凸柱体264沿着所述螺旋槽254移动至所述止挡槽255内，而与所述止挡槽255的槽壁抵触。可选地，所述打开方向M可以为顺时针方向；可以设置所述旋转部257向所述打开方向M旋转预定角度如90°后，所述凸柱体264卡入所述止挡槽255内。由于所述止挡槽255和所述弹性部258的设置，在所述凸柱体264从所述螺旋槽254移动至所述止挡槽255过程中，所述弹性部258发生弹性形变，并在所述凸柱体264位于所述止挡槽255中时弹性回复，而使所述凸柱体264与所述止挡槽255的槽壁抵触，从而可以阻止所述凸柱体264从所述止挡槽255中移出。如此，可以使操作者在操作时感受到回弹力，从而知晓所述旋转部257已旋转到位，从而无需操作者通过眼睛去确认，从而提高了用户体验。
在所述旋转部257向与所述打开方向M相反的锁止方向N旋转时，所述凸棱部256在所述螺纹部287内向靠近所述移动体240的方向移动，使所述凸柱体264在所述螺旋槽254中向所述旋转部257方向移动，从而使所述移动体240向与所述第一方向相反的第二方向移动。
进一步地，如图8所示，所述支撑体28在靠近所述第一方向A的一端凹设有滑动槽284，以及用于沿着所述滑动槽284向所述第一方向A或所述第二方向B移动的顶抵部285。所述第一控制件24还包括自所述移动体240向所述第一方向A延伸的延伸部261，所述延伸部261用于与所述顶抵部285固定配合。具体地，在一实施例中，所述顶抵部285向背离所述主控盒1方向凹设有凹槽286(如T型槽或圆形槽等)，所述延伸部261向背离所述主控盒1方向凸设有与所述凹槽286配合的凸缘体262(图6所示)。如图12所示，所述盒体21上对应设有用于供所述顶抵部285伸入的通孔20，在所述移动体240沿着所述支撑体28向所述第一方向A移动时，所述顶抵部285可以伸出所述通孔20。当然，在其他实施例中，所述顶抵部 285也可以在初始安装完成状态时，所述顶抵部285的一端稍微伸出所述通孔20，以在所述移动体240沿着所述支撑体28向所述第一方向A移动时，沿着所述通孔20向所述第一方向A移动；在所述盒体21的厚度和其他尺寸满足的情况下，所述顶抵部285还可以不伸出所述通孔20。若选择所述顶抵部285在初始安装完成状态时，所述顶抵部285的一端稍微伸出所述通孔20的实施例，则可以在所述主控盒1与所述驱动盒2安装完毕时，通过从所述通孔20侧按压所述顶抵部285，可以提高所述第二配合部241与所述第一配合部12的固定强度，从而增强所述主控盒1与所述驱动盒2之间的固定强度。
在所述锁止部250受到作用力时，所述移动体240沿着所述支撑体28向所述第一方向A移动，所述凸缘体262可以带动所述顶抵部285向所述第一方向A移动。
如图13和图14所示，在另一实施例中，所述手术器械100还可以包括与所述驱动盒2连接的连接器4以及设于所述盒体上的第二控制件22。也即，所述连接器4可以是所述手术器械100的结构之一，也可以是独立于所述手术器械100之外的结构。如图14所示，所述连接器4上固设有相对设置的两个紧固件41，当然，在其他实施例中，所述紧固件41也可以仅有一个或多个。所述连接器4在靠近第一方向A的一侧设有止挡壁42，具体地，所述止挡壁42自所述连接器4向靠近所述驱动盒2的方向凸设而成。所述止挡壁42的高度可以低于所述驱动盒2的高度，也可以高于所述驱动盒2的高度，还可以与所述驱动盒2的高度一样。本实施例也不限所述止挡壁42的形状，以不影响操作者进行操作或不影响所述驱动盒2的美观为准。
进一步地，所述紧固件41可以为具有弹性的T形或L形卡扣结构。可以理解的是，当所述紧固件41为卡扣结构时，其对应的配合结构可以为卡扣结构或孔状结构。在其他实施例中，所述紧固件41也可以为孔状或槽状结构，则其对应的配合结构可以为卡扣结构。
在一实施例中，如图6所示，所述盒盖体29向所述支撑体 28的方向凸设有紧固部291，所述紧固部291上设有一定位孔292，以供所述紧固件41卡入而使所述驱动盒2与所述连接器4固定连接。在另一实施例中，所述盒盖体29向所述支撑体28方向凸设有扣持部(图中未示出)，以与所述紧固件41卡扣而使所述驱动盒2与所述连接器4固定连接。在其他实施例中，所述紧固部291或所述扣持部也可以根据需要设置于所述驱动盒2上的其他合理位置。所述第二控制件22用于在受到作用力时卡扣所述紧固件41，使所述紧固件41从所述盒体21上脱离，而使所述驱动盒2与所述连接器4分离。
如图15至图18所示，所述第二控制件22包括枢接于所述支架27上具有第一端221和第二端222的拨杆220，以及与所述第一端221活动连接的分离按压部230，所述第二端222用于与所述紧固件41抵触。当所述分离按压部230在受到按压力时，所述分离按压部230沿着所述支架27向内移动，并带动所述拨杆220的第二端222向外抵触所述紧固件41，使所述紧固件41与所述紧固部291或扣持部分离，进而使所述驱动盒2与所述连接器4分离。
进一步地，所述分离按压部230包括本体231、与所述本体231外侧连接的操作部233以及一端与所述本体231内侧连接、另一端连接于所述支架27上的弹力部234。可以理解的是，所述支架27上凹设有一移动槽(图中未示出)，以供所述操作部233向内或向外移动，当所述操作部233与所述移动槽的槽壁283抵触时，所述操作部233停止移动。所述本体231可以相对所述支架27悬空，也可以与所述支架27滑动连接。当所述本体231与所述支架27滑动连接时，所述支架27在对应所述本体231的位置设有滑轨，所述本体231上对应设有与滑轨适配的凹槽286或凸棱，如此，可以在所述操作部233受到按压力时，所述分离按压部230相对所述支架27移动时不会出现晃动的情况，从而使所述分离按压部230的移动更稳定。
进一步地，所述拨杆220的第一端221向所述连接器4方向凸设有第一凸柱223，所述本体231上凹设有用于活动连接所述第一凸柱223的活动槽232。所述拨杆220的第二端222向所述连接器4方向凸设有第二凸柱224，如图17所示，所述支架27在对应所述 第二凸柱224的位置凹设有限位槽271，所述限位槽271在远离所述本体231的一侧具有限位壁272。
在所述操作部233受到按压力时，所述操作部233推动所述本体231向内移动使所述弹力部234弹性变形，并带动所述活动槽232内的第一凸柱223向内移动，此时，在所述拨杆220的枢轴225的转动作用下，使所述第二端222向外移动而抵触所述紧固件41。在所述操作部233受到的按压力消失，由于所述弹力部234的弹性回复，所述弹力部234推动所述本体231向外移动，带动所述活动槽232内的第一凸柱223向外移动，此时，在所述拨杆220的枢轴225的转动作用下，带动所述限位槽271内的所述第二凸柱224与所述限位壁272抵触而使所述分离按压部230停止移动。
本实施例通过所述移动槽以及所述限位槽271，可以分别限制所述分离按压部230向内移动的路径以及所述分离按压部230向外移动的路径，从而可以实现对所述分离按压部230的精准控制，进而提高操作者的操作体验。
在安装所述驱动盒2时，可以先将所述支撑体28固定于所述支架27上，然后使所述移动体240上的抵扣部242与所述定位槽281进行配合而使所述移动体240承载于所述支撑体28上，再使所述移动体240上的第二配合部241穿过所述盒盖体29上的第一配合部12或所述盒盖体29的中空部分，最后将通过螺柱连接将盒盖体29与所述支撑体28进行固定，从而完成所述驱动盒2的安装。
当所述驱动盒2安装完成，可以使所述第二配合部241穿过所述底壳11的第一配合部12，并与所述底壳11远离所述连接器4的侧面13(图6所示)卡扣，而使所述驱动盒2与所述主控盒1固定连接，从而完成所述驱动盒2与所述主控盒1的安装。
当所述驱动盒2与主控盒1安装完成时，可以使所述连接器4的紧固件41与所述紧固部291进行配合，而实现所述驱动盒2与所述连接器4之间的固定连接。可以理解的是，所述驱动盒2并不限定先与所述主控盒1进行安装或先与所述连接器4先安装，所述驱动盒2与所述主控盒1或所述连接器4的安装顺序并不影响本发明 方案的实施。
本实施例的方案，当所述主控盒1、所述驱动盒2以及所述连接器4组装完成时，由于所述连接器4上止挡壁42的存在，即使所述锁止部250受到作用力，所述主控盒1与所述驱动盒2也不会分离。因此，这三者之间的拆卸顺序为：先施加作用力于所述分离按压部230，使所述紧固件41与所述紧固部291分离，从而使所述驱动盒2与所述连接器4分离。然后按压所述锁止部250，使所述第二配合部241与所述第一配合部12分离，从而使所述驱动盒2与所述主控盒1分离。
本实施例通过在主控盒1上设置第一配合部12，在驱动盒2的盒体上设置第一控制件24，并使所述第一控制件24的第二配合部241与所述第一配合部12配合，使得第一控制件24在受到作用力时向所述第一方向移动，使所述第二配合部241与所述第一配合部12分离，以使所述驱动盒2与所述主控盒1分离。如此，通过将所述驱动盒2与所述主控盒1分离，对所述驱动盒2进行灭菌，可以避免所述主控盒1内的电机、传感器、编码器和电气连接器等结构在灭菌过程中受到损坏，从而可以提高所述手术器械100的使用寿命。进一步地，所述第二控制件22在受到作用力时使所述驱动盒2与所述连接器4分离，然后第一控制件24在受到作用力时与所述第一配合部12分离，而使所述驱动盒2与所述主控盒1分离。如此，只有在所述驱动盒2与所述连接器4分离后，且所述第一控制件24受到作用力时才能使所述驱动盒2与所述主控盒1分离的方案，使得手术器械100在手术过程中执行手术操作时，即使所述第一控制件24被误触，也不会引发所述主控盒1和所述驱动盒2的分离，从而提高了手术过程中的安全性；或在将所述手术器械100安装至所述机械臂301的过程中，防止由于误触操作而导致所述主控盒1从所述驱动盒2上摔落的风险，从而提高手术器械100的使用寿命。
进一步地，所述信号处理模组15在接收到所述图像采集部5传输的图像信号时，将所述图像信号转换为目标信号，并将所述目标信号传输至所述图像主机。其中，所述目标信号的传输距离大于所 述图像信号的传输距离。如此，可以避免图像采集部5获取的图像信号在向所述图像主机302传输的过程中，发生信号衰减的情况，从而可以避免图像显示器303上显示的画面出现失真的情况，进而提高手术区域的画面质量。
在一实施例中，所述信号处理模组15具体可以包括设于所述主控盒内依次连接的第一处理单元(图中未示出)、第二处理单元(图中未示出)以及第三处理单元(图中未示出)，其中，所述第一处理单元用于将所述图像信号转换为低压差分信号，并将所述低压差分信号发送给所述第二处理单元；所述第二处理单元用于对接收到的所述低压差分信号进行解码，并将解码后的所述低压差分信号进行光信号编码，得到光编码信号；所述第三处理单元用于接收所述第二处理单元传输的所述光编码信号，并将所述光编码信号转换为光信号，以将所述光信号作为所述目标信号传输至所述图像主机。可以理解的是，所述图像主机在接收到所述光信号后，将所述光信号转换为电信号，以进行下一步的分析处理等。本实施例适用通过光缆传导的处理方法。通过将所述图像信号转换为光信号，并通过光缆传输至所述图像主机，从而可以避免信号在向所述图像主机传输的过程中发生信号衰减。
在另一实施例中，所述信号处理模组15’包括设于所述主控盒内依次连接的第一处理单元、第二处理单元以及第三处理单元，其中，所述第一处理单元用于将所述图像信号转换为低压差分信号，并将所述低压差分信号发送给所述第二处理单元；所述第二处理单元用于对接收到的所述低压差分信号进行解码，并将解码后的所述低压差分信号进行SDI(serial digital interface，数字分量串行接口)信号编码，得到SDI编码信号；所述第三处理单元用于接收所述第二处理单元传输的所述SDI编码信号，并将所述SDI编码信号转换为SDI信号，以将所述SDI信号作为所述目标信号传输至所述图像主机。此时，还可以对所述SDI信号进行增加处理，以使传输至所述图像主机的信号质量更高。可以理解的是，本实施例适用通过电缆传导的处理方法。通过将所述图像信号转换为所述SDI信号，并通过电缆传输至所述图像主机，从而可以避免信号在向所述图像主机302传输的过程 中发生信号衰减。
如图19所示，所述第一处理单元包括设于所述主控盒内的第一PCB板154以及设于所述第一PCB板154上的第一芯片(图中未示出)，所述第二处理单元包括设于所述主控盒内的第二PCB板155以及设于所述第二PCB板上的第二芯片(图中未示出)，所述第三处理单元包括设于所述主控盒内的第三PCB板156以及设于所述第三PCB板156上的第三芯片(图中未示出)，所述第一PCB板154、第二PCB板155以及第三PCB板156向远离所述图像采集部方向依次堆叠。可以理解的是，本发明并不限于处理单元和PCB板的数量，具体数量主要取决于所述主控盒的结构大小。具体可以根据所述主控盒的结构大小，所述处理单元和PCB板的数量可以仅为1个，在其他实施例中，也可以为2个等。
如图6和图19所示，所述驱动盒还包括设于所述盒体内的具有多个接点针310的电连接器31，所述信号处理模组15靠向所述图像采集部5的一侧设有具有多个针座158的电连接器座157。所述电连接器31的接点针310用于插入所述电连接器座157的针座158内，以使所述图像采集部5采集的图像信号经所述驱动盒传输至所述主控盒内。所述底壳上设有插接口14，所述盒体在与所述插接口14对应的位置设有对接口210，所述电连接器31的接点针310用于依次穿过所述对接口210和所述插接口14而插入所述电连接器座157的针座158内，以使所述图像采集部5采集的图像信号经所述驱动盒传输至所述主控盒内。所述插接口14和/或所述对接口210的形状与所述多个接点针310的排列阵形对应。所述多个接点针310的排列阵形可以是长方形、正方形、圆形、十字形、T形等，则所述插接口14和/或所述对接口210的形状为对应的长方形、正方形、圆形、十字形、T形。可以理解的是，所述电连接器座157上所述多个针座158的排列阵形也为对应的长方形、正方形、圆形、十字形、T形。
以上所述仅为本发明的可选实施例，并非因此限制本发明的专利范围，凡是在本发明的发明构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域 均包括在本发明的专利保护范围内。

Claims (23)

  1. 一种手术器械，其特征在于，所述手术器械包括：
    主控盒，具有第一配合部；
    驱动盒，包括盒体、设于所述盒体上的第一控制件，所述第一控制件包括用于与所述第一配合部配合的第二配合部；
    所述第一控制件用于在受到作用力时向第一方向移动，使所述第二配合部与所述第一配合部分离，以使所述驱动盒与所述主控盒分离。
  2. 如权利要求1所述的手术器械，其特征在于，所述第一控制件还包括设于所述盒体上的移动体以及与所述移动体连接的锁止部，所述第二配合部自所述移动体向所述主控盒方向凸设而成；所述移动体用于在所述锁止部受到作用力时，相对所述盒体向所述第一方向移动，使所述第二配合部与所述第一配合部分离，而使所述驱动盒与所述主控盒分离。
  3. 如权利要求2所述的手术器械，其特征在于，所述驱动盒还包括固设于所述盒体内用于承载所述移动体的支撑体，所述锁止部包括与所述移动体连接的按键部以及弹性部，所述弹性部连接于所述按键部与所述支撑体之间，所述第一控制件用于在所述按键部受到按压力时沿所述第一方向移动，所述弹性部用于在所述第一控制件沿所述第一方向移动时弹性变形，并在所述按键部上的按压力消失时弹性回复而使所述第一控制件复位。
  4. 如权利要求3所述的手术器械，其特征在于，所述支撑体上凹设有用于容置所述弹性部的容纳槽，所述弹性部的一端与所述按键部连接，另一端与所述容纳槽连接。
  5. 如权利要求2所述的手术器械，其特征在于，所述驱动盒还包括固设于所述盒体内用于承载所述移动体的支撑体，所述移动体相 对所述支撑体可移动，所述锁止部包括旋转体及与所述旋转体连接的旋转部，所述旋转体上设有螺旋槽，所述第一控制件还包括自所述移动体向所述锁止部方向延伸的连接柱，所述连接柱上凸设有凸柱体，所述凸柱体位于所述螺旋槽中，所述旋转部用于旋转而带动所述凸柱体在所述螺旋槽移动从而带动所述移动体相对所述支撑体移动。
  6. 如权利要求5所述的手术器械，其特征在于，所述支撑体上凹设有螺纹部，所述锁止部还包括凸设于所述旋转体上的凸棱部，所述凸棱部用于与所述螺纹部咬合，所述旋转部用于向打开方向旋转时，所述凸棱部在所述螺纹部内向背离所述移动体的方向移动，使所述凸柱体在所述螺旋槽中向背离所述旋转部方向移动，从而使所述移动体向所述第一方向移动；所述旋转部还用于向锁止方向旋转时，所述凸棱部在所述螺纹部内向靠近所述移动体的方向移动，使所述凸柱体在所述螺旋槽中向所述旋转部方向移动，从而使所述移动体向与所述第一方向相反的第二方向移动。
  7. 如权利要求5所述的手术器械，其特征在于，所述旋转体上还设有位于所述旋转部的一侧并与所述螺旋槽连通的止挡槽，所述凸柱体用于在所述旋转部向锁止方向旋转时，沿着所述螺旋槽移动至所述止挡槽内而与所述止挡槽的槽壁抵触，以阻止所述凸柱体从所述止挡槽中移出。
  8. 如权利要求7所述的手术器械，其特征在于，所述锁止部还包括一端与所述移动体或连接柱连接、另一端与所述旋转部连接的弹性部；所述弹性部用于在所述凸柱体从所述螺旋槽移动至所述止挡槽过程中弹性形变，并在所述凸柱体位于所述止挡槽中时弹性回复，而使所述凸柱体与所述止挡槽的槽壁抵触。
  9. 如权利要求3或5所述的手术器械，其特征在于，所述移动体向所述连接器的方向凸设有抵扣部，所述抵扣部用于抵触所述支撑 体的边缘部分，而防止所述底壳相对所述移动体移动。
  10. 如权利要求9所述的手术器械，其特征在于，所述主控盒包括设有所述第一配合部的底壳，所述第一配合部为卡槽；所述支撑体向内凹设有定位槽，所述第二配合部用于与所述卡槽卡扣，以限制所述底壳向远离所述连接器方向移动；所述抵扣部用于与所述定位槽卡扣，以限制所述底壳向靠近所述连接器方向移动。
  11. 如权利要求3或5所述的手术器械，其特征在于，所述支撑体在靠近所述第一方向的一端凹设有滑动槽；所述第一控制件还包括用于沿着所述滑动槽向所述第一方向移动的顶抵部，以及自所述移动体向所述第一方向延伸的延伸部，所述延伸部与所述顶抵部固定配合；所述连接器在靠近所述第一方向的一侧设有止挡壁；所述顶抵部用于在所述驱动盒与所述连接器未分离时，并在所述第一控制件受到按压力时，与所述止挡壁抵触而使所述移动体无法移动。
  12. 如权利要求11所述的手术器械，其特征在于，所述盒体在所述顶抵部的位置对应设有通孔，以供所述顶抵部在所述移动体沿着所述支撑体向所述第一方向移动时伸出所述通孔；或
    所述盒体在所述顶抵部的位置对应设有通孔，以供所述顶抵部的一端伸出所述盒体外，并在所述移动体沿着所述支撑体向所述第一方向移动时，沿着所述通孔向所述第一方向移动。
  13. 如权利要求11所述的手术器械，其特征在于，所述顶抵部向所述连接器方向凹设有凹槽，所述延伸部向所述连接器方向凸设有与所述凹槽配合的凸缘体，所述凸缘体用于在所述移动体沿着所述支撑体向所述第一方向移动时，带动所述顶抵部向所述第一方向移动。
  14. 如权利要求2所述的手术器械，其特征在于，所述主控盒包括设有所述第一配合部的底壳，所述第一配合部为卡槽；所述第二配 合部用于穿过所述第一配合部，并与所述底壳远离所述连接器的侧面卡扣，而使所述驱动盒与所述主控盒固定连接；所述第二配合部还用于在所述移动体向所述第一方向移动时，与所述侧面分离，而使所述驱动盒与所述主控盒分离。
  15. 如权利要求1所述的手术器械，其特征在于，所述手术器械还包括用于与所述驱动盒可拆卸连接的连接器，以及设于所述盒体上的第二控制件，所述连接器具有一紧固件；所述驱动盒还包括固设于所述盒体内的支架，所述第二控制件包括枢接于所述支架上的拨杆，以及与所述拨杆的第一端活动连接的分离按压部；所述拨杆的第二端用于与所述紧固件抵触；所述分离按压部用于在受到按压力时，带动所述拨杆的第二端向外抵触所述紧固件，使所述紧固件与所述紧固部分离，而使所述驱动盒与所述连接器分离。
  16. 如权利要求15所述的手术器械，其特征在于，所述分离按压部包括本体以及一端与所述本体内侧连接、另一端连接于所述支架上的弹力部；所述拨杆的第一端向所述连接器方向凸设有第一凸柱，所述本体上凹设有用于活动连接所述第一凸柱的活动槽；所述本体用于在受到按压力时，使所述弹力部弹性变形，并带动所述活动槽内的第一凸柱向内移动，使所述第二端向外移动抵触所述紧固件。
  17. 如权利要求16所述的手术器械，其特征在于，所述拨杆的第二端向所述连接器方向凸设有第二凸柱，所述支架在对应所述第二凸柱的位置凹设有限位槽，所述限位槽在远离所述本体的一侧具有限位壁，所述第二凸柱用于在所述本体受到的按压力消失，所述弹力部弹性回复推动所述本体向外移动，并带动所述活动槽内的第一凸柱向外移动时，与所述限位壁抵触而使所述分离按压部停止移动。
  18. 如权利要求16所述的手术器械，其特征在于，所述分离按压部还包括与所述本体外侧连接的操作部，所述操作部用于在受到按 压力时，推动所述本体移动，使所述弹力部弹性变形，并带动所述活动槽内的第一凸柱向内移动，进而使所述第二端向外移动抵触所述紧固件。
  19. 如权利要求1所述的手术器械，其特征在于，所述手术器械还包括用于与所述驱动盒可拆卸连接的连接器，所述连接器具有与所述盒体配合的紧固件；所述驱动盒还包括固设于所述盒体内的支撑体以及与所述支撑体固定连接的盒盖体，所述盒盖体向所述支撑体的方向凸设有紧固部，所述紧固部上设有一定位孔，以供所述紧固件卡入而使所述驱动盒与所述连接器固定连接。
  20. 如权利要求19所述的手术器械，其特征在于，所述第一控制件包括承载于所述支撑体上并相对所述支撑体可移动的移动体，所述移动体位于所述支撑体与所述盒盖体之间。
  21. 如权利要求1所述的手术器械，其特征在于，所述手术器械还包括用于与所述驱动盒可拆卸连接的连接器，以及设于所述盒体上的第二控制件，所述连接器具有一紧固件；所述第二控制件用于在受到作用力时抵触所述紧固件，而使所述驱动盒与所述连接器分离；所述第一控制件用于在所述驱动盒与所述连接器分离后，且受到作用力时向所述第一方向移动，使所述第二配合部与所述第一配合部分离，以使所述驱动盒与所述主控盒分离。
  22. 如权利要求1所述的手术器械，其特征在于，所述手术器械还包括与所述驱动盒连接并穿过所述连接器的连杆，以及与所述连杆连接的图像采集部。
  23. 一种手术机器人，其特征在于，所述手术机器人包括如权利要求1至22中任一项所述的手术器械。
PCT/CN2021/092632 2020-12-19 2021-05-10 手术器械以及手术机器人 WO2022127003A1 (zh)

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