WO2022127004A1 - Surgical instrument apparatus and surgical robot - Google Patents

Abstract

A surgical instrument apparatus and a surgical robot (1000). The surgical instrument apparatus comprises a surgical instrument (100), and a connector (4) detachably connected to the surgical instrument (100). The surgical instrument (100) comprises a main control box (1) and a driving box (2). The driving box (2) comprises a box body (31) connected to the main control box (1), a base (33) arranged inside the box body (31), a bracket (34) fixedly arranged on the base (33), and a control member (35) pivotally connected to the bracket (34). The control member (35) comprises a top abutting part (38) on the side away from the main control box (1), and a control part (350). One end of the control part (350) extends out of the driving box (2) and is located on the side of the main control box (1), and the other end is connected to the top abutting part (38) and is pivotally connected to the bracket (34). The connector (4) is provided with a fastener (41). The fastener (41) passes through the base (33) and is fastened to the base (33). The control member (35) is used for driving the top abutting part (38) to abut against the fastener (41) when the end of the control member (35) located at the driving box (2) is subjected to an acting force, so that the top abutting part (38) is separated from the base (33), thus, the driving box (2) is separated from the connector (4). The present solution solves the technical problem of existing surgical instrument apparatuses being difficult to remove from a mechanical arm (301).

Description

Surgical instruments and surgical robots

This application claims the priority of the Chinese patent application with the application number 202011512201.1 and the application name "Surgical Instrument Device and Surgical Robot" filed with the China Patent Office on December 19, 2020, the entire contents of which are incorporated into this application by reference.

technical field

The invention relates to the technical field of medical instruments, in particular to a surgical instrument device and a surgical robot.

Background technique

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.

With the advancement of science and technology, the technology of minimally invasive surgical robots has gradually matured and been widely used. 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 provided 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 removed from the robotic arm for sterilization due to their proximity to the lesion area of the patient. However, the handle operation part of the existing surgical instrument is usually arranged at the bottom of the drive box. When the bottom diameter of the drive box is large or there are other structures on the drive box, the operator cannot easily operate with one hand, thus affecting the the operator's operating experience.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to provide a surgical instrument device and a surgical robot, which aims to solve the technical problem of inconvenience when the existing surgical instrument device is removed from a mechanical arm.

In order to achieve the above object, the present invention provides a surgical instrument device, comprising:

A surgical instrument and a connector detachably connected to the surgical instrument, the surgical instrument comprising a main control box and a drive box,

The drive box includes a box body connected to the main control box, a base set in the box body, a bracket fixed on the base, and a control member pivotally connected to the bracket, the control The component includes a top part on one side away from the main control box, one end protruding from the drive box and located on one side of the main control box, and the other end is connected with the top part and pivoted on the bracket the control department;

the connector has a fastener, the fastener is used to pass through the base and snap with the base;

The control part is used to drive the abutting part to abut the fastener when one end of the driving box is subjected to a force, so that the abutting part is separated from the base, so that the driving box is separate from the connector.

Preferably, the control part includes an operation part extending out of the drive box and located on one side of the main control box, and a reversing part pivotally connected to the bracket, one end of the reversing part is connected to the The operating portion is movably connected, and the other end is movably connected with the abutting portion, and the operating portion is used to drive the reversing portion to move when being operated, so as to drive the abutting portion to abut the fastener, and The fasteners are separated from the base.

Preferably, the operation part includes a first rotating shaft pivotally connected to the bracket, a pressing part and a main driving shaft arranged opposite to the first rotating shaft; the reversing part includes a first rotating shaft pivotally connected to the bracket Two rotating shafts, a secondary driving shaft disposed opposite to the second rotating shaft, and a first movable end having a first movable groove; the abutting portion includes a third rotating shaft pivotally connected to the bracket, opposite to the third rotating shaft a provided conflicting part and a second movable end having a second movable groove;

the main drive shaft is used for movably connected in the first movable groove, the slave drive shaft is used for movably connected in the second movable groove; the interference portion is used for interference with the fastener;

The pressing part is used to drive the main drive shaft to rotate outward relative to the first rotating shaft and drive the first movable end to rotate outward when a force is applied, so that the slave drive shaft rotates relative to the first rotating shaft. The second rotating shaft rotates inwardly to drive the second movable end to rotate inwardly, so that the abutting portion abuts the fastener outwardly relative to the third rotating shaft.

Preferably, the reversing portion further comprises an intermediate portion pivotally connected to the second rotating shaft, one end of the intermediate portion is connected with the slave drive shaft, and the other end is connected with the first movable end, the The slave drive shaft is parallel to the first movable end, the middle portion is parallel to the base,

The intermediate portion is used for rotating relative to the base when the slave driving shaft rotates inwardly relative to the second rotating shaft, so that the slave driving shaft rotates inwardly relative to the second rotating shaft.

Preferably, the first rotation axis is parallel to the base, the second rotation axis is perpendicular to the base, and the third rotation axis is parallel to the base.

Preferably, the drive box has a center line of symmetry and a center point located on the center line of symmetry, and a line connecting the position where the abutting portion is projected to the base and the center point is a first connecting line, and the The connecting line between the position where the operation part is projected to the base and the center point is the second connecting line, the angle between the first connecting line and the symmetrical center line is an acute angle, and the second connecting line is vertical on the symmetrical centerline.

Preferably, the main control box further includes a connecting portion fixedly connected with the housing, the housing includes a chassis for being fixedly connected with the connecting portion and extending from the chassis in a direction away from the connector The body, the two operating parts are located on opposite sides of the body.

Preferably, the main control box further comprises a rotating part connected to an end of the casing close to the driving box and rotatable relative to the casing, and a convex part is protruded on the inner wall of the rotating part,

The drive box further includes an extension portion extending from the periphery of the box body to the direction of the main control box, and the extension portion is concavely provided with a limiting groove in the first direction,

The protruding portion is used for being snapped into the limiting groove and colliding with the extending portion to fix the main control box on the rotating portion when the rotating portion rotates in the first direction relative to the housing. It is also used to escape from the limiting slot when the rotating part rotates relative to the casing in a second direction opposite to the first direction, so that the main control box and the The drive box is separated.

Preferably, the drive box further includes an extension portion extending from the peripheral edge of the box body to the direction of the main control box, the main control box further includes a connection portion fixedly connected to the housing, the connection The outer sidewall of the extension part is protruded with a first protrusion, and the inner sidewall of the extension part is protruded with a second protrusion. The connecting part is fixedly connected with the box body.

Preferably, the housing includes a chassis for connecting with the connecting portion, and the chassis is provided with one or more protruding ridges protruding outward along the peripheral edge, and the protruding ridges are used for connecting the first protruding block with the connecting portion. After the second protrusion is snapped, it collides with the top wall of the extending portion facing the casing, and restricts the connecting portion from continuing to move in the direction of the casing.

Preferably, a sliding block is also protruded on the outer side wall of the connecting part, and a sliding groove is recessed in the extending part in the direction of the connector at a position corresponding to the sliding block, and the sliding groove is used for guiding The sliding block slides in so that the connecting portion is fixed to the drive box in a predetermined direction.

Preferably, the main control box further includes a connecting portion fixedly connected to the casing, and a positioning portion protrudes from the connecting portion toward the casing; the casing includes a connecting portion for connecting with the connecting portion. the chassis, the chassis is concave with a through groove along the periphery,

The positioning portion is used for matching with the through groove, so as to fix the housing and the connecting portion.

Preferably, the main control box further includes a connecting portion fixedly connected with the housing, the housing includes a chassis for being fixedly connected with the connecting portion and extending from the chassis in a direction away from the connector the body;

The main control box further includes a rotating part connected to the chassis and rotatable relative to the chassis, the rotating part is provided with a bearing part protruding inwardly on the side away from the connector, and the drive box further includes a fixing part used to be carried on the bearing part, the fixing part is provided with a plurality of mounting parts protruding inwardly along the circumferential direction, and the chassis is provided with a plurality of matching parts at the position corresponding to the fixing part,

The mounting part is used for cooperating with the matching part, so that the rotating part rotates between the fixing part and the chassis.

Preferably, the main control box further includes an elastic portion disposed between the carrying portion and the chassis, and the elastic portion is used for abutting against the carrying portion and the chassis, respectively.

Preferably, the main control box includes a casing and a conducting hole provided on the casing, and the conducting hole is used for one end of the control part to protrude.

Preferably, the connector is protruded from the direction of the drive box with two oppositely arranged uprights, and the connection line between the two uprights on the connector is a limit line, and the box is facing the connector. A limiting portion is protruded in the direction of the locating portion, and the limiting portion is used to be clamped between the two uprights and interfere with the two uprights, so as to restrict the movement of the box body relative to the connector along the limiting line.

Preferably, the surgical instrument device 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.

In order to achieve the above object, the present invention also provides a surgical robot, which includes the above surgical instrument device.

In the surgical instrument device and the surgical robot provided by the present invention, by arranging a control member pivotally connected to the support on the support of the drive box, the abutting portion of the control member is kept away from the main control box, and one end of the control portion is moved away from the main control box. Extending out of the drive box and located on one side of the main control box, at the same time, the fasteners of the connector are passed through the base and snapped with the base. In this way, when the end of the drive box is subjected to a force, the abutting portion is driven to abut the fastener, so that the abutting portion is separated from the base, so that the drive box and the connector are separated. separation. In this way, the operator can operate the control member with one hand, so as to realize the separation of the drive box and the connector, thereby improving the operator's operating experience.

Description of drawings

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;

2 is a schematic structural diagram of an embodiment of the surgical instrument of the present invention;

3 is a schematic structural diagram of the present invention in the process of assembling the drive box and the connector;

4 is a schematic diagram of a partial explosion structure of the surgical instrument device of the present invention;

Fig. 5 is the structural representation of the signal processing module in Fig. 4;

Fig. 6 is the partial exploded structure schematic diagram of the main control box in Fig. 4;

Fig. 7 is the assembly structure schematic diagram of the drive box in Fig. 4;

Fig. 8 is the assembly structure schematic diagram of the main control box in Fig. 4;

Fig. 9 is the structural representation of the rotating part in Fig. 4;

Fig. 10 is the structural representation after removing the main control box and the box body of Fig. 3;

FIG. 11 is a schematic structural diagram of the control member in FIG. 10;

12 is a schematic structural diagram of the present invention before the drive box and the connector are assembled;

FIG. 13 is a schematic view of the structure of FIG. 2 from a top view.

The realization, functional characteristics and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the The relative positional relationship between the components, the movement situation, etc., if the specific posture changes, the directional indication also changes accordingly.

In the present invention, unless otherwise expressly specified and limited, 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. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In addition, descriptions such as "first", "second", etc. in the present invention are only for descriptive purposes, and should not be construed as indicating or implying their relative importance or implicitly indicating the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of such technical solutions does not exist. , is not within the scope of protection required by the present invention.

As shown in FIG. 1-1, 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 robotic arm 301 , a power mechanism (not shown in the figure) provided on the robotic arm 301 , a surgical instrument (not shown in the figure), 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. Of course, 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.

As shown in FIGS. 1-2 , 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, which can be an instrument with an endoscope for observing a surgical field, 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. It can be understood that the surgical instrument may be an instrument suitable for single-hole surgery, or may be an instrument suitable for multi-hole surgery, which will be described in detail below.

As shown in FIG. 2 and FIG. 3 , the surgical instrument 100 suitable for single-hole surgery includes a main control box 1 , a driving box 2 connected with the main control box 1 , and an image acquisition part 5 connected with the driving box 2 . . The drive box 2 and the connector 4 are detachably connected, and the surgical instrument 100 and the connector 4 constitute a surgical instrument device. The image acquisition part 5 further comprises a connecting rod 51 connected with the drive box 2 and passing through the connector 4, and an image acquisition part 5 arranged at the end of the connecting rod 51, and the image acquisition part 5 uses In order to collect the image signal of the patient's lesion area, the image signal may specifically include the target tissue image of the lesion area and the operation process image of the operation performed by the end effector.

Further, the main control box 1 is used for accommodating structures such as motors, encoders, signal processing modules and electrical connectors. As shown in FIG. 4 , the main control box 1 includes a housing 11 , and a connecting portion 21 fixedly connected to the housing 11 is connected to an end of the housing 11 close to the drive box 2 and is opposite to the housing 11 . The rotating part 22 of the body 11 is rotatable, the elastic part 23 located between the rotating part 22 and the casing 11 , the signal processing module 15 accommodated in the casing, and the like. Wherein, the housing 11 and the connecting portion 21 may be fixed by means of snap connection, or may be fixed by means of screw connection or the like. The connecting portion 21 is provided in the rotating portion 22 .

Further, the housing 11 includes a chassis 12 for fixedly connecting with the connecting portion 21 and a body 13 extending from the chassis 12 in a direction away from the connector 4 . The shape of the chassis 12 may be a circle or the like, and the body 13 may be a rectangle or a square shape. When the shape of the body 13 is a rectangle, the length of the body 13 may be smaller than the diameter of the chassis 12 . The shape and size of the main body 13 can be adjusted according to the size of the structure such as the signal processing module 15 accommodated in the main body 13 . It can be understood that the connecting portion 21 and the casing 11 enclose a accommodating space 20 for accommodating the signal processing module 15 and other structures, that is, the body 13 accommodates the signal processing module 15 and the like. A part of the structure, the connection part 21 accommodates another part of the structure such as the signal processing module 15 .

Further, when receiving the image signal transmitted by the image acquisition unit 5 , the signal processing module 15 converts the image signal into a target signal, and transmits the target signal to the image host 302 . Wherein, the transmission distance of the target signal is greater than the transmission distance of the image signal. In this way, it is possible to avoid signal attenuation during the transmission of the image signal acquired by the image acquisition unit 5 to the image host 302, so as to avoid the distortion of the picture displayed on the image display 303, thereby improving the operation area. Picture quality.

In one embodiment, the signal processing module 15 includes a first processing unit (not shown in the figure), a second processing unit (not shown in the figure) and a third processing unit (not shown in the figure) that are connected in sequence. out). 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 The low-voltage differential signal is decoded, and the decoded low-voltage differential signal is optically encoded to obtain an optically encoded signal; the third processing unit is configured to receive the optically encoded signal transmitted by the second processing unit, and converting the optically encoded signal into an optical signal, so as to transmit the optical signal to the image host 302 as the target signal. It can be understood that, after receiving the optical signal, the image host 302 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 302 through an optical cable, signal attenuation during the transmission to the image host 302 can be avoided.

In another embodiment, 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 251 for converting the image signal into a low-voltage differential signal, and sending the low-voltage differential signal to the second processing unit 252; the second processing unit 252 is configured to decode the received low-voltage differential signal , and perform 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 253 is used for receiving the second processing unit. The SDI encoded signal is converted into an SDI signal, so as to transmit the SDI signal to the image host 302 as the target signal. At this time, the SDI signal may be further processed to increase the quality of the signal transmitted to the image host 302 . 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 302 through a cable, signal attenuation during the transmission to the image host 302 can be avoided.

As shown in FIG. 5 , the first processing unit includes a first PCB board 254 arranged in the main control box and a first chip (not shown in the figure) arranged on the first PCB board 254 , The second processing unit includes a second PCB 255 arranged in the main control box and a second chip (not shown in the figure) arranged on the second PCB, and the third processing unit includes The third PCB board 256 provided in the main control box and the third chip (not shown in the figure) provided on the third PCB board 256, the first PCB board 254, the second PCB board 255 And the third PCB boards 256 are stacked in sequence in a direction away from the image capturing part. It can be understood that 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.

Further, as shown in FIG. 4 , the rotating portion 22 may be a hollow circular shell-like structure, and a bearing portion 221 is protruded inwardly on the side away from the connector 4 of the rotating portion 22 . The main control box 1 further includes a fixing portion 24 for being carried on the bearing portion 221 . The fixing portion 24 is provided with one or more mounting portions 240 protruding inwardly along the circumferential direction. A plurality of matching portions 121 are provided corresponding to the positions of the fixing portion 24 . The mounting portion 240 is used to cooperate with the matching portion 121 , so that the rotating portion 22 rotates between the fixing portion 24 and the chassis 12 . The mounting portion 240 and the matching portion 121 may be fixed by means of snap connection, or may be fixed by means of screw connection or the like. In this embodiment, the bearing portion 221 may be a complete ring-shaped structure protruding along the periphery of the rotating portion 22 , or may be one or more rib structures protruding along the periphery of the rotating portion 22 . Correspondingly, the fixing portion 24 may be a complete ring-shaped structure of metal material, a complete ring-shaped structure of plastic material, or a rib-shaped structure of other materials. During installation, the body 13 passes through the rotating part 22 until the bearing part 221 collides with the chassis 12 . (not shown) to interfere with the interference wall (not shown in the figure) on the side of the chassis 12 away from the connector 4 . At this time, the rotating part 22 is covered on the connecting part 21 . That is, the rotating part 22 can rotate relative to the chassis 12 .

Further, in an embodiment, as shown in FIG. 6 , the mounting portion 240 and the matching portion 121 are both hole-shaped structures, and the connecting portion 21 corresponds to the mounting portion 240 and the matching portion 121 . There is also a mounting hole 210 at the position of the main control box 1. The main control box 1 may also include a stud (not shown in the figure), and the stud passes through the mounting part 240, the matching part 121 and the mounting part in sequence. The hole 210 is fixed on the connecting portion 21 , so as to realize the fixing among the rotating portion 22 , the housing 11 and the connecting portion 21 . A positioning portion 211 may be protruded from the connecting portion 21 toward the casing 11 , and a through groove 122 adapted to the positioning portion 211 may be recessed along the periphery of the chassis 12 . Since the main body 13 needs to accommodate a part of the structure of the signal processing module 15 and the like, the connection part 21 needs to accommodate another part of the structure of the signal processing module 15 and the like. Therefore, the accommodation space of the main body 13 and the connection The direction of the accommodating space of the part 21 needs to be consistent, and through the guiding function of the positioning part 211 , the operator can directly install it, and it is not necessary to find that the position does not match after the housing 11 is installed on the connecting part 21 , also need to adjust the steps, so that the installation efficiency can be improved. During installation, the positioning portion 211 can be snapped into the through groove 122 , and the positions of the mounting portion 240 and the matching portion 121 can be matched. When the mounting portion 240 is matched with the matching portion 121 , so that the housing 11 is fixed on the connecting portion 21 in a predetermined direction.

Further, the elastic portion 23 is located between the bearing portion 221 and the chassis 12 . When the fixing portion 24 fixes the bearing portion 221 between the fixing portion 24 and the chassis 12 , A side wall of the elastic portion 23 away from the connector 4 abuts against the bearing portion 221 , and a side wall of the elastic portion 23 close to the connector 4 abuts against the chassis 12 . It can be understood that the installation direction can be referred to the length direction of the surgical instrument 100, and the installation direction can be the direction of the stacked structure in the direction of the connector 4, or the direction away from the connector. The scheme of stacking structure in 4 directions.

Optionally, the side wall of the rotating part 22 is in a corrugated shape, so as to increase the friction between the operator's hand and the rotating part 22, so as to facilitate the rotation of the rotating part 22 and avoid the occurrence of slippage. .

Optionally, the side wall of the rotating part 22 is provided with a plurality of heat dissipation holes (not shown in the figure), so as to reduce the heat of the structure such as the signal processing module 15 in the connecting part 21 .

As shown in FIG. 4 , the drive box 2 includes a box body 31 connected to the main control box 1 , an extension portion 32 extending from the periphery of the box body 31 to the direction of the main control box 1 , and a The base 33 in the box body 31 , the bracket 34 fixed on the base 33 , and the control member 35 pivotally connected to the bracket 34 . It can be understood that the box body 31 can be directly connected with the main control box 1 or indirectly connected with the main control box 1 . In this embodiment, the box body 31 is indirectly connected with the main control box 1 . Specifically, the box body 31 is connected with the rotating portion 22 of the main control box 1 through the extension portion 32 .

Further, as shown in FIG. 6 , a first protrusion 212 and a sliding block 213 are protruded on the outer side wall of the connecting portion 21 , and the positions of the two may or may not be adjacent. The inner side wall of the extension portion 32 is protruded with a second protrusion 321 that fits with the first protrusion 212 , and is recessed toward the connector 4 at a position corresponding to the slider 213 . Chute 322. The chassis 12 is provided with one or more protruding ridges 123 protruding outward along the peripheral edge. During installation, the slider 213 can be slid into the chute 322 first, so that the connecting portion 21 can be guided to be fixed on the drive box 2 in a predetermined direction. Next, the first protrusions 212 and the second protrusions 321 are buckled, so as to realize the fixed connection of the connecting portion 21 and the box body 31 . After the first bump 212 and the second bump 321 are snapped together, the protruding rib 123 and the extending portion 32 collide with the top wall 110 of the housing 11 to restrict the connecting portion 21 continues to move in the direction of the housing 11 .

It can be understood that since the main control box 1 and the drive box 2 also need to perform signal transmission, it also involves the matching of electrical connector interfaces. Specifically, as shown in FIG. 7 , the drive box further includes an electrical connector 39 with a plurality of contact pins 390 provided in the box body. As shown in FIG. 8 , an electrical connector seat 257 having a plurality of needle seats 258 is provided on the side of the signal processing module 15 which is close to the image acquisition part 5 . The contact pins 390 of the electrical connector 39 are used to be inserted into the needle seat 258 of the electrical connector seat 257, so that the image signals collected by the image capture unit 5 are transmitted to the main control box through the drive box Inside. As shown in FIG. 4 , the main control box is provided with a plug-in port 120 on the side of the casing facing the drive box, and the box body is provided with a docking port 320 at a position corresponding to the plug-in port 120 . The contact pins 390 of the electrical connector 39 are used for inserting into the needle seat 258 of the electrical connector seat 257 through the docking port 320 and the plug port 120 in sequence, so that the image captured by the image capturing unit 5 The image signal is transmitted to the main control box through the drive box. The shape of the plug port 120 and/or the docking port 320 corresponds to the arrangement of the plurality of contact pins 390 . The array shape of the plurality of contact pins 390 may be a rectangle, a square, a circle, a cross, a T shape, etc., and the shape of the socket 120 and/or the docking port 320 is a corresponding rectangle, square, Round, cross, T-shaped. It can be understood that, the arrangement of the plurality of needle bases 258 on the electrical connector base 257 is also a corresponding rectangle, square, circle, cross, and T shape.

Therefore, the connection part 21 needs to be fixed on the drive box 2 in a predetermined direction, so that the interface of the electrical connector is correctly aligned, so that the operator can directly install it without the need to install the connection part After the 21 is installed on the box body 31, it is found that the position does not match and needs to be adjusted, so that the installation efficiency can be improved.

Further, the extending portion 32 is concavely provided with a limiting groove 323 in the first direction. As shown in FIG. 9 , a convex portion 223 is protruded on the inner side wall of the rotating portion 22 . When the rotating part 22 rotates in the first direction relative to the casing 11 , the protruding part 223 snaps into the limiting groove 323 and collides with the extending part 32 to lock the main control box 1 is fixed on the drive box 2; when the rotating part 22 rotates relative to the housing 11 in a second direction opposite to the first direction, the protruding part 223 is removed from the limiting groove 323 The main control box 1 and the drive box 2 are separated. The first direction may be the direction in which the rotating part 22 rotates clockwise, and the second direction is the direction in which the rotating part 22 rotates counterclockwise.

Further, the casing 11 is further provided with a conducting hole 124 , and the position of the conducting hole 124 may be at the top of the body 13 , or may be at a position where the chassis 12 is close to the body 13 .

As shown in FIG. 10 , the control member 35 includes an abutting portion 38 on the side away from the main control box 1 , one end protrudes from the driving box 2 and is located on one side of the main control box 1 , and the other end is connected to the side of the main control box 1 . The abutting portion 38 is connected to and pivotally connected to the control portion 350 on the bracket 34 . Wherein, the control part 350 may further include an operation part 35 extending out of the conduction hole 124 and located on one side of the main control box 1 , and one end is movably connected to the control part 350 , and the other end is connected to the control part 350 . The reversing portion 37 of the abutting portion 38 is articulated. The control portion 350 can be pivotally connected to the bracket 34 , and the abutting portion 38 and the operating portion 35 are not limited to being pivotally connected to the bracket 34 .

The connector 4 has a fastener 41 corresponding to the position of the abutting portion 38 , and the fastener 41 is used to pass through the base 33 and engage with the base 33 . When the operator squeezes the operating portion 35, the operating portion 35 drives the reversing portion 37 to move, thereby driving the abutting portion 38 to abut the fastener 41, so that the abutting portion 38 and the The base 33 is separated, so that the drive box 2 and the connector 4 are separated. The two operating parts 35 are located on opposite sides of the main body 13 in the longitudinal direction. In this way, the span of the operator's hand operation is reduced, so that the two operation parts 35 can be pinched with one hand. It can be understood that, in other embodiments, if the structure of the drive box 2 is relatively small, the reversing portion 37 can be chosen not to be provided; if the structure of the drive box 2 is relatively large, it can be selected One or more of the reversing portions 37 are provided. The abutting portion 38 is located at a predetermined position of the bracket 34 , the operation portion 35 is located at a target position of the bracket 34 , and the reversing portion 37 is used to switch the operation portion 35 located at the target position. The force is transmitted to the abutment portion 38 at the predetermined position. Wherein, the predetermined position is usually a position specified based on structural constraints or design requirements, and the target position is a position adjusted for ergonomics, so as to adapt to the operator's operating habits and improve the operating comfort.

Further, the operation part 35 , the reversing part 37 and the abutting part 38 respectively have a first rotating shaft 361 , a second rotating shaft 371 and a third rotating shaft 381 pivotally connected to the bracket 34 . The rotating shaft 361 is parallel to the base 33 , the second rotating shaft 371 is perpendicular to the base 33 , and the third rotating shaft 381 is parallel to the base 33 .

As shown in FIG. 11 , the operating portion 35 includes a pressing portion 362 and a main driving shaft 363 disposed opposite to the first rotating shaft 361 , and the reversing portion 37 includes a middle portion pivotally connected to the second rotating shaft 371 . 375 , a first movable end 374 with a first movable groove 372 and a slave drive shaft 373 disposed opposite to the second rotating shaft 371 , and the abutting portion 38 includes a second movable groove disposed opposite to the third rotating shaft 381 The second movable end 384 of 382 and the interference portion 383 . One end of the middle portion 375 is connected to the slave drive shaft 373, and the other end is connected to the first movable end 374. The slave drive shaft 373 is parallel to the first movable end 374, and the middle portion 375 is parallel to the base 33, and the middle portion 375 is used to rotate relative to the base 33 when the slave drive shaft 373 rotates inward relative to the second shaft 371, so that the slave drive shaft 373 is opposite to The second rotating shaft 371 rotates inward. That is, the shape of the reversing portion 37 is a Z shape, of course, other reasonable shapes may also be used in other embodiments. Specifically, the first movable groove 372 is recessed at one end of the reversing portion 37 that is movably connected to the main drive shaft 363 , and the end of the abutting portion 38 that is movably connected to the slave drive shaft 373 is recessed. There is the second movable groove 382 . The main drive shaft 363 is used for movably connected in the first movable groove 372 , the slave drive shaft 373 is used for movably connected in the second movable groove 382 , and the abutting portion 383 is used for movably connecting with the second movable groove 382 . Fasteners 41 interfere. It can be understood that, the first movable groove 372 and/or the second movable groove 382 may be closed grooves or open grooves.

When the operator squeezes the operation part 35 , the pressing part 362 receives an inward force, which drives the main driving shaft 363 to rotate outward relative to the first rotating shaft 361 and drives the first movable end 374 to move toward the By rotating outward, the secondary driving shaft 373 rotates inward relative to the second rotating shaft 371 , and drives the second movable end 384 to rotate inward, so that the contact portion 383 rotates outward relative to the third rotating shaft 381 against the fasteners 41 .

Further, as shown in FIG. 12 , the connector 4 is protruded from the direction of the drive box 2 with two oppositely arranged uprights 42 , and the connection line between the two uprights 42 on the connector 4 is a limit Line M, the box body 31 is provided with a limiting portion 310 protruding toward the direction of the connector 4 . During installation, the limiting portion 310 can be clamped between the two uprights 42 , and the two side surfaces of the limiting portion 310 can be in conflict with the two uprights 42 respectively. In this way, the setting of the two uprights 42 , can guide the limiting portion 310 to enter, so as to facilitate the installation between the drive box 2 and the connector 4, in addition, the box body 31 can also be limited along the limit line M relative to the The connector 4 moves, thereby improving the installation tightness between the drive box 2 and the connector 4 .

As shown in FIG. 13 , the drive box 2 has a symmetrical center line K and a center point O located on the symmetrical center line K, and the connecting line between the predetermined position and the center point O is a first connecting line A-A , the connecting line between the target position and the center point O is the second connecting line B-B, the angle between the first connecting line A-A and the symmetrical center line K is an acute angle, and the second connecting line B-B perpendicular to the symmetry centerline K. The fastener 41 is located on the first connecting line A-A based on structural constraints. Correspondingly, if the operating portion 35 thereof is also located on the first connecting line A-A, due to other structures of the surgical instrument 100 (as shown in FIG. In the presence of X) marked in , the operator is usually accustomed to operating at the position of the second connecting line B-B, which is more in line with the operator's operating habits. Therefore, in this embodiment, by deflecting the position of the operation part 35 corresponding to the position of the fastener 41 from the position of the first connecting line A-A to the position of the second connecting line B-B, it is more convenient for the operator to operate , thereby improving the user experience.

In this embodiment, a control member 35 pivotally connected to the bracket 34 is provided on the bracket 34 of the drive box 2, so that the abutting portion 38 of the control member 35 is kept away from the main control box 1, and the control member 350 is One end protrudes from the drive box 2 and is located at one side of the main control box 1 , and at the same time, the fastener 41 of the connector 4 passes through the base 33 and is snapped with the base 33 . In this way, when the end of the drive box 2 is subjected to a force, the abutting portion 38 is driven to abut the fastener 41, so that the abutting portion 38 is separated from the base 33, so that the driving box is 2 is separated from the connector 4 . In this way, the operator can operate the control member 35 with one hand, so as to realize the separation of the drive box 2 and the connector 4 , thereby improving the operator's operating experience.

In this embodiment, the rotating part 22 that is rotatable relative to the casing 11 of the main control box 1 and the extension part 32 extending from the periphery of the casing 31 of the driving box 2 to the direction of the main control box 1 are provided, In this way, when the rotating part 22 rotates in the first direction relative to the casing 11 , it cooperates with the extending part 32 to fix the main control box 1 on the driving box 2 . When the rotating part 22 rotates in a second direction opposite to the first direction relative to the casing 11, the rotating part 22 is separated from the extending part 32, so that the main control box 1 can be connected to the drive Box 2 separates. In this way, the main control box 1 is disassembled in a rotating manner, and the surgical instrument 100 from which the main control box 1 has been disassembled is sterilized, so that various structures in the main control box 1 of the surgical instrument 100 can be prevented from being sterilized. Damage occurs during the process, so that the normal use of the surgical instrument 100 can be ensured.

The above descriptions are only optional embodiments of the present invention, and are not intended to limit the scope of the present invention. Under the inventive concept of the present invention, any equivalent structural transformations made by using the contents of the description and drawings of the present invention, or direct/indirect Applications in other related technical fields are included in the scope of patent protection of the present invention.

Claims (18)

1. A surgical instrument device, characterized in that the surgical instrument device includes a surgical instrument and a connector detachably connected to the surgical instrument, the surgical instrument includes a main control box and a drive box,

   The drive box includes a box body connected to the main control box, a base set in the box body, a bracket fixed on the base, and a control member pivotally connected to the bracket, the control The component includes a top part on one side away from the main control box, one end protruding from the drive box and located on one side of the main control box, and the other end is connected with the top part and pivoted on the bracket the control department;

   the connector has a fastener, the fastener is used to pass through the base and snap with the base;

   The control part is used to drive the abutting part to abut the fastener when one end of the driving box is subjected to a force, so that the abutting part is separated from the base, so that the driving box is separate from the connector.
2. The surgical instrument device according to claim 1, wherein the control part comprises an operation part extending out of the drive box and located on one side of the main control box, and a changer pivotally connected to the bracket One end of the reversing portion is movably connected with the operating portion, and the other end is movably connected with the abutting portion, and the operating portion is used to drive the reversing portion to move when being operated, thereby driving the The abutting portion abuts against the fastener to separate the fastener from the base.
3. The surgical instrument device according to claim 2, wherein the operating part comprises a first rotating shaft pivotally connected to the bracket, a pressing part and a main driving shaft disposed relative to the first rotating shaft; The direction portion includes a second rotating shaft pivotally connected to the bracket, a secondary drive shaft disposed opposite to the second rotating shaft, and a first movable end having a first movable groove; the abutting portion includes a pivotal connection to the bracket. a third rotating shaft on the upper part, a conflicting part provided relative to the third rotating shaft and a second movable end having a second movable groove;

   The main drive shaft is used to be movably connected in the first movable groove, and the slave drive shaft is used to be movably connected in the second movable groove; the interference portion is used to interfere with the fastener;

   The pressing part is used to drive the main drive shaft to rotate outward relative to the first rotating shaft and drive the first movable end to rotate outward when a force is applied, so that the slave drive shaft rotates relative to the first rotating shaft. The second rotating shaft rotates inwardly to drive the second movable end to rotate inwardly, so that the abutting portion abuts the fastener outwardly relative to the third rotating shaft.
4. The surgical instrument device according to claim 3, wherein the reversing portion further comprises an intermediate portion pivotally connected to the second rotating shaft, one end of the intermediate portion is connected to the slave drive shaft, and the other One end is connected to the first movable end, the slave drive shaft is parallel to the first movable end, the middle part is parallel to the base,

   The intermediate portion is used for rotating relative to the base when the slave driving shaft rotates inwardly relative to the second rotating shaft, so that the slave driving shaft rotates inwardly relative to the second rotating shaft.
5. The surgical instrument device according to claim 3, wherein the first rotation axis is parallel to the base, the second rotation axis is perpendicular to the base, and the third rotation axis is parallel to the base.
6. The surgical instrument device according to claim 2, wherein the drive box has a center line of symmetry and a center point located on the center line of symmetry, and the position and center of the abutting portion projected to the base The connecting line of the points is the first connecting line, the connecting line between the position where the operation part is projected to the base and the center point is the second connecting line, and the connecting line between the first connecting line and the symmetrical center line is the second connecting line. The included angle is an acute angle, and the second connecting line is perpendicular to the symmetrical center line.
7. The surgical instrument device according to claim 1, wherein the main control box further comprises a connecting portion fixedly connected with the housing, the housing comprising a chassis for fixedly connecting with the connecting portion, and A body extending from the chassis in a direction away from the connector, and the two operating parts are located on opposite sides of the body.
8. The surgical instrument device according to claim 1, wherein the main control box further comprises a rotating part connected to an end of the casing close to the driving box and rotatable relative to the casing, and the rotating part is rotatable relative to the casing. The inner side wall of the part is protruded with a convex part,

   The drive box further includes an extension portion extending from the periphery of the box body to the direction of the main control box, and the extension portion is concavely provided with a limiting groove in the first direction,

   The protruding part is used to be snapped into the limiting groove to fix the main control box on the drive box when the rotating part rotates in the first direction relative to the casing; When the rotating part rotates relative to the casing in a second direction opposite to the first direction, the rotating part escapes from the limiting groove, so that the main control box is separated from the driving box.
9. The surgical instrument device according to claim 1, wherein the drive box further comprises an extension portion extending from the peripheral edge of the box body in the direction of the main control box, and the main control box further comprises a connection with the main control box. The connection part of the housing is fixedly connected, the outer side wall of the connection part is protruded with a first protrusion, and the inner side wall of the extension part is protruded with a second protrusion, and the first protrusion is used for connecting with The second protrusion is snapped to fix the connection portion with the box body.
10. The surgical instrument device according to claim 9, wherein the housing comprises a base plate for connecting with the connecting portion, and the base plate is provided with one or more ridges protruding outward along a peripheral edge, so as to The protruding ridge portion is used to collide with the top wall of the extending portion facing the housing after the first protruding block is snapped with the second protruding block, so as to limit the direction of the connecting portion to the housing Keep moving.
11. The surgical instrument device according to claim 9, wherein a sliding block is further protruded on the outer side wall of the connecting portion, and the extending portion is concave in the direction of the connector at a position corresponding to the sliding block. A sliding groove is provided, and the sliding groove is used for guiding the sliding block to slide in so that the connecting portion is fixed on the driving box in a predetermined direction.
12. The surgical instrument device according to claim 1, wherein the main control box further comprises a connecting portion fixedly connected with the housing, and the connecting portion is protruded with a positioning portion toward the housing direction; The housing includes a chassis for connecting with the connecting portion, and the chassis is recessed with a through groove along its periphery,

    The positioning portion is used for matching with the through groove, so as to fix the housing and the connecting portion.
13. The surgical instrument device according to claim 1, wherein the main control box further comprises a connecting portion fixedly connected with the housing, the housing comprising a chassis for fixedly connecting with the connecting portion, and a body extending from the chassis away from the connector;

    The main control box further includes a rotating part connected to the chassis and rotatable relative to the chassis, the rotating part is provided with a bearing part protruding inwardly on the side away from the connector, and the drive box further includes a fixing part for carrying on the bearing part, the fixing part is provided with a plurality of mounting parts protruding inwardly along the circumferential direction, and the chassis is provided with a plurality of matching parts at the position corresponding to the fixing part,

    The mounting part is used for cooperating with the matching part, so that the rotating part rotates between the fixing part and the chassis.
14. The surgical instrument device according to claim 13, wherein the main control box further comprises an elastic part disposed between the carrying part and the chassis, the elastic part is used for connecting with the carrying part respectively against the chassis.
15. The surgical instrument device according to claim 1, wherein the main control box comprises a casing and a conducting hole provided on the casing, wherein the conducting hole is used for supplying one end of the control part stretch out.
16. The surgical instrument device according to claim 1, wherein the connector is protruded from the direction of the drive box with two oppositely arranged uprights, and the connecting lines of the two uprights on the connector are limited to Bit line, the box body is protruded with a limit part in the direction of the connector, and the limit part is used to be inserted between the two uprights and interfere with the two uprights, so as to restrict the box body along the The limit line moves relative to the connector.
17. The surgical instrument device according to claim 1, wherein 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.
18. A surgical robot, characterized in that, the surgical robot comprises the surgical instrument device according to any one of claims 1 to 17.

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