WO2023061184A1 - Surgical robot, surgical instrument, and force transmission device - Google Patents

Abstract

The present application relates to a surgical robot, a surgical instrument, and a force transmission device. The surgical robot comprises a mechanical arm, a power system, and a force transmission device; the power system is arranged on the mechanical arm and transmittingly connected to the force transmission device; the surgical instrument comprises a telescopic rod, an end effector, and the force transmission device; the proximal end of the telescopic rod is connected to the force transmission device, and the force transmission device is used for driving the telescopic rod to translate so as to actuate the end effector to move; the force transmission device comprises a driving module, a force transmission module, and an actuating module; the force transmission module is connected to the driving module, and can be driven by the driving module to execute a predetermined movement; the actuating module is connected to the force transmission module, and can be driven by the force transmission module to execute a target movement; and the actuating module is used for being in rigid contact with the surgical instrument and actuating the telescopic rod of the surgical instrument to translate. The present application can improve the force transmission efficiency, improve the movement control precision, simplify the force transmission structure, and reduce the assembly and manufacturing difficulty for force transmission.

Description

Surgical robots, surgical instruments and force transfer devices technical field

The present application relates to the technical field of medical instruments, in particular to a surgical robot, a surgical instrument and a force transmission device.

Background technique

Minimally invasive surgery has become a widely used procedure due to less trauma to the patient, less blood loss, and faster recovery time than traditional open incision surgery. Today minimally invasive procedures are typically performed by teleoperated surgical systems (eg, systems that utilize at least in part computer assistance to operate surgical instruments, such as instruments that utilize robotics). Compared with manual minimally invasive surgery, the teleoperated surgical system allows surgeons to achieve surgical operations with more intuitive control and higher precision, with higher surgical success rate and surgical efficiency. To perform the action directed by the surgeon, one or more actuation elements may be used to move the surgical instrument. Conventional surgical instruments include a drive system for moving the surgical instrument in more than one degree of freedom that actuates translation of a telescoping rod of the surgical instrument, which in turn actuates actuators at the end of the surgical instrument to open. combine. However, in the existing translational driving methods, most of them are realized by wire transmission, which has problems such as low motion control precision, low force transmission efficiency, complex transmission structure, and great difficulty in assembly and manufacturing.

Contents of the invention

In order to solve the problems in the prior art, the present application provides a surgical robot, a surgical instrument and a force transmission device, which can improve motion control precision and force transmission efficiency, simplify the force transmission structure, and reduce the difficulty of assembly and manufacture.

In order to achieve the above purpose, according to the first aspect of the present application, a force transmission device is provided for surgical instruments, including: a driving module; a force transmission module connected to the driving module and capable of A predetermined movement is performed under driving; and an actuation module is connected with the force transmission module and can perform a target movement under the actuation of the force transmission module, and the actuation module is used for rigid contact with the surgical instrument, and for actuating the telescoping rod of the surgical instrument to translate in a first direction.

Optionally, the drive module includes a connected drive shaft and a moving part, and the drive shaft can rotate to drive the moving part to move; the force transmission module is connected to the moving part and can The predetermined movement is performed under the driving of the moving member, the predetermined movement includes movement or rotation, and the first direction is parallel to the rotation axis of the driving shaft.

Optionally, the drive shaft is in rigid contact or flexible contact with the moving part, the force transmission module is in flexible contact or rigid contact with the moving part, and the force transmission module is in rigid contact with the actuation module.

Optionally, the target motion includes one of the following motions: translation in a first direction; swing in a second direction and translation in the first direction, the swing in the second direction can actuate the The translation in one direction; the opening and closing around the first direction; and the rotation around the second direction; wherein, the second direction is perpendicular to the first direction.

Optionally, the target motion includes translation along a first direction; the force transmission module can perform translation along the first direction driven by the moving member, and drive the actuating module to translate along the first direction .

Optionally, the drive shaft is a lead screw, the moving part is a nut, and the nut is mated with the lead screw; the force transmission module includes a transmission rod, and the first end of the transmission rod is connected to the The nut is fixedly connected, and the second end is fixedly connected with the actuating module; the rotation of the lead screw drives the nut to move along the first direction, and the nut drives the transmission rod to move along the first direction , the transmission rod drives the actuation module to translate along the first direction.

Optionally, the force transmission device further includes an instrument box, and the force transmission module further includes a limit shaft and a guide rod; the transmission rod has a limit groove; the first end of the limit shaft is fixed on the On the bottom of the instrument box, the second end passes through the limiting groove; the limiting groove can limit the rotation of the transmission rod around the first direction; the bottom of the instrument box is also provided with a guide block, The guide block has a guide groove extending along the first direction; the guide rod passes through the transmission rod, and opposite ends of the guide rod move in corresponding one of the guide grooves.

Optionally, guide parts are respectively provided at both ends of the guide rod, the guide parts have a first guide slope, and each of the guide grooves has a second guide slope matched with the first guide slope or, the two ends of the guide rod are respectively provided with bearings, and the bearings cooperate with the plane of the guide groove to slide relative to the plane.

Optionally, the actuating module includes two actuating members; the second end of the transmission rod is provided with a receiving groove, and the receiving groove is used to accommodate the proximal end of the telescopic rod; the two The actuators are symmetrically arranged in the receiving groove, the first ends of the two actuators are fixedly connected to the transmission rod, and the second ends are axially limited on the proximal end of the telescopic rod; The telescopic rod can rotate relative to the actuating module.

Optionally, the target motion includes swinging around a second direction and translation along a first direction; the force transmission module is configured to perform translation along a third direction driven by the moving member, and Driving the actuating module to swing around the second direction and translate along the first direction; the third direction, the second direction and the first direction are perpendicular to each other.

Optionally, the moving part is configured as a connecting rod, and the first end of the connecting rod is fixedly connected to the drive shaft; the force transmission device further includes an instrument box; the force transmission module includes a slider; the The second end of the connecting rod is slidably connected with the slider; the actuating module includes a driving rod and a parallelogram structure; the parallelogram structure includes a driven rod and a swing rod; the two swing rods are parallel set and the first end is hinged with the driven rod, and the second end is hinged with the bottom of the instrument box; the first end of the driving rod is fixedly connected with the slider, and the second end is connected with the driven rod The rods are slidably connected; the rotational movement of the drive shaft drives the slider to translate along the third direction through the connecting rod, and the slider drives the drive rod to translate along the third direction. The driving rod drives the two swing rods to swing synchronously around the second direction, and the two swing rods drive the driven rod to translate along the first direction.

Optionally, the force transmission module further includes a first pin and a second pin, both of which are fixedly arranged on the slider; the second end of the connecting rod is slidably connected to the first pin, The first end of the driving rod is fixedly connected with the second bolt.

Optionally, the actuating module includes two symmetrically arranged parallelogram structures, and the two driven rods in the two parallelogram structures are arranged in a U-shaped structure and close to the telescopic rod. The ends are clamped, and the telescopic rod can also rotate relative to the actuating module.

Optionally, the target movement includes opening and closing around a first direction; the force transmission module is configured to perform translation along a third direction driven by the moving member, and drive the actuating module Opening and closing around a first direction; the first direction, the second direction and the third direction are perpendicular to each other.

Optionally, the moving member is configured as a connecting rod; the first end of the connecting rod is fixedly connected to the drive shaft; the force transmission module includes a slider, and opposite sides of the slider are respectively provided with The first slope; the actuation module includes two oppositely arranged rotating arms, a first elastic structure and a second elastic structure; the two rotating arms can be opened and closed around the first direction; the two rotating arms The first elastic structure is connected between them; the second elastic structure is connected to the proximal end of the telescopic rod; the opposite side of each of the rotating arms is provided with a second slope and a third slope, and the second slope The second end of the connecting rod is slidably connected with the slider; the first slopes on the opposite sides of the slider are connected with the two The second slope of the rotating arm cooperates; the third slope of the two rotating arms cooperates with the slope on the telescopic rod; the rotation of the drive shaft drives the slider along the connecting rod through the connecting rod. Translating in the third direction, the slider drives the two rotating arms to rotate towards each other or back around the first direction to realize opening and closing.

Optionally, the actuating module further includes a rotating shaft, and the two rotating arms can rotate around the rotating shaft.

Optionally, the target movement includes a rotation around a second direction; the force transmission module is configured to be able to perform a rotation around the second direction driven by the moving member, and drive the actuation module around the second direction. Turn in the second direction.

Optionally, the moving part includes two driving wires; the force transmission module includes a rotating rod; the first ends of the two driving wires are fixed on the driving shaft, and the second ends are fixed on the On the rotating rod, the two driving wires are wound on the driving shaft in opposite directions; the rotating motion of the driving shaft drives the rotating rod to rotate around the second direction through the two driving wires.

Optionally, the force transmission module further includes a rotating shaft, one end of the rotating rod is rotatably sleeved on the rotating shaft, and the axis of the rotating shaft is consistent with the second direction.

Optionally, the force transmission device further includes several guide wheels, and the two driving wires are respectively guided by different guide wheels.

Optionally, the force transmission device further includes an instrument box, and the drive module, the force transmission module and the actuation module are all arranged in the instrument box.

To achieve the above purpose, according to the second aspect of the present application, a surgical instrument is provided, including a telescopic rod, an end effector, and any one of the force transmission devices, the end of the telescopic rod is connected to the end effector , the proximal end of the telescopic rod is connected to the force transmission device, and the force transmission device is used to drive the translation of the telescopic rod to actuate the movement of the end effector.

In order to achieve the above purpose, according to the third aspect of the present application, a surgical robot is provided, including a mechanical arm, a power system and any one of the force transmission devices, the power system is arranged on the mechanical arm and is connected with The force transmission device is in transmission connection.

In the above surgical robot, force transmission device and surgical instrument, the drive module drives the force transmission module to perform a predetermined movement, and finally the force transmission module drives the actuation module to perform a target movement, and the actuation module is used for rigid contact with the surgical instrument, And it is used to actuate the translation of the telescopic rod of the surgical instrument through the target movement; the force transmission method has high force transmission efficiency and high motion control precision, and can also be realized through a relatively simple structure, reducing the difficulty of assembly and manufacturing, and reducing the cost.

In the above-mentioned surgical robot, force transmission device and surgical instrument, the drive module preferably includes a connected drive shaft and a moving part, the rotation of the drive shaft is converted into the movement of the moving part, and the moving part drives the force transmission module to move or rotate, To simplify the structure of the force transmission device.

In the above surgical robot, force transmission device and surgical instrument, the drive shaft is in rigid contact or flexible contact with the moving part, the force transmission module is in flexible contact or rigid contact with the moving part, and the force transmission module is in contact with the moving part The actuating module is in rigid contact, preferably the drive shaft is in rigid contact with the moving part, the force transmission module is in rigid contact with the moving part, and the force transmission module is in rigid contact with the actuating module. At this time, the force More structures in the transmission device are in rigid contact, and the structure in rigid contact is a rigid component, with better force transmission efficiency and more precise motion control, and compared with wire transmission, it can also use a simpler mechanical structure To realize the transmission of force, and further reduce the difficulty of assembly and manufacture of force transmission.

In the above-mentioned surgical robot, force transmission device and surgical instrument, the driving module is preferably a screw nut assembly, which not only has a simple structure, is convenient to assemble, and has low manufacturing process difficulty, but also can realize proportional transmission, high force transmission efficiency, and precise motion control , large carrying capacity.

In the above-mentioned surgical robot, force transmission device and surgical instrument, the force transmission module is preferably a slider, and the actuation module preferably includes a parallelogram structure, so that the rotational movement of the drive shaft can be converted into the translational movement of the slider, and then by The translation of the slider drives the swing of the parallelogram structure. This force transmission method has high transmission efficiency and strong bearing capacity, and the motion accuracy can be better guaranteed.

In the above-mentioned surgical robot, force transmission device and surgical instrument, the actuation module preferably includes cross-arranged rotating arms, and the telescopic rod is driven to translate through the opening and closing of the rotating arms. This method is simpler in structure and convenient in assembly. Larger bearing capacity.

In the above-mentioned surgical robot, force transmission device and surgical instrument, the driving module preferably includes two driving wires, the force transmission module preferably includes a rotating rod, and the rotation of the rotating rod is driven by the two driving wires to drive the telescopic rod to translate. The structure of the force transmission method is also simple, and the assembly is also convenient. At the same time, the driving wire is elastic, which makes the force transmission process more stable.

Description of drawings

The features, properties and advantages of the methods of implementing the application and related embodiments will be described with reference to the following drawings, in which:

FIG. 1 is a schematic structural view of a slave end of a surgical robot system according to a preferred embodiment of the present application;

2 is a schematic diagram of power input and power output of a force transmission device according to a preferred embodiment of the present application;

Fig. 3 is a schematic diagram of the internal structure of the force transmission device of the first preferred embodiment of the present application;

Fig. 4 is a schematic top view of the force transmission device according to the first preferred embodiment of the present application;

Figure 5 and Figure 6 are schematic diagrams of the structure of the cooperation between the guide rod and the guide groove of the force transmission device of the first preferred embodiment of the present application;

Fig. 7 is a structural schematic diagram of the cooperation between the actuation module of the force transmission device and the proximal end of the telescopic rod and the transmission rod respectively in the first preferred embodiment of the present application;

Fig. 8 is a schematic diagram of the internal structure of the force transmission device according to the second preferred embodiment of the present application;

Fig. 9 is a schematic top view of the force transmission device according to the second preferred embodiment of the present application;

Fig. 10 is a schematic front view of the force transmission device according to the second preferred embodiment of the present application;

Fig. 11 is a structural schematic diagram of the cooperation between the parallelogram structure of the actuating module of the force transmission device and the telescopic rod according to the second preferred embodiment of the present application;

Fig. 12 is a schematic diagram of the internal structure of the force transmission device according to the third preferred embodiment of the present application;

Fig. 13 is a schematic top view of a force transmission device according to a third preferred embodiment of the present application;

Fig. 14 is a schematic structural diagram of the cooperation between the actuating module and the telescopic rod according to the third preferred embodiment of the present application;

Fig. 15 is a partially enlarged view of the structure in Fig. 14;

Fig. 16 is a schematic diagram of the internal structure of the force transmission device according to the fourth preferred embodiment of the present application;

Fig. 17 is a schematic top view of a force transmission device according to a fourth preferred embodiment of the present application;

Fig. 18 is a front structural schematic diagram of a force transmission device according to a fourth preferred embodiment of the present application.

In the figure: 100-surgical robot; 101-mechanical arm; 102-surgical trolley; 200-surgical instrument; 201-telescopic rod; 202-end effector; 300-force transmission device; Lead screw; 3012-nut; 302-transmission rod; 3021-accommodating groove; 303-actuating member; 304-limit shaft; 305-limit groove; 306-guide rod; -rotation assembly; 3071, 3181-drive shaft; 3072-connecting rod; 3073-sliding groove; 308, 313-slider; 309-driving rod; 310-parallelogram structure; 3111-driven rod; 3112-swing rod; 311-first pin; 312-second pin; 314-rotating arm; 315-first elastic structure; 316-second elastic structure; 317-rotation shaft; Rod; 320-rotating shaft; 321-guiding wheel; 400-instrument box; 401-guiding block; 402-guiding groove; 403-fixing part.

Detailed ways

In order to make the above-mentioned purpose, features and advantages of the present application more obvious and understandable, the specific implementation manners of the present application will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the application. However, the present application can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

The present application will be described in further detail below in conjunction with the accompanying drawings and specific embodiments. In this application, for ease of understanding, terms such as "proximal" and "distal" are used, which refer to the relative orientation, relative position, relative position of elements or actions relative to each other from the perspective of a doctor using the medical device ,direction. "Proximal" and "distal" are not limiting, but "proximal" or "rear" generally refers to the end of the member that is closest to the operator during normal operation, while "distal" or "terminal" or "Front end" generally refers to the end away from the operator. As used in this specification, the singular forms "a", "an" and "the" include plural referents unless the content clearly dictates otherwise.

As used in this specification, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise. As used in this specification, the terms "plurality" and "several" are generally used in the meaning including "two or more", unless the content clearly states otherwise. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or at least two of these features.

In this paper, "rigid contact" means that between two connecting parts, when the first connecting part is displaced, the second connecting part connected to it produces a corresponding displacement, but the displacement of the second connecting part is the same as The structural deformation of the first connector itself is irrelevant. At this time, it can be understood that the two connectors are both rigid components, and the structure of the rigid component hardly produces deformation without loss of force transmission power; in this paper, “flexible contact "It means that between two connecting parts, when the first connecting part is displaced, the second connecting part connected to it produces a certain displacement, but the displacement of the second connecting part is different from that of the first connecting part itself. Structural deformation is related, that is, the structural deformation of the first connecting part itself will affect the displacement of the second connecting part. At this time, it can be understood that at least one of the two connecting parts is a flexible part. In this paper, "rigid part" means that the structure does not deform or has little deformation under the action of external force; "flexible part" is relative to "rigid part", which means that the structure deforms under the action of external It can also recover its shape after external force is applied.

The application will be described in more detail below in conjunction with the accompanying drawings and preferred embodiments. In the case of no conflict, the following embodiments and the features in the embodiments may complement each other or be combined with each other.

Fig. 1 shows the structure of the slave end of a surgical robot system according to a preferred embodiment of the present application. As shown in Figure 1, a preferred embodiment of the present application provides a surgical robot system, including a master end, a control end and a slave end that communicate with each other; the master end and the control end are not shown in the figure; wherein the master The end includes an operation unit, and the slave end includes a surgical robot 100; the control end is respectively connected to the operation unit and the surgical robot 100 in communication, so that according to the received motion information of the operation unit and the preset master-slave mapping relationship, to control the movement of the surgical robot 100 . For example, the control end controls the surgical robot 100 to drive the surgical instrument to move according to the obtained moving speed of the operating unit, and controls the surgical robot 100 to drive the surgical instrument to rotate according to the obtained rotational angle or rotational speed of the operating unit. The operator and the master end are preferably located in different rooms from the slave end to achieve physical isolation between the operator and the patient. Both the master end and the slave end can also be placed separately in different hospitals and regions, and communicated and connected through remote communication technology. In this way, for example, during the diagnosis and treatment of respiratory diseases, the operator completes the required surgical operation according to the image information collected by the endoscope in another room, another hospital or another city, and the surgical robot 100 reproduces the operation of the operator. All actions, thereby realizing the physical isolation between the operator and the patient during the operation. This application has no special restrictions on the location of the control terminal, which can be set on the master terminal or the room where the master terminal is located, or can be set on the slave terminal or the room where the slave terminal is located, or can be set in an independent room.

Further, the operation unit is used for receiving position command and/or speed command, and feeding back position information and/or speed information to the control terminal. The control terminal is used to perform master-slave mapping calculation on the received position information and/or velocity information to calculate the desired position and/or velocity of the end of the surgical instrument, and accordingly control the surgical robot 100 to drive The surgical instrument is moved at a desired speed and/or to a desired position so that the tip of the surgical instrument attains a desired pose in the human body. The present application does not limit the types of surgical instruments, which may be instruments for performing surgical operations, or endoscopes for acquiring in-vivo images.

In an example, the operating unit may include an operating handle, and the operating handle includes a housing and an operating member movable relative to the housing. The operating part is used to teleoperate the movement of the surgical robot 100, that is, the control end controls the operation according to the received movement information (such as speed, angle, etc.) of the operating part relative to the housing and the preset master-slave mapping relationship. Surgical Robot 100 Movement. There may be one or more operating elements. When there is one operating element, it has three degrees of freedom, such as a spherical joint, and is used to establish a mapping relationship with the three joints of the surgical robot 100 . There may also be two operating elements, that is, a rotation control element and a movement control element. The rotation control member includes two degrees of freedom, for example, a Hooke hinge, a trackball or a joystick, and respectively establishes a mapping relationship with the rotation joint and the rotation joint of the surgical robot 100 . The movement control part establishes a mapping relationship with the movement joints of the surgical robot 100 . There may also be three operating elements, which are used to respectively establish mapping relationships with the three joints of the surgical robot 100 .

In another example, the operation unit includes a human-computer interaction device, and the human-computer interaction device includes various controls, which can control any one or more of the movement, bending, deflection, rotation, pitch, opening and closing of the surgical instrument. kind of exercise. The control terminal controls the movement of the surgical robot 100 according to the preset motion information (such as speed, angle, etc.) corresponding to each control on the human-computer interaction device and the preset master-slave mapping relationship. In this embodiment, the control may be a physical button or a virtual button.

Further, the master end further includes a display unit. The display unit is communicatively connected with the control terminal, and the display unit includes a main terminal interface for displaying. The human-computer interaction device is set on the main interface. In addition, the main terminal interface can also display surgical images. Correspondingly, the control terminal also includes the image signal processing and transmission module, and the image signal processing and transmission module is communicatively connected with the endoscope to receive information from the endoscope about the surgical environment (such as surgical instruments, Image signals of target lesions, tissues and organs and their surrounding tissues and organs, blood vessels), and perform image processing such as denoising and sharpening on the image signals. Further, the image signal processing and transmission module is also communicatively connected with the display unit, so that the display unit displays images according to the processed image signals, so that the operator can display images based on the images captured by the endoscope signal to proceed to the next step. The slave terminal also includes an auxiliary display unit for communicating with the control terminal. The auxiliary display unit includes a slave interface for display. The image information collected by the endoscope and/or interactive software prompts transmitted by the control terminal are set on the interface of the slave terminal. The auxiliary display unit is set in the operating room and is in the same room as the slave end.

Referring to Fig. 1, the surgical robot 100 of the present application includes a mechanical arm 101, and the end of the mechanical arm 101 is used to detachably connect the surgical instrument to drive the surgical instrument to move, so as to adjust the position and posture of the surgical instrument, so that the surgical instrument can be operated in a suitable manner. Angled insertion into the human body. After the surgical instrument is inserted into the human body, a certain working space is realized through the swing of the mechanical arm 101 and the swing of the end of the surgical instrument, so as to realize the surgical operation on the lesion of the patient on the operating bed. However, this application does not impose any limitation on the number of robotic arms 101. The number of robotic arms 101 should be set according to the needs of the operation. For example, in this embodiment, a plurality of robotic arms 101 can carry a surgical instrument for surgical operation.

Generally, the surgical robot 100 can also include a surgical trolley 102 on which all the robotic arms 101 are set. The operation trolley 102 can realize the large-scale movement of the surgical robot 100 in the operating room, making the operation process more convenient.

In addition, as shown in FIG. 2 , a preferred embodiment of the present application also provides a force transmission device 300 disposed at the end of the mechanical arm 101 to control the opening and closing of the end effector 202 of the surgical instrument 200 through the force transmission device 300 . In addition, the surgical robot 100 also includes a power system, which is arranged on the mechanical arm 101, usually at the end of the mechanical arm 101, and the driving force is provided by the power system to the force transmission device 300, and the power system generally includes a motor assembly. The rotation of the motor drives the force transmission device 300 to move, and the power system and the force transmission device 300 are connected through a transmission interface to realize power transmission between the two.

Fig. 2 shows the principle of power input and power output of a force transmission device 300 according to a preferred embodiment of the present application. As shown in FIG. 2 , the surgical instrument 200 specifically includes a telescopic rod 201 and an end effector 202 ; the end effector 202 is connected to the end of the telescopic rod 201 , and the end effector 202 includes, but is not limited to, capable of opening and closing. The proximal end of the telescopic rod 201 is connected to the force transmission device 300 , and the force transmission device 300 is used to control the translation of the telescopic rod 201 and actuate the opening and closing of the end effector 202 through the translation of the telescopic rod 201 .

In this embodiment, the force transmission device 300 specifically includes a driving module, a force transmission module and an actuation module. The force transmission module is connected to the driving module, and can perform a predetermined movement driven by the driving module, and the predetermined movement preferably includes movement or rotation; the actuation module is connected to the force transmission module, and The target movement can be performed under the driving of the force transmission module, and the actuation module is used for rigid contact with the surgical instrument and for actuating the telescopic rod 201 to translate along the first direction. In a preferred embodiment, the drive module includes a connected drive shaft and a moving part; the drive shaft can rotate on its own to drive the moving part to move, and the first direction is parallel to the rotation of the drive shaft axis, but the first direction is not limited to be a vertical direction.

In the prior art, the movement of the telescopic rod of the surgical instrument is mainly driven by wire transmission, but the transmission wire itself has a certain degree of elasticity, the friction force is also large, and it cannot bear a large force, so that the force transmission efficiency of the wire transmission is low , the motion control precision is also low. However, at least part of the structure of the force transmission device 300 of the present application is in rigid contact, for example, at least the actuation module needs to be in rigid contact with the surgical instrument, so as to improve the force transmission efficiency between the actuation module and the surgical instrument, and make motion control more efficient. Precise, ultimately improving the accuracy of the operation, shortening the operation time, and at the same time achieving force transmission through a relatively simple structure, reducing the difficulty of assembly and manufacturing of force transmission.

In addition, in a preferred embodiment, the moving part in the driving module and the drive shaft may be in rigid contact or flexible contact, preferably rigid contact, so that the force transmission efficiency is higher and the motion control is more precise. In addition, the force transmission module and the moving part can be in flexible contact or rigid contact, preferably rigid contact, so that the force transmission efficiency is higher and the motion control is more precise. Furthermore, there is preferably a rigid contact between the force transmission module and the actuation module. Any combination of these implementation modes is possible. And with more rigid contacts between structures, force transfer will be more efficient and motion control will be more precise.

In a preferred embodiment, the moving part in the driving module is in rigid contact with the drive shaft, the force transmission module is in rigid contact with the moving part, the force transmission module is in contact with the actuating The modules are in rigid contact. At this time, all the structures in the force transmission device 300 are in rigid contact without any flexible contact. The force transmission efficiency is better and the motion control is more precise. Compared with the flexible transmission, The force transmission can also be realized through a simpler mechanical structure, which further reduces the difficulty of assembling and manufacturing the force transmission.

In addition, a preferred embodiment of the present application also provides a surgical instrument 200, in addition to the telescopic rod 201 and the end effector 202, it also includes a force transmission device 300, the force transmission device 300 is used to drive the telescopic rod 201 to translate, so that The end effector 202 moves, and the movement of the end effector 202 is not limited to the opening and closing movement.

Next, the preferred way for the force transmission device 300 to control the translation of the telescopic rod 201 proposed in this application will be further described. And in the following description, the driving module includes a driving shaft and a moving part as a schematic illustration, but this does not limit the structure of the driving module in this application.

<First embodiment>

Fig. 3 shows a schematic diagram of the internal structure of the force transmission device according to the first preferred embodiment of the present application, and Fig. 4 shows a schematic top view of the structure of the force transmission device according to the first preferred embodiment of the present application.

In the first preferred embodiment of the present application, a force transmission device is provided, wherein the target motion of the actuation module includes translation along a first direction, and the force transmission module can perform translation along a second direction driven by the moving member. translate in one direction, drive the actuator module to translate in the first direction, and finally drive the telescopic rod 201 to translate in the first direction. In this method, the force transmission device as a whole is in rigid contact, that is, the force transmission device is a rigid component as a whole, so that the power transmission loss between the drive shaft and the surgical instrument is small, the force transmission efficiency is high, the motion control is more precise, and the force transmission The structure is simpler, and the structure is easier to assemble and manufacture.

It should be understood that the present application does not specifically limit the specific implementation manner in which the force transmission module can perform translation along the first direction driven by the moving element and drive the actuation module to translate along the first direction. In the following description, in addition to the screw nut assembly, the drive module can also be other structures that can convert rotary motion into linear motion, such as rack and pinion system transmission, worm gear system transmission, etc., that is to say, the technology in this field Personnel should know how to realize the driving module on the basis of the disclosure content of this application.

As shown in Figures 3 and 4, in a specific embodiment, the drive module includes a screw nut assembly 301, wherein the screw 3011 of the screw nut assembly 301 is the drive shaft, and the nut 3012 of the screw nut assembly 301 As a moving part, the nut 3012 is connected with the lead screw 3011 in cooperation. The force transmission module includes a transmission rod 302 , and the actuation module includes an actuator 303 . One end of the transmission rod 302 is fixedly connected with the nut 3012 , and the other end is fixedly connected with the actuator 303 . The actuating member 303 is in rigid contact with the proximal end of the telescopic rod 201, that is, the actuating member 303 is a rigid component, while the telescopic rod 201 can be a rigid component or a flexible component, for example, the telescopic rod 201 can be a flexible shaft. The present application does not specifically limit the manner of the fixed connection between the transmission rod 302 , the nut 3012 and the actuator 303 . In this embodiment, one end of the transmission rod 302 and the nut 3012 are fastened and fixed by screws.

In specific use, the force transmission device of this embodiment is configured as follows: the lead screw 3011 receives the driving force output by the power system, so that the lead screw 3011 performs autorotation as shown by arrow a1, and the rotation axis of the lead screw 3011 is in line with the first One direction b1 is parallel; driven by the lead screw 3011, the nut 3012 moves along the first direction b1, and the first direction b1 can be understood as including reciprocating motion; at the same time, driven by the nut 3012, the transmission rod 302 synchronously moves along the first direction b1 Move, and drive the actuator 303 and the telescopic rod 201 to translate along the first direction b1, and finally the translation of the telescopic rod 201 actuates the end effector 202 to open and close as shown by the arrow a2.

Preferably, the force transmission device further includes an instrument box 400 , and the drive module, force transmission module and actuation module are all arranged in the instrument box 400 . The instrument box 400 is detachably arranged at the end of the mechanical arm 101 . And for ease of understanding, only the base of the instrument box 400 is shown in the figure, but the structure of the instrument box 400 is the prior art, and those skilled in the art should know how to obtain a complete instrument box 400 .

Preferably, the force transmission module further includes a limiting structure, which is used to limit the rotational movement of the transmission rod 302 along with the nut 3012 . More preferably, the limiting structure includes a limiting shaft 304 and a limiting groove 305, one end of the limiting shaft 304 is fixed on the bottom (ie, the base) of the instrument case 400, and the other end passes through the limiting groove 305; The slot 305 can limit the rotation of the transmission rod 302 around the first direction b1. The present application does not limit the shape of the limiting groove 305 , for example, it is not limited to the waist-shaped hole shown in the figure.

Preferably, the force transmission module further includes a guide rod 306 for guiding the moving direction of the transmission rod 302 to ensure movement accuracy. The number of guide rods 306 is generally two, and are arranged at intervals along the first direction b1. In addition, a guide block 401 is also provided on the bottom of the instrument case 400, and the guide block 401 has a guide groove 402 extending along the first direction; the guide rod 306 passes through the transmission rod 302, and the opposite ends of the guide rod 306 are respectively in the Correspondingly move in a guide groove 402.

As shown in Figure 5, in one example, the two ends of the guide rod 306 are respectively provided with a guide portion 3061 with a first guide slope, and each guide groove 402 has a second guide slope matched with the first guide slope . Therefore, the guide rod 306 is guided by an inclined surface to reduce movement resistance.

As shown in Figure 6, in another example, the two ends of the guide rod 306 are respectively provided with bearings 3062, such as rolling bearings and sliding bearings, and the bearings 3062 can be matched with the plane of the guide groove 402, so that the bearings 3062 Sliding relative to a flat surface to reduce movement resistance.

As shown in FIG. 7 and in conjunction with FIG. 4 , in a specific embodiment, the actuating module includes two actuating members 303, and the other end of the transmission rod 302 is provided with a receiving groove 3021, and the receiving groove 3021 is used for Accommodate the proximal end of the telescopic rod 201; two actuators 303 are symmetrically arranged in the receiving groove 3021, one end of the two actuators 303 is fixedly connected to the transmission rod 302, and the other end is axially limited to the proximal end of the telescopic rod 201 end and achieve rigid contact, but the telescopic rod 201 can rotate relative to the actuating module, that is, the actuating member 303 only remains relatively stationary with the telescopic rod 201 in the axial direction, but the actuating member 303 does not limit the telescopic rod 201 rotation movement. In this embodiment, an annular groove (not marked) is formed at the proximal end of the telescopic rod 201 , and one end of the actuator 303 is snapped into the annular groove for connection. However, the shape of the actuator 303 is not limited, for example, the actuator 303 may be a cylindrical structure. Therefore, the arrangement of the annular groove can not only allow the actuating member 303 to drive the telescopic rod 201 to translate, but also prevent the actuating member 303 from interfering with the rotation movement of the telescopic rod 201 .

In this embodiment, the force transmission is realized through the screw nut assembly 301 and the transmission rod 302. The structure is simple, the assembly is convenient, the manufacturing process is not difficult, and the proportional transmission can be realized, the force transmission efficiency is high, the motion control is accurate, and the bearing capacity big.

<Second Embodiment>

Fig. 8 shows a schematic view of the internal structure of the force transmission device of the second preferred embodiment of the present application, Fig. 9 shows a schematic top view of the force transmission device of the second preferred embodiment of the present application, and Fig. 10 shows a schematic diagram of the structure of the force transmission device of the second preferred embodiment of the present application The schematic diagram of the front view structure of the force transmission device of the second preferred embodiment.

In a second preferred embodiment of the present application, a force transmission device is provided, wherein the target motion of the actuation module includes a swing around a second direction and a translation along a first direction, the swing around the second direction can actuate The translation along the first direction, and the force transmission module can perform the translation along the third direction driven by the moving part, and drive the actuation module to swing around the second direction and translate along the first direction ; The third direction, the second direction and the first direction are perpendicular to each other. In this method, the force transmission device as a whole is also in rigid contact, that is, the force transmission device is a rigid part as a whole, so that the power transmission loss between the drive shaft and the surgical instrument is small, the force transmission efficiency is high, and the structure of the force transmission is relatively small. Simple, as long as the rotational motion is converted into the translational movement of the slider, and the parallelogram structure is driven by the translation of the slider, and finally the parallelogram structure is used to actuate the telescopic rod for translation. This method is also easy to assemble and manufacture in terms of structure. In particular, the parallelogram structure has a strong bearing capacity and can ensure movement precision.

It should also be understood that in the present application, the force transmission module can perform translation along the third direction driven by the moving part, and drive the actuation module to swing around the second direction and translate along the first direction. Not limited. As in the following description, in addition to the drive rod and parallelogram structure, other structures that can convert the linear movement of the slider into swing and vice versa, such as cam mechanism, linkage mechanism, etc., can also be used. That is, those skilled in the art should know how to realize the force transmission module on the basis of the disclosure content of the present application.

As shown in Fig. 8 to Fig. 10, in a specific embodiment, the driving module includes a rotating assembly 307, and the rotating assembly 307 includes a driving shaft 3071 and a connecting rod 3072, and the connecting rod 3072 is a moving part. One end of the connecting rod 3072 is fixedly connected with the drive shaft 3071 . The force transmission module includes a slider 308 , and the other end of the connecting rod 3072 is slidably connected with the slider 308 . The actuation module includes a driving rod 309 and a parallelogram structure 310; the parallelogram structure 310 includes a driven rod 3111 and a swing rod 3112; The bottom of the box 400 is hinged; one end of the driving rod 309 is fixedly connected to the slider 308, and the other end is slidably connected to the driven rod 3111; the driven rod 3111 is used for rigid contact with the proximal end of the surgical instrument.

In specific use, the force transmission device is configured as: the drive shaft 3071 receives the power output by the power system, so that the drive shaft 3071 performs autorotation as shown by arrow a3, and the autorotation axis of the drive shaft 3071 is parallel to the first direction b1 ; driven by the drive shaft 3071, the connecting rod 3072 can only move due to the rotation constraint; and driven by the connecting rod 3072, the slider 308 moves along the third direction b2, the third direction b2 is perpendicular to the second direction and The first direction b1 and the third direction can be understood as including reciprocating motion; at the same time, under the drive of the slider 308, the driving rod 309 also moves along the third direction b2, and drives the two swing rods 3112 around the second direction as shown by the arrow a4. direction to swing synchronously, and finally the two swing rods 3112 drive the driven rod 3111 to translate along the first direction b1.

Further, the force transmission module further includes a first pin 311 and a second pin 312 , both of which are fixed on the slider 308 . The other end of the connecting rod 3072 is slidably connected to the first pin 311 , and one end of the driving rod 309 is fixedly connected to the second pin 312 . Optionally, the other end of the connecting rod 3072 is provided with a sliding slot 3073 , and the first pin 311 is inserted into the sliding slot 3073 .

As shown in FIG. 11 , in a specific embodiment, the actuating module includes two symmetrically arranged parallelogram structures 310, and two driven rods 3111 in the two parallelogram structures 310 are arranged in a U-shaped structure and It is clamped with the proximal end of the telescopic rod 201, and the telescopic rod 201 can also rotate relative to the actuating module. More specifically, the parallelogram structure 310 is symmetrically arranged on two opposite sides of the telescopic rod 201, and the driven rod 3111 in each parallelogram structure 310 snaps into the I-shaped annular groove at the proximal end of the telescopic rod 201 for rigid contact. , not only can drive the telescopic rod 201 to translate, but also do not interfere with the rotation of the telescopic rod 201. Similarly, in this embodiment, the telescopic rod 201 may be a rigid component or a flexible component, for example, the telescopic rod 201 may be a flexible shaft.

In this embodiment, the parallelogram structure 310 is driven to swing by the slider 308 , which has high force transmission efficiency and large bearing capacity, and can effectively ensure motion control precision.

<Third embodiment>

Fig. 12 shows a schematic view of the internal structure of the force transmission device of the third preferred embodiment of the present application, Fig. 13 shows a schematic top view of the force transmission device of the third preferred embodiment of the present application, and Fig. 14 shows a schematic view of the structure of the force transmission device of the third preferred embodiment of the present application The structural schematic diagram of the cooperation between the actuating module and the telescopic rod in the third preferred embodiment, FIG. 15 is a partial enlarged view of the structure in FIG. 14 .

In a third preferred embodiment of the present application, a force transmission device is provided, wherein the target movement of the actuation module includes opening and closing around a first direction, and the force transmission module is configured to be able to is driven to perform translation along the third direction, and drives the actuating module to open and close around the first direction; the first direction, the second direction and the third direction are perpendicular to each other. In this method, the force transmission device as a whole is also in rigid contact, that is, the force transmission device is a rigid part as a whole, which also makes the power transmission loss between the drive shaft and the surgical instrument small, the force transmission efficiency is high, and the motion control is more precise. The transfer structure is simple and structurally easy to assemble and manufacture. Specifically, as long as the rotational motion is converted into the movement of the slider, and the movement of the slider drives the structure to open and close, and the opening and closing movement finally actuates the telescopic rod to translate, wherein the load capacity of the opening and closing structure is good.

It should also be understood that the present application does not limit the specific implementation manner in which the force transmission module can perform translation along the third direction driven by the moving member and drive the actuating module to open and close around the first direction. As in the following description, in addition to the slider, another connecting rod can also be used to drive the opening and closing of the rotating arm. In addition, the rotating arm is not limited to driving the telescopic rod to move through a slope, such as a push-pull rod. Therefore, Those skilled in the art should also know how to realize the opening and closing of the mechanism and how to convert the opening and closing movement into linear movement according to the known technology.

As shown in FIGS. 12 to 15 , in a specific embodiment, the driving module includes a rotating assembly 307 , and the rotating assembly 307 includes a driving shaft 3071 and a connecting rod 3072 , and the connecting rod 3072 is a moving part. One end of the connecting rod 3072 is fixedly connected with the drive shaft 3071 . Different from the second preferred embodiment, the structure of the slider 313 in the force transmission module of this embodiment is improved, wherein the other end of the connecting rod 3072 is slidably connected with the slider 313, and the opposite end of the slider 313 First slopes (not labeled) are provided on both sides respectively. The actuating module includes two oppositely arranged rotating arms 314 , a first elastic structure 315 and a second elastic structure 316 . The two rotating arms 314 can be opened and closed around the first direction b, that is, opened and closed in the direction shown by the arrow a5; and the first elastic structure 315 is connected between the two rotating arms 314, and the first elastic structure 315 can provide elastic force to The opening and closing of the rotating arm 314 is realized; the second elastic structure 316 is connected to the proximal end of the telescopic rod 201 , and the second elastic structure 316 can provide elastic force to realize the movement and reset of the telescopic rod 201 . Wherein the opposite side of each rotating arm 314 is provided with a second slope and a third slope, the second slope and the third slope are respectively arranged at the two ends of the rotating arm 314; End rigid contact.

In specific use, the first slopes on opposite sides of the slider 313 cooperate with the second slopes of the two rotating arms 314 , so that the rotating arms 314 are driven to open and close through the cooperation between the second slopes and the first slopes. In addition, the third slopes of the two rotating arms 314 cooperate with the slopes on the telescopic rod 201 , so that the telescopic rod 201 is driven to translate along the first direction b1 through the rigid contact between the third slope and the slope at the proximal end of the telescopic rod 201 .

In this embodiment, the drive shaft 3071 receives the power output by the power system, so that the drive shaft 3071 performs autorotation, and the autorotation axis of the drive shaft 3071 is parallel to the first direction; driven by the drive shaft 3071, the connecting rod 3072 is Rotational constraints and can only move; and driven by the connecting rod 3072, the slider 313 moves along the third direction b2, the third direction b2 is perpendicular to the second direction and the first direction b1, the third direction can be understood as including reciprocating motion At the same time, driven by the slider 313, the two rotating arms 314 rotate toward each other or back to each other around the first direction to realize opening and closing, and finally drive the telescopic rod 201 to translate along the first direction b1.

In more detail, when the slider 313 moves positively in the third direction b2, the two rotating arms 314 are closed, and the first elastic structure 315 compresses and stores elastic potential energy; and when the slider 313 moves negatively in the third direction b2 When moving in the direction, the first elastic structure 315 releases the elastic potential energy, so that the two rotating arms 314 are opened. It should be understood that the closing or opening of the rotating arm 314 actually cooperates with the second elastic structure 316 to drive the telescopic rod 201 to translate. For example, when the two rotating arms 314 close and move, the telescopic rod 201 is driven to move vertically upward, and the first elastic structure 315 and the second elastic structure 316 are compressed; otherwise, when the two rotating arms 314 open and move, the first elastic structure 315 And the second elastic structure 316 releases the elastic potential energy, driving the telescopic rod 201 to move vertically downward.

Further, the actuating module further includes a rotating shaft 317 around which the two rotating arms 314 can rotate in different directions, and the axis of the rotating shaft 317 is parallel to the first direction.

Optionally, the opposite side of each rotating arm 314 is provided with a mounting portion, which can be used to sleeve the first elastic structure 315 . In addition, a fixing part 403 can be provided on the bottom of the instrument box 400, the second elastic structure 316 is sheathed on the proximal end of the telescopic rod 201, and one end of the second elastic structure 316 is fixed on the fixing part 403, and the other end can be connected or abutted against. Connect one end face of telescopic rod 201. The first elastic structure 315 and the second elastic structure 316 are preferably springs.

In this embodiment, the output of the translational motion is realized through two intersecting rotating arms, which not only has a simple structure, is convenient to assemble and manufacture, but also has high force transmission efficiency, good motion control precision, and large bearing capacity.

<Fourth Embodiment>

Fig. 16 shows a schematic diagram of the internal structure of the force transmission device of the fourth preferred embodiment of the application, Fig. 17 shows a schematic top view of the force transmission device of the fourth preferred embodiment of the application, and Fig. 18 shows a schematic diagram of the structure of the force transmission device of the fourth preferred embodiment of the application Schematic diagram of the front view structure of the force transmission device of the fourth preferred embodiment.

In a fourth preferred embodiment of the present application, a force transmission device is provided, wherein the target movement of the actuation module includes rotation around the second direction, and the force transmission module is configured to be capable of driving the moving member perform rotation around the second direction, and drive the actuating module to rotate around the second direction. In this way, one part of the force transmission device is a rigid contact, and the other part is a flexible contact, that is, a part of the force transmission device is a rigid part and a part is a flexible part. Specifically, the moving part is a flexible part, and the rest are rigid parts. At this time, while ensuring sufficient force transmission efficiency and motion control accuracy, the stability of motion can be improved, and the difficulty of assembling and manufacturing the structure will also be reduced. reduce. Specifically, as long as the rotational motion is converted into the movement of the wire, and the movement of the wire drives the structure to swing, and the swing motion finally actuates the telescopic rod for translation.

As shown in FIGS. 16 to 18 , in a specific embodiment, the driving module includes a wire transmission assembly 318 , and the wire transmission assembly 318 includes a driving shaft 3181 and a driving wire 3182 , wherein the driving wire 3182 is a moving part. Different from the above embodiments, the force transmission module of this embodiment includes a rotating rod 319 . One ends of the two driving wires 3182 are fixed on the driving shaft 3181 , and the other ends are fixed on the rotating rod 319 . Two drive wires 3182 are wound on the drive shaft 3181 in opposite directions. Moreover, two driving wires 3182 fixedly connected to the rotating rod 319 are arranged symmetrically on opposite sides of the rotating rod 319 to drive the rotating rod 319 to rotate around the second direction.

In this embodiment, the drive shaft 3181 receives the power output by the power system, so that the drive shaft 3181 rotates, and the rotation axis of the drive shaft 3181 is parallel to the first direction; driven by the drive shaft 3181, the two drive wires 3182 One is tightened and the other is loosened, and the rotating rod 319 is pulled to rotate around the second direction in the direction shown by arrow a6; the rotation of the rotating rod 319 also synchronously drives the actuator 303 to rotate around the second direction, but because the actuator 303 rotates around the second direction Rotation in two directions is restricted, so that the actuator 303 can only drive the telescopic rod 201 to translate along the first direction b1.

Further, the force transmission module further includes a rotating shaft 320, one end of the rotating rod 319 is rotatably sleeved on the rotating shaft 320, and the axis of the rotating shaft 320 is consistent with the second direction. Further, the force transmission device also includes several guide wheels 321, and the two driving wires 3182 are respectively guided by different guide wheels 321, so that the two driving wires 3182 extend in different directions, and the transmission process is realized through the guide wheels 321 tension in.

Further, the actuating member 303 in the actuating module is preferably snapped into the annular groove at the proximal end of the telescopic rod 201 for rigid contact, which can drive the telescopic rod 201 to move without interfering with the rotation of the telescopic rod 201 .

In this embodiment, two driving wires 3182 drive the rotation of the rotating rod 319 to drive the telescopic rod 201 to translate. This force transmission method has a simpler structure and is more convenient to assemble and manufacture. At the same time, the driving wires 3182 are elastic, so that the force transmission The process is more stable.

It should be understood that the above description is only a preferred embodiment of the application, and is not intended to limit the application in any form and in substance, and that although the innovation of the application originates from the opening and closing movement of the end effector, the technology in the field Personnel can understand that the force transmission device of the present application can also be applied to drive the end effector to perform motions such as pitching and yaw.

It should be pointed out that those skilled in the art can make some improvements and supplements without departing from the method of the present application, and these improvements and supplements should also be regarded as the protection scope of the present application. Those who are familiar with this profession, without departing from the spirit and scope of this application, when they can use the technical content disclosed above to make some changes, modifications and equivalent changes of evolution, are the equivalent changes of this application. At the same time, any modification, modification and evolution of any equivalent changes made to the above-mentioned embodiments according to the substantive technology of the present application still belong to the scope of the technical solution of the present application.

Claims (23)

1. A force transmission device for a surgical instrument, characterized in that it comprises:

   drive module;

   a force transmission module, connected to the driving module, and capable of performing a predetermined movement driven by the driving module; and

   an actuation module, connected to the force transmission module, capable of performing target motion under the drive of the force transmission module, and the actuation module is used for rigid contact with the surgical instrument, and is used for actuating the surgical instrument A telescoping rod of the instrument translates in a first direction.
2. The force transmission device according to claim 1, wherein the drive module includes a connected drive shaft and a moving part, and the drive shaft can rotate on its own to drive the moving part to move; the force transmission module and The moving part is connected and can perform the predetermined movement driven by the moving part, the predetermined movement includes movement or rotation, and the first direction is parallel to the rotation axis of the driving shaft.
3. The force transmission device according to claim 2, wherein the drive shaft is in rigid or flexible contact with the moving part, the force transmission module is in flexible or rigid contact with the moving part, and the force transmission A module is in rigid contact with the actuation module.
4. The force transfer device of claim 2, wherein the target motion comprises one of the following motions:

   translation along said first direction;

   oscillation about a second direction and translation in said first direction, said oscillation about said second direction actuating said translation in said first direction;

   opening and closing about said first direction; and

   rotation about the second direction;

   Wherein, the second direction is perpendicular to the first direction.
5. The force transfer device of claim 4, wherein said target motion comprises translation in said first direction;

   The force transmission module can perform translation along the first direction driven by the moving member, and drive the actuation module to translate along the first direction.
6. The force transmission device according to claim 5, wherein the drive shaft is a lead screw, the moving part is a nut, and the nut is mated with the lead screw;

   The force transmission module includes a transmission rod, the first end of the transmission rod is fixedly connected to the nut, and the second end is fixedly connected to the actuating module;

   The rotation of the lead screw drives the nut to move along the first direction, the nut drives the transmission rod to move along the first direction, and the transmission rod drives the actuation module to move along the first direction. Direction translation.
7. The force transmission device according to claim 6, characterized in that, the force transmission device also includes an instrument box, and the force transmission module further includes a limit shaft and a guide rod; the transmission rod has a limit groove;

   The first end of the limiting shaft is fixed on the bottom of the instrument box, and the second end passes through the limiting groove; the limiting groove can limit the rotation of the transmission rod around the first direction;

   The bottom of the instrument box is also provided with a guide block, the guide block has a guide groove extending along the first direction; the guide rod passes through the transmission rod, and the opposite ends of the guide rod are respectively Move in the corresponding one of the guide grooves.
8. The force transmission device according to claim 7, wherein the two ends of the guide rod are respectively provided with guide parts, the guide parts have a first guide slope, and each of the guide grooves has a The second guide slope matched with the first guide slope; or, the two ends of the guide rod are respectively provided with bearings, and the bearings cooperate with the plane of the guide groove to slide relative to the plane.
9. The force transmission device according to claim 6, wherein the actuating module comprises two actuating members;

   The second end of the transmission rod is provided with a receiving groove, and the receiving groove is used to accommodate the proximal end of the telescopic rod; the two actuators are symmetrically arranged in the receiving groove, and the two The first ends of the actuators are fixedly connected to the transmission rod, and the second ends are axially limited on the proximal end of the telescopic rod; the telescopic rod can rotate relative to the actuating module.
10. The force transfer device of claim 4, wherein said target motion comprises oscillation about said second direction and translation along said first direction;

    The force transmission module can perform translation along the third direction driven by the moving part, and drive the actuation module to swing around the second direction and translate along the first direction; the third direction , the second direction and the first direction are perpendicular to each other.
11. The force transmission device according to claim 10, wherein the moving part is a connecting rod, and the first end of the connecting rod is fixedly connected to the drive shaft; the force transmission device also includes an instrument box;

    The force transmission module includes a slider; the second end of the connecting rod is slidably connected to the slider;

    The actuating module includes a driving rod and a parallelogram structure; the parallelogram structure includes a driven rod and a swing rod; two swing rods are arranged in parallel and the first ends are hinged with the driven rod, and the second ends Hinged to the bottom of the instrument box; the first end of the driving rod is fixedly connected to the slider, and the second end is slidably connected to the driven rod;

    The rotary motion of the drive shaft drives the slider to translate along the third direction through the connecting rod, the slider drives the drive rod to translate along the third direction, and the drive rod drives the two The swing rods swing synchronously around the second direction, and the two swing rods drive the driven rod to translate along the first direction.
12. The force transmission device according to claim 11, wherein the force transmission module further comprises a first pin and a second pin, both of which are fixedly arranged on the slider; the second end of the connecting rod It is slidably connected with the first bolt, and the first end of the driving rod is fixedly connected with the second bolt.
13. The force transmission device according to claim 11, wherein the actuating module comprises two symmetrically arranged parallelogram structures, and the two driven rods in the two parallelogram structures are arranged as The U-shaped structure is engaged with the proximal end of the telescopic rod, and the telescopic rod can also rotate relative to the actuating module.
14. The force transfer device of claim 4, wherein said target motion comprises opening and closing about said first direction;

    The force transmission module can perform translation along the third direction driven by the moving part, and drive the actuation module to open and close around the first direction; the first direction, the second direction and The third directions are perpendicular to each other.
15. The force transmission device according to claim 14, wherein the moving member is a connecting rod; the first end of the connecting rod is fixedly connected to the drive shaft;

    The force transmission module includes a slider, and the opposite sides of the slider are respectively provided with first slopes;

    The actuating module includes two oppositely arranged rotating arms, a first elastic structure and a second elastic structure; the two rotating arms can be opened and closed around the first direction; the two rotating arms are connected The first elastic structure; the second elastic structure is connected to the proximal end of the telescopic rod; the opposite side of each of the rotating arms is provided with a second slope and a third slope, and the second slope and the first slope Three slopes are respectively arranged at both ends of the rotating arm;

    The second end of the connecting rod is slidably connected with the slider; the first slopes on opposite sides of the slider cooperate with the second slopes of the two rotating arms; The third slope cooperates with the slope on the telescopic rod;

    The rotary motion of the drive shaft drives the slider to translate along the third direction through the connecting rod, and the slider drives the two rotating arms to rotate toward each other or back around the first direction to realize opening and closing. combine.
16. The force transmission device according to claim 15, wherein the actuating module further comprises a rotating shaft, and the two rotating arms can rotate around the rotating shaft.
17. The force transfer device of claim 4, wherein said target motion comprises rotation about said second direction;

    The force transmission module is capable of rotating around the second direction driven by the moving member, and drives the actuating module to rotate around the second direction.
18. The force transmission device according to claim 17, wherein the moving member comprises two driving wires; the force transmission module comprises a rotating rod;

    The first ends of the two driving wires are fixed on the driving shaft, and the second ends are fixed on the rotating rod, and the two driving wires are wound on the driving shaft in opposite directions;

    The rotational movement of the driving shaft drives the rotating rod to rotate around the second direction through the two driving wires.
19. The force transmission device according to claim 18, wherein the force transmission module further comprises a rotating shaft, one end of the rotating rod is rotatably sleeved on the rotating shaft, and the axis of the rotating shaft is in line with the first rotating shaft. The two directions are the same.
20. The force transmission device according to claim 18, further comprising several guide wheels, and the two driving wires are respectively guided by different guide wheels.
21. The force transmission device according to any one of claims 1-3, further comprising an instrument box, the drive module, the force transmission module and the actuation module are all arranged in the instrument box .
22. A surgical instrument, characterized in that it comprises a telescopic rod, an end effector, and the force transmission device according to any one of claims 1-21, the end of the telescopic rod is connected to the end effector, and the telescopic rod The proximal end of the rod is connected to the force transmission device, and the force transmission device is used to drive the translation of the telescopic rod to actuate the movement of the end effector.
23. A surgical robot, characterized in that it comprises a mechanical arm, a power system, and the force transmission device according to any one of claims 1-21, the power system is arranged on the mechanical arm and communicates with the force Device transmission connection.

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