WO2023103982A1 - 手术器械及手术机器人 - Google Patents

手术器械及手术机器人 Download PDF

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Publication number
WO2023103982A1
WO2023103982A1 PCT/CN2022/136646 CN2022136646W WO2023103982A1 WO 2023103982 A1 WO2023103982 A1 WO 2023103982A1 CN 2022136646 W CN2022136646 W CN 2022136646W WO 2023103982 A1 WO2023103982 A1 WO 2023103982A1
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WO
WIPO (PCT)
Prior art keywords
transmission
swing
rod
surgical instrument
firing
Prior art date
Application number
PCT/CN2022/136646
Other languages
English (en)
French (fr)
Inventor
孙培原
吴渡江
王建辰
Original Assignee
深圳市精锋医疗科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202111479365.3A external-priority patent/CN116269801A/zh
Priority claimed from CN202111479385.0A external-priority patent/CN116269803A/zh
Priority claimed from CN202111481947.5A external-priority patent/CN116269806A/zh
Priority claimed from CN202111479383.1A external-priority patent/CN116269802A/zh
Application filed by 深圳市精锋医疗科技股份有限公司 filed Critical 深圳市精锋医疗科技股份有限公司
Publication of WO2023103982A1 publication Critical patent/WO2023103982A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots

Definitions

  • the present application relates to the technical field of medical devices, in particular to a surgical device and a surgical robot.
  • Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopy and thoracoscopy 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.
  • a minimally invasive surgical robot usually includes a main operation console and a slave operation device.
  • the master operation console is used to send control commands to the slave operation device according to the doctor's operation to control the slave operation device. control commands and perform corresponding surgical operations.
  • a surgical instrument that can be detached from the secondary operating device is connected to the secondary operating device, and the surgical instrument includes a driving device and an end effector for performing operations.
  • the actuators of existing surgical instruments are usually driven by helical to linear motion, which cannot avoid the rotation of the guide rod itself, so decoupling operations need to be performed within the system control, resulting in complex actuator drive mechanisms and easy to get stuck.
  • One of the objectives of the embodiments of the present application is to provide a surgical instrument and a surgical robot, aiming at solving the technical problem that the moving linear motion driving mechanism of the actuator is complicated and easy to get stuck.
  • a surgical instrument including an actuator for performing surgery, and the surgical instrument further includes:
  • the drive plate is used to connect with the mechanical arm of a surgical robot and receive the power of the mechanical arm;
  • the active part is used for transmission connection with the drive plate to output rotational motion
  • a driven member the driven member is in screw transmission cooperation with the active member, and the driven member moves along a straight line under the drive of the active member;
  • a limiter the limiter forms a circumferential limit fit and an axial sliding fit connection with the follower;
  • a firing part is connected with the execution part, the firing part moves along a straight line driven by the driven part and triggers the execution part to perform an action.
  • a surgical instrument including an actuator for performing surgery, and the surgical instrument further includes:
  • clamping the driving disk is used to connect with the mechanical arm of a surgical robot and receive the power of the mechanical arm;
  • a transmission mechanism the transmission mechanism includes a driving wheel and a driven wheel, the driving wheel is used to connect with the clamping drive plate to output rotational motion, the driven wheel is in transmission connection with the driving wheel, and the driven wheel is tubular;
  • a rotation tube, the rotation tube sleeve is inserted into the driven wheel and rotates together with the driven wheel, and the rotation tube is provided with a chute;
  • the clamping tube is connected to the chute through a first rotation key, so as to follow the rotation of the rotation tube when the rotation tube rotates, the first rotation key can slide along the chute to
  • the clamping tube is moved axially relative to the rotation tube, and the actuator includes a pincer head.
  • the pincer head of the actuator is driven to perform a clamping action.
  • a surgical robot a master operating console and slave operating equipment, where the slave operating equipment includes the aforementioned surgical instruments.
  • the beneficial effect of the surgical instrument provided by the embodiment of the present application is that the rotation of the follower is limited by the limiter, so that the follower can move relative to the active member but cannot rotate, and the effectiveness of the movement of the follower is improved.
  • the mechanical limit method limits the rotation of the follower, without the need for a complex decoupling structure.
  • the mobile transmission structure of the surgical instrument and the actuator of the surgical robot is simple and the transmission reliability is high, and it is not easy to get stuck.
  • the beneficial effect of the surgical instrument provided by the embodiment of the present application lies in that the rotation tube and the clamping tube of the surgical instrument form a connection that can slide relative to each other but cannot rotate relative to each other through the cooperation of key grooves, and realize the independent action of the rotation and clamping action of the forceps head.
  • the independent transmission of multiple transmission mechanisms is realized in the pipe fittings, and the mutual cooperation structure relies on non-rotational cooperation to realize the transmission of self-rotation motion, and relies on slidability to realize movement decoupling.
  • the structure is simple and the movement independence is good.
  • the beneficial effect of the surgical robot provided by the embodiment of the present application lies in that: through the arrangement of the above-mentioned surgical instrument, the moving transmission structure of the actuator of the surgical robot is simple, the transmission reliability is high, and it is not easy to get stuck.
  • Figure 1 is an overall schematic diagram of a surgical instrument provided by an embodiment of the present application.
  • Fig. 2 is a partially enlarged and partially cut-away structural schematic diagram of the surgical instrument in Fig. 1;
  • Fig. 3 is a schematic diagram of the assembly structure of the base of the surgical instrument provided in this embodiment
  • Fig. 4 is a schematic diagram of the assembly structure of the mobile drive mechanism of the surgical instrument provided in this embodiment
  • Fig. 5 is a partial structural assembly front view of the mobile transmission mechanism provided by the embodiment of the present application.
  • Fig. 6 is a schematic diagram of the exploded structure of Fig. 5;
  • Fig. 7 is a schematic structural diagram of the first segment of the mobile transmission mechanism provided by the embodiment of the present application.
  • Fig. 8 is a schematic structural diagram of the first segment of the mobile transmission mechanism provided by the embodiment of the present application.
  • Fig. 9 is a schematic diagram of the third section of the mobile transmission mechanism provided by the embodiment of the present application.
  • Fig. 10 is a schematic structural diagram of the connection between the cutter head assembly and the base rod of the mobile transmission mechanism provided by the embodiment of the present application;
  • Fig. 11 is a schematic diagram of the exploded structure of Fig. 10;
  • Fig. 12 is a partial structural schematic diagram of a surgical instrument provided by an embodiment of the present application.
  • Fig. 13 is a sectional view of Fig. 12;
  • Fig. 14 is a schematic diagram of the assembly structure of the swing driving mechanism of the surgical instrument provided by the embodiment of the present application.
  • Fig. 15 is a schematic diagram of a partial exploded structure of the swing transmission mechanism provided by the embodiment of the present application.
  • Fig. 16 is a schematic diagram of the first partial sectional structure of the swing transmission mechanism provided by the embodiment of the present application.
  • Fig. 17 is a schematic diagram of the second partial sectional structure of the swing transmission mechanism provided by the embodiment of the present application.
  • Fig. 18 is a schematic diagram of the third partial sectional structure of the swing transmission mechanism provided by the embodiment of the present application.
  • Fig. 19 is a partially enlarged schematic diagram of place A in Fig. 18;
  • Fig. 20 is a schematic diagram of the assembly of the clamp body and the outer tube in the present application.
  • Fig. 21 is an exploded schematic diagram of Fig. 20;
  • Fig. 22 is a schematic diagram of a partial structure of a surgical instrument provided by an embodiment of the present application.
  • Figure 23 is a sectional view of Figure 22;
  • Fig. 24 is a schematic structural view of the clamping drive mechanism of the surgical instrument provided by the embodiment of the present application.
  • Fig. 25 is a partial cross-sectional schematic diagram of the clamping transmission mechanism provided by the embodiment of the present application.
  • Fig. 26 is a schematic diagram of a partial exploded structure of the clamping transmission mechanism provided by the embodiment of the present application.
  • Fig. 27 is a structural schematic diagram of the cooperation relationship between the clamping tube, the rotation tube and the outer tube of the surgical instrument provided by the embodiment of the present application;
  • Fig. 28 is a schematic diagram of a partial structure of a surgical instrument provided by an embodiment of the present application.
  • Figure 29 is a schematic cross-sectional view of Figure 28;
  • Fig. 30 is a schematic structural diagram of the rotation drive mechanism provided by the embodiment of the present application.
  • Fig. 31 is a first partial cross-sectional schematic diagram of the combined transmission device provided by the embodiment of the present application.
  • Fig. 32 is a schematic diagram of an exploded structure of a combined transmission provided by an embodiment of the present application.
  • Fig. 33 is a schematic diagram of the first partial exploded structure of the combined transmission provided by the embodiment of the present application.
  • Fig. 34 is a schematic diagram of the second partial exploded structure of the combined transmission provided by the embodiment of the present application.
  • Fig. 35 is a schematic diagram of the third partial exploded structure of the combined transmission provided by the embodiment of the present application.
  • Fig. 36 is a schematic diagram of the fourth partial exploded structure of the combined transmission provided by the embodiment of the present application.
  • 100-moving transmission mechanism 110-firing driver; 111-first firing part; 112-fourth bearing; 113-second retaining ring; ; 130-the first limit piece; 131-the first sliding keyway; 132-socket part; 140-firing lever; 160-base rod; 161-the third sliding keyway; 1601, 1602-embedded groove; 162-swing part; 163-twelfth bearing; 164-sixth sliding keyway; 165-fifth fixed keyway; 170-seal 180-knife head assembly; 181-knife holder; 1811, 1812-step end; 182-knife head push rod; 1821, 1822-step end; 190-outer tube; 190a-outer tube; 190b-outer tube ; 191-groove; 192-the third fixed keyway;
  • 200-swing transmission mechanism 210-swing arm nut; 211-swing firing part; 212-eighth bearing; 220-swing arm screw; 232-the second swinging part; 240-the second limiter; 250-the swinging rod; 251-the fifth sliding keyway; 260-the swinging transmission part; 263-linkage part; 264-connection part; 280-rotation connection assembly; 281-rotation piece; 2811-first rotation part; 2812-second rotation part;
  • 300-clamping transmission mechanism 310-first transmission member; 311-gear; 312-eleventh bearing; 313-fifth circlip; 314-nut; 320-second transmission member; -screw; 330-heat shrinkable tube; 340-third limiter; 341-limiting column; 342-ring base; 350-clamping tube; 351-fourth fixed keyway; Clamping key; 356-first rotation key; 1401, 1402-embedding groove; 360-mounting piece; 361-limiting pin;
  • 510-moving drive mechanism 511-moving drive member; 5111-moving drive plate; 5112-first drive spindle; 5113-first coupling; 5114-first bearing; 512-first gear shaft; 5121-second Bearing; 5122-lock nut; 513-first transmission part; 514-second transmission part; 5141-third bearing; 5142-first circlip;
  • 520-swing drive mechanism 521-swing drive member; 5211-drive winch; 5212-fifth bearing; 5213-second drive spindle; 5214-second coupling; 522-first transmission gear; 523-second gear Shaft; 5231-sixth bearing; 524-fixed nut; 525-second transmission gear; 5251-seventh bearing; 5252-third circlip;
  • 530-clamping drive mechanism 531-clamping drive; 5311-clamping drive plate; 5312-ninth bearing; 532-third transmission gear; 533-third gear shaft; 534-tenth bearing; 535-tightening Fixed nut; 536-the third coupling;
  • the present application provides a surgical robot.
  • the surgical robot includes a doctor-side main operation console and a patient-side slave operation device.
  • the doctor performs related control operations on the slave operation device on the master operation console
  • the slave operation device performs surgical operations on the human body according to the input instructions of the master operation console.
  • the master operating console and the slave operating equipment can be placed in the same operating room, or in different rooms, and even the master operating console and the slave operating equipment can be far apart, for example, the master operating console and the slave operating equipment are located in different City.
  • the main operation console and the slave operation equipment can transmit data through wired or wireless means. For data transmission, another example is that the main operation console and the slave operation equipment are in different cities, and the two communicate with each other through 4G, 5G and other wireless signals for long-distance data transmission.
  • the slave operating equipment includes a robotic arm, an actuating device disposed at the distal end of the robotic arm, and surgical instruments.
  • the surgical instruments used to perform surgical operations are connected to the actuating device, and the actuating device drives the operation through multiple actuators inside it. Equipment movement.
  • Surgical instruments under the control of the main operating console of the surgical robot, perform corresponding surgical operations on the patient's surgical site or affected area according to the set procedures.
  • Surgical instruments include a transmission mechanism and a drive mechanism.
  • the drive mechanism is used to drive and connect with the actuator to provide power for the operation of the surgical instrument.
  • the transmission mechanism is used to convert the power connected to the drive mechanism to output different actions.
  • the actuators used to perform surgical operations can perform different actions, such as moving, swinging, clamping, and rotating.
  • the corresponding actuators perform different actions, and the specific structure and working principle of the transmission mechanism are different.
  • the corresponding different execution actions of the transmission mechanism are respectively named as the moving transmission mechanism, the swing transmission mechanism, the clamping transmission mechanism and the rotation transmission. mechanism.
  • a plurality of driving mechanisms are correspondingly provided, specifically, the moving transmission mechanism is driven by the mobile driving mechanism, the swing transmission mechanism is driven by the swing driving mechanism, and the clamping transmission is driven by the clamping driving mechanism.
  • the mechanism drives the rotation transmission mechanism through the rotation drive mechanism.
  • the moving transmission mechanism, the swinging transmission mechanism and the clamping transmission mechanism all adopt the method of spiral to linear motion for driving, and this transmission method cannot avoid the rotation of the guide rod itself. Therefore, it is necessary to perform decoupling operations within the system control, resulting in complex actuator drive mechanisms and easy to get stuck.
  • the present application improves the structure of the moving transmission mechanism, the swing transmission mechanism and the clamping transmission mechanism.
  • the driving mechanism includes a drive plate, which is used to connect with the mechanical arm of a surgical robot and receive mechanical The power of the arm
  • the transmission mechanism includes a driving part, a driven part, a limiting part and a firing part.
  • the driving part is connected with the drive plate to output the rotary motion, the driven part and the driving part are screwed together, and the driven part moves along a straight line under the driving of the driving part; the limit part and the follower form a circumferential limit Fitting and axial sliding fit; the firing part is connected with the actuator, and the firing part is driven by the follower to move along a straight line and fire the actuator to perform an action.
  • the active part and the driven part are screwed together.
  • the active part rotates, it can not only drive the driven part to move along a straight line to realize the execution of the executive part, but the active part can also drive the driven part to rotate.
  • the rotation of the driven part It will affect the execution action of the execution part.
  • the limiter and the follower are connected in a manner that can rotate synchronously and slide relative to the axial direction. Since the limiter is fixed, the follower that rotates synchronously with the limiter is also connected.
  • Fig. 1 is an overall schematic diagram of the surgical instrument.
  • the surgical instrument also includes a base 600, and each driving mechanism and each transmission mechanism are installed and supported through the base 600.
  • the seat 600 fixes the entire surgical instrument on the mechanical arm of the surgical robot.
  • FIG. 2 shows a partially enlarged and partially cut-away structural schematic diagram of the surgical instrument in FIG. 1
  • FIG. 3 shows the assembly structure of the base 600 of the surgical instrument provided in this embodiment.
  • Schematic diagram shows a schematic diagram of the assembly structure of the mobile driving mechanism 510 of the surgical instrument provided in this embodiment.
  • the moving driving mechanism 510 includes a moving driving member 511 , a first gear shaft 512 and a first transmission component 513 .
  • the moving driving part 511 is used to connect with the actuator, the first gear shaft 512 is connected with the moving driving part 511, the first transmission part 513 is fixed on the first gear shaft 512, and the moving driving part 511 drives the first gear shaft 512 through the first gear shaft 512.
  • a transmission part 513 rotates, and the first transmission part 513 is used for transmission connection with the mobile transmission mechanism 100 to transmit the power of the mobile drive mechanism 510 to the mobile transmission mechanism 100 .
  • the first transmission component 513 is a gear.
  • the base 600 includes a base 610 , a top seat 620 , a first connecting plate 630 and a second connecting plate 640 , the top seat 620 and the base 610 are approximately parallel and spaced apart and connected by the first connecting plate 630 and the second connecting plate 630 .
  • the plates 640 are connected, for example, the first connecting plate 630 and the second connecting plate 640 are supported between the top seat 620 and the base 610, and the first connecting plate 630 and the second connecting plate 640 can be connected by screws, buckles or welded respectively. The way is connected with top seat 620, base 610.
  • the moving driving member 511 includes a moving driving plate 5111 , a first bearing 5114 and a first driving spindle 5112 .
  • the mobile drive plate 5111 is used to connect with the mechanical arm and receive the power of the mechanical arm.
  • the lower surface of the first bearing 5114 is attached to the bearing installation surface of the mobile drive plate 5111.
  • the first drive spindle 5112 is inserted into the mobile drive plate 5111 from the upper part. Screws secure the connection.
  • the first mobile drive plate 5111 is loaded into the base 610 from the bottom, and the upper surface of the first bearing 5114 is flush with the step surface of the bearing mounting hole of the base 610.
  • the mobile drive plate 5111 is used to access the rotational power of the robotic arm, and the outer surface may have teeth for meshing.
  • the moving drive plate 5111 and the first driving spindle 5112 of the moving driving member 511 can be an integral component, the optical axis of which is provided with a first bearing 5114, and is installed on the base 610 through the first bearing 5114 superior.
  • the first drive shaft 5112 of the mobile drive member 511 is connected to one end of the first gear shaft 512 through a first coupling 5113 , and the other end of the first gear shaft 512 is rotatably mounted on the top seat 620 through a second bearing 5121 .
  • the top seat 620 is inserted into the first gear shaft 512 from the upper part
  • the second bearing 5121 is inserted into the first gear shaft 512 from the upper part
  • the lower surface of the inner ring of the second bearing 5121 is in close contact with the bearing installation surface of the first gear shaft 512
  • the lower surface of the outer ring of the second bearing 551 fits the step surface of the bearing installation hole of the top seat 620
  • the upper surface of the second bearing 5121 is limited by the lock nut 5122 installed on the first gear shaft 512 .
  • the first transmission part 513 is arranged coaxially with the first gear shaft 512, and the first transmission part 513 can be integrally arranged with the first gear shaft 512, or can be connected by a gear key, so that the first transmission part 513 can accompany the first gear Shaft 512 rotates together. Both ends of the first gear shaft 512 are connected between the top seat 620 and the base 610 , and also have a supporting effect on the stable connection of the top seat 620 and the base 610 .
  • the mobile driving mechanism 510 further includes a second transmission part 514 , the first transmission part 513 cooperates with the second transmission part 514 and is connected to the mobile transmission mechanism 100 through the second transmission part 514 .
  • the second transmission part 514 is a gear, and the second transmission part 514 is meshed with the first transmission part 513 .
  • the second transmission part 514 is installed on the top seat 620 through the third bearing 5141, and the third bearing 5141 is inserted into the gear shaft of the second transmission part 514 from the upper part, and the lower surface of the third bearing 5141 is in contact with the second transmission part.
  • the gear shaft bearing of part 514 is mounted on the stepped surface, the top seat 620 is inserted into the gear shaft of the second transmission part 514 from the top, the third bearing 5141 is inserted into the gear shaft of the second transmission part 514 from the top, and the third bearing 5141
  • the lower surface of the inner ring is attached to the bearing installation surface of the gear shaft of the second transmission part 514
  • the lower surface of the outer ring of the third bearing 5141 is attached to the stepped surface of the bearing installation hole of the top seat 620
  • the upper surface of the third bearing 5141 is installed on the
  • the first snap spring 5142 on the gear shaft of the second transmission part 514 is limited.
  • the second transmission part 240 is a double-stage gear, the pinion of the double-stage gear meshes with the first transmission part 230 , and the large gear is used for transmission connection with the mobile transmission mechanism 100 .
  • the first transmission part 230 can directly cooperate with the transmission transmission mechanism 100 without setting the second transmission part 240.
  • the tooth diameter can be adjusted, or The first transmission part 230 can also transmit and cooperate with the moving transmission mechanism 100 through more intermediate transition gears.
  • the moving transmission mechanism 100 is used to connect with the moving driving mechanism 510, and is used to convert the rotational motion of the moving driving mechanism 510, so as to adjust its position by driving the actuator to move, or realize functions such as cutting.
  • the mobile drive mechanism 510 is used to access the power of the actuator (not shown in the figure) and transmit the power of rotation to the mobile transmission mechanism 100. It is a self-rotation transmission mechanism, which can realize the output speed and torque through multi-stage transmission. adjustment; the mobile transmission mechanism 100 converts the rotational motion of the mobile drive mechanism 510 into a linear motion, which is a motion conversion mechanism.
  • the actuator 700 can be a surgical implement such as a scalpel or a stapler head. In this embodiment, the actuator 700 is an example of a stapler.
  • the surgical instrument is a stapler, and the stapler is used for suturing postoperative wounds.
  • transmission connection may be the transmission of motions through direct transmission, or the transmission of motions through the indirect transmission of other intermediate transition components.
  • FIG. 5 shows a partial structural assembly front view of the mobile transmission mechanism 100 provided by the embodiment of the present application
  • FIG. 6 shows a schematic diagram of the exploded structure of FIG. 5
  • FIG. 8 shows the schematic diagram of the first section of the mobile transmission mechanism 100 provided by the embodiment of the application
  • FIG. Schematic diagram of the structure of the third section of the transmission mechanism 100; the first section, the first section and the third section constitute an overall view of the entire rod-shaped transmission structure exposed from the base.
  • the moving driving mechanism 510 drives the actuator 700 to move through the moving transmission mechanism 100 .
  • the mobile transmission mechanism 110 includes a firing drive part 110, a conversion part 120, a first limiter 130 and a firing rod 140, wherein the firing drive part 110 is the above-mentioned active part, the conversion part 120 is the above-mentioned transmission part, and the firing rod 140 is the above-mentioned firing rod 140.
  • the first limiter 130 is the above-mentioned limiter.
  • the firing drive part 110 is used for transmission connection with the mobile drive mechanism 510, the firing drive part 110 rotates around the first axis, the conversion part 120 is in transmission connection with the firing drive part 110, and the first limiting part 130 and the conversion part 120 form a
  • the circumferential limit fit and the axial sliding fit are connected to limit the rotation of the conversion member 120 around the first axis, and the conversion member 120 moves along the first axis driven by the firing drive member 110;
  • the firing rod 140 includes two opposite One end of the firing rod 140 forms an axial limit fit and a rotational fit connection with the conversion part 120, the conversion part 120 drives the firing rod 140 to move along the first axis, and the other end of the firing rod 140 is used to form an axial limit with the actuator 700 Fitting and rotating fit to drive the actuator 700 to move along the first axis.
  • the firing drive part 110 is used to access and transmit the power of rotation to the conversion part 120, and is a rotation transmission part;
  • the conversion part 120 converts the rotation of the firing drive part 110 into linear movement, and is a kind of motion conversion part;
  • a limiting member 130 restricts the rotation of the conversion member 120, so that the conversion member 120 can move relative to the firing drive member 110 and cannot rotate, thereby improving the effectiveness of the movement of the conversion member 120.
  • the first limiting member 130 is used to limit the rotation of the conversion member 130 mechanically.
  • the conversion member 120 rotates on its own, without complicated decoupling operations.
  • the conversion part 120 is connected to the actuator 700 through the firing rod 140.
  • the firing rod 140 and the conversion part 120 are axially limited and rotationally connected, so that when the conversion part 120 moves, the firing rod 140 can be driven to move together.
  • the joint transmission part enables the mobile transmission mechanism 100 to combine more transmission actions, and the actuator 700 can output more actions.
  • the movement coupling and rotation decoupling are also realized through mechanical cooperation between multiple transmission joints, the structure is simple and the transmission reliability is high.
  • the length of the conversion member 120 can be shortened by setting the firing rod 140, the actuation resistance of the firing drive member 110 can be reduced, and the transmission length of the knife rod of the stapler can be ensured.
  • the moving transmission mechanism 100 is in the shape of a straight rod as a whole, and in this embodiment, the moving transmission mechanism 100 is used as the cutter bar of the stapler.
  • the extension direction of the first axis is consistent with the extension direction of the mobile transmission mechanism 100, and the extension directions of the firing drive part 110, the conversion part 120 and the firing rod 140 of the mobile transmission mechanism 100 are all parallel to or coincident with the first axis line.
  • the extension directions of the first drive shaft 5112 , the first gear shaft 512 , and the gear shaft of the second transmission part 514 of 510 are all parallel to the first axis.
  • the firing drive member 110 forms a screw drive connection with the conversion member 120, and one of the conversion member 120 and the first limiting member 130 has a chute, and the other has a slider matching the chute, and the chute is along the The first axis extends, and when the firing drive member 110 rotates, the conversion member 120 moves along the first axis under the limit cooperation between the slide groove and the slider.
  • the threaded connection between the firing drive part 110 and the conversion part 120 can convert the rotary motion into a linear motion, and at the same time, the firing drive part 110 and the conversion part 120 can be nested with each other, which is conducive to the rod-shaped integrity of the mobile transmission mechanism and a more compact structure .
  • the firing drive member 110 has a first firing part 111 , and the first firing part 111 is used for driving connection with the second transmission part 514 of the moving driving mechanism 510 .
  • the first firing part 111 is a gear arranged on the outer peripheral surface of the firing driving part 110, and the firing driving part 110 is provided with a threaded hole, and the conversion part 120 is a screw rod arranged in the threaded hole.
  • a chute is provided on the part 130 , and a slide block is provided on the conversion part 120 .
  • the firing drive member 110 and the conversion member 120 constitute a screw pair, wherein the first limiting member 130 is used to limit the rotation movement of the conversion member 120 , so that the rotation motion of the firing drive member 110 can be converted into the linear motion of the conversion member 120 .
  • each component is assembled as follows:
  • the mounting part 150 is fixedly installed on the top base 620, the mounting part 150 has a mounting hole, the first limiting part 130 is provided with a socket part 132, the mounting hole and the first limiting part The socket part 132 of 130 forms a plug fit, and the installation hole is a non-rotating hole.
  • the first limiter 130 and the base 600 form a circumferential limit fit connection, that is, the first limiter 130 and the base
  • the first limiting member 130 is provided with a first sliding keyway (not shown in the figure), the first sliding keyway extends along the first axis, and the conversion member 120 is provided with a first fixed keyway 122, the conversion piece 120 and the first stopper 130 are nested with each other, the first fixed keyway 122 is opposite to the first sliding keyway, and then the first matching key 121 is inserted into the first fixing keyway 122, and the first matching key 121 extends into the first sliding keyway, so that the first limiting member 130 restricts the rotation movement of the conversion member 120 but does not hinder the movement of the conversion member 120 .
  • the base 600 also includes a middle plate 105, the middle plate 105 is connected to the top seat 620 and is spaced from the top seat 620, the middle plate 105 can It is connected to the top base 620 by screws; the percussion driver 110 is installed on the base 600 through the fourth bearing 112, specifically on the middle plate 105, and the fourth bearing 112 is installed in the bearing groove of the middle plate 105. It is flush with the step surface of the bearing groove of the middle plate 105.
  • One end side of the fourth bearing 112 is limited by the second snap spring 113 installed on the firing drive 110, and the other end of the fourth bearing 112 is connected to the firing drive 110.
  • the step surface of the firing drive part 110 and the conversion part 120 constitute a helical pair, and the rotary motion of the firing drive part 110 can be converted into the linear motion of the conversion part 120.
  • the firing rod 140 is connected with the first limiting member 130 to form a circumferential limiting fit and an axial sliding fit. Thereby, the moving direction of the firing rod 140 can be made more stable, avoiding rotation during movement, and a relatively stable linear driving force can be output to the actuator.
  • One of the first stopper 130 and the firing rod 140 is provided with a fixed keyway, and the other is provided with a sliding keyway, and the moving transmission mechanism 100 also includes a second matching key 142, which is fixed in the fixed keyway and is connected with the fixed keyway. Sliding keyway for a slip fit.
  • the first limiting member 130 is provided with a second sliding keyway 131
  • the firing rod 140 is provided with a second fixing keyway (not shown in the figure)
  • the firing rod 140 is sleeved outside the first limiting member 130
  • the second matching key 142 is inserted into and extends into the second sliding keyway 131 through the second fixed keyway, so as to realize the sliding fit between the firing rod 140 and the first limiting member 130 without relative rotation between the two.
  • the assembly method of the keyway and the key After the first stopper 130 and the firing rod 140 are nested with each other, they can be rotated until the fixed keyway is opposite to the sliding keyway, and then the mating key is inserted into the fixed keyway and the sliding keyway. , the assembly is relatively simple and accurate.
  • sliding keyways are provided on opposite sides of the first limiting member 130, that is, on both sides, and correspondingly sleeved on the first limiting member. Both sides of the firing rod 140 outside the 130 are provided with fixed key grooves, correspondingly inserting matching keys on both sides.
  • a rotational connection is formed between the conversion member 120 and the firing rod 140 .
  • one of the firing rod 140 and the conversion member 120 has a stepped end in the shape of a rotating body, and the other of the firing rod 140 and the conversion member 120 has a slot that matches the stepped end, and the slot is partially open to Allows step ends to fit in, thereby forming a swivel connection.
  • the structure is simpler than the complicated decoupling mechanism, and the transmission of movement is more effective.
  • the opening of the embedding groove may have a certain degree of elasticity, so that the stepped end can be better held therein after the stepped end is inserted.
  • the mobile transmission mechanism 100 also includes a base rod 160, which is sheathed outside the firing rod 140 and the conversion piece 12.
  • the base rod 160 forms a sliding fit with the firing rod 140. Move along the first axis. Therefore, the base rod 160 can cover at least part of the conversion piece 120 and the firing rod 140 therein, which strengthens the connection between the conversion piece 120 and the firing rod 140, and avoids the problem of tripping at the rotational connection between the two. occur.
  • the base rod 160 forms a circumferential limit fit and an axial sliding fit with the firing rod 140 .
  • the base rod 160 and the firing rod 140 can also be connected through the cooperation of keys and grooves, so that the corresponding keys can be inserted after the parts are nested to achieve sliding fit.
  • the sliding fit key between the base rod 160 and the firing rod 140 is the same as the sliding fit key between the firing rod 140 and the first limiting member 130, that is, the base rod 160 and the firing rod 140 are formed by the second matching key 142 Circumferential limit fit and axial sliding fit, the base rod 160 is provided with a third sliding keyway 161, the third sliding keyway 161 is opposite to the second fixed keyway, and the second matching key 142 passes through the third sliding keyway 161, the second fixed keyway in turn.
  • the two fixed keyways and the second sliding keyway 131 realize the non-rotational sliding fit between the base rod 160 , the firing rod 140 and the first limiting member 130 .
  • the travel transmission mechanism 100 also includes a seal 170 disposed between the base rod 160 and the firing rod 140 .
  • the sealing member 170 can be an elastic part such as a silicone ring, a rubber ring, etc., which is deformed when being squeezed, accompanied by an elastic deformation force, and the elastic deformation force makes the sealing member 170 close the gap between the base rod 160 and the firing rod 140. Filling, to ensure the positional stability between the base rod 160 and the firing rod 140, so that the two can stably slide relative to each other, and avoid the force deviation caused by the fit gap during the long-axis transmission, resulting in the transmission jam problem occurs.
  • the outer surface of the firing rod 140 is provided with an annular groove, and the sealing member 170 is embedded in the annular groove, thereby realizing that when the firing rod 140 moves relative to the base rod 160, the firing rod 140 can be fixed. s position.
  • FIG. 10 shows a schematic diagram of the connection between the cutter head assembly 180 and the base rod 160 of the mobile transmission mechanism 100 provided by the embodiment of the present application
  • FIG. 11 is a schematic diagram of the exploded structure of FIG. 10 .
  • the mobile transmission mechanism 100 also includes a cutter head assembly 180, and the cutter head assembly 180 includes a cutter head 181 and a cutter head push rod 182, the cutter head 181 is rotatably connected to the base rod 160, and the cutter head push rod 182 is connected to the firing rod 140 turns to connect.
  • the actuator 700 includes a pliers body 310 and a blade 720.
  • the pliers body 310 includes clamps that can rotate with each other to realize opening and closing.
  • the blade 720 is movably arranged in the pliers body 310.
  • the blade 720 is transmission-connected with the cutter head push rod 182 for Driven by the firing rod 140 and the cutter head pushing rod 182 to move along the first axis, the pliers body 310 is connected to the cutter holder 181 .
  • the blade 720 can be driven by the cutter head push rod 182 to move, and the pliers body 310 can be kept fixed by being connected to the base rod 160 through the blade rest 181 to realize relative movement with the blade 720 .
  • the rotational connection between the firing rod 140 and the cutter head push rod 182, and between the base rod 160 and the knife rest 181 can also be realized by rotating the stepped end of the rotating body and the socket, and the socket has an opening for the step The end is embedded.
  • the firing rod 140 is provided with slots 1401, 1402
  • the cutter head push rod 182 is provided with stepped ends 1821, 1822
  • the base rod 160 is provided with slots 1601, 1602
  • the knife holder 181 is provided with steps. Terminals 1811, 1812, thus realizing the connection.
  • connection between the firing rod 140 and the cutter head push rod 182 is located in the base rod 160, that is, the cutter head push rod 182 extends into the base rod 160, so that the base rod 160 passes between the firing rod 140 and the cutter head push rod 182.
  • the separation of the opening of the caulking groove has a restraining effect, which can make the connection between the firing rod 140 and the cutter head pushing rod 182 more stable.
  • the moving transmission mechanism 100 further includes an outer tube 190 , which is sheathed at the rotational connection between the base rod 160 and the knife holder 181 , and the outer tube 190 and the base rod 160 form a circumferential limit fit.
  • the base rod 160 and the knife rest 181 are sleeved therein through the outer tube 190, the base rod 160 and the knife rest 181 are connected to each other in movement, the rotation is independent of each other, the appearance is complete, and the outside world is prevented from interfering with the connection between the two.
  • the outer tube 190 covers the connection structure between the base rod 160 and the knife rest 181, and has a restraining effect on the separation between the base rod 160 and the knife rest 181 through the opening of the socket, so that the base rod 160 and the knife rest 181 The connection is more stable.
  • At least part of the cutter head push rod 182 has elasticity.
  • the cutter head push rod 182 is positioned opposite to the blade 720 and located at the core of the moving transmission mechanism 100, and has a thin and long structure. If it is a rigid rod when transmitting force, it is easy to break. Therefore, an elastic structure is adopted, which has better willfulness, such as the cutter head pushing rod 182 is a shrapnel connected with the blade 720 .
  • the mobile transmission mechanism 100 of this embodiment is rod-shaped as a whole, and the firing drive part 110 and the conversion part 120 are nested with each other.
  • the conversion part 120 and the first limiter 130 are nested with each other. 140 end connections.
  • the conversion part 120 is embedded in the firing drive part 110
  • the first limiting part 130 is embedded in the conversion part 120
  • the conversion part 120 can move relative to the first limiting part 130 .
  • the converting element 120 and the firing rod 140 are embedded in the outer tube 190 , and both are slidably disposed relative to the outer tube 190 .
  • the firing rod 140 described above is connected to the ends of the conversion member 120 , the base rod 160 is sleeved outside the firing rod 140 and the conversion member 120 , and the first limiting member 130 is embedded between the conversion member 120 and the firing rod 140
  • the other end of the firing rod 140 connected to the conversion piece 120 is connected to the cutter head push rod 182 of the cutter head assembly 180, and the cutter head push rod 182 is covered with a knife rest 181, and the knife rest 181 is fixed to the base rod 160
  • the outer tube 190 is sheathed outside the base rod 160 and the knife holder 181 .
  • the entire mobile transmission mechanism 100 is rod-shaped, and multiple components in the outer tube 190 are nested to form a transmission connection or a sliding decoupling relationship, which is both related and independent.
  • the above-mentioned drive mechanism is the swing drive mechanism 520
  • the above-mentioned transmission mechanism is the swing transmission mechanism 200
  • the swing drive mechanism 520 drives the swing transmission mechanism 200 to make the actuator 700 output the corresponding swing action, Therefore, the adjustment of the action direction of the actuator 700 can be realized by driving the actuator 700 to swing.
  • the swing drive mechanism 520 is used to access the power of the actuator and transmit the power of rotation to the swing transmission mechanism 200. It is a self-rotation transmission mechanism, which can realize the adjustment of output speed and torque through multi-stage transmission; the swing transmission mechanism The 200 converts the rotation motion of the swing driving mechanism 520 into a swing motion, which is a motion conversion mechanism.
  • the actuator 700 can be a surgical implement such as a scalpel or a stapler head.
  • the actuator 700 is an example of a stapler.
  • the surgical instrument is a stapler, and the stapler is used for suturing postoperative wounds.
  • FIG. 12 shows a schematic partial structure of the surgical instrument provided by the embodiment of the present application
  • FIG. 13 shows a cross-sectional view of FIG. 12 .
  • the swing drive mechanism 520 includes a swing drive member 521, a first transmission gear 522 and a second gear shaft 523.
  • the first transmission gear 522 is sleeved on the second gear shaft 523 and rotates with the second gear shaft 523.
  • the first transmission gear 522 It is used for transmission connection with the swing transmission mechanism 200 so as to transmit the power of the swing drive mechanism 520 to the swing transmission mechanism 200 .
  • FIG. 14 shows a schematic diagram of the assembly structure of the swing driving mechanism 520 of the surgical instrument provided by the embodiment of the present application.
  • the swing driving member 521 includes a driving winch 5211 , a fifth bearing 5212 and a second driving spindle 5213 .
  • the driving winch 5211 is used to connect with the mechanical arm of the surgical robot and receive the power of the mechanical arm.
  • the lower surface of the fifth bearing 5212 is attached to the bearing installation surface of the driving winch 5211.
  • the second driving main shaft 5213 is inserted into the driving winch 5211 from the upper part. Screws secure the connection.
  • the driving winch 5211 is loaded into the base 610 from the bottom, and the upper surface of the fifth bearing 5212 is flush with the stepped surface of the bearing mounting hole of the base 610 .
  • the drive winch 5211 is used to access the rotational power of the robotic arm, and the outer surface may have teeth for meshing.
  • the driving winch 5211 and the second driving spindle 5213 of the swing driving member 5521 can be an integral component, and the fifth bearing 5212 is provided outside the optical axis of the swing driving member 5521, and is installed on the base 610 through the fifth bearing 5212 .
  • the second drive shaft 5213 of the swing driver 521 is connected to one end of the second gear shaft 523 through the second coupling 5214 , and the other end of the second gear shaft 523 is rotatably mounted on the top base 620 through the sixth bearing 5231 .
  • the top seat 620 is inserted into the second gear shaft 523 from the upper part
  • the sixth bearing 5231 is inserted into the second gear shaft 523 from the upper part
  • the lower surface of the inner ring of the sixth bearing 5231 is in close contact with the bearing installation surface of the second gear shaft 523
  • the lower surface of the outer ring of the sixth bearing 5231 is in contact with the stepped surface of the bearing installation hole of the top seat 620
  • the upper surface of the sixth bearing 5231 is limited by the fixing nut 524 installed on the second gear shaft 523 .
  • the first transmission gear 522 is arranged coaxially with the second gear shaft 523, and the first transmission gear 522 can be integrally arranged with the second gear shaft 523, or can be connected by a gear key, so that the first transmission gear 522 can accompany the second gear
  • the shaft 523 rotates together. Both ends of the second gear shaft 523 are connected between the top seat 620 and the base 610 , and also have a supporting effect on the stable connection between the top seat 620 and the base 610 .
  • the swing driving mechanism 520 further includes a second transmission gear 525 , the first transmission gear 522 meshes with the second transmission gear 525 and is in transmission connection with the swing transmission mechanism 200 through the second transmission gear 525 .
  • the second transmission gear 525 By arranging the second transmission gear 525, the gap between the first transmission gear 522 and the swing transmission mechanism 200 is compensated, the transmission ratio of the swing drive mechanism 520 is increased, and the effect of speed reduction and torque increase is achieved, and the swing transmission mechanism can The 200 provides a larger torque, and at the same time, the reduction of the rotating speed is also beneficial to improve the driving precision of the swing transmission mechanism 200 .
  • the second transmission gear 525 is installed on the top base 620 through the seventh bearing 5251, and the seventh bearing 5251 is inserted into the gear shaft of the second transmission gear 525 from the upper part, and the lower surface of the seventh bearing 5251 is in contact with the second transmission gear.
  • the gear shaft bearing of the gear 525 is mounted on the stepped surface, the top seat 620 is inserted into the gear shaft of the second transmission gear 525 from the top, the seventh bearing 5251 is inserted into the gear shaft of the second transmission gear 525 from the top, and the seventh bearing 5251
  • the lower surface of the inner ring is attached to the bearing installation surface of the gear shaft of the second transmission gear 525, the lower surface of the outer ring of the seventh bearing 5251 is attached to the stepped surface of the bearing installation hole of the top seat 620, and the upper surface of the seventh bearing 5251 is installed on the
  • the third snap ring 5252 on the gear shaft of the second transmission gear 525 is limited.
  • the first transmission gear 522 can directly cooperate with the swing transmission mechanism 200 without setting the second transmission gear 525.
  • the tooth diameter can be adjusted, or The first transmission gear 522 can also transmit and cooperate with the swing transmission mechanism 200 through more intermediate transition gears to achieve a desired transmission ratio.
  • FIG. 15 shows a schematic diagram of a partial exploded structure of the swing transmission mechanism 200 provided by the embodiment of the present application
  • FIG. 16 shows the first part of the swing transmission mechanism 200 provided by the embodiment of the present application.
  • Schematic sectional structure
  • FIG. 17 shows a second partial sectional structural schematic diagram of the swing transmission mechanism 200 provided by the embodiment of the present application
  • FIG. 18 shows a third partial sectional structural schematic diagram of the swing transmission mechanism 200 provided by the embodiment of the present application
  • the first part, the second part and the third part constitute an overall view of the rod-shaped transmission structure exposed from the bracket.
  • the swing driving mechanism 520 drives the actuator 700 to swing through the swing transmission mechanism 200 .
  • the swing transmission mechanism 200 includes a swing arm nut 210, a swing arm screw rod 220, a swing member 230 and a second limiter 240, wherein the swing arm nut 210 is the above-mentioned active part, the swing arm nut 120 is the above-mentioned follower, and the swing member 230 is the above-mentioned firing part, and the second limiting part 240 is the above-mentioned limiting part.
  • the swing arm nut 210 is used to drive and connect with the swing drive mechanism 520 and rotate around the first axis under the drive of the swing drive mechanism 520 .
  • the swing arm nut 210 is rotatably connected to the base 600, and the swing member 230 is swingably arranged relative to the base 600.
  • the swing member 230 is connected to the executive member 700, and the swing member 230 is driven and matched with the swing arm screw rod 220 and is connected to the swing arm screw rod 220. Driven to swing, so that when the swinging member 230 swings, the actuator 700 can be linked to swing.
  • the oscillating transmission mechanism 200 is in the shape of a straight rod as a whole, and in this embodiment, the oscillating transmission mechanism 200 is used as the cutter bar of the stapler.
  • the extension direction of the above-mentioned first axis is consistent with the extension direction of the swing transmission mechanism 200, and the extension directions of the second drive main shaft 5213, the second gear shaft 523, and the gear shaft of the second transmission gear 525 of the swing drive mechanism 520 are all consistent with the first axis. parallel.
  • the swing axis of the swing member 230 is the swing axis of the actuator 700. In one embodiment, the swing axis of the swing member 230 is perpendicular to the first axis.
  • the components on the transmission path have better strength and are not easy to break, and the entire swinging transmission mechanism 200 has higher strength and reliability, which can improve the safety of surgery precision and precision.
  • the second limiting member 240 is fixedly arranged, specifically, the second limiting member 240 is fixed relative to the base 600 or the second limiting member 240 is a part of the base 600, and the second limiting member 240 is connected to the pendulum
  • the arm screw 220 forms an axial sliding fit and a circumferential limit fit, so that when the swing arm nut 210 rotates, the swing arm screw 220 moves relative to the base 600 under the constraint of the second limit member 240 .
  • the second limiting member 240 By setting the second limiting member 240 to limit the rotation of the swing arm screw 220 , the swing arm screw 220 can move relative to the swing arm nut 210 but cannot rotate, thereby improving the effectiveness of the swing arm screw 220 moving.
  • the rotation of the swing arm screw 220 is limited mechanically by the second limiting member 240, without complex decoupling operations.
  • the swing arm nut 210 and the swing arm screw 220 are threadedly connected.
  • One of the swing arm screw 220 and the second limiting member 240 has a sliding groove, and the other has a sliding block matching the sliding groove, and the sliding groove extends along the first axis.
  • the threaded connection between the swing arm nut 210 and the swing arm screw rod 220 can convert the rotary motion into a linear motion, and at the same time, the swing arm nut 210 and the swing arm screw rod 220 can be nested, which is beneficial to the rod-shaped integrity of the swing transmission mechanism 200,
  • the structure is more compact.
  • the swing arm nut 210 includes a swing firing part 211 , which is used for transmission connection with the output part of the swing drive mechanism 520 , so as to connect the power of the swing drive mechanism 520 to the swing drive mechanism 200 .
  • the swing firing part 211 is a gear that is arranged on the outer peripheral surface of the swing arm nut 210 and meshes with the second transmission gear 525.
  • the swing arm nut 210 is provided with a threaded hole, and the swing arm screw 220 is provided in the threaded hole.
  • the inner screw rod, the second limiting member 240 is provided with a slide groove, and the swing arm screw rod 220 is provided with a slide block.
  • the swing arm nut 210 and the swing arm screw 220 form a screw pair, wherein the second limiter 240 is used to limit the rotation movement of the swing arm screw 220 , so that the rotation movement of the swing arm nut 210 can be converted into the linear movement of the swing arm screw 220 .
  • the assembly method of each component is as follows: the swing arm nut 210 is installed on the top seat 620 through the eighth bearing 212, the swing arm nut 210 is loaded into the top seat 620 from the right side, and the eighth bearing 212 is loaded into the top seat 620 from the left side.
  • the left side of the inner ring of the eighth bearing 212 fits with the bearing mounting surface of the swing arm nut 210, the left side of the outer ring of the eighth bearing 212 fits with the stepped surface of the bearing mounting hole of the top seat 620, and the inner ring of the eighth bearing 212
  • the right side of the circle is limited by the fourth snap spring installed on the swing arm nut 210 , thereby realizing the swing arm nut 210 to rotate relative to the base under the drive of the swing drive mechanism 520 .
  • the swing arm screw 220 has a non-rotating section 221 and a threaded section, the threaded section is inserted into the swing arm nut 210 and screwed therewith, and the non-rotating section 221 protrudes from the swing arm nut 210 .
  • the second limiting member 240 is provided with a chute that matches the non-rotating section 221 of the swing arm screw 220, and the second limiting member 240 is fixedly connected to the top seat 620 using screws, so that the second limiting member 240 is connected to the top seat.
  • the fixing of the seat 620 further realizes the limitation of the rotation of the swing arm screw 220, and the second limiting member 240 has a boss, which can be used to limit the right side of the outer ring of the eighth bearing 212, thereby completing the installation of the eighth bearing 212.
  • the swing transmission mechanism 200 of the surgical instrument also includes a swing rod 250, the swing arm screw 220 is connected to the swing member 230 through the swing rod 250, and the swing rod 250 is connected to the swing arm screw.
  • 220 forms an axial limit fit and a rotational fit, so that when the swing arm screw 220 moves, it can drive the swing rod 250 to move together, and the swing rod 250 will not be restricted by the swing arm screw 220 when it wants to rotate.
  • one of the swing rod 250 and the swing arm screw 220 has a stepped end in the shape of a rotary body, and the other of the swing rod 250 and the swing arm screw 220 has a socket matching the stepped end, and the socket is partially open. to allow the stepped end to fit in, thereby forming a swivel connection.
  • the structure is simpler than the complicated decoupling mechanism, and the transmission of movement is more effective.
  • the swing rod 250 by setting the swing rod 250, the length of the swing arm screw 220 can be shortened, the actuation resistance of the swing arm nut 210 can be reduced, and the transmission length of the knife rod of the stapler can be guaranteed.
  • other driving modes can be set on the swing rod 250 to form a combined transmission structure with more transmission actions.
  • the swing transmission mechanism 200 includes a swing transmission member 260, the swing member 230 has a swing shaft, and the swing member 230 is located on both sides of the swing shaft to form a first swing portion 231 and a second swing portion respectively.
  • Two swinging parts 232, the swinging transmission member 260 includes a first transmission part 261, one end of the first transmission part 261 is connected with the swing arm screw 220 to move along the first axis under the drive of the swing arm screw 220, the first transmission The other end of the part 261 is rotatably connected with the first swing part 231 .
  • the first transmission part 261 extends along the direction of the first axis, and is used to transmit the movement of the swing arm screw 220 to the swing member 230, and forms a link structure with the swing member 230, and can push the swing member 230 to swing at the connection point when moving. Shaft swings.
  • the swing transmission part 260 also includes a linkage part 263, and the swing arm screw 220 is connected to the first transmission part 261 through the linkage part 263.
  • the linkage part 263 is relatively fixed, and the linkage part 263 forms a rotational connection with the first transmission part 261 . Therefore, the transmission of the swing transmission mechanism 200 is transmitted to the swing member 230 by the swing arm nut 210, through the swing arm screw 220, the swing rod 250, the linkage part 263, and the first transmission part 261, to drive the swing member 230 to swing.
  • the linkage part 263 is connected to the outer side of the swing rod 250, so that the central position on the power transmission path can be avoided, and other transmission joints can be set at the central position to combine more transmission actions, so that the actuator 700 can output more actions. .
  • the end of the linkage part 263 is bent, and the outer surface of the swing rod 250 is provided with a slot, and the bent end of the linkage part 263 is inserted into the slot, so that the linkage part 263 and the swing rod 250 are fixedly connected by a hook.
  • the other end of the linkage part 263 forms a rotational connection with the first transmission part 261.
  • the linkage part 263 has a mounting hole, and the installation hole is open.
  • the end of the first transmission part 261 is curled into a cylinder, and the cylinder passes through The opening is embedded into the linkage part 263 to form a rotational connection with the linkage part 263 .
  • the swing transmission part 260 further includes a second transmission part 262 and a connecting part 264, the second transmission part 262 is arranged parallel to the first transmission part 261, and one end of the second transmission part 262 is connected to the first transmission part 261.
  • One end is connected through the connecting part 264, one end of the second transmission part 262 and one end of the first transmission part 261 are respectively connected to the connection part 264 in rotation, and the other end of the second transmission part 262 is connected in rotation with the second swing part 232, and the connection part 264 Relative to the base 600, it can be swingably arranged.
  • the joints of the first transmission part 261, the swing member 230, the second transfer part 262 and the connection part 264 all form a rotational connection, and the first transmission part 261, the swing member 230, the second transmission part 262 and the connection part 264 form a parallelogram shape , when the linkage part 263 drives the first transmission part 261 to move forward, the swing member 230 swings, the first swing part 231 swings forward, the second swing part 232 swings back, and the second transmission part 262 moves backward to drive one end of the connecting part 264 Move forward, and the other end moves backward.
  • the parallelogram transmission structure has a mutual supporting effect among the first transmission part 261, the swing member 230, the second transmission part 262 and the connection part 264, and has better structural strength, which is beneficial to force better delivery.
  • the lengths of the first transmission part 261 and the second transmission part 262 are equal, and both ends are curled into a cylindrical shape.
  • Two protruding shafts arranged at intervals are formed on the swing member 230, and the two protruding shafts are respectively inserted into The first transmission part 261 and the second transmission part 262 are rotatably connected in the cylinder.
  • the first swing part 231 and the second swing part 232 of the swing member 230 are respectively provided with protruding shafts, and the two protruding shafts are respectively inserted into the cylinders of the first transmission part 261 and the second transmission part 262 to realize rotational connection, In this way, a parallelogram frame-type transmission mechanism is realized.
  • the first transmission part 261 and the second transmission part 262 are elastic members, such as elastic pieces, and can produce a certain degree of bending deformation, but are not easy to generate compression in the extension direction, thus the first transmission part 261 and The second transmission part 262 has better toughness, which can avoid the problem of brittle fracture during the force transmission process due to its elongation, and can transmit the force stably.
  • each transmission part is divided into multiple sections in the direction of the length extension of the swing transmission mechanism 200, in order to enable the multiple transmission sections to be able to drive independently, but also to be connected to each other, and the exterior is complete, to reduce external actions on each transmission section form interference.
  • the swing transmission mechanism 200 further includes an outer tube 190, the outer tube 190 is connected to the base 600, and the components of the swing transmission mechanism 200 from the base 600 to the actuator 700 are sleeved therein, and the multi-section transmission The structure forms a protection against interference.
  • the swing transmission mechanism 200 further includes a base rod 160 nested in the outer tube 190 , the base rod 160 is slidable relative to the swing arm screw 220 so as to be fixed when the swing arm screw 220 moves.
  • the swing member 230 is installed on the base rod 160 through the swing shaft 162, the swing shaft 162 is fixed relative to the base rod 160, and may be a part of the base rod 160, and the swing screw rod 120 is movable relative to the swing shaft 162, so as to drive the swing member 230 when moving swing.
  • the base rod 160 in the swing transmission mechanism 200 is nested in the outer tube 190 for installing the swing member 230, so that the swing shaft 162 of the swing member 230 can be relatively fixed in position when the swing arm screw 220 moves, so that the swing arm screw 220 can The swing member 230 is stably driven to swing.
  • the swing transmission mechanism 200 further includes a rotation connection assembly 280, and the rotation connection assembly 280 includes two rotation members 281, and the two rotation members 281 are respectively located on opposite sides of the swing member 230.
  • the rotation connection assembly 280 includes two rotation members 281, and the two rotation members 281 are respectively located on opposite sides of the swing member 230.
  • the outer tube 190 By arranging the rotating member 281 on both sides, the insertion of the internal transmission parts is not affected.
  • the outer tube 190 not only can be installed and oscillated, but also forms a swing installation for the actuator 700, forming a stable support, and further improving the performance of the actuator 700. Swing imparts stability.
  • the rotating part 281 includes a first rotating part 2811 and a second rotating part 2812 arranged at intervals, the first rotating part 2811 is rotatably connected to the outer tube 190 , and the second rotating part 2812 is rotatably connected to the actuator 700 .
  • the rotating shafts of the first rotating part 2811 and the second rotating part 2812 are parallel to the rotating shaft of the swinging member 230.
  • the first rotating part 2811 and the second rotating part 2812 arranged at intervals can make the rotation connection of the actuator 700 not to the rotating of the swinging member 230. Interference is formed, and swing support is obtained, and the structural stability is high.
  • the first rotating part 2811 and the second rotating part 2812 are bosses provided on the rotating part 281, and connecting holes are respectively provided on the actuator 700 and the outer tube 190, thereby realizing the rotating connection.
  • the boss and hole mates are interchangeable.
  • the swing transmission mechanism 200 further includes a flexible sleeve, one end of the flexible sleeve is connected with the outer tube 190 , and the other end is connected with the actuator 700 , and the flexible sleeve covers the rotating connection assembly 280 therein.
  • the flexible sleeve can be deformed along with the swing of the actuator 700, and by covering the rotating connection assembly 280 therein, it can avoid interference with the outside world, such as the human body, during the swing process.
  • Both ends of the flexible sleeve are respectively connected with hard connecting rings, and the hard connecting rings are connected with the outer tube 190 and the actuator 700 to realize the connection of the flexible sleeve.
  • the flexible sleeve can be made of soft rubber, such as silica gel, rubber, etc., of course, skin-friendly leather can also be used. It can also be a metal sleeve that can be bent and deformed.
  • the swing transmission mechanism 200 of this embodiment is rod-shaped as a whole, the swing arm nut 210 and the swing arm screw 220 are nested with each other, the second limiter 240 and the swing arm screw 220 are nested with each other, and the swing arm screw 220 It forms a hook type rotational connection with the end of the swing rod 250 .
  • the swing arm screw 220 is embedded in the swing arm nut 210 , the limiter 130 is sheathed outside the swing arm screw 220 , and the swing arm screw 220 can move relative to the limiter 130 .
  • the swing rod 250 protrudes from the base 600 and is built in the outer tube 190 and can slide relative to the inner tube 180.
  • the linkage 163 is connected to the end of the swing rod 250, the linkage 163 is connected to a point of the parallelogram structure, and is used to push one side of the parallelogram to translate, so that the swing 230 swings, and the linkage 163 and the parallelogram simultaneously
  • the first transmission part 261 , the second transmission part 262 and the connection part 264 in the quadrilateral structure are all built in the outer tube 190 and can move relative to the outer tube.
  • the entire swing transmission mechanism 200 is in the shape of a rod, and multiple components in the outer tube 190 are nested to form a transmission connection or a sliding relationship. The components are both related and independent.
  • the surgical instrument When the surgical instrument performs a clamping action, the surgical instrument includes a clamping transmission mechanism 300 and a clamping driving mechanism 530, and the clamping driving mechanism 530 drives the clamping transmission mechanism 300 to make the forceps body 710 output a corresponding clamping action to realize the clamping action. Pinching of sutures.
  • the clamping drive mechanism 530 is used to be detachably connected to the mechanical arm of a surgical robot, and transmits the power of rotation to the clamping transmission mechanism 300. torque adjustment; the clamping transmission mechanism 300 converts the rotation action of the clamping drive mechanism 530 into the clamping action of the pliers body 710, which is an action conversion mechanism.
  • Figure 22 shows a partial structural schematic view of the surgical instrument provided by the embodiment of the present application
  • Figure 23 shows a cross-sectional view of Figure 22
  • Figure 24 shows the embodiment of the present application
  • a schematic structural diagram of the clamping driving mechanism 530 of the surgical instrument is provided.
  • the clamping drive mechanism 530 includes a clamping drive member 531, a third gear shaft 533 and a third transmission gear 532, the third transmission gear 532 is fixedly sleeved on the third gear shaft 533, and the clamping drive member 531 passes through the third gear
  • the shaft 533 drives the third transmission gear 532 to rotate, and the third transmission gear 532 is used for transmission connection with the clamping transmission mechanism 300 to transmit the power of the clamping driving mechanism 530 to the clamping transmission mechanism 300 .
  • the clamping driving member 531 includes a clamping driving disc 5311 and a ninth bearing 5312 .
  • the clamping drive plate 5311 is used to connect with the mechanical arm of the surgical robot and receive the power of the mechanical arm.
  • the lower surface of the ninth bearing 5312 is attached to the bearing installation surface of the clamping drive plate 5311 .
  • the clamping drive plate 5311 is loaded into the base 610 from the bottom, and the upper surface of the ninth bearing 5312 is flush with the stepped surface of the bearing installation hole of the base 610 .
  • the clamping drive plate 5311 is used to access the rotational power of the robotic arm, and the outer surface may have teeth for meshing.
  • One end of the third gear shaft 533 is inserted into the clamping drive plate 5311 and connected thereto, and the other end of the third gear shaft 533 is rotatably mounted on the top base 620 through the tenth bearing 534 .
  • the top seat 620 is inserted into the third gear shaft 533 from the upper part, and the tenth bearing 534 is inserted into the third gear shaft 533 from the upper part.
  • the lower surface of the outer ring of the tenth bearing 534 fits with the stepped surface of the bearing mounting hole of the top seat 620 , and the upper surface of the tenth bearing 534 is limited by the fastening nut 535 installed on the third gear shaft 533 .
  • the third transmission gear 532 is coaxially arranged with the third gear shaft 533, and the third transmission gear 532 can be integrally arranged with the third gear shaft 533, or can be connected through a third coupling 536, so that the third transmission gear 532 can It rotates together with the third gear shaft 533 .
  • Both ends of the third gear shaft 533 are connected between the top seat 620 and the base 610 , and also have a supporting effect on the stable connection between the top seat 620 and the base 610 .
  • the first transmission gear 220 can transmit and cooperate with the clamping transmission mechanism 300 through other transmission gears.
  • the gear 220 can also transmit and cooperate with the clamping transmission mechanism 300 through more intermediate transition gears.
  • FIG. 25 shows a partial cross-sectional schematic view of the clamping transmission mechanism 300 provided by the embodiment of the present application
  • FIG. 26 shows a partial view of the clamping transmission mechanism 300 provided by the embodiment of the present application Schematic diagram of the breakdown structure.
  • the clamping transmission mechanism 300 includes a first transmission member 310, a second transmission member 320, a third limiting member 340, an outer tube 190 and a pliers body 710, wherein the first transmission member 310 is the above-mentioned active member, and the second transmission member 320 It is the above-mentioned transmission member, and the third limiting member 340 is the above-mentioned limiting member.
  • the first transmission member 310 receives the rotational driving force of the clamping drive mechanism 530, the second transmission member 320 moves linearly under the drive of the first transmission member 310, and the third limiting member 340 forms a circumferential limit with the second transmission member 320.
  • the pliers body 710 includes a first clamp 711 and a second clamp 712, the first The clamp 711 and the second clamp 712 shrink into the outer tube 190 to close when the outer tube 190 moves linearly, or open relatively to expose the outer tube 190 .
  • the surgical instrument first receives the rotational power of the mechanical arm through the clamping drive mechanism 530, and then converts the rotational power into a reciprocating linear motion through the combination of the first transmission member 310, the second transmission member 320 and the third limiter 340, And it can link the outer tube 190 to do reciprocating linear motion.
  • the outer tube 190 When the outer tube 190 moves, it can put the pliers body 710 into it to make it close, and can open it by exposing the pliers body, thus completing the clamping action of the pliers body 710 .
  • the first transmission member 310 includes a nut 314, and the second transmission member 320 includes a screw rod 322. This structure can move at the input end of the clamping transmission mechanism 300, and will be locked when the pliers body 710 is input. Better self-locking effect.
  • the outer tube 190 is provided with a groove 191
  • the groove 191 is an arc-shaped groove
  • the second clamp 712 is provided with a hook 7121.
  • the arc shape of the groove 191 is the same as the movement track of the hook 7121 when the second clamp 712 rotates.
  • the height of the groove 191 on the outer tube 190 and the hook 7121 are different.
  • the change of the matching positions of the groove 191 and the hook 7121 drives the second clamp 712 to rotate to realize opening and closing. In this way, elastic parts can be omitted, and the structure is simpler and more reliable.
  • the outer peripheral dimensions of the closed first clamp 711 and the second clamp 712 match the inner diameter of the outer tube 190, so that when the outer tube 190 is sleeved outside the first clamp 711 and the second clamp 712, The first clamp 711 and the second clamp 712 can be close to each other, and the outer tube 190 has a restrictive effect on the separation of the first clamp 711 and the second clamp 712, which can make the first clamp 711 and the second clamp
  • the forceps 712 realize a stable closing state, thereby enabling the forceps body 710 to realize a stable pinching and suturing action during an operation, with high reliability.
  • the clamping transmission mechanism 300 is in the shape of a straight rod as a whole, and in this embodiment, the clamping transmission mechanism 300 is used as the knife rod of the pliers body 710 .
  • the extension direction of the first axis is consistent with the extension direction of the clamping transmission mechanism 300, and the extension directions of the first transmission member 310 and the second transmission member 320 of the clamping transmission mechanism 300 are parallel to or coincident with the first axis.
  • the extension direction of the third gear shaft 533 of the driving mechanism 530 is parallel to the first axis.
  • the third limiting member 340 is fixed relative to the base 600 or the third limiting member 340 is a part of the base 600 . Move relative to the base 600 under the constraints.
  • the third limiting member 340 By setting the third limiting member 340 to restrict the rotation of the second transmission member 320 , the second transmission member 320 can move relative to the first transmission member 310 but not rotate, thereby improving the effectiveness of the movement of the second transmission member 320 .
  • the rotation of the second transmission member 320 is limited mechanically by the third limiting member 340 , without complex decoupling operations.
  • the first transmission member 310 and the second transmission member 320 are threadedly connected, and one of the second transmission member 320 and the third limiting member 340 has a chute, and the other has a sliding block matching the chute, and the chute is along the first chute.
  • An axis extends, and when the first transmission member 310 rotates, the second transmission member 320 moves along the first axis under the limited cooperation between the slide groove and the slider.
  • the threaded connection between the first transmission part 310 and the second transmission part 320 can convert the rotary motion into a linear motion, and at the same time, the first transmission part 310 and the second transmission part 320 can be nested with each other, which is beneficial to clamp the transmission mechanism 300 Rod-shaped integrity, more compact structure.
  • the first transmission member 310 has a gear 311 for transmission connection with the clamping driving mechanism 530 .
  • the third limiting member 340 is provided with a sliding block, and the second transmission member 320 is provided with a chute.
  • the first transmission member 310 and the moving second transmission member 320 constitute a screw pair, wherein the moving third limiting member 340 is used to limit the rotation of the second transmission member 320, so that the rotational movement of the moving first transmission member 310 can be converted into moving the second transmission member 320.
  • the linear motion of the second transmission member 320 is
  • the third limiting member 340 includes an annular base 342 and a limiting column 341 protruding from the annular base 342, the limiting column 341 is plugged with the second transmission member 320, and the third limiting member 340 passes through
  • the annular base 342 is connected on the base 600
  • the limit column 341 is a column set on the annular base 342 and the number of the limit column 341 is multiple
  • the second transmission member 320 has a matching column.
  • Such non-rotational sliding fit parts may not be nested with each other, which avoids the excessively large rod diameter of the rod-shaped clamping transmission mechanism 300 caused by a large number of nesting layers.
  • FIG. 27 shows a structural schematic view of the cooperation relationship between the clamping tube 350 , the autorotation tube 420 and the outer tube 190 of the surgical instrument provided by the embodiment of the present application.
  • the surgical instrument also includes a clamping tube 350 , the clamping tube 350 and the second transmission member 320 form an axial limit fit and a rotational fit connection, and the second transmission member 320 linearly moves to push the clamping tube 350
  • the clamping tube 350 is fixedly connected to the outer tube 190 through the clamping key 355 , so that the clamping tube 350 can move linearly under the drive of the second transmission member 320 and drive the outer tube 190 to move linearly.
  • a heat-shrinkable tube 330 is further sleeved on the outside of the clamping key 355 to limit the outward movement of the clamping key 355 .
  • the surgical instrument can also perform autorotation.
  • the surgical instrument includes an autorotation drive mechanism 540 and an autorotation transmission mechanism 400.
  • the autorotation transmission mechanism 400 also includes an autorotation tube 420.
  • the autorotation tube 420 is rotatably arranged on the base 600.
  • the tube 420 forms a circumferential limit fit through the first rotation key 356, and the clamping tube 350 forms a rotation fit with the second transmission member 320, so that the rotation tube 420 can rotate by itself under the drive of the rotation drive mechanism 540 and drive the clamping tube 350 and
  • the outer tube 190 rotates.
  • how the autorotation driving mechanism 540 drives the autorotation tube 420 will be described in detail later.
  • the surgical instrument also includes a base rod 160, the base rod 160 is fixedly connected with the rotation tube 420 through the second rotation key 460, so that the base rod 160 follows the rotation tube 420 to rotate, the forceps body 330 is fixed on the knife rest 181, and the knife rest 181 is connected to the base
  • the rod 160 is detachably connected by a hook, and when the base rod 160 rotates, the tool rest 181 and the caliper body 330 rotate accordingly.
  • the base further includes a mounting part 360, and the mounting part 360 is fixed to the base 610, and may be but not limited to be connected to the base 610 by using screws.
  • the first transmission part 310 is rotatably connected to the mounting part 360 and fixes the annular base 342 to the mounting part 360 , and the gear 111 is exposed from the mounting part 360 .
  • the mounting part 360 is cylindrical, its bottom surface and the base 610 are connected by screws, and the top surface is open.
  • the third limiting part 340 is loaded into the mounting part 360 from the upper part, and is fixedly connected together with screws; the clamping tube 350 Install the second transmission part 320 from the side through the hook to form a rotational connection; the second transmission part 320 is screwed into the clamping drive part 531 from the upper part; the eleventh bearing 312 is inserted into the first transmission part 310 from the lower part, and the eleventh bearing
  • the upper surface of 312 is attached to the bearing installation surface of the first transmission member 310, and the lower surface of the eleventh bearing 312 is limited by the fifth snap spring 313 installed on the first transmission member 310; the first transmission member 310 is penetrated and installed from the upper part Part 360, the lower surface of the outer ring of the eleventh bearing 312 fits the bearing mounting surface of the mounting part 360; the limit pin 361 penetrates the mounting part 360 from both sides, and the cylindrical surface of the limit pin 361 is
  • the third limiting member 340 is fixedly installed on the mounting member 360 by using screws, and the installing member 360 is fixedly installed on the base 610 , so that the third limiting member 340 is fixed relative to the base 610 .
  • the second transmission member 320 is inserted into the third limiting member 340 from the top, and the limiting column 341 of the third limiting member 340 is a cylindrical feature located on its annular base 342 , and the cylindrical feature and the limiting column of the second transmission member 320
  • the slots 321 are matched with each other so as to limit the rotational movement of the second transmission member 320 relative to the third limiting member 340 .
  • the first transmission member 310 due to the large outer diameter of the first transmission member 310 in this embodiment, it has a large transmission ratio when meshing with the third transmission gear 532, which has the effect of reducing the speed and increasing the torque, and can make the first transmission
  • the component 310 has a stronger driving force, and a slower rotating speed makes it have better driving precision.
  • the base also includes a cover plate 650, the end of the base rod 160 has a step, the base rod 160 is fixed to the cover plate 650 by the twelfth bearing 163, the outer ring of the twelfth bearing 163 is fixed to the cover plate 650, and the inner ring is connected to the base rod 160 is fixed, the base rod 160 is inserted into the twelfth bearing 163 from the top, and the boss at the end abuts against the end face of the tenth bearing 534, and the base rod 160 is limited by the sixth snap spring at the bottom of the twelfth bearing 163.
  • the rod 160 is fixed on the cover plate 650, and the cover plate 650 is connected to the first transmission member 310 by screws, thereby realizing the fixing of the base rod 160 relative to the base in the direction of the first axis movement, and the base rod 160 and the first transmission member 310 forms a rotational connection, and the base rod 160 forms a circumferential limit fit with the clamping tube 350 , so that when the first transmission member 310 rotates, the base rod 160 is fixed.
  • the base rod 160 passes through the through holes of the second transmission member 320 and the third limiting member 340 , and extends out through the base 610 therebetween.
  • the cutter head assembly 180 includes a cutter head 181 and a cutter head pushing rod 182 , and the cutter head 181 is rotatably connected to the base rod 160 .
  • the pliers body 710 also includes a blade 330, the blade 330 is movably arranged between the first tongs 711 and the second tongs 712, and the blade 330 is transmission-connected with the cutter head push rod 182 so as to drive along the cutter head push rod 182.
  • the first axis moves, and at least one of the first tongs 711 and the second tongs 712 is connected to the knife rest 181.
  • the blade 330 is movably arranged on the tongs connected to the knife rest 181, such as a knife
  • the frame 181 is connected with the first clamp 711 , and the blade 330 is movably arranged in the first clamp 711 .
  • the pliers body 710 can be kept fixed by being connected to the base bar 160 through the knife rest 181, thereby realizing the relative movement of the blade 330 and the pliers body 710.
  • the clamping transmission mechanism 300 is linked with one clamp action, and the other clamp is fixed, which can reduce the impact on the blade 330 in the clamp body 710, the movement of the blade 330 and the opening and closing of the clamp body 710 can be independently controlled, and the clamp body 710 can Output more high-precision operation actions.
  • the second transmission member 320 is connected to the caliper body 710 through the outer tube 190, and the outer tube 190 forms a rotational connection with the second transmission member 320.
  • the outer tube 190 is sleeved on the base rod 160.
  • This embodiment is a sleeve Outside the base rod 160 and the knife holder 181 .
  • the base rod 160 and the knife holder 181 are sleeved therein through the outer tube 190 , so that the appearance is complete and the outside world is prevented from interfering with the connection between the two.
  • the outer tube 190 covers the connection structure between the base rod 160 and the knife rest 181, and has a restraining effect on the separation between the base rod 160 and the knife rest 181 through the opening of the socket, so that the base rod 160 and the knife rest 181 The connection is more stable.
  • the second transmission member 320 is rotatably connected to the clamping tube 350 , and the clamping tube 350 extends out of the base 600 to connect with the outer tube 190 .
  • the clamping tube 350 By setting the clamping tube 350, the output of the second transmission member 320 is connected outside the base 600, and then the outer tube 190 is sleeved.
  • the connection between the outer tube 190 and the clamping tube 350 can be through the cooperation of the key and the keyway. Realize a fixed connection.
  • the surgical instrument includes a clamping key 355, a fourth fixing keyway 151 is provided on the clamping tube 350, a third fixing keyway 192 is provided on the outer tube 190, and the outer tube 190 is sleeved outside the clamping tube 350, The clamping key 355 is inserted into the fourth fixing key slot 151 and the third fixing key slot 192 to be fixed.
  • the insertion position of the clamping key 355 is outside the base 600, which is convenient for assembly.
  • the clamp body 710 includes a first clamp 711 and a second clamp 712, the first clamp 711 and the second clamp 712 are rotatably connected, the first clamp 711 is connected to the base rod 160, and the second clamp 712 is in transmission connection with the second transmission member 320 , and when the second transmission member 320 moves away from the base 600 , the first clamp 711 and the second clamp 712 close together.
  • the first clamp 711 remains fixed under the action of the base rod 160
  • the second clamp 712 rotates relative to the first clamp 711 as the second transmission member 320 moves. , so as to realize the opening and closing of the first clamp 711 and the second clamp 712 .
  • an arc-shaped chute 7111 is formed on the first clamp 711, and a slider 7122 slidingly fitted with the arc-shaped chute 7111 is formed on the first clamp 712, and the second transmission member 320 drives the second clamp 712 to move At this time, the second clamp 712 slides along the arc chute 7111 , and the guiding effect of the arc chute 7111 makes the orientation of the second clamp 712 change, and then moves closer to the first clamp 711 . Likewise, when the second transmission member 320 drives the second clamp 712 back, the second clamp 712 is opened relative to the first clamp 711 .
  • the outer tube 190 includes an outer tube 190a close to the clamping drive mechanism 530, and an outer tube 190b close to the clamp body 710, the outer tube 190a is connected to the outer tube 190b, the first clamp 711 and the second clamp When the two clamps 712 are closed, they are received in the outer tube 190b.
  • the outer tube 190a is in transmission connection with the outer tube 190b, and the second clamp 712 is connected with the second transmission member 320 through the outer tube 190a and the outer tube 190b.
  • the outer tube 190b is shorter in length and is easier to assemble with the second clamp 712 than the longer outer tube 190 .
  • a rotational connection is formed between the outer tube 190a and the outer tube 190b, the outer tube 190b together with the pliers body 710 can swing relative to the outer tube 190a, and a swing transmission for driving the outer tube 190b to swing is nested in the outer tube 190a Agency 200.
  • the clamping transmission mechanism 300 also includes a rotating connection assembly 280, the two rotating parts 281 of the rotating connecting assembly 280 are respectively located on opposite sides outside the cutter head assembly 180, and the outer tube 190b rotates with the outer tube 190a through the two rotating parts 281
  • the connection does not affect the penetration of the internal transmission components by arranging the rotating member 281 on both sides.
  • the clamping transmission mechanism 300 of this embodiment is in the shape of a rod as a whole, the first transmission member 310 and the second transmission member 320 are nested with each other, the third limiting member 340 is partially inserted into the second transmission member 320, and the second transmission member 320 is partially inserted.
  • the second transmission member 320 forms a hook-type rotational connection with the end of the clamping tube 350 , and the clamping tube 350 is built in the second transmission member 320 , and the base rod 160 is built in the clamping tube 350 .
  • the second transmission member 320 is embedded in the first transmission member 310
  • the third limiting member 340 is coaxially arranged at the end of the second transmission member 320
  • the second transmission member 320 can be opposite to the third limiting member.
  • 340 moves.
  • the clamping tube 350 protrudes from the base 600 and is embedded in the outer tube 190 and is connected with the outer tube 190 to drive the outer tube 190 to move.
  • the base rod 160 extends from the base 600 and is embedded in the outer tube 190 And can slide relative to the outer tube 190 .
  • the base rod 160, the clamping tube 350, the second transmission member 320, and the cutter head assembly 180 are all arranged in the outer tube 190, and the base rod 160, the second transmission member 320, and the clamping tube 350 are mutually nested and can be Sliding setting, specifically the second transmission member 320 is built in the base rod 160, the clamping tube 350 is sleeved outside the base rod 160, the base rod 160 is slidable relative to the clamping tube 350, and the clamping tube 350 is inserted into the outer tube 190 And it is connected with the outer tube 190 to drive the outer tube 190 to move. Knife rest 181 and cutter head push rod 182 are mutually nested and can slide relative to each other.
  • Concrete cutter head push rod 182 is built in the knife rest 181, and cutter rest 181 is slidable relative to outer tube 190. 160 forms a hook rotation connection, and the cutter head pushing rod 182 forms a hook non-rotation connection with the transformation member 20 .
  • the entire mobile transmission mechanism 100 is in the shape of a rod, and multiple components in the outer tube 190 are nested to form a transmission connection or a sliding decoupling relationship, and the components with the axial force transmission relationship form a rotation Connection, decoupling that can be rotated and transmitted, each component is related and independent.
  • the autorotation transmission mechanism 400 and the autorotation drive mechanism 540 are supplemented in detail below.
  • the rotation transmission mechanism 400 includes a driven wheel 410 and a rotation tube 420.
  • the driven wheel 410 is used for transmission connection with the rotation drive mechanism 540 and rotates around the first axis.
  • the driving wheel 410 forms a non-rotating fit and rotates about the first axis.
  • the rotation driving mechanism 540 is a wire wheel transmission mechanism, including the rotation driving disk 541, the second transmission shaft 542 and the driving wheel 543.
  • the driven pulley 410 is also a pulley. As a driven pulley, the transmission wire 544 is wound and pulled between the two pulleys, so that the rotation driving mechanism 540 can drive the driven pulley 410 to rotate.
  • the firing rod 140 and the rotation tube 420 form a circumferential limit fit and an axial sliding fit connection, and the firing rod 140 and the rotation tube 420 are respectively connected with the actuator 700 of the surgical instrument.
  • Different actions are output by the linkage actuator 700 .
  • the firing rod 140 is connected with the blade 720 of the actuator 700 to realize cutting
  • the rotation tube 420 is connected with the pliers body 710 to realize the autorotation of the pliers body 710 .
  • the firing drive member 110 and the driven wheel 410 are respectively rotatably connected to the base 600, thereby realizing the installation of the moving transmission mechanism 100 and the rotation transmission mechanism 400 on the base 600, and the movement transmission mechanism 100 and the rotation transmission mechanism 400 are rotated by
  • the circumferential limit fit and axial sliding fit connection between the tube 420 and the firing rod 140, and the rotatable connection between the firing rod 140 and the conversion part 120 realize that the linear motion of the mobile transmission mechanism 100 is not affected by the rotation transmission mechanism 400.
  • the rotation of the rotation transmission mechanism 400 is not affected by the movement transmission mechanism 100 .
  • Surgical instruments can realize the independent transmission of multiple transmission mechanisms in one tube, and the mutual cooperation structure can be rotated to achieve rotation decoupling, and can be slid to achieve mobile decoupling, with simple structure and high reliability.
  • the combined transmission device 1000 is in the shape of a straight rod as a whole.
  • the combined transmission device 1000 is used as the knife rod of the stapler.
  • the extension direction of the first axis is consistent with the extension direction of the combined transmission device 1000 .
  • the moving transmission mechanism 100 is telescopically and fixedly connected with the actuator 700 on the first axis through the firing rod 140 , that is, the firing rod 140 and the actuator 700 do not move relative to each other on the transmission path along the first axis. Therefore, when the firing driving member 110 of the moving transmission mechanism 100 rotates, the firing rod 140 can be driven to drive the actuator 700 to move.
  • the autorotation transmission mechanism 400 is connected with the actuator 700 through the rotation tube 420 to form a circumferential limit fit to drive the actuator 700 to rotate around the first axis. The autorotation transmission mechanism 400 is used to drive the actuator 700 to rotate.
  • the firing rod 140 is rotationally connected with the conversion member 120, so the rotation tube 420 will not affect the conversion member 120 when it rotates, and the actuator 700 can be driven to rotate when the driven wheel 410 rotates.
  • the combined transmission device can drive the actuator 700 to move and rotate, and the two do not affect each other and can operate independently.
  • the firing rod 140 is connected to the actuator 700 through the swing member 230 in the swing transmission mechanism 200 to drive the actuator 700 to swing, that is, the swing member 230 is set on the transmission path between the firing rod 140 and the actuator 700
  • the movement of the firing rod 140 is converted into the swing of the actuator 700 by the swing member 230 .
  • the conversion member 120 swings in conjunction with the swinging member 230 through the firing rod 140 , so that the actuator 700 swings synchronously.
  • the autorotation transmission mechanism 400 is connected with the actuator 700 through the rotation tube 420 to form a circumferential limit fit to drive the actuator 700 to rotate around the first axis.
  • the autorotation transmission mechanism 400 is used to drive the actuator 700 to rotate.
  • the firing rod 140 is rotatably connected to the conversion member 120 , so the rotation tube 420 will not affect the conversion member 120 when it rotates, and the actuator 700 can be driven to rotate when the driven wheel 410 rotates.
  • the combined transmission device can drive the actuator 700 to swing and rotate, and the two do not affect each other and can operate independently.
  • the moving transmission mechanism 100 also includes a knife rest 181, the firing rod 140 and the knife rest 181 can generate relative movement on the first axis, the firing rod 140 is connected with the first pliers body 711, and the knife rest 181 is connected with the second The pliers bodies 712 are connected, and when the firing rod 140 and the knife rest 181 move relatively, the first pliers body 711 and the second pliers body 712 are linked to rotate mutually.
  • the relative rotation of the first pliers body 711 and the second pliers body 712 is linked, thereby realizing the opening and closing of the tongs.
  • the autorotation transmission mechanism 400 is connected with the actuator 700 through the rotation tube 420 to form a circumferential limit fit to drive the actuator 700 to rotate around the first axis.
  • the autorotation transmission mechanism 400 is used to drive the actuator 700 to rotate.
  • the firing rod 140 is rotationally connected with the conversion member 120, so the rotation tube 420 will not affect the conversion member 120 when it rotates, and the actuator 700 can be driven to rotate when the driven wheel 410 rotates.
  • the combined transmission device can drive the actuator 700 to open, close and rotate, and the two do not affect each other and can operate independently.
  • the moving transmission mechanism 100 is a linear transmission mechanism
  • the rotation transmission mechanism 400 is also a linear transmission mechanism, wherein a slidable fit is formed between the conversion member 120 and the rotation tube 420, and the conversion member 120 and the rotation tube 420 are respectively connected to the operation
  • Different parts of the actuator 700 of the instrument are connected in transmission, and the actuator 700 outputs different actions by linkage.
  • the firing rod 140 is connected to the blade 720 of the actuator 700. When the firing rod 140 moves, the blade 720 is driven to move relative to the pincer head.
  • the rotation tube 420 is connected to the pincer head of the actuator 700. When the rotation tube 420 moves, the first pincer is linked.
  • the body 711 swings relative to the second forceps body 712 .
  • the combined transmission device 1000 can drive the pincers of the actuator 700 to open and close or drive the blade 720 of the actuator 700 to move through the combination of the two linear transmission mechanisms, and the two do not affect each other.
  • the number of mobile transmission mechanisms 100 is large, and the plurality of mobile transmission mechanisms 100 are nested with each other, and the firing rods 140 of adjacent mobile transmission mechanisms 100 form a non-rotating and slidable fit.
  • a firing rod 140 of a moving transmission mechanism 100 forms a non-rotating engagement with the autorotation tube 420 . Therefore, more transmission mechanisms can be integrated in one cutter bar, and a slidable connection is formed between the conversion parts of multiple linear transmission mechanisms, so that they do not affect each other when they move separately. A non-rotational fit is formed between them, so that the rotation of the autorotation transmission mechanism can be effectively transmitted to the actuator 700 without affecting the transmission of rotational power.
  • the structures of the multiple moving transmission mechanisms 100 are not completely the same, but some of them are linear transmission mechanisms, and the transmission mechanisms can be the same, all including The firing part and the conversion part, the conversion part can move linearly under the drive of the firing part, and the parts of the multiple moving transmission mechanisms 100 are nested with each other and can move independently.
  • the moving transmission mechanism 100 also includes a functional part, the firing rod 140 is connected with the executive part 700 through the functional part, and the functional part converts the linear motion of the firing rod 140 into other motions, or the firing rod 140 and the functional part are respectively Connect with the executive part 700. Since the main transmission function of the mobile transmission mechanism 100 is a linear transmission function, when multiple linear transmission mechanisms are provided, through the conversion of functional parts, such as when the functional part is the swing part 230 and the functional part is the knife rest 181, it can be combined with the firing rod 140 The action causes the actuator 700 to output an oscillating or clamping action in addition to linear motion.
  • the transmission mechanism of the combined transmission device 1000 can not only be a combination of two of the above-mentioned moving, rotating, opening and closing, and swinging, but also can include a combination of three or four of the above-mentioned transmission mechanisms, so that a knife More transmission mechanisms are integrated in the rod, and the transmission actions of each transmission mechanism are independent of each other and do not affect each other.
  • the surgical instrument includes a combined transmission device 1000, a linear drive mechanism 510, an autorotation drive mechanism 540, a swing drive mechanism 520, and a clamping drive mechanism 530.
  • the combined transmission device 1000 includes a moving transmission mechanism 100 driven by the linear drive mechanism 510, The autorotation transmission mechanism 400 driven by the rotation drive mechanism 540 , the swing transmission mechanism 200 driven by the swing drive mechanism 520 , and the clamping transmission mechanism 300 driven by the clamping drive mechanism 530 .
  • the moving transmission mechanism 100 is a linear transmission mechanism, which is used for transmission connection with the blade 720, and drives the blade 720 to move;
  • the rotation transmission mechanism 400 is a rotation transmission mechanism, which is used for transmission connection with the actuator 700, and drives the actuator 700 to rotate;
  • the swing transmission mechanism 200 It is a swing transmission mechanism, which is used for transmission connection with the actuator 700, and drives the actuator 700 to swing;
  • the clamping transmission mechanism 300 is a clamping transmission mechanism, used for connecting with the first pliers body 711, and driving the first pliers body 711 relative to the second The pliers body 712 rotates to realize opening and closing.
  • the motions of the sleeves of each transmission mechanism are independent of each other and do not affect each other, but when the actuator 700 is driven to rotate, the sleeves of each transmission mechanism Motion correlation, rotational motion transfer and isolation of pipe feed motion.
  • the moving transmission mechanism 100 includes a firing driving part 110 , a converting part 120 , a first limiting part 130 and a firing rod 140 .
  • the firing drive part 110 is used to access and transmit the power of rotation to the conversion part 120; the conversion part 120 converts the rotation of the firing drive part 110 into linear movement; the first limiter 130 limits the rotation of the conversion part 120, so that the conversion part 120 Relative to the firing drive part 110, it can move but not rotate, so as to improve the effectiveness of the movement of the conversion part 120.
  • the rotation of the mobile conversion part 120 is limited by the first limiter 130 in a mechanically limited manner, and by setting the firing rod 140, the movement transmission A rotatable transmission joint is separated from the transmission path of the mechanism 100, which can avoid the influence of the rotation transmission mechanism 400 on the mobile transmission mechanism 100 when rotating, and does not require complex decoupling operations.
  • the first limiting member 130 and the swing screw 220 of the swing transmission mechanism 200 are the same component, and multiple functional components are integrated into one component, which can improve the structural compactness of the combined transmission device 1000 .
  • the rotation transmission mechanism 400 includes the driven wheel 410, the rotation tube 420 and the base rod 160, the driven wheel 410, the rotation tube 420 and the base rod 160 are connected to each other in a rotational and fixed manner, and the base rod 160 is connected to the actuator 700 in a rotational and fixed manner .
  • the driven wheel 410 is used for transmission connection with the autorotation drive mechanism 540 to receive the rotational power. Driven by the driven wheel 410 , the autorotation tube 420 and the base rod 160 rotate along the first axis, thereby driving the actuator 700 to rotate.
  • the swing transmission mechanism 200 includes a swing nut 210 , a swing screw 220 , a second limiting member 240 , a swing rod 250 and a swing member 230 .
  • the swing nut 210 is used to access and transmit the rotating power to the swing screw 220; the swing screw 220 converts the rotation of the swing nut 210 into linear movement; the second limiter 240 limits the rotation of the swing screw 220, so that the swing screw 220 swings relatively
  • the nut 210 can move but cannot rotate, so as to improve the effectiveness of the movement of the swing screw rod 220.
  • the second limiter 240 limits the rotation of the moving conversion member in a mechanically limited manner, and by setting the swing rod 250, the transmission of the swing transmission mechanism 200 A rotatable transmission joint is separated from the path, which can prevent the swing transmission mechanism 200 from being affected when the rotation transmission mechanism 400 rotates, and no complicated decoupling operation is required.
  • the clamping transmission mechanism 300 includes a first transmission member 310 , a second transmission member 320 , a third limiting member 340 , a clamping tube 350 and a base rod 160 .
  • the first transmission member 310 is used for transmission connection with the clamping drive mechanism 530 and rotates around the first axis under the drive of the clamping drive mechanism 530.
  • the third limiting member 340 forms a circumferential limiting fit with the conversion member 120 and The axial sliding fit is used to limit the rotation of the conversion member 120 around the first axis, and the conversion member 120 is driven by the first transmission member 310 to move along the first axis, thereby changing the rotation of the first transmission member 310 to the rotation of the conversion member 120 move.
  • the conversion member 120 is rotatably connected with the clamping tube 350, and is in transmission connection with the first pliers body 711 through the clamping tube 350.
  • the base rod 160 is slidably fitted with the clamping tube 350, and the base rod 160 is used to connect with the second pliers body 712. , when the first transmission member 310 drives the clamping tube 350 to move relative to the base rod 160 , the first pliers body 711 rotates relative to the second pliers body 712 , so as to realize the opening and closing of the first pliers body 711 and the second pliers body 712 .
  • the first transmission member 310 is used to access and transmit the power of rotation to the conversion member 120, and is a rotary transmission member; the conversion member 120 converts the rotation of the first transmission member 310 into linear movement, and is a kind of motion conversion member
  • the third limiter 340 limits the rotation of the conversion member 120, so that the conversion member 120 can move relative to the first transmission member 310 and cannot rotate, so as to improve the effectiveness of the movement of the conversion member 120.
  • the third limiter 340 is mechanically limited The way to limit the rotation of the mobile conversion part, and by setting the clamping tube 350, the transmission path of the clamping transmission mechanism 300 is divided into rotatable transmission joints, which can avoid the impact on the clamping transmission mechanism 300 when the rotation transmission mechanism 400 rotates , without complex decoupling operations.
  • the non-rotational sliding fit connection between the mutually nested shafts and tubes can be formed by means of keys and key grooves.
  • the key grooves on the corresponding sleeves correspond to each other, from the outer tube to the inside
  • a limit key is inserted into the tube to limit the mutual rotation between the tubes that are nested in each other.
  • FIG. 27 shows the actuation and decoupling system of the clamping transmission mechanism 300.
  • the clamping tube 350 and the rotation tube 420 are connected together using the first rotation key 356.
  • the clamping tube 350 can be along the axis of the rotation tube 420.
  • Direction linear movement but can not rotate relative to the rotation tube 420 along the axis of the rotation tube 420, so that when the rotation tube 420 rotates, the clamping tube 350 will follow the rotation of the rotation tube 420; the clamping tube 350 and the second transmission member 320 Between them, circular steps are used to form a rotational connection and an axial limit connection.
  • the clamping tube 350 has no linear movement relative to the second transmission member 320 in the axial direction, but the clamping tube 350 can move relative to the axial direction of the second transmission member 320. Rotational movement, so that when the clamping tube 350 rotates, the second transmission member 320 will not follow the rotation, thereby releasing the kinematic coupling between the rotation transmission mechanism 400 and the clamping transmission mechanism 300 .
  • FIG. 29 and FIG. 31 show the motion decoupling structure of the rotation transmission mechanism 400 and the swing transmission mechanism 200 in this embodiment.
  • the rotation tube 420 and the base rod 160 are fixedly connected as a whole using the second rotation key 460, so that the rotation motion of the rotation tube 420 can be transmitted to the rotation of the base rod 160;
  • the base rod 160 is connected with the swing rod 250 using the third rotation key 470, and the swing rod 250 It can only move linearly along the axis of the base rod 160, and cannot rotate along the axis of the base rod 160, so that the rotation of the base rod 160 can drive the rotation of the swing rod 250;
  • There is no linear movement between the rod 250 and the swing screw 220 relative to the axis of the swing screw 220 but the swing rod 250 can rotate along the axis of the swing screw 220 , thereby releasing the kinematic coupling between the rotation transmission mechanism 400 and the swing transmission mechanism 200 .
  • FIG. 31 shows the motion decoupling structure of the rotation transmission mechanism 400 and the movement transmission mechanism 100 in this embodiment.
  • the base rod 160 and the firing rod 140 are connected together using the third rotation key 470, the firing rod 140 can only move linearly along the axis of the base rod 160, and cannot rotate along the axis of the base rod 160, so that the rotation of the base rod 160 can drive
  • the firing rod 140 follows the rotation movement; the firing rod 140 and the transformation piece 120 are rotationally connected by a cylindrical structure, there is no linear movement between the firing rod 140 and the transformation piece 120 relative to the axis of the transformation piece 120, but the firing rod 140 can move along the axis of the transformation piece 120 Rotate, so that the kinematic coupling between the rotation transmission mechanism 400 and the movement transmission mechanism 100 is released.
  • the knife rest 181 is connected to the base 600 through the base rod 160, one end of the knife rest 181 is rotatably connected to the base rod 160 through a hook, and the other end of the knife rest 181 is connected to the first clamp of the actuator 700 Body 711 is connected.
  • the second transmission member 320 extends out of the base 600 through the clamping tube 350 , the clamping tube 350 and the outer tube 190 are fixed by the clamping key 355 , and the outer tube 190 is in transmission connection with the second pliers body 712 .
  • the outer tube 190 drives the second pliers body 712 to move, the second pliers body 712 slides along the arc-shaped chute 7111, and the guiding effect of the arc-shaped chute 7111 makes the orientation of the second pliers body 712 change, and then moves towards the first pliers body. 711 close or open.
  • the combined transmission device 1000 is located in the middle of the base 600 , and the linear drive mechanism 510 , the rotation drive mechanism 540 , the swing drive mechanism 520 and the clamping drive mechanism 530 are located around the combined transmission device 1000 .
  • the combined transmission device 1000 located in the middle of the base 600 is not an absolute middle, but is closer to the middle of the base 600 relative to the driving mechanism, or is located in the boundary surrounded by the four transmission mechanisms.
  • the three transmission mechanisms are arranged around the combined transmission device 1000, so that the arrangement of each driving mechanism is more reasonable, effectively avoiding the interference of each driving mechanism and the motion transmission of the combined transmission device 1000.
  • the linear driving mechanism 510 adopts the driving structure of gear transmission
  • the rotation driving mechanism 540 adopts the driving structure of wire wheel transmission
  • the swing driving mechanism 520 adopts the driving structure of gear transmission
  • the clamping driving mechanism 530 adopts the driving structure of gear transmission
  • the rational arrangement of the transmission structure is realized through gear transmission and wire wheel transmission, and the structure of the surgical instrument is more compact.
  • 32-36 show the exploded and partially exploded schematic diagrams of the combined transmission provided by the embodiment of the present application.
  • the combined transmission device 1000 is rod-shaped as a whole, and each transmission mechanism is coaxially nested, and the driving part and the driven part of the same transmission mechanism are adjacently nested to form a transmission fit.
  • the firing drive part 110 , the conversion part 120 , the driven wheel 410 and the rotation tube 420 are nested with each other, and the firing drive part 110 is nested adjacent to the conversion part 120 , and the driven wheel 410 is nested adjacent to the rotation tube 420 .
  • the specific nesting relationship is as follows.
  • the swing screw 220 is located at the innermost side of the sleeve structure of the combined transmission device 1000, and its end forms a non-rotating fit with the second stopper 240 on the top seat 620 of the base 600.
  • a section near the top base 620 is provided with a swing nut 210, and the swing nut 210 is rotatably connected to the top base 620; the swing nut 210 forms a thread fit with it, and the swing nut 210 drives the swing screw rod 220 to move when rotating; the swing screw rod 220 is away from One end of the top seat 620 is rotatably connected to the swing rod 250 through a hook structure; the swing screw 220 is covered with a conversion piece 120, and the conversion piece 120 and the swing screw 220 form a sliding fit through the first fitting 121; the conversion piece 120 is provided with The first fixed keyway 122, the fourth sliding keyway 222 is provided on the swing screw 220, the first fitting 121 is fixed in the first fixed keyway 122 and inserted into the fourth sliding keyway 222, thus realizing the transformation between the conversion part 120 and the swinging
  • the non-rotating screw rod 220 can be slidably matched; the swing screw rod 220 is used as a limiting part of the conversion member 120
  • the conversion part 120 is externally threaded with a firing drive part 110, and the firing drive part 110 is rotatably connected to the middle plate 650 of the base 600.
  • the firing drive part 110 rotates, the conversion part 120 can move along the first axis; the conversion part 120
  • the end away from the middle plate 650 is rotatably connected to the firing rod 140 through a hook.
  • the firing rod 140 is sleeved outside the swing rod 250.
  • the firing rod 140 is provided with a second fixed keyway, and the swing rod 250 is provided with a fifth sliding keyway.
  • the third rotation key 470 is inserted into the second fixed keyway, and the third rotation key 470 extends into the fifth sliding keyway 251, thereby realizing the non-rotational sliding fit between the firing rod 140 and the swing rod 250, thereby moving
  • the decoupling of the moving direction is realized between the transmission mechanism 100 and the swing transmission mechanism 200, and they can move independently.
  • the firing driver 110 is covered with a base rod 160, which is rotatably but immovably connected to the base 600.
  • the base rod 160 is provided with a sixth sliding keyway 164, and the third rotation key 470 is inserted into the sixth sliding keyway. 164 realizes the slidable non-rotational connection of the base rod 160 with the percussion rod 140 and the swing rod 250 .
  • the base rod 160 is provided with a second transmission member 320, and the second transmission member 320 is provided with a first transmission member 310.
  • the third limiting member 340 of the clamping transmission mechanism 300 is fixed on the base 600.
  • the first transmission member 310 Rotatably connected to the base 600, the second transmission member 320 forms a slidable fit with the third limiting member 340, so driven by the first transmission member 310, the second transmission member 320 can move along the base 600.
  • the first axis moves, the second transmission member 320 is rotatably connected to the clamping tube 350 through the hook, the clamping tube 350 is provided with the seventh sliding keyway 352, the base rod 160 is provided with the fifth fixed keyway 165, the first rotation
  • the key 460 is inserted into the fifth fixed keyway 165 and the seventh sliding keyway 352 such that the clamping tube 350 forms a non-rotating, slidable connection with the base rod 160 .
  • the clamping tube 350 is covered with a rotation tube 420, and the rotation tube 420 is provided with a chute 421.
  • the second rotation key 460 is inserted into the chute 221, thereby being fixed with the base rod 160, and forming a non-rotating movable joint with the clamping tube 350. Swipe to connect.
  • the clamping tube 350 is also sleeved with an outer tube 190, the outer tube 190 is provided with a sixth fixed keyway 192, the clamping tube 350 is provided with a first fixed keyway 351, and the second rotation key 460 fits in the sixth fixed keyway 192 and
  • the first fixing keyway 351 is used to fix the outer tube 190 and the clamping tube 350 .
  • the transmission process of the combined transmission device 1000 of this embodiment to drive the actuator 700 to move, rotate, swing and open and close is as follows:
  • the driving conversion part 120 moves along the first axis, and the conversion part 120 forms a non-rotational sliding fit with the swing screw 220.
  • the conversion part 120 is rotatably connected with the firing rod 140, and the firing rod 140 It forms a non-rotating sliding fit with the base rod 160 and the swing rod 250, and the conversion part 120 drives the blade 720 of the actuator 700 to move through the firing rod 140;
  • the connecting part 700 drives the executive part 700 to rotate as a whole;
  • the swing nut 210 of the swing transmission mechanism 200 rotates, it drives the swing screw 220 to move along the first axis, and the swing screw 220 forms a non-rotating sliding fit with the conversion member 120, and the swing screw 220 is rotationally connected with the swing rod 250;
  • the rod 140 and the base rod 160 form a non-rotating sliding fit, and the swing screw 220 drives the swing member 230 to swing through the swing rod 250, the linkage member 263, and the swing transmission member 260, and the swing member 230 is connected with the actuator 700 to drive the actuator 700 to swing as a whole;
  • the first transmission part 310 of the clamping transmission mechanism 300 rotates, it drives the conversion part 120 to move along the first axis, and the conversion part 120 is rotatably connected to the clamping tube 350;
  • the clamping tube 350 is respectively connected to the base rod 160 and the rotation tube 420 A non-rotating sliding connection is formed, the clamping tube 350 is fixedly connected to the outer tube 190, the base rod 160 is rotatably connected
  • the surgical instrument includes an actuator 700 for performing surgery, and also includes a clamping drive plate 5311 , a transmission mechanism, an autorotation tube 420 and a clamping tube 350 .
  • the clamping drive plate 5311 is used to connect with the mechanical arm of a surgical robot and receive the power of the mechanical arm.
  • the transmission mechanism includes the driving wheel 543 and the driven wheel 410.
  • the driving wheel 543 is connected to the clamping drive plate 5311, and the driven wheel 410 is connected to the driving The wheel 543 is connected by transmission, and the driven wheel 410 is tubular; the rotation tube 420 is inserted into the driven wheel 410 and rotates with the driven wheel 410, and the rotation tube 420 is provided with a chute 421; the clamping tube 350 is connected to the chute through the second rotation key 460 421, so as to follow the rotation tube 420 when the rotation tube 420 rotates, the second rotation key 460 can slide along the slide groove 221 to make the clamping tube 350 move axially relative to the rotation tube 420, the actuator 700 includes a pincer head, clamping When the pipe 350 moves in the axial direction, the pincer head of the actuator 700 is driven to perform the clamping action.
  • the rotation tube 420 and the clamping tube 350 can be able to slide mutually, it is possible to make the clamping tube 350 not affect the rotation tube 42 or not be affected by the rotation tube 420 when moving, and the rotation tube 420 and the clamping tube 350 pass through the key
  • the cooperation with the keyway can transmit the rotation, and then can drive the clamping tube and the actuator 700 to rotate together when the rotation tube 420 rotates.
  • the above-mentioned transmission mechanism is a wire wheel transmission mechanism
  • the driving wheel 543 is a driving wire wheel
  • the driven wheel 410 is a driven wire wheel
  • the driving wire wheel is connected with the driving disk
  • the driven wire wheel and the driving wire wheel are connected by wire transmission.
  • the surgical instrument also includes an outer tube 190.
  • the outer tube 190 is fixedly connected to the clamping tube 350 through the clamping key 355 so as to rotate and move axially with the clamping tube 350.
  • the actuator 700 contracts.
  • the outer tube 190 is clamped and closed, and when the outer tube 190 is retracted in the axial direction, the actuator 700 exposes the outer tube 190 to release the clamping action.
  • the surgical instrument also includes a threaded assembly.
  • the threaded assembly includes a first transmission member 310 that receives the clamping drive mechanism 530, and a second transmission member 320 that is threadedly connected with the first transmission member 310.
  • the second transmission member 320 is connected to the first transmission member 320. Driven by 310 , it moves axially along the second transmission member 320 , and the second transmission member 320 is connected with the clamping tube 350 to drive the clamping tube 350 to move axially.
  • the second transmission member 320 is connected to the clamping pipe 350 through the circular structure of the third limiting member 340 , and the clamping tube 350 is isolated from the second transmission member 320 through the circular structure of the third limiting member 340 , the clamping tube 350 rotates in the annular structure of the third limiting member 340, and the outside of the second transmission member 320 is further connected with two limiting columns on the annular structure of the third limiting member 340, so as to The rotation of the second transmission member 320 following the clamping tube 350 is restricted.
  • the surface of the first transmission member 310 is fixed with a gear 311 , and the gear 311 receives the rotational driving force of the clamping driving mechanism 530 to drive the first transmission member 310 to rotate.
  • the circular structure of the third limiting member 340 prevents the rotation of the clamping tube 350 from affecting the second transmission member 320 .
  • the surgical instrument also includes a base rod 160 and a swing rod 250, the base rod 160 is connected with the rotation tube 420 through the second rotation key 460, so that the base rod 160 follows the rotation tube 420 to rotate, and the base rod 160 and the swing rod 250 pass through the third rotation key 470, so that the swing rod 250 follows the base rod 160 to rotate, and the swing rod 250 is used to drive the actuator 700 to swing.
  • one end of the swing rod 250 is connected with a swing screw rod 220 through a cylindrical structure, so that the swing rod 250 can rotate around the swing screw rod 220 during autorotation, and the other end of the swing rod 250 is connected with a parallelogram swing member (above).
  • the mentioned parallelogram structure) connection the swing screw 220 is threadedly connected with the swing nut 210, the swing nut 210 receives the rotational driving force of the swing drive mechanism 520 and rotates, and the swing screw 220 moves axially under the drive of the swing nut 210 to promote the swing
  • the rod 250 moves in the axial direction
  • the parallelogram oscillating member is connected to the actuator 700 .
  • the parallelogram oscillating member is driven to swing to drive the actuator 700 to swing.
  • the surgical instrument also includes a firing driver 110, a firing rod 140 and a conversion part 120.
  • the firing rod 140 is connected with the base rod 160 through a third rotation key 470 to follow the rotation of the base rod 160 when the base rod 160 rotates.
  • the firing rod 140 and the conversion The part 120 is connected by a cylindrical structure, so that the firing rod 140 can rotate relative to the conversion part 120 when it rotates.
  • the conversion part 120 is screwed to the firing drive part 110, and the firing drive part 110 receives the rotational driving force of the clamping drive plate 5311 and rotates.
  • the conversion part 120 is driven by the firing drive part 110 to move axially to push the firing rod 140 to move in the axial direction.
  • the actuator 700 includes a blade 720 arranged in the pliers head, and the firing rod 140 pushes the blade 720 to move.
  • the transmission structure of the surgical instrument is arranged in a sleeve shape, the swing rod 250 is located inside the firing rod 140 , and the firing rod 140 is located inside the base rod 160 .

Abstract

一种手术器械及手术机器人，包括主操作控制台和从操作设备，从操作设备包括手术器械，手术器械包括执行手术的执行件（700），手术器械包括：驱动盘，与手术机器人的机械臂连接，接收机械臂的动力；主动件，与驱动盘传动连接，以输出旋转运动；从动件，从动件与主动件螺旋传动配合，从动件在主动件的驱动下沿直线运动；限位件，限位件与从动件形成周向限位配合和轴向滑动配合连接；击发件，击发件与执行件连接，击发件在从动件的驱动沿直线运动并击发执行件（700）执行动作。该手术器械通过限位件以机械限位的方式限制从动件自转，无需复杂的解耦结构，手术器械及手术机器人的执行件（700）的传动结构简单且传动可靠性高，不易卡顿。

Description

手术器械及手术机器人
本申请同时要求于2021年12月06日在中国专利局提交的、申请号为202111479385.0、申请名称为“手术器械及手术机器人”的中国专利申请；于2021年12月06日在中国专利局提交的、申请号为202111481947.5、申请名称为“手术器械及手术机器人”的中国专利申请；于2021年12月06日在中国专利局提交的、申请号为202111479383.1、申请名称为“手术器械及手术机器人”的中国专利申请；于2021年12月06日在中国专利局提交的、申请号为202111479365.3、申请名称为“手术器械及手术机器人”的中国专利申请，四个中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及医疗器械技术领域，具体涉及一种手术器械及手术机器人。
背景技术
这里的陈述仅提供与本申请有关的背景信息，而不必然构成现有技术。微创手术是指利用腹腔镜、胸腔镜等现代医疗器械及相关设备在人体腔体内部施行手术的一种手术方式。相比传统手术方式微创手术具有创伤小，疼痛轻，恢复快等优势。
随着科技的进步，微创手术机器人技术逐渐成熟，并被广泛应用。微创手术机器人通常包括主操作控制台及从操作设备，主操作控制台用于根据医生的操作向从操作设备发送控制命令，以控制从操作设备，从操作设备用于响应主操作控制台发送的控制命令，并进行相应的手术操作。
从操作设备上连接有可以与从操作设备可拆卸的手术器械，手术器械包括驱动装置和用于执行手术的末端执行器。现有的手术器械的执行器通常采用螺旋转直线运动的方式进行驱动，无法规避导杆本身的转动，所以需要在系统控制内做解耦操作，导致执行器驱动机构复杂、易卡顿。
技术问题
本申请实施例的目的之一在于：提供一种手术器械及手术机器人，旨在解决执行器的移动直线运动驱动机构复杂、易卡顿的技术问题。
技术解决方案
为解决上述技术问题，本申请实施例采用的技术方案是：
第一方面，提供了一种手术器械，包括执行手术的执行件，所述手术器械还包括：
驱动盘，所述驱动盘用于与一手术机器人的机械臂连接，并接收所述机械臂的动力；
主动件，用于与所述驱动盘传动连接，以输出旋转运动；
从动件，所述从动件与所述主动件螺旋传动配合，所述从动件在所述主动件的驱动下沿直线运动；
限位件，所述限位件与所述从动件形成周向限位配合和轴向滑动配合连接；
击发件，所述击发件与所述执行件连接，所述击发件在所述从动件的驱动沿直线运动并击发所述执行件执行动作。
第二方面，提供了一种手术器械，包括用于执行手术的执行件，所述手术器械还包括：
夹持驱动盘，所述夹持驱动盘用于与一手术机器人的机械臂连接，并接收所述机械臂的动力；
传动机构，所述传动机构包括主动轮和从动轮，所述主动轮用于与所述夹持驱动盘连接以输出旋转运动，所述从动轮与所述主动轮传动连接，所述从动轮为管状；
自转管，所述自转管套接入所述从动轮并随所述从动轮一起转动，所述自转管开设有滑槽；
夹持管，所述夹持管通过第一自转键连接至所述滑槽，以在所述自转管自转时跟随所述自转管自转，所述第一自转键可沿所述滑槽滑动以使所述夹持管相对所述自转管沿轴向运动，所述执行件包括钳头，所述夹持管沿轴向运动时驱动所述执行件的钳头执行夹持动作。
第三方面，提供一种手术机器人，主操作控制台和从操作设备，所述从操作设备包括上述手术器械。
有益效果
本申请实施例提供的手术器械的有益效果在于：通过限位件限制从动件的转动，使得从动件相对主动件能够移动不能转动，提升从动件移动的有效性，通过限位件以机械限位的方式限制从动件自转，无需复杂的解耦结构，本手术器械及手术机器人的执行件的移动传动结构简单且传动可靠性高，不易卡顿。
本申请实施例提供的手术器械的有益效果在于：手术器械的自转管和夹持管通过键槽配合形成可相对滑动但不可相对转动的连接，实现了钳头自转与夹持动作独立动作，在一个管件中实现多个传动机构的独立传动，且相互之间的配合结构依靠非转动配合实现自转运动传递，依靠可滑动实现移动解耦，结构简单且运动独立性好。
本申请实施例提供的手术机器人的有益效果在于：通过上述手术器械的设置，及使得手术机器人的执行件的移动传动结构简单且传动可靠性高，不易卡顿。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或示范性技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1是本申请一实施例提供的手术器械的整体示意图；
图2是图1中手术器械的局部放大并且局部剖示的结构示意图；
图3是本实施例提供的手术器械的基座的装配结构示意图；
图4是本实施例提供的手术器械的移动驱动机构的装配结构示意图；
图5是本申请的实施例提供的移动传动机构的局部结构装配主视图；
图6是图5的分解结构示意图；
图7是本申请实施例提供的移动传动机构的第一段结构示意图；
图8是本申请实施例提供的移动传动机构的第一段结构示意图；
图9是本申请实施例提供的移动传动机构的第三段结构示意图；
图10是本申请的实施例提供的移动传动机构的刀头组件与基杆连接的结构示意图；
图11是图10的分解结构示意图；
图12是本申请的实施例提供的手术器械的局部结构示意图；
图13是图12的剖面图；
图14是本申请的实施例提供的手术器械的摆动驱动机构的装配结构示意图；
图15是本申请的实施例提供的摆动传动机构的局部分解结构示意图；
图16是本申请的实施例提供摆动传动机构的第一局部剖面结构示意图；
图17是本申请的实施例提供摆动传动机构的第二局部剖面结构示意图；
图18是本申请的实施例提供摆动传动机构的第三局部剖面结构示意图；
图19是图18中A处的局部放大示意图；
图20是本申请中钳体与外管的装配示意图；
图21是图20的分解示意图；
图22是本申请的实施例提供的手术器械的局部结构示意图；
图23是图22的剖面图；
图24是本申请的实施例提供的手术器械的夹持驱动机构的结构示意图；
图25是本申请的实施例提供的夹持传动机构的局部剖面示意图；
图26是本申请的实施例提供的夹持传动机构的局部分解结构示意图；
图27是本申请的实施例提供的手术器械的夹持管、自转管与外管之间的配合关系的结构示意图；
图28是本申请的实施例提供的手术器械的局部结构示意图；
图29是图28的剖视示意图；
图30是本申请的实施例提供的自转驱动机构的结构示意图；
图31是本申请的实施例提供的组合传动装置的第一局部剖视示意图；
图32是本申请的实施例提供的组合传动装置的分解结构示意图；
图33是本申请的实施例提供的组合传动装置的第一局部分解结构意图；
图34是本申请的实施例提供的组合传动装置的第二局部分解结构意图；
图35是本申请的实施例提供的组合传动装置的第三局部分解结构意图；
图36是本申请的实施例提供的组合传动装置的第四局部分解结构意图。
1000-组合传动装置；
100-移动传动机构；110-击发驱动件；111-第一击发部；112-第四轴承；113-第二卡 簧；120-转化件；121-第一配合键；122-第一固定键槽；130-第一限位件；131-第一滑动键槽；132-插接部；140-击发杆；142-第二配合键；143-转接部；1401、1402-嵌槽；150-安装件；160-基杆；161-第三滑动键槽；1601、1602-嵌槽；162-摆动部；163-第十二轴承；164-第六滑动键槽；165-第五固定键槽；170-密封件；180-刀头组件；181-刀架；1811、1812-阶梯端头；182-刀头推动杆；1821、1822-阶梯端头；190-外管；190a-外管；190b-外管；191-沟槽；192-第三固定键槽；
200-摆动传动机构；210-摆臂螺母；211-摆动击发部；212-第八轴承；220-摆臂螺杆；221-非回转段；222-第四滑动键槽；230-摆动件；231-第一摆动部；232-第二摆动部；240-第二限位件；250-摆动杆；251-第五滑动键槽；260-摆动传递件；261-第一传递部；262-第二传递部；263-联动部；264-连接部；280-转动连接组件；281-转动件；2811-第一转动部；2812-第二转动部；
300-夹持传动机构；310-第一传动件；311-齿轮；312-第十一轴承；313-第五卡簧；314-螺母；320-第二传动件；321-限位槽；322-螺杆；330-热缩管；340-第三限位件；341-限位柱；342-环形底座；350-夹持管；351-第四固定键槽；352-第七滑动键槽；355-夹持键；356-第一自转键；1401、1402-嵌槽；360-安装件；361-限位销钉；
400-自转传动机构；410-从动轮；420-自转管；421-滑槽；460-第二自转键；470-第三自转键；
510-移动驱动机构；511-移动驱动件；5111-移动驱动盘；5112-第一驱动主轴；5113-第一联轴器；5114-第一轴承；512-第一齿轮轴；5121-第二轴承；5122-锁紧螺母；513-第一传动部件；514-第二传动部件；5141-第三轴承；5142-第一卡簧；
520-摆动驱动机构；521-摆动驱动件；5211-驱动绞盘；5212-第五轴承；5213-第二驱动主轴；5214-第二联轴器；522-第一传动齿轮；523-第二齿轮轴；5231-第六轴承；524-固定螺母；525-第二传动齿轮；5251-第七轴承；5252-第三卡簧；
530-夹持驱动机构；531-夹持驱动件；5311-夹持驱动盘；5312-第九轴承；532-第三传动齿轮；533-第三齿轮轴；534-第十轴承；535-紧固螺母；536-第三联轴器；
540-自转驱动机构；541-自转驱动盘；542-第二传动轴；543-主动轮；544-传送线；545-第一压块；546-第十二轴承；547-第十三轴承；548-锁定螺母；
600-基座；610-底座；620-顶座；630-第一连接板；640-第二连接板；650-中板；660-盖板；
700-执行件；710-钳体；711-第一夹钳；7111-弧形滑槽；12-第二夹钳；7121-挂钩；7122-滑块；720-刀片。
本发明的实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。
需说明的是，当部件被称为“固定于”或“设置于”另一个部件，它可以直接在另一个部件上或者间接在该另一个部件上。当一个部件被称为是“连接于”另一个部件，它可以是直接或者间接连接至该另一个部件上。术语“上”、“下”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。术语“第一”、“第二”仅用于便于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明技术特征的数量。“多个”的含义是两个或两个以上，除非另有明确具体的限定。
为了说明本申请所述的技术方案，以下结合具体附图及实施例进行详细说明。
以下将结合附图进行详细描述。
首先，本申请提供了一种手术机器人。手术机器人包括医生端主操作控制台和病人端从操作设备，医生在主操作控制台上进行对从操作设备的相关控制操作，从操作设备根据主操作控制台的输入指令执行对人体的外科手术。主操作控制台和从操作设备可以置于一个手术室内，也可以置于不同的房间，甚至主操作控制台和从操作设备可以相距很远，例如主操作控制台和从操作设备分别位于不同的城市。主操作控制台与从操作设备可以通过有线的方式进行数据的传输，也可以通过无线方式进行数据的传输，例如主操作控制台与从操作设备位于一个手术室内，两者之间通过有线的方式进行数据的传输，又如主操作控制台与从操作设备分别在不同的城市，两者之间通过4G、5G等无线信号进行远距离数据传输。
从操作设备包括机械臂、设置在机械臂远端的致动装置和手术器械，用于执行外科手术的手术器械与致动装置相连接，致动装置通过其内部的多个致动器驱动手术器械运动。
手术器械，在手术机器人的主操作控制台的控制下按照设定的程序，对病患的手术部位或者患处进行对应的手术操作。手术器械包括传动机构和驱动机构，驱动机构用于与致动装置传动连接，为手术器械的动作执行提供动力，传动机构用于将驱动机构接入的动力进行转化，输出不同的动作，使得用于执行手术操作的执行件能够进行不同的动作，如移动、摆动、夹持及自转等动作。
其中，对应执行件执行不同的动作，传动机构的具体结构和工作原理不同，为了方便表述，将传动机构对应不同的执行动作分别命名为移动传动机构、摆动传动机构、夹持传动机构和自转传动机构。对应的，为了驱动各传动机构，还对应设置了多个驱动机构，具体是通过移动驱动机构来驱动移动传动机构，通过摆动驱动机构来驱动摆动传动机构，通过夹持驱动机构来驱动夹持传动机构，通过自转驱动机构来驱动自转传动机构。
其中，移动传动机构、摆动传动机构及夹持传动机构三者为了接收并转化各驱动机构的驱动，均采用螺旋转直线运动的方式进行驱动，而这种传动方式无法规避导杆本身的转动，所以需要在系统控制内做解耦操作，导致执行器驱动机构复杂、易卡顿。
为了解决上述问题，本申请对移动传动机构、摆动传动机构及夹持传动机构的结构进行改进，具体的，驱动机构包括驱动盘，驱动盘用于与一手术机器人的机械臂连接，并接 收机械臂的动力，传动机构包括主动件、从动件、限位件及击发件。主动件与驱动盘传动连接，以输出旋转运动，从动件与主动件螺旋传动配合，从动件在主动件的驱动下沿直线运动；限位件与从动件之间形成周向限位配合和轴向滑动配合；击发件与执行件连接，击发件在从动件驱动沿直线运动并击发执行件执行动作。
其中，主动件与从动件螺旋传动配合，当主动件旋转时，不仅能够带动从动件沿直线运动以实现执行件的执行动作，主动件还能够带动从动件旋转，从动件的旋转将对执行件的执行动作造成影响。本申请通过限位件的设计，限位件与从动件以可同步旋转并可沿轴向相对滑动的方式连接，由于限位件固定设置，因此与限位件同步旋转的从动件也无法产生旋转运动，且从动件能够相对限位件沿轴向滑动，也即是使得从动件相对主动件能够移动不能转动，提升从动件移动的有效性，通过限位件以机械限位的方式限制从动件自转，无需复杂的解耦结构，本手术器械及手术机器人的执行件的移动传动结构简单且传动可靠性高，不易卡顿。
请参阅图1，为手术器械的整体示意图，为了便于各驱动机构及各传动机构的安装，手术器械还包括基座600，各驱动机构及各传动机构通过基座600进行安装支撑，同时通过基座600将整个手术器械固定在手术机器人的机械臂上。
基于上述原理，下面结合附图对手术器械分别执行移动、摆动、夹持和自转动作一一进行介绍。
一、执行移动：
请一并参阅图2至图4，图2示出了图1中手术器械的局部放大并且局部剖示的结构示意图，图3示出了本实施例提供的手术器械的基座600的装配结构示意图，图4示出了本实施例提供的手术器械的移动驱动机构510的装配结构示意图。
为了实现移动传动机构100的旋转驱动，移动驱动机构510包括移动驱动件511、第一齿轮轴512和第一传动部件513。移动驱动件511用于与致动装置连接，第一齿轮轴512与移动驱动件511连接，第一传动部件513固定于第一齿轮轴512上，移动驱动件511通过第一齿轮轴512带动第一传动部件513转动，第一传动部件513用于与移动传动机构100传动连接，以将移动驱动机构510的动力向移动传动机构100传动。本实施例中，第一传动部件513为齿轮。
在一些实施例中，基座600包括底座610、顶座620、第一连接板630和第二连接板640，顶座620和底座610大致平行间隔设置且通过第一连接板630和第二连接板640连接，例如第一连接板630和第二连接板640支撑在顶座620和底座610之间，第一连接板630和第二连接板640分别可以通过螺丝连接、卡扣连接或者是焊接的方式与顶座620、底座610连接。
本实施例中，移动驱动件511包括移动驱动盘5111、第一轴承5114和第一驱动主轴5112。移动驱动盘5111用于与机械臂连接，并接收机械臂的动力，第一轴承5114下表面与移动驱动盘5111的轴承安装面贴合，第一驱动主轴5112由上部插入移动驱动盘5111，使用螺丝固定连接。第一移动驱动盘5111由下部装入底座610，第一轴承5114上表面与 底座610的轴承安装孔台阶面平齐。移动驱动盘5111用于接入机械臂的旋转动力，且外表面可以具有用于啮合的齿。当然，在其他的实施方式中，移动驱动件511的移动驱动盘5111和第一驱动主轴5112可以为一体构件，其光轴外套设有第一轴承5114，并通过第一轴承5114安装在底座610上。
移动驱动件511的第一驱动主轴5112通过第一联轴器5113与第一齿轮轴512的一端连接，第一齿轮轴512的另一端通过第二轴承5121可转动的安装在顶座620上。示例性地，顶座620由上部套入第一齿轮轴512，第二轴承5121由上部套入第一齿轮轴512，第二轴承5121内圈下表面与第一齿轮轴512的轴承安装面贴合，第二轴承551外圈下表面与顶座620的轴承安装孔台阶面贴合，第二轴承5121上表面使用安装在第一齿轮轴512上的锁紧螺母5122限位。第一传动部件513与第一齿轮轴512同轴设置，第一传动部件513可以与第一齿轮轴512一体设置，也可以通过齿轮键连接，由此使得第一传动部件513可以随同第一齿轮轴512一同转动。第一齿轮轴512两端连接在顶座620与底座610之间，还对顶座620和底座610的稳定连接具有支撑效果。
本实施例中，请参阅图2，移动驱动机构510还包括第二传动部件514，第一传动部件513与第二传动部件514配合并通过第二传动部件514与移动传动机构100传动连接。第二传动部件514为齿轮，第二传动部件514与第一传动部件513相啮合。通过设置第二传动部件514，补偿了第一传动部件513和移动传动机构100之间的间隙，增大了移动驱动机构510的传动比，起到了降速增矩的作用，能够为移动传动机构100提供更大的力矩，同时转速降低也有利于提高对移动传动机构100的驱动精度。
示例性地，第二传动部件514通过第三轴承5141安装在顶座620上，第三轴承5141由上部套入第二传动部件514的齿轮轴上，第三轴承5141的下表面与第二传动部件514的齿轮轴轴承安装台阶面贴合，顶座620由上部套入第二传动部件514的齿轮轴，第三轴承5141由上部套入第二传动部件514的齿轮轴，第三轴承5141的内圈下表面与第二传动部件514的齿轮轴的轴承安装面贴合，第三轴承5141外圈下表面与顶座620的轴承安装孔台阶面贴合，第三轴承5141上表面使用安装在第二传动部件514的齿轮轴上的第一卡簧5142限位。
示例性地，第二传动部件240为双级齿轮，双级齿轮的小齿轮与第一传动部件230啮合，大齿轮用于与移动传动机构100传动连接。可以理解的是，在其他的实施例中，第一传动部件230可以直接与移动传动机构100传动配合，无需设置第二传动部件240，当然为了满足传动比，可以通过调节齿径的方式，或者第一传动部件230还可以通过更多的中间过渡齿轮与移动传动机构100传动配合。
接着，对移动传动机构100进行详细说明。移动传动机构100用于与移动驱动机构510连接，并用于将移动驱动机构510的旋转运动进行转化，由此能够通过驱动执行件移动实现其位置的调整，或者实现切割等功能。
其中，移动驱动机构510用于接入致动装置(图中未显示)的动力并向移动传动机构100传递旋转的动力，是一种自转传动机构，可以通过多级传动实现输出转速、转矩的调 节；移动传动机构100将移动驱动机构510的旋转动作转化为直线移动动作，是一种动作转化机构。执行件700可以为手术刀或者吻合器的钳头等手术执行部件，本实施例以执行件700为吻合器的钳头为例进行说明，手术器械为吻合器，吻合器用于术后创口的缝合。
需要说明的是，本申请中所言的“传动连接”可以是直接传动配合实现动作的传递，也可以是通过其他中间过渡部件的间接传动配合以实现的动作传递。
请一并参阅图5-9，图5示出了本申请的实施例提供的移动传动机构100的局部结构装配主视图；图6示出了图5的分解结构示意图；图7示出了本申请实施例提供的移动传动机构100的第一段结构示意图；图8示出了本申请实施例提供的移动传动机构100的第一段结构示意图；图9示出了本申请实施例提供的移动传动机构100的第三段结构示意图；第一段、第一段和第三段构成了自基座上露出的整根杆状传动结构的整体视图。
移动驱动机构510通过移动传动机构100驱动执行件700移动。移动传动机构110包括击发驱动件110、转化件120、第一限位件130和击发杆140，其中，击发驱动件110为上述主动件、转化件120为上述传动件，击发杆140为上述击发件，第一限位件130为上述限位件。击发驱动件110用于与移动驱动机构510传动连接，击发驱动件110以第一轴线为轴旋转，转化件120与击发驱动件110传动连接，第一限位件130与转化件120之间形成周向限位配合和轴向滑动配合连接以限制转化件120以第一轴线为轴线转动，转化件120在击发驱动件110的驱动下沿所述第一轴线移动；击发杆140包括相对的两端，击发杆140一端与转化件120形成轴向限位配合和旋转配合连接，转化件120驱动击发杆140沿第一轴线移动，击发杆140另一端用于与执行件700形成轴向限位配合和旋转配合以带动执行件700沿第一轴线移动。
上述，击发驱动件110用于接入并向转化件120传递旋转的动力，是一种旋转传动部件；转化件120将击发驱动件110的旋转转化为直线移动，是一种动作转化部件；第一限位件130限制转化件120的转动，使得转化件120相对击发驱动件110能够移动不能转动，提升转化件120移动的有效性，另外通过第一限位件130以机械限位的方式限制转化件120自转，无需复杂的解耦操作。
另外，转化件120通过击发杆140与执行件700传动连接，击发杆140与转化件120轴向限位配合和旋转配合连接，由此在转化件120移动时能够带动击发杆140一同移动，多节传动部件使得本移动传动机构100能够复合更多的传动动作，执行件700能够输出更多的动作。多个传动节之间也通过机械配合实现移动耦合以及旋转解耦，结构简单且传动可靠性高。通过设置击发杆140可以缩短转化件120的长度，减小击发驱动件110的致动阻力，又能够保证吻合器刀杆的传动长度。
移动传动机构100整体呈直杆状，本实施例中移动传动机构100作为吻合器的刀杆。上述，第一轴线的延伸方向与移动传动机构100的延伸方向一致，移动传动机构100的击发驱动件110、转化件120和击发杆140的延伸方向均与第一轴线平行或重合，移动驱动机构510的第一驱动主轴5112、第一齿轮轴512、第二传动部件514的齿轮轴的延伸方向均与第一轴线平行。
在一些实施例中，击发驱动件110与转化件120形成螺纹传动连接，转化件120与第一限位件130之一具有滑槽，另一具有与滑槽相匹配的滑块，滑槽沿第一轴线延伸，击发驱动件110转动时，转化件120在滑槽与滑块的限位配合下沿第一轴线移动。击发驱动件110与转化件120的螺纹连接能够将旋转运动转化为直线运动，同时能够将击发驱动件110与转化件120相互嵌套设置，有利于移动传动机构的杆状整体性，结构更加紧凑。
击发驱动件110具有第一击发部111，第一击发部111用于与移动驱动机构510的第二传动部件514传动连接。本实施例中，第一击发部111为设于击发驱动件110的外周面上的齿轮，击发驱动件110上设有螺纹孔，转化件120为设于螺纹孔内的螺杆，第一限位件130上设有滑槽，转化件120上设有滑块。击发驱动件110与转化件120构成螺旋副，其中第一限位件130用于限制转化件120的自转运动，从而击发驱动件110的旋转运动可转化为转化件120的直线运动。
示例性地，各个部件的装配方式如下：
如图5及图6所示，顶座620上固定安装有安装件150，安装件150上具有安装孔，第一限位件130上设有插接部132，安装孔与第一限位件130的插接部132形成插接配合，且安装孔为非转动孔，自此第一限位件130与基座600形成周向限位配合连接，也即是第一限位件130与基座600之间不会产生相对旋转运动；第一限位件130上设有第一滑动键槽(图未示)，第一滑动键槽沿第一轴线延伸，转化件120上设有第一固定键槽122，转化件120与第一限位件130相互嵌套，第一固定键槽122与第一滑动键槽相对，而后向第一固定键槽122中插入第一配合键121，且第一配合键121延伸至第一滑动键槽中，由此第一限位件130限制转化件120自转运动，但不妨碍转化件120移动。为了保证击发驱动件110安装稳定性又不影响第一限位件130的安装，基座600还包括中板105，中板105连接在顶座620上且与顶座620间隔，中板105可以通过螺丝连接在顶座620上；击发驱动件110通过第四轴承112安装在基座600上，具体安装在中板105上，第四轴承112安装在中板105的轴承槽内，其内侧面与中板105的轴承槽台阶面平齐，第四轴承112一个端侧面使用安装在击发驱动件110上的第二卡簧113限位，第四轴承112的另一个端侧面与击发驱动件110的台阶面平齐；击发驱动件110与转化件120构成螺旋副，击发驱动件110的旋转运动可转化为转化件120的直线运动。
在一些实施例中，击发杆140与第一限位件130形成周向限位配合及轴向滑动配合连接。由此能够使得击发杆140的移动方向更加稳定，避免移动时发生转动，能够向执行件输出方向较为稳定的直线驱动力。
第一限位件130和击发杆140中的一个设有固定键槽，另一个设有滑动键槽，移动传动机构100还包括第二配合键142，第二配合键142固定于固定键槽中，并与滑动键槽滑动配合。示例性的，第一限位件130上设有第二滑动键槽131，击发杆140上设有第二固定键槽(图未示)，击发杆140套设于第一限位件130之外，第二配合键142通过第二固定键槽插入并延伸至第二滑动键槽131中，从而实现击发杆140与第一限位件130之间的滑动配合，且二者之间不会发生相对转动。
通过键槽与键的装配方式，能够使得第一限位件130与击发杆140之间在相互嵌套后，转动到固定键槽与滑动键槽相对，而后在将配合键插入到固定键槽与滑动键槽中，装配较为简单且准确。此外，为了使得第一限位件130能够对击发杆140形成更好的导向，在第一限位件130相对的两侧，即双边设置滑动键槽，对应的在套设于第一限位件130外的击发杆140的两侧设置固定键槽，对应的在两侧插入配合键。
转化件120与击发杆140之间形成转动连接。本实施例中，击发杆140与转化件120之一具有呈转动体状的阶梯端头，击发杆140与转化件120的另一具有与阶梯端头相匹配的嵌槽，嵌槽部分敞开以容许阶梯端头嵌入，由此形成转动连接。该结构较复杂的解耦机构而言更为简单，移动的传递更加有效。另外，嵌槽的开口可以具有一定的弹性，以在阶梯端头插入后能够使得阶梯端头较好的保持在其中。
请一并参阅图7至图9，由于在移动传动机构100的长度延伸方向上，各个传动部件分为多节，为了使得多个传动节既能够独立传动，又能够相互联系，且外部完整，减少外界对各个传动节的动作形成干涉。本实施例中，移动传动机构100还包括基杆160，基杆160套设于击发杆140和转化件12之外，基杆160与击发杆140形成滑动配合，基杆160相对转化件120能够沿第一轴线移动。由此基杆160能够将至少部分的转化件120和击发杆140套于其中，对于转化件120与击发杆140之间的连接起到加强的作用，避免二者转动连接处发生脱扣的问题发生。
基杆160与击发杆140形成周向限位配合及轴向滑动配合。基杆160与击发杆140之间也可以通过键与槽的配合连接，如此能够在部件之间相互嵌套后再插入对应的键实现滑动配合。本实施例中，基杆160与击发杆140的滑动配合键与击发杆140和第一限位件130的滑动配合键为同一个，即基杆160与击发杆140通过第二配合键142形成周向限位配合及轴向滑动配合，基杆160上设有第三滑动键槽161，第三滑动键槽161与第二固定键槽相对，第二配合键142依次穿过第三滑动键槽161、第二固定键槽和第二滑动键槽131，从而实现基杆160、击发杆140和第一限位件130之间的非转动滑动配合。
移动传动机构100还包括密封件170，密封件170设于基杆160与击发杆140之间。密封件170可以为硅胶圈、橡胶圈等具有弹性的部件，在受到挤压时产生变形，伴随产生弹性变形力，该弹性变形力使得密封件170将基杆160与击发杆140之间的间隙填充，保证基杆160与击发杆140之间的位置稳定性，使得二者能够稳定的进行相对滑动，避免在长轴传动时，因配合间隙而引起的受力偏移，导致传动卡顿的问题发生。
另外，为了使得密封件170在基杆160与击发杆140之间产生相对移动时位置保持稳定。本实施例中，击发杆140的外表面设置有环形凹槽，密封件170嵌入该环形凹槽中，由此实现了在击发杆140相对基杆160移动时，能够在击发杆140上具有固定的位置。
请一并参阅图10及图11，图10示出了本申请的实施例提供的移动传动机构100的刀头组件180与基杆160连接的结构示意图；图11为图10的分解结构示意图。
击发驱动件110动作时驱动转化件120带动击发杆140相对第一限位件130移动，同时也相对基杆160移动。在一些实施例中，移动传动机构100还包括刀头组件180，刀头 组件180包括刀架181和刀头推动杆182，刀架181与基杆160转动连接，刀头推动杆182与击发杆140转动连接。执行件700包括钳体310和刀片720，钳体310包括能够相互转动以实现开合的夹钳，刀片720可移动地设于钳体310中，刀片720与刀头推动杆182传动连接以在击发杆140及刀头推动杆182的驱动下沿第一轴线移动，钳体310与刀架181连接。由此击发杆140移动时能够通过刀头推动杆182带动刀片720移动，而钳体310通过刀架181连接在基杆160上能够保持固定，实现与刀片720的相对移动。
击发杆140与刀头推动杆182之间、基杆160与刀架181之间的转动连接也可以分别通过转动体状的阶梯端头与嵌槽实现转动连接，且嵌槽具有开口以供阶梯端头嵌入。示例性的，击发杆140上设有嵌槽1401、1402，刀头推动杆182上设有阶梯端头1821、1822，基杆160上设有嵌槽1601、1602，刀架181上设有阶梯端头1811、1812，由此实现连接。
击发杆140与刀头推动杆182的连接处位于基杆160内，即刀头推动杆182伸入至基杆160中，由此基杆160对于击发杆140和刀头推动杆182之间通过嵌槽的开口的分离具有约束作用，能够使得击发杆140与刀头推动杆182的连接更加稳定。
在一些实施例中，移动传动机构100还包括外管190，外管190套设于基杆160和刀架181的转动连接处，外管190与基杆160形成周向限位配合。通过外管190将基杆160和刀架181套于其中，基杆160与刀架181移动相互连接，转动相互独立，外观完整，避免外界对二者连接处形成干涉。另外，外管190将基杆160与刀架181的连接结构套于其中，对于基杆160与刀架181之间通过嵌槽的开口的分离具有约束作用，使得基杆160与刀架181的连接更加稳定。
刀头推动杆182的至少部分具有弹性，刀头推动杆182位置与刀片720相对，位于移动传动机构100的芯部，且结构细且长，在传递力时如果是刚性杆的话容易发生断裂，因此采用弹性结构，具有较好的任性，如刀头推动杆182为与刀片720连接的弹片。
本实施例的移动传动机构100整体呈杆状，其击发驱动件110与转化件120相互嵌套设置，转化件120与第一限位件130相互嵌套设置，转化件120端部与击发杆140的端部连接。具体的，转化件120内嵌于击发驱动件110中，第一限位件130内嵌于转化件120之内，且转化件120能够相对第一限位件130移动。转化件120与击发杆140嵌于外管190中，且均相对外管190可滑动设置。进一步地，前文所述的击发杆140和转化件120端部连接，基杆160套于击发杆140和转化件120之外，第一限位件130内嵌于转化件120和击发杆140之内，击发杆140与转化件120连接的另一端与刀头组件180的刀头推动杆182连接，刀头推动杆182之外套设有刀架181，刀架181与基杆160固定，外管190套设于基杆160和刀架181之外。由此，整个移动传动机构100呈杆状，外管190中的多个部件之间嵌套设置，以形成传动连接或者滑动解耦关系，既有关联，又各自独立。
二、执行摆动：
当手术器械的执行件能够实现摆动时，上述驱动机构为摆动驱动机构520，上述传动机构为摆动传动机构200，摆动驱动机构520驱动摆动传动机构200动作，使得执行件700输出相应的摆动动作，由此能够通过驱动执行件700摆动实现其动作方向的调整。
其中，摆动驱动机构520用于接入致动装置的动力并向摆动传动机构200传递旋转的动力，是一种自转传动机构，可以通过多级传动实现输出转速、转矩的调节；摆动传动机构200将摆动驱动机构520的旋转动作转化为摆动动作，是一种动作转化机构。执行件700可以为手术刀或者吻合器的钳头等手术执行部件，本实施例以执行件700为吻合器的钳头为例进行说明，手术器械为吻合器，吻合器用于术后创口的缝合。
请一并参阅图12和图13，图12示出了本申请的实施例提供的手术器械的局部结构示意图；图13示出了图12的剖面图。
摆动驱动机构520包括摆动驱动件521、第一传动齿轮522及第二齿轮轴523，第一传动齿轮522套设于第二齿轮轴523上并跟随第二齿轮轴523旋转，第一传动齿轮522用于与摆动传动机构200传动连接，以将摆动驱动机构520的动力向摆动传动机构200传动。
请一并参阅图12、图13和图14，图14示出了本申请的实施例提供的手术器械的摆动驱动机构520的装配结构示意图。
本实施例中，摆动驱动件521包括驱动绞盘5211、第五轴承5212和第二驱动主轴5213。驱动绞盘5211用于与手术机器人的机械臂连接，并接收机械臂的动力，第五轴承5212下表面与驱动绞盘5211的轴承安装面贴合，第二驱动主轴5213由上部插入驱动绞盘5211，使用螺丝固定连接。驱动绞盘5211由下部装入底座610，第五轴承5212上表面与底座610的轴承安装孔台阶面平齐。驱动绞盘5211用于接入机械臂的旋转动力，且外表面可以具有用于啮合的齿。当然，在其他的实施方式中，摆动驱动件5521的驱动绞盘5211和第二驱动主轴5213可以为一体构件，其光轴外套设有第五轴承5212，并通过第五轴承5212安装在底座610上。
摆动驱动件521的第二驱动主轴5213通过第二联轴器5214与第二齿轮轴523的一端连接，第二齿轮轴523的另一端通过第六轴承5231可转动的安装在顶座620上。示例性地，顶座620由上部套入第二齿轮轴523，第六轴承5231由上部套入第二齿轮轴523，第六轴承5231内圈下表面与第二齿轮轴523的轴承安装面贴合，第六轴承5231外圈下表面与顶座620的轴承安装孔台阶面贴合，第六轴承5231上表面使用安装在第二齿轮轴523上的固定螺母524限位。第一传动齿轮522与第二齿轮轴523同轴设置，第一传动齿轮522可以与第二齿轮轴523一体设置，也可以通过齿轮键连接，由此使得第一传动齿轮522可以随同第二齿轮轴523一同转动。第二齿轮轴523两端连接在顶座620与底座610之间，还对顶座620和底座610的稳定连接具有支撑效果。
本实施例中，请参阅图14，摆动驱动机构520还包括第二传动齿轮525，第一传动齿轮522与第二传动齿轮525啮合并通过第二传动齿轮525与摆动传动机构200传动连接。通过设置第二传动齿轮525，补偿了第一传动齿轮522和摆动传动机构200之间的间隙，增大了摆动驱动机构520的传动比，起到了降速增矩的作用，能够为摆动传动机构200提供更大的力矩，同时转速降低也有利于提高对摆动传动机构200的驱动精度。
示例性地，第二传动齿轮525通过第七轴承5251安装在顶座620上，第七轴承5251由上部套入第二传动齿轮525的齿轮轴上，第七轴承5251的下表面与第二传动齿轮525的 齿轮轴轴承安装台阶面贴合，顶座620由上部套入第二传动齿轮525的齿轮轴，第七轴承5251由上部套入第二传动齿轮525的齿轮轴，第七轴承5251的内圈下表面与第二传动齿轮525的齿轮轴的轴承安装面贴合，第七轴承5251外圈下表面与顶座620的轴承安装孔台阶面贴合，第七轴承5251上表面使用安装在第二传动齿轮525的齿轮轴上的第三卡簧5252限位。
可以理解的是，在其他的实施例中，第一传动齿轮522可以直接与摆动传动机构200传动配合，无需设置第二传动齿轮525，当然为了满足传动比，可以通过调节齿径的方式，或者第一传动齿轮522还可以通过更多的中间过渡齿轮与摆动传动机构200传动配合，以达到预期的传动比。
请一并参阅图15-18，图15示出了本申请的实施例提供的摆动传动机构200的局部分解结构示意图；图16示出了本申请的实施例提供摆动传动机构200的第一局部剖面结构示意图；图17示出了本申请的实施例提供摆动传动机构200的第二局部剖面结构示意图；图18示出了本申请的实施例提供摆动传动机构200的第三局部剖面结构示意图；第一局部、第二局部和第三局部构成了自支架上露出的杆状传动结构的整体视图。
摆动驱动机构520通过摆动传动机构200驱动执行件700摆动。摆动传动机构200包括摆臂螺母210、摆臂螺杆220、摆动件230和第二限位件240，其中，摆臂螺母210即为上述主动件，摆臂螺母120为上述从动件，摆动件230为上述击发件，第二限位件240为上述限位件。摆臂螺母210用于与摆动驱动机构520传动连接并在摆动驱动机构520的驱动下以第一轴线为轴旋转，摆臂螺杆220与摆臂螺母210传动配合并在摆臂螺母210的驱动下沿第一轴线移动，由此变摆臂螺母210的转动为摆臂螺杆220的移动。摆臂螺母210可转动地连接在基座600上，摆动件230相对基座600可摆动设置，摆动件230与执行件700连接，摆动件230与摆臂螺杆220传动配合并在摆臂螺杆220的驱动下摆动，从而在摆动件230摆动时能够联动执行件700摆动。
摆动传动机构200整体呈直杆状，本实施例中摆动传动机构200作为吻合器的刀杆。上述第一轴线的延伸方向与摆动传动机构200的延伸方向一致，摆动驱动机构520的第二驱动主轴5213、第二齿轮轴523、第二传动齿轮525的齿轮轴的延伸方向均与第一轴线平行。摆动件230的摆动轴即为执行件700的摆动轴，在一个实施例中，摆动件230的摆动轴与第一轴线垂直。
通过采用直线转化机构推动摆动件230带动执行件700摆动的机构，传动路径上的部件具有较好的强度、不易断裂，整个摆动传动机构200具有较高的强度与可靠性，能够提升手术的安全性和精准性。
本实施例中，第二限位件240固定设置，具体的，第二限位件240相对基座600固定或第二限位件240是基座600的一部分，第二限位件240与摆臂螺杆220形成轴向滑动配合及周向限位配合，使得当摆臂螺母210转动时，摆臂螺杆220在第二限位件240的约束下相对基座600移动。通过设置第二限位件240限制摆臂螺杆220的转动，使得摆臂螺杆220相对摆臂螺母210能够移动不能转动，提升摆臂螺杆220移动的有效性。通过第二限 位件240以机械限位的方式限制摆臂螺杆220自转，无需复杂的解耦操作。
摆臂螺母210与摆臂螺杆220形成螺纹配合连接，摆臂螺杆220与第二限位件240之一具有滑槽，另一具有与滑槽相匹配的滑块，滑槽沿第一轴线延伸，摆臂螺母210转动时，摆臂螺杆220在滑槽与滑块的限位配合下沿第一轴线移动。摆臂螺母210与摆臂螺杆220的螺纹连接能够将旋转运动转化为直线运动，同时能够将摆臂螺母210与摆臂螺杆220相互嵌套设置，有利于摆动传动机构200的杆状整体性，结构更加紧凑。摆臂螺母210包括摆动击发部211，摆动击发部211用于与摆动驱动机构520的输出部件传动连接，从而将摆动驱动机构520的动力接入到摆动传动机构200。
本实施例中，摆动击发部211为设于摆臂螺母210的外周面上与第二传动齿轮525相啮合的齿轮，摆臂螺母210上设有螺纹孔，摆臂螺杆220为设于螺纹孔内的螺杆，第二限位件240上设有滑槽，摆臂螺杆220上设有滑块。摆臂螺母210与摆臂螺杆220构成螺旋副，其中第二限位件240用于限制摆臂螺杆220的自转运动，从而摆臂螺母210的旋转运动可转化为摆臂螺杆220的直线运动。
示例性地，各个部件的装配方式如下：摆臂螺母210通过第八轴承212安装在顶座620上，摆臂螺母210由右侧装入顶座620，第八轴承212由左侧装入顶座620，第八轴承212内圈左侧面与摆臂螺母210的轴承安装面贴合，第八轴承212外圈左侧面与顶座620轴承安装孔台阶面贴合，第八轴承212内圈右侧面使用安装在摆臂螺母210上的第四卡簧限位，由此实现摆臂螺母210在摆动驱动机构520的驱动下相对基座旋转。摆臂螺杆220具有非回转段221和螺纹段，螺纹段插入至摆臂螺母210中与之螺纹连接，非回转段221自摆臂螺母210中伸出。第二限位件240上设有与摆臂螺杆220的非回转段221相配合的滑槽，第二限位件240与顶座620使用螺丝固定连接，从而实现第二限位件240与顶座620的固定，进而实现对摆臂螺杆220转动的限制，第二限位件240带有凸台，可用于限制第八轴承212的外圈右侧面，从而完成第八轴承212的安装。
如图13、16、17所示，本实施例中，手术器械的摆动传动机构200还包括摆动杆250，摆臂螺杆220通过摆动杆250与摆动件230传动连接，摆动杆250与摆臂螺杆220形成轴向限位配合和转动配合，由此在摆臂螺杆220移动时能够带动摆动杆250一同移动，同时摆动杆250若欲进行旋转动作时也不会受到摆臂螺杆220的限制。
示例性地，摆动杆250与摆臂螺杆220之一具有呈回转体状的阶梯端头，摆动杆250与摆臂螺杆220的另一具有与阶梯端头相匹配的嵌槽，嵌槽部分敞开以容许阶梯端头嵌入，由此形成回转连接。该结构较复杂的解耦机构而言更为简单，移动的传递更加有效。另外，通过设置摆动杆250可以缩短摆臂螺杆220的长度，减小摆臂螺母210的致动阻力，又能够保证吻合器刀杆的传动长度，此外通过将摆动杆250设置为可转动挂钩连接，能够在摆动杆250上设置其余的驱动方式，形成传递动作更多的组合式传动结构。
如图17、18和19所示，本实施例中，摆动传动机构200包括摆动传递件260，摆动件230具有摆动轴，摆动件230位于摆动轴的两侧分别形成第一摆动部231和第二摆动部232，摆动传递件260包括第一传递部261，第一传递部261的一端与摆臂螺杆220传动连 接以在摆臂螺杆220的驱动下沿所述第一轴线移动，第一传递部261的另一端与第一摆动部231转动连接。第一传递部261沿第一轴线的方向延伸，用于将摆臂螺杆220的移动向摆动件230传递，并与摆动件230形成连杆结构，移动时能够推动摆动件230以摆动连接处为轴进行摆动。
摆动传递件260还包括联动部263，摆臂螺杆220通过联动部263与第一传递部261连接，本实施例中，摆臂螺杆220通过摆动杆250与联动部263连接，摆臂螺杆220与联动部263相对固定，联动部263与第一传递部261形成转动连接。由此摆动传动机构200的传动由摆臂螺母210，依次经过摆臂螺杆220、摆动杆250、联动部263、第一传递部261传递至摆动件230，驱动摆动件230摆动。联动部263连接在摆动杆250的外侧，由此将动力传递路径上中心位置避让开，能够使得中心位置设置其他的传动节，复合更多的传动动作，使得执行件700能够输出更多的动作。
示例性地，联动部263端部弯折，摆动杆250的外表面设置嵌槽，联动部263弯折的端部嵌入至嵌槽中，使得联动部263与摆动杆250形成挂钩固定连接。联动部263的另一端与第一传递部261形成转动连接，示例性的，联动部263上具有安装孔，且该安装孔开口，第一传递部261端部卷曲成圆筒，该圆筒通过开口嵌入到联动部263中与联动部263形成转动连接。
在一些实施例中，摆动传递件260还包括第二传递部262和连接部264，第二传递部262与第一传递部261平行设置，第二传递部262的一端与第一传递部261的一端通过连接部264连接，第二传递部262的一端及第一传递部261的一端分别与连接部264转动连接，第二传递部262的另一端与第二摆动部232转动连接，连接部264相对基座600可摆动设置。
第一传递部261、摆动件230、第二传递部262和连接部264相连接处均形成转动连接，第一传递部261、摆动件230、第二传递部262和连接部264构成平行四边形状，当联动部263带动第一传递部261向前移动时，摆动件230摆动，第一摆动部231前摆，第二摆动部232后摆，第二传递部262向后移动带动连接部264一端前移，另一端后移。该平行四边形传动结构相较于单轴传动机构，第一传递部261、摆动件230、第二传递部262和连接部264之间具有相互支撑的作用，具有更好的结构强度，有利于力的更好的传递。
示例性地，第一传递部261和第二传递部262的长度相等，且两端均卷曲成圆筒状，摆动件230上形成有两个间隔设置的凸轴，两个凸轴分别插入至第一传递部261和第二传递部262的圆筒中实现转动连接。具体的，摆动件230的第一摆动部231和第二摆动部232上分别设置有凸轴，两个凸轴分别插入至第一传递部261和第二传递部262的圆筒中实现转动连接，由此实现平行四边形框架式传动机构。
在一些实施例中，第一传递部261和第二传递部262为弹性件，例如弹片，且能够产生一定程度的弯曲变形，而在延伸方向上不易产生压缩，由此第一传递部261和第二传递部262具有较好的韧性，能够避免由于较为细长而在力的传递过程中产生脆断的问题，又能够将力进行稳定的传递。
上述，由于在摆动传动机构200的长度延伸方向上，各个传动部件分为多节，为了使得多个传动节既能够独立传动，又能够相互联系，且外部完整，减少外界对各个传动节的动作形成干涉。在一些实施例中，摆动传动机构200还包括外管190，外管190连接在基座600上，将摆动传动机构200自基座600到执行件700的部件套设于其中，对多节传动结构形成保护避免受到干涉。
请一并参阅图18和图19，图19示出了图18中A处的局部放大示意图，旨在表示摆动件230与摆动传动机构200的安装。在一些实施例中，摆动传动机构200还包括基杆160，基杆160嵌套于外管190之内，基杆160相对摆臂螺杆220可滑动，以在摆臂螺杆220移动时能够保持固定，摆动件230通过摆动轴162安装在基杆160上，摆动轴162相对基杆160固定，可以是基杆160的一部分，摆动螺杆120相对摆动轴162可移动，以在移动时带动摆动件230摆动。本摆动传动机构200中的基杆160嵌套在外管190中，用于安装摆动件230，使得摆动件230的摆动轴162能够在摆臂螺杆220移动时位置相对固定，使得摆臂螺杆220能够稳定地驱动摆动件230摆动。
请参阅图20及图21，在一些实施例中，摆动传动机构200还包括转动连接组件280，转动连接组件280包括两个转动件281，两个转动件281分别位于摆动件230之外的相对的两侧，执行件700通过两个转动件281与外管190转动连接。通过将转动件281设置在两侧的方式不影响内部传动部件的穿插，同时外管190除了能够安装摆动之外，还对执行件700形成摆动安装，形成稳定的支撑，进一步提升执行件700的摆动传递稳定性。
转动件281包括间隔设置的第一转动部2811和第二转动部2812，第一转动部2811与外管190转动连接，第二转动部2812与执行件700转动连接。第一转动部2811和第二转动部2812的转轴与摆动件230的转轴平行，通过间隔设置的第一转动部2811和第二转动部2812能够使得执行件700的转动连接不对摆动件230的转动形成干涉，并且获得摆动支撑，结构稳定性高。示例性地，第一转动部2811和第二转动部2812为设置在转动件281上的凸台，执行件700和外管190上分别设有连接孔，由此实现转动连接，当然部件之间凸台与孔的配合可以互换。
在一些实施例中，摆动传动机构200还包括柔性套，柔性套一端与外管190连接，另一端与执行件700连接，且柔性套将转动连接组件280罩设于其中。柔性套能够随同执行件700的摆动而变形，并且通过将转动连接组件280罩设于其中，能够避免在摆动的过程中与外界，如人体形成干涉。柔性套的两端分别连接有硬质连接环，硬质连接环与外管190、执行件700连接，进而实现柔性套的连接。进一步地，为了使得柔性套表面始终具有一定的张力，不会因反复变形而拉坏或者松垮，柔性套可以选用软胶，如硅胶、橡胶等材质，当然也可以选用较为亲肤的皮革，也可以为能够弯曲变形的金属套管。
上述，本实施例的摆动传动机构200整体呈杆状，其摆臂螺母210与摆臂螺杆220相互嵌套设置，第二限位件240与摆臂螺杆220相互嵌套设置，摆臂螺杆220与摆动杆250的端部形成挂钩式转动连接。具体的，摆臂螺杆220内嵌于摆臂螺母210中，限位件130套设于摆臂螺杆220之外，且摆臂螺杆220能够相对限位件130移动。摆动杆250自基座 600中伸出且内置于外管190之中且能够相对内管180滑动。
进一步地，联动件163连接在摆动杆250的端部，联动件163连接在平行四边形结构的一个点上，用于推动平行四边形的一个边平移，使得摆动件230摆动，同时联动件163以及平行四边形结构中的第一传递部261、第二传递部262以及连接部264均内置于外管190中，且能够相对外管移动。由此，整个摆动传动机构200呈杆状，外管190中的多个部件之间嵌套设置，以形成传动连接或者滑动关系，各个部件之间既有关联，又各自独立。
三：执行夹持：
当手术器械执行夹持动作时，手术器械包括夹持传动机构300和夹持驱动机构530，夹持驱动机构530驱动夹持传动机构300动作，使得钳体710输出相应的夹持动作，实现对缝合线的夹捏。
上述，夹持驱动机构530用于可拆卸地连接到一手术机器人的机械臂，并向夹持传动机构300传递旋转的动力，是一种自转传动机构，可以通过多级传动实现输出转速、转矩的调节；夹持传动机构300将夹持驱动机构530的旋转动作转化为钳体710夹持动作，是一种动作转化机构。
如图22、23和24所示，图22示出了本申请的实施例提供的手术器械的局部结构示意图，图23示出了图22的剖面图，图24示出了本申请的实施例提供的手术器械的夹持驱动机构530的结构示意图。
夹持驱动机构530包括夹持驱动件531、第三齿轮轴533及第三传动齿轮532，第三传动齿轮532固定套设于在第三齿轮轴533上，夹持驱动件531通过第三齿轮轴533带动第三传动齿轮532转动，第三传动齿轮532用于与夹持传动机构300传动连接，以将夹持驱动机构530的动力向夹持传动机构300传动。
本实施例中，夹持驱动件531包括夹持驱动盘5311和第九轴承5312。夹持驱动盘5311用于与手术机器人的机械臂连接，并接收机械臂的动力，第九轴承5312下表面与夹持驱动盘5311的轴承安装面贴合。夹持驱动盘5311由下部装入底座610，第九轴承5312上表面与底座610的轴承安装孔台阶面平齐。夹持驱动盘5311用于接入机械臂的旋转动力，且外表面可以具有用于啮合的齿。第三齿轮轴533一端插入至夹持驱动盘5311中与其连接，第三齿轮轴533的另一端通过第十轴承534可转动的安装在顶座620上。示例性地，顶座620由上部套入第三齿轮轴533，第十轴承534由上部套入第三齿轮轴533，第十轴承534内圈下表面与第三齿轮轴533的轴承安装面贴合，第十轴承534外圈下表面与顶座620的轴承安装孔台阶面贴合，第十轴承534上表面使用安装在第三齿轮轴533上的紧固螺母535限位。第三传动齿轮532与第三齿轮轴533同轴设置，第三传动齿轮532可以与第三齿轮轴533一体设置，也可以通过第三联轴器536连接，由此使得第三传动齿轮532可以随同第三齿轮轴533一同转动。第三齿轮轴533两端连接在顶座620与底座610之间，还对顶座620和底座610的稳定连接具有支撑效果。
可以理解的是，在其他的实施例中，第一传动齿轮220可以通过其他的传动齿轮与夹持传动机构300传动配合，当然为了满足传动比，可以通过调节齿径的方式，或者第一传 动齿轮220还可以通过更多的中间过渡齿轮与夹持传动机构300传动配合。
请一并参阅图25和26，图25示出了本申请的实施例提供的夹持传动机构300的局部剖面示意图；图26示出了本申请的实施例提供的夹持传动机构300的局部分解结构示意图。
夹持传动机构300包括第一传动件310、第二传动件320、第三限位件340、外管190和钳体710，其中，第一传动件310为上述主动件，第二传动件320为上述传动件，第三限位件340为上述限位件。第一传动件310接收夹持驱动机构530的旋转驱动力，第二传动件320在第一传动件310的驱动下沿直线运动，第三限位件340与第二传动件320形成周向限位配合及轴向滑动配合连接以限制第二传动件320转动，外管190在第二传动件320驱动下沿直线运动，钳体710包括第一夹钳711和第二夹钳712，第一夹钳711和第二夹钳712在外管190直线运动时收缩入外管190而闭合，或者露出外管190而相对张开。本手术器械先通过夹持驱动机构530接收机械臂的旋转动力，而后通过第一传动件310、第二传动件320和第三限位件340的组合作用将旋转的动力转化为往复直线运动，并能够联动外管190做往复直线运动，外管190在移动时能够将钳体710收入其中使其闭合，并能够通过将钳体露出使其张开，自此完成钳体710的夹钳动作。进一步地，第一传动件310包括一个螺母314，第二传动件320包括一螺杆322，该结构在夹持传动机构300输入一端能够动，而在钳体710输入的动作时会锁死，具有较好的自锁效果。
本实施例中，请参阅图21，外管190设有沟槽191，沟槽191为弧形槽，第二夹钳712上设有挂钩7121，外管190相对第二夹钳712移动时，挂钩7121在沟槽191中滑动，以使第二夹钳712在相对外管190移动时发生转动。
进一步地，沟槽191的弧形与第二夹钳712转动时挂钩7121的运动轨迹相同，在外管190移动时，外管190上的沟槽191与挂钩7121的配合处的高度不同，通过沟槽191与挂钩7121配合位置的变化的带动第二夹钳712转动，实现开闭。如此可以不用弹性件，结构更加简单且可靠。
合拢的第一夹钳711与第二夹钳712的外周尺寸与外管190的内径相匹配，由此使得当外管190套设于第一夹钳711和第二夹钳712之外时，第一夹钳711和第二夹钳712即可实现相互靠拢，且外管190对于第一夹钳711和第二夹钳712的分离具有限制作用，能够使得第一夹钳711和第二夹钳712实现稳定的合拢状态，进而使得钳体710在执行手术时能够实现稳定的夹捏缝合动作，可靠性较高。
夹持传动机构300整体呈直杆状，本实施例中夹持传动机构300作为钳体710的刀杆。上述，第一轴线的延伸方向与夹持传动机构300的延伸方向一致，夹持传动机构300的第一传动件310、第二传动件320的延伸方向均与第一轴线平行或重合，夹持驱动机构530的第三齿轮轴533的延伸方向与第一轴线平行。
本实施例中，第三限位件340相对基座600固定或第三限位件340是基座600的一部分，第一传动件310转动时，第二传动件320在第三限位件340的约束下相对基座600移动。通过设置第三限位件340限制第二传动件320的转动，使得第二传动件320相对第一传动件310能够移动不能转动，提升第二传动件320移动的有效性。通过第三限位件340 以机械限位的方式限制第二传动件320自转，无需复杂的解耦操作。
第一传动件310与第二传动件320形成螺纹配合连接，第二传动件320与第三限位件340之一具有滑槽，另一具有与滑槽相匹配的滑块，滑槽沿第一轴线延伸，第一传动件310转动时，第二传动件320在滑槽与滑块的限位配合下沿第一轴线移动。第一传动件310与第二传动件320的螺纹连接能够将旋转运动转化为直线运动，同时能够将第一传动件310与第二传动件320相互嵌套设置，有利于夹持传动机构300的杆状整体性，结构更加紧凑。
第一传动件310具有齿轮311，齿轮311用于与夹持驱动机构530传动连接。第三限位件340上设有滑块，第二传动件320上设有滑槽。第一传动件310与移动第二传动件320构成螺旋副，其中移动第三限位件340用于限制第二传动件320的转动，从而移动第一传动件310的旋转运动可转化为移动第二传动件320的直线运动。
如图25所示，第三限位件340包括环形底座342和由环形底座342伸出的限位柱341，限位柱341与第二传动件320插接配合，第三限位件340通过环形底座342连接在基座600上，限位柱341为设于环形底座342上的柱体且所述限位柱341的数量为多个，第二传动件320上具有与柱体相匹配的限位槽321。此种非回转滑动配合的部件之间可以不相互嵌套，避免了使得嵌套层数多而造成的杆状的夹持传动机构300的杆径过大。
图27示出了本申请的实施例提供的手术器械的夹持管350、自转管420与外管190之间的配合关系的结构示意图。
请参阅图25和图27，手术器械还包括夹持管350，夹持管350与第二传动件320形成轴向限位配合和转动配合连接，第二传动件320直线运动推动夹持管350直线运动，夹持管350与外管190通过夹持键355固定连接，从而夹持管350能够在第二传动件320的驱动下直线运动并带动外管190直线运动。夹持键355的外部进一步套有一热缩管330，用于限制夹持键355向外运动。
此外，手术器械还能够执行自转运动，手术器械包括自转驱动机构540和自转传动机构400，自转传动机构400还包括自转管420，自转管420转动设于基座600上，夹持管350与自转管420通过第一自转键356形成周向限位配合，夹持管350与第二传动件320形成转动配合，使得自转管420能够在自转驱动机构540的驱动下自转并带动夹持管350和外管190转动。具体的，自转驱动机构540如何驱动自转管420后续将会详细说明。
手术器械还包括基杆160，基杆160与自转管420通过第二自转键460固定连接，以使基杆160跟随自转管420自转，钳体330固定到刀架181上，刀架181与基杆160通过挂钩可拆卸连接，基杆160自转时刀架181及钳体330跟随自转。
进一步地，基座还包括安装件360，安装件360固定于底座610，可以但不限于使用螺丝连接在底座610上。第一传动件310可转动地与安装件360连接并将环形底座342固定于安装件360，齿轮111自安装件360外露出。
示例性地，各个部件的结构以及装配方式如下：
如25所示，安装件360呈筒状，其底面与底座610通过螺丝连接，顶面开口，第三限位件340由上部装入安装件360，使用螺丝固定连接在一起；夹持管350由侧面通过挂钩 装入第二传动件320以形成转动连接；第二传动件320由上部旋入夹持驱动件531；第十一轴承312由下部套入第一传动件310，第十一轴承312上表面与第一传动件310轴承安装面贴合，第十一轴承312下表面使用安装在第一传动件310上的第五卡簧313限位；第一传动件310由上部穿入安装件360，第十一轴承312外圈下表面与安装件360的轴承安装面贴合；限位销钉361由两侧穿入安装件360，限位销钉361的圆柱面与第十一轴承312外圈上表面贴合，用于限制第十一轴承312向上运动。第三限位件340使用螺丝固定安装在安装件360上，安装件360固定安装在底座610上，从而使得第三限位件340相对底座610固定。第二传动件320由上部套入第三限位件340，第三限位件340的限位柱341为设于其环形底座342之上的圆柱特征，圆柱特征与第二传动件320的限位槽321特征配合，从而限制第二传动件320相对第三限位件340旋转运动。
上述，由于本实施方式的第一传动件310的外径较大，其在与第三传动齿轮532啮合时具有较大的传动比，具有降低转速、增加转矩的作用，能够使得第一传动件310具有更为强劲的驱动力，转速更慢使其具有更好的驱动精度。
基座还包括盖板650，基杆160端部具有台阶，基杆160通过第十二轴承163与盖板650固定，第十二轴承163的外圈与盖板650固定，内圈与基杆160固定，基杆160自上部插入至第十二轴承163中，且端部的凸台与第十轴承534的端面抵接，在第十二轴承163的底部通过第六卡簧限位实现基杆160在盖板650的固定，盖板650通过螺丝连接在第一传动件310上，由此实现基杆160相对基座在第一轴线移动的方向上固定，基杆160与第一传动件310形成转动连接，且基杆160与夹持管350形成周向限位配合，由此实现第一传动件310在转动时，基杆160固定。
基杆160自第二传动件320、第三限位件340的通孔中穿过，并穿过之间的底座610延伸而出。
本实施例中，请参阅图20和图21，刀头组件180包括刀架181和刀头推动杆182，刀架181与基杆160转动连接。钳体710还包括刀片330，刀片330可移动地设于第一夹钳711和第二夹钳712之间，刀片330与刀头推动杆182传动连接以在刀头推动杆182的驱动下沿第一轴线移动，第一夹钳711和第二夹钳712中的至少之一与刀架181连接，进一步地，刀片330可移动地设于与刀架181所连接的夹钳上，例如刀架181与第一夹钳711连接，刀片330可移动地设于第一夹钳711中。由此当驱动刀头推动杆182移动时能够带动刀片330移动，钳体710通过刀架181连接在基杆160上能够保持固定，实现刀片330与钳体710的相对移动。夹持传动机构300联动一个夹钳动作，另一个夹钳固定，如此能够减少对钳体710内的刀片330的影响，刀片330的移动与钳体710的开合能够独立控制，钳体710能够输出更为高精度的操作动作。
本实施例中，第二传动件320通过外管190与钳体710传动连接，外管190与第二传动件320形成转动连接，外管190套设于基杆160，本实施例为套设于基杆160与刀架181之外。通过外管190将基杆160和刀架181套于其中，外观完整，避免外界对二者连接处形成干涉。另外，外管190将基杆160与刀架181的连接结构套于其中，对于基杆160与 刀架181之间通过嵌槽的开口的分离具有约束作用，使得基杆160与刀架181的连接更加稳定。
在一些实施例中，第二传动件320与夹持管350转动连接，夹持管350伸出至基座600外与外管190连接。通过设置夹持管350将第二传动件320输出的移动接出到基座600之外，而后套接外管190，外管190与夹持管350之间的连接可以通过键与键槽的配合实现固定连接。
示例性地，手术器械包括夹持键355，夹持管350上设有第四固定键槽151，外管190上设有第三固定键槽192，外管190套设于夹持管350之外，夹持键355插入至第四固定键槽151和第三固定键槽192中固定。夹持键355插入的位置在基座600之外，便于装配。
本实施例中，钳体710包括第一夹钳711和第二夹钳712，第一夹钳711和第二夹钳712转动连接，第一夹钳711与基杆160连接，第二夹钳712与第二传动件320传动连接，第二传动件320朝远离基座600的方向移动时，第一夹钳711与第二夹钳712合拢。由此，当第二传动件320移动时，第一夹钳711在基杆160的作用下保持固定，而第二夹钳712随着第二传动件320的移动相对第一夹钳711发生转动，从而实现第一夹钳711和第二夹钳712开合。
进一步地，第一夹钳711上形成有弧形滑槽7111，第一夹钳712上形成有与弧形滑槽7111滑动配合的滑块7122，第二传动件320带动第二夹钳712移动时，第二夹钳712沿弧形滑槽7111滑动，弧形滑槽7111的导向作用使得第二夹钳712的朝向发生变化，进而向第一夹钳711靠拢。同样地，当第二传动件320带动第二夹钳712后退时，第二夹钳712相对第一夹钳711打开。
本实施例中，外管190包括靠近与夹持驱动机构530连接的外管190a，和靠近夹钳钳体710的外管190b，外管190a与外管190b相连，第一夹钳711和第二夹钳712合拢时收入外管190b中。
外管190a与外管190b传动连接，第二夹钳712通过外管190a和外管190b与第二传动件320连接。通过将外管190分为外管190a和外管190b，外管190b的长度较短，相比于长度较长的外管190更容易与第二夹钳712装配。
此外，通过将传动部件设置成更多的节数，也能够设置更多的传动姿态。在一些实施例中，外管190a和外管190b之间形成转动连接，外管190b连同钳体710能够相对外管190a摆动，外管190a中还嵌套有用于驱动外管190b摆动的摆动传动机构200。夹持传动机构300还包括转动连接组件280，转动连接组件280的两个转动件281分别位于刀头组件180之外的相对的两侧，外管190b通过两个转动件281与外管190a转动连接，通过将转动件281设置在两侧的方式不影响内部传动部件的穿插。
上述，本实施例的夹持传动机构300整体呈杆状，其第一传动件310与第二传动件320相互嵌套设置，第三限位件340局部插入至第二传动件320中，第二传动件320与夹持管350的端部形成挂钩式转动连接，且夹持管350内置于第二传动件320之中，基杆160内置于夹持管350之中。具体的，第二传动件320内嵌于第一传动件310中，第三限位件340 同轴设置于第二传动件320的端部，且第二传动件320能够相对第三限位件340移动。夹持管350自基座600中伸出且内置于外管190之中与外管190连接以带动外管190移动，基杆160自基座600中延伸而出且内置于外管190之内且能够相对外管190滑动。
进一步地，基杆160、夹持管350、第二传动件320、刀头组件180均设于外管190中，基杆160和第二传动件320、夹持管350相互嵌套设置且可滑动设置，具体的第二传动件320内置于基杆160中，夹持管350套设于基杆160外，基杆160相对夹持管350可滑动，夹持管350插入至外管190内且与外管190连接，带动外管190移动。刀架181与刀头推动杆182相互嵌套设置且可相对滑动，具体的刀头推动杆182内置于刀架181之内，且刀架181相对外管190可滑动，刀架181与基杆160形成挂钩转动连接，刀头推动杆182与转化件20形成挂钩非转动连接。由此，整个移动传动机构100呈杆状，外管190中的多个部件之间嵌套设置，以形成传动连接或者滑动解耦关系，且具有轴向力传动关系的部件之间又形成转动连接，能够转动传递的解耦，各个部件之间既有关联，又各自独立。
对于手术器械执行自转运动，下面对自转传动机构400和自转驱动机构540进行详细补充。
首先，请参阅图28、29和30，自转传动机构400包括从动轮410和自转管420，从动轮410用于与自转驱动机构540传动连接且以第一轴线为轴转动，自转管420与从动轮410形成非回转配合且以第一轴线为轴旋转。
自转驱动机构540为线轮传动机构，包括自转驱动盘541、第二传动轴542和主动轮543，自转驱动盘541用接入机械手旋转的动作，第二传动轴542将自转驱动盘541的动力传递至线轮，从动轮410同样为线轮，作为从动线轮，传送线544卷绕牵拉在两个线轮之间，由此实现自转驱动机构540对从动轮410旋转的驱动。
以上分别介绍了手术器械为了实现刀片的移动切割、钳体的摆动缝合、钳体的开合夹持及钳体的旋转等四个执行动作的具体结构及执行方式。由于手术器械需要执行多个动作，且多个动作的进给均需要集成在一个管内，不同动作的传动机构之间解耦结构复杂，不同传动机构之间的动作容易发生干涉。
现依次对手术器械中各传动机构之间的结合及解耦方式。
首先，请参阅图29及图31，击发杆140与自转管420之间形成周向限位配合及轴向滑动配合连接，击发杆140和自转管420分别与手术器械的执行件700传动连接，以联动执行件700输出不同的动作。具体的，击发杆140与执行件700的刀片720连接以实现切割，自转管420与钳体710连接以实现钳体710的自转。
击发驱动件110和从动轮410分别可转动地连接在基座600上，由此实现移动传动机构100和自转传动机构400在基座600上的安装，移动传动机构100和自转传动机构400通过自转管420与击发杆140之间的周向限位配合及轴向滑动配合连接，击发杆140与转化件120之间的可转动连接，实现了移动传动机构100的直线运动不受到自转传动机构400的影响，自转传动机构400的转动不受到移动传动机构100的影响。手术器械能够实现在一个管件中实现多个传动机构的独立传动，且相互之间的配合结构依靠可转动实现转动解 耦，依靠可滑动实现移动解耦，结构简单且可靠性高。
为了便于描述将手术器械中四个传动机构的总和称为组合传动装置1000，组合传动装置1000整体呈直杆状，本实施例中组合传动装置1000作为吻合器的刀杆。上述，第一轴线的延伸方向与组合传动装置1000的延伸方向一致。
在一些实施例中，移动传动机构100通过击发杆140与执行件700在第一轴线上伸缩固定连接，即击发杆140与执行件700在沿第一轴线移动的传递路径上无相对移动。由此当移动传动机构100的击发驱动件110转动时，能够驱动击发杆140带动执行件700移动。自转传动机构400通过自转管420与执行件700形成周向限位配合连接，以驱动执行件700以第一轴线为轴转动，自转传动机构400用于驱动执行件700转动，由于自转管420通过击发杆140与转化件120形成转动连接，因此自转管420在转动时，不会影响到转化件120，从动轮410转动时，能够驱动执行件700转动。在该实施方式中，组合传动装置能够驱动执行件700进行移动和旋转，二者互不影响，能够独立运作。
在一些实施例中，击发杆140通过摆动传动机构200中的摆动件230与执行件700连接，以驱动执行件700摆动，即击发杆140与执行件700的传递路径上设置了摆动件230，通过摆动件230将击发杆140的移动转化为执行件700的摆动。当击发驱动件110旋转时，转化件120通过击发杆140联动摆动件230摆动，进而使得执行件700同步摆动。自转传动机构400通过自转管420与执行件700形成周向限位配合连接，以驱动执行件700以第一轴线为轴转动，自转传动机构400用于驱动执行件700转动，由于自转管420通过击发杆140与转化件120形成可转动的连接，因此自转管420在转动时，不会影响到转化件120，从动轮410转动时，能够驱动执行件700转动。在该实施方式中，组合传动装置能够驱动执行件700进行摆动和旋转，二者互不影响，能够独立运作。
在一些实施例中，移动传动机构100还包括刀架181，击发杆140与刀架181能够在第一轴线上产生相对移动，击发杆140与第一钳体711连接，刀架181与第二钳体712连接，击发杆140与刀架181相对移动时，联动第一钳体711与第二钳体712相互转动。由此通过击发杆140与刀架181的相对运动，联动第一钳体711与第二钳体712的相对转动，从而实现夹钳的开合。自转传动机构400通过自转管420与执行件700形成周向限位配合连接，以驱动执行件700以第一轴线为轴转动，自转传动机构400用于驱动执行件700转动，由于自转管420通过击发杆140与转化件120形成转动连接，因此自转管420在转动时，不会影响到转化件120，从动轮410转动时，能够驱动执行件700转动。在该实施方式中，组合传动装置能够驱动执行件700进行开合和旋转，二者互不影响，能够独立运作。
在一些实施例中，移动传动机构100是直线传动机构，自转传动机构400也是直线传动机构，其中，转化件120与自转管420之间形成可滑动配合，转化件120和自转管420分别与手术器械的执行件700的不同部分传动连接，以联动执行件700输出不同的动作。示例性地，击发杆140与执行件700的刀片720连接，击发杆140移动时驱动刀片720相对钳头移动，自转管420与执行件700的钳头连接，自转管420移动时联动第一钳体711相对第二钳体712摆动。由此组合传动装置1000通过两个直线传动机构的复合，能够驱动 执行件700的钳头进行开合或者驱动执行件700的刀片720进行移动，二者互不影响。
在一个实施例中，移动传动机构100的数量为多，且多个移动传动机构100之间相互套接，相邻的移动传动机构100的击发杆140之间形成非回转的可滑动配合，每一移动传动机构100的击发杆140与自转管420形成非回转配合。由此可以在一个刀杆中集成更多的传动机构，多个直线传动机构的转化件之间形成可滑动连接，从而在各自移动时互不影响，直线传动机构与自转传动机构的转化件之间形成非回转配合，从而将自转传动机构的旋转能够有效地传递至执行件700，不影响旋转动力的传动。
需要说明的是，本文所言的移动传动机构100的数量为多个时，多个移动传动机构100的结构并不是完全相同，而是均有部分为直线传动机构，传动机理可以相同，均包括击发件和转化件，转化件能够在击发件的驱动下做直线运动，多个移动传动机构100的部件之间相互套接，且能够独立移动。
在一些实施例中，移动传动机构100还包括功能件，击发杆140通过功能件与执行件700连接，功能件将击发杆140的直线运动转换成其他运动，或者，击发杆140与功能件分别与执行件700连接。由于移动传动机构100的主要传动功能为直线传动功能，当设置多个直线传动机构时，通过功能件的转化，如功能件是摆动件230、功能件是刀架181时，与击发杆140组合动作使得执行件700输出除直线运动之外的摆动或者夹持动作。
可以理解的是，组合传动装置1000的传动机构除了可以是上述的移动、旋转、开合和摆动中两种的组合，还可以包括三种或者四种上述传动机构的组合，以在一根刀杆中集成更多的传动机构，且各个传动机构的传动动作相互独立互不影响。
本实施例中，手术器械包括组合传动装置1000、直线驱动机构510、自转驱动机构540、摆动驱动机构520和夹持驱动机构530，组合传动装置1000包括直线驱动机构510驱动的移动传动机构100、自转驱动机构540驱动的自转传动机构400、摆动驱动机构520驱动的摆动传动机构200和夹持驱动机构530驱动的夹持传动机构300。
移动传动机构100为直线传动机构，用于与刀片720传动连接，驱动刀片720移动；自转传动机构400为自转传动机构，用于与执行件700传动连接，驱动执行件700转动；摆动传动机构200为摆动传动机构，用于与执行件700传动连接，驱动执行件700摆动；夹持传动机构300为夹持传动机构，用于与第一钳体711连接，驱动第一钳体711相对第二钳体712转动以实现开合。
上述，本组合传动装置1000在驱动执行件700进行除自转外的不同动作时，各传动机构的套管的运动相互独立不影响，但在驱动执行件700自转时，各传动机构的套管的运动相关联，旋转动作传递和管件进给动作的隔离。
本实施例中，移动传动机构100包括击发驱动件110、转化件120、第一限位件130和击发杆140。击发驱动件110用于接入并向转化件120传递旋转的动力；转化件120将击发驱动件110的旋转转化为直线移动；第一限位件130限制转化件120的转动，使得转化件120相对击发驱动件110能够移动不能转动，提升转化件120移动的有效性，另外通过第一限位件130以机械限位的方式限制移动转化件120自转，且通过设置击发杆140，将 移动传动机构100的传动路径上分出可转动的传动节，能够避免自转传动机构400转动时对移动传动机构100形成影响，无需复杂的解耦操作。本实施例中，第一限位件130与摆动传动机构200的摆动螺杆220是同一个部件，将多个功能部件集成在一个部件上，能够提升传组合传动装置1000的结构紧凑性。
本实施例中，自转传动机构400包括从动轮410、自转管420和基杆160，从动轮410、自转管420和基杆160之间相互转动固定连接，基杆160与执行件700转动固定连接。从动轮410用于与自转驱动机构540传动连接以接入旋转动力，自转管420和基杆160在从动轮410的带动下沿第一轴线转动，进而能够带动执行件700转动。
本实施例中，摆动传动机构200包括摆动螺母210、摆动螺杆220、第二限位件240、摆动杆250和摆动件230。摆动螺母210用于接入并向摆动螺杆220传递旋转的动力；摆动螺杆220将摆动螺母210的旋转转化为直线移动；第二限位件240限制摆动螺杆220的转动，使得摆动螺杆220相对摆动螺母210能够移动不能转动，提升摆动螺杆220移动的有效性，另外通过第二限位件240以机械限位的方式限制移动转化件自转，且通过设置摆动杆250，将摆动传动机构200的传动路径上分出可转动的传动节，能够避免自转传动机构400转动时对摆动传动机构200形成影响，无需复杂的解耦操作。
本实施例中，夹持传动机构300包括第一传动件310、第二传动件320、第三限位件340、夹持管350和基杆160。第一传动件310用于与夹持驱动机构530传动连接并在夹持驱动机构530的驱动下以第一轴线为轴旋转，第三限位件340与转化件120形成周向限位配合及轴向滑动配合以限制转化件120以第一轴线为轴线转动，转化件120在第一传动件310的驱动下沿第一轴线移动，由此变第一传动件310的转动为转化件120的移动。转化件120与夹持管350转动连接，并通过夹持管350与第一钳体711传动连接，基杆160与夹持管350可滑动配合，基杆160用于与第二钳体712连接，当第一传动件310驱动夹持管350相对基杆160移动时，第一钳体711相对第二钳体712转动，实现第一钳体711和第二钳体712的开合。
上述，第一传动件310用于接入并向转化件120传递旋转的动力，是一种旋转传动部件；转化件120将第一传动件310的旋转转化为直线移动，是一种动作转化部件；第三限位件340限制转化件120的转动，使得转化件120相对第一传动件310能够移动不能转动，提升转化件120移动的有效性，另外通过第三限位件340以机械限位的方式限制移动转化件自转，且通过设置夹持管350，将夹持传动机构300的传动路径上分出可转动的传动节，能够避免自转传动机构400转动时对夹持传动机构300形成影响，无需复杂的解耦操作。
上述，相互嵌套的轴、管之间的非回转滑动配合连接，可以通过键与键槽的方式形成，套管相互套接以后，使得对应的套管上的键槽相对应，自外管向内管中插入限位键，从而限制相互套接的管之间的相互转动，通过将内管与外管上的键槽中的至少一个设置为长于限位键即能够实现套管之间的相对移动，为了对限位件形成较好的固定效果，可以将一个键槽设置为与限位键长度相等，另一个键槽设置为较限位键长度长。
下文将结合具体的结构对本申请的手术器械、组合传动装置1000进行说明：
请参阅图27，示出了夹持传动机构300致动及解除耦合系统，夹持管350与自转管420使用第一自转键356连接在一起，夹持管350可沿着自转管420的轴线方向直线运动，但不可相对自转管420沿着自转管420的轴线旋转运动，从而在自转管420自转时，夹持管350会跟随自转管420自转运动；夹持管350与第二传动件320之间使用圆环型台阶形成转动连接及轴向限位连接，夹持管350相对第二传动件320沿轴向方向无直线运动，但夹持管350相对第二传动件320轴线方向可进行旋转运动，从而在夹持管350自转时，第二传动件320不会跟随旋转，从而解除了自转传动机构400与夹持传动机构300之间的运动耦合。
请参阅图29和图31，示出了本实施例自转传动机构400和摆动传动机构200的运动解耦结构。自转管420与基杆160使用第二自转键460固定连接为一体，从而自转管420自转运动可传递给基杆160自转；基杆160与摆动杆250使用第三自转键470连接，摆动杆250只可沿基杆160轴线方向直线运动，不可沿着基杆160轴线方向转动，从而基杆160自转运动可带动摆动杆250自转运动；摆动杆250与摆动螺杆220使用圆柱形结构转动连接，摆动杆250与摆动螺杆220之间无相对摆动螺杆220的轴线直线运动，但摆动杆250可沿摆动螺杆220轴线旋转，从而解除了自转传动机构400与摆动传动机构200之间的运动耦合。
请参阅图31，示出了本实施例自转传动机构400和移动传动机构100的运动解耦结构。基杆160与击发杆140使用第三自转键470连接在一起，击发杆140仅可沿基杆160的轴线方向直线运动，不可沿基杆160的轴线旋转运动，从而基杆160自转运动可带动击发杆140跟随自转运动；击发杆140与转化件120使用圆柱形结构转动连接，击发杆140与转化件120之间无相对转化件120的轴线直线运动，但击发杆140可沿转化件120轴线旋转，从而解除了自转传动机构400与移动传动机构100之间的运动耦合。
如图20和图21所示，刀架181通过基杆160与基座600连接，刀架181一端与基杆160通过挂钩形成可转动连接，刀架181另一端与执行件700的第一钳体711连接。第二传动件320通过夹持管350延伸至基座600之外，夹持管350与外管190通过夹持键355固定，外管190与第二钳体712传动连接。外管190带动第二钳体712移动时，第二钳体712沿弧形滑槽7111滑动，弧形滑槽7111的导向作用使得第二钳体712的朝向发生变化，进而向第一钳体711靠拢或者打开。
本实施例中，组合传动装置1000位于基座600的中部，直线驱动机构510、自转驱动机构540、摆动驱动机构520和夹持驱动机构530位于组合传动装置1000的四周。需要说明的是，组合传动装置1000位于基座600的中部并非为绝对的中部，而是相对驱动机构更靠近基座600的中部，或者位于四个传动机构所围合出的边界之中，四个传动机构环绕组合传动装置1000设置，如此，各个驱动机构的排布更加合理，有效地避免了各个驱动机构与组合传动装置1000的运动传递的干涉。
本实施例中，直线驱动机构510采用齿轮传动的驱动结构，自转驱动机构540采用线轮传动的驱动结构；摆动驱动机构520采用齿轮传动的驱动结构；夹持驱动机构530采用 齿轮传动的驱动结构；通过齿轮传动和线轮传动实现传动结构的合理排布，手术器械的结构更加紧凑。
以下对本实施例的组合传动装置1000的各个套管结构之间的传动耦合以及解除耦合的具体结构进行示例性的说明。
图32-36示出了本申请的实施例提供的组合传动装置的分解以及局部分解结构示意图。
如图32-36所示，本组合传动装置1000整体呈杆状，各个传动机构同轴嵌套设置，且同一传动机构的主动件与从动件相邻嵌套以形成传动配合。例如，击发驱动件110、转化件120、从动轮410与自转管420相互嵌套设置，且击发驱动件110与转化件120相邻嵌套，从动轮410与自转管420相邻嵌套。
具体嵌套关系如下，摆动螺杆220为螺杆位于组合传动装置1000的套管结构的最内侧，其端部与基座600的顶座620上的第二限位件240形成非回转配合，其外部靠近顶座620一段套设有摆动螺母210，摆动螺母210可转动地连接在顶座620上；摆动螺母210与之形成螺纹配合，摆动螺母210在转动时驱动摆动螺杆220移动；摆动螺杆220远离顶座620的一端与摆动杆250通过挂钩结构形成可转动连接；摆动螺杆220外套设有转化件120，转化件120与摆动螺杆220通过第一配合件121形成滑动配合；转化件120上设有第一固定键槽122，摆动螺杆220上设有第四滑动键槽222，第一配合件121固定在第一固定键槽122中并插入至第四滑动键槽222中，由此实现了转化件120与摆动螺杆220的非回转可滑动配合；摆动螺杆220作为转化件120的限位部件，防止转化件120转动。
转化件120外螺纹连接有击发驱动件110，击发驱动件110可转动地连接在基座600的中板650上，击发驱动件110转动时，转化件120能够沿第一轴线移动；转化件120远离中板650的一端与击发杆140通过挂钩形成可转动连接，击发杆140套设于摆动杆250之外，击发杆140上设有第二固定键槽，摆动杆250上设有第五滑动键槽251，第二固定键槽中插入第三自转键470，第三自转键470伸入至第五滑动键槽251中，从而实现了击发杆140和摆动杆250之间的非回转滑动配合，由此移动传动机构100与摆动传动机构200之间实现了移动方向的解耦，能够独立移动。
击发驱动件110外套设有基杆160，基杆160可转动但不可移动的连接在基座600上，基杆160上设有第六滑动键槽164，第三自转键470插入至第六滑动键槽164中实现基杆160与击发杆140、摆动杆250的可滑动非回转连接。
基杆160外套设有第二传动件320，第二传动件320外套设有第一传动件310，夹持传动机构300的第三限位件340固定在基座600上，第一传动件310可转动地连接在基座600上，第二传动件320与第三限位件340形成可滑动配合，由此在第一传动件310的驱动下，第二传动件320相对基座600能够沿第一轴线移动，第二传动件320通过挂钩可转动地连接有夹持管350，夹持管350上设有第七滑动键槽352，基杆160上设有第五固定键槽165，第一自转键460插入至第五固定键槽165和第七滑动键槽352中，使得夹持管350与基杆160形成非回转的可滑动连接。
夹持管350外套设有自转管420，自转管420上设有滑槽421，第二自转键460插入至滑槽221中，从而与基杆160固定，与夹持管350形成非回转的可滑动连接。夹持管350外还套设有外管190，外管190上设有第六固定键槽192，夹持管350上设有第一固定键槽351，第二自转键460配合在六固定键槽192和第一固定键槽351中，从而使得外管190与夹持管350的固定。
上述，本实施例的组合传动装置1000驱动执行件700进行移动、转动、摆动和开合的传动过程如下：
移动传动机构100的击发驱动件110在转动时，驱动转化件120沿第一轴线移动，转化件120与摆动螺杆220形成非回转滑动配合，转化件120与击发杆140可转动连接，击发杆140与基杆160、摆动杆250形成非回转滑动配合，转化件120通过击发杆140带动执行件700的刀片720移动；
自转传动机构400的从动轮410在转动时，带动自转管420、基杆160、外管190、击发杆140、摆动杆250和夹持管350以第一轴线为轴转动，外管190与执行件700连接，带动执行件700整体转动；
摆动传动机构200的摆动螺母210在转动时，驱动摆动螺杆220沿第一轴线移动，摆动螺杆220与转化件120形成非回转滑动配合，摆动螺杆220与摆动杆250转动连接；摆动杆250与击发杆140、基杆160形成非回转滑动配合，摆动螺杆220通过摆动杆250、联动件263、摆动传递件260驱动摆动件230摆动，摆动件230与执行件700连接，带动执行件700整体摆动；夹持传动机构300的第一传动件310在转动时，驱动转化件120沿第一轴线移动，转化件120与夹持管350可转动连接；夹持管350分别与基杆160、自转管420形成非回转滑动连接，夹持管350与外管190固定连接，基杆160与刀架181可转动连接，外管190与第二钳体712连接，刀架181与第一钳体711连接，外管190相对刀架181移动时，能够联动第一钳体711相对第二钳体712转动，实现执行件700的开合。
在其他的实施方式中，手术器械包括用于执行手术的执行件700，还包括夹持驱动盘5311、传动机构、自转管420和夹持管350。夹持驱动盘5311用于与一手术机器人的机械臂连接，并接收机械臂的动力，传动机构包括主动轮543和从动轮410，主动轮543与夹持驱动盘5311连接，从动轮410与主动轮543传动连接，从动轮410为管状；自转管420套接入从动轮410并随从动轮410一起转动，自转管420开设有滑槽421；夹持管350通过第二自转键460连接至滑槽421，以在自转管420自转时跟随自转管420自转，第二自转键460可沿滑槽221滑动以使夹持管350相对自转管420沿轴向运动，执行件700包括钳头，夹持管350沿轴向运动时驱动执行件700的钳头执行夹持动作。上述，通过将自转管420与夹持管350设置为能够相互滑动，能够使得夹持管350在移动时不影响自转管42或者不受自转管420影响，自转管420与夹持管350通过键与键槽的配合能够传递转动，继而能够在自转管420转动时带动夹持管以及执行件700一同转动。
上述传动机构为钢丝轮传动机构，主动轮543为主动钢丝轮，从动轮410为从动钢丝轮，主动钢丝轮与驱动盘连接，从动钢丝轮与主动钢丝轮通过钢丝传动连接。
手术器械还包括一外管190，外管190与夹持管350通过夹持键355固定连接以随夹持管350自转和轴向运动，外管190沿轴向伸出时，执行件700收缩入外管190以夹持闭合，外管190沿轴向缩回时，执行件700露出外管190以放开夹持动作。
手术器械还包括一螺纹组件，螺纹组件包括接收夹持驱动机构530的第一传动件310，和与第一传动件310螺纹连接的第二传动件320，第二传动件320在第一传动件310的驱动下沿第二传动件320轴向运动，第二传动件320与夹持管350连接以带动夹持管350沿轴向运动。
进一步地，第二传动件320与夹持管350通过第三限位件340的圆环形结构连接，夹持管350与第二传动件320通过第三限位件340的圆环形结构隔离，夹持管350在第三限位件340的圆环形结构内旋转，第二传动件320的外部进一步与第三限位件340的圆环形结构上的两根限位柱连接，以限制第二传动件320跟随夹持管350转动。第一传动件310的表面固定设有齿轮311，齿轮311接收夹持驱动机构530的旋转驱动力而带动第一传动件310旋转。该第三限位件340的圆环形结构使夹持管350的旋转不会影响第二传动件320。
手术器械还包括基杆160和摆动杆250，基杆160与自转管420通过第二自转键460连接，以使基杆160跟随自转管420自转，基杆160与摆动杆250通过第三自转键470连接，以使摆动杆250跟随基杆160自转，摆动杆250用于驱动执行件700摆动。
进一步地，摆动杆250的一端通过一圆柱形结构与一摆动螺杆220连接，以使摆动杆250在自转时可绕摆动螺杆220旋转，摆动杆250的另一端与一平行四边形摆动件(前文中提及的平行四边形结构)连接，摆动螺杆220与摆动螺母210螺纹连接，摆动螺母210接收摆动驱动机构520的旋转驱动力而旋转，摆动螺杆220在摆动螺母210驱动下沿轴向移动以推动摆动杆250沿轴向移动，平行四边形摆动件连接执行件700，摆动杆250沿轴向移动时带动所述平行四边形摆动件摆动以带动执行件700摆动。
手术器械还包括击发驱动件110、击发杆140和转化件120，击发杆140与基杆160通过第三自转键470连接，以在基杆160自转时跟随基杆160自转，击发杆140与转化件120通过一圆柱形结构连接，以使击发杆140自转时可相对转化件120旋转，转化件120与击发驱动件110螺纹连接，击发驱动件110接收夹持驱动盘5311的旋转驱动力而旋转，转化件120在击发驱动件110驱动下沿轴向移动以推动击发杆140沿轴向移动，执行件700包括设在钳头内的刀片720，击发杆140推动刀片720运动。
本手术器械的传动结构呈套管状设置，摆动杆250位于击发杆140内部，击发杆140位于基杆160内部。
以上仅为本申请的可选实施例而已，并不用于限制本申请。对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (20)

  1. 一种手术器械，包括执行手术的执行件，其特征在于，所述手术器械还包括：
    驱动盘，所述驱动盘用于与一手术机器人的机械臂连接，并接收所述机械臂的动力；
    主动件，用于与所述驱动盘传动连接，以输出旋转运动；
    从动件，所述从动件与所述主动件螺旋传动配合，所述从动件在所述主动件的驱动下沿直线运动；
    限位件，所述限位件与所述从动件形成周向限位配合和轴向滑动配合连接；
    击发件，所述击发件与所述执行件连接，所述击发件在所述从动件的驱动沿直线运动并击发所述执行件执行动作。
  2. 根据权利要求1所述的手术器械，其特征在于，所述主动件能够输出以第一轴线为轴的旋转运动；所述从动件与所述限位件之一具有滑槽，另一具有与所述滑槽相匹配的滑块，所述滑槽沿所述第一轴线延伸，所述主动件转动时，所述从动件在所述滑槽与所述滑块的限位配合下沿所述第一轴线移动。
  3. 根据权利要求2所述的手术器械，其特征在于，所述主动件为击发驱动件，所述从动件为转化件，所述限位件为第一限位件，所述击发件为击发杆，所述击发杆一端与所述转化件形成轴向限位配合和旋转配合连接，所述转化件驱动所述击发杆沿所述第一轴线移动，所述击发杆另一端用于与所述执行件形成轴向限位配合和旋转配合连接以带动所述执行件沿所述第一轴线移动。
  4. 根据权利要求3所述的手术器械，其特征在于，所述手术器械还包括基杆，所述基杆套设于所述击发杆和转化件的连接处之外，所述基杆与所述击发杆形成滑动配合。
  5. 根据权利要求4所述的手术器械，其特征在于，所述手术器械还包括刀头组件，所述刀头组件包括刀架和刀头推动杆，所述刀架与所述基杆连接，所述刀头推动杆与所述击发杆连接；
    所述执行件包括钳体和刀片，所述钳体与所述刀架连接，所述钳体包括能够相互转动以实现开合的夹钳，所述刀片可移动地设于所述夹钳中，所述刀片与所述刀头推动杆传动连接以在所述击发杆及刀头推动杆的驱动下沿所述第一轴线移动。
  6. 根据权利要求5所述的手术器械，其特征在于，所述击发驱动件与所述转化件相互嵌套设置，所述转化件与所述第一限位件相互嵌套设置，所述转化件的端部与所述击发件的端部连接；
    和/或，所述基杆套设于所述击发杆与所述刀头推动杆的转动连接处；
    和/或，所述手术器械还包括外管，所述外管套设于所述基杆与所述刀架的转动连接处。
  7. 根据权利要求2所述的手术器械，其特征在于，所述主动件为摆臂螺母，所述从动件为摆臂螺杆，所述限位件为第二限位件；
    所述击发件为与所述执行件连接的摆动件，所述摆动件与所述摆臂螺杆传动配合并在所述摆臂螺杆的驱动下带动所述执行件摆动。
  8. 根据权利要求7所述的手术器械，其特征在于，所述手术器械还包括摆动传递件，所述摆动件具有摆动轴，所述摆动件位于所述摆动轴的两侧分别形成有第一摆动部和第二摆动部；所述摆动传递件包括第一传递部，所述第一传递部的一端与所述摆臂螺杆传动连接，所述第一传递部的另一端与所述第一摆动部转动连接；所述第一传递部能够在所述摆臂螺杆的驱动下带动所述第一摆动部沿所述第一轴线方向移动以使所述摆动件发生摆动。
  9. 根据权利要求8所述的手术器械，其特征在于，所述摆动传递件还包括第二传递部和连接部，所述第二传递部的一端与所述第一传递部的一端通过所述连接部连接，所述第二传递部的一端及所述第一传递部的一端分别与所述连接部转动连接，所述第二传递部的另一端与所述第二摆动部转动连接。
  10. 根据权利要求9所述的手术器械，其特征在于，所述第一传递部、所述摆动件、所述第二传递部和所述连接部依次首尾转动连接以形成平行四边形传递结构。
  11. 根据权利要求8所述的手术器械，其特征在于，所述摆动传递件还包括联动部，所述摆臂螺杆通过所述联动部与所述第一传递部连接，所述摆臂螺杆与所述联动部相对固定，所述联动部与所述第一传递部形成转动连接。
  12. 根据权利要求2所述的手术器械，其特征在于，所述主动件为第一传动件，所述从动件为第二传动件，所述限位件为第三限位件，所述击发件为能够在所述二传动件的驱动下沿直线运动的外管；
    所述执行件包括钳体，所述钳体包括第一夹钳和第二夹钳，所述第一夹钳和第二夹钳在所述外管直线运动时能够收缩入所述外管而闭合，或者露出所述外管而相对张开。
  13. 根据权利要求12所述的手术器械，其特征在于，所述手术器械还包括夹持管，所述夹持管与所述第二传动件形成轴向限位配合，所述夹持管与所述外管固定连接，所述夹持管能够在所述第二传动件的驱动下带动所述外管直线运动。
  14. 根据权利要求13所述的手术器械，其特征在于，所述手术器械还包括自转管，所述夹持管与所述自转管形成周向限位配合，所述夹持管与所述第二传动件还形成转动配合，所述自转管能够在一旋转驱动力的驱动下带动所述夹持管和所述外管转动。
  15. 根据权利要求14所述的手术器械，其特征在于，所述手术器械还包括基杆和刀架，所述基杆与所述自转管固定连接，所述刀架与所述基杆连接，所述钳体固定到所述刀架上，所述自转管能够带动所述基杆自转并带动所述刀架及所述钳体旋转。
  16. 一种手术器械，包括用于执行手术的执行件，其特征在于，所述手术器械还包括：
    夹持驱动盘，所述夹持驱动盘用于与一手术机器人的机械臂连接，并接收所述机械臂的动力；
    传动机构，所述传动机构包括主动轮和从动轮，所述主动轮用于与所述夹持驱动盘连接以输出旋转运动，所述从动轮与所述主动轮传动连接，所述从动轮为管状；
    自转管，所述自转管套接入所述从动轮并随所述从动轮一起转动，所述自转管开设有滑槽；
    夹持管，所述夹持管通过第一自转键连接至所述滑槽，以在所述自转管自转时跟随所 述自转管自转，所述第一自转键可沿所述滑槽滑动以使所述夹持管相对所述自转管沿轴向运动，所述执行件包括钳头，所述夹持管沿轴向运动时驱动所述执行件的钳头执行夹持动作。
  17. 根据权利要求16所述的手术器械，其特征在于，所述手术器械还包括外管，所述外管与所述夹持管固定连接以随所述夹持管自转和轴向运动，所述外管沿轴向伸出时，所述执行件收缩入所述外管以夹持闭合，所述外管沿轴向缩回时，所述执行件露出所述外管以放开所述夹持动作。
  18. 根据权利要求16所述的手术器械，其特征在于，所述手术器械所述还包括基杆和摆动杆，所述基杆与所述自转管通过第一自转键连接，以使所述基杆跟随所述自转管自转，所述基杆与所述摆动杆通过第二自转键连接，以使所述摆动杆跟随所述基杆自转，所述摆动杆用于驱动所述执行件摆动。
  19. 根据权利要求18所述的手术器械，其特征在于：所述手术器械还包括击发驱动件、击发杆和转化件；所述击发驱动件与所述夹持驱动盘连接并输出旋转运动，所述转化件与所述击发驱动件螺纹连接，所述转化件在所述击发驱动件驱动下沿轴向移动以推动所述击发杆沿轴向移动；所述击发杆与所述基杆通过第二自转键连接，以在所述基杆自转时跟随所述基杆自转，所述击发杆与所述转化件转动连接，以使所述击发杆自转时可相对所述转化件旋转，所述执行件包括设在钳头内的刀片，所述击发杆推动所述刀片运动。
  20. 一种手术机器人，其特征在于，包括主操作控制台和从操作设备，所述从操作设备包括如权利要求1至19任一项的手术器械。
PCT/CN2022/136646 2021-12-06 2022-12-05 手术器械及手术机器人 WO2023103982A1 (zh)

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