WO2023221445A1 - 手术器械 - Google Patents
手术器械 Download PDFInfo
- Publication number
- WO2023221445A1 WO2023221445A1 PCT/CN2022/133635 CN2022133635W WO2023221445A1 WO 2023221445 A1 WO2023221445 A1 WO 2023221445A1 CN 2022133635 W CN2022133635 W CN 2022133635W WO 2023221445 A1 WO2023221445 A1 WO 2023221445A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vertical
- horizontal
- wheels
- horizontal guide
- wheel
- Prior art date
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 44
- 230000007423 decrease Effects 0.000 claims description 7
- 238000004804 winding Methods 0.000 claims description 2
- 206010052428 Wound Diseases 0.000 description 12
- 208000027418 Wounds and injury Diseases 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 230000009471 action Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 description 5
- 238000002955 isolation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000002271 resection Methods 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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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
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
Definitions
- the present invention relates to the field of medical instruments, and in particular to a surgical instrument in a surgical robot system.
- Surgical robot systems have been a hot research topic in the field of medical devices in recent years. They can assist in minimally invasive surgeries and have been widely accepted by the market due to their advantages such as small surgical incisions, low blood loss, precise surgical operations, and rapid patient recovery. .
- the doctor issues instructions through the main control terminal, and the multiple robotic arms on the slave terminal cooperate with each other to complete the operation at the designated site.
- a single robotic arm at the slave end integrates approximately multiple degrees of freedom, allowing the instrument actuator at its end to reach a predetermined position, so as to facilitate the resection, suturing and other actions of surgical instruments in different surgical positions.
- the slave end of the robotic arm mainly adopts a multiple-reuse structure.
- the surgical instruments at the end of the robotic arm usually use lighter materials and smaller structures to reduce the end load.
- a surgical instrument box is used as a tool to operate the end surgical instruments. It is installed on the power box at the end of the slave robotic arm in a quick snap-on and detachable manner. It serves as an important power transmission link between the power box and the actuator.
- the surgical instrument box contains parts such as a winch, cables, guide wheels, and guide shafts.
- the power box motor transmits power to the winch through the isolation plate.
- the rotation of the winch drives the cable, which passes through the transmission rod and then transmits the power to the actuator end.
- Various operating actions have been implemented.
- the end of the actuator may be affected by external forces in various directions. These external forces will be transmitted to the winch through the cable, and then to the power box motor through the isolation plate.
- the cable as the weak link will be completely It has become an important component in the instrument box.
- the path of the cables in the instrument box, the distribution of the guide wheels, and the distribution of the cables in the transmission rod will have a very significant impact on the power transmission efficiency and service life of the instrument.
- the working conditions of surgical robots are very complex. Different patients need to use different surgical instruments to complete different actions.
- the surgical instruments may be affected by external forces in various directions. Under the action of these external forces, the tungsten wire breaks.
- the most common problems that arise with tungsten wire breakage are the short service life and poor stability of surgical instruments.
- the object of the present invention is to provide a surgical instrument that can effectively reduce cable breakage in the instrument box.
- a surgical instrument including: an instrument box with a mounting base, a transmission rod, an actuator located at the distal end of the transmission rod, and a plurality of cable groups, the The proximal end of the transmission rod is fixedly installed on the mounting seat of the instrument box; a plurality of winches are installed on the mounting seat, and the plurality of winches rotate around different axes respectively; each of the cable groups includes an end A pair of cables that are both fixed on the same winch, the pair of cables are wound around the corresponding winch one above the other, and each pair of cables is led out from the corresponding winch and passes through the transmission.
- a rod is connected to the actuator;
- the surgical instrument also includes: a plurality of horizontal guide wheels, the plurality of horizontal guide wheels are assembled in groups on at least one pair of vertical rotating shafts;
- a plurality of vertical reversing wheels arranged adjacent to the plurality of horizontal guide wheels and located above the proximal end of the transmission rod, the plurality of vertical reversing wheels being rotatably assembled on at least one horizontal rotating shaft;
- each cable is led out from the winch, it is gathered laterally through the horizontal guide wheel and transferred to the adjacent vertical reversing wheel, so that the vertical and horizontal opening angles of the cable are minimized and the cable is subjected to The friction force is minimal and the tensile force transmission loss is minimal.
- each of the winches when each of the winches rotates around its own axis, it can provide a pulling force F extending along the horizontal plane to each of the cables.
- At least part of the cable is collected between a pair of vertical rotating shafts by the horizontal guide wheel, and the distance between the axis lines of any two winches is greater than the at least one pair of vertical rotating shafts. The distance between them is greater than or equal to the width of the plurality of vertical reversing wheels arranged along the axial direction.
- each of the horizontal guide wheels and the vertical reversing wheel is provided with a wiring groove, and the radial section of each of the wiring grooves has a center point.
- the line connecting the center points of the grooves forms a routing base circle.
- the plane where the routing base circle of the horizontal guide wheel bypassed by the same cable is located is the highest point of the routing base circle of the corresponding vertical reversing wheel. Flush, so that the cable can be transferred to the vertical reversing wheel in the horizontal direction after being led out from the horizontal guide wheel.
- two or more vertical reversing wheels are movably sleeved on the same horizontal rotating shaft, and the vertical reversing wheels corresponding to the cables located above each winch are The outer diameter is larger than the outer diameter of the vertical reversing wheel corresponding to the cable located below the same winch.
- all the vertical reversing wheels are movably sleeved on one of the horizontal rotating shafts.
- two or more horizontal guide wheels are movably sleeved on the same vertical axis, and the outer diameters of the plurality of horizontal guide wheels assembled on the same vertical axis are from It decreases in sequence from top to bottom, and the outer diameters of the plurality of vertical reversing wheels assembled on the same horizontal rotating shaft decrease in sequence from the middle to both ends.
- each capstan and the vertical axis of the corresponding horizontal guide wheel is L
- the capstans are provided with an upper spiral guide groove and a lower spiral guide groove for cable winding.
- Spiral guide wire groove, and the axial heights of the upper spiral guide wire groove and the lower spiral guide wire groove are both H, L ⁇ 11.5H.
- any two adjacent horizontal guide wheels arranged coaxially and between any two adjacent vertical reversing wheels arranged coaxially is smaller than the maximum cross-sectional area of the horizontal guide wheel or vertical reversing wheel where it is located.
- One of the pair of adjacent surfaces is configured to be partially inwardly concave, and the other is configured to be partially inwardly concave. External bulge.
- the mounting base has a horizontal central axis extending in the front-to-back direction
- the surgical instrument at least includes a pair of winches symmetrically arranged on both sides of the horizontal central axis, The pair of winches and the proximal ends of the transmission rods are distributed in a non-right-angled triangle, and the distal ends of the transmission rods are located on the horizontal central axis.
- the surgical instrument includes three winches, six horizontal guide wheels, six vertical reversing wheels, a pair of vertical rotating shafts and one The above-mentioned horizontal rotating shaft, the six horizontal guide wheels are assembled on a pair of the vertical rotating shafts in groups of three, and the six vertical reversing wheels are fixed on the same horizontal rotating shaft.
- the winch, a pair of the vertical rotating shafts, the six horizontal guide wheels and the six vertical reversing wheels are distributed on both sides of the horizontal central axis, and the other winch
- the axis line and the distal end of the transmission rod are located on the horizontal central axis, and the six cables wound on the three winches each bypass one of the horizontal guide wheels and a The vertical reversing wheel.
- the surgical instrument includes three winches, six horizontal guide wheels, six vertical reversing wheels, three vertical shafts and two The horizontal rotating shaft, in which the four horizontal guide wheels are assembled in pairs on a pair of vertical rotating shafts located on both sides of the horizontal central axis, and the four vertical reversing wheels are arranged at the same time.
- the shaft is assembled on a horizontal rotating shaft, and the four cables wound on a pair of winches distributed on both sides of the horizontal central axis respectively bypass the four horizontal guide wheels and the Four vertical reversing wheels; the other two horizontal guide wheels are assembled on another of the vertical rotating shafts, and the other two vertical reversing wheels are assembled on the other of the horizontal rotating shafts.
- Two cables on a winch respectively bypass the two horizontal guide wheels and the two vertical reversing wheels.
- the surgical instrument includes three of the winches, four of the horizontal guide wheels, six of the vertical reversing wheels, two of the vertical shafts and one of the The above-mentioned horizontal rotating shaft, the four horizontal guide wheels are installed on the two vertical rotating shafts in pairs, and the six vertical reversing wheels are coaxially installed on the horizontal rotating shaft, distributed
- the four cables wound on a pair of winches on both sides of the horizontal central axis respectively bypass the four horizontal guide wheels and the four vertical reversing wheels.
- the winch is located on the horizontal central axis, and the two cables wound on the winch are directly wound on the two vertical reversing wheels.
- the two vertical reversing wheels corresponding to the two cables on the other winch are located in the center of the horizontal rotating shaft, and the four cables corresponding to the pair of winches are The four vertical reversing wheels are located on both sides of the horizontal rotating shaft.
- each cable has a smaller horizontal opening angle and a smaller vertical opening angle between its corresponding horizontal guide wheel and vertical reversing wheel, which can ensure that the cable After being led out by the winch, it is guided by the horizontal guide wheel and transferred horizontally to the vertical reversing wheel. In this way, the cable is only subjected to tension parallel to the horizontal guide wheel, and the loss of tension transmission is small.
- Figure 1 is a schematic side view of a surgical instrument according to an exemplary embodiment provided by this application;
- Figure 2 is a schematic top view of the surgical instrument shown in Figure 1;
- Figures 3-7 are schematic diagrams of cable routing in an example embodiment of the instrument box of the surgical instrument shown in Figure 1; each figure is sequentially from a top view of the left front side, a top view of the right front side, a bottom view of the left front side, and a front view. Observed from side view and left view;
- Figure 8 is an enlarged schematic diagram of Figure 2 at A;
- Figure 9 is an enlarged schematic diagram of Figure 5 at B;
- Figure 10 is an enlarged schematic diagram of Figure 6 at C;
- Figure 11 is a schematic diagram of the positional relationship between each vertical reversing wheel and the horizontal guide wheel shown in Figures 2-7;
- Figure 12 is a schematic cross-sectional view along the F-F direction in Figure 11;
- Figure 13 is a schematic cross-sectional view along the G-G direction in Figure 11;
- Figure 14 is a schematic side view of a surgical instrument according to another exemplary embodiment provided by the present application.
- Figure 15 is a schematic top view of the surgical instrument shown in Figure 14;
- Figures 16-18 are schematic diagrams of cable routing in an example embodiment of the instrument box of the surgical instrument shown in Figure 14; each figure is viewed from a left front top view, a right front top view and a left front top view in sequence;
- Figure 19 is an enlarged schematic diagram of Figure 18 at D;
- Figure 20 is a schematic diagram of the positional relationship between each vertical reversing wheel and the horizontal guide wheel shown in Figures 16-18;
- Figure 21 is a schematic side view of a surgical instrument according to another exemplary embodiment provided by the present application.
- Figure 22 is a schematic top view of the surgical instrument shown in Figure 21;
- Figures 23-26 are schematic diagrams of cable routing in an example embodiment of the instrument box of the surgical instrument shown in Figure 21; each figure is sequentially from a left front side top view, a right front side top view, a front side view and a left side Observed from perspective;
- Figure 27 is a positional relationship diagram between each vertical reversing wheel, the horizontal guide wheel and the single vertical reversing wheel shown in Figures 23-26;
- Figure 28 is a schematic cross-sectional view along the M-M direction of Figure 27;
- FIG. 29 is a schematic cross-sectional view along the N-N direction of FIG. 27 .
- Instrument box 20. Actuator; 30. Transmission rod;
- Instrument box 7. Box seat; 701. Base plate; 702. Support plate;
- spatially relative terms used to describe the relationship of one element to another (other) element as illustrated in the figures .
- Spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features.
- the exemplary term “below” may include both an upper and lower orientation.
- the device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
- the horizontal directions mentioned below are all roughly horizontal directions, for example, the angle between the horizontal plane and the horizontal plane is within the range of 0 or single-digit angles.
- the same is true for the vertical direction, which is a direction substantially perpendicular to the horizontal plane.
- the handheld instrument includes an instrument box 10 , an actuator 20 located at the distal end of the surgical instrument, and a transmission rod 30 located between the instrument box 10 and the actuator 20 .
- the instrument box 10 is drivingly connected to the actuator 20 through a transmission rod 30 and several cables passing through the transmission rod 30 .
- the instrument box 10 includes a box base 1, a plurality of winches, a plurality of cable groups, and a plurality of guide wheel groups.
- the number of winches, cable sets and guide wheel sets are all three.
- the box holder 1 includes a base plate 101 and a support plate 102 fixed on the base plate 101.
- the entire structure of the box holder 1 plays a supporting role.
- the base plate 101 and the support plate 102 can be connected by snapping, Fastened together by bolts, hot riveting, etc.
- the box base 1 has a horizontal central axis C1 extending in the front-to-back direction.
- the plurality of winches include a first winch 11 , a second winch 12 and a third winch 13 , which are each rotatably mounted on the support plate 102 around their respective axis lines.
- the first winch 11 is arranged on the horizontal central axis C1
- the second winch 12 and the third winch 13 are located behind the first winch 11 and are symmetrically distributed on the left and right sides of the horizontal central axis C1.
- each winch has two sections of spiral guide wire grooves, upper and lower.
- the first capstan 11 has a first upper spiral guide groove 1101 and a first lower spiral guide groove 1102 extending in the axial direction
- the second capstan 12 has a second upper side extending in the axial direction
- the third capstan 13 has a third upper spiral guide groove 1301 and a third lower spiral guide groove 1302 extending in the axial direction.
- multiple cable groups include a first cable group, a second cable group and a third cable group.
- the first cable group is composed of a first cable 21 and a second cable 22.
- One end of the first cable 21 is fixedly wound in the first upper spiral guide groove 1101 of the first winch 11.
- the other end of the cable 21 will be connected to the actuator 20; one end of the second cable 22 is fixedly wound in the first lower spiral guide groove 1102 of the first winch 11, and the other end of the second cable 22 is also connected to the actuator 20; when the first winch 11 is driven by a motor (not shown in the figure) to rotate around its own axis, the motor drives the first winch 11 to rotate, causing the first cable 21 or the second
- the cable 22 is subjected to a pulling force F along the horizontal direction.
- one cable is tightened and the other cable is lengthened in order to control the corresponding components of the actuator 20 to achieve the goal. action.
- the second cable group is composed of a third cable 23 and a fourth cable 24.
- the third cable 23 is fixedly wound in the second upper spiral guide groove 1201 of the second winch 12.
- the other end of the cable 23 will be connected to the actuator 20;
- one end of the fourth cable 24 is fixedly wound in the second lower spiral guide groove 1202 of the second winch 12, and the other end of the fourth cable 24 will also be connected to the actuator 20;
- the second winch 12 is driven by the motor (not shown in the figure) to rotate around its own axis, one of the third cable 23 and the fourth cable 24
- the cable is tightened and the other cable is lengthened so as to control the corresponding components of the actuator 20 to achieve the target action.
- the third cable group is composed of a fifth cable 25 and a sixth cable 26.
- One end of the fifth cable 25 is fixedly wound in the third upper spiral guide groove 1301 of the third winch 13.
- the other end of the cable 25 will be connected to the actuator 20;
- one end of the sixth cable 26 is fixedly wound in the third lower spiral guide groove 1302 of the third winch 13, and the other end of the sixth cable 26 will also be connected to the actuator 20;
- the third winch 13 is driven by the motor (not shown in the figure) to rotate around its own axis, one of the fifth cables 25 and the sixth cable 26
- the cable is tightened and the other cable is lengthened so as to control the corresponding components of the actuator 20 to achieve the target action.
- the plurality of guide wheel sets include a guide wheel set No. 1 composed of a first vertical reversing wheel 31 and a first horizontal guide wheel 41, and a second vertical reversing wheel 32 and a second horizontal guide wheel 42.
- the No. 2 guide wheel set is composed of the third vertical reversing wheel 33 and the third horizontal guide wheel 43
- the No. 4 guide wheel set is composed of the fourth vertical reversing wheel 34 and the fourth horizontal guide wheel 44.
- the guide wheel set is the No. 5 guide wheel set composed of the fifth vertical reversing wheel 35 and the fifth horizontal guide wheel 45
- the No. 6 guide wheel set composed of the sixth vertical reversing wheel 36 and the sixth horizontal guide wheel 46.
- Each vertical reversing wheel is mounted on the support plate 102 to be able to rotate around a horizontal axis of rotation
- each horizontal guide wheel is mounted to the support plate 102 to be able to rotate around a vertical axis of rotation.
- the first cable 21 is supported on the first vertical reversing wheel 31 and the first horizontal guide wheel 41 at the same time
- the second cable 22 is supported on the second vertical reversing wheel 32 and the second horizontal guide wheel 42 at the same time
- the third The cable 23 is supported on the third vertical reversing wheel 33 and the third horizontal guide wheel 43 at the same time
- the fourth cable 24 is supported on the fourth vertical reversing wheel 34 and the fourth horizontal guide wheel 44 at the same time.
- the fifth cable 25 is supported on the fifth vertical reversing wheel 35 and the fifth horizontal guide wheel 45 at the same time
- the sixth cable 26 is supported on the sixth vertical reversing wheel 36 and the sixth horizontal guide wheel 46 at the same time.
- the first vertical reversing wheel 31, the second vertical reversing wheel 32, the third vertical reversing wheel 33, the fourth vertical reversing wheel 34, the fifth vertical reversing wheel 35 and the sixth vertical reversing wheel 36 is supported on the same first horizontal rotating axis 51.
- the first vertical reversing wheel 31 and the second vertical reversing wheel 32 are located in the middle of the first horizontal rotating shaft 51 and the outer diameter of the first vertical reversing wheel 31 is equal to the outer diameter of the second vertical reversing wheel 32 .
- the third vertical reversing wheel 33 is located outside the first vertical reversing wheel 31 and has an outer diameter smaller than the first vertical reversing wheel 31 .
- the fourth vertical reversing wheel 34 is located outside the third vertical reversing wheel 33 and has an outer diameter smaller than the third vertical reversing wheel 33 .
- the fifth vertical reversing wheel 35 is located outside the second vertical reversing wheel 32 and has an outer diameter smaller than the second vertical reversing wheel 32.
- the sixth vertical reversing wheel 36 is located outside the fifth vertical reversing wheel 35 and has an outer diameter smaller than The fifth vertical reversing wheel 35.
- the outer diameter of the fourth vertical reversing wheel 34 is equal to the outer diameter of the third vertical reversing wheel 33
- the outer diameter of the sixth vertical reversing wheel 36 is equal to the outer diameter of the fifth vertical reversing wheel 35 .
- the first horizontal guide wheel 41 , the third horizontal guide wheel 43 and the fourth horizontal guide wheel 44 are sequentially supported on the same first vertical shaft 61 from top to bottom.
- the outer diameters of the first horizontal guide wheel 41 , the third horizontal guide wheel 43 and the fourth horizontal guide wheel 44 gradually decrease.
- the second horizontal guide wheel 42 , the fifth horizontal guide wheel 45 and the sixth horizontal guide wheel 46 are sequentially supported on the second vertical shaft 62 from top to bottom.
- the outer diameters of the second horizontal guide wheel 42 , the fifth horizontal guide wheel 45 and the sixth horizontal guide wheel 46 gradually decrease.
- the first vertical rotation axis 61 and the second vertical rotation axis 62 are symmetrically distributed around the horizontal central axis C1.
- first horizontal guide wheel 41 and the second horizontal guide wheel 42 are arranged at the same height
- the third horizontal guide wheel 43 and the fifth horizontal guide wheel 45 are arranged at the same height
- the fourth horizontal guide wheel 44 and the sixth horizontal guide wheel 44 are arranged at the same height.
- the guide wheels 46 are arranged at the same height.
- the first cable 21 and the second cable 22 are collected between the first horizontal guide wheel 41 and the fourth horizontal guide wheel 44 and connected to the first vertical reversing wheel 31 in a direction perpendicular to the first horizontal rotating axis 51 and the second vertical reversing wheel 32 to eliminate the opening angle of the first cable 21 and the second cable 22 in the horizontal direction to the greatest extent.
- the third cable 23 and the fifth cable 25 are collected between the third horizontal guide wheel 43 and the fifth horizontal guide wheel 45 and connected to the third vertical reversing wheel 33 in a direction perpendicular to the first horizontal rotating axis 51 and the fifth vertical reversing wheel 35. Since the distance between the axis centers of the second winch 12 and the third winch 13 is greater than the distance between the first vertical rotation axis 61 and the second vertical rotation axis 62, the third cable 23 The horizontal opening angle of the fifth cable 25 decreases after passing through the horizontal guide wheel, which helps to reduce friction.
- the fourth cable 24 and the sixth cable 26 are gathered between the fourth horizontal guide wheel 44 and the sixth horizontal guide wheel 46 and connected to the fourth vertical reversing direction in a direction perpendicular to the first horizontal rotation axis 51 wheel 34 and the sixth vertical reversing wheel 36 .
- each horizontal guide wheel and vertical reversing wheel are provided with cable grooves, and each cable groove has a center point on the radial section.
- the connection of the center points of the wiring trough forms a wiring base circle.
- the plane where the wiring base circle of the horizontal guide wheel bypassed by the same cable is located is the same as the wiring base circle of the corresponding vertical reversing wheel. The highest point is flush, so that each cable can be transferred to the corresponding vertical reversing wheel in the horizontal direction after being led out from the horizontal guide wheel.
- the first top end 311 of the first vertical reversing wheel 31 and the first horizontal guide wheel 41 are approximately located in the same horizontal plane H1 so that the first cable 21 passes from the first horizontal guide wheel 41 After being pulled out, it can be transferred to the first top end portion 311 of the first vertical reversing wheel 31 in the horizontal direction.
- the second top end 321 of the second vertical reversing wheel 32 and the second horizontal guide wheel 42 are also located approximately in the same horizontal plane H1, so that the second cable 22 is horizontally connected to the first vertical reversing wheel 31 and then led out to the transmission. proximal end of the rod.
- the third top end 331 of the third vertical reversing wheel 33 and the third horizontal guide wheel 43 are approximately located in the same horizontal plane H2, and the fifth top end 351 of the fifth vertical reversing wheel 35 and the fifth horizontal guide wheel 45 are also approximately located in the same horizontal plane H2.
- the third cable 23 and the fifth cable 25 are connected to the third vertical reversing wheel 33 and the fifth vertical reversing wheel 35 in the horizontal direction.
- the fourth top end 341 of the fourth vertical reversing wheel 34 and the fourth horizontal guide wheel 44 are also approximately located in the same horizontal plane H3, and the sixth top end 361 of the sixth vertical reversing wheel 36 and the sixth horizontal guide wheel 46 are approximately Located in the same horizontal plane H3, the fourth cable 24 and the sixth cable 26 are connected to the fourth vertical reversing wheel 34 and the sixth vertical reversing wheel 36 in the horizontal direction.
- the horizontal guide wheels When arranging the horizontal guide wheels, they should be as compact as possible, so that the height of the horizontal guide wheels is roughly located between the upper spiral guide groove and the lower spiral guide groove, so that the two horizontal guide wheels arranged one above the other are located above on the center line of the cable and the cable below.
- the difference between the height of the first horizontal guide wheel 41 and the height of the first upper spiral guide groove 1101 of the first winch 11 is set small, which enables the first cable 21 to move from the first horizontal guide After the wheel 41 is pulled out, it can be transferred into the first upper spiral guide groove 1101 along the direction with an angle of less than or equal to 5° with the horizontal direction.
- the difference between the height of each of the remaining horizontal guide wheels and the height of the corresponding upper spiral guide groove or the corresponding lower spiral guide groove is configured so that the corresponding cable can follow the horizontal direction after being led out from the horizontal guide wheel.
- the direction of the included angle less than or equal to 5° is transferred to the corresponding upper or lower spiral guide wire groove.
- the distance between the winch and the horizontal guide wheel can be increased as much as possible , so that the up and down height changes of the cable in the spiral guide wire groove can be ignored.
- the distance between the winch and the corresponding vertical axis of the horizontal guide wheel is L, and the axial heights of the upper spiral guide groove and the lower spiral guide groove are both H, L ⁇ 11.5H.
- the axial space and friction between the two horizontal guide wheels are designed to form a structure of raised steps and grooves on the adjacent surfaces, which can reduce the friction caused by the relative rotation of the two by reducing the contact surface. , making the axial structure more compact, such as the first vertical reversing wheel 31 and the third vertical reversing wheel 33, the third horizontal guide wheel 43 and the fourth horizontal guide wheel 44, the third vertical reversing wheel 33 and the fourth vertical reversing wheel. between the reversing wheels 34.
- one side of the adjacent surface is set as a concave surface and the other side is set as a convex surface in order to save axial space; if the space is sufficient, both sides can be set as convex surfaces or both sides can be set as concave surfaces.
- the main purpose of this setting is to reduce friction.
- the horizontal guide wheels in each guide wheel group correspond to the vertical reversing wheels one-to-one, which allows the cables to enter the horizontal guide wheels at a substantially horizontal angle and enter the vertical reversing wheels horizontally. , and finally enters the proximal end of the transmission rod; in this way, each corresponding cable is only subject to the pulling force in the horizontal direction (perpendicular to the first horizontal axis 51), therefore, the vertical reversing wheel is only subject to the circumferential force generated by the sliding of the cable, And the transmission loss of the tensile force is small; because the size of the axial force experienced by the cable is related to the friction between each vertical reversing wheel and the first horizontal rotating shaft 51; and because the axial force experienced by each vertical reversing wheel is very small , axial force is the source of friction, therefore, the friction between the guide wheels is very small or even negligible, which can significantly increase the reliability of the cable.
- each cable After being led out from the corresponding vertical shaft guide wheel, the end of each cable is fixed to the winch. Due to the guiding role of the horizontal guide wheel and the movement stroke, the cable between the horizontal guide wheel and the corresponding winch moves in the horizontal and vertical directions. There will be a certain opening angle in all directions.
- the opening angle in the horizontal plane will cause the tensioned cable to bring circumferential friction to the horizontal guide wheel.
- the friction force depends on the friction between the horizontal guide wheel and the vertical shaft.
- the opening angle in the vertical plane will decompose the pulling force provided by the motor into a component force along the direction of the cable and a vertical component force perpendicular to the direction of the cable. The larger the vertical opening angle, the smaller the pulling force shared by the cable.
- the change in the outer diameter of the vertical reversing wheel can distribute the cables more evenly inside the transmission rod, making it less likely for cables to be entangled during stress and assembly, effectively eliminating the problem of cables between cables and between cables and Friction problem on the inner wall of the transmission rod.
- the instrument box 50 includes a box base 7, a plurality of winches, a plurality of cable groups, and a plurality of guide wheel groups.
- the number of winches, cable sets and guide wheel sets are also three.
- the box holder 7 includes a base plate 701 and a support plate 702 fixed on the base plate 701.
- the entire structure of the box holder 7 plays a supporting role.
- the two components of the base plate 701 and the support plate 702 can be connected through clamping, bolts, Fixed together by hot riveting and other methods.
- the box base 7 has a horizontal central axis C2 extending in the front-to-back direction.
- the plurality of winches include a first winch 11 , a second winch 12 and a third winch 13 , which are each rotatably mounted on the support plate 702 around their respective axis lines.
- the second winch 12 and the third winch 13 are symmetrically distributed on the left and right sides of the horizontal central axis C2.
- the first winch 11 is located directly in front of the second winch 12, facing each other front and back.
- the plurality of guide wheel sets include the No. 1 guide wheel set composed of the first vertical reversing wheel 31 and the first horizontal guide wheel 41, and the No. 2 guide wheel set composed of the second vertical reversing wheel 32 and the second horizontal guide wheel 42.
- the No. 3 guide wheel set is composed of the third vertical reversing wheel 33 and the third horizontal guide wheel 43
- the No. 4 guide wheel set is composed of the fourth vertical reversing wheel 34 and the fourth horizontal guide wheel 44.
- the No. 5 guide wheel set composed of the fifth vertical reversing wheel 35 and the fifth horizontal guide wheel 45
- the No. 6 guide wheel set composed of the sixth vertical reversing wheel 36 and the sixth horizontal guide wheel 46.
- Each vertical reversing wheel is mounted on the support plate 102 so as to be able to rotate around the center line of the horizontal rotation axis
- each horizontal guide wheel is mounted on the support plate 102 so as to be able to rotate around the center line of the vertical axis.
- the first cable 21 is supported on the first vertical reversing wheel 31 and the first horizontal guide wheel 41 at the same time
- the second cable 22 is supported on the second vertical reversing wheel 32 and the second horizontal guide wheel 42 at the same time
- the third The cable 23 is supported on the third vertical reversing wheel 33 and the third horizontal guide wheel 43 at the same time
- the fourth cable 24 is supported on the fourth vertical reversing wheel 34 and the fourth horizontal guide wheel 44 at the same time.
- the fifth cable 25 is supported on the fifth vertical reversing wheel 35 and the fifth horizontal guide wheel 45 at the same time
- the sixth cable 26 is supported on the sixth vertical reversing wheel 36 and the sixth horizontal guide wheel 46 at the same time.
- the first vertical reversing wheel 31 and the second vertical reversing wheel 32 are supported on the same second horizontal rotating shaft 52 and the outer diameter of the first vertical reversing wheel 31 is larger than the outer diameter of the second vertical reversing wheel 32.
- the vertical reversing wheel 33, the fourth vertical reversing wheel 34, the fifth vertical reversing wheel 35 and the sixth vertical reversing wheel 36 are supported on the same third horizontal rotating shaft 53.
- the outer diameter of the fourth vertical reversing wheel 34 is larger than the outer diameter of the fifth vertical reversing wheel 35.
- the outer diameter of the fifth vertical reversing wheel 35 is larger than the outer diameter of the sixth vertical reversing wheel 36.
- the second horizontal rotating shaft 52 and the third horizontal rotating shaft 53 are distributed one after the other. On the horizontal central axis C2.
- the first horizontal guide wheel 41 and the second horizontal guide wheel 42 are supported on the same third vertical shaft 63 from top to bottom, and the third horizontal guide wheel 43 and the fourth horizontal guide wheel 44 are supported on the same third vertical shaft 63 from top to bottom.
- the fifth horizontal guide wheel 45 and the sixth horizontal guide wheel 46 are supported in sequence from top to bottom on the same fifth vertical rotating shaft 65.
- the fourth vertical rotation axis 64 and the fifth vertical rotation axis 65 are symmetrically distributed about the horizontal central axis C2
- the third vertical rotation axis 63 is located on the front side of the second horizontal rotation axis 52 .
- the distance L1 from the third vertical rotation axis 63 to the first winch 11 , the distance L2 from the fourth vertical rotation axis 64 to the second winch 12 , and the distance L3 from the fifth vertical rotation axis 65 to the third winch 13 are all substantially equal.
- the first top end portion 311 of the first vertical reversing wheel 31 and the first horizontal guide wheel 41, the third top end portion 331 of the third vertical reversing wheel 33 and the third horizontal guide wheel 43, the fifth The fifth top end 351 of the vertical reversing wheel 35 and the fifth horizontal guide wheel 45 are of the same height, and both are substantially located in the same horizontal plane H4, so that the first cable 21 can generally follow the direction after being led out from the first horizontal guide wheel 41.
- the horizontal direction is transferred to the first top end portion 311 of the first vertical reversing wheel 31, and the third cable 23 can be transferred to the third vertical reversing wheel 33 in a substantially horizontal direction after being led out from the third horizontal guide wheel 43.
- the fifth cable 25 can be transferred to the fifth top end portion 351 of the fifth vertical reversing wheel 35 in a substantially horizontal direction after being led out from the fifth horizontal guide wheel 45 .
- the sixth top portion 361 and the sixth horizontal guide wheel 46 have the same height, and are both substantially located in the same horizontal plane H5, so that the second cable 22 can be transferred to the second cable 22 in the horizontal direction after being led out from the second horizontal guide wheel 42.
- the fourth cable 24 can be transferred to the fourth top end 341 of the fourth vertical reversing wheel 34 in a substantially horizontal direction after being led out from the fourth horizontal guide wheel 44.
- the upper and sixth cables 26 can be transferred to the sixth top end portion 361 of the sixth vertical reversing wheel 36 in a substantially horizontal direction after being led out from the sixth horizontal guide wheel 46 .
- the instrument box 50 of this example has approximately the same distance between each winch 2 and the corresponding horizontal guide wheel. This equal distance can ensure a smaller vertical direction during the retracting and unfolding process.
- the smaller included angle can minimize the included angle between the cable and the horizontal plane, so that the cable can obtain a larger component force and the component force of the vertical axis of the guide wheel can be smaller.
- the instrument box 60 includes a box base 8, a plurality of winches, a plurality of cable groups, and a plurality of guide wheel groups.
- the number of winches, cable sets and guide wheel sets are also three.
- the box holder 8 includes a base plate 801 and a support plate 802 fixed on the base plate 801. The entire structure of the box holder 8 plays a supporting role.
- the base plate 801 and the support plate 802 can be connected through clamping, bolts, Fixed together by hot riveting and other methods.
- the box base 8 has a horizontal central axis C3 extending in the front-to-back direction.
- the plurality of winches include a first winch 11 , a second winch 12 and a third winch 13 , which are each rotatably mounted on the support plate 102 around their respective axis lines.
- the first winch 11 is arranged on the horizontal central axis C3
- the second winch 12 and the third winch 13 are located behind the first winch 11 and are symmetrically distributed on the left and right sides of the horizontal central axis C3.
- the four guide wheel sets include the No. 7 guide wheel set with the seventh vertical reversing wheel 71 and the seventh horizontal guide wheel 81, the No. 8 guide wheel set with the eighth vertical reversing wheel 72 and the eighth horizontal guide wheel 82, The No. 9 guide wheel set has the ninth vertical reversing wheel 73 and the ninth horizontal guide wheel 83 and the No. 10 guide wheel set has the tenth vertical reversing wheel 74 and the tenth horizontal guide wheel 84 .
- the seventh vertical reversing wheel 71, the eighth vertical reversing wheel 72, the ninth vertical reversing wheel 73, the tenth vertical reversing wheel 74, the first single vertical reversing wheel 91 and the Two single vertical reversing wheels 92 are supported on the same fourth horizontal rotating shaft 54 .
- the first single vertical reversing wheel 91 and the second single vertical reversing wheel 92 are located in the middle, and the seventh vertical reversing wheel 71 and the eighth vertical reversing wheel 72 are arranged in sequence outside the second single vertical reversing wheel 92 , the ninth vertical reversing wheel 73 and the tenth vertical reversing wheel 74 are sequentially arranged outside the first single vertical reversing wheel 91 .
- the outer diameter of the first single vertical reversing wheel 91 is larger than the outer diameter of the second single vertical reversing wheel 92 .
- the outer diameters of the first single vertical reversing wheel 91 , the seventh vertical reversing wheel 71 and the ninth vertical reversing wheel 73 are equal.
- the outer diameters of the eighth vertical reversing wheel 72 and the tenth vertical reversing wheel 74 are equal.
- the seventh horizontal guide wheel 81 and the eighth horizontal guide wheel 82 are supported on the same sixth vertical rotating shaft 66 , and the outer diameter of the seventh horizontal guide wheel 81 is larger than the outer diameter of the eighth horizontal guide wheel 82 .
- the ninth horizontal guide wheel 83 and the tenth horizontal guide wheel 84 are supported on the same seventh vertical shaft 67 , and the outer diameter of the ninth horizontal guide wheel 83 is larger than the outer diameter of the tenth horizontal guide wheel 84 .
- the sixth vertical axis 66 and the seventh vertical axis 67 are symmetrically distributed around the horizontal central axis C3.
- the first cable 21 is supported on the first single vertical reversing wheel 91
- the second cable 22 is supported on the second single vertical reversing wheel 92
- the third cable 23 is supported on both the seventh vertical reversing wheel 71 and the seventh vertical reversing wheel 92 .
- the fourth cable 24 is simultaneously supported on the eighth vertical reversing wheel 72 and the eighth horizontal guide wheel 82
- the fifth cable 25 is simultaneously supported on the ninth vertical reversing wheel 73 and the ninth
- the sixth cable 26 is supported on the tenth vertical reversing wheel 74 and the tenth horizontal guide wheel 84 at the same time.
- the height of the first single vertical reversing wheel 91 is configured such that the first cable 21 can be directly transferred to the first single vertical direction substantially in the horizontal direction after being led out from the first upper spiral guide groove 1101 of the first winch 11 .
- the second cable 22 is supported on the second single vertical reversing wheel 92
- the height of the second single vertical reversing wheel 92 is configured such that the second cable 22 passes from the first winch 11 After the first lower side spiral guide groove 1102 is led out, it can be directly transferred to the second single vertical reversing wheel 92 in a substantially horizontal direction.
- the first top end portion 711 of the seventh vertical reversing wheel 71 and the seventh horizontal guide wheel 81 are approximately located in the same horizontal plane H6, and the third top end portion 731 of the ninth vertical reversing wheel 73 and The ninth horizontal guide wheel 83 is also generally located in the same horizontal plane H6.
- the second top end 721 of the eighth vertical reversing wheel 72 and the eighth horizontal guide wheel 82 are generally located in the same horizontal plane H7.
- the fourth top end portion 741 and the tenth horizontal guide wheel 84 are also generally located in the same horizontal plane H7, so that each cable can be transferred to its respective vertical reversing wheel roughly in the horizontal direction after being led out from the corresponding horizontal guide wheel. superior.
- the instrument box 60 of this example has two fewer horizontal guide wheels.
- the first single vertical reversing wheel 91 and the second single vertical reversing wheel 92 in the middle have outer diameters.
- the outer diameter of the first single vertical reversing wheel 91 is larger than the outer diameter of the second single vertical reversing wheel 92; the first single vertical reversing wheel 91 guides the first cable 21 to the first end of the first winch 11 In the upper spiral guide groove 1101, the second single vertical reversing wheel 92 guides the second cable 22 to the first lower spiral guide groove 1102 of the first capstan 11; because the first single vertical reversing wheel 91
- the outer diameter is larger than the outer diameter of the second single vertical reversing wheel 92.
- the first cable 21 and the second cable 22 are staggered up and down. At the same time, the connecting cables are staggered and guided. In this way, the first single vertical reversing wheel 92 can be realized.
- the axial forces of the direction wheel 91 and the vertical reversing wheel 92 cancel each other out.
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Abstract
一种手术器械，包括：多个水平导向轮（41-46）和多个垂直换向轮（31-36）；安装在器械盒（10）的复数个绞盘（11-13）上分别缠绕有一对线缆（21-26），各线缆（21-26）自对应的绞盘（11-13）引出后，至少部分线缆（21-26）绕过一个水平导向轮（41-46）和一个垂直换向轮（31-36），另一部分线缆（21-26）则各自直接绕过一个垂直换向轮（31-36），再穿过传动杆（30）与执行器（20）相连。由于线缆（21-26）自绞盘（11-13）引出后，经水平导向轮（41-46）进行侧向收拢，并以近乎水平的方向转接到垂直换向轮（31-36）上，线缆（21-26）在垂直面内的张角和水平面内张角最小，线缆（21-26）受到的摩擦力最小，拉力传递损失最小。
Description
本申请要求在2022年5月20日提交中国专利局、申请号为202210549188.X、发明名称为“手术器械”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本发明涉及医疗器械领域，特别涉及一种手术机器人系统中的手术器械。
手术机器人系统是近年来医疗器械领域中的研究热点，其能够辅助进行微创外科手术，并由于具有手术创口小、出血量低、手术操作精确、病患恢复快等优点，已被市场广泛接受。在手术机器人工作中，由医生通过主控制端发出指令，操作从端多机械臂互相协作在指定部位完成手术。从端单一机械臂集成约多个自由度，使其末端的器械执行器达到预定位置，以便于满足手术器械在不同手术体位下的切除、缝合等动作。
由于手术机器人从端的机械臂的集成度较高，造价高昂，电器元件及线缆较多，组装过程繁琐，所以从端的机械臂主要采用多次重复使用结构。而机械臂末端的手术器械作为执行部件，通常采用质量较轻的材料和体积较小的结构，以减小末端负载。通常会利用手术器械盒作为操作末端手术器械的工具，采用快速卡接及可拆卸的方式安装在从端机械臂末端的动力盒上，作为动力盒和执行器之间重要的动力传输纽带。手术器械盒内部包含绞盘、线缆、导向轮及导向轴等零件，动力盒电机通过隔离板将动力传递至绞盘，绞盘的旋转带动线缆，线缆经过传动杆再将动力传递至执行器端已实各种操作动作，同时执行器末端可能会受到各种方向外力影响，这些外力都会经过线缆再传递至绞盘，再通过隔离板传递给动力盒电机，而作为薄弱环节的线缆就整成了器械盒中重要的零部件。器械盒内线缆的路径、导向轮的分布以及线缆在传动杆内分布都会对器械的动力传递效率、使用寿命等造成十分显著的影响。
手术机器人工作的情况非常复杂，面对不同的病患，需要使用不同的手术器械，完成不同的动作，手术器械可能会受到各种方向的外力影响，在这些外力的作用下，钨丝断裂是最常见的问题，随钨丝断裂带来的问题是手术器械的使用寿命短和稳定性差。
发明内容
为了解决上述问题，本发明的目的是提供一种能够有效减少器械盒内的线缆断裂的手术器械。
为了实现上述的目的，本发明提供以下技术方案，一种手术器械，包括：具有安装座的器械盒、传动杆、位于所述传动杆远端的执行器及复数个线缆组，所述的传动杆的近端固定穿设在所述的器械盒的安装座上；所述的安装座上安装复数个绞盘，且复数个绞盘分别绕不同轴转动；各所述线缆组均包括端部固定在同一个所述的绞盘上的一对线缆，所述的一对线缆一上一下分别缠绕在对应绞盘上，且每对所述线缆自对应绞盘引出后穿过所述传动杆与所述执行器相连；
所述的手术器械还包括：多个水平导向轮，所述的多个水平导向轮分组装配在至少一对垂直转轴上；
多个垂直换向轮，临近所述的多个水平导向轮设置且位于所述传动杆的近端的上方，所述的多个垂直换向轮能够转动地装配在至少一个水平转轴上；
各所述的线缆自对应的绞盘引出后，至少部分所述的线缆绕过一个所述的水平导向轮和一个所述的垂直换向轮接入所述的传动杆的近端，其余的线缆则各自直接绕过一个所述的垂直换向轮接入所述的传动杆的近端。
本申请中，各线缆自绞盘引出后，经水平导向轮进行侧向收拢，并转接到临近的垂直换向轮上，使线缆的垂直张角和水平张角最小，线缆所受到的摩擦力最小，拉力传递损失最小。
可选地，各所述的绞盘绕自身轴心线转动时能够向各所述的线缆提供一沿水平面延伸的拉力F，位于各所述的绞盘与所述的水平导向轮或垂直换向轮之间的线缆与水平面之间呈θ角，θ小于等于5度。
可选地，至少部分所述的线缆被所述的水平导向轮收拢在一对垂直转轴之间，任意两个所述绞盘的轴心线之间的距离大于所述的至少一对垂直转轴之间的距离，且大于等于多个所述的垂直换向轮沿轴向布置的宽度。
可选地，各所述的水平导向轮和所述的垂直换向轮上均开设有走线槽，各所述的走线槽的径向截面上均具有中心点，各所述的走线槽的中心点的连线形成一走线基圆，同一根所述的线缆绕过的水平导向轮的走线基圆所在的平面与对应的垂直换向轮的走 线基圆的最高点齐平，以便所述的线缆在所述的水平导向轮引出后能够沿水平方向转接到所述的垂直换向轮。
可选地，两个或两个以上的所述垂直换向轮活动地套设在同一个所述的水平转轴上，且位于各所述的绞盘上方的所述线缆对应的垂直换向轮的外径大于位于同一绞盘下方的所述线缆对应的垂直换向轮的外径。
上述方案进一步优选地，全部所述的垂直换向轮均活动套设在一个所述的水平转轴上。
可选地，两个或两个以上的所述的水平导向轮活动地套设在同一个垂直转轴上，且装配在同一所述的垂直转轴上的复数个所述水平导向轮的外径从上至下依次减小，装配在同一所述的水平转轴上的复数个所述垂直换向轮的外径由中间至两端依次减小。
可选地，各所述的绞盘到对应的所述的水平导向轮的垂直转轴之间的距离为L，所述的绞盘上开设有可供线缆缠绕的上侧螺旋导丝槽和下侧螺旋导丝槽，且所述的上侧螺旋导丝槽和下侧螺旋导丝槽的轴向高度均为H，L≥11.5H。
可选地，同轴设置的任意两个相邻的所述的水平导向轮之间以及同轴设置的任意两个相邻的所述的垂直换向轮之间均具有一对互相摩擦接触的邻接面，所述的邻接面的面积小于其所在的水平导向轮或垂直换向轮的最大横截面积，一对邻接面中的一个被配置为部分向内凹陷，另一个被配置为部分向外凸起。
上述技术方案进一步优选地，所述的安装座具有一个沿前后方向延伸的一水平中轴线，所述的手术器械至少包括对称设置在所述的水平中轴线两侧的一对所述的绞盘，所述的一对绞盘与所述的传动杆的近端呈非直角三角形分布，所述的传动杆的远端位于所述的水平中轴线上。
在一个可能的实施例中，所述的手术器械包括三个所述的绞盘、六个所述的水平导向轮、六个所述的垂直换向轮、一对所述的垂直转轴和一个所述的水平转轴，六个所述的水平导向轮三个一组分别装配在一对所述的垂直转轴上，六个所述的垂直换向轮固定在同一个所述的水平转轴上，一对所述的绞盘、一对所述的垂直转轴、六个所述的水平导向轮和六个所述的垂直换向轮分布在所述的水平中轴线的两侧，另一个所述的绞盘的轴心线与所述的传动杆的远端位于所述的水平中轴线上，缠绕在三个所述的绞盘上的六根所述的线缆各自绕过一个所述的水平导向轮和一个所述的垂直换向 轮。
在一个可能的实施例中，所述的手术器械包括三个所述的绞盘、六个所述的水平导向轮、六个所述的垂直换向轮、三个所述的垂直转轴和两个所述的水平转轴，其中四个所述的水平导向轮两两一组装配在位于所述的水平中轴线两侧的一对所述的垂直转轴上，四个所述的垂直换向轮同轴装配在一个所述的水平转轴上，分布在水平中轴线两侧的一对所述的绞盘上缠绕的四根所述的线缆，分别绕过所述的四个水平导向轮以及所述的四个垂直换向轮；另外两个所述的水平导向轮装配在另一个所述的垂直转轴上，另外两个所述的垂直换向轮装配在另一个所述的水平转轴上，另一个所述的绞盘上的两根线缆分别绕过所述的两个水平导向轮以及所述的两个垂直换向轮。
在一个可能的实施例中，所述的手术器械包括三个所述的绞盘、四个所述的水平导向轮、六个所述的垂直换向轮、两个所述的垂直转轴和一个所述的水平转轴，四个所述的水平导向轮两两一组分别安装在两个所述的垂直转轴上，六个所述的垂直换向轮同轴安装在所述的水平转轴上，分布在所述的水平中轴线两侧的一对所述的绞盘上缠绕的四根所述的线缆分别绕过所述的四个水平导向轮和四个所述的垂直换向轮，另一个所述的绞盘位于所述的水平中轴线上，且该绞盘上缠绕的两根所述的线缆直接绕在两个所述的垂直换向轮上。
更进一步地，所述的另一个绞盘上的两根线缆对应的所述的两个垂直换向轮位于所述的水平转轴的中央，所述的一对绞盘上的四根线缆对应的所述的四个垂直换向轮位于所述的水平转轴的两边。
相较于现有技术，本发明申请的手术器械中，每根线缆与其对应的水平导向轮以及垂直换向轮之间的具有较小的水平张角和垂直张角，其能够确保线缆经绞盘引出后，经过水平导向轮引导，水平地转接到垂直换向轮上，这样线缆只受到平行于水平导向轮的拉力，拉力传递损失小。
图1为本申请所提供的一种示例实施方式的手术器械的侧视示意图；
图2为图1示出的手术器械的俯视示意图；
图3-7为图1中示出的手术器械的器械盒的一种示例实施方式中的线缆布线示意图；各图依次从左前侧俯视视角，右前侧俯视视角，左前侧仰视视角，正前侧视角以及左侧视角观察得到；
图8为图2在A处的放大示意图；
图9为图5在B处的放大示意图；
图10为图6在C处的放大示意图；
图11为图2-7中示出的各个垂直换向轮和水平导向轮之间的位置关系示意图；
图12为图11中沿F-F方向的剖视示意图；
图13为图11中沿G-G方向的剖视示意图；
图14为本申请所提供的另一种示例实施方式的手术器械的侧视示意图；
图15为图14示出的手术器械的俯视示意图；
图16-18为图14中示出的手术器械的器械盒的一种示例实施方式中的线缆布线示意图；各图依次从左前侧俯视视角，右前侧俯视视角以及左前侧俯视视角观察得到；
图19为图18在D处的放大示意图；
图20为图16-18中示出的各个垂直换向轮和水平导向轮之间的位置关系示意图；
图21为本申请所提供的又一种示例实施方式的手术器械的侧视示意图；
图22为图21示出的手术器械的俯视示意图；
图23-26为图21中示出的手术器械的器械盒的一种示例实施方式中的线缆布线示意图；各图依次从左前侧俯视视角，右前侧俯视视角，正前侧视角以及左侧视角观察得到；
图27为图23-26中示出的各个垂直换向轮、水平导向轮以及单一垂直换向轮之间的位置关系图；
图28为图27沿着M-M方向的剖视示意图；
图29为图27沿着N-N方向的剖视示意图。
其中：10、器械盒；20、执行器；30、传动杆；
1、盒座；101、基板；102、支撑板；11、第一绞盘；12、第二绞盘；13、第三绞盘；1101、第一上侧螺旋导丝槽；1102、第一下侧螺旋导丝槽；1201、第二上侧螺旋导丝槽；1202、第二下侧螺旋导丝槽；1301、第三上侧螺旋导丝槽；1302、第三下侧螺旋导丝槽；21、第一线缆；22、第二线缆；23、第三线缆；24、第四线缆；25、第五线缆；26、第六线缆；
31、第一垂直换向轮；32、第二垂直换向轮；33、第三垂直换向轮；34、第四垂直换向轮；35、第五垂直换向轮；36、第六垂直换向轮；311、第一顶端部；321、第 二顶端部；331、第三顶端部；341、第四顶端部；351、第五顶端部；361、第六顶端部；
41、第一水平导向轮；42、第二水平导向轮；43、第三水平导向轮；44、第四水平导向轮；45、第五水平导向轮；46、第六水平导向轮；
51、第一水平转轴；52、第二水平转轴；53、第三水平转轴；54、第四水平转轴；
61、第一垂直转轴；62、第二垂直转轴；63、第三垂直转轴；64、第四垂直转轴；65、第五垂直转轴；66、第六垂直转轴；67、第七垂直转轴；
50、器械盒；7、盒座；701、基板；702、支撑板；
60、器械盒；801、基板；802、支撑板；91、第一单一垂直换向轮；92、第二单一垂直换向轮；71、第七垂直换向轮；72、第八垂直换向轮；81、第七水平导向轮；82、第八水平导向轮；73、第九垂直换向轮；74、第十垂直换向轮；83、第九水平导向轮；84、第十水平导向轮；
711、第一顶端部；721、第二顶端部；731、第三顶端部；741、第四顶端部。
为详细说明发明的技术内容、构造特征、所达成目的及功效，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。在下面的描述中，出于解释的目的，阐述了许多具体细节以提供对发明的各种示例性实施例或实施方式的详细说明。然而，各种示例性实施例也可以在没有这些具体细节或者在一个或更多个等同布置的情况下实施。此外，各种示例性实施例可以不同，但不必是排他的。例如，在不脱离发明构思的情况下，可以在另一示例性实施例中使用或实现示例性实施例的具体形状、构造和特性。
以下，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”等的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，除非另有说明，“多个”的含义是两个或两个以上。
此外，本申请中，诸如“在……之下”、“在……下方”、“在……下”、“下”、“在……上方”、“上”、“在……之上”、“较高的”、“侧”(例如，如在“侧壁”中)等的空间相对术语，由此来描述如附图中示出的一个元件与另一(其它)元件的关 系。空间相对术语意图包括设备在使用、操作和/或制造中除了附图中描绘的方位之外的不同方位。例如，如果附图中的设备被翻转，则被描述为“在”其它元件或特征“下方”或“之下”的元件随后将被定位为“在”所述其它元件或特征“上方”。因此，示例性术语“在……下方”可以包括上方和下方两种方位。此外，设备可以被另外定位(例如，旋转90度或者在其它方位处)，如此，相应地解释在此使用的空间相对描述语。
下述提到的水平方向，均为大致处于水平方向，如与水平面的夹角在0或者个位数角度的范围内的方向。垂直方向亦是如此，其为于水平面方向大致垂直的方向。
在对传统的手术器械盒进行失效分析过程中，发明人发现引起钨丝断裂原因是钨丝与导向轮之间的摩擦力过大，以及钨丝与导向轮之间的夹角也会影响传递效率，同时线缆在传动杆内的分布情况也可能会造成不同程度的摩擦力，不管从器械使用寿命还是传递效率的角度，摩擦力都是应该被尽可能减小或者消除的。为此，本申请围绕如何减小摩擦力、提高传递效率提出了以下几种可行的实施方案。
参见图1，其示出了手术器械的一种示例，该手持器械包括器械盒10、位于手术器械远端的执行器20以及位于器械盒10和执行器20之间的传动杆30。器械盒10通过传动杆30、以及贯穿传动杆30的若干线缆与执行器20传动连接。
器械盒10包括盒座1，多个绞盘，多个线缆组，以及多个导向轮组。本例中，绞盘、线缆组以及导向轮组的数量均为3个。
参见图1-2，盒座1包括基板101和固定于基板101上的支撑板102构成，盒座1的整个结构起到支撑作用，基板101和支撑板102这两个部件可以通过卡接、螺栓、热铆焊等方式固定在一起。盒座1具有一个沿前后方向延伸的一水平中轴线C1。
多个绞盘包括第一绞盘11、第二绞盘12和第三绞盘13，其分别可绕各自轴心线转动地安装在支撑板102上。本示例中，第一绞盘11布置在水平中轴线C1上，第二绞盘12和第三绞盘13位于第一绞盘11的后方并且对称分布在水平中轴线C1的左右两侧。
在本案中，每个绞盘均具有上下两段螺旋导丝槽。参见图3-7，第一绞盘11具有沿轴向延伸的第一上侧螺旋导丝槽1101和第一下侧螺旋导丝槽1102，第二绞盘12具有沿轴向延伸的第二上侧螺旋导丝槽1201和第二下侧螺旋导丝槽1202，第三绞盘13具有沿轴向延伸的第三上侧螺旋导丝槽1301和第三下侧螺旋导丝槽1302。
参见图2-4,多个线缆组包括第一线缆组、第二线缆组和第三线缆组。第一线缆组由第一线缆21和第二线缆22构成，第一线缆21的一端部固定缠绕在第一绞盘11具的第一上侧螺旋导丝槽1101中，第一线缆21的另一端部将连接至执行器20处；第二线缆22的一端部固定缠绕在第一绞盘11具的第一下侧螺旋导丝槽1102中，第二线缆22的另一端部也连接至执行器20处；当第一绞盘11在电机(图中未示出)驱动下绕自身轴心线转动时，电机驱动第一绞盘11转动，使第一线缆21或第二线缆22受到一个沿水平方向的拉力F，第一线缆21和第二线缆22中，一根线缆收紧、另一根线缆放长，以便控制执行器20的相应部件实现目标动作。第二线缆组由第三线缆23和第四线缆24构成，第三线缆23的一端部固定缠绕在第二绞盘12具的第二上侧螺旋导丝槽1201中，第三线缆23的另一端部将连接至执行器20处；第四线缆24的一端部固定缠绕在第二绞盘12具的第二下侧螺旋导丝槽1202中，第四线缆24的另一端部也将连接至执行器20处；当第二绞盘12在电机(图中未示出)驱动下绕自身轴心线转动时，第三线缆23和第四线缆24中，一根线缆收紧、另一根线缆放长，以便控制执行器20的相应部件实现目标动作。第三线缆组由第五线缆25和第六线缆26构成，第五线缆25的一端部固定缠绕在第三绞盘13具的第三上侧螺旋导丝槽1301中，第五线缆25的另一端部将连接至执行器20处；第六线缆26的一端部固定缠绕在第三绞盘13具的第三下侧螺旋导丝槽1302中，第六线缆26的另一端部也将连接至执行器20处；当第三绞盘13在电机(图中未示出)驱动下绕自身轴心线转动时，第五线缆25和第六线缆26中，一根线缆收紧、另一根线缆放长，以便控制执行器20的相应部件实现目标动作。
参见图2-10，多个导向轮组包括由第一垂直换向轮31和第一水平导向轮41构成的一号导向轮组，由第二垂直换向轮32和第二水平导向轮42构成的二号导向轮组，由第三垂直换向轮33和第三水平导向轮43构成的三号导向轮组，由第四垂直换向轮34和第四水平导向轮44构成的四号导向轮组，由第五垂直换向轮35和第五水平导向轮45构成的五号导向轮组，由第六垂直换向轮36和第六水平导向轮46构成的六号导向轮组。各个垂直换向轮均能够绕水平转轴旋转的装配在支撑板102上，各个水平导向轮均能够绕垂直转轴旋转地装配在支撑板102上。
第一线缆21同时支撑在第一垂直换向轮31和第一水平导向轮41上，第二线缆22同时支撑在第二垂直换向轮32和第二水平导向轮42上，第三线缆23同时支撑在第三垂直 换向轮33和第三水平导向轮43上，第四线缆24同时支撑在第四垂直换向轮34和第四水平导向轮44上，第五线缆25同时支撑在第五垂直换向轮35和第五水平导向轮45上，第六线缆26同时支撑在第六垂直换向轮36和第六水平导向轮46上。
本例中，第一垂直换向轮31、第二垂直换向轮32、第三垂直换向轮33、第四垂直换向轮34、第五垂直换向轮35和第六垂直换向轮36支撑在同一个第一水平转轴51上。第一垂直换向轮31和第二垂直换向轮32位于第一水平转轴51的中部并且第一垂直换向轮31的外径等于第二垂直换向轮32的外径。第三垂直换向轮33位于第一垂直换向轮31的外侧并且外径小于第一垂直换向轮31。第四垂直换向轮34位于第三垂直换向轮33的外侧并且外径小于第三垂直换向轮33。第五垂直换向轮35位于第二垂直换向轮32的外侧并且外径小于第二垂直换向轮32，第六垂直换向轮36位于第五垂直换向轮35的外侧并且外径小于第五垂直换向轮35。本例中，第四垂直换向轮34的外径和第三垂直换向轮33的外径相等，第六垂直换向轮36的外径和第五垂直换向轮35的外径相等。
第一水平导向轮41、第三水平导向轮43以及第四水平导向轮44自上而下依次支撑在同一个第一垂直转轴61上。第一水平导向轮41、第三水平导向轮43以及第四水平导向轮44的外径逐渐减小。第二水平导向轮42、第五水平导向轮45以及第六水平导向轮46自上而下依次支撑在第二垂直转轴62上。第二水平导向轮42、第五水平导向轮45以及第六水平导向轮46的外径逐渐减小。第一垂直转轴61和第二垂直转轴62以水平中轴线C1为中心左右对称分布。
本例中，第一水平导向轮41和第二水平导向轮42布置在同一高度，第三水平导向轮43和第五水平导向轮45布置在同一高度，第四水平导向轮44和第六水平导向轮46布置在同一高度。第一线缆21、第二线缆22被收拢在第一水平导向轮41、第四水平导向轮44之间，并以垂直于第一水平转轴51的方向接入第一垂直换向轮31和第二垂直换向轮32，最大限度的消除了第一线缆21、第二线缆22在水平方向上的张角。第三线缆23、第五线缆25被收拢在第三水平导向轮43和第五水平导向轮45之间，并以垂直于第一水平转轴51的方向接入第三垂直换向轮33和第五垂直换向轮35，由于第二绞盘12和第三绞盘13的轴心线之间的距离大于第一垂直转轴61和第二垂直转轴62之间的距离，因此第三线缆23和第五线缆25在经过水平导向轮之后水平张角减小，有助于减少摩擦力。最后，第四线缆24和第六线缆26被收拢在第四水平导向轮44和第六水平导向轮46之间，并以垂直于第一水平转轴51的方向接入第四垂直换向轮34和第六垂直换向轮36。
为保证各线缆稳定的支撑在各水平导向轮和垂直导向轮上，各水平导向轮和垂直换向轮上均开设有走线槽，各走线槽径向截面上均具有中心点，各所述的走线槽的中心点的连线形成一走线基圆，同一根线缆绕过的水平导向轮的走线基圆所在的平面与对应的垂直换向轮的走线基圆的最高点齐平，以便各线缆在水平导向轮引出后能够沿水平方向转接到对应的垂直换向轮上。
如图11-13所示，第一垂直换向轮31的第一顶端部311和第一水平导向轮41大致位于同一个水平面H1内，以便第一线缆21在从第一水平导向轮41引出后，能够沿水平方向转接到第一垂直换向轮31的第一顶端部311上。第二垂直换向轮32的第二顶端部321和第二水平导向轮42也大致位于同一个水平面H1内，以便第二线缆22水平接入到第一垂直换向轮31再引出到传动杆的近端。第三垂直换向轮33的第三顶端部331和第三水平导向轮43大致位于同一个水平面H2内，第五垂直换向轮35的第五顶端部351和第五水平导向轮45也大致位于同一个水平面H2内，使第三线缆23和第五线缆25以水平方向接入第三垂直换向轮33和第五垂直换向轮35。第四垂直换向轮34的第四顶端部341和第四水平导向轮44也大致位于同一个水平面H3内，第六垂直换向轮36的第六顶端部361和第六水平导向轮46大致位于同一个水平面H3内，第四线缆24和第六线缆26以水平方向接入第四垂直换向轮34和第六垂直换向轮36。
水平导向轮在进行布置时，应尽量紧凑，并使得水平导向轮的高度大致位于上侧螺旋导丝槽与下侧螺旋导丝槽之间的位置，使两个上下布置的水平导向轮位于上方线缆和下方线缆的中线上。本例中，第一水平导向轮41所在高度与第一绞盘11的第一上侧螺旋导丝槽1101所在的高度之差设置较小，其能使得第一线缆21在从第一水平导向轮41引出后，能够沿着与水平方向小于等于5°的夹角的方向转接到第一上侧螺旋导丝槽1101内。同样，其余各个水平导向轮所在高度与相应上侧螺旋导丝槽或相应下侧螺旋导丝槽的高度之差被配置成使得相应线缆在从水平导向轮引出后，能够沿着与水平方向小于等于5°的夹角的方向转接到相应上侧或下侧螺旋导丝槽内。通过控制线缆与水平方向的夹角(即垂直张角)，可以减小线缆的摩擦力，提高电机的传动效率。由于器械盒在工作时，线缆的高度是不断动态变化的，为尽量减小线缆高度对电机传动效率的影响，在布置绞盘时，可以将绞盘与水平导向轮之间的距离尽量增大，以使得线缆在螺旋导丝槽内的上下高度变化可以忽略。绞盘到对应的所述的水平导向轮的垂直转轴之间的距离为L，且所述的上侧螺旋导丝槽和下侧螺旋导丝槽的轴向高 度均为H，L≥11.5H。
同一转轴上的相邻两个垂直换向轮之间或相邻两个水平导向轮之间有一对邻接面，另外，为了减小处于同一转轴上的相邻两个垂直换向轮或相邻两个水平导向轮之间的轴向空间以及摩擦力，将二者相邻的表面设计成凸起台阶和凹槽的结构，其能够通过减小接触面实现减少二者相对旋转所产生的摩擦力，使轴向结构更紧凑，如第一垂直换向轮31和第三垂直换向轮33、第三水平导向轮43和第四水平导向轮44、第三垂直换向轮33和第四垂直换向轮34之间。此外，邻接面一边设置成凹面，一边设置成凸面，是为了节省轴向空间；如果空间足够还可以将两边均设置成凸面或者均设置成凹面，这样设置的主要目的是减少摩擦。
在本示例的器械盒10中，各个导向轮组中的水平导向轮与垂直换向轮一一对应，其能使线缆以大致水平的角度接入水平导向轮，并水平进入垂直换向轮，最后进入传动杆的近端；这样，对应的各个线缆只受到该沿水平方向的拉力(垂直于第一水平转轴51)，因此，垂直换向轮仅受到因线缆滑动产生的周向力，且拉力的传递损失较小；由于线缆所受到的轴向力的大小与各个垂直换向轮和第一水平转轴51的摩擦力有关；而由于各个垂直换向轮受到的轴向力很小，轴向力是产生摩擦力产生的根源，因此，导向轮之间的摩擦力非常小甚至可以忽略，其可以显著增加线缆的使用可靠度。各个线缆的端部在从相应垂直转轴导轮引出后，固定至绞盘，由于水平导向轮的导向作用和运动行程的因素，在水平导向轮和相应绞盘之间的线缆在水平方向和垂直方向上均会产生一定的张角。水平面内的张角会使张紧的线缆给水平导向轮带来周向的摩擦力，摩擦力大小取决于水平导向轮和垂直转轴之间的摩擦力。而垂直面内的张角则会将电机提供的拉力分解成沿线缆方向的分力和垂直于线缆方向的垂直分力，垂直张角的角度越大线缆分到的拉力越小，传动效率越小；同时垂直分力越大，水平导向轮受到该侧向力则会产生更大的摩擦力；因此，减小垂直方向的夹角则尤为重要。本案通过采用将这种垂直方向的夹角减低到5°之内，其能够有效提高线缆的拉力分量，同时减小水平导向轮的轴向分量，减小摩擦，提高传动效率。
因此，本示例中，垂直换向轮的外径变化可以将线缆在传动杆内部的分布更均匀，受力和组装时不易出现线缆缠绕的现象，有效消除线缆之间以及线缆和传动杆内壁的摩擦问题。
参见图14-19，其示出了另一种实施方式的器械盒50。该器械盒50包括盒座7， 多个绞盘，多个线缆组，以及多个导向轮组。本例中，绞盘、线缆组以及导向轮组的数量也均为3个。
参见图14，盒座7包括基板701和固定于基板701上的支撑板702构成，盒座7的整个结构起到支撑作用，基板701和支撑板702这两个部件可以通过卡接、螺栓、热铆焊等方式固定在一起。盒座7具有一个沿前后方向延伸的一水平中轴线C2。
多个绞盘包括第一绞盘11、第二绞盘12和第三绞盘13，其分别可绕各自轴心线转动地安装在支撑板702上。本示例中，第二绞盘12和第三绞盘13对称分布在水平中轴线C2的左右两侧。第一绞盘11位于第二绞盘12的正前方，二者前后正对。
该示例中，也具有由6根线缆构成的三个线缆组以及由6个垂直换向轮和6个水平导向轮构成的三个导向轮组。
多个导向轮组包括由第一垂直换向轮31和第一水平导向轮41构成的一号导向轮组，由第二垂直换向轮32和第二水平导向轮42构成的二号导向轮组，由第三垂直换向轮33和第三水平导向轮43构成的三号导向轮组，由第四垂直换向轮34和第四水平导向轮44构成的四号导向轮组，由第五垂直换向轮35和第五水平导向轮45构成的五号导向轮组，由第六垂直换向轮36和第六水平导向轮46构成的六号导向轮组。各个垂直换向轮均能够绕水平转轴心线旋转的装配在支撑板102上，各个水平导向轮均能够绕垂直转轴心线旋转地装配在支撑板102上。
第一线缆21同时支撑在第一垂直换向轮31和第一水平导向轮41上，第二线缆22同时支撑在第二垂直换向轮32和第二水平导向轮42上，第三线缆23同时支撑在第三垂直换向轮33和第三水平导向轮43上，第四线缆24同时支撑在第四垂直换向轮34和第四水平导向轮44上，第五线缆25同时支撑在第五垂直换向轮35和第五水平导向轮45上，第六线缆26同时支撑在第六垂直换向轮36和第六水平导向轮46上。
第一垂直换向轮31和第二垂直换向轮32支撑在同一个第二水平转轴52上并且第一垂直换向轮31的外径大于第二垂直换向轮32的外径，第三垂直换向轮33、第四垂直换向轮34、第五垂直换向轮35和第六垂直换向轮36支撑在同一个第三水平转轴53上，第三垂直换向轮33的外径大于第四垂直换向轮34的外径，第五垂直换向轮35的外径大于第六垂直换向轮36的外径，第二水平转轴52和第三水平转轴53一前一后分布在水平中轴线C2上。
第一水平导向轮41和第二水平导向轮42自上而下依次支撑在同一个第三垂直转 轴63上，第三水平导向轮43和第四水平导向轮44自上而下依次支撑在同一个第四垂直转轴64上，第五水平导向轮45和第六水平导向轮46自上而下依次支撑在同一个第五垂直转轴65上。第四垂直转轴64和第五垂直转轴65以水平中轴线C2为中心左右对称分布，第三垂直转轴63位于第二水平转轴52的前侧。第三垂直转轴63到第一绞盘11的距离L1、第四垂直转轴64到第二绞盘12的距离L2以及第五垂直转轴65到第三绞盘13的距离L3均大致相等。
如图19所示，第一垂直换向轮31的第一顶端部311和第一水平导向轮41、第三垂直换向轮33的第三顶端部331和第三水平导向轮43、第五垂直换向轮35的第五顶端部351和第五水平导向轮45高度一直，并均大致位于同一个水平面H4内，以便第一线缆21在从第一水平导向轮41引出后能够大致沿水平方向转接到第一垂直换向轮31的第一顶端部311上、第三线缆23在从第三水平导向轮43引出后能够大致沿水平方向转接到第三垂直换向轮33的第三顶端部331上、以及第五线缆25在从第五水平导向轮45引出后能够大致沿水平方向转接到第五垂直换向轮35的第五顶端部351上。第二垂直换向轮32的第二顶端部321和第二水平导向轮42、第四垂直换向轮34的第四顶端部341和第四水平导向轮44、第六垂直换向轮36的第六顶端部361和第六水平导向轮46高度一直，并均大致位于同一个水平面H5内，以便第二线缆22在从第二水平导向轮42引出后能够大致沿水平方向转接到第二垂直换向轮32的第二顶端部321上、第四线缆24在从第四水平导向轮44引出后能够大致沿水平方向转接到第四垂直换向轮34的第四顶端部341上、以及第六线缆26在从第六水平导向轮46引出后能够大致沿水平方向转接到第六垂直换向轮36的第六顶端部361上。
本示例的器械盒50，相较于上述实施方案的器械盒10，由于各个绞盘2和相应水平导向轮的距离近似相等，该相等距离可以保证在收放的过程中可以保证较小的垂直方向的夹角，该较小的夹角，能够尽可能减小线缆与水平面之间的夹角，使线缆获得的分力更大，导向轮垂直转轴的分力更小。
参见图21-27，其示出了另一种实施方式的器械盒60。该器械盒60包括盒座8，多个绞盘，多个线缆组，以及多个导向轮组。本例中，绞盘、线缆组以及导向轮组的数量也均为3个。
参见图21，盒座8包括基板801和固定于基板801上的支撑板802构成，盒座8的整个结构起到支撑作用，基板801和支撑板802这两个部件可以通过卡接、螺栓、 热铆焊等方式固定在一起。盒座8具有一个沿前后方向延伸的一水平中轴线C3。
多个绞盘包括第一绞盘11、第二绞盘12和第三绞盘13，其分别可绕各自轴心线转动地安装在支撑板102上。本示例中，第一绞盘11布置在水平中轴线C3上，第二绞盘12和第三绞盘13位于第一绞盘11的后方并且对称分布在水平中轴线C3的左右两侧。
该示例中，具有由6根线缆构成的三个线缆组、由4个垂直换向轮和4个水平导向轮构成的四个导向轮组以及两个落单的第一单一垂直换向轮91和第二单一垂直换向轮92。
四个导向轮组包括具有第七垂直换向轮71和第七水平导向轮81的七号导向轮组，具有第八垂直换向轮72和第八水平导向轮82的八号导向轮组，具有第九垂直换向轮73和第九水平导向轮83的九号导向轮组以及具有第十垂直换向轮74和第十水平导向轮84的十号导向轮组。
如图27、29所示，第七垂直换向轮71、第八垂直换向轮72、第九垂直换向轮73、第十垂直换向轮74、第一单一垂直换向轮91以及第二单一垂直换向轮92支撑在同一个第四水平转轴54上。其中，第一单一垂直换向轮91和第二单一垂直换向轮92位于中间，第七垂直换向轮71和第八垂直换向轮72依次布置在第二单一垂直换向轮92的外侧，第九垂直换向轮73和第十垂直换向轮74依次布置在第一单一垂直换向轮91的外侧。第一单一垂直换向轮91的外径大于第二单一垂直换向轮92的外径。本例中，第一单一垂直换向轮91、第七垂直换向轮71以及第九垂直换向轮73的外径相等。第八垂直换向轮72和第十垂直换向轮74的外径相等。
第七水平导向轮81和第八水平导向轮82支撑在同一个第六垂直转轴66上，第七水平导向轮81的外径大于第八水平导向轮82的外径。第九水平导向轮83和第十水平导向轮84支撑在同一个第七垂直转轴67上，第九水平导向轮83的外径大于第十水平导向轮84的外径。第六垂直转轴66和第七垂直转轴67以水平中轴线C3为中心左右对称分布。
第一线缆21支撑在第一单一垂直换向轮91上，第二线缆22支撑在第二单一垂直换向轮92上，第三线缆23同时支撑在第七垂直换向轮71和第七水平导向轮81上，第四线缆24同时支撑在第八垂直换向轮72和第八水平导向轮82上，第五线缆25同时支撑在第九垂直换向轮73和第九水平导向轮83上，第六线缆26同时支撑在第十垂直换向轮74和 第十水平导向轮84上。
第一单一垂直换向轮91的高度被配置成使得第一线缆21在从第一绞盘11的第一上侧螺旋导丝槽1101引出后，能够大致沿水平方向直接转接到第一单一垂直换向轮91上；第二线缆22支撑在第二单一垂直换向轮92上，并且第二单一垂直换向轮92的高度被配置成使得第二线缆22在从第一绞盘11的第一下侧螺旋导丝槽1102引出后，能够大致沿水平方向直接转接到第二单一垂直换向轮92上。
参见图25，在绞盘转动时，绞盘向线缆施加沿水平面的力F，F可以分解成一个沿线缆方向的力F2和一个垂直于线缆方向的F1，线缆与水平面的夹角θ越小，电机旋转提供的扭矩被转换为执行端的夹紧力效率或者利用率越高；电机旋转提供的扭力为F，由于夹紧角的影响，线缆分到的拉力为F2，F2＝Fcosθ；cosθ为一个以θ为变量的递减函数，所以在扭力F固定的情况下，θ越小，F2越大。为更清楚示意角度关系，图25中的θ经过放大。
如图27、28所示，第七垂直换向轮71的第一顶端部711和第七水平导向轮81大致位于同一个水平面H6内，第九垂直换向轮73的第三顶端部731和第九水平导向轮83也大致位于同一个水平面H6内，第八垂直换向轮72的第二顶端部721和第八水平导向轮82大致位于同一个水平面H7内，第十垂直换向轮74的第四顶端部741和第十水平导向轮84也大致位于同一个水平面H7内，以便各线缆在从对应的水平导向轮引出后，能够大致沿水平方向转接到各自的垂直换向轮上。
本示例的器械盒60，相较于器械盒10和器械盒50示例方案，减少了两个水平导向轮，同时中间的第一单一垂直换向轮91和第二单一垂直换向轮92外径大小不同，第一单一垂直换向轮91的外径大于第二单一垂直换向轮92的外径；第一单一垂直换向轮91将第一线缆21导向至第一绞盘11的第一上侧螺旋导丝槽1101内，第二单一垂直换向轮92将第二线缆22导向至第一绞盘11的第一下侧螺旋导丝槽1102内；由于第一单一垂直换向轮91的外径大于第二单一垂直换向轮92的外径，第一线缆21和第二线缆22正好上下错开，同时连线缆交错导向，通过这种方式能实现让第一单一垂直换向轮91和垂直换向轮92的轴向力相互抵消。
发明的基本原理、主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，本发明要求保护 范围由所附的权利要求书、说明书及其等效物界定。
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- 一种手术器械，包括：具有安装座的器械盒、传动杆、位于所述传动杆远端的执行器及复数个线缆组，所述的传动杆的近端固定穿设在所述的器械盒的安装座上；所述的安装座上安装复数个绞盘，且复数个所述的绞盘分别绕不同轴转动；各所述线缆组均包括端部固定在同一个所述的绞盘上的一对线缆，所述的一对线缆一上一下分别缠绕在对应绞盘上，且每对所述线缆自对应绞盘引出后穿过所述传动杆与所述执行器相连，其特征是，所述的手术器械还包括：多个水平导向轮，所述的多个水平导向轮分组装配在至少一对垂直转轴上；多个垂直换向轮，临近所述的多个水平导向轮设置且位于所述传动杆的近端的上方，所述的多个垂直换向轮能够转动地装配在至少一个水平转轴上；各所述的线缆自对应的绞盘引出后，至少部分所述的线缆绕过一个所述的水平导向轮和一个所述的垂直换向轮接入所述的传动杆的近端，其余的线缆则各自直接绕过一个所述的垂直换向轮接入所述的传动杆的近端。
- 根据权利要求1所述的手术器械，其特征是：各所述的绞盘绕自身轴心线转动时能够向各所述的线缆提供一沿水平面延伸的拉力F，位于各所述的绞盘与所述的水平导向轮或垂直换向轮之间的线缆与水平面之间呈θ角，θ小于等于5度。
- 根据权利要求1所述的手术器械，其特征是：至少部分所述的线缆被所述的水平导向轮收拢在所述的至少一对垂直转轴之间，任意两个所述绞盘的轴心线之间的距离大于所述的至少一对垂直转轴之间的距离，且大于等于多个所述的垂直换向轮沿轴向布置的宽度。
- 根据权利要求1所述的手术器械，其特征是：各所述的水平导向轮和所述的垂直换向轮上均开设有走线槽，各所述的走线槽径向截面上均具有中心点，各所述的走线槽的中心点的连线形成一走线基圆，同一根所述的线缆绕过的水平导向轮的走线基圆所在的平面与对应的垂直换向轮的走线基圆的最高点齐平，以便所述的线缆在所述的水平导向轮引出后能够沿水平方向转接到所述的垂直换向轮。
- 根据权利要求1所述的手术器械，其特征是：两个或两个以上的所述垂直换向轮活动地套设在同一个所述的水平转轴上，且位于各所述的绞盘上方的所述线缆对应的垂直换向轮的外径大于位于同一绞盘下方的所述线缆对应的垂直换向轮的外径。
- 根据权利要求5所述的手术器械，其特征是：全部所述的垂直换向轮均活动套设在一个所述的水平转轴上。
- 根据权利要求5所述的手术器械，其特征是：两个或两个以上的所述的水平导向轮活动地套设在同一个垂直转轴上，且装配在同一所述的垂直转轴上的所述两个或两个以上水平导向轮的外径从上至下依次减小，装配在同一所述的水平转轴上的复数个所述垂直换向轮的外径由中间至两端依次减小。
- 根据权利要求1所述的手术器械，其特征是：各所述的绞盘到对应的所述的水平导向轮的垂直转轴之间的距离为L，所述的绞盘上开设有可供线缆缠绕的上侧螺旋导丝槽和下侧螺旋导丝槽，且所述的上侧螺旋导丝槽和下侧螺旋导丝槽的轴向高度均为H，L≥11.5H。
- 根据权利要求1所述的手术器械，其特征是：同轴设置的任意两个相邻的所述的水平导向轮之间以及同轴设置的任意两个相邻的所述的垂直换向轮之间均具有一对互相摩擦接触的邻接面，所述的邻接面的面积小于其所在的水平导向轮或垂直换向轮的最大横截面积，一对邻接面中的一个被配置为部分向内凹陷，另一个被配置为部分向外凸起。
- 根据权利要求1所述的手术器械，其特征是：所述的安装座具有一个沿前后方向延伸的一水平中轴线(C)，所述的手术器械至少包括对称设置在所述的水平中轴线两侧的一对所述的绞盘，所述的一对绞盘与所述的传动杆的近端呈非直角三角形分布，所述的传动杆的远端位于所述的水平中轴线上。
- 根据权利要求10所述的手术器械，其特征是：所述的手术器械包括三个所述的绞盘、六个所述的水平导向轮、六个所述的垂直换向轮、一对所述的垂直转轴和一个所述的水平转轴，六个所述的水平导向轮三个一组分别装配在一对所述的垂直转轴上，六个所述的垂直换向轮固定在同一个所述的水平转轴上，一对所述的绞盘、一对所述的垂直转轴、六个所述的水平导向轮和六个所述的垂直换向轮分布在所述的水平中轴线的两侧，另一个所述的绞盘的轴心线与所述的传动杆的远端位于所述的水平中轴线上，缠绕在三个所述的绞盘上的六根所述的线缆各自绕过一个所述的水平导向轮和一个所述的垂直换向轮。
- 根据权利要求10所述的手术器械，其特征是：所述的手术器械包括三个所述的绞盘、六个所述的水平导向轮、六个所述的垂直换向轮、三个所述的垂直转轴和两 个所述的水平转轴，其中四个所述的水平导向轮两两一组装配在位于所述的水平中轴线两侧的一对所述的垂直转轴上，四个所述的垂直换向轮同轴装配在一个所述的水平转轴上，分布在水平中轴线两侧的一对所述的绞盘上缠绕的四根所述的线缆，分别绕过所述的四个水平导向轮以及所述的四个垂直换向轮；另外两个所述的水平导向轮装配在另一个所述的垂直转轴上，另外两个所述的垂直换向轮装配在另一个所述的水平转轴上，另一个所述的绞盘上的两根线缆分别绕过所述的两个水平导向轮以及所述的两个垂直换向轮。
- 根据权利要求10所述的手术器械，其特征是：所述的手术器械包括三个所述的绞盘、四个所述的水平导向轮、六个所述的垂直换向轮、两个所述的垂直转轴和一个所述的水平转轴，四个所述的水平导向轮两两一组分别安装在两个所述的垂直转轴上，六个所述的垂直换向轮同轴安装在所述的水平转轴上，分布在所述的水平中轴线两侧的一对所述的绞盘上缠绕的四根所述的线缆分别绕过所述的四个水平导向轮和四个所述的垂直换向轮，另一个所述的绞盘位于所述的水平中轴线上，且该绞盘上缠绕的两根所述的线缆直接绕在两个所述的垂直换向轮上。
- 根据权利要求13所述的手术器械，其特征是：所述的另一个绞盘上的两根线缆对应的所述的两个垂直换向轮位于所述的水平转轴的中央，所述的一对绞盘上的四根线缆对应的所述的四个垂直换向轮位于所述的水平转轴的两边。
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