Transmission assembly, driving box, surgical instrument system and robot system

Abstract

The invention relates to a transmission assembly, a driving box, a surgical instrument system and a surgical robot system. The transmission assembly comprises an input base, a guide transmission part,an output base, an axial energy storage element, and an axial limiting assembly, wherein the input base has a first end and a second end which are opposite to each other; the first end is connected with a driving mechanism; the guide transmission part is arranged on the outer peripheral surface of the input base; the output base is provided with a third end and a fourth end which are opposite toeach other; the third end is close to the first end; the axial energy storage element is used for preventing the input base and the output base from getting close to each other and storing energy whenthe input base and the output base get close to each other under the action of external force and for releasing energy and driving the input base and the output base to be away from each other when the external force is removed; the axial limiting assembly is used for limiting the maximum displacement between the input base and the output base; and when the input base is driven by the driving mechanism to rotate, the guide transmission part is used for driving the output base and the input base to rotate synchronously. The invention has the following advantages: the guide transmission precision is high, and guide part stress is small.

Description

Technical field [0001] The present invention relates to the technical field of medical equipment, in particular to a transmission assembly, a drive box, a surgical instrument system and a robot system. Background technique [0002] In recent years, with the application and development of robotics, especially the development of computing technology, the role of medical robots in clinical practice has attracted more and more attention. On the one hand, the minimally invasive surgical robot can reduce the physical loss of the doctor during the operation, and on the other hand, it can also achieve the purpose of precise surgery, which has the advantages of minimal trauma, less blood loss, less postoperative infection, and recovery of Shaanxi. The operating accuracy of the minimally invasive surgical robot is a key indicator of the performance of the surgical robot, and the design of the mechanical structure plays a vital role in the accuracy. [0003] In the process of minimally invas...

AI Technical Summary

Problems solved by technology

The quick-change mechanism for surgical instruments has the following problems: (1) The precision of the quick-change mechanism for surgical instruments is not good. Under the condition of the same fit clearance, the closer the circumferential limit is to the axis, the lower the transmission accuracy (Δα precision deviation angle ≈ΔL fit clearance / r, r is the distance from the circumferential limit to the center of rotation); (2) The drive shaft of the quick-change mechanism of the surgical instrument is in poor stress condition (the force on a single mating surface is F≈0.5*M Transmission torque / r), the stress of the transmission parts is large, which affects the service life, that is, in the case of the same torque transmission, the smaller the distance between the torque transmission force surface and the rotation center, the greater the force on the torque transmission force surface, and the force The area is limited, resulting in greater stress on parts; (3) The axial dimension of the quick-change mechanism for surgical instruments is insufficiently utilized, which affects the utilization of space and weight reduction at the distal end of the manipulator, and the minimum dimension of the compressed spring affects the axial dimension of the shaft Size; (4) The transmission efficiency of the quick-change mechanism of the surgical instrument is not ideal. It is generally believed that the transmission efficiency of the worm gear is lower than that of gear transmission, chain transmission, belt transmission, and wire transmission. The low efficiency means that the load is the same Under the circumstances, the motor that needs a larger output capacity has achieved the same function; (5) The installation and maintenance of the quick-change mechanism of the surgical instrument are inconvenient, and it needs to use additional stopper parts to complete the axial limit, and the existence of the stopper affects installation and maintenance (6) The quick-change mechanism of the surgical instrument does not have the characteristics of preventing dust and foreign matter from entering, and there is no dust-proof measure for the axial movement. After long-term use, dust is easy to enter the gap of the axial movement, thereby affecting the axial movement smoothness

The instrument docking device has the following problems: (1) The precision of the instrument docking device is not good. Under the condition of the same fit clearance, the closer the circumferential limit is to the axis, the lower the transmission accuracy (Δα precision deviation angle ≈ ΔL fit clearance / r, r is the distance from the circumferential limit to the center of rotation); (2) The drive shaft of the docking device of the device is not well stressed, and the stress of the transmission parts is large, which affects the service life, that is, in the case of the same torque transmission , the smaller the distance between the torque transmission force surface and the center of rotation, the greater the force on the torque transmission force surface (the force on a single mating surface F ≈ 0.5 * M transmission torque / r), the force area is limited, resulting in parts The stress is relatively high; (3) The axial size space of the docking device of the instrument is insufficiently utilized, which affects the space utilization and weight reduction of the distal end of the mechanical arm. The minimum size of the compressed spring directly affects the axial size of the shaft, and the ball spline is Standard parts, its axial dimension is also relatively large; (4) The structure of the docking device of the instrument is difficult to achieve a fast fixed connection with the conventional drive shaft (motor shaft, reducer shaft)

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