Instrument driving device, instrument end assembly, surgical instrument and surgical robot

A technology for driving devices and transmission components, which is applied in the field of device driving devices, device terminal components, surgical instruments and surgical robots, and can solve problems such as limited number of degrees of freedom, large space occupation, and complex transmission structure

Active Publication Date: 2021-08-06
SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The object of the present invention is to provide an instrument driving device, an instrument end assembly, a surgical instrument and a surgical robot to solve the problem of the limited number of degrees of freedom in existing surgical instruments One or more of the problems of complex transmission structure and large space occupation

Method used

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  • Instrument driving device, instrument end assembly, surgical instrument and surgical robot
  • Instrument driving device, instrument end assembly, surgical instrument and surgical robot
  • Instrument driving device, instrument end assembly, surgical instrument and surgical robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0146] Please refer to Figures 1 to 6e as well as Figure 11a to Figure 13 ,in, figure 1 It is a schematic diagram of the overall structure of the surgical instrument in Embodiment 1 of the present invention; figure 2 is a schematic diagram of a surgical instrument according to Embodiment 1 of the present invention; Figure 3a It is a partial schematic diagram of the relevant components of the first drive shaft and the second drive shaft of the instrument drive device according to Embodiment 1 of the present invention; Figure 3b It is a partial schematic diagram of another angle of the instrument driving device in Embodiment 1 of the present invention; Figure 3c yes Figure 3a An exploded view of the instrument drive shown; Figure 4a It is a schematic diagram of the first turning member of Embodiment 1 of the present invention; Figure 4b It is a schematic diagram of the second turning member of Embodiment 1 of the present invention; Figure 4c It is a schematic di...

Embodiment 2

[0195] The instrument driving device, instrument end assembly, surgical instrument, and surgical robot in Embodiment 2 of the present invention are basically the same as Embodiment 1, and the same parts will not be described again, and only the differences will be described below.

[0196] Please refer to Figure 7a to Figure 7d ,in Figure 7a is a schematic diagram of a surgical instrument according to Embodiment 2 of the present invention; Figure 7b It is a partial schematic diagram of the relevant components of the third drive shaft and the fourth drive shaft of the instrument drive device according to the second embodiment of the present invention; Figure 7c It is a schematic diagram of the third driving shaft and the opening and closing assembly of the instrument driving device according to the second embodiment of the present invention; Figure 7d It is a schematic diagram of the fourth driving shaft and the opening and closing assembly of the instrument driving devi...

Embodiment 3

[0202] The instrument driving device, instrument end assembly, surgical instrument and surgical robot of the third embodiment of the present invention are basically the same as those of the first embodiment, the same parts will not be described, and only the differences will be described below.

[0203] Please refer to Figure 8 to Figure 10c ,in, Figure 8 is a schematic diagram of a surgical instrument according to Embodiment 3 of the present invention; Figure 9a It is a partial schematic diagram of related components of the first drive shaft and the second drive shaft in Embodiment 3 of the present invention; Figure 9b It is a schematic diagram of driving the movement of the second flipping member according to Embodiment 3 of the present invention; Figure 9c It is a partial schematic diagram of another angle for driving the movement of the second turning member according to Embodiment 3 of the present invention; Figure 10a It is a partial schematic diagram of the fir...

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Abstract

The invention provides an instrument driving device, an instrument end assembly, a surgical instrument and a surgical robot. The instrument driving device comprises a base, a first driving shaft, a second driving shaft, a first turnover part, a second turnover part, a traction body head end fixing part, a first transmission assembly and a second transmission assembly; the first driving shaft rotates, and first torque is applied to the second turnover part through the first transmission assembly; and the second driving shaft rotates, and second torque is applied to the second turnover part through the second transmission assembly to drive the second turnover part to rotate around a center point. Therefore, through rotation of the first driving shaft and the second driving shaft, the second turnover part can be driven to do universal motion around the center point, and then a joint part of the instrument end assembly located at the far end can be controlled to do universal motion in an equal proportion mode.

Description

technical field [0001] The invention relates to the field of surgical instruments, in particular to an instrument driving device, an instrument terminal assembly, a surgical instrument and a surgical robot. Background technique [0002] In recent years, with the application and development of robot-related technologies, especially the development of computing technology, the role of medical surgical robots in clinical practice has attracted more and more attention. Among them, the minimally invasive surgical robot system can reduce the physical labor of doctors during the operation through interventional therapy, and at the same time achieve the purpose of precise surgery, so that patients have less trauma, less blood loss, less postoperative infection, and faster postoperative recovery. The design of surgical instruments for surgical robots directly determines the success or failure of the minimally invasive surgical robot system. Surgical instruments with multiple degrees ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B17/00H02K7/06H02K7/116
CPCA61B34/30A61B34/70A61B17/00234H02K7/1163H02K7/06A61B2017/00398
Inventor 何裕源蒋友坤何超岳森
Owner SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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