Instrument driving transmission mechanism of surgical robot and assembling mechanism thereof

Abstract

The invention discloses an instrument driving transmission mechanism of a surgical robot, which comprises an instrument driver, a sterile adapter and a surgical instrument, the adapter transmission part of the sterile adapter is meshed and matched with the driver transmission part of the instrument driver through a plurality of teeth which are uniformly distributed on the surfaces of the adapter transmission part and the instrument driver transmission part, and the adapter transmission part of the sterile adapter is matched with the instrument transmission part of the surgical instrument through a transmission buckle. According to the instrument driving transmission mechanism, the adapter transmission part and the instrument driver transmission part are meshed and matched through the multiple teeth evenly distributed on the adapter transmission part, during installation, the adapter transmission part and the instrument driver transmission part can be matched at any angle, rapid and accurate butt joint can be achieved. Meanwhile, compared with a single or two transmission buckle matching mode, the meshing mode of the multiple teeth is higher in torsion transmission performance and more durable. The invention further discloses an instrument driving and assembling mechanism of the surgical robot.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to an instrument drive transmission mechanism and assembly mechanism of a surgical robot. Background technique [0002] Surgical robots can help doctors achieve precise positioning of surgery, and have the advantages of reducing patient wounds and shortening postoperative recovery time. And it has a stable operating platform, which can solve the doctor's trembling and other situations, so it has a large number of applications in clinical surgery. [0003] Surgical instruments in surgical robots usually have a rear end actuator in the form of a surgical tool at one end of an elongated tube, such as forceps, scissors, clips, etc. The conventional motion structure of the rear-end actuator is to use a steel wire rope to rotate the rear-end actuator to complete the actions of pitching, deflection and gripping. [0004] The surgeon controls the instruments on the surgical si...

AI Technical Summary

Problems solved by technology

[0008] The connection between the current instrument driver and the transmission part of the sterile adapter is to arrange two buckles symmetrically on the transmission plate of the instrument driver, and to set the buckles of the two buckles on the transmission part of the sterile adapter. When installing, it is necessary to First connect the shell of the sterile adapter with the shell of the instrument driver, and then identify the presence of the sterile adapter through the sensor, and then need the motor of the instrument driver to drive the transmission disc of the instrument driver to rotate, and adjust the angle several times to find the transmission of the instrument driver. The docking position of the two buckles of the disk and the buckle of the transmission part of the sterile adapter will cause some problems. The surface of the shell of the sterile adapter is successfully docked with the surface of the instrument driver, but the surface of the sterile adapter Before the transmission part is successfully docked, because the installation hole of the transmission part in the sterile adapter is larger than the diameter of the transmission part of the sterile adapter, the transmission part of the sterile adapter will have a certain inclination angle, and its axis is not necessarily in the instrument. The rotation axis of the driver transmission disc, so the buckle position of the sterile adapter will not be very accurate on the rotation curve of the two buckles. After the instrument drive transmission disc and the sterile adapter transmission part are successfully docked, it is necessary to carry out a number of rotations for several times to test to determine whether the docking is really in place

Moreover, after the driver transmission plate is docked with the aseptic adapter transmission part, the connection between the two buckles and the buckle position, the transmission torque is only at the two buckles, which is likely to cause the problem of excessive wear and tear

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