Steel wire driving device and surgical robot

Abstract

The embodiment of the invention provides a steel wire driving device and a surgical robot, the steel wire driving device comprises a support, a power assembly, a driving assembly and a connecting piece, the power assembly is arranged on the support, and the power assembly is used for providing driving force. And the driving assembly is rotationally arranged on the support, and the driving assembly is further connected to the power assembly, so that the driving assembly can rotate clockwise and anticlockwise around the rotating shaft under the action of the driving force of the power assembly. One end of the connecting piece is used for being connected with a steel wire, the other end of the connecting piece is movably connected to the driving assembly, and when the driving assembly rotates, the connecting piece can rotate around a rotating shaft in the first direction relative to the driving assembly, further moves in the second direction relative to the rotating shaft of the driving assembly and further moves in the third direction along with the driving assembly. According to the steel wire driving device, displacement compensation can be conducted on the steel wire in the horizontal direction, bending of the steel wire is avoided, and the stability of follow-up control over surgical instruments is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a wire drive device and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. With the development of robotic technology, a new technology in the field of minimally invasive medicine that can overcome shortcomings and inherit advantages has emerged - minimally invasive surgical robot technology.

[0003] The surgical instrument is integrated at the end of the minimally invasive surgical robot. The surgical instrument is usually a slender structure. The end of the instrument usually needs to move freely, so it is essential to have a driving component. The driving component is generally a wire transmission system. The wire transmission system mainly includes a wire for driving the surgical instrument and a driving structure. One end of the wire is connected to the surgical instrument, and the other end is connected to the driving structure. The driving end of the driving structure rotates to drive the wire to move, thereby driving the surgical instrument.

[0004] However, when the driving structure in the related art drives the steel wire to move, the steel wire is easily bent and deformed, which is not conducive to controlling the stability of the movement of the surgical instrument. Summary of the invention

[0005] The embodiments of the present application provide a wire driving device and a surgical robot, wherein the wire is not prone to bending during movement, which is beneficial for controlling the stability of the surgical instrument.

[0006] In the first aspect, the embodiment of the present application provides a steel wire driving device, including a bracket, a power assembly, a driving assembly and a connecting member, wherein the power assembly is arranged on the bracket, and the power assembly is used to provide a driving force. The driving assembly is rotatably arranged on the bracket, and the driving assembly is also connected to the power assembly, so that the driving assembly can rotate clockwise and counterclockwise around the rotating shaft under the driving force of the power assembly. One end of the connecting member is used to connect the steel wire, and the end of the connecting member away from the steel wire is movably connected to the driving assembly. When the driving assembly rotates, the connecting member can rotate relative to the driving assembly around the rotating shaft in a first direction, and the connecting member can also move relative to the rotating shaft of the driving assembly in a second direction. The connecting member also has the function of moving with the driving assembly in a third direction, wherein the first direction is parallel to the rotating shaft of the driving assembly, and the first direction, the second direction and the third direction are perpendicular to each other.

[0007] According to the wire driving device provided by the embodiment of the present application, by movably connecting the connecting piece to the driving assembly, when the driving assembly rotates, the connecting piece has three motion states, namely, it can rotate relative to the driving assembly, it can also move along the second direction relative to the rotating shaft of the driving assembly, and it can also move along the third direction with the driving assembly. The three motion states of the connecting piece are combined to form the movement of the connecting piece in space. When the driving assembly rotates, the connecting piece moves along the third direction with the driving assembly, and can drive the steel wire to move back and forth in the third direction to control the surgical instrument. When the connecting piece moves with the driving assembly, it can rotate relative to the driving assembly, so that the connecting piece can always maintain a vertical state, and the steel wire connected to the connecting piece can also maintain a vertical state, avoiding bending of the steel wire. The connecting piece is set to be movable relative to the rotating shaft of the driving assembly along the first direction, and can compensate for the displacement of the steel wire in the horizontal direction, so that when the connecting piece moves with the driving assembly, the relative position of the steel wire in the horizontal direction remains unchanged, thereby avoiding bending of the steel wire and ensuring the stability of the subsequent control of the surgical instrument.

[0008] In a possible implementation, the driving assembly includes a driving portion, a connecting portion, and a receiving portion that are connected together, the connecting portion is rotatably connected to the bracket via a switching shaft, and the connecting member is movably connected to the driving portion.

[0009] In the embodiment of the present application, the receiving portion is used to receive the driving force of the power component. Under the action of the driving force, the receiving portion rotates to drive the driving portion to drive the connecting member to move.

[0010] In one possible implementation, a sliding cavity and an avoidance groove connected to the sliding cavity are provided inside the driving part, the connecting part includes a sleeve and a connecting head connected to the sleeve, the connecting head is adapted to the sliding cavity, the sleeve is passed through the avoidance groove, one end of the sleeve away from the connecting head is connected to the steel wire, and the size of the avoidance groove is smaller than the size of the connecting head.

[0011] In the embodiment of the present application, the connecting head of the connecting member can move in the sliding cavity, and when the driving part rotates, the connecting head can move along the opening path of the sliding cavity to achieve displacement compensation of the connecting member in the horizontal direction.

[0012] In a possible implementation, the opening path of the sliding cavity is perpendicular to the rotation axis of the connecting portion.

[0013] In the embodiment of the present application, by setting the path of the sliding cavity to be perpendicular to the rotation axis of the connecting part, the connecting head can smoothly move away from or toward the rotation axis of the connecting part.

[0014] In a possible implementation, the sliding cavity is opened from a position of the driving portion close to the connecting portion and facing away from the connecting portion, and an extension line of the sliding cavity intersects with the axis of the rotating shaft of the connecting portion.

[0015] In the embodiment of the present application, by setting the path of the sliding cavity so that the extension line intersects the axis of the rotating shaft of the connecting part, it is beneficial to save the space occupied by the driving part.

[0016] In a possible implementation, the shape of the connector may be cylindrical or spherical, and the cross-sectional shape of the sliding cavity may be square or circular.

[0017] In the embodiment of the present application, by setting the connecting head and the sliding cavity to various shapes, the combination between the connecting head and the sliding cavity is more flexible and varied.

[0018] In one possible implementation, the driving part is also provided with an assembly groove connected to the sliding cavity, the assembly groove is located at one end of the driving part away from the connecting part, the size of the assembly groove is greater than or equal to the size of the connecting head and the sleeve, and the driving part is also provided with a locking hole connected to the assembly groove.

[0019] In the embodiment of the present application, the assembly groove is provided to facilitate the installation of the connector and the jacket of the connector in the sliding cavity and the avoidance groove respectively. The locking hole is provided to prevent the connector from being separated from the driving part when the locking pin is inserted into the locking hole.

[0020] In one possible implementation, the power assembly includes a power source and a transmission assembly, the power source includes a winding shaft rotatably connected to the bracket, the transmission assembly includes a guide structure, a transition structure, a first transmission rope and a second transmission rope, one end of the first transmission rope and the second transmission rope are respectively wound around the winding shaft in opposite directions, the middle parts of the first transmission rope and the second transmission rope are movably connected to the guide structure, and the other ends of the first transmission rope and the second transmission rope are passed around the transition structure and fixedly connected to the receiving part at a predetermined angle.

[0021] In an embodiment of the present application, by providing a winding shaft, a first transmission rope and a second transmission rope, the winding shaft can drive the first transmission rope and the second transmission rope to move when it rotates, and then can drive the driving part to rotate clockwise or counterclockwise. The structure is simple, the operation is convenient, it occupies a small space, and the manufacturing cost is low.

[0022] In one possible implementation, the power source also includes a first winding wheel and a second winding wheel arranged on the winding shaft, the guide structure includes a first guide wheel and a second guide wheel, the first guide wheel and the second guide wheel are rotatably connected to the bracket through a guide shaft, the rotating axes of the first guide wheel and the second guide wheel are parallel to the rotating axis of the driving component, one end of the first transmission rope and the second transmission rope are respectively wound around the first winding wheel and the second winding wheel, and the other ends of the first transmission rope and the second transmission rope are respectively wound around the first guide wheel and the second guide wheel.

[0023] In the embodiment of the present application, a winding wheel is provided to facilitate winding of the transmission rope, and a first guide wheel and a second guide wheel are provided to limit the moving paths of the first transmission rope and the second transmission rope.

[0024] In one possible implementation, a transition structure is disposed between the guide structure and the power source, and the transition structure includes a first transition wheel and a second transition wheel, the first transition wheel and the second transition wheel are coaxially rotatably connected to the bracket, and the first transition wheel and the second transition wheel are used to pass a first transmission rope and a second transmission rope, respectively.

[0025] In an embodiment of the present application, by setting a transition structure, in the process of the first transmission rope and the second transmission rope extending toward the guide assembly, the first transition wheel and the second transition wheel can limit the extension path of the first transmission rope and the second transmission rope to adapt to the first guide wheel and the second guide wheel.

[0026] In a possible implementation, the receiving portion is provided with a first receiving groove and a second receiving groove around the rotating shaft of the driving assembly on the end surface of the guide structure, the first receiving groove and the second receiving groove are arranged at intervals, the first receiving groove is used to accommodate the first transmission rope, and the second receiving groove is used to accommodate the second transmission rope;

[0027] The receiving part is also provided with a first fixing groove and a second fixing groove, which are respectively connected to the first receiving groove and the second receiving groove, the first fixing groove is used to fix the end of the first transmission rope, and the second fixing groove is used to fix the end of the second transmission rope.

[0028] In an embodiment of the present application, by providing a first receiving groove and a second receiving groove, a part of the structure of the first transmission rope and the second transmission rope can be received in the receiving groove, and the receiving groove can limit the position of the transmission rope to prevent the transmission rope from being displaced when the receiving part reciprocates. In addition, the path of the receiving groove is extended according to the winding path of the transmission rope on the receiving part, so that the receiving groove can guide the transmission rope and the transmission rope can be wound on the receiving part according to a predetermined path. By providing a first fixing groove and a second fixing groove, the ends of the first transmission rope and the second transmission rope can be fixed, so that the receiving part can be driven to rotate when the first transmission rope and the second transmission rope are pulled.

[0029] In a second aspect, an embodiment of the present application further provides a surgical robot, comprising the above-mentioned wire drive device. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0031] Figure 1It is a structural schematic diagram of the connection between the wire drive structure and the surgical instrument in the related art;

[0032] Figure 2 It is a schematic diagram of the position change of the steel wire when the steel wire is driven to move in the related art;

[0033] Figure 3 An exploded view of the wire drive device provided for this application;

[0034] Figure 4 A cross-sectional view of the drive assembly, connector and steel wire provided in the present application when connected;

[0035] Figure 5 A schematic diagram of the structure of the drive assembly provided for this application;

[0036] Figure 6 A schematic diagram of the structure of the power source provided for this application;

[0037] Figure 7 A schematic diagram of the structure of the guide structure provided for this application;

[0038] Figure 8 A cross-sectional view of a partial structure of the wire drive device provided in the present application;

[0039] Fig. 9 Another cross-sectional view of the local structure of the wire drive device provided in the present application.

[0040] Description of reference numerals:

[0041] 10. Bracket; 11. Steel wire;

[0042] 20. driving assembly; 21. driving part; 211. assembly groove; 212. sliding cavity; 213. avoidance groove; 214. locking hole; 22. connecting part; 221. adapter shaft; 23. receiving part; 231. positioning hole; 232. first receiving groove; 233. second receiving groove; 234. first fixing groove; 235. second fixing groove;

[0043] 30. Connector; 31. Connector; 32. Jacket;

[0044] 40. Power assembly; 41. Power source; 411. Winding shaft; 4111. Second sleeve; 412. First winding wheel; 4121. First fixing part; 4122. First locking part; 4123. First winding part; 413. Second winding wheel; 4131. Second fixing part; 4132. Second locking part; 4133. Second winding part; 414. Screw; 42. Transmission assembly; 421. Guide structure; 4211. Guide shaft; 4212. First guide wheel; 42121. First wheel groove; 4213. Second guide wheel; 42131. Second wheel groove; 422. First transmission rope; 423. Second transmission rope; 424. Transition structure; 4241. Transition shaft; 4242. First transition wheel; 4243. Second transition wheel; 4244. First sleeve;

[0045] X, first direction; Y, second direction; Z, third direction. DETAILED DESCRIPTION

[0046] Figure 1 It is a schematic diagram of the structure of the connection between the wire drive structure and the surgical instrument in the related art. Figure 2 It is a schematic diagram of the position change of the steel wire 11 when the driving steel wire 11 moves in the related art.

[0047] Depend on Figure 1 It can be seen that the surgical instrument B is connected to the bracket 10 of the wire drive structure through the connecting rod A, the wire 11 is inserted into the connecting rod A, one end of the wire 11 is connected to the end of the surgical instrument B, and the other end of the wire 11 is connected to the drive structure through the connecting structure. For ease of description, please refer to Figure 1 , define the Y direction as the horizontal direction and the Z direction as the vertical direction.

[0048] Figure 1 The steel wire 11 shown is in an initial state, see Figure 1 It can be seen that the steel wire 11 extends in the vertical direction. The driving structure D can rotate around an axis. When the driving structure D rotates around the axis, it can drive the connecting structure C to move horizontally and vertically in space. When the connecting structure moves in the vertical direction, the steel wire 11 will also move in the vertical direction. The movement of the steel wire 11 in the vertical direction can drive the end of the surgical instrument B to move. When the connecting structure C moves in the horizontal direction, the steel wire 11 will also move in the horizontal direction.

[0049] See also Figure 2 As shown, Figure 2 The solid line in the middle shows the state of the driving structure D and the steel wire 11 in the initial position. Figure 2The middle dotted line shows the position of the steel wire 11 driven by the driving structure D to move counterclockwise. It can be understood that the position of the steel wire 11 in the vertical direction changes from the initial position to the final position, and the position of the steel wire 11 in the horizontal direction also changes, but the position of the connecting rod A in the vertical direction and the horizontal direction does not change. As a result, the displacement of the steel wire 11 in the horizontal direction causes the steel wire 11 to bend. After the steel wire 11 bends, the direction of the force applied changes, which is not conducive to controlling the surgical instrument B.

[0050] In combination with the above-mentioned scenario, it can be known that in the prior art, the driving structure can easily cause the steel wire 11 to bend when driving the steel wire 11 to move, which is not conducive to controlling the surgical instrument.

[0051] The steel wire driving structure provided in the present application can compensate for the displacement of the steel wire 11 in the horizontal direction by setting a horizontal compensation between the connecting member 30 and the driving structure, thereby solving the problem of bending of the steel wire 11 during movement.

[0052] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0053] Figure 3 An exploded view of the wire drive device provided for this application; Figure 4 This is a cross-sectional view of the connection structure of the drive assembly 20, the connector 30 and the steel wire 11 provided in this application. For ease of understanding, in the implementation of this application, please refer to Figure 3 , it is defined that the first direction is parallel to the direction indicated by the X-axis, the second direction is parallel to the direction indicated by the Y-axis, the third direction is parallel to the direction indicated by the Z-axis, and the first direction, the second direction and the third direction are perpendicular to each other. It can be understood that the second direction is the horizontal direction and the third direction is the vertical direction.

[0054] See also Figure 3 and Figure 4 As shown, the first aspect of the present application provides a wire drive device, which includes a bracket 10, a power assembly 40, a drive assembly 20 and a connector 30. The bracket 10 is the main structure of the wire drive device, and can provide support and installation environment for the parts of the wire drive device. The power assembly 40 is arranged on the bracket 10, and the power assembly 40 is used to provide driving force.

[0055] The driving assembly 20 is rotatably disposed on the bracket 10 , and is also transmission-connected to the power assembly 40 , so that the driving assembly 20 can rotate clockwise and counterclockwise around the rotating shaft under the driving force of the power assembly 40 .

[0056] One end of the connecting member 30 is used to connect the steel wire 11, and the end of the connecting member 30 away from the steel wire 11 is movably connected to the driving assembly 20. In the implementation of the present application, the connecting member 30 is movably connected to the driving assembly 20 so that the connecting member 30 has at least three motion states relative to the driving assembly 20. For example, the first motion state of the connecting member 30 relative to the driving assembly 20 is: when the driving assembly 20 rotates, the connecting member 30 can rotate relative to the driving assembly 20, and the rotation axis of the connecting member 30 relative to the driving assembly 20 is parallel to the rotation axis of the driving assembly 20; the second motion state of the connecting member 30 relative to the driving assembly 20 is: when the driving assembly 20 rotates, the connecting member 30 can also move relative to the driving assembly 20 along the second direction; the third motion state of the connecting member 30 relative to the driving assembly 20 is: when the driving assembly 20 rotates, the connecting member 30 can also move along the third direction with the driving assembly 20. In this way, when the driving assembly 20 rotates, the steel wire 11 can be driven to move in the vertical direction through the connecting member 30, and the distance between the connecting member 30 and the rotating axis of the driving assembly 20 in the second direction remains unchanged, so that the steel wire 11 will not be displaced relative to the connecting rod in the horizontal direction.

[0057] By movably connecting the connecting member 30 to the driving assembly 20, when the driving assembly 20 rotates clockwise and counterclockwise, the connecting member 30 moves back and forth along the third direction with the driving assembly 20, and can drive the steel wire 11 to move back and forth in the third direction to control the surgical instrument. When the connecting member 30 moves with the driving assembly 20, it can rotate relative to the driving assembly 20, so that the connecting member 30 can always maintain a vertical state, and the steel wire 11 connected to the connecting member 30 can also maintain a vertical state, avoiding bending of the steel wire 11. In addition, the connecting member 30 is configured to be movable relative to the rotating shaft of the driving assembly 20 along the second direction, so that the displacement of the steel wire 11 in the horizontal direction can be compensated, so that when the connecting member 30 moves with the driving assembly 20, the relative position of the steel wire 11 in the horizontal direction remains unchanged, thereby avoiding bending of the steel wire 11 and ensuring the stability of the subsequent control of the surgical instrument.

[0058] Figure 5 This is a schematic diagram of the structure of the drive assembly 20 provided in this application.

[0059] Please also see Figures 3 to 5As shown, in some achievable embodiments, the driving assembly 20 includes a driving portion 21, a connecting portion 22, and a receiving portion 23 connected together, the receiving portion 23 is used to connect with the power assembly 40 to receive the driving force from the power assembly 40, the connecting portion 22 is used to be rotatably connected to the bracket 10, so that the driving assembly 20 can rotate relative to the bracket 10, and the driving portion 21 is used to be movably connected with the connecting member 30. In this way, the receiving portion 23 receives the driving force from the power assembly 40, and can drive the driving portion 21 to rotate around the adapter shaft 221. When the driving portion 21 rotates, it can drive the connecting member 30 to move, and the connecting member 30 can both rotate relative to the driving portion 21 and move relative to the driving portion 21 along the second direction.

[0060] Exemplarily, the connection method between the connecting part 22 and the bracket 10 can be specifically that a connecting shaft 221 is set on the connecting part 22, the middle part of the connecting shaft 221 is passed through the connecting part 22, and the two ends of the connecting shaft 221 are respectively protruded from the opposite sides of the connecting part 22, and the connecting shaft 221 is connected to the bracket 10 through a bearing.

[0061] Exemplarily, the driving part 21, the receiving part 23 and the connecting part 22 are integrally formed, and the driving part 21 and the receiving part 23 are located at opposite ends of the connecting part 22, and the adapter shaft 221 is located between the driving part 21 and the receiving part 23, so that a lever structure is formed between the driving part 21, the connecting part 22 and the receiving part 23, and the adapter shaft 221 is the fulcrum of the lever structure.

[0062] Exemplarily, a positioning hole 231 is also passed through the receiving portion 23, and a hole structure is opened on the bracket 10 at a position corresponding to the positioning hole 231. By inserting a pin into the positioning hole 231 and the hole structure of the bracket 10, the position of the receiving portion 23 relative to the bracket 10 can be fixed.

[0063] In some achievable embodiments, a sliding cavity 212 is provided inside the driving part 21, and a avoidance groove 213 connected to the sliding cavity 212 is also provided on the driving part 21, one end of the avoidance groove 213 is connected to the sliding cavity 212, and the other end of the avoidance groove 213 is connected to the external environment, so that the sliding cavity 212 is connected to the outside world, one end of the connecting member 30 can be located in the sliding cavity 212, and the other end of the connecting member 30 can be inserted into the avoidance groove 213, and the end of the connecting member 30 away from the sliding cavity 212 is used to connect the steel wire 11. The sliding cavity 212 is used to provide a space for horizontal compensation for the connecting member 30, and the avoidance groove 213 is used to make way for the connecting member 30 when it rotates relative to the driving part 21.

[0064] Exemplarily, in order to enable the end of the connecting member 30 to move smoothly along the path of the sliding cavity 212 when the driving part 21 rotates, the opening path of the sliding cavity 212 is set to be perpendicular to the adapter shaft 221, and the opening path of the avoidance groove 213 is parallel to the opening path of the sliding cavity 212.

[0065] Exemplarily, the sliding cavity 212 is opened from a position of the driving portion 21 close to the connecting portion 22 and facing away from the connecting portion 22, and an extension line of the opening path of the sliding cavity 212 intersects with the axis of the adapter shaft 221. When the steel wire 11 and the driving assembly 20 are in the initial state, the opening path of the sliding cavity 212 is parallel to the second direction.

[0066] In the implementation of the present application, the connector 30 specifically includes a sleeve 32 and a connector 31 connected to the end of the sleeve 32, the connector 31 is adapted to the sliding cavity 212, the sleeve 32 is inserted into the avoidance groove 213, one end of the sleeve 32 away from the connector 31 extends out of the avoidance groove 213 and is connected to the steel wire 11, the sleeve 32 can be clamped on the end of the steel wire 11, so that the steel wire 11 and the connector 30 are fixedly connected.

[0067] It should be noted that the opening size of the avoidance groove 213 is smaller than the size of the connector 31 in the opening direction of the avoidance groove 213 , so that the connector 31 can be stuck in the sliding cavity 212 to prevent the connector 31 from escaping from the sliding cavity 212 from the avoidance groove 213 .

[0068] Exemplarily, the connector 31 may be cylindrical, and when the connector 31 is cylindrical, the axis is parallel to the adapter shaft 221, and the dimensions of the sliding cavity 212 in the axial and radial directions of the connector 31 are adapted to the dimensions of the connector 31. The axial dimension of the connector 31 is larger than the opening dimension of the avoidance groove 213, so that the connector 31 can be snapped into the sliding cavity 212.

[0069] Exemplarily, the connector 31 may also be spherical, in which case the cross-sectional dimensions of the sliding cavity 212 along the opening path thereof match the cross-sectional dimensions of the connector 31 , and the cross-sectional shape of the sliding cavity 212 may be square or spherical.

[0070] In the embodiment of the present application, the driving part 21 is further provided with an assembly groove 211 connected to the sliding cavity 212. The size of the assembly groove 211 is greater than or equal to the size of the connector 31 and the jacket 32. The assembly groove 211 allows the connector 30 to pass through so as to assemble the connector 30 in the sliding cavity 212 and the avoidance groove 213. The assembly groove 211 is specifically located at one end of the driving part 21 away from the connecting part 2222, and the assembly groove 211 and the avoidance groove 213 are located on the opposite sides of the sliding cavity 212. The jacket 32 ​​and the connecting head 31 can both pass through the assembly groove 211. When installing the connecting part 30, first pass the jacket 32 ​​through the assembly groove 211. The jacket 32 ​​can pass through the sliding cavity 212 so that part of it is inserted into the avoidance groove 213. The connecting head 31 can pass through the assembly groove 211 and enter the sliding cavity 212, thereby assembling the connecting part 30.

[0071] It should be noted that the driving part 21 is also provided with a locking hole 214 connected to the assembly groove 211. The locking hole 214 is provided through the driving part 21. The locking member can be inserted into the locking hole 214. After the connecting member 30 is assembled to the driving part 21, the locking member is inserted into the locking hole 214. The intermediate structure of the locking member can be inserted into the assembly groove 211. The locking member located in the assembly groove 211 can prevent the connecting head 31 from being separated from the driving part 21 from the assembly groove 211. By providing the assembly groove 211, it is convenient to assemble the connecting member 30 to the driving part 21. By providing the locking hole 214, the locking member can be inserted into the locking hole 214 to prevent the connecting member 30 from being separated from the driving part 21 from the assembly groove 211.

[0072] In other feasible methods, a protrusion can be provided on the driving portion 21, and a sliding groove can be provided on the connecting head 31. The opening direction of the sliding groove is parallel to the second direction. The protrusion on the driving portion 21 can be plugged into and adapted to the sliding groove. When the driving portion 21 rotates, the protrusion can slide in the sliding groove, and the protrusion can rotate relative to the connecting head 31. In this way, the connecting member 30 can move in the vertical direction, and no displacement occurs in the horizontal direction due to the compensation effect of the sliding groove.

[0073] In some other feasible embodiments, a telescopic structure can be provided on the driving portion 21 in a direction perpendicular to the axis of the adapter shaft 221, and the connecting head 31 of the connecting member 30 can be rotatably connected to the telescopic structure. When the driving portion 21 rotates, the telescopic structure can perform telescopic movement relative to the driving portion 21, and the connecting member 30 can rotate relative to the tensile structure. In this way, the connecting member 30 can also move in the vertical direction, and no displacement occurs in the horizontal direction due to the compensation effect of the telescopic structure.

[0074] Figure 6 This is a schematic diagram of the structure of the power source 41 provided in this application. Figure 7 This is a schematic structural diagram of the guide structure 421 provided in this application.

[0075] See also Figure 3 , Figure 6 and Figure 7As shown, in some achievable ways, the power assembly 40 includes a power source 41 and a transmission assembly 42, the power source 41 is used to provide driving force, and the transmission assembly 42 is used to transmit the driving force to the driving assembly 20 to drive the driving assembly 20 to move. Specifically, the power source 41 includes a winding shaft 411 rotatably connected to the bracket 10, and the transmission assembly 42 includes a guide structure 421, a first transmission rope 422 and a second transmission rope 423, one end of the first transmission rope 422 and the second transmission rope 423 are both wound around the winding shaft 411, the middle parts of the first transmission rope 422 and the second transmission rope 423 are movably connected to the guide structure 421, and the other ends of the first transmission rope 422 and the second transmission rope 423 are fixedly connected to the receiving portion 23.

[0076] Specifically, the winding directions of the first transmission rope 422 and the second transmission rope 423 on the winding shaft 411 are opposite, for example, the first transmission rope 422 is wound on the winding shaft 411 in a clockwise direction, and the second transmission rope 423 is wound on the winding shaft 411 in a counterclockwise direction. In this way, when the winding shaft 411 rotates clockwise, the first transmission rope 422 gradually separates from the winding shaft 411, while the second transmission rope 423 continues to be wound on the winding shaft 411 in a counterclockwise manner. At this time, the winding shaft 411 relaxes the first transmission rope 422 and pulls the second transmission rope 423; when the winding shaft 411 rotates counterclockwise, the second transmission rope 423 gradually separates from the winding shaft 411, while the first transmission rope 422 continues to be wound on the winding shaft 411 in a clockwise manner. At this time, the winding shaft 411 relaxes the second transmission rope 423 and pulls the first transmission rope 422.

[0077] It should be noted that clockwise and counterclockwise are relative rotation directions, and the clockwise and counterclockwise directions will also change at different viewing angles. In this application, it is only necessary to ensure that the winding directions of the first transmission rope 422 and the second transmission rope 423 on the winding shaft 411 are opposite.

[0078] In the embodiment of the present application, the guide structure 421 provides a guiding function, which can limit the moving path of the first transmission rope 422 and the second transmission rope 423, so that the parts of the first transmission rope 422 and the second transmission rope 423 located between the guide structure 421 and the winding shaft 411 can move along a predetermined trajectory.

[0079] The ends of the first transmission rope 422 and the second transmission rope 423 away from the winding shaft 411 pass through the guide structure 421 and deflect in different directions within the rotation plane of the receiving portion 23. After the ends of the first transmission rope 422 and the second transmission rope 423 deflect by a predetermined angle, they are fixedly connected to the receiving portion 23. When the two transmission ropes are pulled, the driving portion 21 can be pulled to rotate in different directions.

[0080] In some achievable embodiments, the power source 41 further includes a first winding wheel 412 and a second winding wheel 413 disposed on the winding shaft 411, and the guide structure 421 includes a first guide wheel 4212 and a second guide wheel 4213, and the first guide wheel 4212 and the second guide wheel 4213 are rotatably connected to the bracket 10 through the guide shaft 4211. The rotation axes of the first guide wheel 4212 and the second guide wheel 4213 are parallel to the rotation axis of the driving assembly 20, and one end of the first transmission rope 422 and the second transmission rope 423 are respectively wound around the first winding wheel 412 and the second winding wheel 413, and the ends of the first transmission rope 422 and the second transmission rope 423 are respectively fixed to the first winding wheel 412 and the second winding wheel 413 through the jacket 32. The other ends of the first transmission rope 422 and the second transmission rope 423 are respectively wound around the first guide wheel 4212 and the second guide wheel 4213.

[0081] Specifically, the first winding wheel 412 has a first fixing portion 4121 and a first locking portion 4122. A sleeve hole is arranged between the first fixing portion 4121 and the first locking portion 4122. The winding shaft 411 is inserted into the sleeve hole. One end of the first locking portion 4122 is integrally formed with the first fixing portion 4121, and a gap is arranged between the other end and the first fixing portion 4121. The first locking portion 4122 is elastically arranged, and threaded holes are arranged at corresponding positions on the first locking portion 4122 and the first fixing portion 4121. When the winding shaft 411 is inserted into the sleeve hole between the first fixing portion 4121 and the first locking portion 4122, the spacing between the first locking portion 4122 and the first fixing portion 4121 can be tightened by screws connected to the two screw holes, so that the first winding wheel 412 can be fixedly connected to the winding shaft 411.

[0082] The first winding wheel 412 also includes a first winding portion 4123, which is fixedly connected to the first fixing portion 4121 and the first locking portion 4122. The first winding portion 4123 is penetrated by a through hole connected to the sleeve hole, and the winding shaft 411 can be inserted into the through hole. The outer surface of the first winding portion 4123 is provided with a winding groove, which is spirally wound on the outer surface of the first winding portion 4123, and the first transmission rope 422 can be wound in the winding groove along the path of the winding groove.

[0083] The second winding wheel 413 has a second fixing portion 4131 and a second locking portion 4132. A sleeve hole is arranged between the second fixing portion 4131 and the second locking portion 4132. The winding shaft 411 is inserted into the sleeve hole. The two ends of the second locking portion 4132 are formed as two parts with the second fixing portion 4131, and a gap is arranged between the other end and the second fixing portion 4131. The second locking portion 4132 is elastically arranged. The second locking portion 4132 and the second fixing portion 4131 are both provided with threaded holes. When the winding shaft 411 is inserted into the sleeve hole between the second fixing portion 4131 and the second locking portion 4132, the spacing between the second locking portion 4132 and the second fixing portion 4131 can be tightened by screw connection in the two screw holes, so that the second winding wheel 413 can be fixedly connected to the winding shaft 411.

[0084] The second winding wheel 413 also includes a second winding portion 4133, which is fixedly connected to the second fixing portion 4131 and the second locking portion 4132. The second winding portion 4133 is penetrated by a through hole connected to the sleeve hole, and the winding shaft 411 can be inserted into the through hole. The outer surface of the second winding portion 4133 is provided with a winding groove, which is spirally wound on the outer surface of the second winding portion 4133, and the second transmission rope 423 can be wound in the winding groove along the path of the winding groove.

[0085] It should be noted that the spiral direction of the winding groove on the first winding portion 4123 is opposite to the spiral direction of the winding groove on the second winding portion 4133 .

[0086] In the implementation of the present application, a first wheel groove 42121 is opened on the peripheral wall of the first guide wheel 4212 around its rotating axis, and a second wheel groove 42131 is opened on the peripheral wall of the second guide wheel 4213 around its rotating axis. The first transmission rope 422 can be wound around the first wheel groove 42121, and the second transmission rope 423 can be wound around the second wheel groove 42131.

[0087] In some other achievable embodiments, the guide structure 421 may further include a guide block having two guide channels extending through the guide block along the second direction, and the first transmission rope 422 and the second transmission rope 423 may be respectively inserted into the two guide channels.

[0088] Exemplarily, the axis of the winding shaft 411 may be arranged along a third direction so that the winding shaft 411 is perpendicular to the adapter shaft 221 .

[0089] Exemplarily, the winding shaft 411 is rotatably connected to the bracket 10 via a bearing, and a screw 414 is further provided at one end of the winding shaft 411 , and the winding shaft 411 can be driven to rotate by twisting the screw 414 .

[0090] Exemplarily, the two winding wheels are spaced apart along the axis of the winding shaft 411 , and a second sleeve 4111 is sleeved on the winding shaft 411 between the two winding wheels.

[0091] In some achievable embodiments, the receiving portion 23 is arranged in a fan-shaped structure, the fan-shaped circle center of the receiving portion 23 coincides with the axis center of the transfer shaft 221, one end of the receiving portion 23 is integrally formed with the connecting portion 22, and the other end is arranged toward the first guide wheel 4212 and the second guide wheel 4213. The end surface of the receiving portion 23 facing the guide structure 421 is provided with a first receiving groove 232 and a second receiving groove 233 around the transfer shaft 221, the first receiving groove 232 and the second receiving groove 233 are arc-shaped grooves, and the first receiving groove 232 and the second receiving groove 233 are arranged at intervals, the first receiving groove 232 is used to accommodate the first transmission rope 422, and the second receiving groove 233 is used to accommodate the second transmission rope 423.

[0092] The first receiving groove 232 and the second receiving groove 233 are respectively arranged opposite to the first wheel groove 42121 and the second wheel groove 42131. The first transmission rope 422 can be wound in the first receiving groove 232 after passing through the first guide wheel 4212, and the end of the first transmission rope 422 can be fixedly connected to the end of the receiving portion 23. The second transmission rope 423 can be wound in the second receiving groove 233 after passing through the second guide wheel 4213, and the end of the second transmission rope 423 is fixedly connected to the other end of the receiving portion 23.

[0093] By providing the first receiving groove 232 and the second receiving groove 233, not only a limited space can be provided for the first transmission rope 422 and the second transmission rope 423, so that the first transmission rope 422 and the second transmission rope 423 are not easily moved when they are wound around the receiving portion 23. In addition, the paths of the first receiving groove 232 and the second receiving groove 233 in the present application are also opened around the rotating shaft of the receiving portion 23, so that a guiding effect can be provided for the first transmission rope 422 and the second transmission rope 423, so that the first transmission rope 422 and the second transmission rope 423 are more accurately wound around the receiving portion 23.

[0094] Figure 8 A cross-sectional view of the local structure of the wire drive device provided in this application, Fig. 9 Another cross-sectional view of the local structure of the wire drive device provided in the present application.

[0095] See also Figure 8 and Fig. 9As shown, in some feasible embodiments, the receiving portion 23 is further provided with a first fixing groove 234 and a second fixing groove 235, and the first fixing groove 234 and the second fixing groove 235 are respectively connected to the first receiving groove 232 and the second receiving groove 233, and the first fixing groove 234 is used to fix the end of the first transmission rope 422, and the second fixing groove 235 is used to fix the end of the second transmission rope 423.

[0096] Exemplarily, both the first fixing groove 234 and the second fixing groove 235 penetrate the receiving portion 23. For example, the first fixing groove 234 is opened from one end of the receiving portion 23 close to the first receiving groove 232 toward the other end of the first receiving groove 232. The opening manner of the second fixing groove 235 is similar to the opening manner of the first fixing groove 234. The difference is that the top end of the first fixing groove 234 is connected to the top end of the first receiving groove 232, and the bottom end of the second fixing groove 235 is connected to the bottom end of the second receiving groove 233.

[0097] According to the above arrangement, when the first transmission rope 422 is arranged, the first transmission rope 422 can be inserted into the first fixing groove 234 from the lower end of the first fixing groove 234 and passed out from the upper end of the first fixing groove 234. After passing out, it can be received in the first receiving groove 232 from the top of the first receiving groove 232. The first transmission rope 422 extends toward the bottom end of the first guide wheel 4212 and a part of the first transmission rope 422 is inserted into the first wheel groove 42121. Then, the first transmission rope 422 passes through the first transition wheel 4242 and is wound around the first winding wheel 4242. 12; when arranging the second transmission rope 423, the second transmission rope 423 is passed through the second fixed groove 235 from the upper end of the second fixed groove 235, and passed out from the lower end of the second fixed groove 235. After passing out, it can be received in the second receiving groove 233 from the lower end of the second receiving groove 233, and the second transmission rope 423 extends toward the top end of the second guide wheel 4213, so that part of the second transmission rope 423 is passed through the second wheel groove 42131, and then the second transmission rope 423 passes through the second transition wheel 4243 and is wound around the second winding wheel 413.

[0098] It is worth mentioning that the lower end and the top end in the above text are explained by taking the orientations shown in the figures and the drawings as examples. The relatively upper position is the top end, and the relatively lower position is the lower end.

[0099] It should be noted that rope loops are provided at the ends of the first transmission rope 422 and the second transmission rope 423, and step structures are provided in the middle positions of the first fixing groove 234 and the second fixing groove 235, and the rope loops can be snapped into the step structures.

[0100] Exemplarily, the first fixing groove 234 can also be opened from a position close to the top of the first receiving groove 232 toward the top of the first receiving groove 232, and the first fixing groove 234 can be opened from the bottom of the first receiving groove 232 in the receiving portion 23, and the other end of the first fixing groove 234 extends to connect with the top of the first receiving groove 232, so that the slot length of the first fixing groove 234 can be reduced.

[0101] The second fixing groove 235 can also be opened from a position close to the bottom end of the second receiving groove 233 toward the bottom end of the second receiving groove 233. The second fixing groove 235 can be opened in the receiving portion 23 from the bottom end of the second receiving groove 233, and the other end of the second fixing groove 235 extends to connect with the bottom end of the second receiving groove 233. In this way, the opening length of the second fixing groove 235 can be reduced.

[0102] Exemplarily, a screw structure may be directly provided at the end of the rope loop, and the ends of the first transmission rope 422 and the second transmission rope 423 may be connected to the receiving portion 23 via the screw structure.

[0103] See also Figure 3 As shown, in some achievable embodiments, the transmission assembly 42 further includes a transition structure 424, the transition structure 424 is disposed between the guide structure 421 and the power source 41, the transition structure 424 includes a first transition wheel 4242 and a second transition wheel 4243, the first transition wheel 4242 and the second transition wheel 4243 are coaxially connected to a transition shaft 4241, and the transition shaft 4241 is rotatably connected to the bracket 10. The first transmission rope 422 and the second transmission rope 423 can pass through the first transition wheel 4242 and the second transition wheel 4243 respectively during the extension process.

[0104] Specifically, a first transition groove is formed on the peripheral wall of the first transition wheel 4242 around its rotation axis, and a second transition groove is formed on the peripheral wall of the second transition wheel 4243 around its rotation axis. The first transmission rope 422 and the second transmission rope 423 can be respectively passed through the first transition groove and the second transition groove during the extension process.

[0105] Exemplarily, the rotation axes of the first transition wheel 4242 and the second transition wheel 4243 are parallel to the rotation axis of the winding shaft 411 .

[0106] Exemplarily, the radial dimension of the first transition wheel 4242 is smaller than the radial dimension of the second transition wheel 4243 .

[0107] Exemplarily, the first transition wheel 4242 and the second transition wheel 4243 are spaced apart in the third direction, and a first sleeve 4244 is sleeved on the transition shaft 4241 , and the first sleeve 4244 is located between the first transition wheel 4242 and the second transition wheel 4243 .

[0108] It should be noted that the radial size of the first guide wheel 4212 is equal to the radial size of the second guide wheel 4213, and the first guide wheel 4212 and the second guide wheel 4213 are arranged along the first direction. The radial sizes of the first winding wheel 412 and the second winding wheel 413 are equal, and the first winding wheel 412 and the second winding wheel 413 are arranged along the third direction. When the first transmission rope 422 and the second transmission rope 423 are respectively connected to the first guide wheel 4212 and the second guide wheel 4213, due to the deviation of the position of the guide wheel in the first direction, the first transmission rope 422 and the second transmission rope 423 will also tilt in the first direction. In the embodiment of the present application, a first transition wheel 4242 and a second transition wheel 4243 are arranged. The first transmission rope 422 is wound around the first guide wheel 4212 after passing through the first transition wheel 4242, and the second transmission rope 423 is wound around the second guide wheel 4213 after passing through the second transition wheel 4243. The difference in radial dimensions of the first transition wheel 4242 and the second transition wheel 4243 can compensate for the deviation of the first transmission rope 422 and the second transmission rope 423 in the first direction, thereby ensuring that the transmission rope between the guide wheel and the transition wheel is perpendicular to the first direction.

[0109] A second aspect of the present application provides a surgical robot comprising the above-mentioned wire drive device.

[0110] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A wire driving device, characterized in that: include: Bracket; A power assembly is arranged on the bracket, and the power assembly is used to provide driving force; A driving assembly is rotatably mounted on the bracket, and the driving assembly is also connected to the power assembly, so that the driving assembly can rotate clockwise and counterclockwise around the rotating shaft under the driving force of the power assembly; as well as A connecting member, one end of which is used to connect a steel wire, and one end of the connecting member away from the steel wire is movably connected to the driving component. When the driving component rotates, the connecting member can rotate relative to the driving component around a rotating axis in a first direction, and the connecting member can also move relative to the rotating axis of the driving component along a second direction. The connecting member also has the function of moving along with the driving component in a third direction, wherein the first direction is parallel to the rotating axis of the driving component, and the first direction, the second direction and the third direction are perpendicular to each other.

2. The wire driving device according to claim 1, characterized in that: The driving assembly comprises a driving part, a connecting part and a receiving part which are connected together. The connecting part is rotatably connected to the bracket through a switching shaft, and the connecting member is movably connected to the driving part.

3. The wire driving device according to claim 2, characterized in that: A sliding cavity and an avoidance groove connected to the sliding cavity are provided inside the driving part, the connecting piece includes a sleeve and a connecting head connected to the sleeve, the connecting head is adapted to the sliding cavity, the sleeve is passed through the avoidance groove, one end of the sleeve away from the connecting head is connected to the steel wire, and the size of the avoidance groove is smaller than the size of the connecting head.

4. The wire driving device according to claim 3, characterized in that: The opening path of the sliding cavity is perpendicular to the rotating axis of the connecting part.

5. The wire driving device according to claim 4, characterized in that: The sliding cavity is opened from a position of the driving part close to the connecting part and facing away from the connecting part, and an extension line of the sliding cavity intersects with an axis of a rotating shaft of the connecting part.

6. The wire driving device according to claim 3, characterized in that: The shape of the connector may be cylindrical or spherical, and the cross-sectional shape of the sliding cavity may be square or circular.

7. The wire driving device according to claim 3, characterized in that: The driving part is also provided with an assembly groove connected to the sliding cavity, the assembly groove is located at one end of the driving part away from the connecting part, the size of the assembly groove is greater than or equal to the size of the connecting head and the sleeve, and the driving part is also provided with a locking hole connected to the assembly groove.

8. The wire driving device according to claim 2, characterized in that: The power assembly includes a power source and a transmission assembly, the power source includes a winding shaft rotatably connected to the bracket, the transmission assembly includes a guide structure, a transition structure, a first transmission rope and a second transmission rope, one end of the first transmission rope and the second transmission rope are respectively wound around the winding shaft in opposite directions, the middle parts of the first transmission rope and the second transmission rope are movably connected to the guide structure, and the other ends of the first transmission rope and the second transmission rope are fixedly connected to the receiving part by bypassing the transition structure.

9. The wire driving device according to claim 8, characterized in that: The receiving portion is provided with a first receiving groove and a second receiving groove around the rotating shaft of the driving assembly on an end surface facing the guide structure, the first receiving groove and the second receiving groove are arranged at an interval, the first receiving groove is used to accommodate the first transmission rope, and the second receiving groove is used to accommodate the second transmission rope; The receiving portion is also provided with a first fixing groove and a second fixing groove, the first fixing groove and the second fixing groove are respectively connected to the first receiving groove and the second receiving groove, the first fixing groove is used to fix the end of the first transmission rope, and the second fixing groove is used to fix the end of the second transmission rope.

10. A surgical robot, characterized in that: It comprises a wire drive device as described in any one of claims 1 to 9.

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