A surgical operation assisting robot instrument reducer, power unit and instrument system

Abstract

The present invention discloses a surgical operation assisting robot instrument reducer, comprising at least three reduction units, each reduction unit comprising a reduction output shaft and at least one reduction intermediate shaft; the reduction output shaft, the intermediate shaft and the output shaft of the motor are driven by a synchronous belt or a steel wire; the center line of each synchronous belt or steel wire connecting the reduction intermediate shaft and the reduction output shaft passes through the geometric center of each motor output axis; the length of each synchronous belt or steel wire connecting the reduction output shaft, the intermediate shaft and the motor output shaft is equal. The present invention provides a cluster transmission reducer, which provides an effective solution for realizing sufficient working freedom, power, force feedback and other functions of the instrument, is a supporting technology for the instrument to realize force feedback, and has a simple and very compact overall structure, high transmission accuracy, and is easy to manufacture and maintain.

Description

Technical Field

[0001] The invention relates to a deceleration structure, in particular to a deceleration structure used for a surgical operation assisting robot instrument. Background Art

[0002] Medical robots that perform minimally invasive surgery perform surgical operations on patients through instruments fixed at the end of the robot joints, such as the laparoscopic surgical robot disclosed in CN107951565A. Specifically, the operating part of the instrument is a clamp or scissors, etc., which are controlled by wires. Due to the specific structure of the robot and the characteristics of the surgery, the claws of these instruments need to be set at the end of a slender rod, and the wire controlling the operating part passes through the cavity of the slender rod.

[0003] The power for operating the claw comes from the motor, but the output speed of the motor is usually high, so a deceleration structure needs to be designed accordingly. However, for the specific working environment of the instrument, the deceleration structure is required to be as compact as possible and have low friction to reduce the size of the instrument and provide convenient conditions for force feedback of the instrument claw.

[0004] Therefore, those skilled in the art are committed to developing a surgical operation-assisted robot instrument reducer with a simple transmission structure and low transmission friction. Summary of the invention

[0005] In view of the above-mentioned defects in the prior art, the technical problem to be solved by the present invention is to provide a surgical operation assisting robot instrument reducer with a simple transmission structure and low transmission friction.

[0006] To achieve the above-mentioned object, the present invention provides a surgical operation assisting robot instrument reducer, comprising at least three reduction units;

[0007] The center line of each synchronous belt or steel wire connecting the reduction intermediate shaft and the reduction output shaft passes through the geometric center of each motor output axis;

[0008] The lengths of the synchronous belts or steel wires connecting the reduction output shaft, the intermediate shaft and the motor output shaft are equal.

[0009] To further simplify the structure, each reduction unit is provided with only one reduction intermediate shaft; each of the reduction intermediate shafts is provided on the reducer seat;

[0010] The motor mounting seat is provided with a plurality of screw holes corresponding to the reducer seat; the reducer seat is relatively provided with two connecting ears which can be bolt-connected with the screw holes; and the connecting ears are provided with waist-shaped holes.

[0011] Preferably, the axis centers of the reduction output shaft and the motor output shaft coincide with each other.

[0012] Preferably, the output shaft mounting seat of the reducer is fixed on the mounting seat of the motor;

[0013] A bearing installation shaft is integrally provided on the output shaft installation seat; the axis center line of the bearing installation shaft coincides with the axis center line of the motor output shaft;

[0014] The reduction output shaft is sleeved on the bearing mounting shaft through a bearing.

[0015] In order to further simplify the structure and reduce friction, the bearing mounting shaft is provided with a first reduction bearing and a second reduction bearing; the first reduction bearing and the second reduction bearing are arranged at intervals through a bushing;

[0016] The outer rings of the first reduction bearing and the second reduction bearing are matched with the reduction output shaft; the upper end surface of the first reduction bearing is positioned by the step of the inner cavity of the reduction output shaft; the lower end surface of the second reduction bearing is positioned by the clamping ring arranged in the inner cavity of the reduction output shaft;

[0017] An output flange is arranged at the upper end of the reduction output shaft.

[0018] Preferably, the reduction output shaft is provided with a first spring seat; the output flange is sleeved on the upper end of the reduction output shaft and is provided with a second spring seat; a sleeved spring is provided between the first spring seat and the second spring seat;

[0019] A limiting pin is fixed on the inner wall of the output flange; a limiting sliding groove corresponding to the limiting pin is arranged on the reduction output shaft; and the limiting pin extends into the limiting sliding groove.

[0020] An end cover is provided on the upper end surface of the first reduction bearing; the end cover is fixedly connected to the bearing mounting shaft by screws.

[0021] In order to further simplify the structure and reduce friction, the lower part of the output shaft mounting seat has a space for accommodating the motor output shaft and the synchronous belt or wire drive.

[0022] The present invention also provides a surgical operation-assisted robot instrument power group, comprising a motor, wherein the output shaft of the motor is connected to the reducer as described above.

[0023] The present invention also provides a surgical operation-assisted robotic instrument system, comprising the power group as described above.

[0024] The beneficial effects of the present invention are as follows: the present invention provides a cluster-type transmission reducer, which provides an effective solution for achieving sufficient working freedom, power, force feedback and other functions of the instrument, is a supporting technology for the instrument to achieve force feedback, and has a simple and very compact overall structure, high transmission accuracy, and is easy to produce and manufacture, and easy to maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of a specific implementation mode of the present invention.

[0026] Figure 2 yes Figure 1 AA cross-sectional structure schematic diagram.

[0027] Figure 3 yes Figure 2 A partial enlarged view of point I in the middle.

[0028] Figure 4 It is a structural schematic diagram of a power unit in a specific implementation manner of the present invention.

[0029] Figure 5 It is a schematic diagram of the top view of the power unit in this specific implementation method. Figure 6 yes Figure 5 Schematic diagram of the EE rotating cross-sectional structure.

[0030] Figure 7 yes Figure 5 Schematic diagram of the JJ cross-sectional structure.

[0031] Figure 8 yes Figure 7 LL cross-sectional structure diagram.

[0032] Fig. 9 A schematic structural diagram of a sterile separator in a specific embodiment of the invention.

[0033] Fig.10 Fig. 9 Schematic diagram of the structure viewed from above.

[0034] Fig.11 Fig.10 Schematic diagram of the BB cross-sectional structure.

[0035] Fig.12 A schematic diagram of the three-dimensional structure of a sterile separator in a specific embodiment of the invention.

[0036] Fig.13 yes Figure 1 Schematic diagram of the left view structure.

[0037] Fig.14 yes Fig.13 Schematic diagram of the CC cross-sectional structure.

[0038] Fig.15 yes Fig.14 A partial enlarged view of point II in the middle.

[0039] Fig.16 yes Fig.13 Schematic diagram of DD cross-sectional structure.

[0040] Fig.17 yes Fig.16 A partial enlarged view of point III in the middle.

[0041] Fig.18 yes Fig.13 Schematic diagram of the cross-sectional structure of II.

[0042] Fig.19 yes Fig.18 A partial enlarged view of point VII in the middle.

[0043] Fig. 20 It is a schematic diagram of the connection structure between the sterile separator and the power unit in a specific embodiment of the present invention.

[0044] Fig.21 It is a schematic diagram of the structure after removing the instrument box in a specific embodiment of the present invention.

[0045] Fig. 22 yes Fig.21 Schematic diagram of EE cross-sectional structure.

[0046] Fig.23 yes Fig.21 Schematic diagram of the FF cross-sectional structure.

[0047] Fig.24 yes Fig.23 A partial enlarged view of point IV in the middle.

[0048] Fig.25 yes Fig.23 A partial enlarged view of the V in the middle.

[0049] Fig.26 yes Fig.21 A partial enlarged view of point VI in the middle.

[0050] Fig. 27 yes Fig.21 M-direction view.

[0051] Fig.28 yes Fig.21 N-directional view.

[0052] Fig.29 It is a transmission schematic diagram of a long-rod steel belt driven wheel and a long-rod rotating wheel in a specific implementation manner of the present invention.

[0053] Fig.30 yes Fig.29 Schematic diagram of the cross-sectional structure.

[0054] Fig.31 yes Fig.30 A partial enlarged view of point VII in the middle.

[0055] Fig.32 yes Fig.30Schematic diagram of the cross-sectional structure of GG.

[0056] Fig.33 It is a schematic structural diagram of the claw portion in a specific embodiment of the present invention.

[0057] Fig.34 yes Fig.33 Schematic diagram of the cross-sectional structure of HH.

[0058] Fig.35 yes Fig.33 Schematic diagram of the P-direction structure. DETAILED DESCRIPTION

[0059] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0060] like Figures 1 to 35 As shown, a surgical operation-assisted robotic instrument system includes a power unit 100 , a sterile separator 200 and an instrument 300 .

[0061] In this embodiment, the power unit includes four power groups, and the four power groups 101 are arranged in parallel in a rectangular shape. In other specific embodiments, the number of power groups can be set according to specific needs, such as the number of degrees of freedom of operation of the instrument claw, etc. Of course, only one power group can be set, and the purpose of controlling the movement of the instrument claw can be achieved through one or more outputs of the transmission part.

[0062] like Figures 1 to 3 As shown, four power groups all include motor 101, each motor 101 is connected with reducer 102, and the output shaft 103 of reducer is provided with telescopic output flange 104. Output flange 104 can be connected with transition flange 201 of sterile separator 200, and transition flange 201 can be connected with input flange 301 of instrument, and the quantity and position of output flange 104, transition flange 201 and input flange 301 correspond. Obviously, with such drive structure, the output power of motor will be transmitted to instrument with the shortest transmission path after deceleration, so this will effectively simplify the transmission structure, and more importantly, such simplified transmission structure means that possible friction points will be less in the transmission process. This will save motor power, improve transmission accuracy, and make the resistance of surgical tool fed back to motor through transmission system. A torque sensor can be set at the motor output shaft 106 to collect surgical resistance data. At the same time, the speed and torque of the main hand motor operated by the surgeon can be controlled with reference to the size of these resistances. This allows the surgeon to feel the real-time situation of the surgical operation, thereby enabling the surgeon to accurately grasp the severity of the surgical action and make surgical control more precise.

[0063] As a relatively simple and compact structure, the output flange 104 , the transition flange 201 and the input flange 301 are provided with matable convex humps 1 and notches 2 .

[0064] like Figures 3 to 8 As shown, the reducer 102 includes a reduction output shaft 103 and a reduction intermediate shaft 105. In this embodiment, the reducer is configured to have two-stage reduction, that is, each reducer is only provided with one reduction intermediate shaft 105, and each reduction intermediate shaft 105 is provided on a reducer seat 108. The reduction output shaft 103, the reduction intermediate shaft 105 and the motor output shaft 106 are driven by a synchronous belt 107.

[0065] In other specific embodiments, multiple reduction intermediate shafts 105 may be provided according to the situation to achieve the purpose of multi-stage reduction. The reduction output shaft 103, the reduction intermediate shaft 105 and the motor output shaft may also be provided with transmission wheels, which are driven by steel wires to achieve basically the same technical effect of low friction.

[0066] In this embodiment, the center line L of each synchronous belt connecting the reduction intermediate shaft 105 and the reduction output shaft 103 passes through the geometric center O of each motor output axis, and the lengths of each synchronous belt or steel wire connecting the reduction output shaft, the intermediate shaft and the motor output shaft are equal.

[0067] The motor 101 is arranged on the motor mounting seat 110. The motor mounting seat 110 is provided with a plurality of screw holes 109 corresponding to the reducer seat 108. The reducer seat 108 is relatively provided with two connecting ears 112 which can be bolted to the screw holes 109, and the connecting ears 112 are provided with waist-shaped holes 113. The central assembly component composed of the reducer seat and other parts is free and not fixed in the initial state of installation. The assembled position is determined by eight synchronous belts. The central assembly component can be rotated to tighten the eight synchronous belts at the same time, and then the screws 114 are tightened to fix the connecting ears 112 and the screw holes 109, and the position of the central assembly component is fixed to complete the assembly work. Since the position of the central assembly component is free and not fixed, when the eight synchronous belts are tensioned, the difference caused by the position manufacturing tolerance will be automatically compensated, so that synchronous belts or steel wires of the same length can reach the same tensioning degree.

[0068] The output shaft mounting seat 115 of the reducer is fixed on the mounting seat 110 of the motor.

[0069] A bearing installation shaft 116 is integrally provided on the output shaft installation seat 115 , and a first reduction bearing 117 and a second reduction bearing 118 are sleeved on the bearing installation shaft 116 . The first reduction bearing 117 and the second reduction bearing 118 are spaced apart by a bushing 119 .

[0070] The outer rings of the first reduction bearing 117 and the second reduction bearing 118 cooperate with the reduction output shaft 103, and the upper end face of the first reduction bearing 117 is positioned by the step of the inner cavity of the reduction output shaft 103; the lower end face of the second reduction bearing 118 is positioned by the retaining ring 121 arranged in the inner cavity of the reduction output shaft 103.

[0071] The reduction output shaft 120 is provided with a first spring seat 122. The output flange 104 is sleeved on the upper end of the reduction output shaft 120 and is provided with a second spring seat 123. The first spring seat 122 and the second spring seat 123 are provided with springs 124.

[0072] A limit pin 125 is fixed on the inner wall of the output flange 104, and a limit slot 126 corresponding to the limit pin is arranged on the reduction output shaft 103, and the limit pin 125 passes through the limit slot.

[0073] An end cover 126 is provided on the upper end surface of the first reduction bearing 117 , and the end cover 126 is screwed and connected to the bearing installation shaft 116 via screws 127 .

[0074] The lower part of the output shaft mounting seat 115 has a space 120 for accommodating the motor output shaft 106 and the synchronous belt drive, and the axis center lines of the motor output shaft 106 and the reduction output shaft 103 coincide with each other.

[0075] like Figures 9 to 20 As shown, the sterile separator 200 includes an upper partition 202 and a lower partition 203 , and the upper partition 202 and the lower partition 203 are correspondingly provided with a cavity 204 for accommodating the transition flange 201 , and the inner diameter of the cavity 204 is greater than the outer diameter of the transition flange 201 .

[0076] The upper partition 202 is provided with a first axial limit boss 205 at the upper end of the cavity 204, the lower partition 203 is provided with a second axial limit boss 206 at the lower end of the cavity, and the outer surface of the transition flange 201 is provided with a third axial limit boss 207 corresponding to the first axial limit boss 205 and the second axial limit boss 206.

[0077] Therefore, the four transition flanges can rotate freely and move freely along the axis in the middle of the upper and lower partitions. When working, the four transition flanges only contact the upper and lower connected flanges and rotate synchronously. They do not contact any other parts, so no friction is generated, thus further providing convenient conditions for realizing force feedback during surgery.

[0078] The instrument system is provided with a self-locking buckle structure, which includes a first joint portion and a second joint portion, which correspond to the upper partition 202 and the instrument box 301 respectively. Two upper buckle seats 208 are arranged opposite to each other at two edges of the upper partition 202. An upper buckle 211 is arranged on the upper buckle seat 208 through a pin 209 and a torsion spring 210 sleeved on the pin 209. A first locking flange 212 is arranged on the upper buckle 211, and a second locking flange 302 corresponding to the first locking flange 212 is arranged on the instrument box 301 of the instrument 300.

[0079] The upper buckle 211 includes two installation arms 211a spaced apart, which are connected as an integral structure through a buckle portion 211b, and the installation arms 211a are sleeved on the pin 209. The buckle portion 211b is a wedge-shaped structure as a whole, and the positioning flange 302 is provided with a second inclined surface 327 corresponding to the wedge-shaped inclined surface 211c.

[0080] The instrument box 301 is provided with a first pressing portion of a rotating buckle, and the first pressing portion is located above the second clamping flange 302. The first pressing portion includes an integrated pressing plate 323, a limiting plate 324 and a pressing plate 325, the pressing plate 323 and the pressing plate 325 are parallel to each other, the limiting plate 324 is located between the pressing plate 323 and the pressing plate 325, and is perpendicular to the pressing plate 323 and the pressing plate 325.

[0081] The instrument box 301 is provided with a limiting flange 326 which abuts against the end surface of the limiting plate 324 . The width of the limiting flange 326 is smaller than the width of the limiting plate 324 , and the top surface of the pressing plate 323 is not higher than the root of the limiting flange 326 .

[0082] The upper buckle 211 is provided with a pressed surface 211 d corresponding to the pressing plate 325 .

[0083] When the upper partition 202 is combined with the instrument box 301, the wedge-shaped inclined surface 211c and the second inclined surface 327 first contact and then slide relative to each other, and the torsion spring 210 bends at this time. When the instrument reaches the target position, the torsion spring 210 rebounds, and the first clamping flange 212 is buckled on the second clamping flange 302 to achieve locking. If the pressing plate 323 is pressed, the pressing plate 325 will push the buckle part 211b, thereby overcoming the elastic force of the torsion spring 210 to push the upper buckle to rotate, so that the upper partition is separated from the instrument box.

[0084] Lower snap seats 213 are provided on both sides of the lower partition 203. A second pressing portion 219 corresponding to the lower snap seat 213 is provided on the installation shell 214 connecting the lower partition 203 and the power group. Sheet-shaped pins 215 are integrally provided at both ends of the second pressing portion 219, and a blind hole at the large end of the spring guide shaft 130 is provided in the middle.

[0085] The lower buckle seat 213 is provided with a through hole corresponding to the spring guide shaft 130 and a third spring seat 131, and a spring 132 is installed between the third spring seat 131 and the spring guide shaft 130. The mounting housing 214 is provided with a through hole 216 corresponding to the sheet-shaped plug 215, and the sheet-shaped plug 215 extends out of the through hole 216 and engages with the corresponding groove on the power unit housing.

[0086] In this embodiment, for ease of operation, the contours of the upper buckle 211 and the latch pin 215 are both configured as wedge-shaped structures.

[0087] like Figure 1 , Figure 2and Figures 21 to 32 As shown, the instrument 300 includes an instrument box 301, an instrument seat 302, a long rod 303 and a claw 304. A bearing frame 305 is fixed on the instrument seat, and the bearing frame 305 and the instrument seat 302 are provided with an input flange shaft through a bearing, and the input flange is provided at the lower part of the input flange shaft.

[0088] The long rod 303 is installed on the instrument seat 302 through a bearing, and a long rod rotating wheel 311 is fixed to the upper part of the long rod 303 .

[0089] The power unit includes a long rod power unit and a claw power unit. One of the four power units 100 is used as the long rod power unit, and the other three are used as the claw power units.

[0090] A long rod steel belt driven wheel 310 is fixed on the long rod input flange shaft 306 corresponding to the long rod power group, and a long rod steel wire 309 is wound around the long rod steel belt driven wheel 310. One end of the long rod steel wire 309 is fixed to the long rod steel belt driven wheel 310, and the other end is wound around the long rod rotating wheel 311 and then fixed to the long rod steel belt driven wheel 310.

[0091] The long rod steel belt driven wheel 310 includes an upper long rod steel belt driven wheel 310a and a lower long rod steel belt driven wheel 310b. The upper long rod steel belt driven wheel 310a and the lower long rod steel belt driven wheel 310b are located between the first mounting bearing 312a and the second mounting bearing 312b of the long rod input flange shaft 306. The upper long rod steel belt driven wheel 310a and the lower long rod steel belt driven wheel 310b are correspondingly provided with snap-fitting saw teeth 310c.

[0092] One end of the long rod wire 309 is fixed to the upper long rod wire driving wheel 310a, and the other end is fixed to the lower long rod wire driving wheel 310b. The specific fixing method is conventional fixing, such as arranging a small hole on the wire driving wheel, and arranging a knot after the rope head passes through the small hole.

[0093] The long-pole wire rotating wheel 311 is provided with a wire fixing seat 323 in the radial direction, and the wire fixing seat 323 is provided with a first wire rope knot 323a and a second wire rope knot 323b which are protruded relative to the long-pole wire rotating wheel 311. The first wire rope knot 323a and the second wire rope knot 323b have a first guide slot hole 324a and a second guide slot hole 324b for accommodating the long-pole wire 309 to pass through, and the first guide slot hole 324a and the second guide slot hole 324b are located on the path of the long-pole wire 309 winding around the first guide slot 325 of the wire rotating wheel 311;

[0094] A wire sleeve 326 is fixed on the long-rod steel wire 309 between the first steel wire knot 323a and the second steel wire knot 323b. Three second guide grooves 327 overlapping with the first guide groove 325 are arranged at intervals on the steel wire fixing seat 323, and the middle second guide groove overlaps with the first guide groove hole 324a and the second guide groove hole 324b. Therefore, during transmission, there will be no circumferential relative movement between the steel wire and the long-rod steel wire rotating wheel 311. In addition, there is always a part of the steel wire pressed on the knot before and after the knot, so that the steel wire is fixed and will not fall out, which is conducive to production operation.

[0095] The first installation bearing 312a is located on the upper part of the second installation bearing 312 and is locked by a locking screw 313. In other specific implementations, locking can also be achieved by using a locking nut or other similar structures.

[0096] like Figure 33 to Figure 35 As shown, a claw steel belt driven wheel 315 is fixed on the claw input flange shaft 314 corresponding to the claw power group, and a claw steel wire 316 is fixed on the claw steel belt driven wheel 315. The other end of the claw steel wire 316 passes through the cavity of the long rod 303 after passing through the wire groove wheel 317 and is connected to the claw 304.

[0097] A wire groove wheel mounting frame 318 is provided at the mounting position of the instrument seat 302 corresponding to the long rod 303, and a guide groove wheel 319 is provided on the wire groove wheel mounting frame 318. The positions of the guide groove wheels 319 correspond to the steel wire driving wheels 315 of each claw portion, and the number of the guide groove wheels 319 is twice that of the steel wire driving wheels 315 of the claw portion. One of them is used as a guide for entering the long rod cavity, and the other is used as a guide for passing through the long rod cavity.

[0098] Each claw steel belt driven wheel 315 includes an upper claw steel belt driven wheel 315a and a lower claw steel belt driven wheel 315b. The upper claw steel belt driven wheel 315a and the lower claw steel belt driven wheel 315b are located between the third mounting bearing 320 and the fourth mounting bearing 321 of the claw input flange shaft 314. The upper claw steel belt driven wheel 315a and the lower claw steel belt driven wheel 315b are correspondingly provided with snap-fitting saw teeth 315c.

[0099] The upper claw steel wire driving wheel 315a and the lower claw steel wire driving wheel 315b are both fixed with claw steel wire 316. The specific fixing method is conventional fixing, such as setting a small hole on the steel wire driving wheel, and setting a rope knot after the rope head passes through the small hole.

[0100] The third installation shaft 320 is supported on the upper part of the fourth installation bearing 321 and is locked by a locking nut 322. In other specific implementations, locking can also be achieved by using a locking screw or other similar structures.

[0101] The end of the long rod 303 is provided with a claw portion 304. The claw portion 304 includes a claw portion seat 328 fixed to the end of the long rod 303, a surgical tool seat 333 is hingedly connected to the claw portion seat 328 through a first hinge shaft 329, and a first working portion 331 and a second working portion 332 are hingedly connected to the lower end of the surgical tool seat 329 through a second hinge shaft 330. The first hinge shaft 329 is provided with two first guide wheels 334 and two second guide wheels 335 on both sides of the claw portion seat 333. The surgical tool seat 333 is provided with two third guide wheels 336 and two fourth guide wheels 337 respectively below the first guide wheel 334 and the second guide wheel 335. The surgical tool seat 333, the first working portion 331 and the second working portion 332 are all provided with guide grooves and through holes for allowing the claw wire to be wound.

[0102] After the claw wires of the power group pass through the inner cavity of the long rod 303, two groups of them pass through the first guide wheel 334, the third guide wheel 336, the guide groove and the through hole on the first working part 331, the fourth guide wheel 337 and the second guide wheel 335, and then return to the inner cavity of the long rod, and then pass through the guide groove wheel 319 and fix to the corresponding claw wire driving wheel 315. The other group of claw wires directly passes through the guide groove and the through hole on the surgical tool seat 333 and returns to the inner cavity of the long rod, and then passes through the guide groove wheel and fixes to the corresponding claw wire driving wheel.

[0103] In this embodiment, all bearings are rolling bearings, so that the friction of the transmission is extremely small, thereby further providing convenient conditions for realizing force feedback of the operation.

[0104] In this embodiment, all parts involving the rotating shaft are provided with bearings made of polytetrafluoroethylene material, thereby reducing the friction coefficient to a very small level, reducing the friction force, and further providing convenient conditions for realizing force feedback in surgery.

[0105] When the above-mentioned instrument system is working, the power of the motor in the power unit is decelerated and directly transmitted to the claw wire drive wheel and the long rod wire drive wheel through the flange, thereby controlling the operation of the claw. Therefore, the transmission path is short and many intermediate links are omitted. It is equivalent to the motor directly rotating, thereby pulling the wire forward or reverse. Based on this, the force state of the claw will also be more sensitively fed back to the motor shaft. During the entire wire transmission process, friction is only generated at the guide groove wheel, so the force feedback is more sensitive.

[0106] The upper and lower partitions of the sterile divider are used to clamp the sterile cover, which isolates the instrument seat, the motor output shaft, and the robot arm (not shown in the figure), so that the inside of the instrument is a sterile environment.

[0107] During operation, the sterile separator 200 is first installed on the power unit 100 , and then the instrument 300 is installed on the sterile separator 200 .

[0108] In most cases, the output flange 104, the transition flange 201 and the input flange 301 are not coupled to each other, the convex bumps do not enter the grooves and notches, and the claw surgical tool is not controlled.

[0109] Rotate the motor 101, and under the action of friction, several flanges may rotate simultaneously without relative rotation until the degrees of freedom of the surgical tool of the instrument claw are turned to the limit and are limited. After being limited, all flanges of the instrument will stop rotating.

[0110] The motor continues to rotate, and the transition flange 201 and the input flange 301 generate relative movement. When the flange convex bulge faces the groove, under the action of the spring 124, the transition flange 201 moves toward the instrument, and the convex bulge is inserted into the groove, completing the combination of the input flange 301 and the transition flange 201.

[0111] At this time, the two combined flanges are stationary. When the motor 101 continues to rotate, the reducer output flange 104 and the transition flange 201 in the sterile separator produce relative movement. When the convex bulge is opposite to the notch, under the action of the spring 124, the reducer output flange 104 moves toward the sterile separator, and the convex bulge is inserted into the notch, completing the combination of the output flange 104 and the transition flange 201.

[0112] During separation, the flange separation is completed when the instruments and sterile separators are removed separately.

[0113] Therefore, the transition flange of the sterile separator does not need to be aligned. It is enough to install the sterile separator and the instrument. The system will automatically close the flange. When the instrument and the sterile separator are removed, they will be automatically separated and disconnected without further action. In addition, the transition flange is located between the upper and lower partitions and can rotate freely and move freely along the axis. The travel of movement is equivalent to the travel of the output flange 104. When working, the four transition flanges only contact the upper and lower flanges and rotate synchronously. They do not contact any other parts and do not generate friction, so the force feedback is more sensitive.

[0114] Due to the setting of the upper buckle and the lower buckle, when the sterile separator needs to be removed, just pinch the lower buckle with your hand and remove it.

[0115] After working for a period of time, the steel wire may loosen, but due to the serrated structure on the long-rod steel wire drive wheel and the claw steel wire drive wheel, the steel wire can be tensioned by relative rotation of the upper and lower parts of the steel wire drive wheel. When the tensioning is completed, the serrations engage with each other to prevent the upper and lower parts of the steel wire drive wheel from rotating in the direction of the loosening of the steel wire. After being tightened by the nut or screw at the end of the shaft, the steel wire will no longer loosen.

[0116] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A surgical operation assisting robot instrument reducer, characterized in that: It comprises at least three reduction units, each of which comprises a reduction output shaft and a reduction intermediate shaft; the reduction output shaft, the reduction intermediate shaft and the output shaft of the motor are driven by a synchronous belt or a steel wire; The center line of each synchronous belt or steel wire connecting the reduction intermediate shaft and the reduction output shaft passes through the geometric center of each motor output axis; The lengths of the synchronous belts or steel wires connecting the reduction output shaft, the reduction intermediate shaft and the motor output shaft are equal; Each of the deceleration intermediate shafts is arranged on a reducer seat; rotating the reducer seat can simultaneously tension each of the synchronous belts or steel wires; The motor mounting seat is provided with a plurality of screw holes corresponding to the reducer seat; the reducer seat is provided with two connecting ears which can be bolted to the screw holes; the connecting ears are provided with waist-shaped holes; The axis center lines of the reduction output shaft and the motor output shaft coincide with each other.

2. The surgical operation assisting robot instrument reducer as claimed in claim 1, characterized in that: The output shaft mounting seat of the reducer is fixed on the motor mounting seat; A bearing installation shaft is integrally provided on the output shaft installation seat; the axis center line of the bearing installation shaft coincides with the axis center line of the motor output shaft; The reduction output shaft is sleeved on the bearing mounting shaft through a bearing.

3. The surgical operation assisting robot instrument reducer as claimed in claim 2, characterized in that: The bearing mounting shaft is provided with a first reduction bearing and a second reduction bearing; the first reduction bearing and the second reduction bearing are arranged at intervals through a bushing; The outer rings of the first reduction bearing and the second reduction bearing are matched with the reduction output shaft; the upper end surface of the first reduction bearing is positioned by the step of the inner cavity of the reduction output shaft; the lower end surface of the second reduction bearing is positioned by the clamping ring arranged in the inner cavity of the reduction output shaft; An output flange is arranged at the upper end of the reduction output shaft.

4. The surgical operation assisting robot instrument reducer as claimed in claim 3, characterized in that: The reduction output shaft is provided with a first spring seat; the output flange is sleeved on the upper end of the reduction output shaft and is provided with a second spring seat; a sleeved spring is provided between the first spring seat and the second spring seat; A limiting pin is fixed on the inner wall of the output flange; a limiting sliding groove corresponding to the limiting pin is arranged on the reduction output shaft; and the limiting pin extends into the limiting sliding groove.

5. The surgical operation assisting robot instrument reducer as claimed in claim 3, characterized in that: An end cover is provided on the upper end surface of the first reduction bearing; the end cover is fixedly connected to the bearing mounting shaft by screws.

6. The surgical operation assisting robot instrument reducer as claimed in claim 3, characterized in that: The lower part of the output shaft mounting seat has a space for accommodating the motor output shaft and the synchronous belt or wire drive.

7. A surgical operation assisting robot instrument power unit, comprising a motor, characterized in that: The output shaft of the motor is connected to the reducer according to any one of claims 1 to 6.

8. A surgical operation-assisted robotic instrument system, characterized in that: Comprising the power pack as claimed in claim 7.

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