Surgical instruments and surgical robots

Abstract

The present invention discloses a surgical instrument and a surgical robot, wherein the surgical instrument comprises a main control box having a first matching portion; a drive box comprising a box body and a first control member arranged on the box body, wherein the first control member comprises a second matching portion for matching with the first matching portion; the first control member is used to move in a first direction when subjected to an applied force, so that the second matching portion is separated from the first matching portion, so that the drive box is separated from the main control box. The present invention can solve the technical problem that the existing surgical instruments are easily damaged during the sterilization process and thus cannot be used normally.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a surgical instrument and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices 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.

[0003] With the advancement of science and technology, minimally invasive surgical robot technology has gradually matured and has been widely used. Minimally invasive surgical robots usually include a master console and a slave operating device. The master console is used to send control commands to the slave operating device according to the doctor's operation to control the slave operating device. The slave operating device is used to respond to the control commands sent by the master console and perform corresponding surgical operations.

[0004] The operating equipment usually includes a robotic arm, a power mechanism arranged on the robotic arm, and a surgical instrument. The robotic arm is used to adjust the position of the instrument, the surgical instrument is used to extend into the body and perform surgical operations, and the power mechanism is used to drive the end instrument of the surgical instrument to perform the corresponding operation. The end instrument includes an endoscope for observing the surgical area and an end effector for performing surgical operations (such as clamps, scissors, and needle holders, etc.). These surgical instruments need to be sterilized separately because they are close to the patient's lesion area. However, the surgical instrument includes structures such as motors, sensors, encoders, and electrical connectors. Therefore, it cannot be sterilized by steam, heating, pressure or chemicals. This will cause the surgical instrument to be damaged during the sterilization process and cannot be used normally. Summary of the invention

[0005] The main purpose of the present invention is to provide a surgical instrument and a surgical robot, aiming to solve the technical problem that the existing surgical instruments are easily damaged during the sterilization process and thus cannot be used normally.

[0006] To achieve the above object, the present invention provides a surgical instrument, comprising:

[0007] A main control box having a first matching portion;

[0008] A driving box, comprising a box body and a first control member disposed on the box body, wherein the first control member comprises a second matching portion for matching with the first matching portion;

[0009] The first control member is used to move in a first direction when subjected to an applied force, so that the second matching portion is separated from the first matching portion, so that the drive box is separated from the main control box.

[0010] Preferably, the first control component also includes a movable body arranged on the box body, and a locking portion connected to the movable body, and the second matching portion is protruded from the movable body toward the main control box; the movable body is used to move in the first direction relative to the box body when the locking portion is subjected to a force, so that the second matching portion is separated from the first matching portion, thereby separating the drive box from the main control box.

[0011] Preferably, the drive box also includes a support body fixed in the box body for carrying the movable body, the locking portion includes a button portion connected to the movable body and an elastic portion, the elastic portion is connected between the button portion and the support body, the first control member is used to move along the first direction when the button portion is subjected to pressing force, the elastic portion is used to elastically deform when the first control member moves along the first direction, and elastically restore when the pressing force on the button portion disappears to reset the first control member.

[0012] Preferably, a receiving groove for accommodating the elastic part is concavely provided on the support body, and one end of the elastic part is connected to the button part, and the other end is connected to the receiving groove.

[0013] Preferably, the drive box also includes a support body fixedly arranged in the box body for carrying the moving body, the moving body is movable relative to the support body, the locking part includes a rotating body and a rotating part connected to the rotating body, the rotating body is provided with a spiral groove, the first control part also includes a connecting column extending from the moving body toward the locking part, the connecting column is provided with a convex column, the convex column is located in the spiral groove, the rotating part is used to rotate and drive the convex column to move in the spiral groove, thereby driving the moving body to move relative to the supporting body.

[0014] Preferably, the support body is recessed with a threaded portion, and the locking portion also includes a convex ridge portion convexly provided on the rotating body, the convex ridge portion is used to engage with the threaded portion, and when the rotating portion is used to rotate in the opening direction, the convex ridge portion moves in the threaded portion in a direction away from the movable body, causing the convex column to move in the spiral groove in a direction away from the rotating portion, thereby causing the movable body to move in the first direction; the rotating portion is also used to rotate in the locking direction, when the convex ridge portion moves in the threaded portion in a direction close to the movable body, causing the convex column to move in the spiral groove toward the rotating portion, thereby causing the movable body to move in a second direction opposite to the first direction.

[0015] Preferably, the rotating body is also provided with a stop groove located on one side of the rotating part and connected to the spiral groove. The convex cylinder is used to move along the spiral groove into the stop groove and contact with the groove wall of the stop groove when the rotating part rotates in the locking direction, thereby preventing the rotating part from continuing to rotate.

[0016] Preferably,

[0017] Preferably, the movable body is provided with a buckling portion protruding toward the connector, and the buckling portion is used to abut against an edge portion of the supporting body to prevent the bottom shell from moving relative to the movable body.

[0018] Preferably, the main control box includes a bottom shell provided with the first matching portion, which is a card slot; the support body is provided with a positioning slot inwardly, and the second matching portion is used to snap with the card slot to limit the movement of the bottom shell away from the connector; the buckling portion is used to snap with the positioning slot to limit the movement of the bottom shell toward the connector.

[0019] Preferably, the support body is provided with a sliding groove at one end close to the first direction; the first control member also includes a supporting portion for moving along the sliding groove to the first direction, and an extending portion extending from the movable body to the first direction, and the extending portion is fixedly matched with the supporting portion; the connector is provided with a stop wall on one side close to the first direction; the supporting portion is used to abut against the stop wall to prevent the movable body from moving when the drive box and the connector are not separated and when the first control member is subjected to pressing force.

[0020] Preferably, the box body is provided with a through hole at a position corresponding to the abutting portion, so that the abutting portion can extend out of the through hole when the moving body moves along the supporting body toward the first direction; or

[0021] The box body is provided with a through hole corresponding to the position of the abutting portion, so that one end of the abutting portion extends out of the box body and moves along the through hole in the first direction when the moving body moves along the supporting body in the first direction.

[0022] Preferably, the abutting portion is provided with a groove toward the connector, and the extending portion is provided with a flange body that cooperates with the groove toward the connector, and the flange body is used to drive the abutting portion to move in the first direction when the movable body moves along the supporting body in the first direction.

[0023] Preferably, the main control box includes a bottom shell provided with the first mating portion, and the first mating portion is a card slot; the second mating portion is used to pass through the first mating portion and snap with the side of the bottom shell away from the connector to fix the drive box to the main control box; the second mating portion is also used to separate from the side when the moving body moves in the first direction, thereby separating the drive box from the main control box.

[0024] Preferably, the surgical instrument also includes a connector for detachably connecting to the drive box, and a second control member arranged on the box body, the connector having a fastener; the drive box also includes a bracket fixedly arranged in the box body, the second control member includes a lever pivotally connected to the bracket, and a separation pressing portion movably connected to the first end of the lever; the second end of the lever is used to contact the fastener; the separation pressing portion is used to drive the second end of the lever to contact the fastener outward when subjected to pressing force, so as to separate the fastener from the fastening portion, thereby separating the drive box from the connector.

[0025] Preferably, the separation pressing portion includes a main body and an elastic portion with one end connected to the inner side of the main body and the other end connected to the bracket; the first end of the lever is provided with a first boss protruding toward the connector, and the main body is provided with a movable groove for movably connecting the first boss; the main body is used to elastically deform the elastic portion when subjected to pressing force, and drive the first boss in the movable groove to move inward, so that the second end moves outward to resist the fastener.

[0026] Preferably, the second end of the lever is provided with a second boss protruding toward the connector, and the bracket is provided with a limiting groove at a position corresponding to the second boss, and the limiting groove has a limiting wall on the side away from the main body. The second boss is used for causing the elastic part to elastically restore and push the main body to move outward when the pressing force applied to the main body disappears, and drives the first boss in the movable groove to move outward, and then it conflicts with the limiting wall to stop the separation pressing part from moving.

[0027] Preferably, the separation pressing part also includes an operating part connected to the outer side of the main body, and the operating part is used to push the main body to move when subjected to pressing force, so that the elastic part is elastically deformed and drives the first protrusion in the movable groove to move inward, thereby causing the second end to move outward to resist the fastener.

[0028] Preferably, the surgical instrument also includes a connector for detachably connecting to the drive box, and the connector has a fastener that cooperates with the box body; the drive box also includes a support body fixed in the box body and a box cover body fixedly connected to the support body, and the box cover body is provided with a fastening portion protruding in the direction of the support body, and the fastening portion is provided with a positioning hole for the fastener to be inserted into so that the drive box is fixedly connected to the connector.

[0029] Preferably, the first control member comprises a moving body carried on the supporting body and movable relative to the supporting body, and the moving body is located between the supporting body and the box cover body.

[0030] Preferably, the surgical instrument also includes a connector for detachably connecting to the drive box, and a second control member arranged on the box body, the connector having a fastener; the second control member is used to resist the fastener when subjected to a force, thereby separating the drive box from the connector; the first control member is used to move in a first direction after the drive box is separated from the connector and when subjected to a force, thereby separating the second mating portion from the first mating portion, thereby separating the drive box from the main control box.

[0031] Preferably, the surgical instrument further comprises a connecting rod connected to the driving box and passing through the connector, and an image acquisition unit connected to the connecting rod.

[0032] To achieve the above objectives, the present invention also provides a surgical robot, which includes the surgical instrument as described above.

[0033] The surgical instrument and surgical robot provided by the present invention are provided with a first matching portion on the main control box, a first control member on the box body of the driving box, and the second matching portion of the first control member matches the first matching portion, so that the first control member moves in the first direction when subjected to an applied force, so that the second matching portion is separated from the first matching portion, so that the driving box is separated from the main control box. In this way, by separating the driving box from the main control box and sterilizing the driving box, it is possible to avoid damage to structures such as the motor, sensor, encoder, and electrical connector in the main control box during the sterilization process, thereby increasing the service life of the surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1-1 This is a schematic structural diagram of an embodiment of a surgical robot according to the present invention;

[0035] Figure 1-2 This is a schematic diagram of an application scenario in which the surgical instrument of the present invention is suitable for handheld use;

[0036] Figure 2It is a structural schematic diagram of a first embodiment of a surgical instrument of the present invention;

[0037] Figure 3 for Figure 2 Schematic diagram of some explosion structures;

[0038] Figure 4 for Figure 2 Schematic diagram of the partial explosion structure of the main control box;

[0039] Figure 5 for Figure 3 A schematic diagram of the structure of the surgical instrument without the connecting rod;

[0040] Figure 6 for Figure 5 Schematic diagram of partial explosion structure of the bottom shell of the central main control box and the driver box;

[0041] Figure 7 for Figure 6 Schematic diagram of the assembly structure;

[0042] Figure 8 for Figure 6 A schematic diagram of another perspective of the moving body and the supporting body;

[0043] Fig. 9 for Figure 2 A schematic structural diagram of another embodiment of the first control member and the support body;

[0044] Fig.10 for Fig. 9 A schematic diagram of the structure of the middle rotating part from another perspective;

[0045] Fig.11 for Fig.10 Schematic diagram of the opening direction and locking direction of the middle rotating part;

[0046] Fig.12 for Figure 2 A schematic diagram of the structure from another perspective;

[0047] Fig.13 It is a structural schematic diagram of a second embodiment of the surgical instrument of the present invention;

[0048] Fig.14 for Fig.13 Schematic diagram of the exploded structure without the connecting rod;

[0049] Fig.15 for Fig.14 A schematic diagram of the matching structure between the second control member and the connector;

[0050] Fig.16 for Fig.15 Schematic diagram of the structure of the middle lever;

[0051] Fig.17 for Fig.15 A schematic diagram of the structure of the middle separation pressing part;

[0052] Fig.18 for Figure 5 Schematic diagram of the structure of the middle bracket;

[0053] Fig.19 for Figure 4 Schematic diagram of the structure of the signal processing module.

[0054] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0057] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0059] like Figure 1-1 As shown, the present invention provides a surgical robot 1000, the surgical robot 1000 includes a main operation table 200 and a slave operation device 300, the main operation table 200 is used to send a control command to the slave operation device 300 according to the doctor's operation to control the slave operation device 300; the slave operation device 300 is used to respond to the control command sent by the main operation table 200 and perform corresponding surgical operations. The slave operation device 300 includes a mechanical arm 301, a power mechanism (not shown in the figure) and a surgical instrument (not shown in the figure) provided on the mechanical arm 301, an image host 302 and an image display 303. The surgical instrument is used to extend into the body under the driving action of the power mechanism, perform surgical operations through its end effector located at the far end, and obtain image signals in the body through its image acquisition unit located at the far end, and transmit the obtained image signals to the image host 302. The image host 302 is used to analyze and process the received image signals, for example, decode the received image signals, and then output video signals to the image display 303 for display. Of course, the image host 302 can also perform noise reduction, white balance and other processing on the received image signal to obtain an image with higher picture quality. The main operating console is also used to display the image obtained by the endoscope.

[0060] like Figure 1-2 As shown, the surgical instrument 100 is also suitable for handheld application scenarios. Therefore, the surgical instrument 100 provided in this embodiment can be used not only in application scenarios of controlling a surgical robot to perform surgery, but also in application scenarios of performing surgery by handheld means.

[0061] The present invention provides a surgical instrument 100, which can be an instrument with an endoscope for observing a surgical area, or an instrument with an end effector for performing a surgical operation. The following text is described by taking an instrument with an endoscope as an example. The surgical instrument can be a bendable structure or a non-bendable structure.

[0062] like Figure 2 and Figure 3 As shown, in one embodiment, the surgical instrument 100 may include a main control box 1, a driving box 2 connected to the main control box 1, and an image acquisition unit 5 connected to the driving box 2. The image acquisition unit further includes a connecting rod 51 connected to the driving box 2, and an image acquisition unit 5 provided at the end of the connecting rod 5, the image acquisition unit 5 is used to acquire image signals of the patient's lesion area, and the image signals may specifically include a target tissue image of the lesion area and an image of the operation process of the end effector performing the surgery.

[0063] like Figure 4As shown, the main control box 1 is used to accommodate structures such as a motor, an encoder, a signal processing module, and an electrical connector. The main control box 1 includes a shell (not shown in the figure), a signal processing module 15, etc. accommodated in the shell. The shell has a bottom shell 11 on the side close to the drive box 2, and one or more first matching parts 12 are provided on the bottom shell 11. In one embodiment, the first matching part 12 is a card slot, and four card slots are arranged on the bottom shell 11 to form a rectangular, square or circular shape. In other embodiments, the first matching part 12 can also be a through hole; the first matching part 12 can also be a buckle structure protruding toward the drive box 2.

[0064] like Figures 5 to 7 As shown, the driving box 2 includes a box body 21, a first control member 24 disposed on the box body 21, a bracket (not shown in the figure) fixedly disposed in the box body 21, a support body 28 disposed on the bracket, and a box cover body 29 connected to the support body 28. A receiving space (not shown in the figure) is formed between the bracket and the support body 28 to accommodate structures such as a driving shaft (not shown in the figure) and a reversing wheel (not shown in the figure).

[0065] Furthermore, the first control member 24 includes a moving body 240 supported on the support body 28 and movable relative to the support body 28, and a locking portion 250 connected to the moving body 240. It is understandable that a receiving groove (not shown in the figure) is provided on the box body 21 for the locking portion 250 to be inserted into and facilitate the operator to perform a pressing operation. The locking portion 250 is used to push the moving body 240 to move in the first direction A when a force is applied.

[0066] The support body 28, the moving body 240, and the box cover body 29 are stacked in sequence in the box body 21, that is, the moving body 240 is located between the support body 28 and the box cover body 29. The box cover body 29, the support body 28, and the bracket are fixedly connected by studs, and the support body 28, the moving body 240, and the box cover body 29 are fixed in the box body 21. Of course, the box cover body 29, the support body 28, and the bracket are not limited to being fixed by studs, and can also be fixedly matched by means of snaps or the like.

[0067] Furthermore, the box cover 29 is provided with first matching parts (not shown in the figure) in the same position, quantity and shape as the bottom shell 11. Of course, in other embodiments, the first matching parts on the box cover 29 may be in the same position as the first matching parts 12 on the bottom shell 11, but in different shapes and quantities. The box cover 29 may also only retain the frame part for connecting with the support body 28, and make the middle part of the box cover 29 a hollow structure.

[0068] Furthermore, if Figure 8 As shown, the moving body 240 is provided with a second matching portion 241 protruding toward the main control box 1. In one embodiment, the second matching portion 241 may be a snap-fit ​​structure, and specifically, the extension direction of the hook-shaped end thereof is a second direction B opposite to the first direction A. The moving body 240 is provided with a buckle portion 242 protruding toward the support body 28, and the extension direction of the hook-shaped end of the buckle portion 242 may be the same as the extension direction of the hook-shaped end of the second matching portion 241. Of course, in other embodiments, the direction of the hook-shaped end of the buckle portion 242 may also be different from the extension direction of the hook-shaped end of the second matching portion 241. For example, the extension direction of the hook-shaped end of the buckle portion 242 may be outward along the paper direction, or may be inward along the paper direction. In other embodiments, the second matching portion 241 may also be a magnet structure to be adsorbed on the first matching portion 12. The number of the second matching portions 241 is the same as the number of the first matching portions 12, or is less than the number of the first matching portions 12. However, there may be no corresponding relationship between the number of the buckling portions 242 and the number of the second matching portions 241 , that is, the two may be the same or different.

[0069] The second matching portion 241 is used to engage with the first matching portion 12 on the bottom shell 11, so as to limit the bottom shell 11 from moving away from the drive box 2. The support body 28 is provided with a positioning groove 281 ( Figure 6 As shown in the figure, the buckling portion 242 is used to buckle with the positioning groove 281 to limit the movement of the bottom shell 11 in the direction close to the drive box 2. In other embodiments, the positioning groove 281 may not be provided, and the buckling portion 242 may directly buckle the edge portion of the support body 28. The positioning groove 281 is provided in this embodiment to avoid increasing the volume of the drive box 2. It can be understood that regardless of whether the positioning groove 281 is provided on the support body 28, the buckling portion 242 can buckle the edge portion of the support body 28. In this way, the acting force between the second matching portion 241 and the first matching portion 12 can be increased, thereby preventing the bottom shell 11 from moving relative to the moving body 240, that is, the fixing strength between the main control box 1 and the drive box 2 can be increased, thereby preventing accidents caused by loosening of instruments during surgery.

[0070] It is understandable that the moving body 240 may be provided with only the second matching portion 241, or may be provided with both the second matching portion 241 and the buckling portion 242. A reasonable arrangement may be made according to actual needs.

[0071] Furthermore, if Figure 8As shown, in one embodiment, the locking portion 250 includes a button portion 251 connected to the moving body 240 and an elastic portion 252 connected to the button portion 251. The support body 28 is provided with a recessed receiving groove 282 for receiving the elastic portion 252. One end of the elastic portion 252 is connected to the button portion 251, and the other end is connected to a groove wall 283 of the receiving groove 282. The elastic portion 252 is used to elastically deform when the button portion 251 is pressed to push the moving body 240 to move in the first direction A, and elastically recover when the pressing force on the button portion 251 disappears to reset the moving body 240.

[0072] When the button portion 251 is pressed, the button portion 251 pushes the moving body 240 to move along the supporting body 28 in the first direction A, so that the second matching portion 241 is separated from the first matching portion 12, thereby separating the driving box 2 from the main control box 1. At this time, the elastic portion 252 is in an elastic contraction state under the pushing force of the button portion 251. When the pressing force on the button portion 251 disappears, the first control member 24 is reset under the elastic recovery of the elastic portion 252.

[0073] Furthermore, if Fig. 9 and Fig.10 As shown, in another embodiment, the locking portion 250 includes a rotating body 253 with a spiral groove 254, a convex ridge portion 256 convexly provided on the rotating body 253 and a rotating portion 257 connected to the rotating body 253, an elastic portion 258 connected to the moving body 240 at one end and connected to the rotating portion 257 at the other end, and a fixing portion 259 convexly provided on a side of the rotating body 253 away from the rotating portion 257. The fixing portion 259 is used to enhance the strength of the locking portion 250. Optionally, the rotating body 253 may be provided with a stopper groove 255 communicating with the spiral groove 254 on one side of the rotating portion 257.

[0074] The support body 28 is provided with a threaded portion 287 that cooperates with the convex ridge portion 256. The first control member 24 further includes a connecting column 263 extending from the moving body 240 toward the locking portion 250. The connecting column 263 is provided with a convex column 264. The elastic portion 258 can also be connected to the connecting column 263. That is, the elastic part 258 can be sleeved outside the connecting column 263, in which case one end of the elastic part 258 is connected to the moving body 240 and the other end is connected to the rotating part 257; the elastic part 258 can also be arranged inside the connecting column 263, if the connecting column 263 is a hollow column, one end of the elastic part 258 can be connected to the moving body 240 and the other end is connected to the rotating part 257; the elastic part 258 can also be arranged inside the connecting column 263, if the connecting column 263 is a blind hole column, one end of the elastic part 258 is connected to the connecting column 263 and the other end is connected to the rotating part 257. The position of the elastic part 258 can be reasonably set according to actual needs, and is not limited to the above-mentioned several cases.

[0075] like Fig.11 As shown, when the rotating portion 257 rotates in the opening direction M, the ridge portion 256 moves in the direction away from the moving body 240 on the threaded portion 287, so that the convex cylinder 264 moves in the spiral groove 254 away from the rotating portion 257, thereby moving the moving body 240 in the first direction. Specifically, when the rotating portion 257 rotates in the opening direction M, the convex cylinder 264 moves along the spiral groove 254 into the stop groove 255 and contacts the groove wall of the stop groove 255. Optionally, the opening direction M can be clockwise; it can be set that after the rotating portion 257 rotates in the opening direction M by a predetermined angle such as 90°, the convex cylinder 264 is inserted into the stop groove 255. Due to the arrangement of the stop groove 255 and the elastic part 258, when the convex cylinder 264 moves from the spiral groove 254 to the stop groove 255, the elastic part 258 undergoes elastic deformation, and elastically recovers when the convex cylinder 264 is located in the stop groove 255, so that the convex cylinder 264 abuts against the groove wall of the stop groove 255, thereby preventing the convex cylinder 264 from moving out of the stop groove 255. In this way, the operator can feel the rebound force during operation, so as to know that the rotating part 257 has been rotated into place, and the operator does not need to confirm it with his eyes, thereby improving the user experience.

[0076] When the rotating portion 257 rotates in the locking direction N opposite to the opening direction M, the ridge portion 256 moves in the threaded portion 287 toward the moving body 240, causing the convex column 264 to move in the spiral groove 254 toward the rotating portion 257, thereby causing the moving body 240 to move in a second direction opposite to the first direction.

[0077] Furthermore, if Figure 8 As shown, the support body 28 is provided with a sliding groove 284 at one end close to the first direction A, and a butting portion 285 for moving along the sliding groove 284 toward the first direction A or the second direction B. The first control member 24 also includes an extension portion 261 extending from the moving body 240 toward the first direction A, and the extension portion 261 is used to be fixedly matched with the butting portion 285. Specifically, in one embodiment, the butting portion 285 is provided with a groove 286 (such as a T-shaped groove or a circular groove, etc.) in a direction away from the main control box 1, and the extension portion 261 is provided with a flange body 262 (such as a flange body 262) in a direction away from the main control box 1 to match the groove 286. Figure 6 As shown in Fig.12 As shown, the box body 21 is correspondingly provided with a through hole 20 for the abutting portion 285 to extend therein, and when the moving body 240 moves in the first direction A along the supporting body 28, the abutting portion 285 can extend out of the through hole 20. Of course, in other embodiments, when the initial installation is completed, one end of the abutting portion 285 can extend slightly out of the through hole 20, so that when the moving body 240 moves in the first direction A along the supporting body 28, the abutting portion 285 can move in the first direction A along the through hole 20; when the thickness and other dimensions of the box body 21 are satisfied, the abutting portion 285 can also not extend out of the through hole 20. If an embodiment is selected in which one end of the abutting portion 285 slightly extends out of the through hole 20 when the initial installation is completed, then when the main control box 1 and the drive box 2 are installed, the fixing strength between the second matching portion 241 and the first matching portion 12 can be increased by pressing the abutting portion 285 from the through hole 20 side, thereby enhancing the fixing strength between the main control box 1 and the drive box 2.

[0078] When the locking portion 250 is subjected to a force, the moving body 240 moves along the supporting body 28 toward the first direction A, and the flange body 262 can drive the abutting portion 285 to move toward the first direction A.

[0079] like Fig.13 and Fig.14As shown, in another embodiment, the surgical instrument 100 may further include a connector 4 connected to the driving box 2 and a second control member 22 disposed on the box body. That is, the connector 4 may be one of the structures of the surgical instrument 100, or may be a structure independent of the surgical instrument 100. Fig.14 As shown, the connector 4 is fixed with two fasteners 41 arranged opposite to each other. Of course, in other embodiments, the fasteners 41 may be only one or more. The connector 4 is provided with a stop wall 42 on one side close to the first direction A. Specifically, the stop wall 42 is protruded from the connector 4 toward the direction close to the drive box 2. The height of the stop wall 42 may be lower than the height of the drive box 2, or higher than the height of the drive box 2, or the same as the height of the drive box 2. This embodiment is also not limited to the shape of the stop wall 42, so as not to affect the operation of the operator or the beauty of the drive box 2.

[0080] Further, the fastener 41 may be a T-shaped or L-shaped snap-fit ​​structure with elasticity. It is understood that when the fastener 41 is a snap-fit ​​structure, its corresponding matching structure may be a snap-fit ​​structure or a hole-shaped structure. In other embodiments, the fastener 41 may also be a hole-shaped or groove-shaped structure, and its corresponding matching structure may be a snap-fit ​​structure.

[0081] In one embodiment, if Figure 6 As shown, the box cover 29 is provided with a fastening portion 291 protruding toward the direction of the support body 28, and a positioning hole 292 is provided on the fastening portion 291, so that the fastener 41 can be inserted to fix the drive box 2 with the connector 4. In another embodiment, the box cover 29 is provided with a buckling portion (not shown) protruding toward the direction of the support body 28, so as to buckle with the fastener 41 to fix the drive box 2 with the connector 4. In other embodiments, the fastening portion 291 or the buckling portion can also be set at other reasonable positions on the drive box 2 as needed. The second control member 22 is used to buckle the fastener 41 when subjected to a force, so that the fastener 41 is disengaged from the box body 21, and the drive box 2 is separated from the connector 4.

[0082] like Figures 15 to 18As shown, the second control member 22 includes a lever 220 pivotally connected to the bracket 27 and having a first end 221 and a second end 222, and a separation pressing portion 230 movably connected to the first end 221, and the second end 222 is used to abut against the fastener 41. When the separation pressing portion 230 is subjected to a pressing force, the separation pressing portion 230 moves inward along the bracket 27, and drives the second end 222 of the lever 220 to abut against the fastener 41 outward, so that the fastener 41 is separated from the fastening portion 291 or the holding portion, thereby separating the drive box 2 from the connector 4.

[0083] Further, the separation pressing part 230 includes a body 231, an operating part 233 connected to the outside of the body 231, and an elastic part 234 connected to the inside of the body 231 at one end and connected to the bracket 27 at the other end. It can be understood that a moving groove (not shown in the figure) is concavely provided on the bracket 27 for the operating part 233 to move inward or outward. When the operating part 233 contacts the groove wall 283 of the moving groove, the operating part 233 stops moving. The body 231 can be suspended relative to the bracket 27, or can be slidably connected to the bracket 27. When the main body 231 is slidably connected with the bracket 27, the bracket 27 is provided with a slide rail at a position corresponding to the main body 231, and the main body 231 is provided with a groove 286 or a ridge adapted to the slide rail. In this way, when the operating part 233 is subjected to pressing force, the separation pressing part 230 will not shake when moving relative to the bracket 27, thereby making the movement of the separation pressing part 230 more stable.

[0084] Furthermore, the first end 221 of the lever 220 is provided with a first convex column 223 protruding toward the connector 4, and the body 231 is provided with a movable groove 232 for movably connecting the first convex column 223. The second end 222 of the lever 220 is provided with a second convex column 224 protruding toward the connector 4. Fig.17 As shown, the bracket 27 is recessed with a limiting groove 271 at a position corresponding to the second convex column 224 , and the limiting groove 271 has a limiting wall 272 on a side away from the body 231 .

[0085] When the operating portion 233 is subjected to a pressing force, the operating portion 233 pushes the body 231 to move inwards, causing the elastic portion 234 to deform elastically, and driving the first convex column 223 in the movable groove 232 to move inwards. At this time, under the rotation of the pivot 225 of the lever 220, the second end 222 moves outwards and contacts the fastener 41. When the pressing force on the operating portion 233 disappears, due to the elastic recovery of the elastic portion 234, the elastic portion 234 pushes the body 231 to move outwards, driving the first convex column 223 in the movable groove 232 to move outwards. At this time, under the rotation of the pivot 225 of the lever 220, the second convex column 224 in the limiting groove 271 contacts the limiting wall 272, causing the separation pressing portion 230 to stop moving.

[0086] In this embodiment, the moving groove and the limiting groove 271 can respectively limit the inward movement path of the separation pressing part 230 and the outward movement path of the separation pressing part 230, thereby achieving precise control of the separation pressing part 230 and improving the operator's operating experience.

[0087] When installing the drive box 2, the support body 28 can be first fixed on the bracket 27, and then the buckling portion 242 on the movable body 240 is matched with the positioning groove 281 to allow the movable body 240 to be carried on the support body 28, and then the second matching portion 241 on the movable body 240 is passed through the first matching portion 12 on the box cover body 29 or the hollow part of the box cover body 29, and finally the box cover body 29 and the support body 28 are fixed by connecting with studs to complete the installation of the drive box 2.

[0088] When the drive box 2 is installed, the second mating portion 241 can pass through the first mating portion 12 of the bottom shell 11 and contact the side 13 of the bottom shell 11 away from the connector 4 ( Figure 6 The drive box 2 is fixedly connected to the main control box 1 by a buckle (as shown), thereby completing the installation of the drive box 2 and the main control box 1.

[0089] When the driver box 2 and the main control box 1 are installed, the fastener 41 of the connector 4 can be matched with the fastening portion 291 to achieve a fixed connection between the driver box 2 and the connector 4. It can be understood that the driver box 2 is not limited to being installed with the main control box 1 first or with the connector 4 first, and the installation order of the driver box 2 and the main control box 1 or the connector 4 does not affect the implementation of the solution of the present invention.

[0090] In the solution of this embodiment, when the main control box 1, the drive box 2 and the connector 4 are assembled, due to the existence of the stop wall 42 on the connector 4, even if the locking portion 250 is subjected to a force, the main control box 1 and the drive box 2 will not be separated. Therefore, the disassembly sequence between the three is: first apply a force to the separation pressing portion 230 to separate the fastener 41 from the fastening portion 291, thereby separating the drive box 2 from the connector 4. Then press the locking portion 250 to separate the second matching portion 241 from the first matching portion 12, thereby separating the drive box 2 from the main control box 1.

[0091] In this embodiment, a first matching portion 12 is provided on the main control box 1, a first control member 24 is provided on the box body of the drive box 2, and the second matching portion 241 of the first control member 24 is matched with the first matching portion 12, so that the first control member 24 moves in the first direction when subjected to an applied force, so that the second matching portion 241 is separated from the first matching portion 12, so that the drive box 2 is separated from the main control box 1. In this way, by separating the drive box 2 from the main control box 1 and sterilizing the drive box 2, the motor, sensor, encoder, electrical connector and other structures in the main control box 1 can be prevented from being damaged during the sterilization process, thereby improving the service life of the surgical instrument 100. Furthermore, when the second control member 22 is subjected to an applied force, the drive box 2 is separated from the connector 4, and then the first control member 24 is separated from the first matching portion 12 when subjected to an applied force, so that the drive box 2 is separated from the main control box 1. In this way, the driving box 2 can be separated from the main control box 1 only after the driving box 2 is separated from the connector 4 and the first control component 24 is subjected to a force. This ensures that when the surgical instrument 100 performs a surgical operation during an operation, even if the first control component 24 is accidentally touched, the main control box 1 and the driving box 2 will not be separated, thereby improving the safety during the operation; or in the process of installing the surgical instrument 100 to the robotic arm 301, the risk of the main control box 1 falling off the driving box 2 due to an accidental touch operation is prevented, thereby improving the service life of the surgical instrument 100.

[0092] Furthermore, when the signal processing module 15 receives the image signal transmitted by the image acquisition unit 5, it converts the image signal into a target signal and transmits the target signal to the image host. The transmission distance of the target signal is greater than the transmission distance of the image signal. In this way, the image signal acquired by the image acquisition unit 5 can be prevented from attenuating during the transmission to the image host 302, thereby preventing the image displayed on the image display 303 from being distorted, thereby improving the image quality of the surgical area.

[0093] In one embodiment, the signal processing module 15 may specifically include a first processing unit (not shown in the figure), a second processing unit (not shown in the figure) and a third processing unit (not shown in the figure) which are sequentially connected in the main control box, wherein the first processing unit is used to convert the image signal into a low voltage differential signal and send the low voltage differential signal to the second processing unit; the second processing unit is used to decode the received low voltage differential signal and encode the decoded low voltage differential signal into an optical signal to obtain an optical coding signal; the third processing unit is used to receive the optical coding signal transmitted by the second processing unit and convert the optical coding signal into an optical signal to transmit the optical signal as the target signal to the image host. It can be understood that after receiving the optical signal, the image host converts the optical signal into an electrical signal for the next step of analysis and processing. This embodiment is applicable to the processing method conducted by optical cable. By converting the image signal into an optical signal and transmitting it to the image host through an optical cable, signal attenuation during the transmission to the image host can be avoided.

[0094] In another embodiment, the signal processing module 15' includes a first processing unit, a second processing unit and a third processing unit which are sequentially connected in the main control box, wherein the first processing unit is used to convert the image signal into a low voltage differential signal and send the low voltage differential signal to the second processing unit; the second processing unit is used to decode the received low voltage differential signal and perform SDI (serial digital interface, digital component serial interface) signal encoding on the decoded low voltage differential signal to obtain an SDI encoded signal; the third processing unit is used to receive the SDI encoded signal transmitted by the second processing unit and convert the SDI encoded signal into an SDI signal to transmit the SDI signal as the target signal to the image host. At this time, the SDI signal can also be processed to increase the signal quality transmitted to the image host. It can be understood that the present embodiment is applicable to the processing method conducted by cable. By converting the image signal into the SDI signal and transmitting it to the image host via a cable, signal attenuation can be avoided during the transmission of the signal to the image host 302.

[0095] like Fig.19As shown, the first processing unit includes a first PCB board 154 disposed in the main control box and a first chip (not shown in the figure) disposed on the first PCB board 154, the second processing unit includes a second PCB board 155 disposed in the main control box and a second chip (not shown in the figure) disposed on the second PCB board, the third processing unit includes a third PCB board 156 disposed in the main control box and a third chip (not shown in the figure) disposed on the third PCB board 156, and the first PCB board 154, the second PCB board 155 and the third PCB board 156 are stacked in sequence in a direction away from the image acquisition unit. It can be understood that the present invention is not limited to the number of processing units and PCB boards, and the specific number mainly depends on the structural size of the main control box. Specifically, according to the structural size of the main control box, the number of the processing unit and PCB board can be only one, and in other embodiments, it can also be two, etc.

[0096] like Figure 6 and Fig.19 As shown, the driving box also includes an electrical connector 31 having a plurality of contact pins 310 disposed in the box body, and an electrical connector seat 157 having a plurality of needle seats 158 is disposed on the side of the signal processing module 15 close to the image acquisition unit 5. The contact pins 310 of the electrical connector 31 are used to be inserted into the needle seats 158 of the electrical connector seat 157, so that the image signal collected by the image acquisition unit 5 is transmitted to the main control box through the driving box. The bottom shell is provided with a plug interface 14, and the box body is provided with a docking port 210 at a position corresponding to the plug interface 14. The contact pins 310 of the electrical connector 31 are used to sequentially pass through the docking port 210 and the plug interface 14 and be inserted into the needle seats 158 of the electrical connector seat 157, so that the image signal collected by the image acquisition unit 5 is transmitted to the main control box through the driving box. The shape of the plug interface 14 and / or the docking port 210 corresponds to the arrangement of the plurality of contact pins 310. The arrangement of the plurality of contact pins 310 may be a rectangle, square, circle, cross, T-shaped, etc., and the shape of the plug port 14 and / or the docking port 210 may be a corresponding rectangle, square, circle, cross, T-shaped. It is understandable that the arrangement of the plurality of pin seats 158 on the electrical connector seat 157 may also be a corresponding rectangle, square, circle, cross, T-shaped.

[0097] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A surgical instrument, characterized in that: The surgical instrument comprises: A main control box having a first matching portion; A driving box, comprising a box body and a first control member disposed on the box body, wherein the first control member comprises a second matching portion for matching with the first matching portion; The first control member is used to move in a first direction when subjected to an applied force, so that the second matching portion is separated from the first matching portion, so that the drive box is separated from the main control box; The first control member further comprises a moving body provided on the box body and a locking portion connected to the moving body, wherein the second matching portion is protruded from the moving body toward the main control box; the moving body is used to move relative to the box body in the first direction when the locking portion is subjected to a force, so that the second matching portion is separated from the first matching portion, thereby separating the driving box from the main control box; The main control box includes a bottom shell provided with the first matching portion, and the first matching portion is a card slot; the second matching portion is used to pass through the first matching portion and snap with the side of the bottom shell away from the drive box to fix the drive box to the main control box; the second matching portion is also used to separate from the side when the moving body moves in the first direction, thereby separating the drive box from the main control box.

2. The surgical instrument according to claim 1, characterized in that: The drive box also includes a support body fixedly arranged in the box body for carrying the moving body, the locking part includes a button part connected to the moving body and an elastic part, the elastic part is connected between the button part and the support body, the first control member is used to move along the first direction when the button part is subjected to pressing force, the elastic part is used to elastically deform when the first control member moves along the first direction, and elastically restore when the pressing force on the button part disappears to reset the first control member.

3. The surgical instrument according to claim 2, characterized in that: The support body is concavely provided with a receiving groove for accommodating the elastic part. One end of the elastic part is connected to the button part, and the other end is connected to the receiving groove.

4. The surgical instrument according to claim 1, characterized in that: The drive box also includes a support body fixedly arranged in the box body for carrying the moving body, the moving body is movable relative to the support body, the locking part includes a rotating body and a rotating part connected to the rotating body, the rotating body is provided with a spiral groove, the first control part also includes a connecting column extending from the moving body to the locking part, a convex column is protruded on the connecting column, the convex column is located in the spiral groove, the rotating part is used to rotate and drive the convex column to move in the spiral groove, thereby driving the moving body to move relative to the support body.

5. The surgical instrument according to claim 4, characterized in that: A threaded portion is recessed on the support body, and the locking portion also includes a convex ridge portion convexly provided on the rotating body, the convex ridge portion is used to engage with the threaded portion, and when the rotating portion is used to rotate in the opening direction, the convex ridge portion moves in the threaded portion in a direction away from the movable body, causing the convex column to move in the spiral groove in a direction away from the rotating portion, thereby causing the movable body to move in the first direction; the rotating portion is also used to rotate in the locking direction, when the convex ridge portion moves in the threaded portion in a direction close to the movable body, causing the convex column to move in the spiral groove toward the rotating portion, thereby causing the movable body to move in a second direction opposite to the first direction.

6. The surgical instrument according to claim 4, characterized in that: The rotating body is also provided with a stop groove located on one side of the rotating part and connected to the spiral groove. The convex cylinder is used to move along the spiral groove into the stop groove and contact with the groove wall of the stop groove when the rotating part rotates in the locking direction, so as to prevent the convex cylinder from moving out of the stop groove.

7. The surgical instrument according to claim 6, characterized in that: The locking portion also includes an elastic portion with one end connected to the moving body or the connecting column and the other end connected to the rotating portion; the elastic portion is used to elastically deform when the convex cylinder moves from the spiral groove to the stop groove, and elastically restore when the convex cylinder is located in the stop groove, so that the convex cylinder contacts the groove wall of the stop groove.

8. The surgical instrument according to claim 2 or 4, characterized in that: The surgical instrument also includes a connector for detachably connecting to the drive box, and the movable body is provided with a buckling portion protruding toward the connector, and the buckling portion is used to abut against the edge of the support body to prevent the bottom shell from moving relative to the movable body.

9. The surgical instrument according to claim 8, characterized in that: The main control box includes a bottom shell provided with the first matching portion, which is a card slot; the support body is recessed with a positioning slot, and the second matching portion is used to snap with the card slot to limit the movement of the bottom shell away from the connector; the buckling portion is used to snap with the positioning slot to limit the movement of the bottom shell toward the connector.

10. The surgical instrument according to claim 2 or 4, characterized in that: The surgical instrument also includes a connector for detachably connecting to the drive box, and the support body is provided with a sliding groove at one end close to the first direction; the first control member also includes a supporting portion for moving along the sliding groove to the first direction, and an extension portion extending from the movable body to the first direction, and the extension portion is fixedly matched with the supporting portion; the connector is provided with a stop wall on one side close to the first direction; the supporting portion is used to abut against the stop wall to prevent the movable body from moving when the drive box and the connector are not separated and when the first control member is subjected to pressing force.

11. The surgical instrument according to claim 10, characterized in that: The box body is provided with a through hole at a position corresponding to the abutting portion, so that the abutting portion can extend out of the through hole when the moving body moves along the supporting body toward the first direction; or The box body is provided with a through hole corresponding to the position of the abutting portion, so that one end of the abutting portion extends out of the box body and moves along the through hole in the first direction when the moving body moves along the supporting body in the first direction.

12. The surgical instrument according to claim 10, characterized in that: The abutting portion is concavely provided with a groove toward the connector, and the extending portion is convexly provided with a flange body cooperating with the groove toward the connector, and the flange body is used to drive the abutting portion to move toward the first direction when the moving body moves along the supporting body toward the first direction.

13. The surgical instrument according to claim 1, characterized in that: The surgical instrument also includes a connector for detachably connecting to the drive box, and a second control member arranged on the box body, the connector having a fastener; the drive box also includes a bracket fixedly arranged in the box body, the second control member includes a lever pivotally connected to the bracket, and a separation pressing portion movably connected to the first end of the lever; the second end of the lever is used to contact the fastener; the separation pressing portion is used to drive the second end of the lever to contact the fastener outward when subjected to a pressing force, so as to separate the fastener from the drive box and the drive box from the connector.

14. The surgical instrument according to claim 13, characterized in that: The separation pressing part comprises a body and an elastic part having one end connected to the inner side of the body and the other end connected to the bracket; a first protrusion is convexly provided at the first end of the lever toward the connector, and a movable groove for movably connecting the first protrusion is concavely provided on the body; The main body is used to elastically deform the elastic part when subjected to a pressing force, and drive the first protrusion in the movable groove to move inward, so that the second end moves outward to abut against the fastener.

15. The surgical instrument according to claim 14, characterized in that: The second end of the lever is provided with a second protrusion protruding toward the connector, and the bracket is provided with a limiting groove at a position corresponding to the second protrusion, and the limiting groove has a limiting wall on the side away from the main body. The second protrusion is used for contacting with the limiting wall to stop the movement of the separation pressing part when the pressing force applied to the main body disappears and the elastic part elastically recovers to push the main body to move outward and drives the first protrusion in the movable groove to move outward.

16. The surgical instrument according to claim 14, characterized in that: The separation pressing part also includes an operating part connected to the outer side of the body, and the operating part is used to push the body to move when subjected to a pressing force, so that the elastic part is elastically deformed and the first protrusion in the movable groove is driven to move inward, thereby causing the second end to move outward to resist the fastener.

17. The surgical instrument according to claim 1, characterized in that: The surgical instrument also includes a connector for detachably connecting to the drive box, and the connector has a fastener that cooperates with the box body; the drive box also includes a support body fixed in the box body and a box cover body fixedly connected to the support body, and the box cover body is provided with a fastening portion protruding in the direction of the support body, and the fastening portion is provided with a positioning hole for the fastener to be inserted into so that the drive box is fixedly connected to the connector.

18. The surgical instrument according to claim 17, characterized in that: The first control member comprises a moving body which is carried on the supporting body and is movable relative to the supporting body, and the moving body is located between the supporting body and the box cover body.

19. The surgical instrument according to claim 1, characterized in that: The surgical instrument also includes a connector for detachably connecting with the drive box, and a second control member arranged on the box body, wherein the connector has a fastener; the second control member is used to resist the fastener when subjected to a force, thereby separating the drive box from the connector; the first control member is used to move in the first direction after the drive box is separated from the connector and when subjected to a force, thereby separating the second mating portion from the first mating portion, thereby separating the drive box from the main control box.

20. The surgical instrument according to claim 1, wherein: The surgical instrument further includes a connector for detachably connecting to the driving box, a connecting rod connected to the driving box and passing through the connector, and an image acquisition unit connected to the connecting rod.

21. A surgical robot, characterized in that: The surgical robot comprises the surgical instrument according to any one of claims 1 to 20.

Images