Back-end transmission, medical devices and surgical robots

Abstract

The present invention discloses a rear-end transmission device, a medical device and a surgical robot, which include a first rotating member, a second rotating member, a third rotating member, a first transmission assembly and a second transmission assembly, wherein the first transmission assembly is respectively connected to a first cable, a second cable, a first rotating member and a third rotating member; the second transmission assembly is respectively connected to a third cable, a fourth cable, a second rotating member and a third rotating member; the first rotating member is rotatable to pull in one of the first cable and the second cable and release the other of the first cable and the second cable; the second rotating member is rotatable to pull in one of the third cable and the fourth cable and release the other of the third cable and the fourth cable; the third rotating member is rotatable to pull in at least one of the first cable and the second cable and release at least one of the third cable and the fourth cable, or to pull in at least one of the third cable and the fourth cable and release at least one of the first cable and the second cable.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a rear-end transmission device, a medical device and a surgical robot. Background Art

[0002] In robot-assisted minimally invasive surgery, the surgical tool connected to the end of the robot enters the human body through a wound or natural orifice on the human body surface to operate on the tissue inside the human body. This surgical tool mainly consists of an actuator or tool (such as surgical forceps, shearing tools or cauterization tools) installed on the wrist mechanism at the front end, a wrist mechanism that provides multiple degrees of freedom for the front end, a main pipe extending from the rear end of the instrument to the front end, and a power and transmission device at the rear end of the instrument. The front end actuator and wrist mechanism are usually driven by multiple cables fixed thereon, which run through the main pipe of the surgical tool and are driven by the power and transmission device at the rear end.

[0003] For surgical forceps and other clamping or shearing tools, the wrist mechanism usually needs to achieve three degrees of freedom: pitch, yaw, and clamping. Combined with the additional degrees of freedom of the rear end of the robot, it can achieve the movement required to complete the surgical operation. Depending on the specific implementation of the wrist mechanism, the number of drive cables required is also different (for example, 4 or 6). Usually, in order to achieve a large range of movement of each joint of the wrist mechanism (for example, -90° to 90°), additional pulleys need to be installed on the wrist mechanism to guide the cables, but adding additional pulleys and other parts will hinder the miniaturization of the front end of the surgical instrument. In addition, using more cables will also increase the size and cost of the instrument.

[0004] The existing rear-end transmission device that drives the 4-wire wrist releases two wires and tightens the other two wires through the swing of a connecting rod or a rocker arm, thereby realizing the pitch movement of the wrist. When using this method, as the pitch angle changes, the lengths of the tightened and released cables are not equal, which will cause the tightness of the cables to change. The cables may be too loose, resulting in gaps that reduce accuracy, or too tight, resulting in excessive friction and accelerated wear. To avoid this problem, the angular range of the pitch joint can be limited, but this will affect the function of the tool. In addition, when using this mechanism, the output angle of the rear-end motor is nonlinearly related to the pitch angle of the wrist, requiring additional calibration work to achieve precise position control, which adds extra workload.

[0005] To this end, the present invention provides a rear end transmission device, a medical instrument and a surgical robot to at least partially solve the problems in the prior art. Summary of the invention

[0006] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0007] In order to at least partially solve the above problems, the present invention discloses a rear end transmission device, which comprises:

[0008] a first rotating member;

[0009] a second rotating member;

[0010] a third rotating member;

[0011] a first transmission assembly, the first transmission assembly being used to connect the first cable and the second cable, respectively, and being connected to the first rotating member and the third rotating member, respectively; and

[0012] a second transmission assembly, the second transmission assembly being used to connect the third cable and the fourth cable respectively, and being connected to the second rotating member and the third rotating member respectively;

[0013] The first rotating member is configured to be rotatable so as to pull in one of the first cable and the second cable via the first transmission assembly and release the other of the first cable and the second cable.

[0014] The second rotating member is configured to be rotatable so as to be able to pull in one of the third cable and the fourth cable via the second transmission assembly and release the other of the third cable and the fourth cable.

[0015] The third rotating member is configured to be rotatable so as to be able to realize, via the first transmission assembly and the second transmission assembly:

[0016] pulling in at least one of the first cable and the second cable while releasing at least one of the third cable and the fourth cable, or

[0017] At least one of the third cable and the fourth cable is pulled in, while at least one of the first cable and the second cable is released.

[0018] According to the rear-end transmission device of the present invention, the rear-end transmission device is connected to four driving cables of, for example, a wrist mechanism, so that the wrist mechanism works in cooperation with the rear-end transmission device, and the pitch, yaw and clamping of the wrist mechanism are achieved by pulling in or releasing the driving cables (i.e., the first cable, the second cable, the third cable and the fourth cable). This driving method has a simple structure and precise transmission. The pitch, yaw and clamping angles of the rotating part and the wrist mechanism are in a linear relationship, and when the above-mentioned angles of the wrist mechanism change over a large range, the driving cables can still be released and / or pulled in at equal lengths.

[0019] Optionally, the first rotating member is rotatable around a first central axis, the second rotating member is rotatable around a second central axis, the third rotating member is rotatable around a third central axis, and the first central axis is parallel to the second central axis and parallel to the third central axis.

[0020] Optionally, the first transmission assembly includes:

[0021] a first movable pulley, the first movable pulley being used to connect the first cable;

[0022] a first transmission cable, the first transmission cable passing around the first movable pulley, and two ends of the first transmission cable being respectively connected to the first rotating member and the third rotating member;

[0023] a second movable pulley, the second movable pulley being rotatable about a second axis, the second movable pulley being used for connecting the second cable; and

[0024] a second transmission cable, the second transmission cable passing around the second movable pulley, and two ends of the second transmission cable being respectively connected to the first rotating member and the third rotating member;

[0025] wherein a winding direction of the first transmission cable around the first rotating member is opposite to a winding direction of the second transmission cable around the first rotating member, and a winding direction of the first transmission cable around the third rotating member is the same as a winding direction of the second transmission cable around the third rotating member;

[0026] When the first rotating member or the third rotating member rotates, the first movable pulley moves under the action of the first transmission cable, and the second movable pulley moves under the action of the second transmission cable.

[0027] Optionally, the first transmission assembly further comprises a first guide wheel, and a portion of the first transmission cable located between the first rotating member and the first movable pulley bypasses the first guide wheel, so that the portion of the first transmission cable located between the first guide wheel and the first movable pulley is parallel to a portion of the first transmission cable located between the first movable pulley and the third rotating member.

[0028] Optionally, a portion of the second transmission cable located between the first rotating member and the second movable pulley is parallel to a portion of the second transmission cable located between the second movable pulley and the third rotating member, and is parallel to a portion of the first transmission cable located between the first movable pulley and the third rotating member.

[0029] Optionally, the second transmission assembly includes:

[0030] a third movable pulley, the third movable pulley being used to connect the third cable;

[0031] a third transmission cable, the third transmission cable passing around the third movable pulley, and two ends of the third transmission cable being respectively connected to the second rotating member and the third rotating member;

[0032] a fourth movable pulley, the fourth movable pulley being rotatable around a fourth axis, the fourth movable pulley being used to connect the fourth cable; and

[0033] a fourth transmission cable, the fourth transmission cable passing around the fourth movable pulley, and two ends of the fourth transmission cable are respectively connected to the second rotating member and the third rotating member;

[0034] wherein the winding direction of the third transmission cable around the second rotating member is opposite to the winding direction of the fourth transmission cable around the second rotating member, and the winding direction of the third transmission cable around the third rotating member and the winding direction of the fourth transmission cable around the third rotating member are opposite to the winding direction of the first transmission cable around the third rotating member and the winding direction of the second transmission cable around the third rotating member;

[0035] When the second rotating member or the third rotating member rotates, the third movable pulley moves under the action of the third transmission cable, and the fourth movable pulley moves under the action of the fourth transmission cable.

[0036] Optionally, the first movable pulley is pivotally connected to a first movable pulley seat via a first axis, the first movable pulley seat is used to connect the first cable, the second movable pulley is pivotally connected to a second movable pulley seat via a second axis, the second movable pulley seat is used to connect the second cable, the first axis is parallel to the second axis and parallel to the first central axis, and / or

[0037] The third movable pulley is pivotally connected to a third movable pulley seat via a third axis, and the third movable pulley seat is used to connect the third cable. The fourth movable pulley is pivotally connected to a fourth movable pulley seat via a fourth axis, and the fourth movable pulley seat is used to connect the fourth cable. The third axis is parallel to the fourth axis and parallel to the first central axis.

[0038] Optionally, the second transmission assembly further includes a second guide wheel, and a portion of the fourth transmission cable located between the second rotating member and the fourth movable pulley bypasses the second guide wheel, so that the portion of the fourth transmission cable located between the second guide wheel and the fourth movable pulley is parallel to a portion of the fourth transmission cable located between the fourth movable pulley and the third rotating member.

[0039] Optionally, a portion of the third cable located between the second rotating member and the third movable pulley is parallel to a portion of the third cable located between the third movable pulley and the third rotating member, and is parallel to a portion of the fourth transmission cable located between the fourth movable pulley and the third rotating member.

[0040] According to a second aspect of the present invention, a medical device is disclosed, comprising a rear end transmission device according to any one of the above-mentioned first aspects.

[0041] According to a third aspect of the present invention, a surgical robot is disclosed, comprising the medical device according to the third aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The following drawings of the present invention are used to understand the present invention as part of the present invention. The embodiments of the present invention are shown in the drawings and the description thereof is used to explain the principle of the present invention.

[0043] In the attached figure:

[0044] Figure 1 is a schematic structural diagram of a surgical robot according to a first embodiment of the present invention;

[0045] Figure 2 for Figure 1 A partial structural schematic diagram of a surgical robot in which a wrist mechanism, a first cable, a second cable, a third cable and a fourth cable are shown;

[0046] Figure 3 for Figure 1 Another partial structural schematic diagram of the surgical robot in, which shows a rear end transmission device, a first cable, a second cable, a third cable and a fourth cable;

[0047] Figure 4 for Figure 1 Schematic diagram of the partial structure of the rear-end transmission device of the surgical robot.

[0048] Description of reference numerals:

[0049] 100: Surgical robot 110: Robotic arm

[0050] 111: Arm 120: Medical Devices

[0051] 130: Wrist mechanism 131: Proximal clamp

[0052] 132: Distal clamp 133: Actuator

[0053] 134: Upper jaw of the clamp 135: Lower jaw of the clamp

[0054] 136: First pin 137: Second pin

[0055] 140: Main line 141: First cable

[0056] 142: Second cable 143: Third cable

[0057] 144: Fourth cable 150: Rear end transmission device

[0058] 151: first rotating member 152: second rotating member

[0059] 153: third rotating member 156: first movable pulley

[0060] 157: second movable pulley 158: first transmission cable

[0061] 159: Second transmission cable 161: First axis

[0062] 162: Second axis 163: First guide wheel

[0063] 164: third movable pulley 165: fourth movable pulley

[0064] 166: Third transmission cable 167: Fourth transmission cable

[0065] 168: Third axis 169: Fourth axis

[0066] 171: Second guide wheel 172: Chassis

[0067] 173: first rotation axis 174: second rotation axis

[0068] 175: third rotating shaft 176: third guide wheel set

[0069] 177: Fifth axis 178: Third guide wheel

[0070] 181: First movable pulley seat 182: Second movable pulley seat

[0071] 183: The third movable pulley seat 184: The fourth movable pulley seat

[0072] A1: First center axis A2: Second center axis

[0073] A3: The third central axis DETAILED DESCRIPTION

[0074] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the embodiments of the present invention, some technical features well known in the art are not described.

[0075] In order to thoroughly understand the embodiments of the present invention, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. It should be noted that the ordinal numbers such as "first" and "second" cited in the present invention are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" itself does not imply the existence of a "second component", and the term "second component" itself does not imply the existence of a "first component". The terms "upper", "lower", "front", "back", "left", "right" and similar expressions used in the present invention are for illustrative purposes only and are not limiting.

[0076] like Figure 1 As shown, the present invention discloses a rear end transmission device 150, a medical instrument 120 and a surgical robot 100. The surgical robot 100 includes a movably arranged mechanical arm 110 and a medical instrument 120 mounted to the mechanical arm 110, and the medical instrument 120 includes the rear end transmission device 150. As known in the art, the medical instrument 120 can achieve many functions, including but not limited to surgical forceps or graspers of different shapes and sizes, needle drivers, scissors or cautery tools.

[0077] like Figure 1As shown, the surgical robot 100 mainly includes a base 180 and at least one robotic arm 110 rotatably disposed on an upper end of the base 180 , and a medical instrument 120 mounted to a corresponding port of the robotic arm 110 . Figure 1 Only one robot arm 110 is shown as an example, and the robot arm 110 includes a plurality of arms 111 connected end to end, and the arms 111 are rotatably arranged. When there are a plurality of robot arms 110, a medical device 120 is installed at a corresponding port of each robot arm 110. The medical device 120 is detachably connected to the robot arm 110 to facilitate replacement or maintenance of the medical device 120, and the medical device 120 installed on the robot arm 110 can be selected for a specific medical procedure or changed during the medical procedure to provide the required clinical function.

[0078] The docking port of the robotic arm 110 generally includes a drive motor that provides mechanical power for operation of the medical device 120. The docking port may additionally include an electrical interface to connect with the medical device 120, for example, to identify the type of device in the docking port and obtain parameters of the device.

[0079] The medical device 120 generally includes a rear end transmission device 150, a main line 140 extending from the rear end transmission device 150, and a wrist mechanism 130 at the distal end of the main line 140. Drive cables (specifically, a first cable 141, a second cable 142, a third cable 143, and a fourth cable 144) and electrical conductors connected to the wrist mechanism 130 can extend through the main line 140 and be connected to the rear end transmission device 150. The rear end transmission device 150 provides a mechanical connection of the above-mentioned drive cables to the motor drive shaft of the drive motor to operate the wrist mechanism 130 by controlling the movement and tension of the drive cables. The main line 140 is hollow and can be rigid or flexible.

[0080] like Figure 2 As shown, the wrist mechanism 130 includes a proximal clamp 131, a distal clamp 132 and an actuator 133. The distal clamp 132 is pivotally connected to the proximal clamp 131 via a first pin 136, thereby achieving the pitching movement of the wrist mechanism 130. The actuator 133 includes a clamp upper jaw 134 and a clamp lower jaw 135, and the clamp upper jaw 134 and the clamp lower jaw 135 are pivotally connected to the distal clamp 132 via a second pin 137, thereby achieving the gripping and deflection of the wrist mechanism 130. Preferably, the second pin 137 is perpendicular to the first pin 136.

[0081] The first cable 141 and the second cable 142 are wound around the jaw 135 of the actuator 133, that is, the first cable 141 and the second cable 142 can be formed by cables of an uninterrupted integral structure wrapped around the jaw 135. The third cable 143 and the fourth cable 144 are wound around the jaw 134 of the actuator 133, that is, the third cable 143 and the fourth cable 144 can be formed by cables of an uninterrupted integral structure wrapped around the jaw 134. The first cable 141, the second cable 142, the third cable 143 and the fourth cable 144 extend along the hard surface of the guide channel (not shown) in the actuator 133, the distal clamp 132 and the proximal clamp 131, and extend back to the rear end transmission device 150 through the main line 140. For example, the guide channel can be a groove with a U-shaped or semicircular cross-section.

[0082] Continue to refer to Figure 2 By pulling in the third cable 143 and the fourth cable 144 at the same length and releasing the first cable 141 and the second cable 142 at the same length, the distal clamp 132 rotates clockwise around the first pin 136 relative to the proximal clamp 131, so as to achieve the forward pitch motion of the wrist mechanism 130 (see Figure 2 Similarly, by pulling in the first cable 141 and the second cable 142 at equal lengths and releasing the third cable 143 and the fourth cable 144 at equal lengths, the distal clamp 132 rotates counterclockwise around the first pin 136 relative to the proximal clamp 131, thereby achieving reverse pitch motion of the wrist mechanism 130.

[0083] By pulling in the fourth cable 144 and releasing the third cable 143 at the same time, the upper jaw 134 of the clamping jaw rotates clockwise around the second pin 137 relative to the distal clamp 132 (see Figure 2 Similarly, by pulling in the third cable 143 and releasing the fourth cable 144 at the same length, the upper jaw 134 of the clamp is rotated counterclockwise around the second pin 137 relative to the distal clamp 132. By pulling in the second cable 142 and releasing the first cable 141 at the same length, the lower jaw 135 of the clamp is rotated clockwise around the second pin 137 relative to the distal clamp 132 (see Figure 2 Similarly, by pulling in the first cable 141 and releasing the second cable 142 at the same length, the lower jaw 135 of the clamp is rotated counterclockwise about the second pin 137 relative to the distal clamp 132. The deflection and gripping movement of the actuator 133 can be achieved by the combined movement of the upper jaw 134 and the lower jaw 135, which will be described in detail below.

[0084] like Figure 3 and Figure 4As shown, the rear end transmission device 150 mainly includes a first rotating member 151, a second rotating member 152, a third rotating member 153, a first transmission assembly, a second transmission assembly, a first rotating shaft 173, a second rotating shaft 174, a third rotating shaft 175 and a chassis 172. The first rotating shaft 173, the second rotating shaft 174 and the third rotating shaft 175 are rotatably mounted to the chassis 172, and are respectively used to connect with corresponding drive motors. The first transmission assembly and the second transmission assembly are both mounted to the chassis 172. The chassis 172 has an interface corresponding to the drive motor to ensure that when the medical device 120 is correctly installed, the first rotating shaft 173, the second rotating shaft 174 and the third rotating shaft 175 can be stably connected to the drive motor to achieve the transmission of rotational motion.

[0085] It can be understood that the surgical robot 100 may include at least three drive motors, wherein the three drive motors are respectively connected to the first rotating shaft 173, the second rotating shaft 174 and the third rotating shaft 175. The first rotating shaft 173, the second rotating shaft 174 and the third rotating shaft 175 are arranged in parallel with each other, and the first rotating shaft 173, the second rotating shaft 174 and the third rotating shaft 175 are arranged roughly in a triangle. It can be understood that the arrangement of the first rotating shaft 173, the second rotating shaft 174 and the third rotating shaft 175 is not limited to this embodiment. As needed, the first rotating shaft 173, the second rotating shaft 174 and the third rotating shaft 175 can also be arranged in a straight line. The first rotating shaft 173 is fixedly connected to the first rotating member 151, the second rotating shaft 174 is fixedly connected to the second rotating member 152, and the third rotating shaft 175 is fixedly connected to the third rotating member 153 to drive the rotation of the first rotating member 151, the second rotating member 152 and the third rotating member 153 respectively. In this embodiment, the first rotating member 151 , the second rotating member 152 and the third rotating member 153 are winches.

[0086] The first transmission assembly is used to connect the first cable 141 and the second cable 142 respectively, and is connected to the first rotating member 151 and the third rotating member 153 respectively. The first transmission assembly mainly includes a first movable pulley 156, a second movable pulley 157, a first transmission cable 158 and a second transmission cable 159. The first movable pulley 156 is pivotally connected to the first movable pulley seat 181 via a first shaft 161, the first movable pulley 156 is pivotable around the first shaft 161, and the first cable 141 is connected to the first movable pulley seat 181. The second movable pulley 157 is pivotally connected to the second movable pulley seat 182 via a second shaft 162, the second movable pulley 157 is pivotable around the second shaft 162, and the second cable 142 is connected to the second movable pulley seat 182.

[0087] The first transmission cable 158 passes around the first movable pulley 156, and both ends of the first transmission cable 158 are respectively connected to the first rotating member 151 and the third rotating member 153. The second transmission cable 159 passes around the second movable pulley 157, and both ends of the second transmission cable 159 are respectively connected to the first rotating member 151 and the third rotating member 153. Specifically, the winding directions of the first transmission cable 158 and the second transmission cable 159 around the first rotating member 151 are opposite, and the winding directions around the third rotating member 153 are the same. When the first rotating member 151 or the third rotating member 153 rotates, the first movable pulley 156 moves under the action of the first transmission cable 158, and the second movable pulley 157 moves under the action of the second transmission cable 159.

[0088] The first transmission assembly also includes a first guide wheel 163, and a portion of the first transmission cable 158 located between the first rotating member 151 and the first movable pulley 156 bypasses the first guide wheel 163, so that the portion of the first transmission cable 158 located between the first guide wheel 163 and the first movable pulley 156 is parallel to the portion of the first transmission cable 158 located between the first movable pulley 156 and the third rotating member 153, and the absolute value of the linear velocity of the portion of the first transmission cable 158 located between the first guide wheel 163 and the first movable pulley 156 is equal to the absolute value of the linear velocity of the portion of the first transmission cable 158 located between the first guide wheel 163 and the first movable pulley 156 and the portion of the first transmission cable 158 located between the first movable pulley 156 and the third rotating member 153, that is, the absolute values ​​of the linear velocities of the first transmission cable 158 on both sides of the first movable pulley 156 are equal. The portion of the second transmission cable 159 between the first rotating member 151 and the second movable pulley 157 is parallel to the portion of the second transmission cable 159 between the second movable pulley 157 and the third rotating member 153, and is parallel to the portion of the first transmission cable 158 between the first movable pulley 156 and the third rotating member 153, that is, the absolute values ​​of the linear velocities of the second transmission cable 159 on both sides of the second movable pulley 157 are equal. The first guide wheel 163 can be a fixed pulley. Those skilled in the art can understand that, as needed, other guide wheels can be additionally added to guide the first transmission cable 158 and the second transmission cable 159.

[0089] The first rotating member 151 is configured to be rotatable around the first central axis A1, so as to be able to pull in one of the first cable 141 and the second cable 142 via the first transmission assembly, and release the other of the first cable 141 and the second cable 142, so as to realize the clockwise or counterclockwise rotation of the clamp jaw 135 relative to the distal clamp 132 around the second pin 137. Preferably, the first axis 161 is parallel to the second axis 162, and is parallel to the first central axis A1.

[0090] Specifically, when the third rotating member 153 remains stationary, the first rotating shaft 173 is driven by the driving motor to drive the first rotating member 151 to rotate counterclockwise, and the second transmission cable 159 is pulled in (i.e., wound around the first rotating member 151) while the first transmission cable 158 is released at the same length, that is, the second cable 142 is pulled in via the second movable pulley 157 while the first cable 141 is released at the same length via the first movable pulley 156, thereby achieving the clockwise rotation of the clamping jaw 135 relative to the distal clamp 132 around the second pin 137 (see Figure 2 When the third rotating member 153 remains stationary and the first rotating shaft 173 is driven by the driving motor to drive the first rotating member 151 to rotate clockwise, the first transmission cable 158 is pulled in (i.e., wound around the first rotating member 151) while the second transmission cable 159 is released at the same length, i.e., the first cable 141 is pulled in via the first movable pulley 156 while the second cable 142 is released at the same length via the second movable pulley 157, thereby achieving the counterclockwise rotation of the clamping jaw 135 relative to the distal clamp 132 around the second pin 137.

[0091] Continue to refer to Figure 3 and Figure 4 , the second transmission assembly is used to connect the third cable 143 and the fourth cable 144 respectively, and is connected to the second rotating member 152 and the third rotating member 153 respectively. The second transmission assembly includes a third movable pulley 164, a fourth movable pulley 165, a third transmission cable 166 and a fourth transmission cable 167. The third movable pulley 164 is pivotally connected to the third movable pulley seat 183 via a third shaft 168, the third movable pulley 164 is pivotable around the third shaft 168, and the third cable 143 is connected to the third movable pulley seat 183. The fourth movable pulley 165 is pivotally connected to the fourth movable pulley seat 184 via a fourth shaft 169, the fourth movable pulley 165 is pivotable around the fourth shaft 169, and the fourth cable 144 is connected to the fourth movable pulley seat 184.

[0092] The third transmission cable 166 passes around the third movable pulley 164, and both ends of the third transmission cable 166 are respectively connected to the second rotating member 152 and the third rotating member 153. The fourth transmission cable 167 passes around the fourth movable pulley 165, and both ends of the fourth transmission cable 167 are respectively connected to the second rotating member 152 and the third rotating member 153. Specifically, the winding directions of the third transmission cable 166 and the fourth transmission cable 167 around the second rotating member 152 are opposite, and the winding directions around the third rotating member 153 are opposite to the winding directions of the first transmission cable 158 and the second transmission cable 159 around the third rotating member 153. When the second rotating member 152 or the third rotating member 153 rotates, the third movable pulley 164 moves under the action of the third transmission cable 166, and the fourth movable pulley 165 moves under the action of the fourth transmission cable 167.

[0093] The second transmission assembly further includes a second guide wheel 171, and a portion of the fourth transmission cable 167 located between the second rotating member 152 and the fourth movable pulley 165 passes around the second guide wheel 171, so that the portion of the fourth transmission cable 167 located between the second guide wheel 171 and the fourth movable pulley 165 is parallel to the portion of the fourth transmission cable 167 located between the fourth movable pulley 165 and the third rotating member 153. The portion of the third cable 143 located between the second rotating member 152 and the third movable pulley 164 is parallel to the portion of the third cable 143 located between the third movable pulley 164 and the third rotating member 153, and is parallel to the portion of the fourth transmission cable 167 located between the fourth movable pulley 165 and the third rotating member 153. The second guide wheel 171 may be a fixed pulley. Those skilled in the art will appreciate that, as needed, additional guide wheels may be added to guide the third transmission cable 166 and the fourth transmission cable 167.

[0094] The second rotating member 152 is configured to be rotatable around the second central axis A2, so as to be able to pull in one of the third cable 143 and the fourth cable 144 via the second transmission assembly, and release the other of the third cable 143 and the fourth cable 144, so as to realize the clockwise or counterclockwise rotation of the clamping jaw 134 relative to the distal clamp 132 around the second pin 137. Preferably, the third axis 168 is parallel to the fourth axis 169, and parallel to the second central axis A2.

[0095] Specifically, when the third rotating member 153 remains stationary, the second rotating shaft 174 is driven by the driving motor to drive the second rotating member 152 to rotate counterclockwise, and the fourth transmission cable 167 is pulled in (i.e., wound around the second rotating member 152) while the third transmission cable 166 is released at the same length, that is, the fourth cable 144 is pulled in via the fourth movable pulley 165 while the third cable 143 is released at the same length via the third movable pulley 164, so that the upper jaw 134 of the clamp rotates clockwise around the second pin 137 relative to the distal clamp 132 (see Figure 2 When the third rotating member 153 remains stationary, the second rotating shaft 174 is driven by the driving motor to drive the second rotating member 152 to rotate clockwise, and the third transmission cable 166 is pulled in (i.e., wound on the second rotating member 152) while the fourth transmission cable 167 is released at the same length, that is, the third cable 143 is pulled in via the third movable pulley 164 while the fourth cable 144 is released at the same length via the fourth movable pulley 165, so that the upper jaw 134 of the clamp rotates counterclockwise relative to the distal clamp 132 around the second pin 137.

[0096] The rear transmission 150 also includes a third guide wheel set 176 (see Figure 4), the third guide wheel group 176 includes two fifth shafts 177 parallel to each other and two third guide wheels 178 respectively pivotally arranged on the two fifth shafts 177. The third guide wheel 178 can be a fixed pulley.

[0097] The four third guide wheels 178 can respectively guide the first cable 141, the second cable 142, the third cable 143 and the fourth cable 144, so that the portion of the first cable 141 located between the third guide wheel group 176 and the first movable pulley 156 is parallel to the portion of the first transmission cable 158 located between the first movable pulley 156 and the third rotating member 153, and the portion of the second cable 142 located between the third guide wheel group 176 and the second movable pulley 157 is parallel to the portion of the second transmission cable 159 located between the second movable pulley 157 and the third rotating member 153, and the portion of the third cable 143 located between the third guide wheel group 176 and the third movable pulley 164 is parallel to the portion of the third transmission cable 166 located between the third movable pulley 164 and the third rotating member 153, and the portion of the fourth cable 144 located between the third guide wheel group 176 and the fourth movable pulley 165 is parallel to the portion of the fourth transmission cable 167 located between the fourth movable pulley 165 and the third rotating member 153. Thus, the first rotating member 151 and the third rotating member 153 can drive the linear combination of the first cable 141 and the second cable 142 , and the second rotating member 152 and the third rotating member 153 can drive the linear combination of the third cable 143 and the fourth cable 144 .

[0098] In this embodiment, the deflection and clamping movement of the actuator 133 can be achieved by controlling the rotation of the first rotating shaft 173 and the second rotating shaft 174 .

[0099] Specifically, when the third rotating shaft 175 remains stationary and the first rotating shaft 173 and the second rotating shaft 174 rotate counterclockwise at the same angle, that is, when the first rotating member 151 and the second rotating member 152 rotate counterclockwise at the same angle, the upper jaw 134 and the lower jaw 135 of the clamping jaw both rotate clockwise, so that the actuator 133 realizes a positive deflection motion (see Figure 2 ). When the third rotating shaft 175 remains stationary, and the first rotating shaft 173 and the second rotating shaft 174 rotate clockwise at the same angle, that is, when the first rotating member 151 and the second rotating member 152 rotate clockwise at the same angle, the upper jaw 134 and the lower jaw 135 of the clamping jaw both rotate counterclockwise, so that the actuator 133 realizes reverse deflection movement.

[0100] When the third rotating shaft 175 remains stationary, and the first rotating shaft 173 rotates counterclockwise, and the second rotating shaft 174 rotates clockwise at the same angle, that is, the first rotating member 151 rotates counterclockwise, and the second rotating member 152 rotates clockwise at the same angle, the lower jaw 135 of the clamping jaw rotates clockwise, and the upper jaw 134 of the clamping jaw rotates counterclockwise, so as to realize the clamping action of the actuator 133 (see Figure 2 ). When the third rotating shaft 175 remains stationary, and the first rotating shaft 173 rotates clockwise, and the second rotating shaft 174 rotates counterclockwise at the same angle, that is, the first rotating member 151 rotates clockwise, and the second rotating member 152 rotates counterclockwise at the same angle, the lower jaw 135 of the clamp rotates counterclockwise, and the upper jaw 134 of the clamp rotates clockwise, so as to realize the clamping and releasing action of the actuator 133.

[0101] The third rotating member 153 is configured to be rotatable around the third central axis A3, so as to be able to achieve, via the first transmission assembly and the second transmission assembly: pulling in at least one of the first cable 141 and the second cable 142, while releasing at least one of the third cable 143 and the fourth cable 144, or pulling in at least one of the third cable 143 and the fourth cable 144, while releasing at least one of the first cable 141 and the second cable 142, so as to achieve the pitching movement of the wrist mechanism 130. Preferably, the first central axis A1 is parallel to the second central axis A2, and parallel to the third central axis A3.

[0102] In this embodiment, when the third rotating member 153 rotates, the first transmission assembly and the second transmission assembly can be used to pull in the first cable 141 and the second cable 142 in equal lengths, and release the third cable 143 and the fourth cable 144 in equal lengths (i.e., the length of the first cable 141 and the second cable 142 wound around the first rotating member 151 during the rotation of the third rotating member 153 is equal to the length of the third cable 143 and the fourth cable 144 released), or the third cable 143 and the fourth cable 144 are pulled in in equal lengths, and the first cable 141 and the second cable 142 are released in equal lengths, so as to achieve the pitch movement of the wrist mechanism 130 (i.e., the length of the third cable 143 and the fourth cable 144 wound around the second rotating member 152 during the rotation of the third rotating member 153 is equal to the length of the first cable 141 and the second cable 142 released).

[0103] Specifically, when the first rotating shaft 173 and the second rotating shaft 174 remain stationary and the third rotating shaft 175 is controlled by the driving motor to drive the third rotating member 153 to rotate counterclockwise, the first transmission cable 158 and the second transmission cable 159 are released at equal lengths while the third transmission cable 166 and the fourth transmission cable 167 are pulled in at equal lengths, that is, the first cable 141 and the second cable 142 are released at equal lengths while the third cable 143 and the fourth cable 144 are pulled in at equal lengths, thereby realizing the pitch forward motion of the wrist mechanism 130. Similarly, when the first rotating shaft 173 and the second rotating shaft 174 remain stationary and the third rotating shaft 175 is controlled by the driving motor to drive the third rotating member 153 to rotate clockwise, the first transmission cable 158 and the second transmission cable 159 are pulled in at equal lengths while the third transmission cable 166 and the fourth transmission cable 167 are released at equal lengths, that is, the first cable 141 and the second cable 142 are pulled in at equal lengths while the third cable 143 and the fourth cable 144 are released at equal lengths, thereby realizing the reverse pitch movement of the wrist mechanism 130.

[0104] In this embodiment, since the rotation of the first rotating member 151, the second rotating member 152, and the third rotating member 153 is transmitted to the first cable 141, the second cable 142, the third cable 143, and the fourth cable 144 via the first movable pulley 156, the second movable pulley 157, the third movable pulley 164, and the fourth movable pulley 165, the moving length (the length of pulling in or releasing) of the first cable 141, the second cable 142, the third cable 143, and the fourth cable 144 is only half of the moving length of the first transmission cable 158, the second transmission cable 159, the third transmission cable 166, and the fourth transmission cable 167, which is equivalent to achieving a reduction ratio of 2:1 from the input side to the output side. Therefore, when there is a return difference in the reducer of the drive motor, or when there is a return difference at the connection between the first rotating shaft 173, the second rotating shaft 174, and the third rotating shaft 175 and the drive motor, the influence of these return differences on the front wrist mechanism 130 is reduced by half, so as to improve the motion accuracy of the wrist mechanism 130.

[0105] According to the rear-end transmission device of the present invention, the rear-end transmission device is connected to four drive cables of, for example, a wrist mechanism, so that the wrist mechanism works in cooperation with the rear-end transmission device, and the drive cables (i.e., the first cable, the second cable, the third cable, and the fourth cable) are pulled in or released in equal lengths to achieve the pitch, yaw, and clamping of the wrist mechanism. This driving method has a simple structure and precise transmission. The pitch, yaw, and clamping angles of the rotating part and the wrist mechanism are in a linear relationship, and the drive cables can still be released and / or pulled in in equal lengths when the above-mentioned angles of the wrist mechanism change over a large range.

[0106] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art in the technical field of the present invention. The terms used herein are only for describing specific implementation purposes and are not intended to limit the present invention. Terms such as "setting" and the like appearing in this article can mean that one component is directly attached to another component, or that one component is attached to another component through an intermediate. Features described in this article in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0107] The present invention has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and illustration, and are not intended to limit the present invention to the described embodiments. It can be understood by those skilled in the art that more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications all fall within the scope of the protection claimed by the present invention.

Claims

1. A rear end transmission device, characterized in that: include: a first rotating member; a second rotating member; a third rotating member; a first transmission assembly, the first transmission assembly being used to connect the first cable and the second cable respectively, and being connected to the first rotating member and the third rotating member respectively; as well as a second transmission assembly, the second transmission assembly being used to connect the third cable and the fourth cable respectively, and being connected to the second rotating member and the third rotating member respectively; The first rotating member is configured to be rotatable so as to pull in one of the first cable and the second cable via the first transmission assembly and release the other of the first cable and the second cable. The second rotating member is configured to be rotatable so as to be able to pull in one of the third cable and the fourth cable via the second transmission assembly and release the other of the third cable and the fourth cable. The third rotating member is configured to be rotatable so as to be able to realize, via the first transmission assembly and the second transmission assembly: pulling in at least one of the first cable and the second cable, while releasing at least one of the third cable and the fourth cable to the same length, or pulling in at least one of the third cable and the fourth cable, and releasing at least one of the first cable and the second cable to the same length; Wherein, the first transmission assembly comprises: a first movable pulley, the first movable pulley being used to connect the first cable; a first transmission cable, the first transmission cable passing around the first movable pulley, and two ends of the first transmission cable being respectively connected to the first rotating member and the third rotating member; a second movable pulley, the second movable pulley being used to connect the second cable; and a second transmission cable, the second transmission cable passing around the second movable pulley, and two ends of the second transmission cable being respectively connected to the first rotating member and the third rotating member; Wherein, the winding direction of the first transmission cable around the first rotating member is opposite to the winding direction of the second transmission cable around the first rotating member, and the winding direction of the first transmission cable around the third rotating member is the same as the winding direction of the second transmission cable around the third rotating member; When the first rotating member or the third rotating member rotates, the first movable pulley moves under the action of the first transmission cable, and the second movable pulley moves under the action of the second transmission cable.

2. The rear end transmission device according to claim 1, characterized in that: The first rotating member is rotatable around a first central axis, the second rotating member is rotatable around a second central axis, and the third rotating member is rotatable around a third central axis. The first central axis is parallel to the second central axis and parallel to the third central axis.

3. The rear end transmission device according to claim 1, characterized in that: The first transmission assembly also includes a first guide wheel, and a portion of the first transmission cable located between the first rotating member and the first movable pulley bypasses the first guide wheel, so that the portion of the first transmission cable located between the first guide wheel and the first movable pulley is parallel to the portion of the first transmission cable located between the first movable pulley and the third rotating member.

4. The rear end transmission device according to claim 3, characterized in that: A portion of the second transmission cable located between the first rotating member and the second movable pulley is parallel to a portion of the second transmission cable located between the second movable pulley and the third rotating member, and is parallel to a portion of the first transmission cable located between the first movable pulley and the third rotating member.

5. The rear end transmission device according to claim 2, characterized in that: The second transmission assembly comprises: a third movable pulley, the third movable pulley being used to connect the third cable; a third transmission cable, the third transmission cable passing around the third movable pulley, and two ends of the third transmission cable being respectively connected to the second rotating member and the third rotating member; a fourth movable pulley, the fourth movable pulley being used to connect the fourth cable; and a fourth transmission cable, the fourth transmission cable passing around the fourth movable pulley, and two ends of the fourth transmission cable are respectively connected to the second rotating member and the third rotating member; wherein the winding direction of the third transmission cable around the second rotating member is opposite to the winding direction of the fourth transmission cable around the second rotating member, and the winding direction of the third transmission cable around the third rotating member and the winding direction of the fourth transmission cable around the third rotating member are opposite to the winding direction of the first transmission cable around the third rotating member and the winding direction of the second transmission cable around the third rotating member; When the second rotating member or the third rotating member rotates, the third movable pulley moves under the action of the third transmission cable, and the fourth movable pulley moves under the action of the fourth transmission cable.

6. The rear end transmission device according to claim 5, characterized in that: The first movable pulley is pivotally connected to a first movable pulley seat via a first axis, the first movable pulley seat is used to connect the first cable, the second movable pulley is pivotally connected to a second movable pulley seat via a second axis, the second movable pulley seat is used to connect the second cable, the first axis is parallel to the second axis and parallel to the first central axis, and / or The third movable pulley is pivotally connected to a third movable pulley seat via a third axis, and the third movable pulley seat is used to connect the third cable. The fourth movable pulley is pivotally connected to a fourth movable pulley seat via a fourth axis, and the fourth movable pulley seat is used to connect the fourth cable. The third axis is parallel to the fourth axis and parallel to the first central axis.

7. The rear end transmission device according to claim 5, characterized in that: The second transmission assembly also includes a second guide wheel, and a portion of the fourth transmission cable located between the second rotating member and the fourth movable pulley bypasses the second guide wheel, so that the portion of the fourth transmission cable located between the second guide wheel and the fourth movable pulley is parallel to a portion of the fourth transmission cable located between the fourth movable pulley and the third rotating member.

8. The rear end transmission device according to claim 7, characterized in that: A portion of the third cable between the second rotating member and the third movable pulley is parallel to a portion of the third cable between the third movable pulley and the third rotating member, and is parallel to a portion of the fourth transmission cable between the fourth movable pulley and the third rotating member.

9. A medical device, characterized in that: Comprising a rear end transmission according to any one of claims 1 to 8.

10. A surgical robot, characterized in that: Comprising the medical device according to claim 9.

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