Joint device, operating device and surgical robot

Abstract

An embodiment of the present application provides a coupling device for coupling an instrument and a driving device to sterilely isolate the driving device and the instrument. The coupling device includes a first body and a receiving groove opened on the first body. The instrument receiving end of the receiving groove for receiving the instrument shaft is located in the middle area of the first body. The coupling plates of the coupling device are arranged at the four corners of the instrument receiving end, so that the coupling device is suitable for coupling instruments whose instrument shafts are located in the middle area of the instrument box.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to a joining device, a slave operating device having the joining device, and a surgical robot having the slave operating device. Background Art

[0002] Minimally invasive surgery refers to a procedure performed inside the human body using modern medical devices such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery.

[0003] With the advancement of science and technology, minimally invasive surgical robotics have gradually matured and are widely used. Minimally invasive surgical robots typically include a master console and a slave operating device. The master console is used to send control commands to the slave operating device based on 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 the corresponding surgical operation. The surgical instrument is connected to the drive device of the slave operating device and is used to perform the surgical operation. The end instrument of the surgical instrument includes an end effector for performing the surgical operation and a joint connected to the end effector that can move with multiple degrees of freedom.

[0004] The surgical instrument is connected to the drive device of the slave operating device. The surgical instrument needs to be sterile, but the slave operating device is generally not sterile. Therefore, the surgical instrument box and the drive device of the slave operating device are generally connected by a sterile connecting device to avoid contamination of the surgical instrument. However, the current connecting devices are only suitable for surgical instruments with the instrument shaft located on the side of the instrument box, and cannot be connected to surgical instruments with the instrument shaft located in the center of the instrument box, resulting in poor compatibility. Summary of the Invention

[0005] Based on this, in order to solve the above problems, the present application provides a coupling device, a slave operating device having the coupling device, and a surgical robot including the slave operating device, wherein the input device includes:

[0006] A coupling device for coupling an instrument and a driving device, comprising a first body and a receiving slot provided on the first body, wherein the receiving slot has an instrument receiving end located in the middle area of the first body, and the instrument receiving end is used to receive the instrument shaft of the instrument.

[0007] Preferably, the receiving trough is an inclined trough.

[0008] Preferably, the receiving groove includes an opening provided on a first side of the first body, the opening is communicated with the instrument receiving end, and the opening is located in a non-central area of the first side.

[0009] Preferably, the receiving groove includes a first side wall and a second side wall located on both sides of the central axis of the receiving groove, and the length of the first side wall is smaller than the length of the second side wall.

[0010] Preferably, the engaging device comprises a second side edge non-parallel to the first side edge, the angle between the first side wall and the first side edge is an acute angle, and / or the angle between the second side wall and the second side edge is an acute angle.

[0011] Preferably, the distance between the center of the opening and the second side is smaller than the distance between the center of the instrument receiving end and the second side.

[0012] Preferably, the coupling device also includes a first buckle, a second buckle and a third buckle arranged on the first main body, the first buckle and the second buckle are used to buckle with the buckle seat on the instrument and the driving device, the third buckle is used to buckle with the buckle seat of the driving device, and the instrument receiving end is located in the triangular area formed by the first buckle, the second buckle and the third buckle.

[0013] Preferably, the first buckle is arranged at the first side, and the third buckle is arranged at the second side.

[0014] Preferably, the first buckle is located between the first side wall and the first side edge.

[0015] Preferably, the coupling device further comprises a first coupling disc and a second coupling disc for coupling the instrument and the driving device, and the receiving groove is located between the first coupling disc and the second coupling disc.

[0016] Preferably, the first buckle is located between the receiving slot and the first engaging plate, and / or the second engaging plate is located between the receiving slot and the second side.

[0017] Preferably, the first buckle and the second buckle are symmetrically arranged on the first body.

[0018] Preferably, the first buckle and / or the second buckle can rotate relative to the first body.

[0019] Preferably, the first buckle, and / or the second buckle, and / or the third buckle are pivotally connected to the first body.

[0020] Preferably, the third buckle comprises an instrument clip extending along the proximal end of the engagement device, and the instrument clip is used to clamp the instrument.

[0021] Preferably, the distance between the center plane of the first buckle and the second buckle and the first side wall is smaller than the width of the first buckle, or the center plane passes through the instrument receiving end.

[0022] Preferably, the coupling device further comprises a second body perpendicular to the first body, the second body comprising a straight plate and curved plates located at both ends of the straight plate, and the second body is used to guide the instrument to couple to the coupling device.

[0023] Preferably, the concave sides of the two curved plates face the instrument receiving end of the receiving groove, so that the second body embraces the instrument box of the instrument when the instrument is engaged with the engagement device.

[0024] Preferably, a bullet-shaped guide bar is provided on the straight plate, and the guide bar is used to guide the instrument to engage with the engaging device.

[0025] A slave operating device comprises a driving device and the above-mentioned engaging device, wherein the driving device is mounted on the robot arm, and the upper engaging device is engaged with the driving device.

[0026] A surgical robot comprises a master operating device and the above-mentioned slave operating device, wherein the slave operating device performs corresponding operations according to instructions of the master operating device.

[0027] The instrument receiving end of the receiving slot of the coupling device of the present application is opened at the center of the coupling device, which can be suitable for coupling instruments with instrument shafts at the center of the instrument box. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of a slave operating device of a surgical robot according to one embodiment of the present application;

[0029] Figure 2 This is a schematic diagram of the main operating equipment of the surgical robot according to one embodiment of the present application;

[0030] Figure 3 This is a schematic diagram of an instrument according to an embodiment of the present application being mounted on an instrument support arm;

[0031] Figure 4 This is a schematic diagram of an embodiment of the present application before the engagement device is connected to the instrument and the drive device;

[0032] Figure 5 for Figure 4 A top view of the engaging device in FIG.

[0033] Figure 6 for Figure 5 A cross-sectional view of the bonding device along the AA plane;

[0034] Figure 7 A perspective view of a device in one embodiment of the present application;

[0035] Figure 8 This is a schematic diagram of a bonding device in one embodiment of the present application;

[0036] Figure 9 for Figure 8 A schematic diagram of the engagement device, the instrument, and the drive device in the illustrated embodiment;

[0037] Figure 10 This is a schematic diagram of the internal structure of the instrument box of an embodiment of the present application;

[0038] Figure 11 This is a top view of a bonding device in one embodiment of the present application. DETAILED DESCRIPTION

[0039] To facilitate understanding of the present application, a more comprehensive description of the present application will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present application.

[0040] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or in operation in addition to the orientations depicted in the drawings. For example, if the device is flipped in the drawings, elements or features described as being "below" or "beneath" other elements or features will be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0041] The terms "distal end" and "proximal end" as used herein are directional terms commonly used in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery. "Coupled" as used herein can be broadly understood as any event in which two or more objects are connected in a manner that allows the absolutely coupled objects to operate together, such that there is no relative movement between the objects in at least one direction, such as a coupling of a protrusion and a groove, which can move relative to each other in the radial direction but not in the axial direction.

[0042] The term "instrument" is used herein to describe a medical device that is inserted into a patient's body and used to perform a surgical or diagnostic procedure, the instrument including an end effector, which may be a surgical tool for performing a surgical procedure, such as an electrocautery, a clamp, a stapler, a shears, an imaging device (such as an endoscope or an ultrasound probe), and the like. Some instruments used in embodiments of the present application further include providing an articulated component (such as a joint assembly) for the end effector so that the position and orientation of the end effector can be manipulated and moved with one or more mechanical degrees of freedom relative to the instrument axis. Furthermore, the end effector also includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include stored information that can be updated by the surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system elements.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "and / or" and "and / or" as used herein include any and all combinations of one or more of the associated listed items.

[0044] The surgical robot of one embodiment of the present application is as follows Figure 1 and Figure 2 As shown, the surgical robot includes a slave operating device 10 and a master operating device 20. The slave operating device 10 is located on the patient's side for performing surgical operations. The slave operating device 10 includes multiple robotic arms 11 and instruments 12 mounted on the robotic arms 11. The instruments 12 may be electric cauterizers, clamps, staplers, shears, etc. for performing surgical operations, or cameras or other surgical instruments for acquiring images. The multiple instruments 12 are inserted into the patient's body through different incisions. The robotic arms are configured to be supported by pillars via multiple large arms. In other embodiments, the robotic arms of the slave operating devices may also be mounted on a wall or ceiling.

[0045] The robotic arm 11 further includes a parallelogram linkage mechanism, and the instrument 12 is detachably mounted on the distal end of the parallelogram linkage mechanism. The parallelogram linkage mechanism can allow the instrument 12 to move or multiple mechanical degrees of freedom (for example, all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.) to move. The parallelogram linkage mechanism is used to constrain the instrument 12 to move near the remote center of motion (RCM) on the surgical instrument that remains stationary relative to the patient. The remote center of motion is usually located at the position where the instrument enters the patient's body. In some other embodiments, another type of slave operating device has a different upper arm structure. Multiple instruments of this type of slave operating device are detachably mounted on a power mechanism at the distal end of the upper arm. Multiple instruments enter the human body from an incision, and multiple upper arms control the movement of the constrained instruments near the remote center of motion. For details, please refer to Chinese patent application CN201810664598.2.

[0046] The slave manipulation device 10 includes multiple robotic arms 11. An instrument support arm 14 is disposed at the distal end of the parallelogram-shaped structure of each robotic arm 11. Instrument support arm 14 is provided with a drive device 13. Drive device 13 is used to drive an end effector 17 at the distal end of an instrument 12. Drive device 13 can move along the proximal or distal end of instrument support arm 14. Instrument 12 is mounted on drive device 13 and can move with drive device 13 toward the distal or proximal end of instrument support arm 14, allowing the distal end of instrument 12 to enter or exit the human body.

[0047] During the use of the surgical robot, the entire instrument 12 is sterile, and the mechanical arm 11 and the drive device 13 of the operating device 10 are sterile. These sterile structures are isolated from the sterile environment by a sterile cover (not shown). Figure 3 As shown, the instrument box 19 of the instrument 12 is connected to the driving device 13 through the connecting device 18. The connecting device 18 is sterile treated during use, so the connecting device 18 can isolate the instrument 12 and the driving device 13 aseptically.

[0048] The end effector 17 is supported by the instrument shaft 16 of the instrument 12. In one embodiment, the instrument shaft 16 is hollow, and the transmission mechanism in the instrument box 19 is connected to the end effector 17 through a cable. The drive device 13 drives the transmission mechanism to move so that the transmission mechanism retracts or releases the cable and thereby manipulates the movement of the end effector 17.

[0049] The instrument shaft 16 passes through the poking card 15 and is constrained by the poking card 15. The poking card 12 is docked with the instrument support arm 13 through the poking card clamping device, so that the robotic arm 11 can drive the poking card 12 to move together. Since the poking card 12 is docked on the instrument support arm 13, the robotic arm 11 can drive the poking card 12 to rotate around a remote fixed point. At this time, the instrument shaft 16 passing through the poking card 12 also rotates around the remote fixed point, allowing the end effector 17 of the instrument 12 to have a larger range of motion inside the human body.

[0050] The surgical robot typically also includes an imaging system portion (not shown) that enables the operator to observe the surgical site from outside the patient's body. The imaging system typically includes a device with a video image acquisition function (e.g., an instrument 12 with an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the instrument 12 with image acquisition function includes an optical device with one or more imaging sensors (e.g., a CCD or CMOS sensor) that will acquire images inside the patient's body. The one or more imaging sensors can be placed at the distal end of the instrument 12 with image acquisition function, and the signals generated by the one or more sensors can be transmitted along a cable or wirelessly for processing and display on a video display device.

[0051] The master operating device 20 is located on the operator's side. The master operating device 20 is used to send control commands to the slave operating device 10 and display the images obtained by the slave operating device 10 according to the operator's operation. The operator can observe the three-dimensional stereoscopic imaging of the patient's body provided by the imaging system through the master-slave operating device 20. By observing the three-dimensional images inside the patient's body, the operator can control the slave operating device 10 to perform related operations (such as performing surgery or obtaining images inside the patient's body) with an immersive feeling. The master operating device 20 includes a main console 21 and an input device 22. The main console 21 includes a display device, an armrest, a control signal processing system and an observation device, wherein the display device is used to display the images obtained by the above-mentioned imaging system. The armrest is used to place the operator's arms and / or hands so that the operator can operate the input device more comfortably. The observation device is used to observe the images displayed by the display device. According to actual needs, the armrest can also be omitted; or the observation device can be omitted, in which case direct observation can be performed. The operator controls the movement of the slave operating device 10 by operating the input device 22. The control signal processing system of the main console 21 processes the input signal of the input device 22 and sends a control command to the slave operating device. The slave operating device 300 is used to respond to the control command sent by the main console 21 and perform corresponding operations.

[0052] See also Figure 4 and Figure 5 , Figure 5 for Figure 4A top view of the coupling device 280 in the figure. In one embodiment, the instrument 12 is coupled to the drive device 23 through the coupling device 280. The coupling device 280 includes a first body 281 and a first buckle 283 and a second buckle 284 rotatably arranged on the first body 281. Specifically, the first buckle 283 is rotatably arranged near the first side 2811 of the first body 281, and the second buckle 284 and the first buckle 283 are symmetrically arranged on the first body and can be rotated relative to the first body 281, that is, the first buckle 283 and the second buckle 284 are symmetrically arranged about the central axis X of the first body 281. The central axis X passes through the center of the first body 281 and divides the first body 280 into two along the length direction. The first buckle 283 and the second buckle 284 are used to connect the coupling device 280 to the drive device 23 and connect the instrument box 19 of the instrument 12 to the coupling device 280.

[0053] like Figure 6 and Figure 7 As shown, Figure 6 for Figure 5 In a cross-sectional view along plane AA, in one embodiment, the first buckle 283 and the second buckle 284 are pivotally connected to the first body 281 via pivots 2833 and 2843. The first buckle 283 and the second buckle 284 each include an instrument-side claw and a drive-side claw, which are respectively used to engage with the buckle seats 1921 and 1922 on the instrument box 19 and the buckle seats 233 and 234 on the drive device 23 to connect the instrument box 19 and the drive device 23 to the coupling device 280. Specifically, the instrument-side claw 2831 of the first buckle 283 is used to engage with the first buckle seat 1921 on the instrument box 19, and the instrument-side claw 2841 of the second buckle 284 is used to engage with the second buckle seat 1922 on the instrument box 19. The driving side claw 2832 of the first buckle 283 is used to buckle with the third buckle seat 233 at the proximal end of the driving device 23 , and the driving side claw 2834 of the second buckle 284 is used to buckle with the fourth buckle seat 234 of the driving device 23 .

[0054] When the instrument 12 needs to be removed, the operator presses the release mechanism 191 on both sides of the instrument box 19 of the instrument 12. The release mechanism 191 is used to release the connection between the first clip 283 and the second clip 284 and the instrument box 19, thereby disengaging the instrument 12 from the coupling device 280. Since the first clip 283 and the second clip 284 are symmetrical about the central axis X, the two release mechanisms 191 can also be symmetrically arranged on both sides of the instrument box 191, which is more conducive to the operator operating the release mechanism 191 to separate the instrument 12 and the coupling device 280.

[0055] See again Figures 4 to 6In one embodiment, the coupling device 280 further includes a third buckle 285, which is disposed on a second side 2812 of the first body 281 and extends along the distal end of the first body 281. The second side 2812 is located on a side opposite the instrument support arm 14 and is non-parallel to the first side 2811. The third buckle 285 is configured to engage with the fifth buckle seat 235 on the drive device 23. This creates a triangular relationship between the third buckle 285, the first buckle 283, and the second buckle 284. The receiving slot 282 for receiving the instrument shaft 16 is located between these three buckles. Consequently, all three sides of the coupling device 280 have buckles that engage with the drive device 23, ensuring a very secure connection between the coupling device 280 and the drive device. This prevents the coupling device 280 from becoming detached from the drive device 23 due to the instrument 12 being flipped under force during surgery, thereby improving surgical safety.

[0056] See also Figure 8 In one embodiment, the third buckle 285 includes an instrument clip 2852 extending toward the proximal end of the engagement device 280, and the instrument clip 2852 is used to clamp the instrument box 19. Figure 10 As shown, the third latch 285 is pivotally connected to the first main body 281 of the coupling device 280 through a pivot 2853. After the coupling device 281 is coupled to the driving device 23, the driving claw 2851 of the third latch 285 is engaged with the fifth latch seat 235 on the driving device 23. The elastic member 2855 located on the first main body 281 is used to bias the driving claw 2851, thereby maintaining the driving claw 2851 and the fifth latch seat 235 in a engaged state.

[0057] After the instrument 12 is connected to the coupling device 280, the instrument box 12 longitudinally squeezes the instrument clamp 2854 of the third buckle 285, so that the protrusion 2854 at the proximal end of the instrument clamp 2852 is close to the side of the instrument box 19, and then the instrument claw 285 rotates clockwise around the pivot 2853, so that the driving claw 2851 and the fifth buckle seat 285 are more tightly engaged. The instrument clamp 2852 of the third buckle 285 clamps the instrument box 19 to prevent the instrument 12 from deflecting away from the instrument support arm 14, so that the instrument 12 is more firmly engaged on the coupling device 280.

[0058] When it is necessary to remove the coupling device 280 from the driving device 23, the operator pinches the instrument side claw 2831 of the first buckle 283 and the instrument side claw 2841 of the second buckle 284 toward the center of the coupling device 280, so that the first buckle 283 and the second buckle 284 rotate around the pivots 2833 and 2843, so that the driving claw 2843 of the first buckle 283 and the driving claw 2844 of the second buckle 284 open away from the center of the coupling device 280, and then the driving claw 2843 releases the connection with the third buckle seat 233, and the driving claw 2842 releases the connection with the fourth buckle seat 234. At this time, only the fifth buckle 285 and the fifth buckle seat 285 of the driving device 23 are still locked together. The operator only needs to hold the coupling device 280 and move the coupling device 280 away from the instrument support arm 14 to release the connection between the fifth buckle 285 and the fifth buckle seat 235. There is no need to set up a separate release mechanism for releasing the fifth buckle, and it does not increase the difficulty for the operator to remove the coupling device 280.

[0059] See again Figure 4 and Figure 5 In one embodiment, a receiving groove 282 for receiving the instrument shaft 16 of the instrument 12 is provided on the first body 281 of the coupling device 280. The receiving groove 282 is an oblique groove. Specifically, the instrument receiving end 2821 of the receiving groove 282 is located in the central area of the first body 281, and is used to receive the instrument shaft 16 after the instrument 12 is connected to the coupling device 280. The opening 2822 of the receiving groove 282 is opened in a non-central area on the first side 2811 of the first body 281. The opening 2822 of the receiving groove 2822 is connected to the instrument receiving end 2821. The angle α between the central axis Y of the receiving groove 282 and the central axis X of the first body is non-right angle, so that the receiving groove 282 forms a non-right angle with the side of the first body 281. Furthermore, α is an acute angle, such that the opening 2822 of the receiving groove 282 faces outward, i.e., the distance from the center of the opening 2822 to the first side 2812 is shorter than the distance from the center of the instrument receiving end 2821 to the first side 2812. In other words, the first side wall 2823 of the receiving groove 282 forms an acute angle with the first side 2811 of the first body 281, and the second side wall 2824 of the receiving groove 282 forms an acute angle with the second side 2812 of the first body 281. The length s1 of the first side wall 2823 is shorter than the length s2 of the second side wall 2824. The first side wall 2823 and the second side wall 2823 refer to the straight portions of the groove wall of the receiving groove 282.

[0060] Since the receiving groove for accommodating the instrument shaft 16 is the receiving groove 282, compared with the receiving groove perpendicular to the first side 2811, the space of the first main body 281 part between the first side wall 2812 of the receiving groove 282 and the first side 2811 is larger, so that the volume of the first buckle 283 can be made larger. The first buckle 283 and the second buckle 281 with a larger volume can make the connection between the instrument 12 and the driving device 23 and the engaging device 280 more firm.

[0061] In addition, since the second side 2812 of the first main body 280 faces the operator during use, the opening 2822 of the receiving groove 282 is closer to the operator than the instrument receiving end 2821. During the process of loading the instrument 12 into the engaging device 280, the operator holds the instrument 12 and translates the instrument receiving end 2821 along the central axis Y of the receiving groove 282 from the opening 2822, so that it is easier for the operator to load the instrument 12.

[0062] As Figure 5 shown, in one embodiment, the multiple engaging discs 2861, 2862, 3863, 3864 of the engaging device 280 are distributed around the first main body 281. The multiple engaging discs 2861, 2862, 2863, 2864 are used to engage the instrument disc 1931 of the instrument 12 and the driving disc 236 of the driving device 23. The receiving groove 282 is located in the middle of the multiple engaging discs 2861, 2862, 3863, 3864. Specifically, the first buckle 283 is located between the first side wall 2823 of the receiving groove 282 and the first connecting disc 2861, and the second connecting disc 2862 is located between the second connecting disc 2812 and the second side wall 2824.

[0063] In one embodiment, the instrument receiving end 2821 of the receiving groove 282 is located within the triangular area formed by the first buckle 283, the second buckle 284 and the third buckle 285. Thus, no matter which direction the instrument 12 flips, the three buckles can firmly lock the instrument box of the instrument 12. Further, the distance from the center of the instrument receiving end 2821 to the central plane AA of the first buckle 283 and the second buckle 284 is L. The smaller the distance L is, the smaller the torque applied by the instrument to the first buckle 283 and the second buckle 284. Preferably, L is less than the width M of the first buckle 283. Further still, L is less than half of the width M of the first buckle, that is, L < M / 2, so that the instrument 12 is stably connected to the engaging device 280.

[0064] As Figure 7 and Figure 10As shown, corresponding to the multiple coupling plates 2861, 2862, 2863, 2864, multiple instrument plates 1931, 1932, 1933, 1934 are also located around the coupling surface of the instrument box 19, wherein the first coupling plate 283 is located between the first buckle 283 and the third side 2813 of the coupling device 280, and the second coupling plate 2862 is located between the second side 2812 and the second side wall 2824 of the receiving groove 282. The plurality of instrument discs 1931, 1932, 1933, 1934 are respectively coupled to the plurality of capstans 1921, 1922, 1923, 1924 located within the instrument box 19. The plurality of drive discs 236 drive the instrument discs 1931, 1932, 1933, 1934 to rotate via the plurality of coupling discs 2861, 2862, 2863, 2864, thereby driving the plurality of capstans 1921, 1922, 1923, 1924 to rotate. Therefore, the corresponding plurality of capstans 1921, 1922, 1923, 1924 are also located near the four corners of the instrument box 19. The proximal end of the instrument shaft 16 is located in the central region of the instrument box 19. The plurality of drive cables 1925 have one end wound around the capstans 1921, 1922, 1923, 1924 and the other end extending through the instrument shaft 16 to the distal end of the instrument shaft 16.

[0065] Since the proximal end of the instrument shaft 16 is located in the central area of the instrument box 19, and multiple winches 1921, 1922, 1923, and 1924 can be distributed around the instrument shaft 16, the angles between the drive cables 1925 wound on different winches can be relatively large, thereby reducing the interference between the drive cables 1925 in the instrument box 19 and facilitating the wiring of the drive cables 1925.

[0066] like Figure 11 As shown, in one embodiment, the receiving groove 382 of the coupling device 380 is a curved oblique groove. Specifically, the first side wall 3823 and the second side wall 2834 of the receiving groove 382 are both arc-shaped side walls. The instrument receiving end 3821 of the receiving groove 382 extends further toward the inside of the first body of the coupling device 380, so that the center plane AA of the first buckle 283 and the second buckle 284 passes through the instrument receiving end 3821. In this way, after the instrument 12 is coupled to the coupling device 380, the distance from the axis of the instrument shaft 16 to the center plane AA is not less than 100 mm. The first and second buckles 283 and 284 are very small, so that the torque applied to the first buckle 283 and the second buckle 284 when the instrument 12 is flipped by force is also very small. As a result, the instrument 12 is less likely to detach from the coupling device 380. More preferably, the center plane AA of the first and second buckles 283 and 284 passes through the center of the instrument receiving end 3821. In this way, the torque applied to the first and second buckles 283 and 284 by the instrument 12 due to the force is almost zero, thereby completely avoiding the risk of the instrument 12 detaching from the coupling device 380 due to flipping by the force.

[0067] See again Figure 5 、 Figure 8 and Figure 9 In one embodiment, a second body 287 extends from the proximal end of the third side of the engaging device 280. The second body 287 is perpendicular to the first body 282 and is an encircling plate-shaped structure. Specifically, the second body 287 includes a straight plate 2871 located in the middle of the third side 2813 and two curved plates 2872 located at either end of the third side 2813. The concave surfaces of the two curved plates 2872 face the center of the engaging device 280. The guide end surface 192 of the instrument case 19 of the instrument 12, which is adjacent to the second body 287, has rectangular rounded corners 1911 at both ends. Between the two rectangular rounded corners 1911 is a flat end surface 1912 aligned with the straight plate 2871 of the second body 287. In this way, during the process of loading the instrument 12 into the coupling device 280, the guide end surface 192 of the instrument box 19 slides from its proximal end to the distal end along the second main body 287 of the coupling device 280. When the guide end surface 192 slides into the encircling area formed by the two curved panels 2872 of the second main body 287, the rectangular rounded corners 1911 of the guide end surface 192 are clamped in the encircling area, preventing the instrument box 19 from deviating from its direction during the loading process, thereby improving the efficiency and accuracy of loading.

[0068] In one embodiment, a guide bar 2873 is further provided on the flat end surface 1912 of the second body 287 of the engaging device 280. The guide bar 2873 is in the shape of a bullet, that is, the guide bar 2873 includes a bullet-shaped front portion 2874 and a long strip-shaped rear portion 2875. Figure 7 As shown, a guide groove 1913 is defined on the straight plate 2871 of the guide end surface 192 of the instrument 12. The width of the bottom groove 1914 of the guide groove 1913 is greater than the width of the top groove 1915. When the instrument 12 is loaded onto the guide engagement device 280, the front portion 2874 of the guide bar 2873 first enters the bottom groove 1914. As the instrument 12 moves further distally, the front portion 2874 of the guide bar 2873 moves along the bottom groove 1914 toward the top groove 1915. After the instrument 12 is successfully engaged with the engagement device 280, the front portion 2874 of the guide bar 2873 is accommodated in the top groove 1915 of the guide groove 1913, and the rear portion 2875 of the guide bar 2873 is accommodated in the bottom groove 1914 of the guide groove 1913.

[0069] The guide strips 2873, guide grooves 1913, and the encircling second body 287 work together to further improve the accuracy and efficiency of loading the device 12. In some embodiments, there are two guide strips 2873 and two guide grooves 1913. The cooperation of the two guide strips 2873 and the two guide grooves 1913 can further improve the accuracy and efficiency of loading the device 12.

[0070] See again Figure 4 and Figure 7 In one embodiment, the instrument engagement surface of the engagement device 280 includes a positioning pin 288, and the engagement surface of the instrument 12 includes a positioning groove 1941 that cooperates with the positioning pin 288. After the instrument 12 is engaged with the engagement device 280, the first positioning pin 288 is inserted into the first positioning groove 1941. The insertion of the first positioning pin 288 into the first positioning groove 1941 further constrains the movement of the instrument 12, thereby more securely engaging the instrument 12 with the engagement device 280. Furthermore, there are two first positioning pins 288 and two first positioning grooves 1941. The two first positioning pins 288 are located on either side of the instrument receiving end 2821 of the receiving groove 282 and are located on the central axis X of the engagement device. The two first positioning pins 288 and the two first positioning grooves 1941 can effectively inhibit the rotation of the instrument 12.

[0071] In one embodiment, a second locating pin 237 is provided on the engagement surface of the drive device 13. Correspondingly, a second locating groove (not shown) is provided on the drive engagement surface of the engagement device 280 near the drive device 13. After the engagement device 280 engages with the drive device 13, the second locating pin 237 is inserted into the second locating groove. Insertion of the second locating pin 237 into the second locating groove can inhibit the overall rotation of the device 12 and the engagement device 280. In some embodiments, there are two second locating pins 237 and two second locating grooves, each located on both sides of the receiving groove 232 of the drive device 23.

[0072] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A coupling device for coupling an instrument and a drive device, characterized in that: The coupling device includes a first main body and a receiving groove opened on the first main body, the receiving groove has an instrument receiving end located in the middle area of the first main body, the instrument receiving end is used to receive the instrument shaft of the instrument, the receiving groove is an oblique groove, and the opening of the receiving groove is located on the first side of the first main body, the coupling device includes a first buckle arranged at the first side and a second buckle arranged symmetrically with the first buckle, the first buckle and the second buckle are both used to buckle with the instrument and the buckle seat on the driving device, the coupling device includes a second side that is non-parallel to the first side, the coupling device also includes a third buckle arranged at the second side, the third buckle is used to buckle with the buckle seat of the driving device, and the instrument receiving end is located in the triangular area formed by the first buckle, the second buckle and the third buckle.

2. The joining device according to claim 1, wherein: The opening is communicated with the instrument receiving end, and the opening is located in a non-central area of the first side.

3. The joining device according to claim 2, wherein: The receiving groove includes a first side wall and a second side wall located on both sides of a central axis of the receiving groove, and the length of the first side wall is smaller than the length of the second side wall.

4. The joining device according to claim 3, wherein: An included angle between the first side wall and the first side edge is an acute angle, and / or an included angle between the second side wall and the second side edge is an acute angle.

5. The joining device according to claim 4, wherein: The distance between the center of the opening and the second side is smaller than the distance between the center of the instrument receiving end and the second side.

6. The joining device according to claim 3, wherein: The first buckle is located between the first side wall and the first side edge.

7. The joining device according to claim 1, wherein: The coupling device further comprises a first coupling plate and a second coupling plate for coupling the instrument and the driving device, and the receiving groove is located between the first coupling plate and the second coupling plate.

8. The joining device according to claim 7, wherein: The first buckle is located between the receiving slot and the first engaging plate, and / or the second engaging plate is located between the receiving slot and the second side.

9. The joining device according to claim 1, wherein: The first buckle and / or the second buckle can rotate relative to the first body.

10. The joining device according to claim 1, wherein The first buckle, and / or the second buckle, and / or the third buckle are pivotally connected to the first body.

11. The joining device according to claim 1, wherein: The first buckle and / or the second buckle are fixedly mounted on the first main body, or the first buckle and / or the second buckle are integrally formed with the first main body.

12. The joining device according to claim 1, wherein The third buckle includes an instrument clip extending along the proximal end of the engagement device, and the instrument clip is used to clamp the instrument.

13. The joining device according to claim 3, wherein: The distance between the center plane of the first buckle and the second buckle and the first side wall is smaller than the width of the first buckle, or the center plane of the first buckle and the second buckle passes through the instrument receiving end.

14. A slave operating device, characterized in that: The slave operating device includes a driving device and the engaging device according to any one of claims 1 to 13, wherein the driving device is mounted on a robot arm, and the engaging device is engaged with the driving device.

15. A surgical robot, characterized in that: The surgical robot includes a master operating device and a slave operating device as claimed in claim 14, wherein the slave operating device performs corresponding operations according to instructions of the master operating device.

Images