Compact surgical instrument drive structure and surgical robot

Abstract

This invention provides a compact surgical instrument drive structure. A power unit drives the surgical instrument housing to move and operate the surgical instruments on a base via a transmission device. The power unit outputs driving power, and the transmission device transmits this power. Both units have multiple transmission shafts for power transmission. These transmission shafts are arranged in a parallel configuration, extending along the thickness of the base. This arrangement of the power unit and transmission device close to the base effectively reduces the thickness of the surgical instrument drive structure. The parallel arrangement also allows for close proximity of the various components of the power unit and transmission device, improving the structural compactness. This invention also provides a surgical robot with the aforementioned compact surgical instrument drive structure.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and more specifically, to a compact surgical instrument drive structure and a surgical robot. Background Technology

[0002] A surgical robot is a master-slave controlled laparoscopic minimally invasive surgical system, an endoscopic surgical control system designed specifically for surgeons to perform minimally invasive surgeries such as laparoscopy and thoracoscopic surgery.

[0003] The standard configuration of an endoscopic surgery control system includes a physician console, a patient operating platform, and an image processing platform, used in conjunction with endoscopes and surgical instruments. The patient operating platform, located beside the operating table, contains four robotic arms. These arms hold, move, or manipulate the endoscope and surgical instruments, controlled by an instrument housing drive unit at their ends. This drive unit contains a drive structure to provide power for the movements of different instruments, such as controlling rotation around an axis, opening and closing, or adjusting the distance of the instrument housing. The arrangement of the drive structure affects the compactness of the drive system and the precision of instrument control. Summary of the Invention

[0004] In view of this, the present invention provides a compact surgical instrument drive structure to improve the structural compactness of the surgical instrument drive structure in a surgical robot; the present invention also provides a surgical robot.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A compact surgical instrument drive structure includes a base with an instrument housing mounted on a first side, and a power unit and a transmission device driven by the power unit on a second side of the base. The transmission device moves the instrument housing on the base.

[0007] The power unit and the transmission unit have multiple transmission shafts for transmitting power, which are arranged in parallel and extend along the thickness direction of the base.

[0008] Preferably, in the above-described compact surgical instrument drive structure, the transmission device includes a main conveyor belt and two main synchronous pulleys supporting the main conveyor belt;

[0009] The transmission shafts of the two main synchronous pulleys are arranged along the thickness direction of the base.

[0010] Preferably, in the above-described compact surgical instrument drive structure, the power unit includes a drive motor, a reducer, and a brake, and also includes an encoder driven by the drive motor. The transmission shaft also includes the motor shaft of the drive motor, the rotating shaft of the encoder, the speed-changing shaft of the reducer, and the brake shaft of the brake.

[0011] The motor shaft, the rotating shaft, the speed-changing shaft, and the brake shaft are all arranged in parallel.

[0012] Preferably, in the above-described compact surgical instrument drive structure, the drive motor, the encoder, the reducer and the brake are distributed along the width direction of the base and are centrally arranged at the first end of the base, and the main conveyor belt is arranged at the second end of the base.

[0013] Preferably, in the above-described compact surgical instrument drive structure, the drive motor is located near the end of the first end of the base, the brake is located near the main conveyor belt, and the encoder and the reducer are located between them;

[0014] The main conveyor belt is driven by the brake shaft and is arranged near the center of the base in the width direction.

[0015] Preferably, in the above-described compact surgical instrument drive structure, the motor shaft includes a first top and a first bottom extending from both ends of the motor body of the drive motor;

[0016] The gear shaft includes a second top and a second bottom extending from the reducer body of the reducer;

[0017] A conveyor belt is arranged between the drive motor and the encoder to connect the first top and the rotating shaft.

[0018] A second conveyor belt is arranged between the drive motor and the reducer, connecting the first bottom and the second bottom.

[0019] A transmission belt 3 is arranged between the reducer and the brake, providing a transmission connection between the second top and the brake shaft.

[0020] Preferably, in the above-described compact surgical instrument drive structure, the brake includes a brake bracket fixed to the base, the brake bracket supporting the brake shaft by its frame-like structure.

[0021] The brake shaft is fixedly mounted with a brake body and a main synchronous pulley that supports the main conveyor belt. A spacer ring is provided between the main synchronous pulley and the brake body to separate and support them.

[0022] Preferably, in the above-mentioned compact surgical instrument drive structure, the brake is a holding brake, the center of the brake body is set as a square shaft holding brake, the square shaft holding brake is coaxially arranged with a heat dissipation wheel, and the heat dissipation wheel extends a plurality of heat dissipation fins radially.

[0023] Preferably, in the above-described compact surgical instrument drive structure, the reducer is supported by a bearing housing with the gearbox shaft extended from the edge of the base to the reducer mounting plate;

[0024] The bearing housing extends out a limiting boss, and the reducer mounting plate has a limiting hole that mates with the limiting boss.

[0025] Preferably, in the above-mentioned compact surgical instrument drive structure, the limiting hole is a strip-shaped limiting hole, and the bearing housing and the reducer mounting plate are also provided with multiple sets of screws and screw through holes for fixing the bearing housing, and the screw through holes all have a strip-shaped hole structure.

[0026] Preferably, in the above-described compact surgical instrument drive structure, multiple screw mounting seats extend from both sides of the bearing housing in the width direction, and the positions of the multiple screw mounting seats correspond to the limiting hole and the screw through hole, respectively.

[0027] A surgical robot has a drive structure on its patient surgical platform for driving and transmitting a surgical instrument box. The drive device on the patient surgical platform for driving the surgical instruments is a compact surgical instrument drive structure as described above.

[0028] The present invention provides a compact surgical instrument drive structure in which a power unit drives the surgical instrument box to move and operate the surgical instruments on a base via a transmission device. The power unit outputs driving power, and the transmission device transmits the power. Both are provided with multiple transmission shafts for power transmission. The multiple transmission shafts are arranged in parallel and extend along the thickness direction of the base, that is, the power unit and the transmission device are arranged close to the base, which can effectively reduce the thickness of the surgical instrument drive structure. The parallel arrangement structure allows the various parts of the power unit and the transmission device to be arranged close together, improving the compactness of the structural layout. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1A schematic diagram of the assembly structure of an existing surgical instrument drive structure;

[0031] Figure 2 for Figure 1 Layout diagram of the power unit structure of the drive structure of surgical instruments;

[0032] Figure 3 A partially enlarged view of the drive structure of the compact surgical instrument drive structure provided by the present invention;

[0033] Figure 4 for Figure 3 Top view of the drive structure of a compact surgical instrument drive system;

[0034] Figure 5 for Figure 3 Schematic diagram of the middle brake;

[0035] Figure 6 for Figure 5 Exploded view of the main structure of the brake in the intermediate brake system;

[0036] Figure 7 for Figure 3 A schematic diagram of the intermediate speed reducer. Detailed Implementation

[0037] This invention discloses a compact surgical instrument drive structure, which improves the structural compactness of the surgical instrument drive structure in a surgical robot; this invention also provides a surgical robot.

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] Existing surgical instrument drive mechanisms such as Figure 1 and Figure 2 As shown, it includes a base 1', an instrument assembly 2' disposed on the base 1', a trocar 3' located at the front end of the base 1', and a fixing structure for fixing the trocar 3' to the base 1', as follows: Figure 1 In the middle, the base 1' is provided with a synchronous belt 5' arranged parallel to the sliding direction of the instrument assembly 2'. The instrument assembly 2' is fixedly connected to the synchronous belt 5' through a connecting seat. The base 1' is provided with a drive structure for driving the synchronous belt 5' to move.

[0040] like Figure 2As shown, the drive structure includes a drive motor 9' mounted on the base 1' and a transmission wheel 10'. The output shaft of the drive motor 9' extends along the length of the base 1', and the output shaft and the transmission wheel 10' are connected by a reversing transmission assembly. When the output shaft of the drive motor 9' is working, it drives the input wheel 14' to rotate. The power is cross-directed through the intermediate wheel 1 (not shown in the figure), intermediate wheel 2 18', transmission wheel 4 15', and synchronous belt 2 (not shown in the figure). The output wheel 16' drives the transmission wheel 3 10' and transmission wheel 2 8' to rotate through the synchronous belt 3 20', thereby driving the synchronous belt 1 5' to move, and finally driving the instrument assembly 2' to move along the linear guide rail 4'.

[0041] The existing drive structure of the drive motor 9' to the synchronous belt 5' changes the transmission direction laterally and vertically through the direction-changing transmission component, which makes the surgical instrument structure complex and occupies a large space.

[0042] like Figures 3-7 As shown, Figure 3 A partially enlarged view of the drive structure of the compact surgical instrument drive structure provided by the present invention; Figure 4 for Figure 3 Top view of the drive structure of a compact surgical instrument drive system; Figure 5 for Figure 3 Schematic diagram of the middle brake; Figure 6 for Figure 5 Exploded view of the main structure of the brake in the intermediate brake system; Figure 7 for Figure 3 A schematic diagram of the intermediate speed reducer.

[0043] This embodiment provides a compact surgical instrument drive structure. The power unit drives the surgical instrument box to move and operate the surgical instruments on the base 1 through the transmission device. The power unit outputs driving power, and the transmission device transmits the power. Both are provided with multiple transmission shafts. The transmission shaft is the transmission shaft of the power transmission component. It can be a gear shaft of gear drive or a synchronous pulley support shaft of belt drive, etc.

[0044] Multiple transmission shafts are arranged in parallel and extend along the thickness direction of base 1. This means that the power unit and transmission unit are arranged close to base 1. With the transmission shafts arranged in parallel, the transmission structure transmits in the same direction without the need for direction change. The space occupied by the transmission structure can be basically located on the same transmission plane, which can effectively reduce the thickness of the surgical instrument drive structure. The parallel arrangement structure allows the various parts of the power unit and transmission unit to be arranged close together, improving the compactness of the structural layout.

[0045] Specifically, a motor 2, an encoder 3, a reducer 4, and a brake 5 are mounted on the base 1. The transmission shaft includes the motor shaft 21 of the motor 2, the rotating shaft 31 of the encoder 3, the speed-changing shaft 41 of the reducer 4, and the brake shaft 51 of the brake 5. The shafts are arranged in parallel with each other. At the same time, in order to meet the transmission requirements, the motor shaft 21 of the motor 2 extends out of both ends of the motor body. One end of the speed-changing shaft 41 of the reducer 4 is connected to the first end of the motor shaft 21, and the other end is connected to the brake shaft of the brake 5.

[0046] The second end of the motor shaft 21 is connected to the rotating shaft 31 of the encoder 3 for transmission.

[0047] The transmission structure of the motor 2 driving the encoder 3, reducer 4 and brake 5 is located on the first side of the base 1.

[0048] The transmission device includes a main conveyor belt 61 and two main synchronous pulleys 62 that support the main conveyor belt 61;

[0049] The transmission shafts of the two main synchronous pulleys 62 are arranged along the thickness direction of the base 1.

[0050] The power unit drives the transmission structure of the main conveyor belt 61 to convey along the length of the base 1. The second side of the base 1 is used to install and drive the surgical instrument box and to provide surgical operation control of the instrument components in the surgical instrument box.

[0051] The base 1 has a plate-like structure, and the motor shaft 21, rotating shaft 31, speed change shaft 41 and brake shaft 51 all extend out of the base 1 basically vertically.

[0052] To improve the compactness of the power unit drive structure, the motor 2, encoder 3, reducer 4 and brake 5 are arranged in parallel axially and distributed along the width direction of the base 1.

[0053] like Figure 3 The diagram shows the top structure of the motor power transmission. Preferably, in a specific embodiment, the motor 2 is located at the end of the base 1, and the encoder 3 and reducer 4 are arranged close to the motor, and are spaced apart on both sides of the width direction of the base 1 according to their different outer diameters.

[0054] Furthermore, the two ends of the motor shaft 21 extend from the top and bottom of the motor body 22, respectively. The first top of the motor shaft 21 is connected to the encoder 3, that is, the rotating shaft 31 of the encoder 3 extends from the top of the encoder 3, and the two are connected by a transmission belt 33.

[0055] The first bottom of the motor shaft 21 extends through the second transmission belt 23. Similarly, the speed change shaft 41 of the reducer 4 extends through the second top and bottom of the reducer 4. The speed change shaft 41 connects to the second transmission belt 23 at the second bottom of the reducer 4, thus transmitting the power output from the motor 2. The top of the speed change shaft 41 extends through the second top of the reducer 4 and connects to the brake 5 via the third transmission belt 42.

[0056] The brake shaft 51 of the brake 5 also has two ends extending from the top and bottom of the brake 5. The third top end of the brake shaft 51 is used to connect to the conveyor belt 42, and the third bottom end of the brake shaft is connected to the drive wheel of the main conveyor belt for transmission, thereby driving the main conveyor belt to move through the brake shaft.

[0057] The brake 5 is positioned close to the center of the base 1 so that the conveying direction of the main conveyor belt 61 extends along the length of the base 1.

[0058] By arranging the motor 2, reducer 3, encoder 4 and brake 5 in parallel along the axial direction and using the width direction of the base 1 to create a staggered arrangement, and setting the motor 2, reducer 4 and brake 5 as drive structures with both ends extending in the axial direction, the transmission space of different shafts is provided by the mounting bracket, which effectively reduces the space occupied by the drive structure in the thickness direction. The spatial arrangement structure is simple and conducive to improving the accuracy of the power output of the main conveyor belt.

[0059] Meanwhile, by transmitting power through both ends of the motor, reducer, and brake, the main conveyor belt can be decelerated first and then braked, resulting in smoother power output and improved stability of instrument box control.

[0060] like Figure 5 and Figure 6 The diagram and exploded view of the brake are shown.

[0061] Specifically, the brake 5 is supported by the brake bracket 52, which is used to fix the brake body 50 and also needs to provide rotational support for the main synchronous pulley 62 of the main conveyor belt 61.

[0062] The brake bracket 52 is a frame structure. The base plate of the brake bracket 52 is fixedly installed on the base 1. Two side brackets extend from the base plate, and there is a top plate opposite to the base plate.

[0063] The brake shaft 51 is rotatably connected to the base plate and the top plate via bearings. The brake body 50 is arranged inside the brake bracket 52, and the brake shaft 51 extends out of the top of the brake bracket 52 to ensure the stability of the power input to the brake shaft 51.

[0064] The main synchronous pulley 62 is arranged close to the base plate, so that the main conveyor belt 61 is close to the base 1 for power transmission. The brake body 50 of the brake 5 is arranged close to the top plate. The brake body 50 and the main synchronous pulley 62 are axially limited by a spacer ring 53, which improves the compactness of the arrangement structure of the brake body 50 and the main synchronous pulley 62.

[0065] The brake body 50 is a holding brake type brake. The brake body 50 is fixedly connected to a square shaft holding brake 54. A heat dissipation wheel 55 is coaxially arranged on the square shaft holding brake 54. Multiple heat dissipation fins extend from the heat dissipation wheel 55. Through the combination of the square shaft holding brake and the heat dissipation wheel, the brake body 50 can transfer and dissipate heat through the heat dissipation fins on the heat dissipation wheel 55 when it is working, thereby reducing the working temperature of the brake and ensuring braking safety.

[0066] like Figure 7 As shown, the reducer 4 is a single-shaft reducer. The two ends of the speed change shaft 41 are connected by two synchronous pulleys with different diameter ratios to achieve power output to the motor 2 and provide different speed control of the main synchronous pulley.

[0067] The base 1 extends the reducer mounting plate 11 on the first side in the width direction. The reducer 4 includes a bearing housing 40 and a speed change shaft 41. The speed change shaft 41 is supported by the reducer bearing in the bearing housing 40. The bearing housing 40 is also equipped with a bearing housing cover plate, spacer ring and other structures to provide axial support and limit for the speed change shaft.

[0068] Furthermore, the reducer 4 is fixedly mounted on the reducer mounting plate 11 by the bearing housing 40, providing installation and support for the reducer 4.

[0069] The second top of the transmission shaft 41 is provided with a small reduction synchronous pulley 41, and the second bottom is provided with a large reduction synchronous pulley 42. The small reduction synchronous pulley 41 is connected to the brake 5 to realize power transmission.

[0070] Furthermore, to ensure the stability of the bearing housing 40 and the reducer mounting plate 11 axially supporting the transmission shaft 41, a limiting boss 43 extends from the outer wall of the bearing housing 40. Correspondingly, a limiting hole 12 is provided on the reducer mounting plate 11. The limiting boss 43 extends into the limiting hole 12, and the two sides of the limiting boss 43 in the thickness direction are clamped and limited by the limiting hole 12, providing axial support for the reducer 4 and ensuring the stability of the reducer transmission process.

[0071] Furthermore, the limiting hole 12 is a strip-shaped hole, and two screw mounting seats 44 extend from each of the two side walls of the bearing housing 40 in the width direction. The screw mounting seats 44 are designed to be arranged in a matrix of four. Correspondingly, the reducer mounting plate 11 is provided with two screw through holes 13 below the limiting hole 12. The screw through holes 13 are also strip-shaped hole structures. Adjusting the bearing housing 40 to slide along the length direction of the base controls the tension of the conveyor belts at both ends of the reducer 4.

[0072] In a specific embodiment of this case, a conveyor belt 33 is provided between the motor 2 and the encoder 3. The encoder 3 is driven by the motor 2 during startup and operation. The motor shaft 21 extends out of the top part of the motor body 22. The first bottom of the motor shaft 21 extends out of the conveyor belt 23. A motor bracket 24 is provided at the bottom of the motor 2. After the motor bracket 24 supports the motor 2, space is left at the bottom for the synchronous wheel of the conveyor belt 23 to rotate and convey.

[0073] The reducer 4 is positioned between the motor 2 and the brake 5. When controlling the rotation of the surgical instrument box, the reducer 4 is used to reduce the speed first, and then the brake 5 is used to start and stop the main conveyor belt 61. In case of emergency braking, the brake 5 directly brakes the main conveyor belt 61, reducing the existing process of stopping the main conveyor belt 61 after being driven by the reducer 4. The braking process is more precise and direct, improving the safety of the main conveyor belt 61 control.

[0074] Based on the compact surgical instrument drive structure provided in the above embodiments, the present invention also provides a surgical robot, wherein a drive structure for driving and transmitting the surgical instrument box is provided on the patient surgical platform, and the drive device for driving the surgical instruments on the patient surgical platform is the compact surgical instrument drive structure provided in the above embodiments.

[0075] Since the surgical robot adopts the compact surgical instrument drive structure of the above embodiment, please refer to the above embodiment for the beneficial effects brought by the compact surgical instrument drive structure.

[0076] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A compact surgical instrument drive structure, characterized in that, The first side of the base is the instrument box mounting side, and the second side of the base is equipped with a power unit and a transmission device driven by the power unit. The transmission device moves the instrument box on the base. The power unit and the transmission unit have multiple transmission shafts for transmitting power, the multiple transmission shafts are arranged in parallel, and the multiple transmission shafts extend along the thickness direction of the base; The power unit includes a drive motor, a reducer, and a brake, and also includes an encoder driven by the drive motor; the transmission shaft also includes the motor shaft of the drive motor, the rotating shaft of the encoder, the speed-changing shaft of the reducer, and the brake shaft of the brake; the motor shaft, the rotating shaft, the speed-changing shaft, and the brake shaft are all arranged in parallel; The transmission device includes a main conveyor belt; The drive motor is located near the end of the first end of the base, the brake is located near the main conveyor belt, and the encoder and the reducer are located between the two. The main conveyor belt is driven by the brake shaft of the brake; The brake includes a brake bracket fixed to the base, the brake bracket supporting the brake shaft by its frame structure, the brake shaft extending out from the top of the brake bracket.

2. The compact surgical instrument drive structure according to claim 1, characterized in that, The transmission device includes two main synchronous pulleys that support the main conveyor belt; The transmission shafts of the two main synchronous pulleys are arranged along the thickness direction of the base.

3. The compact surgical instrument drive structure according to claim 2, characterized in that, The drive motor, the encoder, the reducer and the brake are distributed along the width direction of the base and are concentrated at the first end of the base, while the main conveyor belt is arranged at the second end of the base.

4. The compact surgical instrument drive structure according to claim 3, characterized in that, The main conveyor belt is arranged near the center of the base in the width direction.

5. The compact surgical instrument drive structure according to claim 4, characterized in that, The motor shaft includes a first top and a first bottom extending from both ends of the motor body of the drive motor; The gear shaft includes a second top and a second bottom extending from the reducer body of the reducer; A conveyor belt is arranged between the drive motor and the encoder to connect the first top and the rotating shaft. A second conveyor belt is arranged between the drive motor and the reducer, connecting the first bottom and the second bottom. A transmission belt 3 is arranged between the reducer and the brake, providing a transmission connection between the second top and the brake shaft.

6. The compact surgical instrument drive structure according to claim 5, characterized in that, The brake shaft is fixedly mounted with a brake body and a main synchronous pulley that supports the main conveyor belt. A spacer ring is provided between the main synchronous pulley and the brake body to separate and support them.

7. The compact surgical instrument drive structure according to claim 6, characterized in that, The brake is a holding brake type, with a square shaft holding brake at the center of the brake body. A heat dissipation wheel is arranged coaxially on the square shaft holding brake, and multiple heat dissipation fins extend radially from the heat dissipation wheel.

8. The compact surgical instrument drive structure according to claim 5, characterized in that, The reducer is supported by a bearing housing with the gear shaft extending from the edge of the base to the reducer mounting plate; The bearing housing extends out a limiting boss, and the reducer mounting plate has a limiting hole that mates with the limiting boss.

9. The compact surgical instrument drive structure according to claim 8, characterized in that, The limiting hole is a strip-shaped limiting hole. The bearing housing and the reducer mounting plate are also provided with multiple sets of screws and screw through holes for fixing the bearing housing. The screw through holes all have a strip-shaped hole structure.

10. The compact surgical instrument drive structure according to claim 9, characterized in that, Multiple screw mounting seats extend from both sides of the bearing housing in the width direction, and the positions of the multiple screw mounting seats correspond to the limiting hole and the screw through hole, respectively.

11. A surgical robot, wherein a drive structure for driving and transmitting power to a surgical instrument box is provided on the patient surgical platform, characterized in that, The drive device for driving surgical instruments on the patient surgical platform is a compact surgical instrument drive structure as described in any one of claims 1-10.

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