A four-degree-of-freedom laparoscopic surgical instrument transmission and drive system

Abstract

A four-degree-of-freedom laparoscopic surgical instrument transmission and drive system belongs to the field of medical devices. It includes an instrument shaft, a support device, a quick-change mechanism, a transmission mechanism and a drive mechanism. The transmission mechanism mainly includes a rolling wire wheel, a guide wheel mechanism and a crank rocker, which realizes the transmission of the four degrees of freedom of the instrument shaft rolling, wrist pitch, wrist yaw and clamp opening and closing through wire transmission. The drive mechanism mainly includes a coupling, a screw nut pair, a connecting block, a transmission rod and a linear bearing, which converts the rotational motion of the servo motor into the linear motion of the transmission rod, and then converts the linear motion into rotational motion through the crank rocker in the transmission mechanism, and transmits it to the four degrees of freedom of the instrument through the transmission mechanism. The invention has a compact design, smooth transmission, fast response, small gap, and adopts a modular design, which is easy to realize system integration and convenient and simple quick change.

Description

Technical Field

[0001] The invention relates to a laparoscopic surgical instrument, in particular to a transmission and drive system for a four-degree-of-freedom laparoscopic surgical instrument, belonging to the field of medical instruments. Background Art

[0002] Laparoscopic surgical instruments are widely used in many surgical fields due to their advantages such as smaller wounds, shorter healing time, and reduced patient pain. However, traditional laparoscopic surgical instruments are limited in two degrees of freedom of translation at the wound, poor flexibility, and require manual operation. It is difficult for doctors to ensure precision and accuracy during long-term manual operation. In order to overcome the shortcomings of traditional laparoscopic surgical instruments, the laparoscopic surgical robot system is specially equipped with a four-degree-of-freedom laparoscopic surgical instrument, which has four degrees of freedom: instrument axis roll, wrist pitch, yaw, and clamp opening and closing. It makes up for the loss of two degrees of freedom of movement of the instrument caused by wound constraints when the traditional handheld laparoscopic surgical instrument goes deep into the sheath, and has the advantages of sufficient working space and high flexibility. The wire wheel mechanism used can be pre-tightened and can achieve long-distance transmission, which helps to reduce the rigid damage caused by surgical instruments to patient tissues. However, for four-degree-of-freedom laparoscopic surgical instruments that are driven and transmitted only by rotational motion, the transmission device is large in size, the mechanical transmission backlash is large, and it is difficult to achieve system integration. A linear drive and transmission method similar to a crank-connecting rod mechanism is adopted. The long-distance movement of the steel wire can be driven by rotating the crank at a small angle. This provides a power source for the four-degree-of-freedom laparoscopic surgical instrument, making its control easier and smoother. This four-degree-of-freedom laparoscopic surgical instrument transmission and drive system is specially designed. Summary of the invention

[0003] In view of the above shortcomings, the present invention provides a four-degree-of-freedom laparoscopic surgical instrument transmission and drive system.

[0004] The present invention is achieved through the following technical solutions: a four-degree-of-freedom laparoscopic surgical instrument transmission and drive system, characterized in that it includes an instrument shaft, a support device, a quick-change mechanism, a transmission mechanism and a drive mechanism, the instrument shaft is installed on the support device, the support device is installed on the front end of the transmission mechanism, the transmission mechanism is installed on the quick-change mechanism, the rear end of the quick-change mechanism has a disc-shaped end face, and the drive mechanism is installed to the rear end of the quick-change mechanism.

[0005] The supporting device includes a bearing cover, a first bearing, a sleeve and a second bearing. The flange of the bearing cover has six threaded holes evenly distributed thereon and is installed on the left end face of the transmission mechanism. The left end face of the first bearing fits with the right end face of the internal boss of the bearing cover, the left end face of the sleeve fits with the right end face of the first bearing, the right end face of the sleeve fits with the left end face of the second bearing, and the second bearing is installed in the bearing hole at the left end of the transmission mechanism.

[0006] The quick-change mechanism includes a transmission box, a connecting shell and a guide pin. The transmission box is provided with a transverse rolling guide wheel mounting boss and a guide wheel mechanism and a crank mechanism mounting boss. The guide pin is mounted on the transmission box, and the transmission box is mounted in the connecting shell.

[0007] The transmission mechanism includes a transverse rolling wheel, a guide wheel mechanism, a crank mechanism and a transmission rod. The transverse rolling wheel is connected to the instrument shaft and installed in the support device. The guide wheel mechanism is installed on the guide wheel mechanism and the crank mechanism mounting boss. There is a fixed gap between the crank mechanism and the guide wheel mechanism and the crank mechanism is installed behind the guide wheel mechanism. The transmission rod is installed on the crank mechanism.

[0008] The guide wheel mechanism comprises a first rolling guide wheel, a second rolling guide wheel, a first layer support plate, a second layer support plate, a third layer support plate, a fourth layer support plate, a guide wheel 1, a guide wheel 2, a guide wheel 3, a guide wheel 4, a guide wheel 5, a guide wheel 6, a guide wheel 7, a guide wheel 8, a guide wheel 9, a guide wheel 10 and a guide wheel 11, the first rolling guide wheel and the second rolling guide wheel are mounted on the rolling guide wheel mounting boss, the guide wheel 1, the guide wheel 2 and the guide wheel 3 are mounted on the first layer support plate, the lower end surface of the first layer support plate is in contact with the guide wheel mechanism and the crank mechanism mounting boss, the guide wheel 4 and the guide wheel 5 are mounted on the second layer support plate, the second layer support plate is mounted above the first layer support plate, the guide wheel 6, the guide wheel 7 and the guide wheel 8 are mounted on the third layer support plate, the third layer support plate is mounted above the second layer support plate, the guide wheel 9, the guide wheel 10 and the guide wheel 11 are mounted on the fourth layer support plate. The upper end surface of the fourth layer support plate is in contact with the upper end surface of the third layer support plate.

[0009] The crank mechanism includes a first long crank, a first short crank, a second short crank, a second long crank and a connecting shaft. The lower end surface of the first long crank is in contact with the guide wheel mechanism and the crank mechanism mounting boss. The first short crank is mounted on the first long crank, the second short crank is mounted on the first short crank, and the second long crank is mounted on the second short crank. The crank mechanism is mounted on the guide wheel mechanism and the crank mechanism mounting boss through a nut and a connecting shaft.

[0010] The driving mechanism includes a housing, a servo motor housing, a servo motor, a rigid clamping coupling, a screw nut, a screw, a first connecting block, a second connecting block, a linear bearing and a driving support. The servo motor is mounted to the right end of the housing through a mounting hole, one end of the rigid clamping coupling is connected to the servo motor, and the other end of the rigid clamping coupling is mounted on the screw nut, one end of the screw is mounted on the screw nut, and the other end of the screw is mounted in the bearing hole of the driving support through the linear bearing, the screw is connected to the end of the transmission rod through the first connecting block and the second connecting block, the right end of the transmission rod is mounted on the driving support, the left end of the transmission rod is connected to the crank mechanism, the left end face of the housing, the driving support and the rear end face of the connecting shell are connected by six evenly distributed screws, and the servo motor housing is mounted on the right end of the housing.

[0011] The benefits of the invention are as follows: through the design of the quick-change mechanism, transmission mechanism and drive mechanism, the invention has a compact design, smooth transmission, fast response, small gap, modular design, easy system integration, and convenient and simple quick change.

[0012] By arranging the first bearing and the second bearing in the supporting device, good support is provided for the instrument shaft to prevent the instrument shaft from being deformed due to axial bending moment. The setting of the bushing strengthens the support, and the six threaded holes of the bearing cover strengthen the connection strength with the transmission mechanism, making the entire supporting device more stable.

[0013] Through the design of the transmission box, the connecting shell and the guide pin, a quick-change mechanism is formed, which improves the applicability of the transmission and drive system.

[0014] The transmission mechanism mainly includes a rolling wire wheel, a guide wheel mechanism and a crank mechanism, which realizes the transmission of four degrees of freedom of instrument axis rolling, wrist pitch, yaw and clamp opening and closing through wire transmission.

[0015] The guide wheel mechanism is an important component of the four-degree-of-freedom transmission mechanism. Bearings are installed inside the guide wheel mechanism, which greatly reduces friction, makes the transmission between each degree of freedom undisturbed, and improves the efficiency and accuracy of the transmission.

[0016] The crank mechanism and transmission rod are designed to form a crank rocker, which converts linear motion into the pulling motion of the wire. At the same time, the crank has the function of amplifying the linear motion, making the transmission more precise and free from interference between the cranks.

[0017] By designing the main structure of the driving mechanism, the rotational motion of the servo motor is converted into the linear motion of the transmission rod, and then the linear motion is converted into rotational motion through the crank rocker in the transmission mechanism, and transmitted to the four degrees of freedom of the instrument through the transmission mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0019] Figure 2 It is a schematic structural diagram of the supporting device of the present invention;

[0020] Figure 3 It is a structural schematic diagram of the transmission box of the present invention;

[0021] Figure 4 It is a structural schematic diagram of the connection shell of the present invention;

[0022] Figure 5 for Figure 4 Schematic diagram of the structure of the middle and rear end;

[0023] Figure 6 It is a structural schematic diagram of the transmission mechanism of the present invention;

[0024] Figure 7 It is a schematic diagram of the structure of the transverse rolling wheel of the present invention;

[0025] Figure 8 It is a structural schematic diagram of the rolling guide wheel of the present invention;

[0026] Fig. 9 It is a structural schematic diagram of the guide wheel mechanism of the present invention;

[0027] Fig.10 It is a structural schematic diagram of the crank mechanism of the present invention;

[0028] Fig.11 It is a structural schematic diagram of the transmission rod of the present invention;

[0029] Fig.12 It is a structural schematic diagram of the driving support of the present invention;

[0030] Fig.13 is a structural schematic diagram of the first connecting block of the present invention;

[0031] Fig.14 is a structural schematic diagram of the second connecting block of the present invention;

[0032] Fig.15 It is a schematic diagram of the structure of the housing of the present invention;

[0033] Fig.16 It is a structural schematic diagram of the servo motor housing of the present invention;

[0034] Fig.17 is the transmission schematic diagram of the first degree of freedom;

[0035] Fig.18 is the transmission schematic diagram of the second degree of freedom;

[0036] Fig.19 It is the transmission schematic diagram of the third degree of freedom;

[0037] Fig. 20 It is the transmission schematic diagram of the fourth degree of freedom;

[0038] Fig.21 Schematic diagram of the surgical instrument configuration.

[0039] In the figure, 1, transmission mechanism, 101, horizontal rolling wire wheel, 2, driving mechanism, 201, housing, 202, servo motor housing, 3, instrument shaft, 4, supporting device, 401, bearing cover, 402, first bearing, 403, bushing, 404, second bearing, 501, quick change mechanism, 5, connecting shell, 6, transmission box, 601, guide needle, 7, first horizontal rolling wire wheel, 8, second horizontal rolling wire wheel, 9, guide wheel mechanism, 901, guide wheel one, 902, guide wheel two, 903, guide wheel three, 904, guide wheel four, 905, guide wheel five, 906, guide wheel six, 907, guide wheel seven, 908, guide wheel eight, 909, guide wheel nine, 910, guide wheel ten, 911, guide Wheel eleven, 10. crank mechanism, 11. transmission rod, 12. rolling guide wheel mounting boss, 13. guide wheel mechanism and crank mechanism mounting boss, 14. first layer support plate, 15. second layer support plate, 16. third layer support plate, 17. fourth layer support plate, 18. first long crank, 19. first short crank, 20. second short crank, 21. second long crank, 22. connecting shaft, 23. servo motor, 24. rigid clamping coupling, 25. screw nut, 26. screw, 27. first connecting block, 28. second connecting block, 29. linear bearing, 30. drive support, 31. instrument axis rolling, 32. wrist pitch, 33. wrist yaw, 34. clamp opening and closing. DETAILED DESCRIPTION

[0040] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In the description of the present invention, it should be noted that the terms "front", "rear", "upper", "lower", "left", "right", "end", "inner", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only. They cannot be understood as indicating or implying relative importance.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] Specific implementation method: Figures 1 to 21 As shown, a four-degree-of-freedom laparoscopic surgical instrument transmission and drive system includes an instrument shaft 3, a support device 4, a quick-change mechanism 501, a transmission mechanism 1 and a drive mechanism 2, wherein the instrument shaft 3 is mounted on the support device 4, the support device 4 is mounted on the front end of the transmission mechanism 1, the transmission mechanism 1 is mounted on the quick-change mechanism 501, the quick-change mechanism 501 has a disc-shaped end surface at the rear end, and the drive mechanism 2 is mounted to the rear end of the quick-change mechanism 501.

[0044] Through the design of the quick-change mechanism 501, the transmission mechanism 1 and the drive mechanism 2, the invention has a compact design, smooth transmission, fast response, small gap, and a modular design, which is easy to achieve system integration and convenient and simple quick change.

[0045] The supporting device 4 includes a bearing cover 401, a first bearing 402, a sleeve 403 and a second bearing 404. The flange of the bearing cover 401 has six threaded holes evenly distributed thereon and is installed on the left end face of the transmission mechanism 1. The left end face of the first bearing 402 fits with the right end face of the internal boss of the bearing cover 401, the left end face of the sleeve 403 fits with the right end face of the first bearing 402, the right end face of the sleeve 403 fits with the left end face of the second bearing 404, and the second bearing 404 is installed in the bearing hole at the left end of the transmission mechanism 1.

[0046] By arranging the first bearing 402 and the second bearing 404 in the support device 4, good support is provided for the instrument shaft 3 to prevent the instrument shaft 3 from being deformed due to axial bending moment. The arrangement of the sleeve 403 strengthens the support. The six threaded holes of the bearing cover 401 strengthen the connection strength with the transmission mechanism 1, making the entire support device 4 more stable.

[0047] The quick-change mechanism 501 includes a transmission box 6, a connecting shell 5 and a guide pin 601. The transmission box 6 is provided with a transverse rolling wire wheel mounting boss 12 and a guide wheel mechanism and crank mechanism mounting boss 13. The guide pin 601 is installed on the transmission box 6, and the transmission box 6 is installed in the connecting shell 5.

[0048] Through the design of the transmission box 6, the connecting shell 5 and the guide pin 601, a quick-change mechanism 501 is formed, thereby improving the applicability of the transmission and drive system.

[0049] The transmission mechanism 1 includes a transverse rolling wheel 101, a guide wheel mechanism 9, a crank mechanism 10 and a transmission rod 11. The transverse rolling wheel 101 is connected to the instrument shaft 3 and is installed in the support device 4. The guide wheel mechanism 9 is installed on the guide wheel mechanism and crank mechanism mounting boss 13. There is a fixed gap between the crank mechanism 10 and the guide wheel mechanism 9, and the crank mechanism 10 is installed behind the guide wheel mechanism 9. The transmission rod 11 is installed on the crank mechanism 10.

[0050] The transmission mechanism 1 realizes the transmission of four degrees of freedom of instrument axis roll 31, wrist pitch 32, wrist yaw 33 and clamp opening and closing 34 through the design of the rolling wire wheel 101, the guide wheel mechanism 9 and the crank mechanism 10 through the form of wire transmission.

[0051] The guide wheel mechanism 9 includes a first transverse rolling wire wheel 7, a second transverse rolling wire wheel 8, a first support plate 14, a second support plate 15, a third support plate 16, a fourth support plate 17, a guide wheel 1 901, a guide wheel 2 902, a guide wheel 3 903, a guide wheel 4 904, a guide wheel 5 905, a guide wheel 6 906, a guide wheel 7 907, a guide wheel 8 908, a guide wheel 909, a guide wheel 10 910 and a guide wheel 11 911. The first transverse rolling wire wheel 7 and the second transverse rolling wire wheel 8 are mounted on the transverse rolling wire wheel mounting boss 12. The guide wheels 1 901, 902 and 903 are The third guide wheel 903 is installed on the first layer support plate 14, the lower end surface of the first layer support plate 14 is in contact with the guide wheel mechanism and crank mechanism mounting boss 13, the fourth guide wheel 904 and the fifth guide wheel 905 are installed on the second layer support plate 15, the second layer 15 support plate is installed above the first layer support plate 14, the sixth guide wheel 906, the seventh guide wheel 907 and the eighth guide wheel 908 are installed on the third layer support plate 16, the third layer support plate 16 is installed above the second layer support plate 15, the ninth guide wheel 909, the tenth guide wheel 910 and the eleventh guide wheel 911 are installed on the fourth layer support plate 17. The upper end surface of the fourth layer support plate 17 is in contact with the upper end surface of the third layer support plate 16.

[0052] The guide wheel mechanism 9 is an important component of the four-degree-of-freedom transmission mechanism. Bearings are installed inside the guide wheel mechanism 9, which greatly reduces friction, makes the transmission between various degrees of freedom undisturbed, and improves the efficiency and accuracy of the transmission.

[0053] The crank mechanism 10 includes a first long crank 18, a first short crank 19, a second short crank 20, a second long crank 21 and a connecting shaft 22. The lower end surface of the first long crank 18 is in contact with the guide wheel mechanism and crank mechanism mounting boss 13. The first short crank 19 is mounted on the first long crank 18, the second short crank 20 is mounted on the first short crank 18, and the second long crank 21 is mounted on the second short crank 21. The crank mechanism 10 is mounted on the guide wheel mechanism and crank mechanism mounting boss 13 through a nut and a connecting shaft 22.

[0054] The crank mechanism 10 and the transmission rod 11 are designed to form a crank rocker, which converts the linear motion into the pulling motion of the wire. At the same time, the crank has the function of amplifying the linear motion, making the transmission more precise and free from interference between the cranks.

[0055] The driving mechanism 2 includes a housing 201, a servo motor housing 202, a servo motor 23, a rigid clamping coupling 24, a lead screw nut 25, a lead screw 26, a first connecting block 27, a second connecting block 28, a linear bearing 29 and a driving support 30. The servo motor 23 is installed to the right end of the housing 201 through a mounting hole. One end of the rigid clamping coupling 24 is connected to the servo motor 23, and the other end of the rigid clamping coupling 24 is installed with the lead screw nut 25. One end of the lead screw 26 is installed on the lead screw nut 25. On the lever nut 25, the other end of the lead screw 26 is installed in the bearing hole of the driving support 30 through the linear bearing 29, the lead screw 26 is connected to the end of the transmission rod 11 through the first connecting block 27 and the second connecting block 28, the right end of the transmission rod 11 is installed on the driving support 30, the left end of the transmission rod 11 is connected to the crank mechanism 10, the left end face of the housing 201, the driving support 30 and the rear end face of the connecting shell 5 are connected by six evenly distributed screws, and the housing of the servo motor 23 is installed at the right end of the housing 201.

[0056] By designing the main structure of the driving mechanism 2, the rotational motion of the servo motor 23 is converted into the linear motion of the transmission rod 11, and then the linear motion is converted into rotational motion through the crank rocker in the transmission mechanism 1, and transmitted to the four degrees of freedom of the instrument through the transmission mechanism 1.

[0057] When the system is in use, the four servo motors 23 are used to output corresponding speeds, and the rigid clamping coupling 24 and the lead screw nut 25 drive the lead screw 26 to move, so as to convert the rotational motion of the servo motor 23 into the linear motion of the lead screw 26. The lead screw 26 is connected to the transmission rod 11 through the connecting block, and then converted into the linear motion of the transmission rod 11. The transmission rod 11 is installed on the crank mechanism 10, so that the linear motion of the transmission rod 11 is further converted into the rotational motion of the crank mechanism 10, and is transmitted to the four free motions of the instrument through the transmission mechanism 1. The transmission mechanism 1 uses a steel wire for transmission. The steel wire is installed on the first short crank 19. The transmission of the instrument axis transverse rolling action is realized through the guide wheel 904, the guide wheel 905, the first transverse rolling wire wheel 7, the second transverse rolling wire wheel 8 and the transverse rolling wire wheel 101. The steel wire is installed on the first long crank 18, bypassing the guide wheels 901, 902 and 903 to realize the transmission of the wrist pitch action. The steel wire is installed on the second long crank 21, bypassing the guide wheels 909, 910 and 911 to realize the transmission of the wrist yaw action. The steel wire is installed on the second short crank 20, bypassing the guide wheels 906, 907 and 908 to realize the transmission of the clamp opening and closing action.

Claims

1. A four-degree-of-freedom laparoscopic surgical instrument transmission and drive system, characterized in that: It includes an instrument shaft, a support device, a quick-change mechanism, a transmission mechanism and a drive mechanism, wherein the instrument shaft is mounted on the support device, the support device is mounted on the front end of the transmission mechanism, the transmission mechanism is mounted on the quick-change mechanism, the rear end of the quick-change mechanism has a disc-shaped end surface, and the drive mechanism is mounted to the rear end of the quick-change mechanism; The supporting device comprises a bearing cover, a first bearing, a sleeve and a second bearing. The flange of the bearing cover is evenly distributed with six threaded holes and is installed on the left end face of the transmission mechanism. The left end face of the first bearing is fitted with the right end face of the internal boss of the bearing cover. The left end face of the sleeve is fitted with the right end face of the first bearing. The right end face of the sleeve is fitted with the left end face of the second bearing. The second bearing is installed in the bearing hole at the left end of the transmission mechanism. The quick-change mechanism comprises a transmission box, a connecting shell and a guide pin, wherein a transverse rolling guide wheel mounting boss and a guide wheel mechanism and a crank mechanism mounting boss are arranged inside the transmission box, the guide pin is mounted on the transmission box, and the transmission box is mounted in the connecting shell; The transmission mechanism comprises a transverse rolling wheel, a guide wheel mechanism, a crank mechanism and a transmission rod, wherein the transverse rolling wheel is connected to the instrument shaft and installed in the transmission box, the guide wheel mechanism is installed on the guide wheel mechanism and the crank mechanism mounting boss, there is a fixed gap between the crank mechanism and the guide wheel mechanism, and the crank mechanism is installed behind the guide wheel mechanism, and the transmission rod is installed on the crank mechanism; The transmission mechanism realizes the transmission of four degrees of freedom, namely, the roll of the instrument axis, the pitch of the wrist, the yaw of the wrist and the opening and closing of the clamp, through the form of wire transmission; The driving mechanism includes a servo motor, which converts the rotational motion of the servo motor into the linear motion of the transmission rod, and the linear motion of the transmission rod is further converted into the rotational motion of the crank mechanism, which is transmitted to the four degrees of freedom of the device through the transmission mechanism.

2. The four-degree-of-freedom laparoscopic surgical instrument transmission and drive system according to claim 1, characterized in that: The guide wheel mechanism comprises a first transverse rolling wire wheel, a second transverse rolling wire wheel, a first support plate, a second support plate, a third support plate, a fourth support plate, a guide wheel one, a guide wheel two, a guide wheel three, a guide wheel four, a guide wheel five, a guide wheel six, a guide wheel seven, a guide wheel eight, a guide wheel nine, a guide wheel ten and a guide wheel eleven, the first transverse rolling wire wheel and the second transverse rolling wire wheel are mounted on the transverse rolling wire wheel mounting boss, the guide wheel one, the guide wheel two and the guide wheel three are mounted on the first support plate, the lower end surface of the first support plate is fitted with the guide wheel mechanism and the crank mechanism mounting boss, the guide wheel four and the guide wheel five are mounted on the second support plate, the second support plate is mounted above the first support plate, the guide wheel six, the guide wheel seven and the guide wheel eight are mounted on the third support plate, the third support plate is mounted above the second support plate, the guide wheel nine, the guide wheel ten and the guide wheel eleven are mounted on the fourth support plate, and the upper end surface of the fourth support plate is fitted with the upper end surface of the third support plate.

3. The four-degree-of-freedom laparoscopic surgical instrument transmission and drive system according to claim 2, characterized in that: The crank mechanism includes a first long crank, a first short crank, a second short crank, a second long crank and a connecting shaft. The lower end surface of the first long crank is in contact with the guide wheel mechanism and the crank mechanism mounting boss. The first short crank is mounted on the first long crank, the second short crank is mounted on the first short crank, and the second long crank is mounted on the second short crank. The crank mechanism is mounted on the guide wheel mechanism and the crank mechanism mounting boss through a nut and a connecting shaft.

4. The four-degree-of-freedom laparoscopic surgical instrument transmission and drive system according to claim 3, characterized in that: The driving mechanism includes a housing, a servo motor housing, a servo motor, a rigid clamping coupling, a screw nut, a screw, a first connecting block, a second connecting block, a linear bearing and a driving support. The servo motor is mounted to the right end of the housing through a mounting hole, one end of the rigid clamping coupling is connected to the servo motor, and the other end of the rigid clamping coupling is mounted on the screw nut, one end of the screw is mounted on the screw nut, and the other end of the screw is mounted in the bearing hole of the driving support through the linear bearing, the screw is connected to the end of the transmission rod through the first connecting block and the second connecting block, the right end of the transmission rod is mounted on the driving support, the left end of the transmission rod is connected to the crank mechanism, the left end face of the housing, the driving support and the rear end face of the connecting shell are connected by six evenly distributed screws, and the servo motor housing is mounted on the right end of the housing.

Images