Surgical instrument and actuating device

Abstract

The present invention relates to an actuating device for a surgical instrument. The device adopts a transmission method combining a flexible bundle tube and a lead screw, is driven by multiple gear sets, and transmits power via a transmission rod mechanism. The bundle tube is used to change the direction of power transmission, making the internal structure of the instrument power box more compact and saving space. At the same time, the lead screw in the transmission rod mechanism converts the torque power transmitted by the bundle tube into axial linear motion, thereby controlling the actuator to achieve rotation, pitch, opening and closing and other actions. At the same time, due to the strong axial bearing capacity of the lead screw, the lead screw can apply a large thrust or pull to the actuator and keep the lead screw movement stable, so it can be used to perform operations with large loads.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical instruments and relates to a surgical instrument and an actuating device. Background Art

[0002] The technology of using surgical instruments to assist minimally invasive surgery is maturing and gaining widespread application. During surgical instrument operation, the instrument power box acts as the slave drive mechanism, cooperating with various commands sent by medical staff from the master mechanism to drive the actuator to perform corresponding movements or postures, such as pitch, rotation, clamping / cutting, etc. Currently, the power box's rotation is primarily achieved using cables or tendons wound around a reel. A motor drives the cable to shorten or lengthen, thereby achieving the actuator's pitch, rotation, and other movements or postures. While this method is widely used, the coupled motion control between the various movements is complex and has certain limitations due to the inherent characteristics of the cable. For example, cables can only withstand tension but not thrust; controlling the reciprocating motion of a component requires at least two cables; the winding wheel's small diameter can easily cause cable breakage; and, due to factors such as the number of cables, size limitations, and winding wheel radius, the power box's capacity is limited, making it difficult to use in instruments requiring high thrust or tension, such as tissue resection.

[0003] Chinese patent document CN102171006B discloses an automated medical system that utilizes a passive preload system connected to a tendon wound around a capstan to control the slack tension in the tendon. The system utilizes a cable or tendon wound around a capstan, one end of which is fixed to the capstan and the other end of which extends to the actuator via a slender rod. Different motors drive different capstans to rotate, shortening or lengthening each cable, thereby achieving pitch, rotation, and other movements or postures of the actuator. While this system can control the operation of the actuator, the coupled motion control between the various movements is complex. Furthermore, due to the inherent characteristics of the cables, the cables can only withstand tension, not thrust. Therefore, when cables control the reciprocating motion of a component, at least two cables are required to achieve actuator control. However, the small diameter of the winding wheel can easily cause cable breakage. Limited by the number of cables, size limitations, and winding wheel radius, the system has a limited tolerance, making it difficult to use in instruments requiring high thrust or tension, such as tissue resection. Summary of the Invention

[0004] In response to the above-mentioned problems in the prior art, the present invention discloses an actuating device for surgical instruments to solve the problems in the prior art that the actuator is complex to operate and control, and the load capacity of the transmission structure is small, making it impossible to use in situations with larger load requirements.

[0005] The technical solution adopted by the present invention to solve the above technical problems is: an actuating device for a surgical instrument, including an instrument power box and a transmission rod mechanism, the transmission rod mechanism including a transmission rod outer tube, and a first screw rod, a second screw rod and a fixing nut located inside the transmission rod outer tube.

[0006] The instrument power box includes a first gear group, a second gear group, a third gear group, a first bundle tube, a second bundle tube and a base. The first gear group, the second gear group and the third gear group are all installed on the base. One end of the first bundle tube is connected to the first gear group, and the other end of the first bundle tube is connected to the end of the first screw rod. The first bundle tube is used to transmit the power of the first gear group to the first screw rod; one end of the second bundle tube is connected to the second gear group, and the other end of the second bundle tube is connected to the end of the second screw rod. The second bundle tube is used to transmit the power of the second gear group to the second screw rod; the first bundle tube and the second bundle tube are respectively connected to a group of elastic tensioning mechanisms; the third gear group is fixedly connected to the head end of the outer tube of the transmission rod, and the third gear group is used to drive the outer tube of the transmission rod to rotate.

[0007] Furthermore, the first gear set includes a first motor, a first input gear and a first output gear, and the first input gear and the first output gear are meshed; the first motor is fixedly arranged on the outside of the base, and the first motor is used to drive the first input gear to rotate; the gear shaft of the first output gear is perpendicular to the gear shaft of the first input gear; one end of the first beam tube is rigidly connected to the gear shaft of the first output gear.

[0008] Furthermore, the second gear set includes a second motor, a second input gear and a second output gear, and the second input gear and the second output gear are meshed; the second motor is fixedly arranged on the outside of the base, and the second motor is used to drive the second input gear to rotate; the gear shaft of the second output gear is perpendicular to the gear shaft of the second input gear; one end of the second beam tube is rigidly connected to the gear shaft of the second output gear.

[0009] Furthermore, the third gear set includes a third motor, a third input gear and a third output gear, and the third input gear and the third output gear are meshed; the third motor is fixedly arranged on the outside of the base, and the third motor is used to drive the third input gear to rotate; the third output gear is installed on the base, and the axis of the third output gear is provided with an axial hole, and the axial hole is rigidly connected to the outer wall of the transmission rod outer tube, and the transmission rod outer tube is passed through the base.

[0010] Furthermore, the elastic tensioning mechanism includes a movable pulley, a fixed pulley and a spring; the movable pulley and the fixed pulley are respectively located on both sides of the first gear group and the second gear group, and the fixed pulley is fixedly installed above the third gear group; the first gear group and the second gear group are both located on the same side of the third gear group; the axis of the movable pulley is connected to a fixed seat, one end of the spring is connected to the outer side of the fixed seat, and the other end of the spring is connected to the base.

[0011] Furthermore, the head end of the first bundle tube is rigidly connected to the axis of the first output gear, and the end of the first bundle tube is rigidly connected to the first screw rod after the end of the first bundle tube successively surrounds the corresponding movable pulley and fixed pulley; the head end of the second bundle tube is rigidly connected to the axis of the second output gear, and the end of the second bundle tube is rigidly connected to the second screw rod after the end of the second bundle tube successively surrounds the corresponding movable pulley and fixed pulley.

[0012] Furthermore, the first bundle of tubes and the second bundle of tubes are both provided with multiple spiral winding layers, the rotation directions of adjacent winding layers are opposite, and the rotation direction of the winding layer with more same-direction winding layers is the loading direction, while the rotation direction of the winding layer with fewer same-direction winding layers is the unloading direction.

[0013] Furthermore, the fixing nut is located inside the outer tube of the transmission rod, and the fixing nut is rigidly connected to the outer tube of the transmission rod; the first screw rod and the second screw rod are both located inside the outer tube of the transmission rod, and the first screw rod and the second screw rod are respectively threadedly connected to the fixing nut.

[0014] The present invention also discloses a surgical instrument, which adopts the above-mentioned actuating device. The surgical instrument also includes an actuator, and the end of the transmission rod mechanism is connected to the actuator; a first transmission block is provided at the lower end of the first screw rod, and a first connecting groove is provided on the first transmission block. The first connecting groove is connected to the end of the first screw rod, and the end of the first screw rod rotates freely in the first connecting groove. The first transmission block is configured to control the pitch movement of the actuator.

[0015] Furthermore, a second transmission block is provided at the lower end of the second screw rod, and a second connecting groove is provided on the second transmission block. The second connecting groove is connected to the end of the second screw rod, and the end of the second screw rod rotates freely in the second connecting groove. The second transmission block is configured to control the opening and closing action of the actuator.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] 1) The actuator device of the present invention adopts a transmission method combining a flexible bundle tube and a lead screw. When the actuator rotates, the flexible bundle tube can be twisted around the axis of the outer tube of the transmission rod. Since the length of the bundle tube increases during the twisting process, the tension force increases. The length of the bundle tube can be adjusted by the spring and the movable pulley. In addition, since the center of the bundle tube twisting is located at the axis of the outer tube of the transmission rod and does not coincide with the center of the bundle tube itself, the torque generated by the bundle tube when the actuator rotates will not affect the lead screw structure that controls pitch and opening and closing, and the transmission process is more stable.

[0018] 2) The actuator device of the present invention is provided with a plurality of gear sets, some of which are respectively connected to beam tubes, through which the motor torque is transmitted to the lead screw, which linearly converts the beam tube torque into thrust or tension in a straight line direction according to the size of its own rotation angle, thereby realizing the opening and closing as well as the pitch operation of the actuator; and the gear set is connected to the outer tube of the transmission rod to drive the outer tube of the transmission rod to rotate, thereby realizing the rotation operation of the actuator. Since the bearing capacity of the lead screw itself is much greater than that of the cable, it can withstand axial tension and thrust. Therefore, the lead screw can withstand the axial reaction force generated by the actuator on the lead screw and keep the execution action stable.

[0019] 3) The actuator device of the present invention is provided with an elastic tensioning mechanism, and the bundle tube is kept taut by the elastic tensioning mechanism. During the bundle tube tensioning process, a stable transmission path of the bundle tube can be ensured to prevent unnecessary wear or entanglement. In addition, the bundle tube can eliminate the transmission error caused by the screw gap and improve the transmission accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is an overall structural diagram of a surgical instrument according to an embodiment of the present invention;

[0021] Figure 2 yes Figure 1 The internal structure diagram of the instrument power box at A in the middle;

[0022] Figure 3 1 is a top view of the power box of the apparatus according to an embodiment of the present invention;

[0023] Figure 4 is a side structural diagram of a transmission rod mechanism in an embodiment of the present invention;

[0024] Figure 5 yes Figure 4 Cross-sectional structural diagram of the middle BB position;

[0025] Figure 6 is a structural diagram of a transmission rod mechanism in an embodiment of the present invention;

[0026] Figure 7 2 is a schematic structural diagram of a bundle tube according to an embodiment of the present invention;

[0027] Figure 8 2 is a structural diagram of an actuator in an embodiment of the present invention. DETAILED DESCRIPTION

[0028] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0030] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0031] In the present invention, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; they may refer to direct connection or indirect connection through an intermediate medium; they may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0032] Example:

[0033] like Figure 1 As shown, this embodiment specifically discloses a surgical instrument, including an instrument power box 1, a transmission rod mechanism 2 and an actuator 3. The instrument power box 1 and the transmission rod mechanism 2 constitute an actuating device of the surgical instrument, which is used to provide and transmit power to the actuator 3, so that the actuator 3 realizes rotation, pitch, closing / cutting and other actions.

[0034] Specifically, if Figure 4-6As shown, the transmission rod mechanism 2 includes a transmission rod outer tube 201, a first screw rod 202, a second screw rod 203 and a fixing nut 204, wherein the fixing nut 204 is fixedly mounted inside the transmission rod outer tube 201; the first screw rod 202 and the second screw rod 203 are both located inside the transmission rod outer tube 201, and the first screw rod 202 and the second screw rod 203 are respectively threadedly connected to the fixing nut 204. The length of the first screw rod 202 is different from that of the second screw rod 203. In this embodiment, the length of the first screw rod 202 is greater than that of the second screw rod 203. Specifically, the first screw rod 202 is threadedly connected to the fixing nut 204 near the end position; and the head end position of the second screw rod 203 is threadedly connected to the fixing nut 204. This structure can avoid interference between the screw rods when the surgical instrument rotates.

[0035] Specifically, if Figure 2 and 3 As shown, the instrument power box 1 includes a first gear group, a second gear group, a third gear group, a first bundle tube 105, a second bundle tube 106 and a base 101. The first gear group, the second gear group and the third gear group are all installed on the base 101. One end of the first bundle tube 105 is connected to the first gear group, and the other end of the first bundle tube 105 is connected to the end of the first screw rod 202. The first bundle tube 105 is used to transmit the power of the first gear group to the first screw rod 202; one end of the second bundle tube 106 is connected to the second gear group, and the other end of the second bundle tube 106 is connected to the end of the second screw rod 203. The second bundle tube 106 is used to transmit the power of the second gear group to the second screw rod 203; the first bundle tube 105 and the second bundle tube 106 are respectively connected to a group of elastic tensioning mechanisms; the third gear group is fixedly connected to the head end of the transmission rod outer tube 201, and the third gear group is used to drive the transmission rod outer tube 201 to rotate.

[0036] During operation, the elastic tensioning mechanism enables the first and second tubes 105, 106 to maintain a certain tension, and the tension of the first and second tubes 105, 106 is transmitted to the first and second screw rods 202, 203, respectively. When the first and second tubes 105, 106 are kept tensioned, they can be ensured to be in a stable motion path, preventing unnecessary damage such as wear or entanglement. At the same time, the ends of the first and second screw rods 202, 203 receive a pulling force in a fixed direction, which can eliminate the transmission error caused by the screw rod gap and improve the transmission accuracy.

[0037] More specifically, the first gear set includes a first motor, a first input gear 102a, and a first output gear 102b, wherein the first input gear 102a and the first output gear 102b are meshed. The first motor is fixedly mounted outside the base 101 and is used to drive the first input gear 102a to rotate. The gear shaft of the first output gear 102b is perpendicular to the gear shaft of the first input gear 102a. One end of the first beam tube 105 is rigidly connected to the gear shaft of the first output gear 102b. The second gear set includes a second motor, a second input gear 103a, and a second output gear 103b, wherein the second input gear 103a and the second output gear 103b are meshed. The second motor is fixedly mounted outside the base 101 and is used to drive the second input gear 103a to rotate. The gear shaft of the second output gear 103b is perpendicular to the gear shaft of the second input gear 103a. One end of the second beam tube 106 is rigidly connected to the gear shaft of the second output gear 103b.

[0038] It is expected that the first gear set and the second gear set are used to control the opening and closing and pitching actions of the actuator 3 respectively. After the first motor in the first gear set is connected to the power supply, the internal rotor generates a driving force and is transmitted to the first input gear 102a through the driving shaft of the motor. The first input gear 102a and the first output gear 102b are kept in meshing, and the power is transmitted to the first output gear 102b, and the first beam tube 105 connected to the gear shaft transmits the power to the first screw rod 202, driving the first screw rod 202 and the first output gear 102b to move. The fixed nut 204 rotates relative to the first lead screw 202, causing it to displace axially and drive the actuator 3 to open and close. Similarly, when the second motor in the second gear set is connected to a power source, it transmits power to the second lead screw 203 through the second input gear 103a, the second output gear 103b, and the second beam tube 106. The second lead screw 203 rotates relative to the fixed nut 204, causing it to displace axially, generating a thrust or pull that drives the actuator 3 to pitch. When the actuator 3 is in motion, a large reaction force is generated and transmitted to the lead screw. Because the lead screw and the fixed nut 204 are self-locking and the lead screw itself has high rigidity, it can withstand large loads without deformation or displacement. Therefore, the actuator 3 operates more stably, has a greater cutting force, and is applicable to a wider range of situations.

[0039] The third gear set includes a third motor, a third input gear 104a, and a third output gear 104b, which mesh with each other. The third motor is fixedly mounted outside the base 101 and is used to drive the third input gear 104a to rotate. The third output gear 104b is mounted on the base 101, and the axis of the third output gear 104b is provided with an axial hole, which is rigidly connected to the outer wall of the transmission rod outer tube 201. Since the actuator 3 can rotate, to prevent the rotation of the actuator 3 from affecting the opening, closing, or pitching movements, the third output gear 104b of the third gear set is connected to the transmission rod outer tube 201. When the third output gear 104b rotates, it drives the transmission rod outer tube 201 to rotate synchronously, causing the actuator 3 connected to the transmission rod outer tube 201 to rotate as well. In this embodiment, the first and second lead screws 202 and 203 have different lengths, and the corresponding beam tubes extend to different positions within the transmission rod outer tube 201. When the transmission rod outer tube 201 rotates, the beam tube at the longer extension position in the transmission rod outer tube 201 and the adjacent lead screws will be twisted. However, because the beam tubes are made of a flexible material, such as an HHS beam tube made of FORT WAYNE material, the beam tube's own transmission torque center and twisting center are different. Therefore, when the beam tubes are twisted, the beam tubes' own transmission is not interfered with. This prevents the rotation of the actuator 3 from interfering with the pitch and opening and closing movements, making the actuator 3 more flexible to operate.

[0040] In more detail, the elastic tensioning mechanism includes a movable pulley 107a, a fixed pulley 107d and a spring 107c; the movable pulley 107a and the fixed pulley 107d are located on either side of the first gear set and the second gear set, respectively, and the fixed pulley 107d is fixedly mounted above the third gear set; the first gear set and the second gear set are both located on the same side of the third gear set; the axis of the movable pulley 107a is connected to a fixed seat 107b, one end of the spring 107c is connected to the outer side of the fixed seat 107b, and the other end of the spring 107c is connected to the base 101. The movable pulley 107a in the elastic tensioning mechanism is used to change the transmission direction of the beam tube and keep the beam tube tensioned, while the fixed pulley 107d is used to change the transmission direction of the beam tube; the specific reason is that the beam tubes in this embodiment are provided with multiple layers of spiral winding layers, such as Figure 7 As shown, the rotation directions of adjacent winding layers are opposite. Since the actuator 3 requires different forces in different action states during opening and closing, the torques borne by the bundle tube when it rotates in different directions are also different. Moreover, when the bundle tube drives the lead screw to rotate, the position of the lead screw changes, and the length of the bundle tube in the outer tube of the transmission rod changes. To ensure that the bundle tube always remains in a tensioned state, a spring 107c is used to connect the movable pulley 107a, and the elasticity of the spring 107c is used to keep the bundle tube tensioned.

[0041] Specifically, the rotation direction with greater torque is called the loading direction, during which the actuator 3 performs a closing and cutting action, while the rotation direction with less torque is called the unloading direction, during which the actuator 3 performs an opening action. Therefore, in this embodiment, the rotation direction with more winding layers in the same direction is set as the loading direction, and the rotation direction with fewer winding layers in the same direction is set as the unloading direction, to accommodate different load requirements.

[0042] The head end of the first bundle tube 105 is rigidly connected to the axis of the first output gear 102b, and the end of the first bundle tube 105 is rigidly connected to the first screw rod 202 after it successively surrounds the movable pulley 107a and the fixed pulley 107d; the head end of the second bundle tube 106 is rigidly connected to the axis of the second output gear 103b, and the end of the second bundle tube 106 is rigidly connected to the second screw rod 203 after it successively surrounds the movable pulley 107a and the fixed pulley 107d.

[0043] The transmission rod mechanism 2 further includes a first transmission block 205 and a second transmission block 206. The first transmission block 205 is located at the lower end of the first screw rod 202 and is provided with a first connecting slot 205a. The first connecting slot 205a is connected to the end of the first screw rod 202, and the end of the first screw rod 202 rotates freely in the first connecting slot 205a. The first transmission block 205 is used to control the pitch movement of the actuator 3. The second transmission block 206 is located at the lower end of the second screw rod 203 and is provided with a second connecting slot 206a. The second connecting slot 206a is connected to the end of the second screw rod 203, and the end of the second screw rod 203 rotates freely in the second connecting slot 206a. The second transmission block 206 is used to control the opening and closing movement of the actuator 3.

[0044] The transmission rod mechanism 2 is used to transmit the power output from the instrument power box 1 to the actuator 3, and the actuator 3 correspondingly completes various actions or postures. The transmission rod outer tube 201 in this embodiment adopts a hollow tube body, one end of the transmission rod outer tube 201 is connected to the axis of the third output gear 104b, and the outer wall of the transmission rod outer tube 201 and the base 101 are both kept axially fixed in the transmission rod outer tube 201, and at the same time, the outer wall of the transmission rod outer tube 201 and the base 101 are free to rotate in the tangential direction of the transmission rod outer tube 201; the axis of the third output gear 104b is provided with an axial hole, and the axial hole is connected to the transmission rod outer tube 201, and the first bundle tube 105 and the second bundle tube 106 change the transmission direction through the fixed pulley 107d, and the ends of the first bundle tube 105 and the second bundle tube 106 are respectively connected to the screw in the transmission rod outer tube 201 through the axial holes.

[0045] It should be noted that, since the lead screw and the fixing nut 204 in the transmission rod outer tube 201 are connected by threads, when the beam tube transmits power to the end of the lead screw, relative rotation will occur between the lead screw and the fixing nut 204. Since the fixing nut 204 and the transmission rod outer tube 201 maintain a rigid connection, the lead screw will be displaced axially in the transmission rod outer tube 201, thereby converting the torque motion of the beam tube into linear displacement, and driving the actuator 3 connected to the end of the lead screw to produce corresponding movements or postures through the linear displacement of the lead screw.

[0046] Specifically, the end of the transmission rod mechanism 2 is connected to the actuator 3, and the actuator 3 and the transmission rod mechanism 2 are connected by a snap-fit connection method, which is a detachable connection method. In detail, the end of the actuator 3 is provided with a first connecting component 207 and a second connecting component 208. The first connecting component 207 is used to control the opening and closing of the actuator 3, and the second connecting component 208 is used to control the pitch of the actuator 3. The first connecting component 207 is fixedly connected to the first transmission block 205, and the second connecting component 208 is fixedly connected to the second transmission block 206. It is expected that the first transmission block 205 transmits the linear motion of the first screw rod 202 to the first connecting component 207; the second transmission block 206 transmits the linear motion of the second screw rod 203 to the second connecting component 208. Through the above transmission method, different actions of the actuator 3 can be controlled separately.

[0047] like Figure 8As shown, the actuator 3 includes a first clamping piece 302, a second clamping piece 303, a fixed base 301, a push knife 304, a connecting shaft 305 and a base rotating shaft 306. The fixed base 301 is provided with a connecting part and a rotating part. The end of the first clamping piece 302 is hinged to the connecting part, and the end of the second clamping piece 303 is rigidly connected to the connecting part of the fixed base 301; the base rotating shaft 306 and the connecting shaft 305 are both located at the rotating part of the fixed base 301, and the connecting shaft 305 is set at a certain distance from the base rotating shaft 306, and the connecting shaft 305 is hingedly connected to the second connecting component 208; a groove 302a is provided on the first clamping piece 302 along the length direction, the push knife 304 is located in the groove 302a of the first clamping piece 302, and the push knife 304 is connected to the first connecting component 207. When the actuator 3 performs a pitching action, the second connecting component 208 generates a thrust or a pull on the connecting shaft 305. Through the force of the connecting shaft 305, the base shaft 306 rotates around the rotating part, and the first clamping piece 302 and the second clamping piece 303 rotate synchronously with the base shaft 306 to achieve a pitching action; when the actuator 3 performs a closing action, the first connecting component 207 pushes the push knife 304 to move linearly, and the push knife 304 moves in the groove 302a of the first clamping piece 302 toward the end of the first clamping piece. The push knife 304 first pushes the second clamping piece 303 to move linearly. A clamping piece 302 is closed, and the push knife 304 continues to move toward the end of the first clamping piece 302. The push knife 304 keeps the first clamping piece 302 clamped and performs a cutting action at the same time; when the actuator 3 performs an opening action, the first connecting component 207 pulls the push knife 304 to move toward the connection position of the first clamping piece. During the displacement of the push knife 304, a clamping force is applied to the first clamping piece 302, and the first clamping piece 302 remains closed. When the push knife 304 continues to move to the connection position of the first clamping piece 302, the first clamping piece 302 opens, realizing the opening action of the actuator 3.

[0048] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An actuating device for a surgical instrument, comprising an instrument power box and a transmission rod mechanism, wherein the transmission rod mechanism comprises a transmission rod outer tube, and a first screw rod, a second screw rod, and a fixing nut located within the transmission rod outer tube, wherein: The instrument power box includes a first gear group, a second gear group, a third gear group, a first bundle tube, a second bundle tube and a base, the first gear group, the second gear group and the third gear group are all installed on the base, one end of the first bundle tube is connected to the first gear group, and the other end of the first bundle tube is connected to the end of the first screw rod, the first bundle tube is used to transmit the power of the first gear group to the first screw rod; one end of the second bundle tube is connected to the second gear group, and the other end of the second bundle tube is connected to the end of the second screw rod, and the second bundle tube is used to transmit the power of the second gear group to the second screw rod; the first bundle tube and the second bundle tube are respectively connected to a group of elastic tensioning mechanisms; the third gear group is fixedly connected to the head end of the transmission rod outer tube, and the third gear group is used to drive the transmission rod outer tube to rotate; The elastic tensioning mechanism includes a movable pulley, a fixed pulley and a spring; the movable pulley and the fixed pulley are respectively located on both sides of the first gear set and the second gear set, and the fixed pulley is fixedly installed above the third gear set; the first gear set and the second gear set are both located on the same side of the third gear set; the axis of the movable pulley is connected to a fixed seat, one end of the spring is connected to the outer side of the fixed seat, and the other end of the spring is connected to the base.

2. The actuator according to claim 1, characterized in that: The first gear set includes a first motor, a first input gear and a first output gear, wherein the first input gear and the first output gear are meshed; The first motor is fixedly arranged on the outside of the base, and the first motor is used to drive the first input gear to rotate; The gear shaft of the first output gear is perpendicular to the gear shaft of the first input gear; One end of the first bundle tube is rigidly connected to the gear shaft of the first output gear.

3. The actuator according to claim 2, characterized in that: The second gear set includes a second motor, a second input gear and a second output gear, the second input gear and the second output gear being meshed; The second motor is fixedly arranged on the outside of the base, and the second motor is used to drive the second input gear to rotate; The gear shaft of the second output gear is perpendicular to the gear shaft of the second input gear; One end of the second bundle tube is rigidly connected to the gear shaft of the second output gear.

4. The actuator according to claim 3, characterized in that: The third gear set includes a third motor, a third input gear and a third output gear, and the third input gear and the third output gear are meshed; The third motor is fixedly arranged on the outside of the base, and the third motor is used to drive the third input gear to rotate; the third output gear is installed on the base, and the axis of the third output gear is provided with an axial hole, and the axial hole is rigidly connected to the outer wall of the transmission rod outer tube, and the transmission rod outer tube is passed through the base.

5. The actuator according to claim 4, characterized in that: The head end of the first bundle tube is rigidly connected to the axis of the first output gear, and the end of the first bundle tube is rigidly connected to the first screw rod after the end of the first bundle tube successively surrounds the corresponding movable pulley and fixed pulley; the head end of the second bundle tube is rigidly connected to the axis of the second output gear, and the end of the second bundle tube is rigidly connected to the second screw rod after the end of the second bundle tube successively surrounds the corresponding movable pulley and fixed pulley.

6. The actuator according to claim 1, characterized in that: The first bundle of tubes and the second bundle of tubes are both provided with multiple spiral winding layers, the rotation directions of adjacent winding layers are opposite, and the rotation direction of the winding layer with more same-direction winding layers is the loading direction, while the rotation direction of the winding layer with fewer same-direction winding layers is the unloading direction.

7. The actuator according to claim 1, characterized in that: The fixing nut is located inside the outer tube of the transmission rod, and the fixing nut is rigidly connected to the outer tube of the transmission rod; the first screw rod and the second screw rod are both located inside the outer tube of the transmission rod, and the first screw rod and the second screw rod are respectively threadedly connected to the fixing nut.

8. A surgical instrument, comprising the actuator according to any one of claims 1 to 7, characterized in that: It includes an actuator, and the end of the transmission rod mechanism is connected to the actuator; a first transmission block is provided at the lower end of the first screw rod, and a first connecting groove is provided on the first transmission block. The first connecting groove is connected to the end of the first screw rod, and the end of the first screw rod rotates freely in the first connecting groove. The first transmission block is configured to control the pitch movement of the actuator.

9. A surgical instrument according to claim 8, characterized in that: A second transmission block is provided at the lower end of the second screw rod, and a second connecting groove is provided on the second transmission block. The second connecting groove is connected to the end of the second screw rod, and the end of the second screw rod rotates freely in the second connecting groove. The second transmission block is configured to control the opening and closing action of the actuator.

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