Surgical instrument and disassembly method thereof

Abstract

The present invention discloses a surgical instrument and a method for using the same, relating to the technical field of medical instruments. The surgical instrument comprises a drive unit and an execution unit, wherein the drive unit comprises an instrument power box and a first plug-in module, and the execution unit comprises an actuator and a second plug-in module; the first plug-in module comprises a first coupling portion, and the second plug-in module comprises a second coupling portion, wherein the first coupling portion and the second coupling portion are coupled; the instrument power box comprises a power transmission module, which is connected to the first plug-in module; and the lower end of the second plug-in module is connected to the actuator. The structure adopted by the present invention allows for rapid separation and replacement of the instrument power box end and the actuator end, and the instrument power box can be reused multiple times, thereby reducing the cost of use.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a surgical instrument and a disassembly and assembly method thereof. Background Art

[0002] Surgical robot-assisted minimally invasive surgery is gradually maturing and gaining widespread application. During robotic surgery, the surgeon issues commands through a master control unit, which controls multiple slave robotic arms to collaborate and perform the surgery at the designated location. The robotic surgical device, serving as the tool for the slave end, is mounted on the slave robotic arm using a quick-connect mechanism. It consists of two components: a power box and an actuator. The power box, as the power transmission structure, transmits power from the robotic arm to the actuator, controlling the actuator to perform various movements. To better adapt to different surgical procedures, robotic surgical devices are available in a variety of styles, including forceps, scissors, and hooks, depending on their function. Each surgery typically requires four to five or more robotic surgical devices to assist the surgeon. However, these devices are relatively expensive, complex to clean and disinfect, and are often single-use or limited-use. Because the actuators are prone to failure and cannot be replaced, a malfunction renders the entire robotic surgical device inoperable. These issues hinder the widespread use of robotic surgical devices, leading to increased patient treatment costs and inconvenience for medical personnel due to the tedious disinfection of medical devices.

[0003] Chinese patent CN102119872B discloses a compact quick-change mechanism for a minimally invasive surgical robot. The mechanism consists of a quick-change box and a quick-change base, and mainly includes a transmission mechanism, a limit locking mechanism, a drive system, etc. The quick-change box connection part is connected to the end of the tool with a wrist function through a rotating shaft. The quick-change box can slide quickly along the concave groove of the quick-change base, thereby realizing the replacement of surgical tools. The limit locking mechanism installed at the tail end of the quick-change base limits and fixes the quick-change box that slides into the quick-change base. The transmission mechanism is divided into four groups. These four groups of transmission mechanisms have similar structures. They use servo motors to achieve the four degrees of freedom of the tool end in the form of wire transmission. The wire wheel assembly in the transmission mechanism can realize the fixation and tensioning of the transmission wire. The drive system consists of a servo motor and a harmonic reducer, which are fixed to the base frame of the quick-change base through a threaded connection. The device of the present invention has the advantages of compact structure, light weight, reliable transmission, and high quick-change efficiency.

[0004] Chinese patent CN110384556A discloses a quick-change mechanism, an instrument gripper, and a surgical robot employing the same. The quick-change mechanism simultaneously secures the device to be secured and locks the zero position via a snap, or further allows for the retraction of a rotating connector into the interior of a base housing. The quick-change mechanism is a purely mechanical structure that enables convenient and rapid disassembly and replacement of the instrument gripper with the surgical robot base, saving time and ensuring high efficiency and precise positioning.

[0005] Chinese patent CN211381520U relates to a surgical instrument connection device that can be quickly installed and removed. This device addresses the high cost, low reliability, and complex operation of instrument replacement structures in existing minimally invasive surgical robotic systems. The device comprises a punch card, a trocar connector, an instrument adapter, and a quick-change interface. The instrument adapter includes an isolation plate and a connecting plate sealing ring. The isolation plate has a stepped hole, within which an intermediate connecting wheel is located. The intermediate connecting wheel has two waist-shaped holes on its top surface and two waist-shaped holes on its bottom surface. The stepped hole has slots into which protrusions on the connecting plate sealing ring are inserted. A conductive copper sheet is connected to the side of the isolation plate. The quick-change interface includes a quick-change base, a housing, a drive assembly, a drive motor, a contact switch, and a motor sliding shaft connector. The trocar connector is connected to the punch card. This utility model is widely used in the field of medical device technology.

[0006] The above-mentioned disclosed patents all relate to the field of medical device technology, but patent CN102119872B ultimately realizes the four degrees of freedom of the tool end in the form of wire transmission. Patents CN110384556A and CN211381520U have relatively complex structures, and the three disclosed patents do not involve the separation of the transmission rod between the actuator end and the instrument power box end, and the above-mentioned technical problems still exist. Summary of the Invention

[0007] Based on the above technical problems, the present invention provides a surgical instrument and a method for disassembling and assembling the same;

[0008] In order to achieve the purpose of the present invention, the technical solution adopted by the present invention is as follows:

[0009] A surgical instrument includes a driving unit and an execution unit, the driving unit includes an instrument power box and a first plug-in module, the execution unit includes an actuator and a second plug-in module; the first plug-in module includes a first coupling part, the second plug-in module includes a second coupling part, and the first coupling part and the second coupling part are coupled; the instrument power box includes a power transmission module, and the power transmission module is connected to the first plug-in module; the lower end of the second plug-in module is connected to the actuator.

[0010] Furthermore, the first plug-in module includes a first plug base and several upper plug assemblies, the upper plug assemblies are installed on the first plug base, the ends of the upper plug assemblies are provided with a first coupling part, and one end of the power transmission module is rigidly connected to the upper plug assembly.

[0011] Furthermore, the first plug-in module also includes a first elastic unit, a first tensioning baffle and a first manual lock, the first elastic unit includes a first tensioning spring and a first locking spring, one end of the first tensioning spring is connected to the first tensioning baffle, and the first locking spring is connected to the first manual lock.

[0012] Furthermore, a card slot is provided at the upper end portion of the upper plug assembly, and a plurality of paddles are provided on the outer side of the first tensioning baffle.

[0013] Furthermore, the first plug base includes a first slot and a first rotating shaft, a first locking tongue is provided at one end of the first manual lock, the first slot is opened at a position corresponding to the first locking tongue, and the first slot cooperates with the first locking tongue, and the first rotating shaft passes through the first tensioning block and is inserted into the first tensioning spring.

[0014] Furthermore, the first plug base also includes a first base connecting rod, one end of the first base connecting rod is provided with a third notch, and one end of the first locking tongue is provided with a fourth notch; in the decoupling state, the fourth notch cooperates with the paddle of the first tensioning block.

[0015] Furthermore, the first plug-in module further includes a first support member, an upper end of the first support member is connected to the power transmission module, and a lower end of the first support member is connected to the first plug base.

[0016] Furthermore, the second plug-in module includes a second plug base and a plurality of lower-pair plug assemblies, the lower-pair plug assemblies are mounted on the second plug base, and the ends of the lower-pair plug assemblies are provided with second coupling portions.

[0017] Furthermore, the second plug-in module also includes a second elastic unit, a second tensioning baffle and a second manual lock, the second elastic unit includes a second tensioning spring and a second locking spring, one end of the second tensioning spring is connected to the second tensioning baffle, and the second locking spring is connected to the second manual lock.

[0018] Furthermore, a card slot is provided at the lower end portion of the lower plug assembly, and a plurality of paddles are provided on the outer side of the second tensioning baffle.

[0019] Furthermore, the second plug base includes a second slot and a second rotating shaft, a second locking tongue is provided at one end of the second manual lock, the second slot is opened at a position corresponding to the second locking tongue, and the second slot cooperates with the second locking tongue, and the second rotating shaft passes through the second tensioning block and is inserted into the second tensioning spring.

[0020] Furthermore, the plug base also includes a second base connecting rod, one end of the second base connecting rod is provided with a fifth slot, and one end of the second lock tongue is provided with a sixth slot; in the coupled state, the fifth slot cooperates with the paddle of the first tensioning block piece, and the third slot cooperates with the paddle of the second tensioning block piece; in the decoupled state, the sixth slot cooperates with the paddle of the second tensioning block piece.

[0021] Furthermore, the second plug-in module further includes a second support member, and an upper end of the second support member is connected to the second plug base.

[0022] Furthermore, the actuator includes a power drive module and an actuator base, one end of the power drive module is rigidly connected to the lower plug assembly, and the actuator base is connected to the lower end of the second support member.

[0023] A method for disassembling and assembling a surgical instrument, comprising a surgical instrument according to any one of claims 1 to 14, wherein the first plug-in module further comprises a first positioning member and a first indicator mark, and the second plug-in module further comprises a second positioning member and a second indicator mark;

[0024] The installation steps include:

[0025] Step S1: In an initial state, the fourth notch of the first manual lock catches the paddle of the first tensioning block; the sixth notch of the second manual lock catch catches the paddle of the second tensioning block;

[0026] Step S2: aligning the first indicator mark and the second indicator mark;

[0027] Step S3: Simultaneously pressing the first manual lock and the second manual lock, inserting the end of the second base connecting rod on the second plug-in module into the first slot and contacting the end surface of the first plug base, inserting the end of the first base connecting rod on the first plug-in module into the second slot and contacting the end surface of the second plug base, the first positioning member presses against the second tensioning block, and the second positioning member presses against the first tensioning block;

[0028] Step S4: Rotate the second plug-in module, so that the end of the second base connecting rod is completely inserted into the first notch, and the end of the first base connecting rod is completely inserted into the second notch, the first coupling portion is coupled with the second coupling portion, and the first manual lock catch and the second manual lock catch are released. The first locking tongue is locked in the second notch under the action of the first locking spring, and the second locking tongue is locked in the first notch under the action of the second locking spring;

[0029] Step S5: Installation completed;

[0030] The disassembly steps include:

[0031] Step 1: Confirm whether the actuator has reached the specified state. If not, it needs to be controlled by the power box to reach the specified state before disassembly;

[0032] Step 2: Press the first manual lock and the second manual lock at the same time, and rotate the second plug-in module so that the first indicator mark and the second indicator mark are aligned;

[0033] Step 3: Pull out the second plug-in module so that the end of the second base connecting rod is completely out of the first notch, and the end of the first base connecting rod is completely out of the second notch, and the first coupling portion is decoupled from the second coupling portion;

[0034] Step 4: Pull the end of the second base connecting rod on the second plug-in module out of the first slot and disengage it from the end surface of the first plug base. Pull the end of the first base connecting rod on the first plug-in module out of the second slot and disengage it from the end surface of the second plug base. Release the second tensioning block by the first positioning member, and release the first tensioning block by the second positioning member. Release the first manual lock and the second manual lock. The fourth slot of the first manual lock engages the paddle of the first tensioning block; the sixth slot of the second manual lock engages the paddle of the second tensioning block.

[0035] Step 5: Disassembly Completed.

[0036] Compared with the prior art, the beneficial effects of the present invention are specifically embodied in:

[0037] (1) The structure adopted by the present invention can quickly separate and replace the power box end of the instrument and the actuator end, and the power box of the instrument can be reused many times, thereby reducing the cost of use;

[0038] (2) The present invention has a simple structure and is easy to operate, which improves work efficiency, reduces the cumbersome procedure of disinfecting the actuator end after use, and reduces the workload of medical staff.

[0039] (3) The drive in this application is not limited to cables, and the cable drive can also be replaced by a rigid component drive, such as a rigid rod drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a structural schematic diagram of the present invention;

[0041] Figure 2 2 is a schematic structural diagram of the driving unit in the first embodiment;

[0042] Figure 3 This is a schematic diagram of the bottom of the instrument power box;

[0043] Figure 4 It is a structural exploded diagram of the first plug-in module;

[0044] Figure 5 for Figure 4 A partial enlarged view of

[0045] Figure 6 It is a structural exploded diagram of the second plug-in module;

[0046] Figure 7 is a structural diagram of the actuator in the first embodiment;

[0047] Figure 8 It is a partial installation diagram of the first embodiment;

[0048] Figure 9 is a schematic cross-sectional view of a first pair of plugs in the first embodiment;

[0049] Figure 10 Schematic diagram of the connection between the first coupling portion and the second coupling portion in the embodiment;

[0050] Figure 11 Schematic diagram of the connection between the first tensioning baffle and the fifth notch in the first embodiment;

[0051] Figure 12 Schematic diagram of the connection between the second tensioning baffle and the third notch in the first embodiment;

[0052] Figure 13 A partial schematic diagram of the first tensioning baffle and the fifth notch in the first embodiment;

[0053] Figure 14 A partial schematic diagram of the second tensioning baffle and the third notch in the first embodiment;

[0054] Figure 15 is a schematic structural diagram of the second embodiment;

[0055] Figure 16 is a schematic diagram of an execution unit in a second embodiment;

[0056] Figure 17 is a structural diagram of the first plug-in module in the second embodiment;

[0057] The accompanying drawings are marked as follows: 1. drive unit; 10. instrument power box; 101. power transmission module; 1010. gear; 1011. first cable; 1012. second cable; 1013. third cable; 1014. fourth cable; 1015. fifth cable; 1016. sixth cable; 1017. reel assembly; 11. first plug-in module; 110. first plug base; 1101. first notch; 1102. first positioning member; 1103. first base connecting rod; 1104. first rotating shaft; 1105. third notch; 111. upper plug assembly; 1110. first coupling portion; 1111. first upper Plugs; 1112. Second upper plug; 1113. Third upper plug; 1114. Fourth upper plug; 1115. Fifth upper plug; 1116. Sixth upper plug; 112. First manual lock; 1121. First lock tongue; 1122. Fourth notch; 113. First support member; 114. First elastic unit; 1141. First tensioning spring; 1142. First locking spring; 115. First tensioning block; 1150. Paddle; 2. Actuator; 20. Actuator; 201. Actuator base; 202. Clamping jaw assembly; 2021. First clamping jaw; 2022. Second clamping jaw; 203. Rotating shaft Component; 2031. First joint axis; 2032. Second joint axis; 2033. Third joint axis; 204. Pitch module; 205. Guide wheel assembly; 2051. First set of guide wheels; 2052. Second set of guide wheels; 2053. Third set of guide wheels; 2054. Fourth set of guide wheels; 21. Second plug-in module; 210. Second plug base; 2101. Second notch; 2102. Second positioning member; 2103. Second base connecting rod; 2104. Second rotation axis; 2105. Fifth notch; 211. Lower pair of plug assembly; 2110. Second coupling portion; 2111. First lower pair of plugs; 21 12. Second lower pair of plugs; 2113. Third lower pair of plugs; 2114. Fourth lower pair of plugs; 2115. Fifth lower pair of plugs; 2116. Sixth lower pair of plugs; 212. Second manual lock; 2121. Second lock tongue; 2122. Sixth notch; 213. Second support member; 214. Second elastic unit; 2141. Second tensioning spring; 2142. Second locking spring; 215. Second tensioning baffle; 221 Seventh cable; 222. Eighth cable; 223. Ninth cable; 224. Tenth cable; 225. Eleventh cable; 226. Twelfth cable; 23. Rigid transmission rod assembly; 24. Push rod assembly. DETAILED DESCRIPTION

[0058] In order to make the purpose and technical solution of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with embodiments.

[0059] Example 1

[0060] according to Figures 1-14 A surgical instrument shown includes a driving unit 1 and an execution unit 2, the driving unit 1 includes an instrument power box 10 and a first plug-in module 11, the execution unit 2 includes an actuator 20 and a second plug-in module 21; the first plug-in module 11 includes a first coupling part 1110, the second plug-in module 21 includes a second coupling part 2110, and the first coupling part 1110 and the second coupling part 2110 are coupled; the instrument power box 10 includes a power transmission module 101, and the power transmission module 101 is connected to the first plug-in module 11; the lower end of the second plug-in module 21 is connected to the actuator 20; the power transmission module 101 drives the first plug-in module 11 to move, the first plug-in module 11 drives the second plug-in module 21 coupled to it, and then the second plug-in module 21 drives the rotation of the actuator 20 connected to it.

[0061] The first plug module 11 includes a first plug base 110 and a plurality of upper plug assemblies 111, such as Figure 4 The upper pair of plugs assembly 111 shown is composed of six upper pair of plugs, which can be set as the first upper pair of plugs 1111, the second upper pair of plugs 1112, the third upper pair of plugs 1113, the fourth upper pair of plugs 1114, the fifth upper pair of plugs 1115, and the sixth upper pair of plugs 1116; the upper pair of plugs assembly 111 is installed on the first plug base 110, and the upper end of the upper pair of plugs assembly 111 is provided with at least one card slot, and the end of the upper pair of plugs assembly 111 is provided with a first coupling portion 1110, and one end of the power transmission module 101 is rigidly connected to the upper pair of plugs assembly 111. Figure 10 The first coupling portion 1110 on the upper plug assembly 111 shown can be configured as a hole-shaped structure but is not limited to a hole-shaped structure. Figure 9 The axial cross-section of the upper pair of plug assemblies 111 shown can be fan-shaped, quadrilateral, etc., to ensure that each upper pair of plugs does not rotate on its own, except for a circular shape.

[0062] The first plug-in module 11 also includes a first elastic unit 114, a first tensioning block 115, and a first manual lock 112. The first elastic unit 114 includes a first tensioning spring 1141 and a first locking spring 1142. One end of the first tensioning spring 1141 is connected to the first tensioning block 115, and the first locking spring 1142 is connected to the first manual lock 112. The first manual lock 112 is disposed on the outer surface of the first plug base 110. A slot is provided on the upper end of the upper plug assembly 111, and a plurality of paddles 1150 are disposed outside the first tensioning block 115.

[0063] The first plug base 110 further includes a first notch 1101, a first base connecting rod 1103, and a first rotating shaft 1104. A first locking tongue 1121 is provided at one end of the first manual lock 112. The first notch 1101 is located at a position corresponding to the first locking tongue 1121, and the first notch 1101 and the first locking tongue 1121 cooperate. When the first plug-in module 11 and the second plug-in module 21 are docked, the first locking tongue 1121 is inserted into the first notch 1101 to restrict the freedom of the first plug base 110. A third notch 1105 is provided at one end of the first base connecting rod 1103, and a fourth notch 1122 is provided at one end of the first locking tongue 1121. The first rotating shaft 1104 passes through the first tensioning block 115 and is inserted into the first tensioning spring 1141.

[0064] The first plug-in module 11 further includes a first support member 113. The upper end of the first support member 113 is connected to the power transmission module 101, and the lower end of the first support member 113 is connected to the first plug base 110. A slot is defined on the outer surface of the first support member 113. A first manual latch 112 is movably mounted on the inner side of the first support member 113 corresponding to the slot. The first locking spring 1142 and the first manual latch 115 are located on the same horizontal line along the axis of the first support member 113.

[0065] like Figure 2 The instrument power box 10 shown in the figure can be provided with a cable assembly, a pulley assembly 1017 and a gear 1010 on the power transmission module 101 on the instrument power box 10. The rotating shaft on the gear 1010 passes through the bottom plate of the instrument power box 10. The gear 1010 passes through the rotating shaft of the bottom plate and is connected to the upper end of the first support member 113 by welding or other rigid connection methods. Figure 2 The capstan assembly 1017 shown includes a first capstan, a second capstan, and a third capstan.

[0066] like Figure 3 and Figure 4The cable assembly shown includes a first cable 1011, a second cable 1012, a third cable 1013, a fourth cable 1014, a fifth cable 1015, and a sixth cable 1016; the first cable 1011 and the second cable 1012 are wound on the first reel, the third cable 1013 and the fourth cable 1014 are wound on the second reel, the fifth cable 1015 and the sixth cable 1016 are wound on the third reel, and one end of the first cable 1011 is rigidly connected to the upper pair of plugs, one end of the second cable 1012 is rigidly connected to the second upper pair of plugs 1112, one end of the third cable 1013 is rigidly connected to the third upper pair of plugs 1113, one end of the fourth cable 1014 is rigidly connected to the fourth upper pair of plugs 1114, one end of the fifth cable 1015 is rigidly connected to the fifth upper pair of plugs 1115, and one end of the sixth cable 1016 is rigidly connected to the sixth upper pair of plugs 1116. The upper plug assembly 111 mounted on the first plug base 110 can move up and down along the axis of the first support member 113 by retracting and extending the cable assembly. The shape of the upper plug assembly 111 itself limits its rotational movement. The number of cables and reels is not limited; preferably, the ratio of the number of cables to the number of reels is 2:1.

[0067] The second plug-in module 21 includes a second plug base 210 and a plurality of lower plug assemblies 211. The lower plug assemblies 211 are installed on the second plug base 210. The lower end of the lower plug assembly 211 is provided with at least one card slot. The upper end of the lower plug assembly 211 is provided with a second coupling portion 2110. The shape of the second coupling portion 2110 is not limited. The second coupling portion 2110 and the first coupling portion 1110 are coupled to each other. Figure 10 The second coupling portion 2110 on the lower plug assembly 211 shown can be cylindrical but is not limited to a cylindrical structure. Figure 6 The lower pair of plugs assembly 211 shown is composed of six lower pair of plugs, which can be set as the first lower pair of plugs 2111, the second lower pair of plugs 2112, the third lower pair of plugs 2113, the fourth lower pair of plugs 2114, the fifth lower pair of plugs 2115, and the sixth lower pair of plugs 2116; the axial cross-section of the lower pair of plugs assembly 211 can be fan-shaped, quadrilateral, etc., the same as the cross-section of the upper pair of plugs assembly, used to ensure that each lower pair of plugs does not rotate on its own, except for the circular shape.

[0068] The second plug-in module 21 also includes a second elastic unit 214, a second tensioning block 215, a second manual lock 212, and a second support member 213. The second elastic unit 214 includes a second tensioning spring 2141 and a second locking spring 2142. One end of the second tensioning spring 2141 is connected to the second tensioning block 215, and the second locking spring 2142 is connected to the second manual lock 212. A slot is provided at the lower end of the lower plug assembly 211, and a plurality of paddles 1150 are provided outside the second tensioning block 215. The second manual lock 212 is provided on the outer surface of the second plug base 210, and one end of the second manual lock 212 is provided with a second locking tongue 2121, which restricts the freedom of the second plug base 210. The upper end of the second support member 213 is connected to the second plug base 210, and a slot is provided on the outer surface of the second support member 213. The second manual lock 212 is movably arranged on the inner side of the second support member 213 corresponding to the slot. The second locking spring 2142 and the second manual lock 212 are located on the same horizontal line along the axial direction of the second support member 213.

[0069] The second plug base 210 includes a second slot 2101, a second base connecting rod 2103 and a second rotating shaft 2104. A second locking tongue 2121 is provided at one end of the second manual lock 212. The second slot 2101 is opened at a position corresponding to the second locking tongue 2121, and the second slot 2101 cooperates with the second locking tongue 2121. A fifth slot 2105 is provided at one end of the second base connecting rod 2103, and a sixth slot 2122 is provided at one end of the second locking tongue 2121.

[0070] Specifically, in the coupled state, the third notch 1105 cooperates with the paddle 1150 of the second tensioning block 215, ensuring that when the first plug base 110 rotates, it can not only drive the first base connecting rod 1103 to rotate, but also enable the second tensioning block 215 to rotate accordingly; the fifth notch 2105 cooperates with the paddle 1150 of the first tensioning block 115, ensuring that when the second plug base 210 rotates, it can not only drive the second base connecting rod 2103 to rotate, but also ensure that the first tensioning block 115 rotates accordingly; and in the coupled state, several paddles 1150 of the first tensioning block 115 cooperate with the card slots of the upper plug assembly 111, and several paddles 1150 of the second tensioning block 215 cooperate with the card slots of the lower plug assembly 211. In the decoupling state, the fourth slot 1122 cooperates with the paddle 1150 of the first tensioning block 115; the sixth slot 2122 cooperates with the paddle 1150 of the second tensioning block 215; and several paddles 1150 of the first tensioning block 115 are disengaged from the slot of the upper plug assembly 111, and several paddles 1150 of the second tensioning block 215 are disengaged from the slot of the lower plug assembly 211.

[0071] The actuator 20 includes a power drive module and an actuator base 201 . One end of the power drive module is rigidly connected to the lower plug assembly 211 , and the actuator base 201 is connected to the lower end of the second support member 213 .

[0072] like Figure 7 The power drive module on the actuator 20 shown includes a clamping jaw assembly 202, a rotating shaft assembly 203, a pitch module 204 and a guide wheel assembly 205; the actuator base 201 is connected to the lower end of the second support member 213, the rotating shaft assembly 203 includes a first joint rotating shaft 2031, a second joint rotating shaft 2032 and a third joint rotating shaft 2033, and the guide wheel assembly 205 is provided with a first group of guide wheels 2051, a second group of guide wheels 2052, a third group of guide wheels 2053, and a fourth group of guide wheels 2054, and each group of guide wheels includes an inner and an outer guide wheel. The outer guide wheels of the first set of guide wheels 2051 and the outer guide wheels of the third set of guide wheels 2053 are wound with the same cable, which is set as the seventh cable 221. The seventh cable 221 is guided through the guide grooves on the guide wheels, passes through the actuator base 201, enters the second support member 213, and is connected to the first lower plug 2111. The outer guide wheels of the second set of guide wheels 2052 and the outer guide wheels of the fourth set of guide wheels 2054 are wound with the same cable, which is set as the eighth cable 222. The eighth cable 222 is guided through the guide grooves on the guide wheels, passes through the actuator base 201, enters the second support member 213, and is connected to the second lower plug 2112. The inner guide wheels of the first set of guide wheels 2051 and the third set of guide wheels 205 The inner guide wheels of the second set of guide wheels 2052 and the fourth set of guide wheels 2054 are wound with the same cable, designated as the ninth cable 223. The ninth cable 223 is guided through the guide grooves on the guide wheels, passes through the actuator base 201, enters the second support member 213, and is connected to the third lower plug 2113. The inner guide wheels of the second set of guide wheels 2052 and the inner guide wheels of the fourth set of guide wheels 2054 are wound with the same cable, designated as the tenth cable 224. The tenth cable 224 is guided through the guide grooves on the guide wheels, passes through the actuator base 201, enters the second support member 213, and is connected to the fourth lower plug 2114. The pitch module 204 has its own guide groove, and two cables are fixed to the guide grooves of the pitch module 204, designated as the eleventh cable 225 and the twelfth cable 226. The eleventh cable 225 is guided through the guide groove on the pitch module 204, passes through the actuator base 201, enters the second support member 213, and is connected to the fifth lower plug 2115. The twelfth cable 226 is guided through the guide groove on the pitch module 204, passes through the actuator base 201, enters the second support member 213, and is connected to the sixth lower plug 2116.

[0073] The clamping assembly 202 is provided with a first clamping jaw 2021 and a second clamping jaw 2022, and the first clamping jaw 2021 and the second clamping jaw 2022 are connected to the pitch module 204 through the first joint shaft 2031; the first guide wheel 2051 and the second guide wheel 2052 are respectively fixed to the outside of the pitch module 204 through the second joint shaft 2032, and the third guide wheel 2053 and the fourth guide wheel 2054 are respectively arranged on the outside of the lower end of the pitch module 204 through the third joint shaft 2033, and the actuator base 201 is arranged on the outside of the third guide wheel 2053 and the fourth guide wheel 2054 through the third joint shaft 2033.

[0074] The first plug-in module 11 further includes a first positioning member 1102 and a first indicator mark, and the second plug-in module 21 further includes a second positioning member 2102 and a second indicator mark.

[0075] according to Figures 1-14 A method for installing a surgical instrument is shown, and the installation steps are:

[0076] Step S1: In the initial state, the fourth notch 1122 clamps the paddle 1150 of the first tensioning block 115 ; the sixth notch 2122 clamps the paddle 1150 of the second tensioning block 215 , wherein the paddle 1150 plays a positioning role;

[0077] Step S2: Aligning the first indicator mark and the second indicator mark; the first indicator mark and the second indicator mark can be set as notch features or other features that can serve as identification. The purpose is mainly to ensure that the first plug-in module 11 and the second plug-in module 21 can be spliced along the axis direction of the first support member 113 and the second support member 213;

[0078] Step S3: Simultaneously press the first manual lock 112 and the second manual lock 212, insert the end of the second base connecting rod 2103 on the second plug-in module 21 into the first notch 1101 and contact the end surface of the first plug base 110, and insert the end of the first base connecting rod 1103 on the first plug-in module 11 into the second notch 2101 and contact the end surface of the second plug base 210, the first positioning member 1102 presses against the second tensioning block 215, and the second positioning member 2102 presses against the first tensioning block 115;

[0079] Step S4: Rotate the second plug-in module 21. The end of the second base connecting rod 2103 fully enters the first notch 1101. The end of the first base connecting rod 1103 fully enters the second notch 2101. The first coupling portion 1110 couples with the second coupling portion 2110. Release the first manual lock 112 and the second manual lock 212. The first manual lock 112 is locked in the second notch 2101 by the action of the first locking spring 1142. The second manual lock 212 is locked in the first notch 1101 by the action of the second locking spring 2142. This ensures that the positions of the first plug-in module 11 and the second plug-in module 21 are fixed and locked. The principles of rotating the first plug-in module 11 and the second plug-in module 21 are the same.

[0080] Step S5: Installation completed;

[0081] Specifically, in the initial state, when the first tensioning baffle 115 is not plugged in, the paddle 1150 of the first tensioning baffle 115 is inserted into the card slot of each upper pair of plugs, and cooperates with the first tensioning spring 1141 to limit the initial positions of the first upper pair of plugs 1111, the second upper pair of plugs 1112, the third upper pair of plugs 1113, the fourth upper pair of plugs 1114, the fifth upper pair of plugs 1115, and the sixth upper pair of plugs 1116 in the upper pair of plugs assembly 111, and maintain the first cable 1011, the second cable 1012, the third cable 1013, the fourth cable 1014, and the fifth cable 1015. 15. The initial tension of the sixth cable 1016 is achieved by the combined tension of the first cable 1011, the second cable 1012, the third cable 1013, the fourth cable 1014, the fifth cable 1015, and the sixth cable 1016. The paddle 1150 is in close contact with the end faces of the upper plug slots. The first tensioning spring 1141 is in a compressed state in this state. The first tensioning spring 1141 pushes the first tensioning baffle 115 to provide spring tension. The selection of the tensioning force depends on the tensioning force requirements of each cable and ensures that the cable can rotate under the action of the second plug base 210 after tensioning.

[0082] When the first plug-in module 11 and the second plug-in module 21 are docked, the second plug base connecting rod 2103 and the second positioning member 2102 press against the first tensioning block 115. At this time, the paddle 1150 of the first tensioning block 115 is stuck in the fifth notch 2105 of the second plug base connecting rod 2103. Figure 11 As shown; when the second plug base 210 rotates, the first tensioning baffle 115 also rotates synchronously. At this time, the paddle 1150 of the first tensioning baffle 115 is completely removed from the slots of each upper pair of plugs in the upper pair of plugs assembly 111, and then each pair of plugs can move up and down along the axis direction of the first support member 113 in the first plug base 110.

[0083] according to Figures 1-14 A method for disassembling a surgical instrument is shown, and the disassembly steps are:

[0084] Step 1: Confirm whether the actuator 20 has reached a specified state. If not, the device power box 10 needs to be controlled to reach the specified state before disassembly. The specified state refers to the initial state of the actuator 20 when it is assembled.

[0085] Step 2: Press the first manual lock 112 and the second manual lock 212 simultaneously, and rotate the second plug-in module 21 so that the first indicator mark and the second indicator mark are aligned;

[0086] Step 3: Pull out the second plug-in module 21 so that the end of the second base connecting rod 2103 is completely out of the first notch 1101 . The end of the first base connecting rod 1103 is completely out of the second notch 2101 , and the first coupling portion 1110 is decoupled from the second coupling portion 2110 .

[0087] Step 4: Pull the end of the second base connecting rod 2103 on the second plug-in module 21 out of the first notch 1101 and disengage it from the end surface of the first plug base 110. Pull the end of the first base connecting rod 1103 on the first plug-in module 11 out of the second notch 2101 and disengage it from the end surface of the second plug base 210. The first positioning member 1102 releases the second tensioning block 215. The second positioning member 2102 releases the first tensioning block 115. The first and second manual locks 112 and 212 are released. The fourth notch 1122 engages the paddle 1150 of the first tensioning block 115. The sixth notch 2122 engages the paddle 1150 of the second tensioning block 215.

[0088] Step 5: Disassembly Completed.

[0089] During the installation and disassembly process, the actuator 20 can be replaced at any time, and the instrument power box 10 can be reused, thereby reducing costs.

[0090] Example 2

[0091] according to Figure 15-17 A surgical instrument is shown. The difference between this embodiment and embodiment 1 is that the cable assembly in the power transmission module 101 is replaced with a rigid transmission rod assembly 23. The rigid transmission rod assembly 23 has a power transmission function, for example Figure 13 The rigid transmission rod assembly 23 in the actuator unit 2 and the actuator push rod assembly 24 in the actuator unit 2 replace the seventh cable 221, the eighth cable 222, the ninth cable 223, the tenth cable 224, the eleventh cable 225, and the twelfth cable 226 to achieve power transmission. Figure 14The rigid transmission rod assembly 23 is rigidly connected to the upper plug of the upper plug assembly 111 and can drive the upper plug to move up and down. The actuator push rod assembly 24 is rigidly connected to the lower plug of the lower plug assembly 211 and can control the actuator 20 to achieve actions such as clamping, cutting, and yaw.

[0092] like Figure 17 The slots in the first tensioning baffle 115 position the respective pairs of plugs in the upper pair of plug assemblies 111 , ensuring that the respective pairs of plugs in the upper pair of plug assemblies 111 extend to a certain height above the position of the first plug base 110 .

[0093] according to Figure 15-17 The implementation process of the surgical instrument is the same as the installation and disassembly principles of Example 1: before docking, each docking plug in the first plug-in module 11 is restricted to the initial state position by the first tensioning baffle 115, and each docking plug in the second plug-in module 21 is restricted to the initial state position by the second tensioning baffle 215. The position fixing principle of the first tensioning baffle 115 and the second tensioning baffle 215 is the same as that in Example 1, and both are fixed and maintained by the first manual lock 112 and the second manual lock 212. When the indicated positions are aligned, push the first manual latch 112 and the second manual latch 212, and insert the first plug-in module 11 into the second plug-in module 21. During the insertion process, the paddle 1150 of the first tensioning block 115 will engage with the slot of the first plug base 110 until the first base connecting rod 1103 contacts the first plug base 110, completing the axial docking. The second plug-in module 21 is then rotated a certain angle until it cannot rotate any further. The end of the first base connecting rod 1103 engages with the second notch 2101, coupling the first coupling portion 1110 of the first plug-in module 11 with the second coupling portion 2110 of the second plug-in module 21. The paddle 1150 rotates with the second plug-in module 21, completing the rotational docking. Release the first manual latch 112 and the second manual latch 212, completing the docking. When finished, return to the initial setting position and repeat the above process in reverse to complete the removal process, thus removing the actuator unit 2.

[0094] The above is merely an embodiment of the present invention, and its description is relatively specific and detailed, but it should not be understood as limiting the scope of the present invention. It should be pointed out that those skilled in the art can make a number of modifications and improvements without departing from the concept of the present invention, and these modifications and improvements are all within the scope of protection of the present invention.

Claims

1. A surgical instrument, characterized in that: It includes a driving unit and an execution unit, wherein the driving unit includes an instrument power box and a first plug-in module, and the execution unit includes an actuator and a second plug-in module; The first plug-in module includes a first coupling portion, the second plug-in module includes a second coupling portion, and the first coupling portion and the second coupling portion are coupled; The power box of the instrument includes a power transmission module, which is connected to the first plug-in module; the lower end of the second plug-in module is connected to the actuator; The power transmission module is provided with a cable assembly, which includes a first cable and a second cable; one end of the first cable is rigidly connected to the upper pair of plugs, and one end of the second cable is rigidly connected to the second upper pair of plugs; The first plug-in module includes a first plug base and a plurality of upper plug assemblies, wherein the upper plug assemblies are mounted on the first plug base, and the ends of the upper plug assemblies are provided with a first coupling portion, and one end of the power transmission module is rigidly connected to the upper plug assembly; The first plug-in module further includes a first elastic unit, a first tensioning baffle, and a first manual lock, wherein the first elastic unit includes a first tensioning spring and a first locking spring, one end of the first tensioning spring is connected to the first tensioning baffle, and the first locking spring is connected to the first manual lock; A card slot is provided at the upper end of the upper pair of plug assemblies, and a plurality of paddles are provided on the outer side of the first tensioning block; the first plug base includes a first notch and a first rotating shaft, and a first locking tongue is provided at one end of the first manual lock, the first notch is opened at a position corresponding to the first locking tongue, and the first notch cooperates with the first locking tongue, and the first rotating shaft passes through the first tensioning block and is inserted into the first tensioning spring; The first plug base also includes a first base connecting rod, one end of which is provided with a third notch, and one end of the first locking tongue is provided with a fourth notch; in the decoupled state, the fourth notch cooperates with the paddle of the first tensioning block.

2. A surgical instrument according to claim 1, characterized in that: The first plug-in module further includes a first support member, an upper end of the first support member is connected to the power transmission module, and a lower end of the first support member is connected to the first plug base.

3. A surgical instrument according to claim 1, characterized in that: The second plug-in module includes a second plug base and a plurality of lower plug assemblies. The lower plug assemblies are installed on the second plug base. The ends of the lower plug assemblies are provided with second coupling parts.

4. A surgical instrument according to claim 3, characterized in that: The second plug-in module also includes a second elastic unit, a second tensioning baffle and a second manual lock. The second elastic unit includes a second tensioning spring and a second locking spring. One end of the second tensioning spring is connected to the second tensioning baffle, and the second locking spring is connected to the second manual lock.

5. A surgical instrument according to claim 4, characterized in that: A card slot is provided at the lower end portion of the lower plug assembly, and a plurality of paddles are provided on the outer side of the second tensioning baffle.

6. A surgical instrument according to claim 5, characterized in that: The second plug base includes a second slot and a second rotating shaft. A second locking tongue is provided at one end of the second manual lock. The second slot is opened at a position corresponding to the second locking tongue, and the second slot cooperates with the second locking tongue. The second rotating shaft passes through the second tensioning block and is inserted into the second tensioning spring.

7. A surgical instrument according to claim 6, characterized in that: The second plug base also includes a second base connecting rod, one end of the second base connecting rod is provided with a fifth notch, and one end of the second lock tongue is provided with a sixth notch; in the coupled state, the fifth notch cooperates with the paddle of the first tensioning block piece, and the third notch cooperates with the paddle of the second tensioning block piece; in the decoupled state, the sixth notch cooperates with the paddle of the second tensioning block piece.

8. A surgical instrument according to claim 3, characterized in that: The second plug-in module further includes a second supporting member, the upper end of which is connected to the second plug base.

9. A surgical instrument according to claim 8, characterized in that: The actuator includes a power drive module and an actuator base. One end of the power drive module is rigidly connected to the lower plug assembly, and the actuator base is connected to the lower end of the second support member.

10. A method for disassembling and assembling a surgical instrument, characterized in that: The surgical instrument comprises any one of claims 1 to 9, wherein the first plug-in module further comprises a first positioning member and a first indicator mark, and the second plug-in module further comprises a second positioning member and a second indicator mark; The installation steps include: Step S1: In the initial state, the fourth notch clamps the paddle of the first tensioning block; the sixth notch clamps the paddle of the second tensioning block; Step S2: aligning the first indicator mark and the second indicator mark; Step S3: Simultaneously pressing the first manual lock and the second manual lock, inserting the end of the second base connecting rod on the second plug-in module into the first slot and contacting the end surface of the first plug base, inserting the end of the first base connecting rod on the first plug-in module into the second slot and contacting the end surface of the second plug base, the first positioning member presses against the second tensioning block, and the second positioning member presses against the first tensioning block; Step S4: Rotate the second plug-in module, so that the end of the second base connecting rod is completely inserted into the first notch, and the end of the first base connecting rod is completely inserted into the second notch, the first coupling portion is coupled with the second coupling portion, and the first manual lock catch and the second manual lock catch are released. The first locking tongue is locked in the second notch under the action of the first locking spring, and the second locking tongue is locked in the first notch under the action of the second locking spring; Step S5: Installation completed; The disassembly steps include: Step 1: Confirm whether the actuator has reached the specified state. If not, it needs to be controlled by the power box to reach the specified state before disassembly; Step 2: Press the first manual lock and the second manual lock at the same time, and rotate the second plug-in module so that the first indicator mark and the second indicator mark are aligned; Step 3: Pull out the second plug-in module so that the end of the second base connecting rod is completely out of the first notch, and the end of the first base connecting rod is completely out of the second notch, and the first coupling portion is decoupled from the second coupling portion; Step 4: Pull the end of the second base connecting rod on the second plug-in module out of the first slot and disengage it from the end surface of the first plug base. Pull the end of the first base connecting rod on the first plug-in module out of the second slot and disengage it from the end surface of the second plug base. Release the second tensioning block piece with the first positioning member, and release the first tensioning block piece with the second positioning member. Release the first manual lock and the second manual lock. The fourth slot engages the paddle of the first tensioning block piece. The sixth slot engages the paddle of the second tensioning block piece. Step 5: Disassembly Completed.

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