Surgical instrument and drive assembly therefor

Abstract

The present application relates to surgical instruments and driving assemblies thereof, the driving assembly comprising an execution driving member, a transmission mechanism, a moving part, an auxiliary rotating part and an instrument box. The instrument box contains the transmission mechanism, the moving part and the auxiliary rotating part. The auxiliary rotating part is coaxially arranged with the moving part, and the auxiliary rotating part is rotatably connected with the moving part around the axis of the two. The execution driving member is used to drive the transmission mechanism to drive the moving part to move along the axial direction, so that the moving part drives the auxiliary rotating part to move along the axial direction. During the movement of the execution rod along the axial direction of the surgical instrument to drive the actuator to perform the surgical operation, even if the moving part rotates, it will not affect the rotation of the actuator, reducing the risk of surgical failure. When assembling the surgical instrument, even if the rotation shaft drives the execution rod to rotate, it will not affect the axial displacement of the moving part, avoiding the risk that the interface position of the execution rod used for docking with the actuator changes, causing the actuator to be difficult to accurately dock.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical instruments, in particular to a surgical instrument and a driving assembly thereof. BACKGROUND

[0002] At present, various surgical instruments are widely used in neurosurgery, brain surgery, urology, thoracic and abdominal surgery, gynecology, urology and other surgical operations. A general surgical instrument includes a proximal driving assembly, an intermediate shaft assembly and a distal actuator. The shaft assembly includes a self-rotation shaft for realizing self-rotation of the actuator, a pitch shaft for realizing pitch of the actuator, and an execution rod for driving the actuator to perform a surgical operation. The driving assembly includes an execution driving member and a transmission mechanism, the execution driving member is used to drive the transmission mechanism, so that the transmission mechanism drives the execution rod to move along the axial direction, thereby the execution rod drives the distal actuator to perform a surgical operation (such as clamping, cutting, etc.). In order to constrain the execution rod to move along the axial direction, the execution rod is generally coupled with the self-rotation shaft in the circumferential direction to prevent the execution rod from rotating relative to the self-rotation shaft.

[0003] Some surgical instruments in the prior art include a transmission gear, and the transmission gear is threadedly connected with the execution rod. When the surgical instrument is used in surgery, the execution driving member drives the transmission gear to rotate, and the transmission gear can drive the execution rod to move along the axial direction through thread transmission, so as to drive the distal actuator to perform a surgical operation. However, when the rotation torque of the transmission gear is large, the execution rod may be driven to rotate. Since the execution rod is coupled with the self-rotation shaft in the circumferential direction, the rotation of the execution rod may drive the self-rotation shaft to rotate, so that the actuator rotates, that is, the axial movement of the execution rod (the actuator performs a surgical operation) is coupled with the rotation of the actuator, thereby causing the risk of surgical failure.

[0004] In addition, when the surgical instrument is assembled, the self-rotation shaft is easy to rotate, thereby driving the execution rod to rotate synchronously. Since the execution rod is threadedly connected with the transmission gear, the rotation of the execution rod drives the execution rod to move along the axial direction through thread transmission (that is, the rotation of the execution rod is coupled with the axial movement of the execution rod), so that the position of the interface of the execution rod for connecting with the actuator changes, thereby causing the risk that the actuator cannot be accurately connected. SUMMARY

[0005] Therefore, it is necessary to provide a surgical instrument and a driving assembly thereof in view of the technical problems that the axial movement of the execution rod is coupled with the rotation of the actuator when the surgical instrument in the prior art is used in surgery, thereby causing the risk of surgical failure, and the rotation of the execution rod is coupled with the axial movement of the execution rod when the surgical instrument is assembled, thereby causing the risk that the actuator cannot be accurately connected.

[0006] An embodiment of the present application provides a driving assembly for a surgical instrument, which comprises an execution driving member, a transmission mechanism, a moving part, an auxiliary rotating part and an instrument box.

[0007] The instrument box accommodates the transmission mechanism, the moving part and the auxiliary rotating part.

[0008] The auxiliary rotating part is coaxially arranged with the moving part, and the auxiliary rotating part and the moving part are rotatably connected around the axes of the two.

[0009] The execution driving member is used for driving the transmission mechanism to drive the moving part to move along an axial direction, so that the moving part drives the auxiliary rotating part to move along the axial direction.

[0010] In an embodiment, the transmission mechanism comprises a guide structure, and the guide structure defines the axial movement of the moving part.

[0011] In an embodiment, the transmission mechanism comprises a threaded member, the threaded member is threadedly matched with the moving part, and the execution driving member is used for driving the threaded member or the moving part to rotate.

[0012] In an embodiment, the threaded member is fixedly connected with the instrument box, and an external thread of the threaded member is matched with an internal thread of the moving part.

[0013] The transmission mechanism comprises a sleeve arranged on the moving part, the execution driving member is used for driving the sleeve to rotate, and the guide structure is arranged on the sleeve to define the axial movement of the moving part relative to the sleeve.

[0014] In an embodiment, an internal thread of the threaded member is matched with an external thread of the moving part, and the execution driving member is used for driving the threaded member to rotate.

[0015] In an embodiment, the moving part comprises a first part and a second part which are connected along an axial direction, the first part is matched with the guide structure, and the second part is sleeved with one of the auxiliary rotating parts.

[0016] In an embodiment, two bosses are arranged on an outer circumferential surface of the moving part, and the protruding directions of the two bosses are away from each other along a radial direction of the moving part.

[0017] The transmission mechanism comprises a linkage, the linkage is provided with a sliding groove, and the execution driving member is used for driving the linkage to move, so that the linkage drives the two bosses to move along the axial direction of the moving part through the sliding cooperation of the bosses and the sliding groove.

[0018] In an embodiment, the linkage sleeves the moving part, the sliding groove is arranged on the inner wall of the linkage, and the execution driving member is used to drive the linkage to rotate.

[0019] The sliding groove comprises a first groove and a second groove, the first groove and the second groove are centrally symmetric about the axis of the linkage, the first boss of the two bosses is in sliding fit with the first groove, and the second boss is in sliding fit with the second groove.

[0020] In an embodiment, the two ends of the first groove are continuous with the two ends of the second groove, and the first groove and the second groove are axially symmetric, so that the first boss can be in sliding fit with the second groove and the second boss can be in sliding fit with the first groove.

[0021] In an embodiment, the number of the linkages is two and corresponds to the bosses one by one, the linkage is provided with the sliding groove corresponding to the corresponding boss, the execution driving member is used to drive the linkage to translate along the first direction, and the first direction is perpendicular to the direction of the line connecting the two bosses and perpendicular to the axial direction of the moving part.

[0022] In an embodiment, the change trend of the sliding groove of the first linkage along the positive direction of the first direction is the same as the change trend of the sliding groove of the second linkage along the negative direction of the first direction.

[0023] The transmission mechanism comprises a gear, the first linkage is provided with a first rack matched with the gear, the second linkage is provided with a second rack matched with the gear, the first rack and the second rack are respectively located on the two sides of the gear along the radial direction, the first rack and the second rack are parallel to each other, and the execution driving member is used to drive the gear to rotate.

[0024] In an embodiment, the transmission mechanism comprises a first transmission part and a second transmission part, the first end of the first transmission part and the first end of the second transmission part are respectively rotatably connected with the moving part and are respectively located on the two sides of the moving part away from each other along the radial direction.

[0025] The transmission mechanism comprises a translation part, the second end of the first transmission part and the second end of the second transmission part are respectively rotatably connected with the translation part, and the execution driving member is used to drive the translation part to translate along the direction perpendicular to the line connecting the first end of the first transmission part and the first end of the second transmission part, so that the first transmission part and the second transmission part drive the moving part to move along the axial direction.

[0026] In an embodiment, the guiding structure is a guiding rod arranged in the moving part, the guiding rod is fixedly connected with the instrument box, and is used for guiding the moving part to move in the axial direction.

[0027] In an embodiment, the driving assembly comprises a bearing, and the auxiliary rotating part is rotatably connected with the moving part through the bearing.

[0028] An embodiment of the present application provides a surgical instrument, which is characterized by comprising an actuator, an execution rod and the driving assembly described in any one of the above embodiments, one end of the execution rod is connected with the auxiliary rotating part, and the other end of the execution rod is connected with the actuator.

[0029] The driving assembly and the surgical instrument, the auxiliary rotating part and the moving part are coaxially arranged with the rotation axis of the shaft assembly of the surgical instrument (i.e. arranged in the axial direction of the surgical instrument). One end of the execution rod of the surgical instrument is connected with the auxiliary rotating part, and the other end of the execution rod is connected with the actuator of the surgical instrument. The execution driving part drives the transmission mechanism to move, so that the transmission mechanism drives the moving part to move in the axial direction, and the moving part drives the auxiliary rotating part to move in the axial direction. Thus, the auxiliary rotating part drives the execution rod to move in the axial direction of the surgical instrument, and further drives the actuator at the distal end of the surgical instrument to perform a surgical operation. Since the auxiliary rotating part and the moving part are rotatably connected around the axes of the auxiliary rotating part and the moving part, the moving part can rotate relative to the execution rod through the auxiliary rotating part. In this way, during the movement of the execution rod in the axial direction of the surgical instrument to drive the actuator to perform a surgical operation, even if the moving part rotates, the rotation will not be transmitted to the execution rod, so as not to affect the rotation of the actuator (i.e. the axial translation of the execution rod and the rotation of the actuator are decoupled), the transmission accuracy is high, the control logic is simple, and the risk of surgical failure is reduced.

[0030] In addition, since the execution rod can rotate relative to the moving part through the auxiliary rotating part, during the assembly of the surgical instrument, even if the rotation axis drives the execution rod to rotate, the rotation of the execution rod will not be transmitted to the moving part, so as not to affect the movement of the moving part, and further not to affect the displacement of the moving part in the axial direction (i.e. the rotation of the execution rod and the axial movement are decoupled), thereby avoiding the risk that the interface position of the execution rod for docking with the actuator changes, and the actuator is difficult to accurately dock.

[0031] It should be noted that, since the auxiliary rotating part and the moving part are coaxially arranged (i.e. the central axes of the auxiliary rotating part and the moving part coincide), the axial movement of the moving part can be directly transmitted to the auxiliary rotating part along the axial direction of the moving part, so as to smoothly drive the auxiliary rotating part to move in the axial direction. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 FIG. 1 is a structural schematic diagram of a driving assembly according to a first embodiment of the present application;

[0033] Figure 2 is a sectional view of a partial structure of Figure 1

[0034] Figure 3 is a schematic view of a connection relationship of a moving part, an auxiliary rotating part and an execution rod in Figure 2

[0035] Figure 4 is an exploded view of a structure of a driving assembly in Figure 1

[0036] Figure 5 is a schematic view of a connection relationship of a moving part and an auxiliary rotating part in a second embodiment

[0037] Figure 6 is a schematic view of a connection relationship of a moving part, an auxiliary rotating part and a guiding structure in a third embodiment

[0038] Figure 7 is a schematic view of a connection relationship of a moving part and a guiding structure in Figure 6

[0039] Figure 8 is a schematic view of a connection relationship of a transmission mechanism, a moving part and a guiding structure in a fourth embodiment

[0040] Figure 9 is a schematic view of a structure of a moving part in Figure 8

[0041] Figure 10 is a sectional view of a partial structure of Figure 8

[0042] Figure 11 is a schematic view of a structure of a driving assembly in a fifth embodiment

[0043] Figure 12 is a schematic view of a structure of a driving assembly in a sixth embodiment

[0044] Figure 13 is a plan view of Figure 12

[0045] Reference signs:

[0046] execution rod 11

[0047] execution driving member 110

[0048] moving part 120; first part 121; protruding part 1211; second part 122; boss 123; first boss 1231; second boss 1232

[0049] ​​​​​​​Auxiliary rotating part 130; inner cylinder 131; first connecting section 1311; second connecting section 1312; outer cylinder 132; first clamping piece 133; second clamping piece 134; bearing 135;

[0050] Instrument box 140; base 141; cover body 142;

[0051] Guide structure 150;

[0052] Threaded part 161; sleeve 162; driving gear 163; driven gear 164; straight gear section 1641; bevel gear section 1642; linkage 165; first linkage 1651; second linkage 1652; sliding slot 166; first slot 1661; second slot 1662; gear 167; rack 168; first rack 1681; second rack 1682; first transmission part 1691; second transmission part 1692; transmission body 1693; translation part 170; bevel gear 171; screw 172. DETAILED DESCRIPTION

[0053] In order to make the above objectives, characteristics and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application can be practiced without using some or all of these specific details, and that the present application is not limited to the specific embodiments disclosed below.

[0054] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0055] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0056] In the present application, unless specifically defined otherwise, the terms "mount", "connected", "connecting", "fixed", and the like, should be construed broadly and can be understood as, for example, fixedly connected, or detachably connected, or integrated; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected via an intermediate medium; can be an internal connection of two elements, or an interaction relationship between two elements, unless specifically defined otherwise. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0057] In the present application, unless specifically defined otherwise, the first feature is "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0058] It should be noted that when an element is referred to as "fixed to" or "provided on" another element, it can be directly on the other element or there can be a mediating element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or there can be a mediating element. The terms "vertical", "horizontal", "up", "down", "left", "right", and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation.

[0059] Please refer to Figure 1 The first embodiment of the present application provides a driving assembly for a surgical instrument. In combination with Figures 2 to 4 The driving assembly comprises an execution driving member 110, a transmission mechanism, a moving part 120, an auxiliary rotating part 130, and an instrument box 140.

[0060] The instrument box 140 accommodates the transmission mechanism, the moving part 120, and the auxiliary rotating part 130. The auxiliary rotating part 130 is coaxially arranged with the moving part 120, and the auxiliary rotating part 130 and the moving part 120 are rotatably connected around the axes of the two. The execution driving member 110 is used to drive the transmission mechanism to drive the moving part 120 to move axially, so that the moving part 120 drives the auxiliary rotating part 130 to move axially.

[0061] When the above-mentioned driving assembly is used in a surgical instrument, the auxiliary rotating part 130 and the moving part 120 are coaxial with the rotation axis of the shaft assembly of the surgical instrument (i.e. arranged along the axial direction of the surgical instrument). One end of the execution rod 11 of the surgical instrument is connected with the auxiliary rotating part 130, and the other end is connected with an executor (not shown) of the surgical instrument. The execution driving part 110 drives the transmission mechanism to move, so that the transmission mechanism drives the moving part 120 to move along the axial direction, and the moving part 120 drives the auxiliary rotating part 130 to move along the axial direction. Thus, the auxiliary rotating part 130 drives the execution rod 11 to move along the axial direction of the surgical instrument, and further drives the executor at the distal end of the surgical instrument to perform a surgical operation. Since the auxiliary rotating part 130 is rotatably connected with the moving part 120 around the axis of the two, the moving part 120 can rotate relative to the execution rod 11 through the auxiliary rotating part 130. In this way, during the movement of the execution rod 11 along the axial direction of the surgical instrument to drive the executor to perform a surgical operation, even if the moving part 120 rotates, the rotation will not be transmitted to the execution rod 11, so as not to affect the rotation of the executor (i.e. the axial translation of the execution rod 11 and the rotation of the executor are decoupled), the transmission accuracy is high, the control logic is simple, and the risk of surgical failure is reduced.

[0062] In addition, since the execution rod 11 can rotate relative to the moving part 120 through the auxiliary rotating part 130, during the assembly of the surgical instrument, even if the rotation axis drives the execution rod 11 to rotate, the rotation of the execution rod 11 will not be transmitted to the moving part 120, so as not to affect the movement of the moving part 120, and further not to affect the displacement of the moving part 120 along the axial direction (i.e. the rotation of the execution rod 11 and the axial movement are decoupled), thereby avoiding the risk that the executor is difficult to accurately dock due to the change of the interface position of the execution rod 11 for docking with the executor.

[0063] It should be noted that since the auxiliary rotating part 130 and the moving part 120 are coaxially arranged (i.e. the central axes of the two coincide), the axial movement of the moving part 120 can be directly transmitted to the auxiliary rotating part 130 along the axial direction of the moving part 120, so as to smoothly drive the auxiliary rotating part 130 to move along the axial direction.

[0064] In the present embodiment, the axial direction of the execution rod 11 can be coaxial with the rotation axis of the shaft assembly of the surgical instrument, or can be parallel to the rotation axis of the shaft assembly of the surgical instrument (i.e. eccentric arrangement). Regardless of which of the two cases, since the axial translation and rotation of the execution rod 11 are decoupled, the above-mentioned beneficial effects of the present embodiment can be achieved.

[0065] Please refer to Figure 1In some embodiments, the instrument box 140 comprises a base 141 and a cover 142. The base 141 is fixedly connected to the cover 142 at an opening, so that the transmission mechanism, the moving part 120 and the auxiliary rotating part are enclosed in the cover 142.

[0066] In an embodiment, the actuating member 110 can be a driving shaft, which is coaxially connected to an output shaft of the motor. The motor drives the driving shaft to rotate, so that the driving shaft drives the transmission mechanism to move.

[0067] Specifically, the motor can be arranged at the end of a mechanical arm of a surgical robot. One end of the driving shaft is connected to the transmission mechanism in the instrument box 140, and the other end of the driving shaft extends out of the instrument box 140 and is connected to the motor, so that the surgical instrument can be connected to the end of the mechanical arm, and the surgical instrument can be controlled by the surgical robot.

[0068] Referring to Figure 1 , Figure 3 and Figure 4 In some embodiments, the transmission mechanism comprises a driving gear 163 coaxial with the driving shaft and a driven gear 164 engaged with the driving gear 163. The driven gear 164 is used to drive the moving part 120 to move. The driving shaft is used to drive the driving gear 163 to rotate, so that the driven gear 164 rotates to drive the moving part 120 to move axially.

[0069] Referring to Figure 1 In some embodiments, the transmission mechanism comprises a guide structure 150, which defines the axial movement of the moving part 120, so that the moving part 120 can accurately move axially, and the moving part 120 drives the auxiliary rotating part 130 and the actuator 11 to accurately move axially to drive the actuator to accurately perform the surgical action.

[0070] Referring to Figure 2 and Figure 4 In some embodiments, the transmission mechanism comprises a threaded member 161, which is threadedly engaged with the moving part 120. The actuating member 110 is used to drive the threaded member 161 or the moving part 120 to rotate, so that the moving part 120 moves axially through the threaded transmission of the threaded member 161 and the moving part 120.

[0071] Specifically, the driven gear 164 can drive the threaded member 161 or the moving part 120 to rotate.

[0072] Referring to Figures 2 to 4 In some embodiments, the threaded member 161 is fixedly connected to the instrument box 140. The threaded member 161 has external threads, and the moving part 120 has internal threads. The external threads of the threaded member 161 are engaged with the internal threads of the moving part 120.

[0073] The transmission mechanism includes a sleeve 162 sleeved on the moving part 120, and the driving member 110 is configured to drive the sleeve 162 to rotate. The guide structure 150 is arranged on the sleeve 162 to limit the axial movement of the moving part 120 relative to the sleeve 162, so that the moving part 120 can be coupled with the sleeve 162 in the circumferential direction. In this way, when the driving member 110 drives the sleeve 162 to rotate, the moving part 120 is driven to rotate synchronously, so that the moving part 120 is displaced axially by the threaded transmission of the screw 161. At the same time, due to the limitation of the guide structure 150, the moving part 120 can accurately move axially relative to the sleeve 162.

[0074] Specifically, the driven gear 164 can be fixed coaxially with the sleeve 162, so that the driven gear 164 can drive the sleeve 162 to rotate.

[0075] Referring to Figure 2 and Figure 4 In some embodiments, the outer circumferential surface of the moving part 120 is provided with at least one protrusion 1211. The guide structure 150 includes a guide groove corresponding to each protrusion 1211. The protrusion 1211 and the corresponding guide groove are in sliding fit, so that the guide groove can limit the movement direction of the corresponding protrusion 1211, and further limit the movement direction of the moving part 120.

[0076] It can be understood that in the present embodiment, the guide structure 150 can also use a guide rail instead of a guide groove.

[0077] Referring to Figure 3 and Figure 4 In some embodiments, the outer circumferential surface of the moving part 120 is provided with two protrusions 1211. The protrusions 1211 are arranged symmetrically with respect to the radial direction of the moving part 120, i.e., the protrusions 1211 are arranged symmetrically, which is beneficial to the balanced axial force of the moving part 120 and the smooth axial movement of the moving part 120.

[0078] Referring to Figures 2 to 4 In some embodiments, the moving part 120 includes a first part 121 and a second part 122 connected in the axial direction (which can be integrally formed). The first part 121 is matched with the guide structure 150. The second part 122 is sleeved with one of the auxiliary rotating parts 130.

[0079] Referring to Figures 2 to 4In some embodiments, the second portion 122 has an outer diameter smaller than that of the first portion 121, so that a receiving space is formed between the second portion 122 and the inner wall of the sleeve 162. The auxiliary rotating portion 130 is located in the receiving space between the outer wall of the second portion 122 and the inner wall of the sleeve 162, so that the auxiliary rotating portion 130 can be sleeved on the outer side of the second portion 122 and rotatably connected with the second portion 122, and thus the auxiliary rotating portion 130 is rotatably connected with the moving portion 120.

[0080] Referring to Figures 2 to 4 In some embodiments, the auxiliary rotating portion 130 comprises an inner cylinder 131 and an outer cylinder 132. The outer cylinder 132 is located in the receiving space between the outer wall of the second portion 122 and the inner wall of the sleeve 162, so that the outer cylinder 132 can be sleeved on the outer side of the second portion 122 and rotatably connected with the second portion 122, and thus the auxiliary rotating portion 130 is rotatably connected with the moving portion 120.

[0081] The outer cylinder 132 is sleeved on the inner cylinder 131. The inner cylinder 131 comprises a first connecting segment 1311 and a second connecting segment 1312 connected in the axial direction. The outer diameter of the second connecting segment 1312 is smaller than that of the first connecting segment 1311. The end of the outer cylinder 132 away from the first portion 121 is connected with the first connecting segment 1311. Since the outer diameter of the first connecting segment 1311 is larger, it is convenient to match the inner diameter of the outer cylinder 132, so that the first connecting segment 1311 is reliably connected with the outer cylinder 132. The second connecting segment 1312 is connected with one end of the actuating rod 11. Since the outer diameter of the second connecting segment 1312 is smaller, the space occupied by the second connecting segment 1312 at the interface position of the actuating rod 11 is smaller.

[0082] Referring to Figure 3 In some embodiments, the driving assembly comprises a bearing 135, and the auxiliary rotating portion 130 and the moving portion 120 are rotatably connected through the bearing 135, so that the resistance between the auxiliary rotating portion 130 and the moving portion 120 can be reduced, and the two can be smoothly rotated.

[0083] Referring to Figure 3 In some embodiments, the auxiliary rotating portion 130 is sleeved on the moving portion 120. The inner ring of the bearing 135 is connected with the moving portion 120, and the outer ring of the bearing 135 is connected with the auxiliary rotating portion 130.

[0084] Specifically, the inner ring of the bearing 135 can be clamped with the moving portion 120 through a first clamping member 133. The outer cylinder 132 and the inner cylinder 131 can be clamped through a second clamping member 134.

[0085] Referring to Figure 5The second embodiment of the present application provides a driving assembly for a surgical instrument. The driving assembly of the second embodiment is basically the same as the above-mentioned embodiments. The same parts will not be described again, and the different parts will be described below. In the second embodiment, the moving part 120 is sleeved outside the auxiliary rotating part 130 and is rotationally connected with the auxiliary rotating part 130. The moving part 120 comprises a first part 121 and a second part 122 which are connected in the axial direction. The first part 121 cooperates with the guide structure 150, and the first part 121 is threadedly connected with the threaded part 161. The second part 122 is sleeved outside the auxiliary rotating part 130 and is rotationally connected with the auxiliary rotating part 130.

[0086] Referring to Figure 5 In some embodiments, the inner ring of the bearing 135 and the auxiliary rotating part 130 can be clamped by the first clamping part 133. The outer ring of the bearing 135 and the second part 122 of the moving part 120 can be clamped by the second clamping part 134.

[0087] In Figures 1 to 5 In the embodiment shown, the first part 121 is threadedly connected with the threaded part 161.

[0088] In Figures 1 to 5 In the embodiment shown, the first part 121 can be provided with a protruding part 1211 on the outer circumferential surface, so that the first part 121 cooperates with the guide structure 150 (for example, a guide groove) through the protruding part 1211.

[0089] Referring to Figure 6 The third embodiment of the present application provides a driving assembly for a surgical instrument. The driving assembly of the third embodiment is basically the same as the above-mentioned embodiments. The same parts will not be described again, and the different parts will be described below. In the third embodiment, the threaded part 161 has an internal thread, and the moving part 120 has an external thread. The internal thread of the threaded part 161 cooperates with the external thread of the moving part 120. When the driving part 11 drives the threaded part 161 to rotate, the threaded part 161 drives the moving part 120 to move in the axial direction through the thread transmission. At the same time, the moving part 120 can accurately move in the axial direction due to the limitation of the guide structure 150.

[0090] Specifically, the driven gear 164 can be coaxially fixed with the threaded part 161, so that the driven gear 164 can drive the threaded part 161 to rotate, so as to drive the moving part 120.

[0091] Referring to Figure 8The fourth embodiment of the present application provides a driving assembly for a surgical instrument. The driving assembly of the fourth embodiment is basically the same as the structures of the above embodiments. The same parts will not be described again, and the differences will be mainly introduced below. In the fourth embodiment, two bosses 123 are arranged on the outer circumferential surface of the moving part 120. The protruding directions of the two bosses 123 are away from each other along the radial direction of the moving part 120. The transmission mechanism includes a linkage 165, the linkage 165 is provided with a sliding groove 166, and the execution driving part 110 is used to drive the linkage 165 to move. When the linkage 165 moves, the relative movement of the bosses 123 in the sliding groove 166 can be realized through the sliding cooperation of the bosses 123 and the sliding groove 166, so that the two bosses 123 can be driven to move along the axial direction of the moving part 120.

[0092] The two bosses 123 are respectively a first boss 1231 and a second boss 1232. The protruding directions of the two bosses 123 are away from each other along the radial direction of the moving part 120, that is, the first boss 1231 and the second boss 1232 are symmetrically arranged. In this way, the two bosses 123 arranged symmetrically are simultaneously matched with the sliding groove 166, so that the moving part 120 can be balanced in the axial direction and smoothly move along the axial direction.

[0093] Please refer to Figures 8 to 10 In some embodiments, the linkage 165 is sleeved outside the moving part 120, and the sliding groove 166 is arranged on the inner wall of the linkage 165. The sliding groove 166 includes a first groove 1661 and a second groove 1662, the first groove 1661 and the second groove 1662 are centrally symmetric about the axis of the linkage 165, the first boss 1231 in the two bosses 123 is in sliding cooperation with the first groove 1661, and the second boss 1232 is in sliding cooperation with the second groove 1662. The execution driving part 110 is used to drive the linkage 165 to rotate.

[0094] Since the protruding directions of the two bosses 123 are away from each other along the radial direction of the moving part 120, the line connecting the first boss 1231 and the axis of the moving part 120 and the line connecting the second boss 1232 and the axis of the moving part 120 are 180° apart. Since the first groove 1661 and the second groove 1662 are centrally symmetric about the axis of the linkage 165, when the execution driving part 110 drives the linkage 165 to rotate, the first boss 1231 and the second boss 1232 can always maintain the same height in the axial direction of the moving part 120 through the sliding cooperation of the first boss 1231 and the first groove 1661 and the sliding cooperation of the second boss 1232 and the second groove 1662, thereby ensuring the smooth movement of the moving part 120 in the axial direction.

[0095] Specifically, the driven gear 164 can drive the linkage 165 to rotate by being coaxially fixed with the linkage 165.

[0096] The two ends of the first groove 1661 and the two ends of the second groove 1662 can be continuous, and the first groove 1661 and the second groove 1662 form a groove in communication. The two ends of the first groove 1661 and the two ends of the second groove 1662 can also be discontinuous.

[0097] Please refer to Figures 8 to 10 In some embodiments, the first groove 1661 and the second groove 1662 are continuous, so that when the linkage 165 rotates, the first boss 1231 can enter the second groove 1662 from the first groove 1661, and at the same time, the second boss 1232 can enter the first groove 1661 from the second groove 1662.

[0098] In the present embodiment, in addition to being center-symmetric, the first groove 1661 and the second groove 1662 are also axis-symmetric, that is, the shape of the first groove 1661 is the same as that of the second groove 1662. In this way, after the first boss 1231 enters the second groove 1662 and the second boss 1232 enters the first groove 1661, when the linkage 165 continues to rotate, through the sliding fit of the first boss 1231 and the second groove 1662 and the sliding fit of the second boss 1232 and the first groove 1661, the first boss 1231 and the second boss 1232 can still maintain the same height in the axial direction of the moving part 120. Therefore, when the linkage 165 rotates to any angle in the circumferential direction, the first boss 1231 and the second boss 1232 can maintain the same height in the axial direction of the moving part 120 in the present embodiment, so that the linkage 165 can continue to rotate to adjust the position of the moving part 120 in the axial direction, thereby facilitating the adjustment of the translational position of the actuator rod 11 (i.e., facilitating the adjustment of the action of the actuator).

[0099] Please refer to Figure 8 and Figure 10 In some embodiments, along the circumferential direction of the linkage 165, the first groove 1661 first rises and then falls from one end to the other end. The second groove 1662 is center-symmetric to the first groove 1661. In this way, during the continuous rotation of the linkage 165 by half a circle in one direction (for example, the clockwise direction), through the sliding fit of the first boss 1231 and the first groove 1661 and the sliding fit of the second boss 1232 and the second groove 1662, the moving part 120 moves in the axial direction first rises and then falls.

[0100] It can be understood that if the second groove 1662 and the first groove 1661 are both axis-symmetric and continuous, during the continuous rotation of the linkage 165 by one full circle in one direction (for example, the clockwise direction), the moving part 120 moves in the axial direction first rises and then falls, and then rises and then falls.

[0101] In other embodiments, the shape of the first slot can be that the first slot is unidirectionally raised or unidirectionally lowered along the circumference of the linkage from one end to the other end.

[0102] Referring to Figure 11 The fifth embodiment of the present application provides a driving assembly for a surgical instrument. The driving assembly of the fifth embodiment is basically the same as the structures of the above embodiments. The same parts will not be described again, and the differences will be mainly introduced below. In the fifth embodiment, the number of linkages 165 is two and is arranged one-to-one with the bosses 123. The linkages 165 are provided with sliding grooves 166 corresponding to the corresponding bosses 123. The execution driving member 110 is used to drive the linkages 165 to translate in the first direction, which is the direction perpendicular to the line connecting the two bosses 123.

[0103] Since the protruding directions of the two bosses 123 are away from each other along the radial direction of the moving part 120, the line connecting the first boss 1231 and the second boss 1232 passes through the axis of the moving part 120. During the translation of the linkages 165 in the first direction, the two bosses 123 carry the moving part 120 to move along the axial direction of the moving part 120 through the sliding cooperation of the bosses 123 and the corresponding sliding grooves 166.

[0104] It can be understood that in the present embodiment, the line connecting the two bosses 123, the axial direction of the moving part 120, and the first direction are perpendicular to each other in pairs.

[0105] Referring to Figure 11 In some embodiments, the two linkages 165 are respectively a first linkage 1651 and a second linkage 1652. The transmission mechanism includes a gear 167. The first linkage 1651 is provided with a first rack 1681 cooperating with the gear 167, and the second linkage 1652 is provided with a second rack 1682 cooperating with the gear 167. The first rack 1681 and the second rack 1682 are located on different sides of the gear 167 in the radial direction, so that when the execution driving member 110 drives the gear 167 to rotate, the first rack 1681 and the second rack 1682 move in opposite directions. Among them, let the moving direction of the first rack 1681 be the positive direction of the first direction, and the moving direction of the second rack 1682 be the negative direction of the first direction. In this way, when the gear 167 rotates, the first linkage 1651 moves in the positive direction of the first direction, and the second linkage 1652 moves in the negative direction of the first direction.

[0106] The sliding grooves 166 on the first linkage 1651 are first slots 1661, and the sliding grooves 166 on the second linkage 1652 are second slots 1662. The change trend of the first slots 1661 in the positive direction of the first direction is the same as that of the second slots 1662 in the negative direction of the first direction.

[0107] When the gear 167 rotates, the first linkage 1651 moves in the positive direction of the first direction, the second linkage 1652 moves in the negative direction of the first direction, and the first slot 1661 has the same trend of change in the positive direction of the first direction as the second slot 1662 has in the negative direction of the first direction, so that the first boss 1231 and the second boss 1232 can always keep the same height in the axial direction of the moving part 120, thereby ensuring smooth movement of the moving part 120 in the axial direction.

[0108] Moreover, in the present embodiment, one gear 167 cooperates with two racks 168 (a first rack 1681 and a second rack 1682) respectively, so as to drive the two linkages 165 to move simultaneously, thereby driving the two bosses 123 to move simultaneously.

[0109] Please refer to Figure 11 In some embodiments, along the positive direction of the first direction, the first slot 1661 first rises and then falls from one end to the other end. Correspondingly, along the negative direction of the first direction, the second slot 1662 first rises and then falls from one end to the other end. In this way, during the rotation of the gear 167, through the sliding cooperation of the first boss 1231 and the first slot 1661 and the sliding cooperation of the second boss 1232 and the second slot 1662, the moving part 120 makes a movement of first rising and then falling in the axial direction.

[0110] In other embodiments, the shape of the first slot can be that, along the positive direction of the first direction, the first slot rises or falls in one direction from one end to the other end.

[0111] Please refer to Figure 12 and Figure 13 The sixth embodiment of the present application provides a driving assembly for a surgical instrument. The driving assembly of the sixth embodiment is basically the same as the structures of the above-mentioned embodiments. For the same parts, no further description is given, and the differences are mainly introduced as follows. In the sixth embodiment, the transmission mechanism includes a first transmission part 1691 and a second transmission part 1692, the first ends of the first transmission part 1691 and the second transmission part 1692 are respectively rotatably connected with the moving part 120 and are respectively located on two sides of the moving part 120 which are away from each other in the radial direction. The transmission mechanism includes a translation part 170, the second ends of the first transmission part 1691 and the second transmission part 1692 are respectively rotatably connected with the translation part 170.

[0112] When the driving part 110 drives the translation part 170 to translate in a direction perpendicular to the line connecting the first ends of the first transmission part 1691 and the second transmission part 1692, the translation part 170 can make the second ends of the first transmission part 1691 and the second transmission part 1692 rotate relative to the translation part 170 respectively, so as to make the first ends of the first transmission part 1691 and the second transmission part 1692 drive the moving part 120 to move in the axial direction.

[0113] Since the first end of the first transmission part 1691 and the first end of the second transmission part 1692 are respectively located on two sides of the moving part 120 along the radial direction and away from each other, that is, the line connecting the first end of the first transmission part 1691 and the first end of the second transmission part 1692 passes through the shaft center of the moving part, so that when the first transmission part 1691 and the second transmission part 1692 jointly drive the moving part 120 to move along the axial direction, the moving part 120 is balanced under force, and then can move smoothly.

[0114] It can be understood that in the embodiment, the direction of the line connecting the first end of the first transmission part 1691 and the first end of the second transmission part 1692, the axial direction of the moving part 120, and the moving direction of the translation part 170 are perpendicular to each other in pairs.

[0115] Please refer to Figure 12 and Figure 13 In some embodiments, the transmission mechanism includes a transmission body 1963. The second end of the first transmission part 1691 and the second end of the second transmission part 1692 are respectively connected (which can be integrally formed) with the transmission body 1963, and the side of the transmission body 1963 away from the first transmission part 1691 and the second transmission part 1692 is respectively rotationally connected with two sides of the translation part 170, thereby indirectly rotationally connecting the second end of the first transmission part 1691 and the second end of the second transmission part 1692 with the translation part 170.

[0116] In other embodiments, the first transmission part and the second transmission part can also be two parallel connecting rods.

[0117] Please refer to Figure 12 and Figure 13 In some embodiments, the transmission mechanism includes a screw rod 172, and the inner thread of the translation part 170 cooperates with the screw rod 172. By driving the screw rod 172 to rotate through the driving part 110, the screw rod 172 drives the translation part 170 to translate, and then the translation part 170 drives the first transmission part 1691 and the second transmission part 1692 to move.

[0118] Please refer to Figure 12 and Figure 13 In some embodiments, the driven gear 164 includes a spur gear segment 1641 and a bevel gear segment 1642 coaxially fixedly connected. The spur gear segment 1641 is engaged with the driving gear 163. The bevel gear segment 1642 is engaged with the bevel gear 171 and the axial directions of the two are perpendicular, and the bevel gear 171 is coaxially fixedly connected with the screw rod 172, so that the rotation of the bevel gear 1642 can be changed in direction and transmitted to the screw rod 172, thereby facilitating the arrangement and installation of the screw rod 172.

[0119] In any of the third to sixth embodiments, the guide structure 150 can be a guide rod arranged in the moving part 120, and the guide rod is fixedly connected with the instrument box 140, and is used to guide the moving part 120 to move in the axial direction.

[0120] As Figure 7 In some embodiments, the cross section of the guide rod is non-circular, and the moving part 120 is adapted to the guide rod, so that the guide rod can prevent the moving part 120 from rotating, i.e. limit the moving part 120 to move in the axial direction relative to the guide rod. Figure 7 In addition to the shapes shown, the cross section of the guide rod can also be square, hexagonal or any other arbitrary non-circular shape.

[0121] An embodiment of the present application further provides a surgical instrument, which comprises an actuator, an actuating rod 11 and the driving assembly of any of the above embodiments, one end of the actuating rod 11 is connected with the auxiliary rotating part 130, and the other end is connected with the actuator.

[0122] The technical features of the above embodiments can be combined in any manner. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0123] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, however, it should not be understood as the limitation to the scope of the present application. It should be pointed out that, for the ordinary skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A drive assembly for surgical instruments, characterized in that, The driving assembly comprises an execution driving member, a transmission mechanism, a moving part, an auxiliary rotating part and an instrument box; The instrument box accommodates the transmission mechanism, the moving part and the auxiliary rotating part; The auxiliary rotating part is coaxially arranged with the moving part, and the auxiliary rotating part and the moving part are rotatably connected about the axes of the two; The execution driving member is configured to drive the transmission mechanism to drive the moving part to move axially, so that the moving part drives the auxiliary rotating part to move axially; The transmission mechanism comprises a guide structure, and the guide structure defines the axial movement of the moving part; The driving assembly comprises a bearing, and the auxiliary rotating part and the moving part are rotatably connected through the bearing.

2. The drive assembly of claim 1, wherein, The transmission mechanism comprises a threaded member, the threaded member is threadedly connected with the moving part, and the execution driving member is configured to drive the threaded member or the moving part to rotate.

3. The driving assembly according to claim 2, wherein The threaded member is fixedly connected with the instrument box, and an external thread of the threaded member is threadedly connected with an internal thread of the moving part; The transmission mechanism comprises a sleeve arranged on the moving part, the execution driving member is configured to drive the sleeve to rotate, and the guide structure is arranged on the sleeve to define the axial movement of the moving part relative to the sleeve.

4. The drive assembly of claim 2, wherein, The internal thread of the threaded member is threadedly connected with the external thread of the moving part, and the execution driving member is configured to drive the threaded member to rotate.

5. The drive assembly of claim 1, wherein, The moving part comprises a first part and a second part connected axially, the first part is threadedly connected with the guide structure, and the second part is arranged on one of the auxiliary rotating parts.

6. The driving assembly according to claim 1, wherein Two bosses are arranged on the outer circumferential surface of the moving part, and the bosses are arranged to be away from each other along the radial direction of the moving part; The transmission mechanism comprises a linkage, the linkage is provided with a sliding groove, and the execution driving member is configured to drive the linkage to move, so that the linkage drives the two bosses to move along the axial direction of the moving part through the sliding connection between the bosses and the sliding groove.

7. The driving assembly according to claim 6, wherein The linkage is arranged on the moving part, and the sliding groove is arranged on the inner wall of the linkage; and the execution driving member is configured to drive the linkage to rotate; The sliding groove comprises a first groove and a second groove, the first groove and the second groove are centrally symmetric about the axis of the linkage, a first boss of the two bosses is slidably connected with the first groove, and a second boss is slidably connected with the second groove.

8. The drive assembly of claim 7, wherein, The two ends of the first groove and the two ends of the second groove are continuous, and the first groove and the second groove are axially symmetric, so that the first boss can be slidably connected with the second groove and the second boss can be slidably connected with the first groove.

9. The drive assembly of claim 6, wherein, The number of the linkages is two and each of the linkages corresponds to one of the bosses, the linkages are provided with the sliding grooves corresponding to the bosses, the driving member is used to drive the linkages to translate along a first direction, and the first direction is perpendicular to the direction of the line connecting the two bosses and perpendicular to the axial direction of the moving part.

10. The driving assembly according to claim 9, characterized in that, the sliding groove of a first linkage of the two linkages changes in the same direction as the sliding groove of a second linkage changes in the opposite direction along the first direction; the transmission mechanism comprises a gear, the first linkage is provided with a first rack matched with the gear, the second linkage is provided with a second rack matched with the gear, the first rack and the second rack are located on the opposite sides of the gear along the radial direction, the first rack and the second rack are parallel to each other, and the driving member is used to drive the gear to rotate.

11. The driving assembly according to claim 1, characterized in that, the transmission mechanism comprises a first transmission part and a second transmission part, the first end of the first transmission part and the first end of the second transmission part are respectively rotatably connected to the moving part and located on the opposite sides of the moving part along the radial direction; the transmission mechanism comprises a translation part, the second end of the first transmission part and the second end of the second transmission part are respectively rotatably connected to the translation part, and the driving member is used to drive the translation part to translate along a direction perpendicular to the line connecting the first end of the first transmission part and the first end of the second transmission part, so that the first transmission part and the second transmission part drive the moving part to move along the axial direction.

12. A drive assembly according to any one of claims 4 to 11, wherein, The guide structure is a guide rod penetrating through the moving part, the guide rod is fixedly connected to the instrument box, and is used to guide the moving part to move along the axial direction.

13. A surgical instrument, characterized by The device comprises an effector, an effector rod, and the driving assembly according to any one of claims 1-12, one end of the effector rod is connected to the auxiliary rotating part, and the other end of the effector rod is connected to the effector.

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