Instrument state detection device and surgical instrument

Abstract

The application discloses a device state detection device and surgical instrument, the device state detection device comprises a tension detection assembly and a display assembly, the display assembly is connected with the tension detection assembly, the tension detection assembly comprises a detection part, the detection part can be opposite to the transmission wire, and the display assembly detects the position and / or tension change of the transmission wire. The application solves the technical problems that the performance and service life of the instrument cannot be monitored in real time, and the use state of the instrument cannot be truly reflected.

Description

Technical Field

[0001] This invention relates to the field of surgical instruments, and more particularly to an instrument status detection device and surgical instruments, especially an instrument status detection device and surgical instruments whose movements can be controlled by wire transmission. Background Technology

[0002] In surgical instruments (especially minimally invasive surgery), chip counting is often used to display the lifespan of surgical instruments. However, this method has large errors and poor accuracy. It can only estimate the lifespan of surgical instruments and cannot accurately reflect the usage status of surgical instruments.

[0003] Currently, although surgical instruments are diverse, such as needle holders, straight scissors, and monopolar arc scissors, they require one or more degrees of freedom to enable three-dimensional rotation and specific functional operations within the surgeon's body. Instrument movements are often controlled via wire drive (i.e., the wire drives the instrument's end-effector to perform actions). In some cases, before reaching the predetermined number of uses, excessive use or other practical factors can lead to insufficient tension in the wire, affecting the instrument's control accuracy. Conversely, in other cases, even after reaching the predetermined number of uses, the wire tension may still be sufficient for continued use. Therefore, the wire tension directly reflects the instrument's performance and lifespan. However, currently, it's not possible to directly display the instrument's usage status by detecting the wire tension, thus failing to accurately represent the lifespan and performance condition of surgical instruments.

[0004] There is currently no effective solution to the problem that related technologies cannot monitor the performance and lifespan of medical devices in real time, and cannot truly reflect the usage status of the devices.

[0005] Therefore, based on years of experience and practice in related industries, the inventor proposes a device for detecting the condition of surgical instruments to overcome the shortcomings of existing technologies. Summary of the Invention

[0006] The purpose of this invention is to provide a device for detecting the condition of a surgical instrument and a surgical instrument. By detecting the tension of the transmission wire of the control instrument, the performance and lifespan of the instrument can be monitored in real time, reflecting the actual usage status of the instrument, thereby allowing for more reasonable adjustments to the use of the instrument.

[0007] The objective of this invention can be achieved through the following methods:

[0008] The present invention provides a medical device for detecting the tension state of a transmission wire. The medical device includes a tension detection component and a display component. The display component is connected to the tension detection component. The tension detection component includes a detection part that can abut against the transmission wire. The display component detects changes in the position and / or tension of the transmission wire.

[0009] In a preferred embodiment of the present invention, the tension detection assembly further includes a base, and the detection part is movably disposed on the base, the position of the detection part on the base being able to change with the change of the tension of the transmission wire.

[0010] In a preferred embodiment of the present invention, a sliding groove is provided on the base, and a first guide hole communicating with the sliding groove is provided on the base, and the detection part is slidably disposed in the sliding groove;

[0011] The detection unit includes a slider and a detection wheel. The slider is slidably disposed in the groove, and the detection wheel is fixedly or rotatably disposed on the slider. A portion of the outer annular edge of the detection wheel can abut against the transmission wire.

[0012] In a preferred embodiment of the present invention, the width of the outer edge of the detection wheel is greater than the diameter of the transmission wire, so as to accommodate the offset of the transmission wire during transmission.

[0013] In a preferred embodiment of the present invention, a guide spring is provided in the slide groove, which can extend and retract in a direction from near to far from the drive wire, and the two ends of the guide spring are respectively connected to the slider and the inner wall of the slide groove.

[0014] In a preferred embodiment of the present invention, the display component includes a data acquisition mechanism disposed on the detection unit. The data acquisition mechanism is driven by the transmission wire to change the position of the detection unit. The data acquisition mechanism moves with the detection unit or is subjected to pressure from the transmission wire, and the tension state of the transmission wire is determined according to the moving distance of the detection unit or the pressure it receives.

[0015] In a preferred embodiment of the present invention, the data acquisition mechanism includes a pressure sensor or a displacement sensor, which is connected to a memory to transmit the acquired position change information or force information to the memory. When the memory is excited by an external reading device, it transmits the position change information or force information to the reading device.

[0016] In a preferred embodiment of the present invention, the instrument status detection device further includes a clutch mechanism that can drive the detection part to move away from the transmission wire, so as to separate the detection part from the transmission wire.

[0017] In a preferred embodiment of the present invention, the clutch mechanism includes a drive rod mounted on a drive member, a second rocker arm hinged to a first fixed mounting position, and a push rod connected to the detection unit. The drive rod, the second rocker arm, and the push rod are arranged sequentially from bottom to top. The bottom of the second rocker arm abuts against the top of the drive rod, and the top of the second rocker arm is connected to the push rod.

[0018] In a preferred embodiment of the present invention, a guide slope is provided at the top of the drive rod;

[0019] The second rocker includes a first segment extending along the inclined direction of the guide slope and a second segment extending toward the detection part. The lower part of the first segment is in contact with the guide slope, the upper part of the first segment is connected to the lower part of the second segment, and the upper part of the second segment is connected to the push rod.

[0020] In a preferred embodiment of the present invention, a return spring is provided between the drive rod and the second fixed mounting position. After the instrument is separated from the drive member, the drive rod moves downward so that the detection part returns to the position abutting against the transmission wire.

[0021] In a preferred embodiment of the present invention, the display component includes a magnifying display mechanism connected to the tension detection component. The magnifying display mechanism moves with the detection component and points to a preset display area to display the tension state of the transmission wire according to the moving distance of the detection component.

[0022] In a preferred embodiment of the present invention, the display area includes at least a first area showing that the transmission wire is in a taut state and a second area showing that the transmission wire is in a non-taut state.

[0023] In a preferred embodiment of the present invention, the magnifying display mechanism includes a transmission rod and a first rocker arm hinged to a base. One end of the transmission rod is connected to the first rocker arm, and the other end of the transmission rod is connected to a pointer. A first guide post is provided on the detection unit, and a second guide hole is provided on the first rocker arm. The first guide post passes through the first guide hole and the second guide hole in sequence. When the detection unit is in a moving state, the first guide post slides in the second guide hole and drives the first rocker arm to swing, so that the pointer points to the corresponding position in the display area.

[0024] The tension detection component is disposed inside the instrument box, and the display area is disposed on the surface of the instrument box. A sliding hole adapted to the display area is provided on the instrument box. The pointer extends out of the instrument box through the sliding hole and can slide within the sliding hole to point to the corresponding position in the display area.

[0025] The present invention provides a surgical instrument, the surgical instrument including at least one drive wire and the aforementioned instrument status detection device, the drive wire being wound around a drive shaft capable of driving the end of the surgical instrument to move, and the detection part on the instrument status detection device being movable to a position abutting against the drive wire.

[0026] As described above, the features and advantages of the instrument status detection device and surgical instrument of the present invention are as follows: the tension detection component changes position under the push of the transmission wire through the detection part, thereby detecting the tension of the transmission wire. Since the display component is connected to the tension detection component, the display component detects the position and / or tension change of the transmission wire, thereby determining the tension state of the transmission wire based on the position change information or force information of the detection part, so as to achieve the purpose of real-time detection of the tension of the transmission wire, thereby realizing the real-time monitoring of instrument performance and lifespan, truly reflecting the usage status of the instrument, so as to make more reasonable adjustments to the use of the instrument during use. Attached Figure Description

[0027] The accompanying drawings are intended only to illustrate and explain the present invention and do not limit the scope of the invention.

[0028] in:

[0029] Figure 1 This is one of the structural schematic diagrams of the instrument status detection device of the present invention.

[0030] Figure 2 : This is a schematic diagram of the display area in the instrument status detection device of the present invention.

[0031] Figure 3 :for Figure 2 A magnified view of the displayed area.

[0032] Figure 4 This is a schematic diagram illustrating the principle of the magnified display mechanism in the instrument status detection device of the present invention for magnifying and displaying the detection results.

[0033] Figure 5 : This is a schematic diagram showing the width of the detection wheel in the instrument status detection device of the present invention.

[0034] Figure 6 This is a schematic diagram of the structure of the instrument status detection device of the present invention when the transmission wire is in a non-tensioned state.

[0035] Figure 7 This is a schematic diagram of the structure of the instrument status detection device of the present invention, in which the transmission wire is in a tensioned state.

[0036] Figure 8 This is a diagram showing the position of the pointer when the transmission wire is under tension in the instrument status detection device of the present invention.

[0037] Figure 9 This is a schematic diagram of the structure of the instrument state detection device of the present invention, in which the transmission wire is in a relaxed state.

[0038] Figure 10 : This is a diagram showing the position of the pointer when the transmission wire is in a relaxed state in the instrument state detection device of the present invention.

[0039] Figure 11 This is the second schematic diagram of the device status detection device of the present invention.

[0040] Figure 12 This is the third schematic diagram of the device status detection device of the present invention.

[0041] Figure 13 : This is one of the positional relationship diagrams between the clutch mechanism and the sliding component in the instrument status detection device of the present invention.

[0042] Figure 14 This is the second diagram showing the positional relationship between the clutch mechanism and the sliding component in the instrument status detection device of the present invention.

[0043] Figure 15 This is the third diagram showing the positional relationship between the clutch mechanism and the sliding component in the instrument status detection device of the present invention.

[0044] Figure 16 This is the fourth diagram showing the positional relationship between the clutch mechanism and the sliding component in the instrument status detection device of the present invention.

[0045] Figure 17 : This is a diagram showing the positional relationship between the transmission wire and the tension detection component in the upward-moving state of the clutch mechanism in the instrument state detection device of the present invention.

[0046] Figure 18 : This is a diagram showing the positional relationship between the transmission wire and the tension detection component in the downward state of the clutch mechanism in the instrument state detection device of the present invention.

[0047] Figure 19 : This is a schematic diagram of the internal structure of the instrument box in the surgical instruments of the present invention.

[0048] Figure 20 : This is a schematic diagram of the structure of the surgical instrument of the present invention.

[0049] Figure 21 : This is a schematic diagram of the surgical robot system of the present invention.

[0050] Figure 22 This is a schematic diagram of the surgical execution device in the surgical robot system of the present invention.

[0051] The reference numerals in the accompanying drawings of this invention are as follows: 1. Tension detection assembly; 101. Detection part; 1011. Slider; 1012. Detection wheel; 1013. First guide post; 1014. Groove; 102. Base; 1021. Slide groove; 1022. First guide hole; 103. Guide spring; 2. Magnifying display mechanism; 201. First rocker arm; 2011. Second guide hole; 202. Transmission rod; 203. Pointer; 3. Transmission wire; 4. Display area; 401. First area; 402. Second area; 403. Divider; 5. Instrument box; 501. Slide hole; 6. Clutch mechanism; 601. Drive 6011, Guide slope; 602, Second rocker arm; 6021, First section; 6022, Second section; 6023, Shaft hole; 6024, Second guide post; 603, Push rod; 6031, Third guide hole; 7, First fixed installation position; 8, Instrument rod; 9, Instrument end; 100, Instrument status detection device; 200, Drive shaft; 300, Base plate; 400, Sliding component; 500, Slide rail; 1000, Image display device; 2000, Surgical execution device; 20001, Robotic arm; 20002, Cart; 3000, Robot control device; 4000, Surgical instrument. Detailed Implementation

[0052] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0053] In this invention, terms such as "up," "down," "top," and "bottom," which have directional indicative meanings, are all used with the appendix... Figure 1 The directions of up, down, top, and bottom are used as a reference, and will be explained here together.

[0054] Implementation Method 1

[0055] like Figure 1 As shown, the present invention provides a medical device state detection device for detecting the tension state of a transmission wire 3. The device includes a tension detection component 1 and a display component, the display component being connected to the tension detection component 1. The tension detection component 1 includes a detection part 101 that can abut against the transmission wire 3. Based on the tension state of the transmission wire 3, the display component detects changes in the position and / or tension of the transmission wire 3, and determines the tension state of the transmission wire 3 based on these changes.

[0056] In this invention, the tension detection component 1 changes position under the push of the transmission wire 3 by the detection part 101, thereby detecting the tension of the transmission wire 3. Since the display component is connected to the tension detection component 1, the position and / or tension change of the transmission wire 3 detected by the detection part 101 in the tension detection component 1 determines the tension state of the transmission wire 3, so as to achieve the purpose of real-time detection and display of the tension of the transmission wire 3. In this way, the performance and life of the instrument can be monitored at all times, and the usage status of the instrument can be truly reflected, so as to make more reasonable adjustments to the use of the instrument during use.

[0057] In an optional embodiment of the present invention, such as Figure 1 As shown, the display component includes a magnifying display mechanism 2, which is connected to the tension detection component 1. The transmission wire 3 pushes the detection part 101 to change position. The magnifying display mechanism 2 moves simultaneously with the detection part 101 and magnifies the movement distance of the detection part 101 (i.e., the position of the transmission wire 3 in the current tension state). The magnifying display mechanism 2 points to the preset display area 4 to display the tension state of the transmission wire 3 according to the movement distance of the detection part 101. The magnifying display mechanism 2 can display the tension state of the transmission wire 3 more intuitively, making it easier for operators to understand the working status of the instrument in a timely and accurate manner.

[0058] Furthermore, such as Figure 2 , Figure 3 As shown, the display area 4 includes at least a first area 401 and a second area 402. The first area 401 is used to display that the transmission wire 3 is in a tensioned state, and the second area 402 is used to display that the transmission wire 3 is in a non-tensioned state. The detection unit 101 can move between the first area 401 and the second area 402 according to the different tension states of the transmission wire 3. Figure 7 , Figure 8 As shown, when the transmission wire 3 is still under tension, the pointer 203 indicates that it is within the first region 401, indicating that the device can continue to be used; as Figure 9 , Figure 10 As shown, when the transmission wire 3 is in a non-tensioned state, pointer 203 indicates that it is in the second region 402, meaning the device is no longer usable and the transmission wire 3 needs to be adjusted or replaced. Of course, more status regions can be set to refine the detected tension state of the transmission wire 3. By setting different status regions, each corresponding to a different degree of tension in the transmission wire 3, the device's lifespan and remaining usage cycles can be estimated. This allows operators to accurately determine whether the transmission wire 3 needs adjustment or replacement, ensuring the device remains in normal working condition.

[0059] In this invention, the instrument status detection device not only detects whether the transmission wire 3 is in a taut or untaut state, but also detects the degree of tension of the transmission wire 3 when it is in a taut state, thereby providing a foundation for more scientific, accurate and low-cost instrument management.

[0060] Furthermore, such as Figure 2 , Figure 3 As shown, the first region 401 and the second region 402 can be, but are not limited to, continuous arc-shaped segments or straight line segments. A dividing part 403 (which can be a dividing line) is provided between the first region 401 and the second region 402 to serve as the boundary between them. In actual use, the first region 401 and the second region 402 can be set to different ranges according to the different performance and usage requirements of the instrument, as long as it ensures that the tension state of the transmission wire 3 is sufficient to guarantee the normal use of the instrument when the indication is within the first region 401.

[0061] Furthermore, such as Figure 6 As shown, the non-tensioned state of the transmission wire 3 includes at least the slack state and the disconnected state. Specifically, the slack state of the transmission wire 3 means that the transmission wire 3 cannot perform normal transmission operation in this state, and the instrument cannot be used normally.

[0062] In an optional embodiment of the present invention, such as Figure 1 As shown, the tension detection assembly 1 also includes a base 102. The detection part 101 is movably disposed on the base 102 in the direction from near to far from the transmission wire 3. A first guide post 1013 is disposed on the detection part 101. The magnification display mechanism 2 includes a first rocker arm 201. One end of the first rocker arm 201 is hinged to the base 102, and a pointer 203 is disposed on the other end of the first rocker arm 201. A second guide hole 2011 is provided on the first rocker arm 201. The second guide hole 2011 is a strip-shaped hole extending along the length direction of the first rocker arm 201. The first guide post 1013 can slide through the second guide hole 2011 along the length direction of the second guide hole 2011. When the detection part 101 is in a moving state, the first guide post 1013 slides in the second guide hole 2011 and drives the first rocker arm 201 to swing, so that the pointer 203 points to the corresponding position in the display area 4. The linear movement of the detection unit 101 can be converted into circumferential rotation by the first rocker arm 201, and the amount of movement is amplified, thereby providing a more intuitive display of the tension status of the transmission wire 3, allowing operators to understand the working status of the instrument in a timely and accurate manner. The amplification of the movement of the detection unit 101 is determined by the length of the first rocker arm 201; the longer the first rocker arm 201, the greater the amplification of the movement of the detection unit 101. Figure 4As shown, if the movement of the detection unit 101 is △1, then after being amplified by the first rocker arm 201, the movement of the end of the first rocker arm 201 away from the base 102 can reach △2. Here, △2 can be set to be greater than or equal to 10 times △1 (i.e., △2≥10×△1).

[0063] Furthermore, first guide posts 1013 can be respectively provided on both sides of the detection section 101 (i.e.: Figure 1 The top and bottom of the detection unit 101 are respectively provided with first guide posts 1013, and the first rocker arm 201 is a straight rod arranged in the horizontal direction. The first rocker arm 201 can be set at the top or bottom of the base 102 according to the installation space and the layout of other surrounding structural components. When the first rocker arm 201 is set at the top of the base 102, the first rocker arm 201 cooperates with the first guide post 1013 located at the top of the detection unit 101; when the first rocker arm 201 is set at the bottom of the base 102, the first rocker arm 201 cooperates with the first guide post 1013 located at the bottom of the detection unit 101.

[0064] Furthermore, such as Figure 1 As shown, the magnifying display mechanism 2 also includes a transmission rod 202 extending from the first rocker arm 201 to the display area 4 (i.e.: Figure 1 The transmission rod 202 is arranged vertically. One end of the transmission rod 202 is connected to the end of the first rocker arm 201 away from the base 102, and the other end of the transmission rod 202 is connected to the pointer 203. The extension direction of the transmission rod 202 can be adjusted according to the location of the display area 4 to ensure that the pointer 203 can accurately indicate the display area 4 and accurately display the tension state of the transmission wire 3 as the detection unit 101 moves.

[0065] Specifically, such as Figure 1 As shown, the base 102 has a groove 1021 extending in the direction from near to away from the transmission wire 3 (i.e.: Figure 1The base 102 extends horizontally, and its top and bottom are respectively provided with first guide holes 1022 that communicate with the slide groove 1021. The detection part 101 is slidably disposed in the slide groove 1021. The first guide post 1013 passes through the first guide hole 1022 and the second guide hole 2011 in sequence. The first guide hole 1022 is a strip-shaped hole extending in the direction from near to far from the transmission wire 3. The hinge point between the first rocker arm 201 and the base 102 is located in the middle position on one side of the first guide hole 1022, so that the first guide post 1013 slides along the length direction of the second guide hole 2011 during the movement of the first guide hole 1022. During the detection of the tension state of the transmission wire 3, the transmission wire 3 will push the detection unit 101 to move, thereby causing the first guide post 1013 to move within the first guide hole 1022. Since the change in the position of the first guide post 1013 will cause the first guide post 1013 to slide along the length direction of the second guide hole 2011, and since one end of the first rocker arm 201 is hinged to the base 102, the change in the position of the first guide post 1013 within the second guide hole 2011 will cause the first rocker arm 201 to rotate around the hinge point, thereby amplifying the movement of the detection unit 101.

[0066] In an optional embodiment of the present invention, such as Figure 1 As shown, the detection unit 101 includes a slider 1011 and a detection wheel 1012. The slider 1011 is slidably disposed within the groove 1021, and the detection wheel 1012 is rotatably disposed on the slider 1011. A portion of the annular outer edge of the detection wheel 1012 can abut against the transmission wire 3. The presence of the detection wheel 1012 prevents damage to the transmission wire 3 caused by the interaction force between the detection unit 101 and the transmission wire 3 during the abutment process. The detection wheel 1012 can be rotatably disposed on the slider 1011 via a rotating shaft, or it can be fixedly disposed on the slider 1011.

[0067] Furthermore, such as Figure 1 As shown, a groove 1014 is provided on the outer edge of the detection wheel 1012 along the circumference of the detection wheel 1012. When the transmission wire 3 is in contact with the detection wheel 1012, the transmission wire 3 is located in the groove 1014, which can limit the transmission wire 3 and ensure that the transmission wire 3 can contact the outer edge of the detection wheel 1012.

[0068] Furthermore, such as Figure 5As shown, the width of the outer edge of the detection wheel 1012 is greater than the diameter of the transmission wire 3 to accommodate the offset of the transmission wire 3 during transmission. Because the transmission wire 3 will move up and down within a certain range when wound on the instrument drive shaft and during transmission, the width of the detection wheel 1012 should be able to accommodate the up and down movement of the transmission wire 3 within this range to ensure that the edge of the detection wheel 1012 always abuts against the transmission wire 3. The specific width of the detection wheel 1012 can be determined based on the up and down movement range of the transmission wire 3 and is not limited here.

[0069] Furthermore, such as Figure 1 As shown, a guide spring 103 is provided inside the slide groove 1021, which can extend and retract in the direction from near to far from the transmission wire 3. One end of the guide spring 103 is connected to the slider 1011, and the other end of the guide spring 103 is connected to the inner wall of the slide groove 1021. By setting the guide spring 103, the movement of the slider 1011 can be guided, and the slider 1011 can also be provided with a restoring force. When the detection wheel 1012 is separated from the transmission wire 3, the guide spring 103 pushes the slider 1011 and the detection wheel 1012 to reset.

[0070] In an optional embodiment of the present invention, such as Figure 2 , Figure 3 As shown, the tension detection component 1 is disposed inside the instrument box 5, and the display area 4 is disposed on the surface of the instrument box 5. A sliding hole 501 adapted to the display area 4 is provided on the instrument box 5 (the shape of the sliding hole 501 can be a straight hole or an arc hole adapted to the shape of the display area 4). One end of the transmission rod 202 away from the base 102 extends toward the sliding hole 501, and the pointer 203 extends out of the sliding hole 501 to the outside of the instrument box 5. The pointer 203 can slide along the extension direction of the sliding hole and point to the corresponding position in the display area 4.

[0071] In an optional embodiment of the present invention, another structure for acquiring the tension state of the transmission wire 3 is provided. The display component includes a data acquisition mechanism, which may be, but is not limited to, a position sensor. The position sensor is disposed on the detection unit 101 (e.g., on the slider 1011, detection wheel 1012, and / or the first guide post 1013). The transmission wire 3 pushes the detection unit 101 to change position, and the position sensor moves with the detection unit 101, determining the tension state of the transmission wire 3 based on the moving distance of the detection unit 101. Acquiring the tension state of the transmission wire 3 through electronic components and converting it into numerical parameters for external display offers advantages over using mechanical structures to detect the tension state of the transmission wire 3, providing greater accuracy and intuitiveness. Of course, the data acquisition mechanism can also be other sensing elements. For example, the data acquisition mechanism can also be a pressure sensor. The pressure sensor is set at the edge of the detection wheel 1012 and in contact with the transmission wire 3. After the transmission wire 3 contacts the detection wheel 1012 and is subjected to force, the pressure sensor will detect the pressure of the transmission wire 3 and determine the tension state of the transmission wire 3 based on the detected pressure.

[0072] Furthermore, the pressure sensor or displacement sensor is connected to the memory to transmit the collected position change information or force information to the memory. When the memory is excited by an external reading device, it transmits the position change information or force information to the reading device, so that the operator can directly obtain the tension state of the transmission wire 3.

[0073] In an optional embodiment of the present invention, such as Figure 11 , Figure 12 As shown, the instrument status detection device also includes a clutch mechanism 6. The clutch mechanism 6 can push the detection section 101 to move away from the transmission wire 3, so that the detection section 101 is separated from the transmission wire 3. When the clutch mechanism 6 does not push the detection section 101 to move, the detection section 101 remains in contact with the transmission wire 3, and the tension state of the transmission wire 3 can be detected at this time. When the clutch mechanism 6 pushes the detection section 101 to move, the detection section 101 is separated from the transmission wire 3, and the tension state of the transmission wire 3 is no longer detected at this time. Therefore, the clutch mechanism 6 can control the wire tension detection component 1 to be in a detection state or a non-detection state with the transmission wire 3. In the instrument working state, the clutch mechanism 6 controls the separation of the detection section 101 from the transmission wire 3, avoiding the tension detection component 1 from affecting the normal operation of the transmission wire 3, thereby ensuring the normal use of the instrument.

[0074] Furthermore, such as Figure 11 , Figure 12As shown, the clutch mechanism 6 includes a drive rod 601 mounted on the drive member, a second rocker arm 602 hinged to the first fixed mounting position 7, and a push rod 603 connected to the detection unit 101. The drive rod 601, the second rocker arm 602, and the push rod 603 are arranged sequentially from bottom to top. The bottom of the second rocker arm 602 abuts against the top of the drive rod 601, and the top of the second rocker arm 602 is connected to the push rod 603. When the drive member moves upward, the drive member abuts against the bottom of the drive rod 601 and pushes the drive rod 601 upward. The drive rod 601 pushes the top of the second rocker arm 602 away from the drive member. The transmission wire 3 swings in direction, causing the detection unit 101 to move to a position separated from the transmission wire 3 via the second rocker 602 and push rod 603. This ensures that the transmission wire 3 is in a non-detection state during use, and the instrument's operating state is not affected by the tension detection component 1. When the driving member moves downward under gravity or elastic force, it separates from the driving rod 601, the second rocker 602 and push rod 603 reset, and the detection unit 101 moves to a position abutting against the transmission wire 3. At this point, the instrument is in a non-operating state, allowing for the detection of the tension state of the transmission wire 3. The clutch mechanism 6 controls whether the detection unit 101 detects the tension state of the transmission wire 3, ensuring that the detection of the tension state of the transmission wire 3 does not interfere with the normal use of the instrument, thus guaranteeing its proper functioning.

[0075] Furthermore, such as Figure 11 As shown, the top of the drive rod 601 is provided with a guide slope 6011 that gradually slopes upward in the direction from near to far from the transmission wire 3; the second rocker arm 602 includes a first segment 6021 extending along the inclined direction of the guide slope 6011 and a second segment 6022 extending towards the detection unit 101. The lower part of the first segment 6021 is in contact with the guide slope 6011, the upper part of the first segment 6021 is connected to the lower part of the second segment 6022, and the upper part of the second segment 6022 is connected to the push rod 603. By cooperating with the first segment 6021 of the second rocker arm 602, the contact area between the drive rod 601 and the second rocker arm 602 can be increased when the drive rod 601 and the second rocker arm 602 abut, thereby improving the stability of the contact between the drive rod 601 and the second rocker arm 602, and thus improving the stability of the clutch mechanism 6.

[0076] Furthermore, such as Figure 11 As shown, a shaft hole 6023 is provided at the connection position between the first segment 6021 and the second segment 6022, and a rotating shaft that is hinged to the first fixed mounting position 7 is provided in the shaft hole 6023. The first fixed mounting position 7 can be a fixed position inside the instrument box 5, and this fixed position does not move during the operation of the clutch mechanism 6.

[0077] Furthermore, such as Figure 11As shown, a third guide hole 6031 is provided on the push rod 603, and a second guide post 6024 is provided on the upper part of the second rocker 602. The second guide post 6024 is inserted into the third guide hole 6031.

[0078] Furthermore, a return spring (not shown) is provided between the drive rod 601 and the second fixed mounting position (not shown). After the instrument separates from the drive component, the drive rod 601 moves downward under the elastic force of the return spring and the force of its own weight, so that the detection part 101 returns to the position abutting against the transmission wire 3. During the installation of the return spring, it is necessary to ensure a stable connection between the return spring and the second fixed mounting position, thereby ensuring the stability of the position of the drive rod 601 and ensuring the accuracy of the detection results. The second fixed mounting position 7 can be, but is not limited to, a preset mounting position on the inner wall of the instrument box 5.

[0079] When it is necessary to use equipment to perform work, such as Figure 12 , Figure 17 As shown, the drive rod 601 moves upward and, under the action of the top guide slope 6011, pushes the second rocker 602 to rotate clockwise. This causes the second guide post 6024 on the upper part of the second rocker 602 to slide within the third guide hole 6031 and push the push rod 603 to move away from the transmission wire 3. This, in turn, drives the detection part 101 to move away from the transmission wire 3 until the detection part 101 separates from the transmission wire 3. When it is necessary to detect the tension state of the transmission wire 3, such as... Figure 12 , Figure 18 As shown, under the action of the reset spring and its own gravity, the drive rod 601 moves downward. Under the action of the guide spring 103, the detection unit 101 and the push rod 603 move towards the transmission wire 3. The push rod 603 drives the second rocker 602 to rotate counterclockwise. The detection unit 101 moves to the position that abuts against the transmission wire 3, thereby realizing the detection of the tension state of the transmission wire 3.

[0080] Specifically, such as Figures 12 to 16As shown, the instrument status detection device is located inside the instrument box 5. The instrument box 5 has a base plate 300, on which a trigger through hole (not shown) is provided. When the instrument is not in use, the bottom of the drive rod 601 passes through the trigger through hole and extends below the base plate 300. At this time, the drive rod 601 will not push the second rocker arm 602 to rotate, and the detection part 101 is located in abutment against the transmission wire 3, which can realize the detection of the tension state of the transmission wire 3. When the instrument is in use, the instrument status detection device needs to be installed in the system. In this system, at this time, the slider 400 on the slide rail 500 moves upward along the slide rail 500 to a position where it abuts against the base plate 300. The top of the slider 400 pushes the part of the drive rod 601 located below the base plate 300 upward, thereby causing the drive rod 601 to move upward. During the upward movement of the drive rod 601, it pushes the second rocker arm 602 to rotate clockwise, thereby driving the detection part 101 to move away from the transmission wire 3 through the push rod 603 until the detection part 101 separates from the transmission wire 3. The slide rail 500 and the slider 400 are existing structures in the system, and their working principles will not be elaborated here. The instrument state detection device, in conjunction with the existing structures in the system, can complete the detection of the tension state of the transmission wire 3, offering better applicability and feasibility.

[0081] The features and advantages of the instrument condition detection device of the present invention are as follows:

[0082] In this device status detection device, the tension status of the transmission wire 3 can be detected by the tension detection component 1, and the position change of the tension detection component 1 can be magnified by the magnification display mechanism 2 and displayed in the display area 4, thereby displaying the tension status of the transmission wire 3. This achieves the purpose of real-time detection and display of the tension of the transmission wire 3, thereby enabling real-time monitoring of the device's performance and lifespan, truly reflecting the device's usage status, and allowing for more reasonable adjustments to the device's use during operation.

[0083] Implementation Method 2

[0084] like Figure 19 , Figure 20 As shown, the present invention provides a surgical instrument, which includes at least one transmission wire 3 and the aforementioned instrument status detection device 100. The transmission wire 3 is wound around a drive shaft 200 that can drive the end of the surgical instrument to move. The detection part 101 on the instrument status detection device 100 can move to a position that abuts against the transmission wire 3.

[0085] In an optional embodiment of the present invention, such as Figure 20As shown, the number and placement of the instrument status detection devices 100 match the number and placement of the transmission wires 3. By setting up the same number of instrument status detection devices 100 as the transmission wires 3, the tension status of the corresponding transmission wire 3 can be detected by each device 100. Of course, in practice, the number and placement of the corresponding instrument status detection devices 100 can be adjusted according to the required number and placement of the transmission wires 3 to ensure the normal operation of the surgical instruments.

[0086] In an optional embodiment of the present invention, such as Figure 19 As shown, the surgical instruments also include an instrument box 5 and an instrument rod 8. The instrument status detection device 100 is set inside the instrument box 5. One end of the instrument rod 8 is connected to the instrument box 5, and the other end of the instrument rod 8 is the instrument end 9. Various surgical functional elements (such as needle holders, straight scissors, and single-polar arc scissors) can be configured at the instrument end 9 according to the actual surgical needs. They are connected to the surgical functional elements through the transmission wire 3, so that the surgical functional elements have one or more degrees of freedom, and can complete the rotation of the surgical functional elements in the three-dimensional space of the surgeon's body and specific functional operations.

[0087] Implementation Method 3

[0088] like Figure 21 , Figure 22 As shown, the present invention provides a surgical robot system, which includes an image display device 1000, a surgical execution device 2000, and a robot control device 3000. The control signal output terminal of the robot control device 3000 is connected to the control terminal of the surgical execution device 2000, and the image signal receiving terminal of the image display device 1000 is connected to the image signal output terminal of the surgical execution device 2000. The surgical execution device 2000 is provided with the aforementioned surgical instruments 4000.

[0089] The image display device 1000, surgical execution device 2000, and robot control device 3000 are used in conjunction with endoscopes, various surgical instruments, and accessories to complete the surgery. During the operation, the image display device 1000 is placed on one side of the operating table. It processes the endoscopic images and outputs them to its own 2D display and the stereoscopic monitor in the robot control device 3000. The surgical execution device 2000 is located on one side of the operating table and performs the surgical procedures. The robot control device 3000 is located outside the sterile area. The operator (doctor) controls the surgical execution device 2000 from the robot control device 3000, allowing the surgeon to achieve the flexibility of open surgery in a minimally invasive environment.

[0090] Furthermore, such as Figure 22As shown, the surgical execution device 2000 includes a robotic arm 20001 and a carriage 20002. The mounting end of the robotic arm 20001 is mounted on the carriage 20002, and the surgical instrument 4000 is mounted on the execution end of the robotic arm 20001. The carriage 20002 is the basic support in the surgical execution device 2000 for mounting the robotic arm 20001 and other components. The bottom of the carriage 20002 is equipped with movable casters, which can move or fix the carriage 20002 as needed. The top of the carriage 20002 is equipped with a moving and rotating joint, which can adjust the position and posture of the robotic arm 20001 located at its top. The robotic arm 20001 mainly provides three-dimensional spatial movement of the instrument end effector 9 within the surgeon's body.

[0091] The above description is merely an illustrative embodiment of the present invention and is not intended to limit the scope of the invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principles of the present invention should fall within the scope of protection of the present invention.

Claims

1. A device for detecting the condition of a machine, used to detect the tension state of a transmission wire, characterized in that, The device status detection device includes a tension detection component and a display component. The display component is connected to the tension detection component. The tension detection component includes a detection part that can abut against the transmission wire. The display component detects the position and / or tension changes of the transmission wire. The device status detection device further includes a clutch mechanism, which includes a drive rod mounted on a drive member, a second rocker arm hinged to a first fixed mounting position, and a push rod connected to the detection unit. The bottom of the second rocker arm abuts against the top of the drive rod, and the top of the second rocker arm is connected to the push rod. When the drive member moves upward, the drive member abuts against the bottom of the drive rod and pushes the drive rod upward, thereby driving the detection unit to a position separated from the transmission wire through the second rocker arm and the push rod, so that the transmission wire is in a non-detection state. When the drive member moves downward under the action of gravity or elastic force, the drive member separates from the drive rod, the second rocker arm and the push rod reset, and the detection unit moves to a position abutting against the transmission wire to detect the tension state of the transmission wire. The drive rod has a guide slope at its top; the second rocker includes a first segment extending along the inclined direction of the guide slope and a second segment extending toward the detection part, the lower part of the first segment is in contact with the guide slope, the upper part of the first segment is connected to the lower part of the second segment, and the upper part of the second segment is connected to the push rod.

2. The instrument status detection device as described in claim 1, characterized in that, The tension detection assembly also includes a base, and the detection part is movably disposed on the base. The position of the detection part on the base can be changed according to the change of the tension of the transmission wire.

3. The instrument status detection device as described in claim 2, characterized in that, The base is provided with a sliding groove, and the base is provided with a first guide hole communicating with the sliding groove. The detection part is slidably disposed in the sliding groove. The detection unit includes a slider and a detection wheel. The slider is slidably disposed in the groove, and the detection wheel is fixedly or rotatably disposed on the slider. A portion of the outer annular edge of the detection wheel can abut against the transmission wire.

4. The instrument condition detection device as described in claim 3, characterized in that, The width of the outer edge of the detection wheel is greater than the diameter of the transmission wire to accommodate the offset of the transmission wire during transmission.

5. The instrument condition detection device as described in claim 3, characterized in that, The slide groove is provided with a guide spring that can extend and retract in the direction from near to far from the drive wire. The two ends of the guide spring are respectively connected to the slider and the inner wall of the slide groove.

6. The instrument condition detection device as described in claim 1, characterized in that, The display component includes a data acquisition mechanism disposed on the detection unit. The data acquisition mechanism moves with the detection unit or is subjected to pressure from the transmission wire, and determines the tension state of the transmission wire based on the moving distance of the detection unit or the pressure it receives.

7. The instrument condition detection device as described in claim 6, characterized in that, The data acquisition mechanism includes a pressure sensor or a displacement sensor, which is connected to a memory to transmit the acquired position change information or force information to the memory. When the memory is excited by an external reading device, it transmits the position change information or force information to the reading device.

8. The instrument condition detection device as described in claim 1, characterized in that, A return spring is provided between the drive rod and the second fixed mounting position. After the instrument is separated from the drive component, the drive rod moves down so that the detection part returns to the position where it abuts the transmission wire.

9. The instrument condition detection device as described in claim 3, characterized in that, The display component includes a magnifying display mechanism connected to the tension detection component. The magnifying display mechanism moves with the detection component and points to a preset display area to display the tension state of the transmission wire according to the moving distance of the detection component.

10. The instrument condition detection device as described in claim 9, characterized in that, The display area includes at least a first area showing that the transmission wire is in a taut state and a second area showing that the transmission wire is in a non-taut state.

11. The instrument condition detection device as described in claim 9, characterized in that, The magnifying display mechanism includes a transmission rod and a first rocker arm hinged to a base. One end of the transmission rod is connected to the first rocker arm, and the other end of the transmission rod is connected to a pointer. A first guide post is provided on the detection unit, and a second guide hole is provided on the first rocker arm. The first guide post passes through the first guide hole and the second guide hole in sequence. When the detection unit is in a moving state, the first guide post slides in the second guide hole and drives the first rocker arm to swing, so that the pointer points to the corresponding position in the display area. The tension detection component is disposed inside the instrument box, and the display area is disposed on the surface of the instrument box. A sliding hole adapted to the display area is provided on the instrument box. The pointer extends out of the instrument box through the sliding hole and can slide within the sliding hole to point to the corresponding position in the display area.

12. A surgical instrument, characterized in that, The surgical instrument includes at least one drive wire and an instrument status detection device according to any one of claims 1 to 11, wherein the drive wire is wound around a drive shaft capable of driving the end of the surgical instrument to move, and the detection part on the instrument status detection device is movable to a position abutting against the drive wire.

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