Slender instrument drive device and surgical robot

Abstract

This invention relates to a slender instrument driving device and a surgical robot. The slender instrument driving device includes: a delivery structure comprising a screw and a clamping assembly, the clamping assembly being rotatably mounted on the screw; the outer wall of the screw or the inner wall of the clamping assembly having a delivery groove extending axially and arranged in a spiral shape, the delivery groove accommodating a slender instrument; a first driving structure connected to the clamping assembly and driving the clamping assembly to rotate; and a second driving structure connected to the screw and driving the screw to rotate. By controlling the movement of the clamping assembly through the first driving structure and the movement of the screw through the second driving structure, the forward / backward movement and rotation of the slender instrument can be controlled, enabling continuous forward / backward, rotation, and combined movements of the slender instrument. Furthermore, the coaxial design of the clamping assembly and the screw reduces the overall volume of the slender instrument driving device, facilitating lightweight design.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a slender instrument drive device and a surgical robot. Background Technology

[0002] During vascular interventional procedures, the guidewire moves along the blood vessel and needs to rotate around the catheter axis. To enable the guidewire to move back and forth and rotate automatically, its delivery mechanism needs to provide forward and backward delivery components, rotation components, and clamping components.

[0003] Current delivery mechanisms contain complex mechanical structures and multiple drive motors to achieve the functions of forward and backward transport and rotation of the guidewire. This makes the entire delivery mechanism mechanically complex and its control logic complex, requiring intricate synchronization control and timing control at fixed distances, which is inconvenient for medical personnel to use. Summary of the Invention

[0004] This application provides a slender instrument drive device and surgical robot with a simple structure that can realize forward / backward movement, rotation and compound motion control, and reduce the difficulty of control.

[0005] A slender instrument driving device, comprising:

[0006] A conveying structure includes a screw and a clamping assembly, the clamping assembly being rotatably disposed on the screw, the outer wall of the screw or the inner wall of the clamping assembly having a conveying groove extending in the axial direction and arranged in a spiral shape, the conveying groove being used to accommodate a slender instrument;

[0007] A first driving structure is connected to the clamping assembly and drives the clamping assembly to rotate; and

[0008] The second drive structure is connected to the screw and drives the screw to rotate.

[0009] In the elongated instrument driving device of the present invention, the clamping assembly of the conveying structure is coaxially arranged with the screw, and the clamping assembly is rotatably sleeved on the screw. The clamping assembly is connected to a first driving structure, which drives the clamping assembly to rotate. The screw is connected to a second driving structure, which drives the screw to rotate. Furthermore, a conveying groove is provided on the inner wall of the clamping assembly or the outer wall of the screw. The elongated instrument is accommodated in the conveying groove. By driving the clamping assembly and the screw to rotate through the first and second driving structures, the forward, backward, and rotational movement of the elongated instrument can be controlled.

[0010] This slender instrument drive device controls the movement of the clamping assembly through a first drive structure and the movement of the screw through a second drive structure, enabling the slender instrument to continuously move forward / backward, rotate, and perform combined movements, minimizing the occurrence of individual movements. Furthermore, the clamping assembly is rotatably mounted behind the screw, allowing for a coaxial design between the clamping assembly and the screw, reducing the overall size of the slender instrument drive device and facilitating lightweight design. This slender instrument drive device employs a consumable design, reducing the overall aseptic requirements of the equipment.

[0011] In one embodiment, the conveying groove has an infeed channel, an outlet channel, and a spiral groove, one end of which is connected to the infeed channel, and the other end of which is connected to the outlet channel. This ensures that the movement path of the slender instrument is fixed.

[0012] In one embodiment, the wire feeding channel has a wire feeding hole and a front guide hole. The wire feeding hole is arranged in the axial direction, and one end of the front guide hole is connected to the spiral groove, while the other end is connected to the wire feeding hole. The wire exiting channel has a wire exiting hole and a rear guide hole. The wire exiting hole is arranged in the axial direction, and the rear guide hole connects the wire exiting hole and the spiral groove. This ensures that the movement path of the slender instrument is fixed.

[0013] In one embodiment, the angle between the wire inlet hole and the front guide hole is an obtuse angle, and the angle between the wire outlet hole and the rear guide hole is also an obtuse angle. This reduces bending of the slender instrument during wire threading, making the forward / backward movement and rotation of the slender instrument smoother and reducing resistance.

[0014] In one embodiment, the clamping assembly includes a clamping sleeve and an elastic element connected to the clamping sleeve, such that the clamping sleeve clamps the elongated instrument against the screw.

[0015] In one embodiment, the clamping sleeve has multiple clamping flaps arranged circumferentially to form a hollow mounting cavity, in which the screw is located. These multiple clamping flaps can deform under the action of an elastic element to clamp the screw.

[0016] In one embodiment, two adjacent clamping flaps have grooves in the circumferential direction, and the grooves extend in the axial direction;

[0017] Alternatively, two adjacent clamping flaps may be arranged in a circumferentially fitted configuration, with at least some of the clamping flaps having different central angles. This allows the clamping sleeve and screw to clamp slender instruments.

[0018] In one embodiment, the elastic element includes at least one elastic ring, and at least one of the elastic rings is sleeved on the outside of the compression sleeve;

[0019] Alternatively, the elastic element is disposed on the circumferential edge of the clamping flap and connects two adjacent clamping flaps. This allows adjacent clamping flaps to move closer to each other in the circumferential direction, thereby enabling the clamping sleeve to clamp the screw.

[0020] In one embodiment, the clamping sleeve further includes a connecting seat, one end of each of the plurality of clamping flaps is connected to the connecting seat, the connecting seat is sleeved on the screw and connected to the first driving structure. This facilitates the connection between the clamping flaps and the first driving structure.

[0021] In one embodiment, the first driving structure includes a first power source and a first transmission assembly. The input end of the first transmission assembly is connected to the first power source, and the output end of the first transmission assembly is connected to the clamping assembly, driving the clamping assembly to rotate. This achieves the driving of the clamping assembly to rotate.

[0022] In one embodiment, the first transmission assembly includes a first driven wheel, the inner diameter of which is larger than the outer diameter of the screw, and is rotatably sleeved on the screw. This facilitates coaxial rotation of the screw and the clamping assembly.

[0023] In one embodiment, the second drive structure includes a second power source and a second transmission assembly. The input end of the second transmission assembly is connected to the second power source, and the output end of the second transmission assembly is connected to the screw and drives the screw to rotate. The output end of the second transmission assembly is coaxially arranged with the output end of the first transmission assembly. This achieves rotation control of the screw.

[0024] In one embodiment, the elongated instrument drive further includes a mounting base, on which the delivery structure, the second drive structure, and the first drive structure are disposed. The mounting base is mounted on the end effector of the surgical robot's robotic arm. This facilitates the mounting of the elongated instrument drive to the end effector of the robotic arm.

[0025] A guidewire / catheter driving device, comprising:

[0026] A conveying structure includes a screw and a clamping assembly, the clamping assembly being rotatably mounted on the screw, the outer wall of the screw having a conveying groove arranged in a spiral shape along the axial direction, and a guide wire / conduit being disposed in the conveying groove;

[0027] A rotating structure is connected to the clamping assembly and drives the clamping assembly to rotate; and

[0028] A linear structure is connected to the screw and drives the screw to rotate;

[0029] When the rotating structure drives the clamping assembly to rotate, it can drive the guidewire / catheter to move forward / backward. When the linear structure drives the screw to rotate, it can drive the guidewire / catheter to move forward / backward and rotate. When the rotating structure drives the clamping assembly and the linear structure drives the screw to rotate at the same speed, they can drive the guidewire / catheter to rotate.

[0030] A guidewire / catheter driving device, comprising:

[0031] The conveying structure includes a screw and a clamping assembly. The clamping assembly is rotatably mounted on the screw. The inner wall of the clamping assembly has a conveying groove arranged in a spiral shape along the axial direction. A guide wire / conduit is disposed in the conveying groove.

[0032] A rotating structure is connected to the clamping assembly and drives the clamping assembly to rotate; and

[0033] A linear structure is connected to the screw and drives the screw to rotate;

[0034] When the rotating structure drives the clamping assembly to rotate, it can drive the guidewire / catheter to move forward / backward and rotate. When the linear structure drives the screw to rotate, it can drive the guidewire / catheter to move forward / backward. When the rotating structure drives the clamping assembly and the linear structure drives the screw to rotate at the same speed, they can drive the guidewire / catheter to rotate.

[0035] A surgical robot includes a robotic arm and an elongated instrument drive device as described in any of the above-described technical features, the elongated instrument drive device being disposed at the end of the robotic arm. When the surgical robot of the present invention employs the elongated instrument drive device of the above embodiments, it can accurately control the movement of elongated instruments. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of a slender instrument driving device according to an embodiment of the present invention applied to a surgical robot and used for surgery;

[0037] Figure 2 for Figure 1 A schematic diagram of the slender instrument drive device shown;

[0038] Figure 3 for Figure 2 A magnified view of a portion of the slender instrument drive device shown at the point where the screw and the clamping assembly meet;

[0039] Figure 4 for Figure 2 A schematic diagram of an embodiment of the clamping assembly in the elongated instrument drive device shown;

[0040] Figure 5 for Figure 2 A schematic diagram of the screw in the slender instrument drive device shown;

[0041] Figure 6 for Figure 5 The sectional view of the screw shown;

[0042] Figure 7 for Figure 2 A schematic diagram of the clamping assembly mounted on the first drive structure in the slender instrument drive device shown.

[0043] Figure 8 for Figure 2 A schematic diagram of the mounting screw of the second drive structure in the slender instrument drive device shown;

[0044] Figure 9 for Figure 8 The diagram shows the second driving structure driving the screw to rotate to a certain position;

[0045] Figure 10 for Figure 8 The diagram shows the second drive structure driving the screw to rotate to another position;

[0046] Figure 11 for Figure 2 A schematic diagram showing the screw and clamping assembly rotating at the same speed in the slender instrument drive device shown;

[0047] Figure 12 for Figure 2 A schematic diagram of the rotation of the clamping component in the slender instrument drive device shown;

[0048] Figure 13 for Figure 2 A schematic diagram of another embodiment of the clamping assembly in the elongated instrument drive device shown;

[0049] Figure 14 for Figure 2 A schematic diagram of another embodiment of the screw and clamping assembly in the slender instrument drive device shown;

[0050] Figure 15 for Figure 14 A partial cutaway diagram of the clamping assembly is shown.

[0051] Among them: 10, surgical robot; 100, slender instrument drive device; 110, conveying structure; 111, screw; 1111, first section; 1112, second section; 1113, third section; 112, clamping assembly; 1121, clamping sleeve; 11211, clamping flap; 11212, connecting seat; 11213, first flap body; 11214, second flap body; 1122, elastic element; 113, conveying groove; 1131, wire inlet channel; 11311, wire inlet hole; 11312, front guide hole; 11313, wire inlet port; 1132, spiral groove; 1133, wire outlet channel; 11331, wire outlet hole; 11332, rear guide hole ; 11333, Exit wire; 120, First drive structure; 121, First power source; 122, First transmission assembly; 1221, First driving wheel; 1222, First driven wheel; 1223, First transmission shaft; 123, First support seat; 124, First coupling; 130, Second drive structure; 131, Second power source; 132, Second transmission assembly; 1321, Second driving wheel; 1322, Second driven wheel; 1323, Second transmission shaft; 133, Second support seat; 134, Second coupling; 140, Mounting base; 200, Slender instrument; 300, Robotic arm; 400, Y valve; 40, Hospital bed; 50, Patient. Detailed Implementation

[0052] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0053] In the description of this invention, 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," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0054] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0055] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0056] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0057] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0058] See Figures 1 to 2This invention provides a slender instrument driving device 100. The slender instrument driving device 100 is mounted at the end of the robotic arm 300 of a surgical robot 10. The surgical robot 10 uses the slender instrument driving device 100 to deliver the slender instrument 200, allowing the slender instrument 200 to enter the target position in the human body and perform surgical operations at the target position. It is understood that the surgical robot 10 is a vascular interventional surgical robot. Of course, in other embodiments of this invention, the surgical robot 10 can also be other robots capable of performing surgery using the slender instrument driving device 100. Here, the slender instrument 200 is mainly a guidewire / catheter. Of course, in other embodiments of this invention, the slender instrument 200 can also be other slender instruments. This invention only uses a guidewire / catheter as an example to illustrate the use of the slender instrument 200.

[0059] See Figure 2 This invention provides a novel slender instrument driving device 100, which can drive a slender instrument 200 to continuously move forward / backward, rotate, and perform compound movements. This reduces the overall size of the slender instrument driving device 100, facilitating lightweight design. The slender instrument driving device 100 employs a consumable design, lowering the overall aseptic requirements of the device. The specific structure of one embodiment of the slender instrument driving device 100 is described below.

[0060] See Figures 2 to 4 In one embodiment, the elongated instrument driving device 100 includes a conveying structure 110, a first driving structure 120, and a second driving structure 130. The conveying structure 110 includes a screw 111 and a clamping assembly 112. The clamping assembly 112 is rotatably mounted on the screw 111. The outer wall of the screw 111 or the inner wall of the clamping assembly 112 has a conveying groove 113 extending axially and arranged in a spiral shape, in which the elongated instrument 200 is accommodated. The first driving structure 120 is connected to the clamping assembly 112 and drives the clamping assembly 112 to rotate. The second driving structure 130 is connected to the screw 111 and drives the screw 111 to rotate.

[0061] The conveying structure 110 is the main component of the elongated instrument driving device 100. The elongated instrument 200 is clamped via the conveying structure 110, facilitating subsequent conveying control of the elongated instrument 200. Specifically, the conveying structure 110 includes a screw 111 and a clamping assembly 112. The clamping assembly 112 is rotatably mounted on the screw 111. The elongated instrument 200 is positioned between the clamping assembly 112 and the screw 111, achieving clamping of the elongated instrument 200. A first driving structure 120 is connected to the clamping assembly 112 and serves as the driving component for driving the clamping assembly 112 to rotate. A second driving structure 130 is connected to the screw 111 and serves as the driving component for driving the screw 111 to rotate.

[0062] The conveying structure 110 also includes a conveying groove 113, which accommodates the elongated instrument 200 for conveying the elongated instrument 200. The conveying groove 113 is disposed on the outer wall of the screw 111 or on the inner wall of the clamping assembly 112. The conveying groove 113 extends axially and is spirally arranged. This enables the fixation of the elongated instrument 200, increases the longitudinal cross-sectional area of ​​the elongated instrument 200, reduces the risk of the elongated instrument 200 loosening, and simultaneously enables the conveying of the elongated instrument 200.

[0063] After the screw 111 is installed on the clamping assembly 112, the cooperation between the screw 111 and the clamping assembly 112 can clamp the slender instrument 200. The first drive structure 120 drives the clamping assembly 112 to rotate, and the second drive structure 130 drives the screw 111 to rotate, which can realize the control of the forward / reverse movement, rotation, and compound motion of the slender instrument 200. Here, compound motion means that the slender instrument 200 can simultaneously perform forward / reverse movement and rotation.

[0064] In the slender instrument driving device 100 of the above embodiment, the first driving structure 120 controls the movement of the clamping assembly 112, and the second driving structure 130 controls the movement of the screw 111, thereby controlling the forward / backward movement and rotation of the slender instrument 200. This allows the slender instrument 200 to continuously move forward / backward, rotate, and perform compound movements, minimizing the output of individual forward, backward, and rotational movements and ensuring a simple control process. Moreover, the clamping assembly 112 is rotatably mounted behind the screw 111, enabling a coaxial design between the clamping assembly 112 and the screw 111, reducing the overall size of the slender instrument driving device 100, and facilitating lightweight design of the device.

[0065] Optionally, the clamping assembly 112 and the screw 111 assembly are coaxially arranged. That is, the rotation axis of the clamping assembly 112 is collinear with the rotation axis of the screw 111. This ensures the stability of the rotation of the clamping assembly 112 and the screw 111, and also ensures that the slender instrument 200 is subjected to uniform force, which facilitates the transport of the slender instrument 200.

[0066] It is worth noting that when the conveying groove 113 is set on the screw 111 and when it is set on the clamping assembly 112, the movement of the first drive structure 120 and the second drive structure 130 is different in controlling the movement of the slender device 200. The movement forms of the conveying groove 113 when it is set on the outer wall of the screw 111 and when it is set on the inner wall of the clamping assembly 112 are described below.

[0067] See Figure 2In one embodiment, the elongated instrument drive device 100 further includes a mounting base 140. The conveying structure 110, the second drive structure 130, and the first drive structure 120 are disposed on the mounting base 140, which is mounted on the end of the robotic arm 300 of the surgical robot 10. The mounting base 140 serves as the mounting base plate for the elongated instrument drive device 100. The mounting base 140 allows the conveying structure 110, the second drive structure 130, and the first drive structure 120 to form a single unit, creating a modular design that facilitates installation onto the end of the robotic arm 300. Furthermore, the modular design makes installation more convenient and efficient, allowing for modular assembly according to surgical needs. It also reduces the requirements for the robotic arm 300 or similar functional devices, resulting in good compatibility.

[0068] See Figure 2 , Figure 5 and Figure 6 In one embodiment of the slender instrument driving device 100 provided by the present invention, the outer wall of the screw 111 has a conveying groove 113 extending along the axial direction and arranged in a spiral shape. When the first driving structure 120 drives the clamping assembly 112 to rotate, it can drive the slender instrument 200 to move forward / backward. When the second driving structure 130 drives the screw 111 to rotate, it can drive the slender instrument 200 to move forward / backward and rotate. When the first driving structure 120 drives the clamping assembly 112 and the second driving structure 130 drives the screw 111 to rotate at the same speed, they can drive the slender instrument 200 to rotate.

[0069] like Figure 12 As shown, the slender instrument 200 is positioned after the conveying groove 113 of the screw 111. When the first drive structure 120 drives the clamping assembly 112 to rotate independently, the second drive structure 130 and the screw 111 remain stationary. At this time, the force exerted by the clamping assembly 112 on the slender instrument 200 can be decomposed into a horizontal component and a vertical component. The horizontal component can cause the slender instrument 200 to move forward / backward, i.e., the slender instrument 200 can move forward / backward. The vertical component is insufficient to make the slender instrument 200 rotate. Therefore, the slender instrument 200 only moves forward / backward.

[0070] When the second drive structure 130 drives the screw 111 to rotate independently, the first drive structure 120 and the clamping assembly 112 remain stationary. At this time, since the elongated instrument 200 is wound around the screw 111 via the conveying groove 113, the spatial position of the conveying groove 113 within the clamping assembly 112 continuously changes as the screw 111 rotates. The clamping assembly 112 can clamp the elongated instrument 200, generating a frictional force that pushes the elongated instrument 200, which serves as the driving force for horizontal movement. Simultaneously, the screw 111 rotates as a whole, and the terminal position of the elongated instrument 200 rotates along the axial direction of the screw 111. Therefore, when the second drive structure 130 drives the screw 111 to rotate, the elongated instrument 200 can generate a composite motion of forward / backward movement and rotation. A schematic diagram of the second drive structure 130 driving the screw 111 to rotate at different positions is shown below. Figure 9 and Figure 10 As shown, Figure 9 With the central spiral groove 1132 and the slender instrument 200 therein in a certain position, the second drive structure 130 drives the screw 111 to rotate. Figure 10 The spiral groove 1132 and the slender instrument 200 therein rotate at a certain angle to another position.

[0071] like Figure 11 As shown, when the second drive structure 130 drives the screw 111 to rotate and the first drive structure 120 drives the clamping assembly 112 to rotate, the rotation speed of the screw 111 is the same as the rotation speed of the clamping assembly 112. That is, there is no relative movement between the clamping assembly 112 and the screw 111. At this time, the clamping assembly 112 and the screw 111 only clamp the slender instrument 200. The slender instrument 200 only rotates with the screw 111 and will not move forward or backward.

[0072] See Figure 14 and Figure 15 In another embodiment of the elongated instrument driving device 100 of the present invention, the inner wall of the clamping assembly 112 has a conveying groove 113 arranged in a spiral shape along the axial direction. When the first driving structure 120 drives the clamping assembly 112 to rotate, it can drive the elongated instrument 200 to move forward / backward and rotate. When the second driving structure 130 drives the screw 111 to rotate, it can drive the elongated instrument 200 to move forward / backward. When the first driving structure 120 drives the clamping assembly 112 and the second driving structure 130 drives the screw 111 to rotate at the same speed, they can drive the elongated instrument 200 to rotate.

[0073] It is worth noting that the principle of the conveying groove 113 being set on the inner wall of the clamping assembly 112 is essentially the same as that of the conveying groove 113 being set on the outer wall of the screw 111. The only difference is that the first drive structure 120 controls the clamping assembly 112 to rotate while the screw 111 remains stationary to achieve the combined motion of the slender instrument 200. The second drive structure 130 controls the screw 111 to rotate while the clamping assembly 112 remains stationary to achieve the forward / backward movement of the slender instrument 200. When the screw 111 and the clamping assembly 112 rotate at the same speed, the slender instrument 200 rotates.

[0074] In this invention, in order to better describe the specific structure of the slender instrument driving device 100, only the example of the conveying groove 113 being set on the outer wall of the screw 111 is used for explanation. The principle of the conveying groove 113 being set on the inner wall of the clamping assembly 112 will not be repeated.

[0075] See Figure 2 In one embodiment, the different motion states of the first drive structure 120 and the second drive structure 130 in the elongated instrument drive device 100 will cause the elongated instrument 200 to produce different states. When the first drive structure 120 rotates and the second drive structure 130 is stationary, the elongated instrument 200 can be controlled to move forward / backward, such as... Figure 12 As shown. When the first drive structure 120 is stationary and the second drive structure 130 is moving, it can control the slender instrument 200 to perform a composite motion of forward / backward and rotation, such as... Figure 9 and Figure 10 As shown. When the first drive structure 120 and the second drive structure 130 move, causing the screw 111 and the clamping sleeve 1121 to rotate at the same speed, the slender instrument 200 can rotate, as shown. Figure 11 As shown.

[0076] See Figure 5 and Figure 6 In one embodiment, the conveying groove 113 has a wire inlet channel 1131, a wire outlet channel 1133, and a spiral groove 1132. One end of the spiral groove 1132 is connected to the wire inlet channel 1131, and the other end of the spiral groove 1132 is connected to the wire outlet channel 1133. The spiral groove 1132 is spirally arranged on the outer wall of the screw 111 or the inner wall of the pressing assembly 112.

[0077] To better describe the structure of the slender instrument drive device 100, the concepts of proximal and distal ends are introduced here. The proximal end refers to the end closer to the medical staff / robotic arm 300, i.e., the end farther from the patient 50, and the distal end refers to the end farther from the medical staff / robotic arm 300, i.e., the end closer to the patient 50. The proximal and distal ends of each component in the slender instrument drive device 100 are set according to the above concepts, and will not be elaborated further below.

[0078] The wire feeding channel 1131 is located at the proximal end of the screw 111, i.e., near the second drive structure 130, and the wire exiting channel 1133 is located at the distal end of the screw 111, i.e., away from the second drive structure 130. The wire feeding channel 1131 and the wire exiting channel 1133 are arranged axially. The spiral groove 1132 is located on the outer wall of the screw 111 and is spirally arranged. The proximal end of the spiral groove 1132 connects to the wire feeding channel 1131, and the distal end of the spiral groove 1132 connects to the wire exiting channel 1133. After the slender instrument 200 is wound around the spiral groove 1132, the movement path of the slender instrument 200 can be kept fixed.

[0079] A slender instrument 200 enters the feed channel 113 through the wire inlet channel 1131 and winds itself into the spiral groove 1132, then extends out through the wire outlet channel 1133 via the screw 111. After the screw 111 is installed in the clamping assembly 112, the inner wall of the clamping assembly 112 abuts against the slender instrument 200 in the spiral groove 1132, thus clamping the slender instrument 200 against the screw 111. After the clamping assembly 112 and the screw 111 apply force to the slender instrument 200, the frictional force generated by the relative movement of the clamping assembly 112 and the screw 111 decomposes into horizontal and vertical components. The horizontal component causes the slender instrument 200 to move forward / backward, while the vertical component causes the slender instrument 200 to rotate.

[0080] The winding design of the slender instrument 200 results in the rotation of the instrument being a complete torsion of the portion wrapped by the clamping assembly 112, which requires overcoming torsional stiffness. The slender instrument 200 possesses a certain degree of stiffness. After being wound around the helical groove 1132 of the screw 111, the winding method increases the contact area between the instrument 200 and the screw 111, thereby increasing the force-bearing fulcrum and further increasing the stiffness of the instrument 200. If the torque generated by the frictional component as the primary force is much smaller than the torque required for rotation, it is clearly impossible for the slender instrument 200 to rotate.

[0081] Optionally, the wire outlet channel 1133 is coaxially arranged with the screw 111. This prevents the slender instrument 200 output from the wire outlet channel 1133 from undergoing eccentric circular motion when the screw 111 rotates, ensuring the accurate trajectory of the slender instrument 200. Optionally, the wire inlet channel 1131 is also coaxially arranged with the screw 111. Optionally, the lead of the spiral groove 1132 is related to the axial dimension of the clamping assembly 112; a larger lead results in better conveying of the slender instrument 200.

[0082] See Figure 5 and Figure 6In one embodiment, the screw 111 includes a first segment 1111, a second segment 1112, and a third segment 1113. The second segment 1112 connects the first segment 1111 and the third segment 1113, and the diameter of the second segment 1112 is larger than the diameters of the first segment 1111 and the third segment 1113. The first segment 1111 is connected to the second drive structure 130. The first segment 1111 of the screw 111 is located at the proximal end, and the third segment 1113 of the screw 111 is located at the distal end. The wire inlet channel 1131 is located in the first segment 1111, the wire outlet channel 1133 is located in the third segment 1113, and the spiral groove 1132 is located on the outer surface of the second segment 1112. Optionally, the first segment 1111, the second segment 1112, and the third segment 1113 are an integral structure.

[0083] See Figure 6 In one embodiment, the wire feeding channel 1131 has a wire feeding hole 11311 and a front guide hole 11312. The wire feeding hole 11311 is arranged in the axial direction. One end of the front guide hole 11312 is connected to the spiral groove 1132, and the other end is connected to the wire feeding hole 11311. The wire exit channel 1133 has a wire exit hole 11331 and a rear guide hole 11332. The wire exit hole 11331 is arranged in the axial direction, and the rear guide hole 11332 connects the wire exit hole 11331 and the spiral groove 1132.

[0084] A feed hole 11311 is disposed in the first section 1111 along the axial direction of the screw 111. The proximal end of the feed hole 11311 is located at the proximal end of the screw 111. A front guide hole 11312 is obliquely disposed in the screw 111. The proximal end of the front guide hole 11312 communicates with the distal end of the feed hole 11311, and the distal end of the front guide hole 11312 communicates with the proximal end of the spiral groove 1132. Furthermore, since the spiral groove 1132 is formed on the outer wall of the screw 111, the distal end of the front guide hole 11312 protrudes from the screw 111, so as to communicate with the proximal end of the spiral groove 1132 on the outer wall of the screw 111.

[0085] Similarly, the wire exit hole 11331 is disposed in the third section 1113 along the axial direction of the screw 111, with the distal end of the wire exit hole 11331 located at the distal end of the screw 111. The rear guide hole 11332 is obliquely disposed in the screw 111, with the proximal end of the rear guide hole 11332 connecting to the distal end of the spiral groove 1132, and the distal end of the rear guide hole 11332 connecting to the proximal end of the wire exit hole 11331. Furthermore, since the spiral groove 1132 is formed on the outer wall of the screw 111, the proximal end of the rear guide hole 11332 protrudes from the screw 111, so as to connect to the distal end of the spiral groove 1132 on the outer wall of the screw 111.

[0086] In other words, the proximal and distal portions of the slender instrument 200 are located within the screw 111, while the portion in the middle region of the screw 111 is wound around the outer surface of the screw 111. Furthermore, the slender instrument 200 is led out of and introduced into the screw 111 through the front guide hole 11312 and the rear guide hole 11332, so that the slender instrument 200 moves along a preset trajectory.

[0087] In one embodiment, the proximal end of the wire inlet hole 11311 is the wire inlet port 11313, and the distal end of the wire outlet hole 11331 is the wire outlet port 11333. The wire inlet port 11313 is located at the proximal end of the screw 111, and the wire outlet port 11333 is located at the distal end of the screw 111. Both the wire inlet port 11313 and the wire outlet port 11333 are wire-passing openings for the long and thin instrument 200 to pass through. The wire inlet port 11313 is the entrance for the long and thin instrument 200 to enter the screw 111, and the wire outlet port 11333 is the exit for the long and thin instrument 200 away from the screw 111.

[0088] After the slender instrument 200 enters the screw 111 through the inlet 11313, it exits through the front guide hole 11312 and winds around the spiral groove 1132 of the screw 111. At this time, the slender instrument 200 enters the clamping area of ​​the clamping assembly 112. The clamping assembly 112 and the screw 111 cooperate to clamp the slender instrument 200, thereby fixing the movement path of the slender instrument 200. Similarly, the slender instrument 200 enters the outlet hole 11331 through the rear guide hole 11332 and exits the screw 111 through the outlet 11333, entering the human body or other medical devices.

[0089] In one embodiment, the angle between the wire inlet hole 11311 and the front guide hole 11312 is an obtuse angle, and the angle between the wire outlet hole 11331 and the rear guide hole 11332 is an obtuse angle. This reduces the bending of the slender instrument 200 during wire threading, making the forward / backward movement and rotation of the slender instrument 200 smooth and reducing resistance.

[0090] In one embodiment, the included angle between the wire inlet hole 11311 and the front guide hole 11312 ranges from 120° to 180°, and the included angle between the wire outlet hole 11331 and the rear guide hole 11332 ranges from 120° to 180°. That is, the front guide hole 11312 is inclined relative to the wire inlet hole 11311, and the included angle between the front guide hole 11312 and the wire inlet hole 11311 is between 120° and 180°, so that the front guide hole 11312 can connect the spiral groove 1132 and the wire inlet hole 11311. The rear guide hole 11332 is inclined relative to the wire outlet hole 11331, and the included angle between the rear guide hole 11332 and the wire outlet hole 11331 is between 120° and 180°, so that the rear guide hole 11332 can connect the spiral groove 1132 and the wire outlet hole 11331. Preferably, the included angle between the wire inlet hole 11311 and the front guide hole 11312 is in the range of 150° to 180°, and the included angle between the wire outlet hole 11331 and the rear guide hole 11332 is in the range of 150° to 180°.

[0091] In one embodiment, the angle between the wire inlet hole 11311 and the front guide hole 11312 is the same as or different from the angle between the wire outlet hole 11331 and the rear guide hole 11332. That is, the angle between the wire inlet hole 11311 and the front guide hole 11312 can be the same as the angle between the wire outlet hole 11331 and the rear guide hole 11332. Of course, in other embodiments of the present invention, the angle between the wire inlet hole 11311 and the front guide hole 11312 may be different, as long as the forward / backward movement and rotation of the slender instrument 200 are smooth and the resistance is reduced.

[0092] Optionally, the connecting holes of the front guide hole 11312 and the spiral groove 1132, and the connecting holes of the rear guide hole 11332 and the spiral groove 1132 are collinear in the axial direction. Of course, in other embodiments of the present invention, the connecting holes of the front guide hole 11312 and the spiral groove 1132, and the connecting holes of the rear guide hole 11332 and the spiral groove 1132 may also be staggered in the circumferential direction.

[0093] See Figure 2 , Figure 4In one embodiment, the clamping assembly 112 includes a clamping sleeve 1121 and an elastic element 1122. The elastic element 1122 is connected to the clamping sleeve 1121, causing the clamping sleeve 1121 to clamp the elongated instrument 200 to the screw 111. One end of the clamping sleeve 1121 is connected to the output end of the first drive structure 120, and the clamping sleeve 1121 is rotatably sleeved on the screw 111 and coaxially arranged with the screw 111. The elastic element 1122 elastically connects to the clamping sleeve 1121, allowing the clamping sleeve 1121 to clamp the screw 111, i.e., the elastic element 1122 enables a tight fit between the clamping sleeve 1121 and the screw 111. In this way, the clamping sleeve 1121 can cooperate with the screw 111 to clamp the elongated instrument 200, thereby fixing the position of the elongated instrument 200.

[0094] Furthermore, the clamping sleeve 1121 ensures that the slender instrument 200 is always clamped between the clamping sleeve 1121 and the screw 111. After the elastic element 1122 is connected to the clamping sleeve 1121, the elastic element 1122 can apply a force to the clamping sleeve 1121, so that the clamping sleeve 1121 is pressed against the screw 111, ensuring that the clamping force of the clamping sleeve 1121 and the screw 111 on the slender instrument 200 is constant. When the first drive structure 120 drives the clamping sleeve 1121 to rotate and the screw 111 does not rotate, the force applied by the clamping sleeve 1121 to the slender instrument 200 can drive the slender instrument 200 forward / backward.

[0095] See Figure 2 , Figure 3 and Figure 7 In one embodiment, the first driving structure 120 includes a first power source 121 and a first transmission assembly 122. The input end of the first transmission assembly 122 is connected to the first power source 121, and the output end of the first transmission assembly 122 is connected to the pressing assembly 112, driving the pressing assembly 112 to rotate. When the first power source 121 is working, the first power source 121 can drive the first transmission assembly 122 to move, and thus the first transmission assembly 122 can drive the pressing assembly 112 to rotate.

[0096] Optionally, the first transmission assembly 122 includes a gear transmission assembly, a sprocket transmission assembly, or a belt transmission assembly, etc. For example, the first transmission assembly 122 is a gear transmission assembly, including a first driving wheel 1221 and a first driven wheel 1222. The first driving wheel 1221 is disposed at the output end of the first power source 121, and the first driving wheel 1221 and the first driven wheel 1222 are meshed together. The first driven wheel 1222 is connected to the clamping sleeve 1121. Thus, when the first power source 121 is working, it can drive the first driving wheel 1221 to rotate, which in turn drives the first driven wheel 1222 to rotate, thereby driving the clamping sleeve 1121 to rotate.

[0097] Optionally, the first power source 121 is a drive motor. Optionally, the first drive structure 120 further includes a first support base 123, on which the first transmission assembly 122 is rotatably mounted to ensure the stability of the first transmission assembly 122 during transmission. Optionally, the first drive structure 120 further includes a first coupling 124, which is disposed on the first power source 121 and connected to the first drive wheel 1221. Optionally, the first transmission assembly 122 further includes a first transmission shaft 1223, with the proximal end of the first transmission shaft 1223 connected to the first coupling 124, and the distal end of the first transmission shaft 1223 rotatably disposed on the first support base 123. The first drive wheel 1221 is disposed on the first transmission shaft 1223. Optionally, the first driven wheel 1222 and the clamping sleeve 1121 are fixedly connected by screws, keys, or the like.

[0098] In one embodiment, the inner diameter of the first driven wheel 1222 is larger than the outer diameter of the screw 111, and it is rotatably sleeved on the screw 111. This reduces interference between the first driven wheel 1222 and the screw 111, thereby enabling the first driven wheel 1222 and the screw 111 to rotate relative to each other under different driving states; at the same time, it also ensures that the clamping sleeve 1121 and the screw 111 are coaxially arranged, and reduces the overall volume.

[0099] See Figure 2 , Figure 3 and Figure 8 In one embodiment, the second drive structure 130 includes a second power source 131 and a second transmission assembly 132. The input end of the second transmission assembly 132 is connected to the second power source 131, and the output end of the second transmission assembly 132 is connected to and drives the screw 111 to rotate. The output end of the second transmission assembly 132 is coaxially arranged with the output end of the first transmission assembly 122. When the second power source 131 is working, the second power source 131 can drive the second transmission assembly 132 to move, and thus the second transmission assembly 132 can drive the screw 111 to rotate.

[0100] Optionally, the second transmission assembly 132 includes a gear transmission assembly, a sprocket transmission assembly, or a belt transmission assembly, etc. For example, the second transmission assembly 132 is a gear transmission assembly, including a second driving wheel 1321 and a second driven wheel 1322. The second driving wheel 1321 is located at the output end of the second power source 131, and the second driving wheel 1321 and the second driven wheel 1322 are meshed together. The second driven wheel 1322 is connected to the screw 111. Thus, when the second power source 131 is working, it can drive the second driving wheel 1321 to rotate, which in turn drives the second driven wheel 1322 to rotate, thereby driving the screw 111 to rotate. Optionally, the second driven wheel 1322 is coaxially arranged with the first driven wheel 1222. This ensures that the screw 111 and the clamping sleeve 1121 are coaxially arranged, guaranteeing the clamping effect on the slender instrument 200.

[0101] Optionally, the second power source 131 is a drive motor. Optionally, the second drive structure 130 further includes a second support base 133, on which the second transmission assembly 132 is rotatably mounted to ensure the stability of the second transmission assembly 132 during transmission. Optionally, the second drive structure 130 further includes a second coupling 134, which is disposed on the second power source 131 and connected to the second drive wheel 1321. Optionally, the second transmission assembly 132 further includes a second transmission shaft 1323, the proximal end of which is connected to the second coupling 134, and the distal end of which is rotatably disposed on the second support base 133. The second drive wheel 1321 is disposed on the second transmission shaft 1323. Optionally, the second driven wheel 1322 is fixedly connected to the screw 111 by screws, keys, or other means.

[0102] See Figure 2 , Figure 4 and Figure 13 In one embodiment, the clamping sleeve 1121 has multiple clamping flaps 11211, which are arranged circumferentially to form a hollow mounting cavity, and the screw 111 is located in the mounting cavity. That is, the clamping sleeve 1121 has a multi-lobed structure design, which includes multiple clamping flaps 11211. The longitudinal section of the multiple clamping flaps 11211 is arranged in an arc shape, each clamping flap 11211 extends in the axial direction, and the multiple clamping flaps 11211 are arranged circumferentially to form a cylindrical clamping sleeve 1121.

[0103] See Figure 2 and Figure 4In one embodiment of the present invention, two adjacent clamping petals 11211 have grooves in the circumferential direction, and the grooves extend in the axial direction. That is, the clamping sleeve 1121 is a hollow cylinder, and multiple grooves are provided on the clamping sleeve 1121, which extend in the axial direction and are spaced apart in the circumferential direction. At this time, the stiffness of the multiple clamping petals 11211 will be reduced, and they can deform under the action of the elastic element 1122 to clamp the screw 111.

[0104] For example, the clamping sleeve 1121 includes three clamping flaps 11211, which are arranged at intervals along the circumferential direction. That is, the cylindrical clamping sleeve 1121 has three grooves in the circumferential direction, which reduces the overall rigidity of the clamping sleeve 1121, making it easier to deform and clamp to the screw 111. Of course, in other embodiments of the present invention, the number of clamping flaps 11211 may be four or even more.

[0105] Optionally, the central angles of the multiple clamping flaps 11211 may be the same or different. That is, the central angles of the multiple clamping flaps 11211 can be the same or different, as long as the clamping flaps 11211 can clamp the screw 111. In this embodiment, the central angles of the multiple clamping flaps 11211 are the same.

[0106] See Figure 13 In another embodiment of the present invention, two adjacent clamping flaps 11211 are fitted together in the circumferential direction, and at least some of the clamping flaps 11211 have different central angles. That is, two adjacent clamping flaps 11211 are fitted together. In this way, multiple clamping flaps 11211 are spliced ​​together in the circumferential direction to form a complete cylindrical clamping sleeve 1121. Furthermore, among the multiple clamping flaps 11211, at least some of the clamping flaps 11211 have different central angles. Thus, after the clamping sleeve 1121 cooperates with the elastic member 1122, the elastic force of the elastic member 1122 can keep each clamping flap 11211 in a compressed state, thereby enabling the clamping sleeve 1121 and the screw 111 to clamp the slender instrument 200.

[0107] For example, there are two clamping petals 11211, namely a first petal 11213 and a second petal 11214, wherein the central angle of the first petal 11213 is larger than that of the second petal 11214. After the first petal 11213 and the second petal 11214 are assembled to form a clamping sleeve 1121, the edge of the first petal 11213 will press against the edge of the second petal 11214, so that the clamping sleeve 1121 clamps the screw 111. Of course, in other embodiments of the present invention, there may be multiple clamping petals 11211, such as three, namely a first petal 11213, a second petal 11214, and a third plate, wherein the central angles of the first petal 11213, the second petal 11214, and the third petal are at least partially different.

[0108] See Figure 2 and Figure 4 In one embodiment of the present invention, the elastic element 1122 includes at least one elastic ring, which is sleeved on the outer side of the clamping sleeve 1121, so that the clamping segments 11211 are close to each other. That is, after the elastic ring is sleeved on the outer wall of the clamping sleeve and the spring ring is disposed on the outer wall of the clamping sleeve 1121, the elastic force of the elastic ring can make the adjacent clamping segments 1121 close to each other in the circumferential direction, thereby enabling the clamping sleeve 1121 to clamp the screw 111.

[0109] Optionally, two elastic rings are used, spaced apart along the axial direction of the clamping sleeve 1121. These two elastic rings provide elastic force for clamping the clamping sleeve 1121. Of course, in other embodiments of the invention, the number of elastic rings can be greater. Optionally, the outer wall of the clamping sleeve 1121 has a mounting groove, recessed relative to the outer wall of the clamping sleeve 1121, to ensure the position of the elastic element 1122 is fixed. Optionally, the elastic ring is a spring-loaded coil. The spring-loaded coil is annular, generally spiral-shaped, and can be cut to different diameters according to the required elastic force. Furthermore, the spring-loaded coil outputs a constant pressure, ensuring a constant shear force, eliminating the need for additional clamping devices.

[0110] In another embodiment of the present invention, an elastic element 1122 is disposed on the circumferential edge of the compression flap 11211 and connects two adjacent compression flaps 11211, so that the two adjacent compression flaps 11211 are brought closer to each other. That is, the elastic element 1122 is disposed on the edge of the compression flap 11211, and the elastic force of the elastic element 1122 causes the two adjacent compression flaps 11211 to move closer to each other.

[0111] See Figure 2 and Figure 4In the first embodiment, the clamping sleeve 1121 includes three clamping flaps 11211, which are spaced apart circumferentially and form three grooves. The elastic element 1122 has two elastic rings, which are spaced apart axially on the clamping sleeve 1121. The elastic force provided by the elastic rings allows the three clamping flaps 11211 to approach each other, thereby clamping the screw 111.

[0112] See Figure 13 In the second embodiment, the clamping flap 11211 includes a first flap 11213 and a second flap 11214, wherein the central angle of the first flap 11213 is larger than the central angle of the second flap 11214. Two elastic rings, serving as the elastic element 1122, are spaced apart along the axial direction in the clamping sleeve 1121. The elastic force of the elastic rings causes the edge of the first flap 11213 to press against the edge of the second flap 11214, thereby causing the clamping sleeve to clamp the screw 111.

[0113] See Figure 4 In one embodiment, the clamping sleeve 1121 further includes a connecting seat 11212. One end of each of the plurality of clamping flaps 11211 is connected to the connecting seat 11212. The connecting seat 11212 is sleeved on the screw 111 and connected to the first drive structure 120. The connecting seat 11212 is located near the proximal end of the plurality of clamping flaps 11211. In this way, the plurality of clamping flaps 11211 are connected to the first drive structure 120 through the connecting seat 11212, which facilitates the first drive structure 120 to drive the clamping sleeve 1121 to rotate.

[0114] The slender instrument driving device 100 of the present invention includes a clamping sleeve 1121 rotatably sleeved on a screw 111 and coaxially arranged with the screw 111. The proximal end of the clamping sleeve 1121 is connected to a first driving structure 120, and the proximal end of the screw 111 is connected to a second driving structure 130. An elastic element 1122 is provided on the clamping sleeve 1121. The elastic force of the elastic element 1122 causes the clamping segments 11211 of the clamping sleeve 1121 to approach each other radially, thereby clamping the slender instrument 200 with the screw 111. When the first driving structure 120 controls the clamping sleeve 1121 to rotate alone, it can control the slender instrument 200 to perform forward / reverse movement. When the second driving structure 130 controls the screw 111 to rotate alone, it can control the slender instrument 200 to perform a combined forward / reverse and rotational movement. When the screw 111 and the clamping sleeve 1121 rotate at the same speed, the slender instrument 200 performs rotational movement.

[0115] Thus, the slender instrument drive device 100 enables the slender instrument 200 to perform forward feeding, backward retraction, and rotation movements, and these movements can be combined or performed independently, making it convenient for medical personnel to use. Furthermore, the slender instrument drive device 100 has a relatively simple structure and high reliability. The slender instrument 200 also adopts a consumable design, has high compatibility with robotic arms, and can meet the requirements of aseptic operation. The slender instrument drive device 100 is compact in size, making it easy to integrate into the end effector of the robotic arm 300 of the surgical robot 10 and other medical auxiliary devices, reducing the overall usable space.

[0116] See Figure 1 The present invention also provides a surgical robot 10, including a robotic arm 300 and a long, thin instrument drive device 100 as described in any of the above embodiments, the long, thin instrument drive device 100 being disposed at the end of the robotic arm 300. By employing the long, thin instrument drive device 100 of the above embodiments, the surgical robot 10 of the present invention can achieve accurate delivery of long, thin instruments 200 and reduce the complexity of the structure of the long, thin instrument drive device 100. A Y-valve 400 is provided at the end of the robotic arm 300 of the surgical robot 10, through which the long, thin instrument 200 is delivered into the human body for surgical operations.

[0117] The surgical robot 10 is typically placed beside or on the hospital bed 40. A slender instrument drive device 100 and other medical auxiliary devices are mounted at the end of the robotic arm 300. The slender instrument drive device 100 is responsible for delivering the slender instrument 200 into the human body. During insertion, the slender instrument 200 can rotate, move forward / backward, and perform combined movements to meet the requirements of use.

[0118] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0119] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A slender instrument driving device, characterized in that, include: A conveying structure includes a screw and a clamping assembly, the clamping assembly being rotatably disposed on the screw, the outer wall of the screw or the inner wall of the clamping assembly having a conveying groove extending in the axial direction and arranged in a spiral shape, the conveying groove being used to accommodate a slender instrument; A first driving structure is connected to the clamping assembly and drives the clamping assembly to rotate; as well as The second driving structure is connected to the screw and drives the screw to rotate; When the first drive structure rotates and the second drive structure is stationary, the slender device can be controlled to move forward or backward. When the first drive structure is stationary and the second drive structure is moving, the slender device can be controlled to perform a combined forward / backward and rotational motion. When the first drive structure and the second drive structure move to make the screw and the clamping assembly rotate at the same speed, the slender instrument can be made to rotate.

2. The slender instrument driving device according to claim 1, characterized in that, The conveying trough has a wire inlet channel, a wire outlet channel, and a spiral groove. One end of the spiral groove is connected to the wire inlet channel, and the other end of the spiral groove is connected to the wire outlet channel.

3. The slender instrument driving device according to claim 2, characterized in that, The wire feeding channel has a wire feeding hole and a front guide hole. The wire feeding hole is arranged in the axial direction. One end of the front guide hole is connected to the spiral groove, and the other end is connected to the wire feeding hole. The wire exiting channel has a wire exiting hole and a rear guide hole. The wire exiting hole is arranged in the axial direction, and the rear guide hole is connected to the wire exiting hole and the spiral groove.

4. The slender instrument driving device according to claim 3, characterized in that, The angle between the wire inlet hole and the front guide hole is an obtuse angle, and the angle between the wire outlet hole and the rear guide hole is an obtuse angle.

5. The slender instrument driving device according to claim 1, characterized in that, The clamping assembly includes a clamping sleeve and an elastic element. The elastic element is connected to the clamping sleeve, so that the clamping sleeve clamps the slender instrument to the screw.

6. The slender instrument driving device according to claim 5, characterized in that, The clamping sleeve has multiple clamping flaps, which are arranged circumferentially to form a hollow mounting cavity, and the screw is located in the mounting cavity.

7. The slender instrument driving device according to claim 6, characterized in that, Two adjacent clamping flaps have a groove in the circumferential direction, and the groove extends in the axial direction; Alternatively, two adjacent clamping flaps may be fitted together in the circumferential direction, with at least some of the clamping flaps having different central angles.

8. The slender instrument driving device according to claim 6, characterized in that, The elastic element includes at least one elastic ring, and at least one elastic ring is sleeved on the outside of the compression sleeve; Alternatively, the elastic element may be disposed on the circumferential edge of the clamping flap and connect two adjacent clamping flaps.

9. The slender instrument driving device according to claim 6, characterized in that, The clamping sleeve also includes a connecting seat, one end of the plurality of clamping flaps is connected to the connecting seat, the connecting seat is sleeved on the screw and connected to the first driving structure.

10. The elongated instrument driving device according to any one of claims 1 to 9, characterized in that, The first driving structure includes a first power source and a first transmission component. The input end of the first transmission component is connected to the first power source, and the output end of the first transmission component is connected to the clamping component, thereby driving the clamping component to rotate.

11. The slender instrument driving device according to claim 10, characterized in that, The first transmission assembly includes a first driven wheel, the inner diameter of which is larger than the outer diameter of the screw, and is rotatably sleeved on the screw.

12. The slender instrument driving device according to claim 10, characterized in that, The second drive structure includes a second power source and a second transmission component. The input end of the second transmission component is connected to the second power source, and the output end of the second transmission component is connected to the screw and drives the screw to rotate. The output end of the second transmission component is coaxially arranged with the output end of the first transmission component.

13. The elongated instrument driving device according to any one of claims 1 to 9, characterized in that, The slender instrument drive device also includes a mounting base, on which the conveying structure, the second drive structure and the first drive structure are disposed, and the mounting base is mounted on the end of the robotic arm of the surgical robot.

14. A surgical robot, characterized in that, It includes a robotic arm and an elongated instrument drive as described in any one of claims 1 to 13, the elongated instrument drive being disposed at the end of the robotic arm.

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