Surgical instrument drive mechanism, ultrasonic knife and minimally invasive surgery robot

Abstract

The application discloses a surgical instrument driving mechanism, an ultrasonic knife and a minimally invasive surgery robot. The surgical instrument driving mechanism comprises a bottom plate, an adapter for coupling a surgical instrument movably arranged on the bottom plate, and a lever mechanism for driving the adapter to move up and down and installed on the bottom plate. An output end of the lever mechanism is connected with the adapter through a coupling mechanism, and an input end of the lever mechanism is vertically displaced through a lifting mechanism. A rotation fulcrum of the lever mechanism is located between the adapter and the lifting mechanism. In the embodiment of the application, the surgical instrument driving mechanism is used, and especially when the lever mechanism has a length of force arm close to the rotation fulcrum of the input end and the output end, the rotation stroke of the input end and the output end is close, the thickness size of the overall structure is greatly reduced, and the output end of the lever structure and the adapter are coupled in a coupling mode of a ring-shaped groove matched with a sliding piece, so that the transmission precision is higher, and the surgical effect is beneficial to being ensured.

Description

[0001] This application is a divisional application of Chinese patent application 202210137095.6, filed on February 15, 2022, entitled "Surgical Instrument Drive Mechanism, Ultrasonic Scalpel and Minimally Invasive Surgical Robot". Technical Field

[0002] This invention relates to the field of medical device technology, and in particular to a surgical instrument drive mechanism, an ultrasonic scalpel, and a minimally invasive surgical robot. Background Technology

[0003] Minimally invasive surgery refers to surgical procedures performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. However, the limitations imposed by the incision size on minimally invasive instruments significantly increase the difficulty of the procedure, and the fatigue and tremors experienced by the surgeon during prolonged operations are amplified. These factors have become key constraints on the development of minimally invasive surgical techniques. With the development of robotics technology, a new technology in the field of minimally invasive medicine—minimally invasive surgical robot technology—has emerged, overcoming these shortcomings while inheriting the advantages.

[0004] In robot-assisted minimally invasive surgery, a dedicated channel is typically established through a cannula. The surgeon then uses a thin, minimally invasive surgical instrument to enter this channel and perform the surgical procedure within the abdominal cavity. Among minimally invasive surgical instruments, the ultrasonic scalpel is a novel surgical cutting and hemostasis device. It consists of a main unit, a handle connecting cable, a transducer, a blade, and a foot pedal. The main unit converts 50Hz or 60Hz current into 55.5kHz high-frequency alternating current, which is transmitted to the transducer via the connecting cable. The transducer contains several sets of piezoelectric crystals that oscillate at the same frequency under the influence of the high-frequency current, converting high-frequency electrical energy into high-frequency mechanical energy. This energy is then conducted to the blade through a mechanical device, causing the metal blade to oscillate mechanically at the ultrasonic frequency. The high-power ultrasound waves cause the water in the tissue cells in contact with the blade to vaporize instantly, protein hydrogen bonds to break, and cells to disintegrate, thus cutting the tissue. The frictional heat generated by the mechanical vibration simultaneously coagulates and stops the bleeding.

[0005] Chinese invention patent CN106659543B discloses a force transmission mechanism for a surgical instrument used in a minimally invasive surgical robot, including a worm gear drive, a lever arm, and an actuating element. The lever arm includes a driven member located at a first end, which engages with and is configured to be driven by the worm gear drive. The actuating element is connected to the lever arm and configured to transmit force to actuate the end effector of the surgical instrument. The rotational motion of the worm gear drive causes the actuating element to have translational motion via the lever arm. The end jaws of the surgical instrument can be an ultrasonic scalpel with pivoting jaws configured to clamp tissue onto the jaws.

[0006] However, the force transmission mechanism of the aforementioned surgical instruments used in minimally invasive surgical robots has the following technical defects:

[0007] 1. The jaws and pivot jaws need to have a certain opening and closing angle, which requires the actuating element to have a certain vertical movement stroke. However, since the actuating element is located in the middle of the lever arm, the movement stroke of the driven component is large (for example, the driven component moves 1cm, but the actuating element only moves 0.2cm). This results in the vertical structural dimensions of the ultrasonic scalpel instrument box being too large, which does not meet the technical requirements of miniaturization.

[0008] 2. The base of this ultrasonic scalpel instrument box is specially designed and can only be used with this ultrasonic scalpel. It cannot be used with other surgical instruments, and the bases of other surgical instruments cannot be used with this ultrasonic scalpel. Therefore, it is necessary to re-mold, resulting in high production costs.

[0009] 3. The ultrasonic scalpel uses a coupler to connect the actuating element to the lever. The coupler includes flanges that define recesses between the flanges. The second end of the lever includes a protrusion disposed in the recess to connect the second end to the coupler. However, the structure of the second end completely covering the flange cannot be formed directly. It must be made into two parts and assembled in the vertical direction, which increases the production cost. Furthermore, when the coupler moves up and down, the second end will also rotate around the lever fulcrum, which can easily cause interference. Summary of the Invention

[0010] To address the shortcomings of existing technologies, this invention provides a surgical instrument drive mechanism, an ultrasonic scalpel, and a minimally invasive surgical robot, which solves the problems of excessively large vertical structural dimensions, poor applicability, complex structure, and high production costs of existing ultrasonic scalpel instrument boxes.

[0011] To achieve the above objectives, the present invention is implemented through the following technical solutions.

[0012] First, this application provides a surgical instrument driving mechanism, including a base plate, on which an adapter for coupling a surgical instrument and a rotation mechanism for driving the adapter to rotate are movably mounted. An upper mounting plate is mounted on one side of the top of the base plate, and a lever mechanism for raising and lowering the adapter is provided between the base plate and the upper mounting plate. The output end of the lever mechanism is connected to the adapter through a coupling mechanism, and the input end is used to achieve vertical displacement input through a raising and lowering mechanism.

[0013] Further specifying the above-mentioned surgical instrument drive mechanism, the rotating mechanism includes:

[0014] A rotating gear is rotatably mounted on the base plate;

[0015] A passive gear is rotatably mounted on the base plate and meshes with the rotating gear;

[0016] The adapter is connected to the passive gear spline.

[0017] Further defining the above-mentioned surgical instrument drive mechanism, wherein the power input end of the rotary gear extends to the side of the base plate away from the upper mounting plate.

[0018] Further specifying the above-mentioned surgical instrument drive mechanism, the lever mechanism includes:

[0019] A shaft mounting bracket is located at the middle of the end face of the upper mounting plate near the base plate.

[0020] The lever shaft is fixedly mounted on the shaft mounting bracket.

[0021] The lever is rotatably mounted on the lever shaft.

[0022] Further specifying the above-mentioned surgical instrument drive mechanism, the coupling mechanism includes:

[0023] A fork is mounted on the output end of the lever mechanism;

[0024] An annular groove is provided on the outer circular end face of the adapter;

[0025] Two sliding members are symmetrically provided on the fork and can slide within the annular groove;

[0026] The two sliding members are respectively disposed on the two forked ends of the fork.

[0027] Further specifying the above-mentioned surgical instrument drive mechanism, the lifting mechanism includes:

[0028] The teeth are located on the input end of the lever mechanism and are arc-shaped;

[0029] A lifting gear is rotatably disposed between the base plate and the upper mounting plate;

[0030] The teeth mesh with the lifting gear.

[0031] Further defining the above-mentioned surgical instrument drive mechanism, wherein the lifting gear is located at a corner position away from the adapter between the base plate and the upper mounting plate, and the input end of the lever mechanism is biased towards the side closer to the lifting gear.

[0032] Further defining the above-mentioned surgical instrument drive mechanism, wherein the power input end of the lifting gear extends to the side of the base plate away from the upper mounting plate.

[0033] Further defining the above-mentioned surgical instrument drive mechanism, it further includes a housing, which is mounted on the base plate. The top of the housing has a through hole for power input of the surgical instrument at a position corresponding to the adapter. The upper mounting plate is disposed inside the housing and snaps into the base plate.

[0034] Further defining the above-mentioned surgical instrument driving mechanism, wherein a support frame is provided on the end face of the upper mounting plate near the base plate, and the support frame is located at the corner of the upper mounting frame near the adapter and at the end away from the upper mounting plate and is embedded in the base plate.

[0035] Further specifying the above-mentioned surgical instrument drive mechanism, wherein the upper mounting plate is provided with a first clearance hole and a second clearance hole, the first clearance hole being located at the corresponding position of the adapter and used to provide space for the stroke of the adapter, and the second clearance hole being located at the corresponding position of the input end of the lever mechanism and used to provide stroke space for the vertical displacement portion of the input end of the lever mechanism.

[0036] Secondly, this application provides an ultrasonic scalpel, characterized in that it employs a surgical instrument driving mechanism as described in any of the above claims, and further includes an elongated shaft coupled to the adapter, wherein an ultrasonic scalpel head is fixedly mounted on the side of the elongated shaft away from the base plate.

[0037] Finally, this application provides a minimally invasive surgical robot, characterized in that it includes an ultrasonic scalpel as described above, a main control unit, and a slave operating device. The ultrasonic scalpel is mounted on the slave operating device, and the main control unit is used to control the slave operating device and the surgical instrument drive mechanism to realize the movement of the ultrasonic scalpel head.

[0038] The present invention has at least the following beneficial effects:

[0039] The ultrasonic scalpel rotates by providing power to the passive gear via a rotating gear, which drives the adapter coupled with the surgical instrument. The adapter is raised and lowered by a zigzag lever mechanism to open and close the ultrasonic scalpel. Since the lever arm lengths of the input and output ends of the lever mechanism are close to those of its rotation node, the strokes of the input and output ends of the lever are similar, which greatly reduces the size of the overall drive mechanism. Its zigzag structure facilitates the space design of the base plate. At the same time, the output end of the lever structure and the adapter are coupled by an annular groove and a sliding part, which allows the adapter to be machined as a whole and the assembly with the lever to be simpler, thus reducing the overall manufacturing cost. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the specific structure of the ultrasonic scalpel in an embodiment of this application;

[0041] Figure 2 This is a schematic diagram of the specific structure of the ultrasonic scalpel in an embodiment of this application;

[0042] Figure 3 This is a schematic diagram of the surgical instrument drive mechanism of this application with the "housing 14" removed;

[0043] Figure 4 This is a schematic diagram of the surgical instrument drive mechanism of this application with the "housing 14" removed;

[0044] Figure 5 This is a schematic diagram of the surgical instrument drive mechanism of this application with the "housing 14" and "upper mounting plate 21" portions omitted.

[0045] Figure 6 This is a schematic diagram of the surgical instrument drive mechanism of this application with the "housing 14" and "upper mounting plate 21" portions omitted.

[0046] Figure 7 This is a schematic diagram of the structure of the "upper mounting plate 21" of the surgical instrument drive mechanism in an embodiment of this application;

[0047] Figure 8 This is a schematic diagram of the structure of the "upper mounting plate 21" of the surgical instrument drive mechanism in an embodiment of this application;

[0048] Figure 9 This is a schematic diagram of the "lever 31" portion of the surgical instrument drive mechanism in an embodiment of this application.

[0049] Figure Labels

[0050] Ultrasonic scalpel head-11, slender shaft-12, through hole-13, housing-14, support frame-15, rotating gear-16, base plate-17, lifting gear-18, driven gear-19, adapter-20, upper mounting plate-21, quick-change component-22, fixing plate-23, annular groove-24, lever shaft-25, shaft mounting bracket-26, support column-27, connecting arm-28, slot-29, fixing pin-30, lever-31, fork-32, sliding component-33, toothed part-34, first clearance hole-35, second clearance hole-36, quick-change bracket-37, first rotating shaft-38, second rotating shaft-39. Detailed Implementation

[0051] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0052] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0053] The server provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0054] like Figures 1-9As shown, this application embodiment provides a surgical instrument driving mechanism, including a base plate 17. A driven gear 19 is rotatably mounted on the base plate 17 via bearings. The driven gear 19 has a hollow structure and an adapter 20 for coupling surgical instruments is slidably connected to it via splines. Three slots 29 are distributed triangularly around three corresponding positions on the base plate 17 and pass through it. Two pillars 27 are symmetrically and fixedly mounted at the middle position of the base plate 17. An upper mounting plate 21 is embedded at the top of the pillars 27. Three connecting arms 28 are integrally formed on the end face of the upper mounting plate 21 near the base plate 17 around the three slots 29. The three connecting arms 28 can be engaged with the corresponding slots 29. A support frame 15 for balancing the upper mounting frame is also integrally formed on the end face of the upper mounting plate 21 near the base plate 17. The support frame 15 is located at the corner of the upper mounting frame near the adapter 20 and is embedded in the base plate 17 on the side away from the upper mounting plate 21.

[0055] A housing 14 is mounted on the base plate 17 by screws. An upper mounting plate 21 is disposed inside the housing 14. A through hole 13 for power input of surgical instruments is provided on the top of the housing 14 at the position corresponding to the adapter 20. Two quick-change brackets 37 are symmetrically and integrally formed on the end face of the upper mounting plate 21 near the base plate 17. A fixing pin 30 is fixed on the end face of the quick-change bracket 37 away from its center line of symmetry. Two fixing plates 23 are fixed on the base plate 17 at the corresponding positions of the two quick-change brackets 37. A quick-change component 22 is hinged on the fixing plate 23. After the upper mounting plate 21 is engaged with the base plate 17, a spring is installed between the fixing pin 30 and the corresponding quick-change component 22. An opening is provided on the housing 14 at the position corresponding to the quick-change component 22 to avoid the quick-change component 22. When an external component is installed on the side of the base plate 17 away from the upper mounting plate 21, the quick-change component 22 is used to cooperate with the corresponding mounting mechanism on the external component to realize the quick loading and unloading of the external component.

[0056] A first rotating shaft 38 is rotatably provided between the base plate 17 and the upper mounting plate 21. A rotating gear 16 that meshes with the driven gear 19 is fixed on the first rotating shaft 38. The end of the first rotating shaft 38 away from the upper mounting plate 21 extends to the side of the base plate 17 away from the upper mounting plate 21, and power input is realized from this end. The end of the first rotating shaft 38 away from the base plate 17 is embedded in the upper mounting plate 21. A lever mechanism for the adapter 20 to be raised and lowered is also provided between the base plate 17 and the upper mounting plate 21. The output end of the lever mechanism is connected to the adapter 20 through a coupling mechanism, and the input end is realized by the lifting mechanism to achieve vertical displacement input.

[0057] In this embodiment, a surgical instrument drive mechanism as described above is used. The rotating gear 16 provides power output to the passive gear 19, which drives the adapter 20 coupled with the surgical instrument to rotate, thereby realizing the rotation of the surgical instrument. A vertical displacement is input to one end of the lever mechanism through the lifting mechanism, and the other end of the lever mechanism outputs a corresponding vertical displacement, thereby enabling the adapter 20 to rise and fall, and thus enabling the surgical instrument coupled with the adapter 20 to complete corresponding actions such as opening and closing, pitching, and yaw.

[0058] In a preferred embodiment, the lever mechanism includes an integrally formed shaft mounting bracket 26 located at the center of the end face of the upper mounting plate 21 near the bottom plate 17. A lever shaft 25 is fixedly mounted on the shaft mounting bracket 26, and a lever 31 is rotatably mounted on the lever shaft 25.

[0059] In a preferred embodiment, the coupling mechanism includes a U-shaped fork 32 integrally formed on the output end of the lever 31. Two sliding members 33 are integrally formed and symmetrically provided on the fork 32. The two sliding members 33 are coaxial and located on the two forked ends of the fork 32 respectively. An annular groove 24 is provided on the outer circular end face of the adapter 20. The two sliding members 33 can be slidably disposed in the annular groove 24 and are limited by the annular groove 24.

[0060] In a preferred embodiment, the outer end face of the slider 33 near the lever 31 is a planar cross-section, which facilitates the integral molding of the slider 33 and the fork 32.

[0061] In a preferred embodiment, the upper mounting plate 21 is provided with a first clearance hole 35 through the corresponding position of the adapter 20, and the first clearance hole 35 can provide space for the lifting stroke of the adapter 20.

[0062] In this embodiment, a surgical instrument drive mechanism as described above is used. Since the rotation node of the lever mechanism is located in the middle of the upper mounting plate 21, the input and output ends of the lever mechanism are close to its rotation node. As a result, the travel distances at both ends of the lever 31 are close. That is, when the lifting mechanism inputs a vertical travel distance to the input end of the lever mechanism, the output end of the lever mechanism will output a similar vertical travel distance to the adapter 20 through the coupling mechanism. This reduces the vertical dimension of the housing 14, saves more space, and meets the technical requirements of miniaturization. Through the cooperation between the annular groove 24 and the sliding member 33, the fork 32 will not interfere with the adapter 20. The depth of the annular groove 24 is related to the vertical travel distance of the output end of the lever mechanism. When the sliding member 33 moves laterally with the lever 31, it will not disengage from the annular groove 24 within the predetermined swing travel distance of the lever 31. This design allows the adapter 20 to be a single part, and the installation with the sliding member 33 is simple and the production cost is low.

[0063] In a preferred embodiment, the lifting mechanism includes a second rotating shaft 39 rotatably disposed between the base plate 17 and the upper mounting plate 21. The end of the second rotating shaft 39 away from the upper mounting plate 21 extends to the side of the base plate 17 away from the upper mounting plate 21, and power input is achieved from this end. The end of the lifting gear 18 away from the base plate 17 is engaged with the upper mounting plate 21. The lifting gear 18 is fixedly disposed on the second rotating shaft. The lifting gear 18 is disposed at a corner position away from the adapter 20 between the base plate 17 and the upper mounting plate 21. The input end of the lever 31 is biased towards the lifting gear 18 and is integrally formed with a tooth 34 that meshes with the lifting gear 18. The side of the tooth 34 that meshes with the lifting gear 18 is arc-shaped.

[0064] The upper mounting plate 21 is provided with a second clearance hole 36 through the tooth 34 at the corresponding position, which provides travel space for the vertical displacement portion of the tooth 34.

[0065] In this embodiment, a surgical instrument drive mechanism as described above is used. When the lifting gear 18 rotates, the tooth 34 will drive the lever 31 to swing around the lever axis 25 as the lifting gear 18 rotates, thereby driving the adapter 20 to achieve lifting and lowering through the coupling mechanism. Since the input end of the lever 31 is biased towards the side closer to the lifting gear 18, the integrated structure composed of the lever 31, fork 32, sliding member 33 and tooth 34 is in the form of a broken line, thereby saving the installation space on the base plate 17 and increasing the space utilization rate of the base plate 17.

[0066] like Figures 1-2As shown, this application embodiment provides an ultrasonic scalpel, which adopts the surgical instrument drive mechanism described above, and further includes an elongated shaft 12 fixedly connected to a passive gear 19. An ultrasonic scalpel head 11 is fixedly provided on the side of the elongated shaft 12 away from the base plate 17.

[0067] This application provides a minimally invasive surgical robot that uses an ultrasonic scalpel as described above. It also includes a main control console and a slave operating device. The ultrasonic scalpel is installed on the slave operating device. The main control console is used to control the slave operating device and the surgical instrument drive mechanism to realize the movement of the ultrasonic scalpel head 11.

[0068] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0069] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A surgical instrument driving mechanism, characterized in that, a base plate is provided with an adapter for coupling a surgical instrument, and a lever mechanism is installed on the base plate to drive the adapter to move up and down, the output end of the lever mechanism is connected with the adapter through a coupling mechanism, and the input end is vertically displaced through a lifting mechanism, wherein the rotation fulcrum of the lever mechanism is located between the adapter and the lifting mechanism; a tooth part is arranged on the input end of the lever mechanism in an arc shape; a lifting gear is rotatably arranged on the base plate; the tooth part is engaged with the lifting gear; the lifting gear is arranged at a side edge corner of the base plate away from the adapter, and the input end of the lever mechanism is biased towards the side of the lifting gear; the coupling mechanism comprises two sliding members which are slidably arranged in the annular groove of the adapter and are limited by the annular groove, and when the sliding members are laterally displaced by the swinging of the lever mechanism, the sliding members will not be separated from the annular groove within the predetermined swinging stroke of the lever mechanism.

2. The surgical instrument driving mechanism according to claim 1, characterized in that, the rotation fulcrum is located at a biased position of the non-end part of the profile projection of the lever mechanism in the length direction, i.e. not at the midpoint and not at the two endpoints.

3. The surgical instrument driving mechanism according to claim 1, characterized in that, the adapter comprises: a hollow cylindrical body, the inside of the cylindrical body is used to couple the surgical instrument; two flange edges are arranged on the side surface of the cylindrical body, and the annular groove is formed between the two flange edges.

4. The surgical instrument driving mechanism according to claim 3, characterized in that, the coupling mechanism comprises: a fork is arranged on the output end of the lever mechanism; two sliding members are arranged on the two forked ends of the fork respectively.

5. The surgical instrument driving mechanism according to claim 3 or 4, characterized in that, the sliding member of the coupling mechanism is a cylindrical body.

6. The surgical instrument driving mechanism according to any one of claims 1 to 4, characterized in that, a housing is further installed on the base plate, and a through hole for the energy input of the surgical instrument is provided through the corresponding position of the adapter on the top of the housing.

7. An ultrasonic knife, characterized in that, the surgical instrument driving mechanism according to any one of claims 1 to 6 is adopted, and an elongated shaft coupled with the adapter is further included, and an ultrasonic knife head is fixedly arranged at the side end of the elongated shaft away from the base plate.

8. A minimally invasive surgery robot, characterized in that, the ultrasonic knife according to claim 7 is included, and a master console and a slave operating device are further included, the slave operating device is installed with the ultrasonic knife, and the master console is used to control the slave operating device and the surgical instrument driving mechanism to realize the action of the ultrasonic knife head.

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