Drive wire tensioning device for surgical instruments and surgical instrument

Abstract

The present disclosure provides a surgical instrument drive wire tensioning device including: a support assembly including: a support frame; a wire winding wheel rotatably mounted to the support frame in a direction orthogonal to the support frame, configured and arranged to connect to one end of a drive wire of an external surgical instrument such that the drive wire is in a state of tensioning the surgical instrument under a first tension force; a measurement assembly including: a measurement wire connected to the wire winding wheel, configured and arranged to apply a second tension force to the wire winding wheel in a direction opposite to and equal in magnitude to the first tension force such that the wire winding wheel is in a state of relative static balance; and a tension force detection mechanism configured and arranged to connect to the measurement wire to obtain a value of the first tension force applied to the surgical instrument by the drive wire by detecting the second tension force when the wire winding wheel is in the state of balance.

Description

Technical Field

[0001] This disclosure relates to the field of surgical instrument technology, and more specifically, to a drive wire tensioning device for surgical instruments and a surgical instrument. Background Technology

[0002] Surgical robot instruments have multiple degrees of freedom, such as yaw, rotation, and opening / closing. During assembly, it is necessary to ensure that the tension on the two drive wires controlling the same degree of freedom is the same, so as to ensure that the instrument is in a neutral position in the initial state and does not produce slight yaw or rotation, which is beneficial for subsequent master-slave control of the instrument's posture.

[0003] Currently, the common method for maintaining equal tension on two drive wires controlling the same degree of freedom is result-oriented. This involves visually observing the instrument's end-effector position while directly rotating the winding wheel to tension the drive wires. When the instrument end is observed to be in a neutral position, the appropriate tension is considered achieved. However, this method relies on visual observation and manual feel, resulting in inherent errors in tension. The actual position of the instrument end deviates slightly from the ideal neutral position, and the tension of each drive wire relative to the surgical instrument cannot be determined. Summary of the Invention

[0004] To address at least one technical problem mentioned above and in other aspects in the prior art, this disclosure provides a drive wire tensioning device for surgical instruments. By winding drive wires and measuring wires with opposite directions and equal magnitudes of tension on the same winding wheel, the tension of the drive wire is transmitted to the measuring wire. A tension detection mechanism detects the second tension value on the measuring wire to obtain the magnitude of the first tension applied by the drive wire to the surgical instrument, thereby enabling the tension on the drive wire to be measured without disassembling or modifying the surgical instrument.

[0005] One aspect of the embodiments of this disclosure provides a drive wire tensioning device for surgical instruments, comprising: a support assembly including: a bracket; a winding wheel rotatably mounted on the bracket in a direction orthogonal to the bracket, configured to be connected to one end of a drive wire for driving an external surgical instrument, such that the drive wire is in a state of tensioning the surgical instrument under the action of a first tension force; a measuring assembly including: a measuring wire connected to the winding wheel, configured to apply a second tension force to the winding wheel that is opposite in direction and equal in magnitude to the first tension force, such that the winding wheel is in a relatively static equilibrium state; and a tension detection mechanism configured to be connected to the measuring wire, so as to obtain the value of the first tension force applied by the drive wire to the surgical instrument by detecting the second tension force when the winding wheel is in the equilibrium state.

[0006] According to some embodiments of this disclosure, an adjustment assembly disposed between the support assembly and the measuring assembly is further included. The adjustment assembly includes: a first adjustment part configured to extend along a first direction tangential to the circumferential surface of the winding wheel, moving between a near position close to the winding wheel and a far position away from the winding wheel, adjusting the first tension of the driving wire by adjusting the magnitude of the second tension of the measuring wire; and a second adjustment part configured to adjust the position of the measuring wire relative to the winding wheel along a direction orthogonal to the first direction, thereby adjusting the direction of the second tension.

[0007] According to some embodiments of this disclosure, the first adjustment unit includes a first slide configured to move longitudinally along the horizontal direction; the second adjustment unit includes a second slide configured to move laterally along the horizontal direction and / or a third slide configured to move vertically.

[0008] According to some embodiments of this disclosure, one end of the axial direction of the circumferential surface of the winding wheel is provided with a drive wire fixing hole for passing through and fixing the drive wire, and the other end of the winding wheel is provided with a measuring wire fixing hole for passing through and fixing the measuring wire. The outer surface of the winding wheel between the drive wire fixing hole and the measuring wire fixing hole is provided with a spiral wire groove, so that the drive wire and the measuring wire are wound in the wire groove in opposite directions.

[0009] According to some embodiments of this disclosure, both the drive wire fixing hole and the measuring wire fixing hole are configured to extend along the tangential direction of the winding wheel.

[0010] According to some embodiments of this disclosure, the bracket includes two parallel, spaced-apart plate-shaped members; the support assembly further includes: a rotating shaft configured to be rotatably mounted between the two plate-shaped members in a direction orthogonal to the plate-shaped members, the winding wheel being rotatably sleeved on the outside of the rotating shaft to adjust the rotation angle of the winding wheel relative to the rotating shaft; and a fastening part detachably disposed at the ends of the rotating shaft and the winding wheel to limit the angle of the winding wheel relative to the rotating shaft in the assembled state, so that the winding wheel rotates with the rotating shaft about the axis of the rotating shaft.

[0011] According to some embodiments of this disclosure, a winding wheel is respectively installed at both ends of the axial direction of the above-mentioned rotating shaft, and the two winding wheels are used to connect the two drive wires of the above-mentioned surgical instrument to obtain the first tension of the two drive wires.

[0012] According to some embodiments of this disclosure, the tensile testing mechanism includes: a tensile sensor, the detection end of which is configured to be connected to the measuring wire to detect the second tensile force; and a tensile receiver, which is connected to the signal end of the tensile sensor to obtain the value of the first tensile force by acquiring and / or displaying the magnitude of the second tensile force.

[0013] According to some embodiments of this disclosure, the tensile testing mechanism further includes: a sensor connection portion disposed at the detection end of the tensile sensor; and a connector detachably mounted on the sensor connection portion, configured to restrict one end of the measuring wire to the sensor connection portion when assembled with the sensor connection portion, so that the second tensile force can be detected by the tensile sensor.

[0014] Another aspect of the embodiments of this disclosure provides a surgical instrument comprising: a rod-shaped member having an axially extending channel inside the rod-shaped member; a pivot joint sleeved on one axial end of the rod-shaped member; a drive wire having one end connected to the pivot joint, the other end of the drive wire extending along the channel formed by the rod-shaped member and protruding from the end of the rod-shaped member away from the pivot joint; and the end of the drive wire protruding from the rod-shaped member being connected to the winding wheel of the drive wire tensioning device for the surgical instrument.

[0015] According to the present disclosure, a drive wire tensioning device for surgical instruments and a surgical instrument are provided. By winding drive wires and measuring wires with opposite directions and equal magnitudes of tension on the same winding wheel, the tension of the drive wire is transmitted to the measuring wire. The second tension value on the measuring wire is detected by a tension detection mechanism to obtain the magnitude of the first tension applied by the drive wire to the surgical instrument. This allows the tension of the drive wire relative to the surgical instrument to be measured without disassembling or modifying the surgical instrument. Attached Figure Description

[0016] Figure 1 This is a perspective view of a drive wire tensioning device for surgical instruments according to an illustrative embodiment of the present disclosure;

[0017] Figure 2 yes Figure 1 A perspective view of a portion of the third slide of the drive wire tensioning device for surgical instruments, as shown in the schematic embodiment;

[0018] Figure 3 yes Figure 1 A perspective view of a portion of the winding wheel of the drive wire tensioning device for surgical instruments, as shown in the schematic embodiment;

[0019] Figure 4 yes Figure 3The diagram shown illustrates the working state of the winding wheel connecting the drive wire and the measuring wire in a schematic embodiment.

[0020] Figure 5 yes Figure 1 A perspective view of a portion of the measuring assembly of a drive wire tensioning device for surgical instruments, as shown in the schematic embodiment.

[0021] Figure 6 This is a perspective view of a surgical instrument according to an illustrative embodiment of the present disclosure; and

[0022] Figure 7 yes Figure 6 An exploded view of the surgical instruments of the illustrative embodiment shown.

[0023] In the accompanying drawings, the meanings of the reference numerals are as follows:

[0024] 01. Surgical instruments;

[0025] 011. Rod-shaped components;

[0026] 012. Swing joint;

[0027] 013. Drive wire;

[0028] 014. Positioning plate;

[0029] 015. Fastening screws;

[0030] 02. Support components;

[0031] 021. Winding reel;

[0032] 021a, Drive wire fixing hole;

[0033] 021b. Measuring the wire fixing hole;

[0034] 022. Shaft;

[0035] 023, First guide wheel;

[0036] 024. Second guide wheel;

[0037] 025. Bracket;

[0038] 026. Shaft bearing;

[0039] 027. Tighten the lock nut;

[0040] 028. Tighten the screws;

[0041] 03. Measurement components;

[0042] 031. Measuring wire;

[0043] 032. Tensile testing agency;

[0044] 032a. Tension sensor;

[0045] 032b, Tension receiver;

[0046] 032c, Connector;

[0047] 032d, Sensor connection part;

[0048] 04. Adjustment components;

[0049] 041. Fixing part;

[0050] 042. Mobility Department;

[0051] 043. Adjust the knob;

[0052] 05. Platform base plate. Detailed Implementation

[0053] To make the objectives, technical solutions and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0054] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0055] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0056] When using expressions such as "at least one of A, B, and C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C. Similarly, when using expressions such as "at least one of A, B, or C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C.

[0057] To make the objectives, technical solutions and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0058] Figure 1 This is a perspective view of a drive wire tensioning device for surgical instruments according to an illustrative embodiment of the present disclosure.

[0059] The surgical instrument drive wire tensioning device provided according to embodiments of this disclosure, such as... Figure 1 As shown, the surgical instrument drive wire tensioning device includes a support assembly 02 and a measuring assembly 03. The support assembly 02 includes a bracket 025 and a winding wheel 021. The winding wheel 021 is rotatably mounted on the bracket 025 in a direction orthogonal to the bracket 025. The winding wheel 021 is configured to connect to one end of a drive wire 013 used to drive an external surgical instrument 01, such that the drive wire 013 is in a state of tensioning the surgical instrument 01 under a first tension force. The measuring assembly 03 includes a measuring wire 031 and a tension detection mechanism 032. The measuring wire 031 is connected to the winding wheel 021, and the measuring wire 031 is configured to apply a second tension force to the winding wheel 021 that is opposite in direction and equal in magnitude to the first tension force, such that the winding wheel 021 is in a relatively static equilibrium state. The tension detection mechanism 032 is configured to be connected to the measuring wire 031 to obtain the value of the first tension applied by the drive wire 013 to the surgical instrument 01 by detecting the second tension when the winding wheel 021 is in a balanced state.

[0060] In this embodiment, the tension of the drive wire 013 is transmitted to the measuring wire 031 by winding a drive wire 013 and a measuring wire 031 with opposite directions and equal magnitudes of tension on the same winding wheel 021. The second tension value on the measuring wire 031 is detected by the tension detection mechanism 032 to obtain the magnitude of the first tension exerted by the drive wire 013 on the surgical instrument 01, so that the tension of the drive wire 013 relative to the surgical instrument can be measured without disassembling or modifying the surgical instrument 01.

[0061] The surgical instrument drive wire tensioning device provided according to embodiments of this disclosure, such as... Figure 1 As shown, the surgical instrument drive wire tensioning device further includes an adjustment assembly 04 disposed between the support assembly 02 and the measuring assembly 03. The adjustment assembly 04 includes a first adjustment section and a second adjustment section. The first adjustment section is configured to extend along a first direction tangential to the circumferential surface of the winding wheel 021, and to move between a position close to the winding wheel 021 and a position far from the winding wheel 021, adjusting the magnitude of the second tension of the measuring wire 031 to adjust the first tension of the drive wire 013. The second adjustment section is configured to adjust the position of the measuring wire 031 relative to the winding wheel 021 along a direction orthogonal to the first direction, thereby adjusting the direction of the second tension.

[0062] According to embodiments of this disclosure, such as Figure 1 As shown, the first adjustment unit includes a first slide configured to move longitudinally along the horizontal direction. The second adjustment unit includes a second slide configured to move laterally along the horizontal direction and / or a third slide configured to move vertically.

[0063] In one illustrative embodiment, such as Figure 1 As shown, the surgical instrument drive wire tensioning device also includes a platform base plate 05.

[0064] In detail, the support assembly 02 and the measuring assembly 03 can be fixed to the platform base plate 05 by adjusting the assembly 04.

[0065] In one illustrative embodiment, such as Figure 1 As shown, the adjustment assembly 04 includes a first slide, a second slide, and a third slide. Figure 1 The coordinate system shown defines the x-direction as the first direction extending tangentially to the circumferential surface of the winding wheel 021; the z-direction as the direction orthogonal to the first direction and extending vertically; and the y-axis as the direction orthogonal to both the x- and z-directions. Specifically, the third slide is located at one end of the platform base plate 05 (e.g., ...). Figure 1 (The left end of the platform base plate shown). Further, the support assembly 02 is mounted on the left side of the upper end of the third slide. The support assembly 02 is configured to move with the third slide in the vertical direction (e.g., ...). Figure 1 (Move in the z-direction shown).

[0066] Furthermore, the first and second slides are stacked on the other end of the platform base plate 05 (e.g., Figure 1 The right end of the platform base plate). The second slide is mounted on the platform base plate 05, and the first slide is mounted on the second slide, configured to follow the second slide in a transverse direction along the horizontal direction (e.g., ...). Figure 1 The measuring component 03 is mounted on the first slide and is configured to move along the longitudinal direction (as shown in the y-direction) of the first slide. Figure 1 Move in the x-direction shown.

[0067] In one illustrative embodiment, the platform base plate 05 is constructed as a perforated plate structure with holes evenly arranged horizontally and vertically on the platform base plate 05, so that the second slide and the third slide are fixed to the platform base plate 05 by means of screws.

[0068] In this embodiment, the first slide of the adjusting component 04 can be used to adjust the first direction (e.g., the direction in which the tension detection mechanism 032 extends tangentially to the circumferential surface of the winding wheel 021 relative to the winding wheel 021) of the first direction. Figure 1The position (in the x-direction shown). During the movement of the tension detection mechanism 032 towards the winding wheel 021 and away from the winding wheel 021, the magnitude of the second tension applied by the measuring wire 031 to the winding wheel 021 is adjusted, so that the first tension of the driving wire 013 is adjusted with the second tension. The second slide provided by the adjusting assembly 04 can be used to adjust the lateral direction (e.g., in the horizontal direction) of the tension detection mechanism 032. Figure 1 The position of the support assembly 02 (as shown in the y-direction) can be adjusted by adjusting the third slide of the adjustment component 04 in the vertical direction (e.g., the y-direction). Figure 1 The position (in the z-direction shown) is used to change the direction of the second pulling force.

[0069] Figure 2 for Figure 1 A perspective view of a portion of the third slide of the surgical instrument drive wire tensioning device shown in the schematic embodiment.

[0070] In one illustrative embodiment, taking the third slide as an example, such as... Figure 2 As shown, the third slide in the adjustment assembly 04 includes a fixed part 041, a movable part 042, and an adjustment knob 043.

[0071] In one illustrative embodiment, the moving part 042 of the third slide is configured to slide relative to the fixed part 041, and an adjustment knob 043 is provided on the fixed part 041 for driving the position of the moving part 042 relative to the fixed part 041.

[0072] Furthermore, the first and second slides have a structure similar to that of the third slide.

[0073] Figure 3 for Figure 1 A perspective view of a portion of the winding wheel 021 of the drive wire tensioning device for surgical instruments, as shown in the schematic embodiment.

[0074] According to embodiments of this disclosure, such as Figure 3 As shown, one axial end of the circumferential surface of the winding wheel 021 is provided with a drive wire fixing hole 021a for passing through and fixing the drive wire 013, and the other end of the winding wheel 021 is provided with a measuring wire fixing hole 021b for passing through and fixing the measuring wire 031. A helical wire groove is provided on the outer surface of the winding wheel 021 between the drive wire fixing hole 021a and the measuring wire fixing hole 021b, so that the drive wire 013 and the measuring wire 031 are wound in opposite directions within the wire groove.

[0075] In one illustrative embodiment, the method of fixing the drive wire 013 to the drive wire fixing hole 021a and / or the method of fixing the measuring wire 031 to the measuring wire fixing hole 021b includes, but is not limited to, any one of the following: adding a metal buckle to the end of the wire, tying a knot at the end of the wire, or other methods that prevent the wire from coming out of the hole.

[0076] According to embodiments of this disclosure, both the drive wire fixing hole 021a and the measuring wire fixing hole 021b are configured to extend along the tangential direction of the winding wheel 021.

[0077] In one illustrative embodiment, the drive wire fixing hole 021a is configured to extend tangentially along the winding wheel 021, such that the drive wire 013 is in a state of tensioning the surgical instrument 01 under the action of a first tension. The measuring wire fixing hole 021b is configured to extend tangentially along the winding wheel 021, so that it rotates about the axis of the winding wheel 021 when subjected to a second tension applied by the measuring wire 031.

[0078] According to an embodiment of this disclosure, the support assembly 02's bracket 025 includes two parallel, spaced-apart plate-shaped members. The support assembly 02 also includes a rotating shaft 022 and a fastening portion. The rotating shaft 022 is configured to be rotatably mounted between the two plate-shaped members in a direction orthogonal to the plate-shaped members. A winding wheel 021 is rotatably sleeved on the outside of the rotating shaft 022 to adjust the angle of the winding wheel 021 relative to the rotating shaft 022. The fastening portion is detachably disposed at the ends of the rotating shaft 022 and the winding wheel 021 to limit the angle of the winding wheel 021 relative to the rotating shaft 022 in the assembled state, allowing the winding wheel 021 to rotate with the rotating shaft 022 about the axis of the rotating shaft 022.

[0079] In one illustrative embodiment, the fastening part includes a pivot bearing 026, a locking nut 027, and a locking screw 028.

[0080] In one illustrative embodiment, a pivot bearing 026 is configured to be fitted onto both ends of a pivot shaft 022 axially. Specifically, the outer ring of the pivot bearing 026 is fitted into a hole formed in a bracket 025, allowing the pivot shaft 022 to rotate about its axis relative to the bracket. Furthermore, the dimensions of the pivot bearing 026 are preferably chosen to meet the assembly requirements with the bracket 025; two pivot bearings 026 may be configured to be the same or different sizes.

[0081] In one illustrative embodiment, such as Figure 2 As shown, the winding wheel 021 includes a winding part and a connecting part.

[0082] In detail, the winding part is constructed as a cylindrical mechanism, and the center of the winding part is provided with a hole along the axial direction for fitting onto the outside of the rotating shaft 022.

[0083] Furthermore, the connecting portion extends along the axial direction of the winding portion and is integrally disposed at one end of the axial direction of the winding portion (as shown in the example). Figure 2 The upper end of the upper winding wheel 021 and the lower end of the lower winding wheel 021 are shown.

[0084] In one illustrative embodiment, such as Figure 2 As shown, the aforementioned drive wire fixing hole 021a, measuring wire fixing hole 021b, and wire groove are all provided on the circumferential surface of the winding part.

[0085] In detail, for example, the measuring wire fixing hole 021b is set in such a position. Figure 2 The upper end of the winding part of the winding wheel 021 shown above is provided with the drive wire fixing hole 021a located at the lower end of the winding part. The positions of the drive wire fixing hole 021a and the measuring wire fixing hole 021b can be interchanged according to specific embodiments.

[0086] Furthermore, a wire groove is formed on the outer surface of the winding portion between the drive wire fixing hole 021a and the measuring wire fixing hole 021b.

[0087] In one illustrative embodiment, the connecting portion is configured as an arc-shaped structure (including, but not limited to, being configured as a semi-circular ring).

[0088] Furthermore, the locking nut 027 is constructed as an arc-shaped mechanism. When the locking nut 027 and the connecting part are assembled, the locking nut 027 and the connecting part are constructed as a roughly annular structure and locked in the radial direction parallel to the locking screw 028, so that the connecting part and the locking screw 028 are locked together on the outer surface of the rotating shaft 022, thereby restricting the circumferential position of the winding wheel 021 relative to the rotating shaft 022.

[0089] According to embodiments of this disclosure, such as Figure 3 As shown, a winding wheel 021 is mounted at each end of the axial direction of the rotating shaft 022. The two winding wheels 021 are used to connect two drive wires 013 of a surgical instrument 01 to obtain a first tension of the two drive wires 013. Specifically, the two drive wires 013 are wound on the two winding wheels 021 in opposite directions. Thus, by utilizing the equal tension of the two drive wires 013, the balance of the surgical instrument 01 in the same degree of freedom can be adjusted. Here, the same degree of freedom is characterized as the front-back position and / or the left-right position. It should be understood that the embodiments of this disclosure are not limited thereto.

[0090] For example, the specific number of winding wheels 021 should be configured to be the same as the number of drive wires 013 that need to be measured and / or adjusted. The initial tension of multiple drive wires 013 can be adjusted via the winding wheels 021. In such an embodiment, by detecting the tension of two drive wires 013 to ensure that the tension on the two drive wires 013 driving the same degree of freedom is the same without disassembling or modifying the surgical instrument 01, ideal initialization of the surgical instrument 01 can be achieved.

[0091] Figure 4 for Figure 3 The diagram shows the working state of the winding wheel 021 connected to the drive wire 013 and the measuring wire 031 in the schematic embodiment.

[0092] In one illustrative embodiment, such as Figure 4 As shown, the support assembly 02 also includes a guide wire portion disposed between the surgical instrument 01 and the winding wheel 021. Specifically, the guide wire portion includes a first guide wire wheel 023 and a second guide wire wheel 024. Furthermore, the extending directions of the axes of the first guide wire wheel 023 and the second guide wire wheel 024 are configured to be orthogonal.

[0093] In one illustrative embodiment, the first guide wheel 023 is disposed in the bracket 025, and the first guide wheel 023 is configured to be parallel to the winding wheel 021 in the axial direction (e.g., Figure 4 The first guide wheel 023 (located to the left of the winding wheel 021) is used to keep the drive wire 013 stable in the horizontal direction and wound onto the winding wheel 021 after passing through the first guide wheel 023. The second guide wheel 024 is disposed in the bracket 025, and the second guide wheel 024 is configured to be orthogonal to the first guide wheel 023 (e.g., ...). Figure 4 The second guide wire wheel 024 shown is located to the left of the first guide wire wheel 023 and is used to maintain stable sliding of the drive wire 013 after it extends from the longitudinal direction of the rod-shaped member 011 of the surgical instrument 01.

[0094] In one illustrative embodiment, the specific number of guide wires should be configured to be the same as the number of drive wires 013.

[0095] Figure 5 for Figure 1 A perspective view of a portion of the measuring component 03 of the surgical instrument drive wire tensioning device shown in the schematic embodiment.

[0096] According to embodiments of this disclosure, the measuring component 03 includes a measuring wire 031 and a tensile testing mechanism 032, such as... Figure 5As shown, the tension detection mechanism 032 includes a tension sensor 032a and a tension receiver 032b. The detection end of the tension sensor 032a is configured to connect to the measuring wire 031 to detect a second tension. The tension receiver 032b is connected to the signal end of the tension sensor 032a to obtain the value of the first tension by acquiring and / or displaying the magnitude of the second tension.

[0097] In one illustrative embodiment, the tension detection mechanism 032 further includes a connector 032c and a sensor connection portion 032d. The sensor connection portion 032d is disposed at the detection end of the tension sensor 032a. The connector 032c is detachably mounted on the sensor connection portion 032d and is configured such that, when assembled with the sensor connection portion 032d, one end of the measuring wire 031 is constrained on the sensor connection portion 032d, allowing the second tension to be detected by the tension sensor 032a.

[0098] In one illustrative embodiment, the sensor connector 032d is configured as an L-shaped block structure to be fixed to the detection end of the tension sensor 032a. Specifically, a threaded through-hole is provided on the inner surface at the center of the sensor connector 032d. Further, the connector 032c is configured as a threaded knob structure, allowing it to be detachably mounted to the sensor connector 032d via a threaded engagement. Even further, the measuring wire 031 is fixed to the connector 032c by spiral winding, and in an assemblable state with the sensor connector 032d, the connector 032c can be screwed into the threaded through-hole of the sensor connector 032d.

[0099] In one illustrative embodiment, the sensor connection portion 032d of the tension sensor 032a is mounted on the first slide with its sensor connection portion 032d facing the winding wheel 021, while ensuring that the axial direction of the threaded through hole at the center of the sensor connection portion 032d is always orthogonal to the measuring wire 031. The tension detection mechanism 032 can only detect the tension of one measuring wire 031 individually. To detect the tension of multiple measuring wires 031, the detection can be performed multiple times, or the number of tension detection mechanisms 032 can be set according to the number of measuring wires 031.

[0100] Figure 6 This is a perspective view of a surgical instrument 01 according to an illustrative embodiment of the present disclosure. Figure 7 yes Figure 6 An exploded view of the components of the surgical instrument 01 in the illustrative embodiment shown.

[0101] According to embodiments of this disclosure, such as Figure 6 and Figure 7As shown, a surgical instrument 01 includes a rod-shaped member 011, a swing joint 012, and a drive wire 013. The rod-shaped member 011 has an axially extending channel inside. The swing joint 012 is sleeved on one axial end of the rod-shaped member 011. One end of the drive wire 013 is connected to the swing joint 012, and the other end of the drive wire 013 extends along the channel formed by the rod-shaped member 011 and protrudes from the end of the rod-shaped member 011 away from the swing joint 012. The end of the drive wire 013 protruding from the rod-shaped member 011 is connected to a winding wheel 021 of a drive wire tensioning device for surgical instruments.

[0102] In one illustrative embodiment, the support assembly 02 is mounted on the moving part 042 of the third slide in a direction that coincides with the bottom surface of the bracket 025 in the support assembly 02 and the direction of the base plate on the moving part 042 of the third slide, while keeping the rod-shaped member 011 of the surgical instrument 01 in a position orthogonal to the platform base plate 05.

[0103] In one illustrative embodiment, the positioning plate 014 is disposed at the end away from the end of the drive wire 013 that extends from the rod-shaped member 011 (e.g., Figure 6 (At the left end), the center of the positioning plate 014 has a semi-circular groove, which forms a circular passage when the two positioning plates are aligned. Furthermore, the fastening screw 015 is used to fix the swing joint 012 in the circular passage to limit the swing joint 012 from swinging in a direction orthogonal to the axial direction of the circular passage.

[0104] In one illustrative embodiment, during the assembly of the surgical instrument 01, to prevent the surgical instrument 01 from experiencing slight swaying, rotation, and opening / closing in multiple degrees of freedom, the swing joint 012 at the front end of the surgical instrument 01 is first locked in a neutral position. By winding a drive wire 013 and a measuring wire 031 with opposite directions and equal magnitudes of tension on the same winding wheel 021, the tension of the drive wire 013 is transmitted to the measuring wire 031. Then, the second tension value on the measuring wire 031 is detected by the tension detection mechanism 032. By detecting the second tension, the magnitude of the first tension applied by the drive wire 013 to the swing joint 012 of the surgical instrument 01 is obtained. This allows the tension on the drive wire 013 to be measured without disassembling or modifying the surgical instrument 01. By setting two drive wires 013 to adjust the same degree of freedom of the surgical instrument 01, the ideal initialization of the surgical instrument 01 is achieved.

[0105] It should also be noted that the directional terms mentioned in the embodiments, such as "up," "down," "front," "back," "left," and "right," are only for reference to the directions in the accompanying drawings and are not intended to limit the scope of protection of this disclosure. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or constructions will be omitted where they may cause confusion in understanding this disclosure.

[0106] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A drive wire tensioning device for a surgical instrument, characterized by, The application relates to a tension measuring device for a surgical instrument (01) comprising: a supporting assembly (02) comprising: a support (025); a winding wheel (021) rotatably mounted on the support (025) in a direction perpendicular to the support (025) and configured and arranged to connect one end of a driving wire (013) of the surgical instrument (01) so that the driving wire (013) is in a state of tensioning the surgical instrument (01) under a first tension; a measuring assembly (03) comprising: a measuring wire (031) connected to the winding wheel (021) and configured to apply a second tension to the winding wheel (021) in a direction opposite to and equal in magnitude to the first tension so that the winding wheel (021) is in a state of relative static balance; and a tension detecting mechanism (032) configured and arranged to connect to the measuring wire (031) to obtain a value of the first tension applied by the driving wire (013) to the surgical instrument (01) by detecting the second tension when the winding wheel (021) is in the state of balance.

2. The apparatus of claim 1, wherein, The application further comprises an adjusting assembly (04) disposed between the supporting assembly (02) and the measuring assembly (03), the adjusting assembly (04) comprising: a first adjusting part configured and arranged to move along a first direction extending in a tangential direction of a circumferential surface of the winding wheel (021) between a close position close to the winding wheel (021) and a far position away from the winding wheel (021) to adjust the first tension of the driving wire (013) by adjusting a magnitude of the second tension of the measuring wire (031); and a second adjusting part configured and arranged to adjust a position of the measuring wire (031) relative to the winding wheel (021) along a direction perpendicular to the first direction to adjust a direction of the second tension.

3. The apparatus of claim 2, wherein, The first adjusting part comprises a first sliding table configured and arranged to move in a longitudinal direction along a horizontal direction. The second adjusting part comprises a second sliding table configured and arranged to move in a transverse direction along the horizontal direction and / or a third sliding table configured and arranged to move in a vertical direction.

4. The apparatus of claim 1, wherein, An axial end of the circumferential surface of the winding wheel (021) is provided with a driving wire fixing hole (021a) for passing and fixing the driving wire (013), and the other end of the winding wheel (021) is provided with a measuring wire fixing hole (021b) for passing and fixing the measuring wire (031), and an outer surface of the winding wheel (021) between the driving wire fixing hole (021a) and the measuring wire fixing hole (021b) is provided with a spiral wire groove so that the driving wire (013) and the measuring wire (031) are wound in opposite directions in the wire groove.

5. The apparatus of claim 4, wherein, The driving wire fixing hole (021a) and the measuring wire fixing hole (021b) are both configured and arranged to extend in the tangential direction of the winding wheel (021).

6. The apparatus of any one of claims 1 to 5, wherein, The support (025) comprises two parallel and spaced apart plate-shaped members. The supporting assembly (02) further comprises: a rotating shaft (022) configured to be rotatably mounted between two plate-shaped members in a direction orthogonal to the plate-shaped members, the wire winding wheel (021) being rotatably sleeved on the outside of the rotating shaft (022) to adjust the rotation angle of the wire winding wheel (021) relative to the rotating shaft (022); and a fastening part detachably arranged at the end of the rotating shaft (022) and the wire winding wheel (021) to limit the angle of the wire winding wheel (021) relative to the rotating shaft (022) in the assembled state, so that the wire winding wheel (021) rotates with the rotating shaft (022) around the axis of the rotating shaft (022).

7. The apparatus of claim 6, wherein, Both ends of the rotating shaft (022) in the axial direction are respectively provided with a wire winding wheel (021), and the two wire winding wheels (021) are used to connect two driving wires (013) of a surgical instrument (01) to obtain the first tension of the two driving wires (013).

8. The apparatus of any one of claims 1 to 5, wherein, The tension detection mechanism (032) comprises: a tension sensor (032a) having a detection end configured to be connected to the measuring wire (031) to detect the second tension; and a tension receiver (032b) connected to the signal end of the tension sensor (032a) to obtain the value of the first tension by collecting and / or displaying the size of the second tension.

9. The apparatus of claim 8, wherein, The tension detection mechanism (032) further comprises: a sensor connecting part (032d) arranged at the detection end of the tension sensor (032a); and a connecting piece (032c) detachably mounted on the sensor connecting part (032d) and configured to limit one end of the measuring wire (031) on the sensor connecting part (032d) in the assembled state of the sensor connecting part (032d), so that the second tension can be detected by the tension sensor (032a).

10. A surgical instrument (01) characterized in that, It comprises: a rod-shaped member (011) having a channel extending in the axial direction inside the rod-shaped member (011); a swing joint (012) sleeved on one end of the rod-shaped member (011) in the axial direction; a driving wire (013) having one end connected to the swing joint (012) and the other end extending along the channel formed in the rod-shaped member (011) and protruding from the end of the rod-shaped member (011) away from the swing joint (012); and a surgical instrument driving wire tensioning device as claimed in any one of claims 1 to 9, the end of the driving wire (013) protruding from the rod-shaped member (011) being connected to the wire winding wheel (021) of the surgical instrument driving wire tensioning device. ​

Images