An instrument transmission, surgical instrument, and surgical robot

Abstract

The embodiment of the application provides an instrument transmission device, a surgical instrument and a surgical robot, and relates to the technical field of surgical instruments. The surgical robot comprises a master console, an operating hand and a surgical instrument. The master console is connected with the operating hand. The operating hand is detachably connected with the surgical instrument. The surgical instrument is used for performing minimally invasive surgical operation. The surgical instrument comprises a flexible instrument and an instrument transmission device connected with each other. The instrument transmission device comprises a base plate, a plurality of driving shafts and a plurality of driving ropes. The plurality of driving shafts are arranged on the base plate and can rotate along the axes thereof relative to the base plate. At least one end of the driving rope is used for being wound around the driving shaft. The driving rope is used for being connected with the flexible instrument. The driving rope is used for driving the flexible instrument to bend under the driving of the driving shaft. In the embodiment, the driving rope connected with the flexible instrument is directly driven by the driving shaft. The slippage and large friction can be avoided. Therefore, the control precision of the instrument transmission device provided by the application is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical instruments, in particular to an instrument transmission device, a surgical instrument and a surgical robot. BACKGROUND

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the body cavity by using a laparoscope, a thoracoscope and other modern medical instruments and related equipment. Compared with the traditional surgical method, minimally invasive surgery has the advantages of small trauma, light pain and fast recovery. However, in minimally invasive surgery, the minimally invasive instrument is greatly difficult to operate due to the limitation of the size of the incision, and the actions such as fatigue and tremor of the doctor during a long operation are magnified, which becomes a key factor restricting the development of minimally invasive surgery technology. With the development of robot technology, a new technology in the field of minimally invasive medical treatment that can overcome the shortcomings and inherit the advantages, i.e. minimally invasive surgery robot technology, emerges as the times require.

[0003] A common minimally invasive surgery robot is composed of a doctor console, a patient-side cart and a display device. A surgeon operates an input device at the doctor console and transmits the input to a patient-side cart connected with a remotely operated surgical instrument. Based on the input of the surgeon at the doctor console, the remotely operated surgical instrument is actuated at the patient-side cart to operate on the patient, thereby generating a master-slave control relationship between the doctor console and the surgical instrument at the patient-side cart. Among them, the single-hole surgery robot has the advantages of less incision and faster postoperative recovery, and generally uses a flexible surgical instrument to enter the human body through one incision to carry out surgery. It can be seen that the flexible surgical instrument is crucial to the single-hole surgery robot.

[0004] The inventor has found that the control precision of the instrument transmission device of some existing flexible surgical instruments is weak. SUMMARY

[0005] The purpose of the present application is to provide an instrument transmission device, a surgical instrument and a surgical robot, which can ensure the control precision of the instrument transmission device.

[0006] The embodiments of the present application are implemented as follows:

[0007] In a first aspect, the present application provides an instrument transmission device, comprising:

[0008] a substrate;

[0009] a plurality of drive shafts, the plurality of drive shafts being arranged on the substrate and being rotatable relative to the substrate along their own axes;

[0010] a plurality of drive ropes, at least one end of each drive rope being arranged to be wound around a drive shaft, and each drive rope being arranged to be connected with a flexible instrument, and each drive rope being arranged to drive the flexible instrument to bend under the driving of the drive shaft.

[0011] In an optional embodiment, the plurality of drive ropes comprises a first group of drive ropes and a second group of drive ropes, the first group of drive ropes comprises a first drive rope, a second drive rope, a third drive rope and a fourth drive rope, the first drive rope, the second drive rope, the third drive rope and the fourth drive rope each have two free ends wound around two drive shafts and the two free ends are wound in opposite directions around the two drive shafts.

[0012] In an optional embodiment, the plurality of drive shafts comprises a first drive shaft and a second drive shaft, the two free ends of the first drive rope, the two free ends of the second drive rope, the two free ends of the third drive rope and the two free ends of the fourth drive rope are wound around the first drive shaft and the second drive shaft respectively.

[0013] In an optional embodiment, for the first drive rope, the second drive rope, the third drive rope and the fourth drive rope on the first drive shaft or the second drive shaft, the first drive rope is wound in the same direction as the third drive rope and in the opposite direction as the second drive rope and the fourth drive rope.

[0014] In an optional embodiment, the second group of drive ropes further comprises a fifth drive rope, a sixth drive rope, a seventh drive rope and an eighth drive rope, one end of the fifth drive rope, the sixth drive rope, the seventh drive rope and the eighth drive rope is used to be wound around a drive shaft, the other end is used to be connected with a flexible instrument, the fifth drive rope and the sixth drive rope are wound in opposite directions around the drive shaft respectively as the seventh drive rope and the eighth drive rope.

[0015] In an optional embodiment, the plurality of drive shafts further comprises a third drive shaft and a fourth drive shaft, the fifth drive rope and the sixth drive rope are wound around the third drive shaft in opposite directions, the seventh drive rope and the eighth drive rope are wound around the fourth drive shaft in opposite directions.

[0016] In an optional embodiment, the instrument transmission device further comprises a fixing plate arranged on the base plate and a plurality of reversing pieces, the fixing plate is provided with a plurality of guide wheels, the guide wheels can rotate along their own axes relative to the fixing plate, each drive rope passes through the guide wheels and the reversing pieces along a preset path and is wound around a drive shaft.

[0017] In an optional embodiment, the instrument transmission device further comprises a hub, the base plate is provided with a through hole for mounting the hub, the hub is provided with a plurality of first through holes for the drive ropes to pass through, the hub is further provided with a second through hole for a soft rod of a flexible instrument to pass through.

[0018] In an optional embodiment, the instrument transmission device further comprises a soft rod connecting part and a soft rod drive rope, the soft rod connecting part is rotatably arranged on the fixing plate and the rotation axis is perpendicular to the fixing plate, one end of the soft rod connecting part is used to be connected with the soft rod, the other end of the soft rod connecting part is used to be connected with the soft rod drive rope.

[0019] In an optional embodiment, the instrument transmission device further includes a flexible rod drive shaft, with one end of the flexible rod drive rope away from the flexible rod connection portion wrapped around the flexible rod drive shaft, and the flexible rod drive shaft being disposed on the base plate and capable of rotating relative to the base plate along its own axis.

[0020] Secondly, the present invention provides a surgical instrument, including a flexible instrument connected to it and an instrument transmission device according to any of the foregoing embodiments.

[0021] Thirdly, the present invention provides a surgical robot, including a main control console, an operator hand, and surgical instruments as described in the foregoing embodiments, wherein the main control console is connected to the operator hand, and the operator hand and surgical instruments are detachably connected.

[0022] The beneficial effects of the embodiments of the present invention are as follows: The embodiments of the present invention provide an instrument transmission device, surgical instruments, and a surgical robot. The surgical robot includes a main control console, an operator hand, and surgical instruments. The main control console is connected to the operator hand, and the operator hand is detachably connected to the surgical instruments. The surgical instruments are used for minimally invasive surgical procedures and include a flexible instrument and an instrument transmission device connected to each other. The instrument transmission device includes a base plate, multiple drive shafts, and multiple drive ropes. The multiple drive shafts are disposed on the base plate and can rotate relative to the base plate along their own axes. At least one end of each drive rope is used to wrap around a drive shaft and is used to connect to the flexible instrument. The drive rope is used to drive the flexible instrument to bend under the drive of the drive shaft. In this embodiment, the drive rope connected to the flexible instrument is directly driven by the drive shaft, which can avoid slippage and high friction, thereby effectively improving the control accuracy of the instrument transmission device provided by the present invention. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of a surgical instrument provided in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the clamping assembly provided in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of the instrument transmission device provided in an embodiment of the present invention;

[0027] Figure 4 A schematic diagram showing the direction of the first set of drive ropes provided in an embodiment of the present invention;

[0028] Figure 5 for Figure 4 A structural diagram from another perspective;

[0029] Figure 6 This is a schematic diagram showing the direction of the second set of drive ropes provided in an embodiment of the present invention;

[0030] Figure 7 A schematic diagram of the structure of the substrate, gear set, gear plate and support column in cooperation according to an embodiment of the present invention;

[0031] Figure 8 for Figure 7 An explosion diagram;

[0032] Figure 9 This is a schematic diagram of the structure of the hub provided in an embodiment of the present invention;

[0033] Figure 10 A schematic diagram of the structure of the first pillar provided in an embodiment of the present invention;

[0034] Figure 11 A schematic diagram of the structure of the second pillar provided in an embodiment of the present invention;

[0035] Figure 12 A schematic diagram showing the direction of the flexible rod drive rope provided in an embodiment of the present invention;

[0036] Figure 13 for Figure 12 A structural diagram from another perspective;

[0037] Figure 14 for Figure 12 A magnified view of a portion of point A in the middle.

[0038] Icons: 1-Surgical instrument; 10-Flexible instrument; 11-Flexible shaft; 12-Instrument end; 13-Clamping assembly; 131-Operating tube; 132-Operating lever; 133-Clamping clamp; 20-Instrument transmission device; 21-Base plate; 211-First mounting part; 212-Second mounting part; 22-Top plate; 23-Gear plate; 24-Gear set; 25-Support column; 26-Fixing plate; 261-Guide wheel; 27-Reversing component; 271-Reversing wheel; 28-Flexible rod connection part; 29-Wire hub; 291-First through hole; 292-Second through hole; 200-Drive shaft; 210-First drive shaft; 220-Second drive shaft Drive shaft; 230-Third drive shaft; 240-Fourth drive shaft; 250-Flexible rod drive shaft; 260-Gear set drive shaft; 300-Drive rope; 310-First drive rope; 320-Second drive rope; 330-Third drive rope; 340-Fourth drive rope; 350-Fifth drive rope; 360-Sixth drive rope; 370-Seventh drive rope; 380-Eighth drive rope; 390-Flexible rod drive rope; 400-Support column; 410-First support column; 411-Positioning protrusion; 420-Second support column; 401-Threaded hole; 500-End block; 510-Bearing mounting seat; 520-Bolt hole; 600-Bearing. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0041] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0042] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are 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, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0043] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0044] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0045] In existing flexible surgical instruments, such as the prior art (CN106308939B) which discloses a drive unit for driving a flexible continuum structure, the drive unit can be understood as an instrument transmission device. The structural bone drive mechanism collaboratively pushes the structural bone of the drive segment to achieve bending motion of the drive segment in any direction, thereby achieving bending motion of the proximal structure in the same direction, and ultimately achieving bending motion of the distal structure of the flexible continuum structure. However, during the driving process, it mainly relies on the cooperation of pulley systems to drive around the structural bone. When the wrap angle between the pulley system and the structural bone is small, slippage can easily occur, leading to low control precision. Conversely, when the wrap angle between the pulley system and the structural bone is large, the friction between the structural bone and the pulley system is high, resulting in driving difficulties.

[0046] The following describes in detail, with reference to the accompanying drawings, the specific structure of a mechanical transmission device provided by an embodiment of the present invention and the corresponding technical effects it brings.

[0047] This embodiment provides a surgical robot (not shown), which includes a main control console (not shown) and an operator hand (not shown) connected to each other. The operator hand is detachably equipped with surgical instruments. The surgical instruments 1 are used to perform minimally invasive surgical operations.

[0048] For further details, please refer to... Figures 1-2 The surgical instrument 1 includes a flexible instrument 10 and an instrument transmission device 20 connected together.

[0049] The flexible device 10 includes a flexible shaft 11 and a device end 12 connected to each other. The device end 12 is located on the side of the flexible shaft 11 away from the device transmission device 20. It should be noted that the flexible device 10 mostly achieves its bending motion by driving the drive rope 300 connected to it through the transmission component in the device transmission device 20. This is a conventional method in the field and will not be described in detail here.

[0050] It should be noted that a clamping assembly 13 is provided at the end of the instrument end 12 away from the flexible shaft 11. The clamping assembly 13 includes an operating tube 131, an operating rod 132, and a clamp 133. The operating tube 131 is sleeved on the outside of the operating rod 132. The operating rod 132 is located inside the flexible shaft 11 and the instrument end 12. The clamp 133 is located at the end of the operating rod 132 that extends out of the instrument end 12.

[0051] By extending or retracting the operating rod 132 relative to the operating tube 131, the clamp 133 can be opened and closed, thereby completing the minimally invasive surgical procedure. The operating rod 132 can be a flexible rod, and the operating tube 131 can be a flexible tube, so that the operating rod 132 and the operating tube 131 can undergo certain deformation. The operating tube 131, which is sleeved outside the operating rod 132, can reduce the friction generated by the operating tube 131 during the extension and retraction process, and provide supporting thrust for the operating rod 132.

[0052] Please continue to refer to this. Figures 3-5 The present invention provides a mechanical transmission device 20 including a base plate 21, multiple drive shafts 200 and multiple drive ropes 300.

[0053] Multiple drive shafts 200 are disposed on the substrate 21 and can rotate relative to the substrate 21 along their own axis. At least one end of the drive rope 300 is used to wrap around the drive shaft 200 and the drive rope 300 is used to connect with the flexible device 10. The drive rope 300 is used to drive the flexible device 10 to bend under the drive of the drive shaft 200.

[0054] As is easily understood, when the drive rope 300 is wound around the drive shaft 200, the rotation of the drive shaft 200 can loosen or tighten the drive rope 300 wound around the drive shaft 200, thereby enabling the flexible instrument 10 to perform bending motion. Since the drive rope 300 is wound around the drive shaft 200, in this embodiment, the drive shaft 200 directly drives the drive rope 300 connected to the flexible instrument 10, which avoids slippage and high friction, thus effectively improving the control accuracy of the instrument transmission device 20 provided by this invention. It also avoids transmission through intermediate components, i.e., pulley systems, reducing space occupation to a certain extent.

[0055] Furthermore, in this embodiment, the multiple drive ropes 300 include a first group of drive ropes 300 and a second group of drive ropes 300. The first group of drive ropes 300 includes a first drive rope 310, a second drive rope 320, a third drive rope 330, and a fourth drive rope 340. The first drive rope 310, the second drive rope 320, the third drive rope 330, and the fourth drive rope 340 each have two free ends that are respectively wound around two drive shafts 200, but the two free ends are wound around the two drive shafts 200 in opposite directions.

[0056] It should be noted that, in this embodiment, when any one of the first drive rope 310, the second drive rope 320, the third drive rope 330, and the fourth drive rope 340 is wound, taking the first drive rope 310 as an example, the two free ends of the first drive rope 310 are respectively passed through the flexible device 10 and wound around two different drive shafts 200, and the predetermined portion between the two ends of the first drive rope 310 is fixedly connected to the flexible device 10. Since the two free ends of the first drive rope 310 are wound around two different drive shafts 200 in opposite winding directions, during control, when the length of the drive rope 300 on one drive shaft 200 extends, the length of the drive rope 300 on the other drive shaft 200 shortens.

[0057] It should be noted that the length of the drive rope 300 can be understood as the length of the drive rope 300 wound around the drive shaft 200 to the point of connection with the flexible device 10. Therefore, the above arrangement can ensure smooth control of the bending of the flexible device 10 under the rotation of the drive shaft 200. The bending includes pitch and yaw motions as understood in the art.

[0058] Please continue to refer to this. Figures 3-5Furthermore, in this embodiment, the multiple drive shafts 200 include a first drive shaft 210 and a second drive shaft 220. The two free ends of the first drive rope 310, the two free ends of the second drive rope 320, the two free ends of the third drive rope 330, and the fourth drive rope 340 are respectively wound around the first drive shaft 210 and the second drive shaft 220. It can be understood that the two free ends of the first drive rope 310, the second drive rope 320, the third drive rope 330, and the fourth drive rope 340 are all respectively wound around the first drive shaft 210 and the second drive shaft 220. The four drive ropes 300 are controlled by the two drive shafts 200 to drive the flexible device 10 to bend.

[0059] It should be noted that in actual connection, the first drive rope 310 and the second drive rope 320 can be combined to form a first drive group, and the third drive rope 330 and the fourth drive rope 340 can be combined to form a second drive group, respectively controlling the bending of different positions in the flexible device 10. For example, the first drive rope 310 and the second drive rope 320 are connected to the most distal joint of the flexible device 10, which can be understood as the aforementioned device end 12. Then, the first drive shaft 210 and the second drive shaft 220 drive the first drive rope 310 and the second drive rope 320 to achieve the bending movement of the device end 12. The third drive rope 330 and the fourth drive rope 340 are connected to the joint of the secondary end, which can be understood as a joint on the flexible shaft 11, and the specific position can be set according to the specific situation.

[0060] The first drive shaft 210 and the second drive shaft 220 drive the first drive rope 310, the second drive rope 320, the third drive rope 330 and the fourth drive rope 340 to achieve the bending movement of the flexible instrument 10. Using two shafts to control four drive ropes 300 saves space on the base plate 21, and thus also reduces the space occupied by the instrument transmission device 20.

[0061] Specifically, in this embodiment, for the first drive rope 310 on the first drive shaft 210 or the second drive shaft 220, the second drive shaft 220, the third drive rope 330 and the fourth drive rope 340, the winding direction of the first drive rope 310 is the same as the winding direction of the third drive rope 330 and opposite to the winding direction of the second drive rope 320 and the fourth drive rope 340.

[0062] In other words, taking the first drive shaft 210 as an example, the winding direction of the first drive rope 310 is the same as that of the third drive rope 330, and the winding directions of the second drive rope 320 and the fourth drive rope 340 are the same, while the winding direction of the first drive rope 310 is opposite to that of the second drive rope 320. Therefore, when the lengths of the first drive rope 310 and the third drive rope 330 increase, the lengths of the second drive rope 320 and the fourth drive rope 340 decrease.

[0063] Furthermore, in this embodiment, the winding positions of the first drive rope 310, second drive rope 320, third drive rope 330, and fourth drive rope 340 on the first drive shaft 210 are spaced apart. Similarly, the winding positions of the first drive rope 310, second drive rope 320, third drive rope 330, and fourth drive rope 340 on the second drive shaft 220 are spaced apart to ensure that the first drive rope 310, second drive rope 320, third drive rope 330, and fourth drive rope 340 do not interfere with each other.

[0064] Please refer to Figure 3 and Figure 6 Furthermore, in this embodiment, the second set of drive ropes 300 also includes a fifth drive rope 350, a sixth drive rope 360, a seventh drive rope 370, and an eighth drive rope 380. One end of the fifth drive rope 350, the sixth drive rope 360, the seventh drive rope 370, and the eighth drive rope 380 is used to wrap around the drive shaft 200, and the other end is used to connect to the flexible device 10. The wrapping directions of the fifth drive rope 350 and the sixth drive rope 360 ​​are opposite to the wrapping directions of the seventh drive rope 370 and the eighth drive rope 380, respectively.

[0065] It should be noted that, in this embodiment, the fifth drive rope 350 and the sixth drive rope 360 ​​can work together with the seventh drive rope 370 and the eighth drive rope 380 to enable the flexible device 10 to perform bending motion.

[0066] Furthermore, the multiple drive shafts 200 also include a third drive shaft 230 and a fourth drive shaft 240, wherein the fifth drive rope 350 and the sixth drive rope 360 ​​are both wound around the third drive shaft 230 in opposite directions, and the seventh drive rope 370 and the eighth drive rope 380 are both wound around the fourth drive shaft 240 in opposite directions.

[0067] It should be noted that in this embodiment, the fifth drive rope 350, the sixth drive rope 360, the seventh drive rope 370, and the eighth drive rope 380 are all connected to the same joint of the flexible shaft 11, and the fifth drive shaft 200, the sixth drive shaft 200, the seventh drive shaft 200, and the eighth drive shaft 200 are symmetrically arranged about the axis of the flexible shaft 11. It should be noted that the aforementioned axis is the axis when the flexible shaft 11 is not in a bent state.

[0068] Understandably, it is used to flexibly control the bending motion of the flexible shaft 11 by controlling the rotation of the third drive shaft 230 and the fourth drive shaft 240.

[0069] Therefore, the fifth drive rope 350, the sixth drive rope 360, the seventh drive rope 370, and the eighth drive rope 380 can be driven by the third drive shaft 230 and the fourth drive shaft 240. The two shafts control the four drive ropes 300, saving space on the base plate 21 and thus reducing the space occupied by the instrument transmission device 20.

[0070] Please continue to refer to this. Figures 3-6 Furthermore, in this embodiment, the instrument transmission device 20 also includes a fixed plate 26 and a plurality of reversing members 27 disposed on the base plate 21. The fixed plate 26 is provided with a plurality of guide wheels 261. The guide wheels 261 can rotate relative to the fixed plate 26 along their own axis. Each drive rope 300 passes through the guide wheel 261 and the reversing member 27 along a preset path and is wound around the drive shaft 200.

[0071] Specifically, the reversing component 27 includes a reversing column and a plurality of reversing wheels 271 sequentially sleeved on the reversing column along its axis, wherein the reversing wheels 271 are rotatable relative to the reversing column along their own axes. Understandably, the drive rope 300 passes through the guide wheel 261 and the reversing wheels 271 along a preset path and is wound around the drive shaft 200.

[0072] The number of commutator 27 is four, including a first commutator 27, a second commutator 27, a third commutator 27 and a fourth commutator 27. The first commutator 27 and the second commutator 27 are each provided with four commutator wheels 271 on their commutator columns, while the third commutator 27 and the fourth commutator 27 are each provided with two commutator wheels 271 on their commutator columns.

[0073] It should be noted that, in this embodiment, the first drive shaft 210, the second drive shaft 220, the third drive shaft 230 and the fourth drive shaft 240 are arranged in a rectangular array on the substrate 21, and the first commutator 27, the second commutator 27, the third commutator 27 and the fourth commutator 27 are arranged in a rectangular array on the substrate 21, so as to ensure that the routing of each drive rope 300 and the arrangement of the drive shafts 200 and the commutator 27 on the substrate 21 are more aesthetically pleasing.

[0074] It should be noted that in some other embodiments, the number of drive shafts 200 and drive ropes 300 is not limited to the above-mentioned number. Different numbers of drive shafts 200 and drive ropes 300 can be designed according to specific circumstances. The number of drive shafts 200 and drive ropes 300 is not limited here.

[0075] As is easily understood, the first drive rope 310, the second drive rope 320, the third drive rope 330 and the fourth drive rope 340 have eight free ends that pass through the guide wheel 261 on the fixed plate 26 and the reversing wheel 271 on the first reversing member 27 and the second reversing member 27 respectively, and then connect with the first drive shaft 210 and the second drive shaft 220.

[0076] The four free ends of the fifth drive rope 350, the sixth drive rope 360, the seventh drive rope 370 and the eighth drive rope 380 can pass along the preset path through the guide wheel 261 and the reversing wheel 271 of the third reversing member 27 and the fourth reversing member 27.

[0077] Understandably, by setting up the guide wheel 261 and the reversing wheel 271, it can be ensured that the drive rope 300 can be more stably wound around the drive shaft 200.

[0078] Please refer to Figure 1 , Figures 7-9 Furthermore, in this embodiment, the instrument transmission device 20 also includes a cable hub 29. The base plate 21 has a through hole for mounting the cable hub 29. The cable hub 29 has multiple first through holes 291 for the drive rope 300 to pass through, and also has second through holes 292 for the flexible rod of the flexible instrument 10 to pass through. The cable hub 29 enables the drive rope 300 to enter the base plate 21 as expected, and also prevents interference between the multiple drive ropes 300 under the action of the first through holes 291, thereby ensuring the transmission effect and control accuracy of the instrument transmission device 20.

[0079] It should be noted that the through hole for mounting the hub 29 is a stepped hole, and the step has holes for fastener connection. The hub 29 also has holes for fastener connection. Specifically, the stepped through hole of the hub 29 and the substrate 21 are detachably connected by fasteners.

[0080] Please continue to refer to this. Figure 1 , Figures 7-8 Furthermore, in this embodiment, the instrument transmission device 20 also includes a top plate 22, a gear plate 23, a support column 25, a gear set drive shaft 260, and a gear set 24 located between the base plate 21 and the gear plate 23.

[0081] Specifically, the two ends of the support column 25 are connected to the gear plate 23 and the base plate 21 respectively, so as to define a space for the gear set 24 to be installed together with the gear plate 23 and the base plate 21.

[0082] The gear set drive shaft 260 passes through the base plate 21 and one end of the gear set drive shaft 260 is rotatably connected to the gear plate 23. The gear set drive shaft 260 can rotate relative to the base plate 21 and the gear plate 23 around its own axis. The driving gear in the gear set 24 is sleeved on the gear set drive shaft 260. The gear set 24 has a driven gear that is connected to the flexible shaft 11 and is concentric. Therefore, under the drive of the gear set drive shaft 260, the gear set 24 can be driven to rotate, thereby driving the flexible shaft 11 to rotate as a whole.

[0083] The other ends of the aforementioned first drive shaft 210, second drive shaft 220, third drive shaft 230, fourth drive shaft 240, gear set drive shaft 260, and flexible rod drive shaft 250 are inserted through the top plate 22 and can rotate relative to the top plate 22 along their own axes. It is understood that a power device for driving the first drive shaft 210, second drive shaft 220, third drive shaft 230, fourth drive shaft 240, gear set drive shaft 260, and flexible rod drive shaft 250 can be provided on the top plate 22 to drive the first drive shaft 210, second drive shaft 220, third drive shaft 230, fourth drive shaft 240, gear set drive shaft 260, and flexible rod drive shaft 250 to rotate.

[0084] Specifically, in this embodiment, the substrate 21 is connected to one end of the first drive shaft 210, the second drive shaft 220, the third drive shaft 230, the fourth drive shaft 240, and the flexible rod drive shaft 250 via a bearing 600. The top plate 22 is connected to the other end of the first drive shaft 210, the second drive shaft 220, the third drive shaft 230, the fourth drive shaft 240, the gear set drive shaft 260, and the flexible rod drive shaft 250 via a bearing 600.

[0085] The first commutator 27, the second commutator 27, the third commutator 27, the fourth commutator 27, and the fixing plate 26 are all located between the base plate 21 and the top plate 22.

[0086] Please refer to Figure 8 Specifically, the end of the gear plate 23 furthest from the gear set 24 is provided with a bearing 600 corresponding to the gear in the gear set 24, wherein the bearing 600 is connected to the gear shaft of the gear in the gear set 24. Furthermore, the instrument transmission device 20 also includes an end block 500, which is provided with a bearing mounting seat 510 connected to the bearing 600, and the bearing mounting seat 510 has a through hole for connecting the flexible shaft 11. The end block 500 also has bolt holes 520 for threaded connection with the gear plate 23.

[0087] Understandably, the flexible shaft 11 of the flexible device 10, at the end furthest from the device end 12, passes through the through hole of the end block 500 and is connected to the bearing 600. Driven by the gear drive shaft 200, it can drive the gear set 24 to rotate, thereby driving the overall rotation of the flexible shaft 11.

[0088] Please refer to Figure 1 and Figures 10-11 Referring further to the figure, the flexible device 10 is also provided with a support column 400, wherein the two ends of the support column 400 are respectively connected to the base plate 21 and the top plate 22. Specifically, in this embodiment, the base plate 21 is a rectangular plate, and each of the four corners of the base plate 21 is provided with a mounting portion for connecting the support column 400. The base plate 21 has two first mounting portions 211 and two second mounting portions 212 passing through its own diagonal. The first mounting portion 211 has a stepped hole. Similarly, the support column 400 is divided into a first support column 410 and a second support column 420. The first support column 410 is connected to the first mounting portion 211, and the second support column 420 is connected to the second mounting portion 212. The first support column 410 has a positioning protrusion 411 at one end near the base plate 21, wherein the positioning protrusion 411 is used to cooperate with the stepped hole, and the first support column 410 has a threaded hole 401 at one end near the top plate 22 and the protrusion. The second support column 420 also has a threaded hole 401 at one end. Understandably, the first support column 410 can be accurately installed and the installation stability can be guaranteed by the cooperation between the protruding column and the stepped hole of the first mounting part 211.

[0089] Understandably, the two ends of the first support column 410 are respectively connected to the top plate 22 and the base plate 21 by bolts and threads, and the two ends of the second support column 420 are respectively connected to the top plate 22 and the base plate 21 by bolts and threads. Of course, in some other embodiments, the first support column 410 and the second support column 420 can also be connected to the top plate 22 and the base plate 21 in other ways, which are not limited here.

[0090] Please refer to Figures 12-14 Furthermore, in this embodiment, the instrument transmission device 20 also includes a flexible rod connecting part 28 and a flexible rod driving rope 390. The flexible rod connecting part 28 is rotatably disposed on the fixed plate 26 with its rotation axis perpendicular to the fixed plate 26. One end of the flexible rod connecting part 28 is used to connect to the flexible rod, and the other end of the flexible rod connecting part 28 is used to connect to the flexible rod driving rope 390. It can be understood that since the flexible rod connecting part 28 can rotate relative to the fixed plate 26, when the flexible rod and the flexible rod driving rope 390 are respectively connected to the two ends of the flexible rod connecting part 28, the end of the flexible rod connecting part 28 connected to the flexible rod can move up and down under the drive of the flexible rod driving rope 390, thereby realizing the opening and closing movement of the clamp 133.

[0091] Understandably, the above setup facilitates the use of motion equations and enables precise control of the rotation of the flexible rod connecting part 28 via the flexible rod drive shaft 250, thereby achieving up-and-down driving of the flexible rod and thus precisely controlling the opening and closing motion of the clamp 133 at the end of the instrument 12.

[0092] Furthermore, in this embodiment, the instrument transmission device 20 also includes a flexible rod drive shaft 250, and one end of the flexible rod drive rope 390 away from the flexible rod connection portion 28 is wound around the flexible rod drive shaft 250. The flexible rod drive shaft 250 is disposed on the substrate 21 and can rotate relative to the substrate 21 along its own axis.

[0093] Specifically, in this embodiment, the flexible rod connecting portion 28 has a first connecting portion and a second connecting portion at the end away from the flexible rod. The first connecting portion and the second connecting portion are arranged along the axial direction of the flexible rod drive shaft 250. There are two flexible rod drive ropes 390, and the two drive ropes 300 are respectively connected to the first connecting portion and the second connecting portion. The two flexible rod drive ropes 390 are wound around the flexible rod drive shaft 250 in opposite directions. In this embodiment, the two flexible rod drive ropes 390 can be wound around the flexible rod drive shaft 250 in different winding directions through the guide wheel 261.

[0094] Understandably, the two flexible rod drive ropes 390 are wound around the flexible rod drive shaft 250 in different directions; when one extends, the other shortens. The two flexible rod drive ropes 390 cooperate with each other to ensure the stability of the driven flexible rod.

[0095] Understandably, when the flexible rod drive shaft 250 is rotated, the flexible rod drive rope 390 wound around the flexible rod drive shaft 250 can be extended or retracted, thereby driving the flexible rod to move up and down, and thus realizing the opening and closing movement of the clamp 133.

[0096] In summary, the embodiments of the present invention provide an instrument transmission device 20, a surgical instrument 1, and a surgical robot. The surgical robot includes a main control console, an operator hand, and a surgical instrument 1. The main control console is connected to the operator hand, and the operator hand is detachably connected to the surgical instrument 1. The surgical instrument 1 is used for minimally invasive surgical procedures and includes a flexible instrument 10 and an instrument transmission device 20 connected to it. The instrument transmission device 20 includes a base plate 21, multiple drive shafts 200, and multiple drive ropes 300. The multiple drive shafts 200 are disposed on the base plate 21 and can rotate relative to the base plate 21 along their own axes. At least one end of each drive rope 300 is wound around a drive shaft 200 and is connected to the flexible instrument 10. The drive rope 300 drives the flexible instrument 10 to bend under the drive of the drive shaft 200. When the drive rope 300 is wound around the drive shaft 200, the rotation of the drive shaft 200 can loosen or tighten the drive rope 300 wound around the drive shaft 200, thereby enabling the flexible instrument 10 to perform bending motion. The drive rope 300 is wound around the drive shaft 200. In this embodiment, the drive rope 300 connected to the flexible instrument 10 is directly driven by the drive shaft 200, which can avoid slippage and large friction, thereby effectively improving the control accuracy of the instrument transmission device 20 provided by the present invention.

[0097] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A mechanical transmission device, characterized in that, include: substrate; Multiple drive shafts are disposed on the substrate and are capable of rotating relative to the substrate along their own axes. Multiple drive ropes, at least one end of each drive rope is used to be wound around the drive shaft and the drive rope is used to connect to a flexible device. The drive rope is used to drive the flexible device to bend under the drive of the drive shaft. The multiple drive ropes include a first group of drive ropes and a second group of drive ropes. The first group of drive ropes includes a first drive rope, a second drive rope, a third drive rope, and a fourth drive rope. The first drive rope, the second drive rope, the third drive rope, and the fourth drive rope each have two free ends that are respectively wound around two drive shafts, and the two free ends are respectively wound around the two drive shafts in opposite directions. The predetermined portion between the two ends of the first drive rope is used for fixed connection to the flexible device.

2. The instrument transmission device according to claim 1, characterized in that: The plurality of drive shafts include a first drive shaft and a second drive shaft, and the two free ends of the first drive rope, the two free ends of the second drive rope, the two free ends of the third drive rope and the two free ends of the fourth drive rope are respectively wound around the first drive shaft and the second drive shaft.

3. The instrument transmission device according to claim 2, characterized in that: For the first drive rope, second drive rope, third drive rope and fourth drive rope on the first drive shaft or the second drive shaft, the winding direction of the first drive rope is the same as the winding direction of the third drive rope and opposite to the winding direction of the second drive rope and the fourth drive rope.

4. The instrument transmission device according to claim 1, characterized in that: The second set of drive ropes also includes a fifth drive rope, a sixth drive rope, a seventh drive rope, and an eighth drive rope. One end of the fifth drive rope, the sixth drive rope, the seventh drive rope, and the eighth drive rope is used to wrap around the drive shaft, and the other end is used to connect to the flexible device. The wrapping direction of the fifth drive rope and the sixth drive rope is opposite to the wrapping direction of the seventh drive rope and the eighth drive rope around the drive shaft.

5. The instrument transmission device according to claim 4, characterized in that: The multiple drive shafts also include a third drive shaft and a fourth drive shaft. The fifth drive rope and the sixth drive rope are both wound around the third drive shaft in opposite directions. The seventh drive rope and the eighth drive rope are both wound around the fourth drive shaft in opposite directions.

6. The instrument transmission device according to claim 1, characterized in that: The instrument transmission device further includes a fixed plate and a plurality of reversing components disposed on the base plate. The fixed plate is provided with a plurality of guide wheels. The guide wheels can rotate relative to the fixed plate along their own axis. Each drive rope passes through the guide wheel and the reversing component along a preset path and is wound around the drive shaft.

7. The instrument transmission device according to claim 6, characterized in that: The instrument transmission device also includes a hub, the base plate has a through hole for mounting the hub, the hub has a plurality of first through holes for the drive rope to pass through, and the hub also has a second through hole for the flexible rod of the flexible instrument to pass through.

8. The instrument transmission device according to claim 6, characterized in that: The instrument transmission device further includes a flexible rod connecting part and a flexible rod driving rope. The flexible rod connecting part is rotatably disposed on the fixed plate and the rotation axis is perpendicular to the fixed plate. One end of the flexible rod connecting part is used to connect with the flexible rod, and the other end of the flexible rod connecting part is used to connect with the flexible rod driving rope.

9. The instrument transmission device according to claim 8, characterized in that: The instrument transmission device further includes a flexible rod drive shaft, with one end of the flexible rod drive rope away from the flexible rod connection portion wrapped around the flexible rod drive shaft. The flexible rod drive shaft is disposed on the base plate and can rotate relative to the base plate along its own axis.

10. A surgical instrument, characterized in that, It includes a flexible instrument connected to it and an instrument transmission device as described in any one of claims 1-9.

11. A surgical robot, characterized in that, It includes a main control console, an operator hand, and the surgical instrument as described in claim 10, wherein the main control console is connected to the operator hand, and the operator hand is detachably connected to the surgical instrument.

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