Medical device actuator and device

Abstract

The present application discloses a medical device actuator and apparatus, relating to the field of medical technology, wherein the actuator comprises a plurality of drive assemblies and a fixed plate, wherein the drive assemblies are mounted on the fixed plate, wherein the drive assemblies comprise a screw, a nut, a guide, and a drive member, wherein the screw is rotatably mounted on the fixed plate, wherein the screw is fixedly mounted on the fixed plate, wherein one end of the drive member is fixedly connected to the nut, wherein the nut is integrally sleeved on the screw and at least a portion thereof is sleeved on the guide member; under the constraint of the guide member, the screw rotates to cause the nut to move vertically thereon, thereby driving the portion of the drive member protruding from the fixed plate to extend or shorten. The present invention adopts a motor to drive the screw and nut, thereby achieving precise transmission and reducing the vertical size of the instrument box.

Description

[0001] This application is a divisional application of Chinese patent application 202110363677.1, filed on April 2, 2021, and entitled “A Medical Device Actuator and Instrument”. Technical Field

[0002] The present application relates to the field of medical technology, and in particular to a medical device actuator and device. Background Art

[0003] Surgical robots assisting minimally invasive surgeries are gradually maturing and being widely used. During the operation of surgical robots, doctors issue instructions through the main control terminal to operate the multiple robotic arms on the slave end to cooperate with each other to complete the operation at the designated location. The instrument power box is installed on the slave robotic arm, with one end connected to the robotic arm and the other end connected to the actuator. The instrument power box serves as the slave drive mechanism of the surgical robot, driving the actuator and cooperating with the different instructions sent by medical staff on the main control terminal to complete various movements or postures, such as pitch, rotation, yaw / clamping, etc. When the number of arms of existing surgical robots is large, such as four or more, the size of the instrument power box will be larger, and the relative movement space of the arms will be smaller, and its range of motion will be limited.

[0004] Chinese patent CN106109019B provides an instrument box and a surgical instrument, the instrument box including a flip table assembly, two groups of drive wires, two wire rotors and four output wires, each group of drive wires includes two drive wires, and the two fixed points formed on the inner rotating component of each group of drive wires are symmetrical about the first intersection point. The four fixed points formed by the four drive wires on the inner rotating component are connected in sequence to form a first parallelogram, and the intersection of the diagonals of the first parallelogram is the first intersection point. The other ends of the two drive wires in each group of drive wires are wound around the corresponding wire rotors in opposite directions, thereby driving the flip table assembly to move based on the four drive wires, and then the output wire transmits the movement of the flip table assembly to the end instrument assembly, so that the end instrument assembly can achieve movement in multiple directions and multiple degrees of freedom, simplifying the design of the instrument box, reducing the volume of the instrument box, and improving the space utilization of the instrument box.

[0005] Chinese patent CN105286999B discloses a minimally invasive surgical instrument with a terminal self-rotation function. It includes an instrument terminal and an instrument box. The instrument terminal includes an opening and closing assembly, which includes left and right opening and closing clamps. The left and right opening and closing clamps are rotatably mounted on the terminal self-rotation seat via a support shaft. The terminal self-rotation seat is rotatably mounted on a deflection base. The terminal self-rotation seat is connected to a rotation drive device. The deflection wheel is fixed to the deflection base. The front end of the terminal support is connected to the deflection base through a rotational connection of the deflection wheel. The front end of the long axis connected to the deflection base is fixedly connected to the terminal support, and the rear end of the long axis is fixedly connected to the rotation axis of the instrument box. The instrument box is provided with an opening and closing transmission device, a terminal self-rotation transmission device, a deflection transmission device, and a rotation transmission device. This device adopts a novel four-degree-of-freedom layout form. In addition to having high flexibility, it can also effectively reduce the difficulty of surgical operations such as robotic suturing and knotting.

[0006] Chinese patent CN102171006B discloses an automatic medical system that uses a passive preload system connected to a tendon wrapped around a capstan to control the relaxed tension in the tendon. The passive preload system can use a spring or other structure to apply tension to the tendon. The capstan can be driven by a motor when the tendon is needed to pull the structural component of the instrument. For example, in order to apply clamping pressure or overcome resistance to move the structural component, the capstan friction can generate tendon tension that is many times the tension applied by the passive preload system. However, when the tendon is not needed to apply force to the component, the capstan can be released so that the spring system provides sufficient tension to prevent lateral movement of the tendon or other operational failures. The small tension in the relaxed tendon can reduce tendon friction, particularly in instruments with flexible shafts.

[0007] The above-mentioned patents disclosed all relate to the field of medical device technology. Among them, the CN106109019B patent uses a steel wire rope as a driving wire, and a guide wheel corresponds to a driving wire. The turning table assembly connected to the driving wire controls the movement of several output wires and the end instrument assembly connected to the output wire. The turning table is composed of rotating parts, and the structure is complex and prone to confusion. Although the steel wire rope in the CN105286999B patent is set on the wire fixing mechanism, the wire fixing mechanism is connected to the end self-rotating transmission device and the guide of the invention is not easy to be confused. The wheel is set on the rotating shaft and takes up a large space; the CN102171006B patent is mainly fixed to the winch by one end of the tendon, and the other end extends to the actuator end through a slender rod; different motors drive different winches to rotate, so as to shorten or lengthen each cable and complete the pitch, rotation and other actions or postures of the actuator. Although this solution has been widely used, the winch and various guide wheels are distributed in approximately the same horizontal plane, resulting in a flat power box of the instrument and a larger length and width direction, resulting in a larger size of the power box of the instrument. In summary, the above technical problems still exist in the existing patents. Summary of the Invention

[0008] In order to solve the above technical problems, the present application provides a medical device actuator and device.

[0009] In order to achieve the purpose of this application, the technical solutions adopted in this application are as follows:

[0010] A medical device actuator includes multiple drive components and a fixed plate, wherein the drive component is mounted on the fixed plate, and the drive component includes a screw, a nut, a guide member and a drive member. The screw is rotatably mounted on the fixed plate, and the screw is fixedly mounted on the fixed plate. One end of the drive member is fixedly connected to the nut, and the nut is integrally mounted on the screw and at least a portion is mounted on the guide member; under the constraint of the guide member, the rotational movement of the screw causes the nut to move vertically thereon, thereby driving the portion of the drive member protruding from the fixed plate to extend or shorten.

[0011] Furthermore, the guide member is a cylindrical rod, a guide hole is provided on the nut, and the cylindrical rod is loosely fitted in the guide hole.

[0012] Furthermore, the driving member is a flexible cable, and a guide wheel is provided at at least one end of the screw rod, and the driving member passes through the guide wheel to avoid interference when the multiple nuts move.

[0013] Furthermore, the guide wheels are two that are arranged relatively tilted along a plane formed by the center line of the screw rod and the center line of the driving member extending through the bottom plate part to form a guide wheel group, and the guide wheel closer to the screw rod is also closer to the end of the screw rod.

[0014] Furthermore, the flexible cable includes a first cable and a second cable with opposite movement directions, the first ends of the first cable and the second cable are fixed on the nut, and the ends of the first cable and the second cable pass through the fixing plate.

[0015] Furthermore, two guide wheels are provided at each end of the screw rod, and the two adjacent guide wheels form a guide wheel group. When the first cable is passed around one of the guide wheel groups, it passes through the line formed by the centers of the two guide wheels. When the second cable is passed around the other guide wheel group, it is parallel to the line formed by the centers of the two guide wheels.

[0016] Furthermore, the portion of the first cable that is fixedly connected to the nut after passing through the guide wheel assembly and the portion of the second cable that is fixedly connected to the nut after passing through the guide wheel assembly are parallel, and both portions are also parallel to the center line of the screw rod.

[0017] Furthermore, the driving member is a rigid rod, and the rigid rod and the nut are welded or integrally formed.

[0018] The technical solutions also adopted in this application are as follows:

[0019] A medical device comprises a hollow transmission rod and an actuator, and also comprises the above-mentioned actuator, wherein the driving member passes through the hollow transmission rod to be connected with the actuator.

[0020] Furthermore, the actuator further comprises a driving gear and a main transmission shaft, the hollow transmission rod is sleeved with a driven gear, and the driving gear drives the driven gear under the action of the main transmission shaft to drive the hollow transmission rod to rotate.

[0021] Compared with the prior art, the beneficial effects of this application are at least specifically reflected in:

[0022] Compared with the winch mechanism, the present application adopts a screw or thread mechanism for driving, and its drive shaft mechanism is more compact, and the guide wheels are distributed in the vertical direction to save space;

[0023] This application uses a motor to drive the screw and nut to achieve more precise transmission;

[0024] This application can also utilize the self-locking properties of the screw rod or thread so that the actuator can maintain its original posture when the motor is powered off;

[0025] The power transmission method of the present application is not limited to cables, and a rigid rod can also be used to drive the actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the structure of the medical device of this application;

[0027] Figure 2 A schematic structural diagram of the medical device actuator of this application;

[0028] Figure 3 for Figure 2 A schematic diagram showing the medical device actuator structure without the fixing plate installed;

[0029] Figure 4 Schematic diagram of the structure of the rotary drive unit;

[0030] Figure 5 Schematic diagram of the swing drive assembly structure in Example 1;

[0031] Figure 6 Schematic diagram of the pitch drive assembly structure in Example 1;

[0032] Figure 7 This is a distribution diagram of multiple cables in the hollow transmission rod of Example 1;

[0033] Figure 8 Schematic diagram of the structure of the medical device actuator in Example 2, wherein the guide member is a rigid rod;

[0034] The figures are marked as follows: 1. Upper fixed plate; 2. Hollow transmission rod; 3. Actuator; 4. Screw; 5. Nut; 6. Guide member; 7. Driving member; 71. First cable; 72. Second cable; 73. Rigid rod; 8. Main transmission shaft; 9. Driving gear; 10. Driven gear; 12. Lower fixed plate; 13. Swing drive assembly; 14. Pitch drive assembly; 15. Limiting structure; 16. Upper guide wheel assembly; 161. First guide wheel; 162. Second guide wheel; 17. Lower guide wheel assembly; 171. Third guide wheel; 172. Fourth guide wheel. Implementation Method

[0035] In order to make the purpose and technical solution of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with embodiments. Example

[0036] according to Figure 1-7 The medical device actuator shown includes a drive assembly, a hollow transmission rod 2 , an upper fixing plate 1 and a lower fixing plate 12 .

[0037] The driving assembly includes a screw rod 4, a nut 5, a guide member 6 and a driving member 7; the screw rod 4 and the nut 5 are coupled.

[0038] The guide member 6 is loosely matched with the guide hole on the nut 5, and the guide member 6 can limit the rotational freedom of the nut 5; the two ends of the screw rod 4 and the guide member 6 are respectively connected to the upper fixed plate 1 and the lower fixed plate 12, wherein the lower end of the screw rod 4 is fixed on the lower fixed plate 12, and the upper end of the screw rod 4 is connected to the upper fixed plate 1, and the guide member 6 is arranged between the lower fixed plate 12 and the upper fixed plate 1, and the lower end of the guide member 6 is fixed on the lower fixed plate 12, and the lower fixed plate 12 and the upper fixed plate 1 are supported by the guide member 6 to ensure the relative position relationship between the upper fixed plate 1 and the lower fixed plate 12. The upper end of the driving member 7 is connected to the nut 5 through the fixing portion, and the lower end of the driving member 7 extends into the hollow transmission rod 2, and the central axis of the driving member 7 in the hollow transmission rod 2 is parallel to the central axis of the hollow transmission rod 2. As shown Figure 3 As shown, the guide member 6 is cylindrical and is located on one side of the screw rod 4. The guide member 6 cooperates with the nut 5. This embodiment does not limit the specific shape of the guide rod 6, as long as the guide rod can limit the rotation of the nut 5.

[0039] The upper end of the hollow transmission rod 2 is passed through the lower fixing plate 12. The driving members 7 are evenly arranged in the hollow transmission rod 2.

[0040] The present invention also discloses a medical device, further comprising an actuator 3, at least one pitch drive assembly 14, and at least one swing drive assembly 13. The pitch drive assembly 14 and the swing drive assembly 13 comprise drive assemblies of identical structure. The pitch drive assembly 14 is mounted between the upper fixed plate 1 and the lower fixed plate 12. The actuator 3 comprises a pitch unit. The end of the drive member 7 of the pitch drive assembly 14 passes through the hollow transmission rod 2 and is connected to the pitch unit of the actuator 3. The swing drive assembly 13 is mounted between the upper fixed plate 1 and the lower fixed plate 12. The actuator 3 comprises a swing unit. The end of the drive member 7 of the swing drive assembly 13 passes through the hollow transmission rod 2 and is connected to the swing unit of the actuator 3.

[0041] like Figure 2 and Figure 3 As shown, two swing drive assemblies 13 are provided, and one pitch drive assembly 14 is provided.

[0042] like Figure 2-Figure 7 As shown, the driving member 7 is configured as a cable, and the driving member 7 of the swing drive assembly 13 includes a first cable 71 and a second cable 72; the head ends of the first cable 71 and the second cable 72 in the swing drive assembly 13 are respectively fixed to the nut 5 by a fixing portion, and the ends of the cables are both introduced into the hollow transmission rod 2; the first cable 71 and the second cable 72 in the swing drive assembly 13 are driven by the nut 5 to perform reverse linear motion; the head ends of the cables in the pitch drive assembly 14 are respectively fixed to the nut 5 by a fixing portion, and the ends of the cables are both introduced into the hollow transmission rod 2; the cables in the pitch drive assembly 14 are also driven by the nut 5 to perform reverse linear motion; the central axes of the first cables 71 and the second cables 72 of the swing drive assembly 13 extending into the hollow transmission rod 2 and the central axes of the cables of the pitch drive assembly 14 are both parallel to the central axis of the hollow transmission rod 2; the first cables 71 and the second cables 72 in the swing drive assembly 13 are both wound around the swing unit, and the cables in the pitch drive assembly 14 are wound around the pitch unit. Specifically, the swing unit is a swing wheel; the pitch unit is a pitch wheel.

[0043] The drive assembly also includes an upper guide wheel assembly 16 and a lower guide wheel assembly 17. The upper guide wheel assembly 16 and the lower guide wheel assembly 17 are vertically arranged. The upper guide wheel assembly 16 is fixed above the nut 5 via a fixed base, and the lower guide wheel assembly 17 is fixed below the nut 5 via a fixed base. A first cable 71 is wound around the upper guide wheel assembly 16, and a second cable 72 is wound around the lower guide wheel assembly 17. The upper guide wheel assembly 16 and the lower guide wheel assembly 17 are provided to ensure that the cables between the upper guide wheel assembly 16 and the lower guide wheel assembly 17 and the nut 5 are parallel to the axis of the screw rod 4 during the winding and unwinding process, and to ensure that the central axis of the cables extending into the hollow transmission rod 2 always remains parallel to the central axis of the hollow transmission rod 2. Specifically, the fixed base is fixed to the upper and lower sides of the nut 5 by screws or other means. Each fixed base includes two fixed panels. The upper guide wheel assembly 16 can be installed between the two fixed panels by screws or other means, and the lower guide wheel assembly 17 is also installed between the two fixed panels by screws or other means.

[0044] The rotary drive unit includes a main transmission shaft 8 , a driving gear 9 and a driven gear 10 .

[0045] The driven gear 10 is sleeved on the upper end of the hollow transmission rod 2, and a support bearing is provided at the connection between the driven gear 10 and the hollow transmission rod 2, which is used to realize the self-rotation of the driven gear 10 and the hollow transmission rod 2, and the relative fixed position of the driven gear 10 and the hollow transmission rod 2 is ensured by the action force of the driving member 7.

[0046] The driving gear 9 is installed on the main transmission shaft 8, and the driving gear 9 is meshed with the driven gear 10. The driving gear 9 and the main transmission shaft 8 are respectively installed on the lower fixed plate 12 through support bearings; the upper end of the main transmission shaft 8 is fixedly connected to the upper fixed plate 1 through a support bearing, and the inner ring of the upper end of the support bearing is installed with a limit spring, and the outer ring of the lower end of the support bearing is fixedly connected to the upper fixed plate 1.

[0047] A limiting structure 15 is also installed on the lower fixed plate 12, and the limiting structure 15 is used to limit the lateral or longitudinal movement of the driven gear 10; specifically, the limiting structure 15 rides on the driven gear 10, and the limiting structure 15 has a limiting arm, and both ends of the limiting arm extend downward until they are connected to the lower fixed plate 12. A through hole is also opened in the middle of the limiting structure 15, which is coaxial with the hollow transmission rod 2 and is sleeved on the hollow transmission rod 2.

[0048] according to Figures 1-6The principle of a medical device shown is explained as follows: the main transmission shaft 8 rotates to drive the driving gear 9 to rotate, the driving gear 9 rotates to drive the driven gear 10 meshing with it to rotate, the driven gear 10 rotates to drive the hollow transmission rod 2 to rotate, and the rotation of the hollow transmission rod 2 controls the actuator 3 to complete the rotation action.

[0049] like Figure 5 As shown, the upper guide wheel assembly 16 on the swing drive assembly 13 includes a first guide wheel 161 and a second guide wheel 162, and the lower guide wheel assembly 17 includes a third guide wheel 171 and a fourth guide wheel 172. The first cable 71 in the swing drive assembly 13 is parallel to the axis of the screw rod 4 and first bypasses the first guide wheel 161 upward, and then bypasses the second guide wheel 162. The first cable 71 passing through the second guide wheel 162 is always parallel to the central axis direction of the hollow transmission rod 2 until it extends to connect with the swing unit on the actuator 3; the second cable 72 is parallel to the axis of the screw rod 4 and first bypasses the fourth guide wheel 172 downward, and then bypasses the third guide wheel 171. After passing through the third guide wheel 171, the second cable 72 is always parallel to the axis direction of the hollow transmission rod 2 until it extends to connect with the swing unit on the actuator 3, wherein the ends of the first cable 71 and the second cable 72 are connected to different sides of the same swing unit on the actuator 3. The movement principle of the upper guide wheel assembly 16 and the lower guide wheel assembly 17 on the pitch drive assembly 14 is the same as the movement principle of the upper guide wheel assembly 16 and the lower guide wheel assembly 17 of the swing drive assembly 13, that is, the cable ends in the pitch drive assembly 14 are connected to different sides of the same pitch unit on the actuator 3.

[0050] The rotation of the screw rod 4 in the swing drive assembly 13 drives the nut 5 coupled to the screw rod 4 to move. The nut 5 cooperates with the guide member 6 to restrict the nut 5 to only up and down movement and not to rotation around the screw rod 4. When the rotation of the screw rod 4 drives the nut 5 upward, the second cable 72 pulls the swing unit on the actuator 3 in one direction. At the same time, the first cable 71 releases part of the first cable 71 to ensure that the swing unit's swing is not affected by the resistance generated by the first cable 71. When the rotation of the screw rod 4 drives the nut 5 downward, the first cable 71 pulls the swing unit in the other direction. At the same time, the second cable 72 releases part of the second cable 72 to ensure that the swing unit's swing is not affected by the resistance generated by the second cable 72, thereby achieving the deflection, tightening, and other actions of the swing unit at the end of the actuator 3.

[0051] like Figure 6 The pitch drive assembly 14 shown is similar to Figure 5The schematic diagram of the swing drive assembly 13 shown has the same structure, and the movement principle of the drive assembly of the pitch drive assembly 14 is also the same as the movement principle of the drive assembly in the swing drive assembly 13. Under the action of the drive assembly, the cable in the pitch drive assembly 14 drives the pitch unit to move, thereby realizing the pitch action of the pitch unit at the end of the actuator 3.

[0052] Specifically, the medical device of the present application may include only one pitch drive component 14, or one swing drive component 13, or include one pitch drive component 14 and one swing drive component 13, or include one pitch drive component 14, one swing drive component 13 and a rotation drive unit, etc., all of which are within the scope of protection of the present application and can be set according to actual needs. Example

[0053] according to Figure 8 As shown, the difference from the embodiment 1 is that the driving member 7 of this embodiment is a rigid rod 73.

[0054] One end of the rigid rod 73 in the swing drive assembly 13 is connected to the nut 5 in the swing drive assembly 13, and the other end of the rigid rod 73 is connected to the swing unit at the end of the actuator 3. Specifically, the upper end of the rigid rod 73 is rigidly connected to the nut 5 by welding or other rigid connection methods.

[0055] When the screw rod 4 in the swing drive assembly 13 rotates to drive the nut 5 to move upward, the rigid rod 73 drives the swing unit at the end of the actuator 3 to move in one direction. When the screw rod 4 drives the nut 5 to move downward, the rigid rod 73 drives the swing unit at the end of the actuator 3 to move in the other direction, realizing the deflection, tightening and other actions of the swing unit at the end of the actuator 3.

[0056] The movement principle of the rigid rod 73 in the pitch drive assembly 14 is the same as the movement principle of the rigid rod 73 in the swing drive assembly 13, realizing the pitch movement of the pitch unit at the end of the actuator 3.

[0057] The above is merely an embodiment of the present invention, and its description is relatively specific and detailed, but it should not be understood as limiting the scope of the present invention. It should be pointed out that those skilled in the art can make a number of modifications and improvements without departing from the concept of the present invention, and these modifications and improvements are all within the scope of protection of the present invention.

Claims

1. A medical device actuator, characterized in that: The cam is mounted on a cam face and is secured to the chassis, wherein the cam face is secured to a position adjacent to the chassis, wherein the cam face is secured to a position adjacent to the chassis. Passing through the guide wheel, the flexible cable includes a first cable and a second cable with opposite movement directions, the head ends of the first cable and the second cable are fixed on the same nut, and the end ends of the first cable and the second cable both pass through the fixed plate, two guide wheels are provided at each end of the screw rod, and two adjacent guide wheels form a guide wheel group. When the first cable is wrapped around one of the guide wheel groups, it passes through the line formed by the centers of the two guide wheels. When the second cable is wrapped around the other guide wheel group, it is parallel to the line formed by the centers of the two guide wheels.

2. The actuator according to claim 1, characterized in that The guide member is a cylindrical rod, a guide hole is provided on the nut, and the cylindrical rod is loosely matched with the guide hole.

3. The actuator according to claim 1, wherein: The guide wheels are two relatively inclinedly arranged along a plane formed by the center line of the screw and the center line of the driving member extending through the fixed plate portion to form a guide wheel group, and the guide wheel closer to the screw is also closer to the end of the screw.

4. The actuator according to claim 1, wherein: The portion of the first cable fixedly connected to the nut after passing through the guide wheel assembly and the portion of the second cable fixedly connected to the nut after passing through the guide wheel assembly are parallel, and both portions are also parallel to the center line of the screw rod.

5. A medical device comprising a hollow transmission rod and an actuator, characterized in that: The invention further comprises the actuator according to any one of claims 1 to 4, wherein the driving member passes through the hollow transmission rod to be connected to the actuator.

6. The medical device according to claim 5, characterized in that The actuator further comprises a driving gear and a main transmission shaft. A driven gear is sleeved on the hollow transmission rod. The driving gear drives the driven gear under the action of the main transmission shaft to drive the hollow transmission rod to rotate.

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