Surgical robot, surgical instrument and forceps swing drive system thereof

Abstract

The present invention discloses a surgical robot, a surgical instrument, and a forceps head swing drive system thereof, comprising a forceps head, a swing tube, a swing drive assembly, and a swing transmission assembly. The swing drive assembly is connected to the swing tube to drive the swing tube to move linearly. The swing tube is connected to the forceps head through the swing transmission assembly, and the swing transmission assembly and the forceps head form a crank mechanism to drive the forceps head to swing through the linear movement of the swing tube. The surgical robot, surgical instrument, and forceps head swing drive system provided by the present invention, because the swing transmission assembly and the forceps head form a crank mechanism, the crank mechanism has a simple structure and is easy to implement. The linear movement of the swing tube is used to drive the crank mechanism to operate, and the transmission reliability is high. In addition, the swing tube can make better use of space. For example, other components such as the knife rod of the surgical instrument can be arranged inside it, which is conducive to reducing the overall space occupied by the surgical instrument.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and more particularly to a surgical robot, a surgical instrument, and a forceps swing drive system thereof. Background Art

[0002] Surgical instruments are widely used in clinical surgery. Surgical instruments, such as staplers and vascular closure devices, are common surgical instruments used to separate or close tissues.

[0003] A common surgical instrument typically consists of a forceps head and an instrument case. The case receives user input and, through a series of transmission components, drives the forceps head to perform the corresponding surgical operation. The forceps head's swing is often achieved through a wire pulley structure that converts rotational motion into linear motion, and a wire pulls the joint head to swing. However, this wire pull method has limited reliability.

[0004] In summary, how to effectively solve the problem of low reliability of the swing drive structure of the surgical instrument forceps head is a problem that currently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, an object of the present invention is to provide a surgical robot, a surgical instrument and a forceps swing drive system thereof, so as to effectively solve the problem of low reliability of the forceps swing drive structure of the surgical instrument.

[0006] In order to achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0007] A forceps head swing drive system for a surgical instrument includes a forceps head, a swing tube, a swing drive assembly and a swing transmission assembly. The swing drive assembly is connected to the swing tube to drive the swing tube to move linearly. The swing tube is connected to the forceps head through the swing transmission assembly, and the swing transmission assembly and the forceps head form a crank mechanism to drive the forceps head to swing through the linear movement of the swing tube.

[0008] Preferably, in the above-mentioned pliers head swing drive system, the swing transmission assembly includes a rotatably mounted swing arm and two swing pull rods corresponding to and parallel to the two ends of the swing arm, one end of one swing pull rod is rotationally connected to one end of the cantilever, one end of the other swing pull rod is rotationally connected to the other end of the cantilever, and the other ends of the two swing pull rods are rotationally connected to different positions of the pliers head respectively, the swing arm, the two swing pull rods and the pliers head form a parallelogram crank mechanism, and the swing tube is connected to the swing arm or any one of the swing pull rods to push the swing arm to rotate when the swing tube slides.

[0009] Preferably, in the above-mentioned pliers head swing drive system, the rotating axis of the swing arm is located in the middle of the swing arm, and the two ends of the swing arm are respectively connected with swing arm pins, and the two ends of the swing pull rod are respectively provided with pull rod strip grooves, and the swing arm pins at both ends of the swing arm are respectively inserted into the pull rod strip grooves at one end of the corresponding swing pull rod, and the pliers head is respectively provided with pliers head pins corresponding to each swing pull rod, and each pliers head pin is respectively inserted into the pull rod strip groove at the other end of the corresponding swing pull rod.

[0010] Preferably, in the above-mentioned pliers head swing drive system, an end of the swing tube close to the pliers head is connected to a swing drive plate, and the swing drive plate is connected to the swing arm to drive the parallelogram crank mechanism to move.

[0011] Preferably, in the above-mentioned clamp head swing drive system, a drive plate strip groove is provided at one end of the swing drive plate close to the clamp head, and the swing arm pin shaft located at one end of the swing arm is inserted into the drive plate strip groove.

[0012] Preferably, in the above-mentioned clamp head swing drive system, the extension direction of the pull rod strip groove is perpendicular to the sliding direction of the swing pull rod, and the extension direction of the drive plate strip groove is perpendicular to the sliding direction of the swing drive plate.

[0013] Preferably, the above-mentioned clamp head swing drive system also includes a rotatable base tube that is inserted into the swing tube, and the base tube is connected to the clamp head to drive the clamp head to rotate. The outer peripheral surface of the base tube is axially provided with a guide groove, and the swing drive plate is movably accommodated in the guide groove.

[0014] Preferably, in the above-mentioned pliers head swing drive system, the swing drive assembly includes a swing drive shaft arranged parallel to the swing tube and a swing fork connected to the swing drive shaft, the swing drive shaft is used to receive torque input, and the rotation of the swing drive shaft drives the swing fork to move linearly, and the swing fork is connected to the swing tube to drive the swing tube to move linearly.

[0015] Preferably, the above-mentioned clamp head swing drive system also includes a swing limiting component, a swing limiting groove is provided on the swing tube, and a swing limiting through hole is correspondingly provided on the swing fork, the swing limiting component is slidably installed in the swing limiting through hole, and when the swing limiting component slides to be inserted into the swing limiting groove, the swing tube and the swing fork are connected to move in a synchronous linear manner; when the swing limiting component slides to exit the swing limiting groove, the swing tube and the swing fork are disengaged to release the synchronous linear movement relationship.

[0016] Preferably, in the above-mentioned clamp head swing drive system, the swing limit groove is an annular groove arranged around the outer circumference of the swing tube, and the contour of one end of the swing limit component close to the swing limit groove is an arc shape with a diameter corresponding to the inner diameter of the annular groove.

[0017] Preferably, in the above-mentioned clamp head swing drive system, the swing drive shaft is threadedly engaged with the swing fork.

[0018] Preferably, the above-mentioned clamp head swing drive system further includes a guide shaft arranged parallel to the swing drive shaft, and a guide through hole is opened on the swing fork, and the guide shaft is inserted into the guide through hole.

[0019] Preferably, in the above-mentioned forceps head swing drive system, a drive capstan is provided connected to the swing drive shaft, and the drive capstan is used to be connected to the robotic arm of the surgical robot.

[0020] Preferably, in the above-mentioned clamp head swing drive system, the driving capstan is fixedly connected to the swing drive shaft through a coupling, and the coupling includes a split coupling body and an adapter shaft fixing block, and the adapter shaft fixing block is detachably fixedly connected to the coupling body and fixes one of the driving capstan and the swing drive shaft, and the other of the driving capstan and the swing drive shaft is fixedly connected to the coupling body.

[0021] An embodiment of the present invention provides a forceps head swing drive system for a surgical instrument, comprising a forceps head, a swing tube, a swing drive assembly, and a swing transmission assembly. The swing drive assembly is connected to the swing tube to drive the swing tube to move linearly. The swing tube is connected to the forceps head via the swing transmission assembly. The swing transmission assembly and the forceps head form a crank mechanism to drive the forceps head to swing through the linear movement of the swing tube.

[0022] The embodiment of the present invention provides a surgical instrument head swing drive system. When the swing of the forceps head needs to be controlled during surgery, the swing drive assembly drives the swing tube to move linearly. The swing tube is connected to the forceps head through the swing transmission assembly. The swing transmission assembly and the forceps head form a crank mechanism. The linear movement of the swing tube can be converted into the swing of the forceps head. The crank mechanism has a simple structure and is easy to implement. The linear movement of the swing tube drives the crank mechanism, and the transmission reliability is high. In addition, the swing tube can make better use of space. For example, other components such as the knife rod of the surgical instrument can be arranged inside it, which is conducive to reducing the overall space occupied by the surgical instrument.

[0023] The embodiments of the present invention also provide the following technical solutions:

[0024] A surgical instrument, comprising:

[0025] A drive disk connected to the robotic arm of the surgical robot and receiving and converting the power of the robotic arm into a rotational driving force;

[0026] a swing drive assembly connected to the drive disc and converting a rotational drive force into a linear drive force;

[0027] an oscillating tube connected to the oscillating drive assembly and moving linearly under the drive of the oscillating drive assembly;

[0028] A swing transmission assembly is connected to the swing tube and the pliers head respectively, and the swing transmission assembly and the pliers head form a crank mechanism to drive the pliers head to swing through the linear movement of the swing tube.

[0029] Preferably, in the above-mentioned surgical instrument, the swing transmission assembly includes a rotatably mounted swing arm and two swing rods corresponding to and parallel to the two ends of the swing arm, one end of one swing rod is rotationally connected to one end of the cantilever, one end of the other swing rod is rotationally connected to the other end of the cantilever, and the other ends of the two swing rods are rotationally connected to different positions of the pliers head respectively, the swing arm, the two swing rods and the pliers head constitute a parallelogram crank mechanism, and the swing tube is connected to the swing arm or any one of the swing rods to push the swing arm to rotate when the swing tube slides.

[0030] When the surgical instrument provided by the embodiment of the present invention is used and it is necessary to control the swing of the forceps head during surgery, the mechanical arm of the surgical robot acts on the drive disk, the drive disk receives and converts the power of the mechanical arm into a rotational driving force, the swing drive assembly receives the rotational driving force of the drive disk and converts it into a linear driving force, thereby driving the swing tube to move linearly, and the swing tube drives the forceps head to swing through the swing transmission assembly. Since the swing transmission assembly and the forceps head form a crank mechanism, the crank mechanism has a simple structure and is easy to implement. The linear movement of the swing tube drives the crank mechanism to move, and the transmission reliability is high. In addition, the swing tube can make better use of space. For example, other components such as the knife rod of the surgical instrument can be arranged inside it, which is conducive to reducing the overall space occupied by the surgical instrument.

[0031] An embodiment of the present invention further provides a surgical robot, which includes any of the above-mentioned surgical instruments. Since the above-mentioned surgical instruments have the above-mentioned technical effects, the surgical robot including the surgical instruments should also have corresponding technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 A schematic diagram of the overall structure of a surgical instrument provided by an embodiment of the present invention;

[0034] Figure 2 It is a structural schematic diagram of the swing drive component part of the clamp head swing drive system according to a specific embodiment of the present invention;

[0035] Figure 3-1 This is a schematic diagram of the structure of the clamp head, swing tube and swing transmission assembly of the clamp head swing drive system;

[0036] Figure 3-2 It is a structural diagram of the clamp head and the swing transmission assembly;

[0037] Figure 4 It is a structural diagram of the parallelogram crank mechanism;

[0038] Figure 5-1 It is a schematic diagram of a swinging state of the clamp head;

[0039] Figure 5-2 Schematic diagram of another swinging state of the clamp head;

[0040] Figure 6-1 It is a schematic diagram of the connection between the swing pull rod, the swing drive plate and the swing arm;

[0041] Figure 6-2 for Figure 6-1 Internal schematic diagram of

[0042] Figure 6-3 Figure 6-1 A partial enlarged cross-sectional view;

[0043] Figure 7-1 This is a schematic diagram of the installation of the swing drive plate;

[0044] Figure 7-2 for Figure 7-1 Schematic diagram of section B;

[0045] Figure 8 Schematic diagram of the cooperation between the swing drive plate and the base tube;

[0046] Figure 9-1 This is a schematic diagram of the coordination and installation of the swing drive shaft and the swing fork;

[0047] Figure 9-2 for Figure 9-1 Explosion diagram of

[0048] Figure 10 This is an exploded diagram of the assembly of the swing drive shaft;

[0049] Figure 11 This is a schematic diagram of the cooperation and installation of another swing drive shaft and swing fork;

[0050] Figure 12-1 A schematic diagram of the structure of a swing fork and a swing drive shaft in a matching state;

[0051] Figure 12-2 for Figure 12-1 Schematic diagram of the explosion structure;

[0052] Figure 12-3 It is a structural schematic diagram of another matching state of the swing fork and the swing drive shaft;

[0053] Figure 13-1 This is an exploded schematic diagram of the bracket in the instrument box;

[0054] Figure 13-2 Schematic diagram of the assembly structure of the bracket;

[0055] Figure 14 Schematic diagram of the assembly structure of the base pipe;

[0056] Figure 15 Schematic diagram of the cross-sectional structure of the base tube in the assembled state.

[0057] The following are marked in the accompanying drawings:

[0058] Clamp head 100, sleeve 200, instrument box 300, clamp head pin 1001;

[0059] Swing tube 210, buckle hole 2101, swing limit slot 2102, swing transmission assembly 20, swing drive assembly 30, crank mechanism 1;

[0060] Rotating arm 201, rotating shaft 2011, rotating arm pin 2012, swinging pull rod 202, pull rod strip groove 2021;

[0061] Swing drive plate 240, drive plate strip groove 2401, hanging buckle 2402;

[0062] Base pipe 220, guide groove 2201, spindle nut 221, bearing 222, bearing gland 223, spindle sleeve 224, spindle driven wheel 225;

[0063] Swing drive shaft 310, swing fork 320, swing limit through hole 3201, guide shaft 330, drive capstan 340, coupling 350, coupling body 351, adapter shaft fixing block 352, linear bearing 360, bearing 370, swing limit component 380, connecting shaft 3511, first mounting hole 3512, second mounting hole 3521;

[0064] Bottom plate 3010, column 3020, top plate 3030, middle plate 3040. DETAILED DESCRIPTION

[0065] The embodiment of the present invention discloses a surgical robot, a surgical instrument and a forceps head swing drive system thereof, so as to improve the reliability of the forceps head swing.

[0066] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0067] like Figure 1 As shown, the present invention comprises a forceps head 100, a cannula 200, and an instrument case 300. The cannula 200 is connected between the instrument case 300 and the forceps head 100. One end of the instrument case 300 receives a driving input, which drives the forceps head 100 through the cannula 200 to meet surgical needs. The embodiments of the present invention mainly describe the structure that drives the swinging of the forceps head 100. As for the corresponding driving structures for the rotation, opening and closing movement of the forceps head 100, and the movement of the cutting head, etc., reference can be made to the prior art and will not be repeated here.

[0068] In one embodiment, see Figure 2 、 Figure 3-1 and Figure 3-2 The embodiment of the present invention provides a forceps head swing driving system for a surgical instrument, which includes a forceps head 100, a swing tube 210, a swing driving assembly 30 and a swing transmission assembly 20.

[0069] The swing drive assembly 30 is connected to the swing tube 210 to drive the swing tube 210 to move linearly. The swing drive assembly 30 can be specifically installed on the instrument box 300. The swing drive assembly 30 receives the driving force input and converts it into a linear drive, thereby driving the swing tube 210 to move linearly.

[0070] The swing tube 210 is connected to the pliers head 100 via the swing transmission assembly 20, and the swing transmission assembly 20 and the pliers head 100 form a crank mechanism 1 to drive the pliers head 100 to swing through the linear movement of the swing tube 210. The swing transmission assembly 20 and the pliers head 100 form the crank mechanism 1, so the linear movement of the swing tube 210 drives the crank mechanism 1 to move, and the crank mechanism 1 converts the linear movement of the swing tube 210 into rotation, i.e., swinging, of the pliers head 100. Specifically, the crank mechanism 1 can be a parallelogram crank mechanism, etc.

[0071] The embodiment of the present invention provides a forceps head swing drive system for a surgical instrument. When the forceps head 100 needs to be controlled to swing during surgery, the swing drive assembly 30 drives the swing tube 210 to move linearly. The swing tube 210 is connected to the forceps head 100 through the swing transmission assembly 20, and the swing transmission assembly 20 and the forceps head 100 form a crank mechanism 1. The linear movement of the swing tube 210 can be converted into the swinging of the forceps head 100. The crank mechanism 1 has a simple structure and is easy to implement. The linear movement of the swing tube 210 drives the crank mechanism 1 to move, and the transmission reliability is high. In addition, the swing tube 210 can make better use of space. For example, other components such as the knife rod of the surgical instrument can be arranged inside it, which is conducive to reducing the overall space occupied by the surgical instrument.

[0072] For details, please refer to Figure 4 The swing transmission assembly 20 includes a rotatably mounted swing arm 201 and two swing rods 202 corresponding to and parallel to the ends of the swing arm 201. One end of one swing rod 202 is rotatably connected to one end of the swing arm 201, and one end of the other swing rod 202 is rotatably connected to the other end of the swing arm 201. The other ends of the two swing rods 202 are respectively rotatably connected to different positions of the clamp head 100. The swing arm 201, the two swing rods 202 and the clamp head 100 form a parallelogram crank mechanism. The swing tube 210 is connected to the swing arm 201 or any swing rod 202 to drive the swing arm 201 to rotate when the swing tube 210 slides. It should be noted that the two swing rods 202 are respectively rotatably connected to different positions of the clamp head 100. When the two swing rods 202 generate relative linear motion in opposite directions, the clamp head 100 is driven to swing accordingly. The specific connection position of the swing rod 202 and the clamp head 100 and the spacing between the two connection positions can be set as needed and are not specifically limited here. The rotary arm 201 is rotatably mounted, specifically, it can be rotatably connected to the base tube 220 of the sleeve 200. The rotation axis 2011 of the rotary arm 201 is a parallelogram fixed rotation point. The rotary arm 201 and the clamp head 100 act as a parallelogram crank. When the swing tube 210 moves linearly, the rotary arm 201 will swing under the drive of the swing tube 210. When the rotary arm 201 swings, it drives the swing pull rod 202 to move linearly. The linear movement of the two swing pull rods 202 drives the clamp head 100 to swing, thereby achieving the swing of the joint head of the anastomosis device end. Figure 5-1 and Figure 5-2 As shown, the two swing rods 202 move in a parallelogram relative to the base tube 220 , thereby achieving the swing of the pliers head 100 .

[0073] See also Figure 4 、 Figure 6-1 、 6-2 and 6-3, the rotation axis 2011 of the swing arm 201 is located in the middle of the swing arm 201, that is, the fixed rotation point of the parallelogram structure is located in the middle of the swing arm 201. When the swing arm 201 is installed on the base tube 220, the rotation axis 2011 is fixed relative to the base tube 220. The two ends of the swing arm 201 are respectively connected to the swing arm pin 2012, and the two ends of the swing rod 202 are respectively provided with a rod strip groove 2021. The swing arm pins 2012 at both ends of the swing arm 201 are respectively inserted into the rod strip groove 2021 at one end of the corresponding swing rod 202. Then, when the swing arm 201 swings, the rotation of the swing arm pins 2012 at both ends can be decomposed into Figure 6-3 The movement in the up and down directions and the left and right directions, that is, the swing arm pin 2012 moves up and down and moves left and right in the pull rod strip groove 2021, and the up and down movement of the swing arm pin 2012 drives the swing pull rod 202 to move linearly.

[0074] One end of the swing lever 202 is connected to the swing arm 201, and the other end is connected to the pliers head 100. The connection between the pliers head 100 and the swing lever 202 can be similar to the connection between the swing lever 202 and the swing arm 201 described above. Specifically, a pliers head pin 1001 is provided on the pliers head 100 corresponding to each swing lever. Each pliers head pin 1001 is inserted into a corresponding rod slot 2021 at the other end of the swing lever 202. Therefore, when the swing lever 202 moves linearly, it pushes the pliers head pin 1001 in the same direction, causing it to move linearly along the rod slot 2021, thereby causing the pliers head 100 to swing. Specifically, the rod slot 2021 extends perpendicular to the sliding direction of the swing lever 202. This allows the rotation of the swing arm 201 to be largely converted into linear movement of the swing lever 202, resulting in high space utilization.

[0075] With the above arrangement, the swing link 202 can rotate relative to the rotary arm 201 and the clamp head 100 while also being able to move linearly relative to them. Thus, the swing link 202 can remain in a straight line along its extension direction when linearly moving under the rotation of the rotary arm 201, thereby facilitating the installation of the swing link 202. For example, a mounting groove can be provided on the base tube 220, and the swing link 202 can be slidably installed in the mounting groove to move linearly along the mounting groove.

[0076] As required, the rotation axis 2011 of the rotary arm 201 can also be located at any end of the rotary arm 201, so that the rotary arm 201 swings with one end as the axis. Correspondingly, through the action of the swing rod 202, the swing of the pliers head 100 also takes the end connected to the swing rod 202 as the axis.

[0077] In order to facilitate the movement of the parallelogram drive mechanism driven by the swing tube 210, in one embodiment, as shown in FIG. Figure 4 、 Figure 6-1 、 6-2 and Figure 7-1 and Figure 7-2 As shown, the end of the oscillating tube 210 near the pliers head is connected to a oscillating drive plate 240. This oscillating drive plate 240 is connected to the swing arm 201 to drive the movement of the parallelogram crank mechanism 1. Therefore, when the oscillating tube 210 moves linearly, it drives the oscillating drive plate 240 to move linearly. The oscillating drive plate 240, in turn, drives the swing arm 201 to swing. The swinging of the swing arm 201 is converted into the swinging of the pliers head 100 via the parallelogram crank mechanism 1. By connecting the oscillating tube 210 to the swing arm 201 through the oscillating drive plate 240, the length of the oscillating drive plate 240 and the oscillating tube 210 can be adjusted as needed, thereby reducing restrictions on the layout of other components.

[0078] See also Figure 7-2 (The swing lever 202 on one side is not shown in the figure.) The connection method between the swing drive plate 240 and the swing arm 201 can be similar to the connection method between the swing arm 201 and the swing lever 202 described above. Specifically, the swing drive plate 240 has a drive plate strip groove 2401 at the end near the pliers head 100. The swing arm pin 2012 at one end of the swing arm 201 is inserted into the drive plate strip groove 2401. Therefore, when the swing drive plate 240 moves linearly, it pushes the swing arm pin 2012 to move linearly in the same direction, causing the swing arm pin 2012 to move linearly along the drive plate strip groove 2401, thereby causing the swing arm 201 to swing. Specifically, the extension direction of the drive plate strip groove 2401 is perpendicular to the sliding direction of the swing drive plate 240. Therefore, the linear movement of the swing drive plate 240 can be largely converted into the swing of the swing arm 201, thereby improving space utilization.

[0079] For details, please refer to Figure 3-1 and Figure 8The swing drive plate 240 is slidably mounted on the base tube 220. The base tube 220 is rotatably inserted into the swing tube 210 and connected to the pliers head 100 to drive the pliers head 100 to rotate. A guide groove 2201 is axially provided on the outer circumference of the base tube 220. The swing drive plate 240 is movably received in the guide groove 2201. The base tube 220 is fixed relative to the axis. Driven by the swing drive assembly 30, the swing tube 210 moves linearly relative to the base tube 220. The guide groove 2201 can be a square groove. The opposing walls of the swing drive plate 240 mate with the side walls of the guide groove 2201. The swing tube 210 is connected to the swing drive plate 240, thereby driving the swing drive plate 240 to move linearly along the guide groove 2201, thereby providing linear power to the parallelogram crank mechanism. Through the above arrangement, the linear motion of the swing drive plate 240 can be limited and guided, making its linear motion smoother, while limiting the relative rotation between the base tube 220 and the swing drive plate 240.

[0080] The connection between the swing drive plate 240 and the swing tube 210 is as follows: Figure 7-1 As shown, the connection can be made via a hook. For example, if a hook 2402 is provided on the swing drive plate 240 and a corresponding button hole 2101 is provided on the swing tube 210, the hook 2402 can be hooked into the button hole 2101 during assembly to connect the swing drive plate 240 to the swing tube 210. This connection facilitates assembly and disassembly. Other conventional fixed connection methods can also be used as needed.

[0081] Based on the above embodiments, please refer to Figure 2 The swing drive assembly 30 includes a swing drive shaft 310 disposed parallel to the swing tube 210 and a swing fork 320 connected to the swing drive shaft 310. The swing drive shaft 310 is configured to receive torque input, and rotation of the swing drive shaft 310 drives linear movement of the swing fork 320. The swing fork 320 is connected to the swing tube 210 to drive linear movement of the swing tube 210. The swing drive shaft 310 is disposed parallel to the swing tube 210 and is configured to receive torque input. The swing fork 320 is connected to the swing drive shaft 310 and the swing tube 210, respectively, to convert the rotation of the swing drive shaft 310 into linear movement, thereby driving the linear movement of the swing tube 210. The swing drive shaft 310 is parallel to the swing tube 210 and rotates upon receiving torque automatically input by the surgical robot's mechanical arm. The rotation of the swing drive shaft 310 acts on the swing fork 320, which converts the rotational motion of the swing drive shaft 310 into linear motion, thereby driving the corresponding linear movement of the swing tube 210. By adopting the above-mentioned swing drive assembly 30, the swing drive shaft 310 and the swing tube 320 are arranged in parallel, which has less restriction on position, facilitates the layout of various components, and occupies less space.

[0082] Specifically, the swing drive shaft 310 is threadedly engaged with the swing fork 320. The swing drive shaft 310 can be a screw, a rotational motion driving component, while the swing fork 320 is a linear motion driving component. It has a threaded hole that forms a helical pair with the screw, converting the screw's rotational motion into linear motion of the swing fork 320, thereby driving the linear motion of the swing tube 210. This threaded structure not only converts rotational motion into linear motion but also provides a self-locking function, effectively ensuring the self-locking performance of the pliers joint after swinging.

[0083] In order to better guide the swing drive, such as Figure 2 and Figure 9-1 and Figure 9-2 As shown, it also includes a guide shaft 330 arranged parallel to the swing drive shaft 310, and a guide through-hole is opened on the swing fork 320, and the guide shaft 330 is inserted into the guide through-hole. By setting the guide shaft 330, it is possible to limit the linear motion direction of the swing fork 320 and at the same time limit the rotation of the swing fork 320. This ensures the accuracy and rigidity of the linear motion of the swing fork 320 after the rotational motion is converted into linear motion. In order to reduce the friction between the swing fork 320 and the guide shaft 330, specifically, the guide shaft 330 and the swing fork 320 can be connected by a linear bearing 360, and the linear bearing 360 and the guide shaft 330 form a guide rail pair. As needed, the linear guide structure can specifically use a single linear bearing in combination with a single optical axis, a single linear guide rail, multiple linear bearings in combination with a single optical axis, multiple linear guide rails, a linear bearing in combination with a linear guide rail, and other combined linear transmission methods. In addition, as needed, the rotation of the swing fork 320 can be limited by other anti-rotation limiting structures so that it can only move linearly along the axis of the swing drive shaft 310 when the swing drive shaft 310 rotates.

[0084] The swing drive shaft 310 is used to receive torque input. In order to facilitate its connection with the surgical robot arm, a drive capstan 340 is connected to the swing drive shaft 310. The drive capstan 340 is used to connect with the surgical robot arm. Figure 2 As shown, one end of the swing drive shaft 310 is connected to the drive capstan 340. When the surgical robot's robotic arm is connected to the drive capstan 340, the drive capstan 340 is driven to rotate, thereby driving the swing drive shaft 310. The specific structure of the drive capstan 340 can be configured accordingly based on the connection end structure of the surgical robot's robotic arm and is not specifically limited here.

[0085] The swing drive shaft 310 and the drive winch 340 can be connected by a coupling 350. Figure 2 and Figure 10The coupling 350 includes a split coupling body 351 and an adapter shaft fixing block 352. The adapter shaft fixing block 352 is detachably fixedly connected to the coupling body 351 and fixes one of the driving capstan 340 and the swing driving shaft 310. The other of the driving capstan 340 and the swing driving shaft 310 is fixedly connected to the coupling body 351. Specifically, the coupling body 351 is fixedly connected to the driving capstan 340. Specifically, the coupling body 351 has a connecting shaft 3511, and the driving capstan 340 has a connecting hole. The connecting shaft 3511 is inserted into the connecting hole and fixed. Specifically, the fixed connection can be made by adhesive bonding or interference fit. The coupling body 351 has a first mounting hole 3512 on its end surface facing the swing drive shaft 310. The adapter shaft fixing block 352 has a second mounting hole 3521 that mates with the first mounting hole 3512. Together, the first mounting hole 3512 and the second mounting hole 3521 form a space for accommodating the swing drive shaft 310. During assembly, the end of the swing drive shaft 310 is inserted into the first mounting hole 3512, and the adapter shaft fixing block 352 is then securely connected to the coupling body 351, thereby securing the swing drive shaft 310. Specifically, the adapter shaft fixing block 352 and the coupling body 351 can be connected via setscrews. The above-mentioned disconnection design of the swing drive shaft 310 and the driving capstan 340 can facilitate the zero-position adjustment of the subsequent transmission system. That is, by disassembling the adapter shaft fixing block 352 from the coupling body 351, the swing drive shaft 310 or the driving capstan 340 can be rotated separately. When it is adjusted to the appropriate position, the adapter shaft fixing block 352 can be fixedly connected to the coupling body 351. In this embodiment, the connection between the driving capstan 340 and the coupling body 351 is described as an example. If necessary, the swing drive shaft 310 can also be fixedly connected to the coupling body 351. The connection between the swing drive shaft 310 and the driving capstan 340 is not limited to the above-mentioned coupling structure, and can also be connected by other fixed connection methods.

[0086] The above embodiment describes in detail the power input portion of the rotational motion, and the swing drive shaft 310 and the swing fork 320 can be specifically threaded. In another embodiment, please refer to Figure 11 The swing drive shaft 310 and the swing fork 320 cooperate through a sheave structure to achieve conversion between rotational motion and linear motion. Specifically, the swing drive shaft 310 is a sheave, and the swing fork 320 and the sheave form a sheave pair. Through the rotation of the sheave, the swing fork can achieve linear motion along the sheave. For other components of the power input section, such as the guide shaft and drive capstan, refer to the relevant arrangements in the above-mentioned embodiments and will not be further described here.

[0087] In the above embodiments, the connection between the swing fork and the outer tube is specifically configured as follows. Figure 12-1 、12-2 -and Figure 12-3 The jaw swing drive system also includes a swing limiting component 380. A swing limiting slot 2102 is defined on the swing tube 210, and a corresponding swing limiting through-hole 3201 is defined on the swing fork 320. The swing limiting component 380 is slidably mounted within the swing limiting through-hole 3201. When the swing limiting component 380 slides into the swing limiting slot 2102, it connects the swing tube 210 and the swing fork 320 for synchronized linear motion. When the swing limiting component 380 slides out of the swing limiting slot 2101, the swing tube 210 and the swing fork 320 are disengaged, releasing the synchronized linear motion relationship. The swing limiting component 380 can be a sheet-like structure, which takes up little space. The shape of the swing limiting through-hole 3201 is configured to correspond to the shape of the swing limiting component 380 to limit and guide the sliding of the swing limiting component 380. The shape of the swing limiting slot 2102 can be configured to correspond to the shape of the insertion end of the swing limiting component 380. The swing-limiting component 380 connects the swing fork 320 and the swing tube 210, separating the swing tube 210 from the linear drive components and facilitating installation and removal. Under normal operating conditions, the swing-limiting component 380 is inserted into the swing-limiting slot 2102, achieving normal transmission. In an emergency, such as when a surgical instrument becomes stuck, the swing-limiting component 380 can be pulled out of the swing-limiting slot 2101, releasing the synchronized linear motion relationship between the swing tube 210 and the swing fork 320. The surgical instrument can then be removed by disassembling the swing tube 210, for example, to facilitate emergency removal.

[0088] Furthermore, the swing limit groove 2101 is an annular groove arranged around the outer circumference of the swing tube 210, and the end of the swing limit component 380 close to the swing limit groove is in the shape of an arc with a diameter corresponding to the inner diameter of the annular groove. The outer surface of the outer tube end is provided with an annular groove, and the end of the swing limit component 380 has an arc feature 3801 that matches the annular groove. When the positions of the swing limit component 380, the swing fork 320, and the swing tube 210 are as shown in FIG. Figure 12-1 As shown, the swing fork 320 and the swing tube 210 cannot move axially relative to each other, but can rotate relative to each other; when the positions of the swing limit member 380, the swing fork 320, and the swing tube 210 are as shown Figure 12-3 When the position is shown, the swing fork 320 and the swing tube 210 can move relative to the axis, and can also rotate relative to each other. Specifically, one end of the swing fork 320 has a through hole 3202 to accommodate the swing tube 210, and the side wall of the swing fork 320 is provided with a swing limit through hole 3201 to accommodate the swing limit component 380. The swing limit through hole 3201 can be a square slot. Figure 12-1In the assembled state shown, the swing tube 210 is inserted into the hole 3202 of the swing fork, and the swing-limiting component 380 is inserted along the swing-limiting through-hole 3201, with the arc-shaped feature 3801 on the swing tube 210 resting against the swing-limiting groove 2102 on the swing tube 210. This connection forms a mortise and tenon structure, the purpose of which is to maintain the independence of the rotational and swinging movements. That is, when the swing tube 210 rotates during rotation, the swing tube 210 can rotate relative to the swing fork 320, while the swing fork 320 remains in place. When the swing drive assembly is operating, the swing fork 320 moves along the axis of the arbor assembly, which in turn drives the swing-limiting component 380 inserted therein to move, further driving the swing tube 210 through the coupled annular groove, thereby driving the swinging movement of the end jaws.

[0089] In the above embodiments, in order to facilitate the installation of various components, the interior of the instrument box 300 can specifically adopt a bracket structure, such as Figure 13-1 、 Figure 13-2 and Figure 9-1 、 Figure 9-2 As shown, it includes a bottom plate 3010, a column 3020, a top plate 3030 and a middle plate 3040 (middle plate Figure 13-1 and Figure 13-2 (not shown in the figure). The bottom plate 3010 is provided with through holes for the passage of various pipe fittings. The two ends of the column 3020 are fixedly connected to the bottom plate 3010 and the top plate 3030 respectively, such as by screws. As needed, a bearing 390 can be arranged between the swing drive shaft 310 and the top plate 3030, and the shaft end locking nut 3100 can be connected to the swing drive shaft 310 to press the bearing 390 against the top plate 3080 for axial limitation. In the case where a drive winch 340 is provided, the drive winch 340 can be installed on the bottom plate 3010. A bearing 370 can be provided between the bottom plate 3010 and the drive winch 340. The guide cover in the above embodiment can be fixed to the top plate by screws or the like. In the case where a guide shaft 330 is provided, the two ends of the guide shaft 330 can be fixedly connected to the middle plate 3040 and the bottom plate 3010 by screws or the like.

[0090] like Figure 14 and Figure 15As shown, the base tube 220 is a basic pipe that can only rotate about its own axis, without linear motion. The rotation of the base tube 220 drives the rotation of the forceps head 100. The swing tube 210 is sleeved around the base tube 220 and slides along it. This telescoping structure saves space. Furthermore, the swing tube 210 and the base tube 220 can move relative to each other, thereby achieving independent rotation and swinging motion. The base tube 220 is connected to the instrument case 300 through a spindle nut 221, a bearing 222, a bearing gland 223, a spindle jacket 224, a spindle driven pulley 225, a center plate 3040, and a column 3020, which are mounted on a bracket to restrict axial movement. Specifically, the spindle jacket 224 and the spindle driven pulley 225 are secured using screws or the like and securely fastened to the outer circumference of the base tube 220, forming a base tube body. The middle plate 3040 has a bearing groove. The bottom surface of the bearing 222 fits into the groove, and the top surface is fixed with a bearing cover 223. The bearing 222 is installed on the middle plate 3040, and the middle plate 3040 is mounted on the column 3020. The base tube body passes through the bearing hole from top to bottom, and the spindle nut 221 is tightened on the thread on the base tube 220, thus connecting the base tube body and the middle plate 3040. The base tube 220 can only rotate along its axis and cannot move linearly relative to the middle plate 3040.

[0091] The present invention also provides a surgical instrument, which in a specific embodiment includes a drive disc, a swing drive assembly, a swing tube and a swing transmission assembly. Among them, the drive disc is connected to the robotic arm of the surgical robot and receives and converts the power of the robotic arm into a rotational driving force. The drive disc is driven to rotate by the robotic arm of the surgical robot, and the specific connection relationship between the robotic arm and the drive disc can adopt a conventional setting to achieve rotational drive. The swing drive assembly is connected to the drive disc and converts the rotational driving force into a linear driving force. The swing tube is connected to the swing drive assembly and moves linearly under the drive of the swing drive assembly. The swing transmission assembly is respectively connected to the swing tube and the forceps head, and the swing transmission assembly and the forceps head form a crank mechanism to drive the forceps head to swing through the linear movement of the swing tube. The specific settings of the swing drive assembly, the swing tube and the swing transmission assembly can refer to the relevant statements in the above-mentioned embodiment of the forceps head swing drive system, and will not be repeated here.

[0092] When the surgical instrument provided by the present invention is used and the forceps head needs to be swung during surgery, the robot's mechanical arm drives the swing drive assembly to rotate. The swing drive assembly converts the rotational drive force into a linear drive force and drives the swing tube to move linearly. The linear movement of the swing tube is then converted into the swing of the forceps head through the crank mechanism formed by the swing transmission assembly and the forceps head. The crank mechanism has a simple structure and is easy to implement. The linear movement of the swing tube drives the crank mechanism, and the transmission reliability is high. In addition, the swing tube can make better use of space. For example, other components such as the surgical instrument's shank can be arranged inside it, which helps to reduce the overall space occupied by the surgical instrument.

[0093] Specifically, the swing transmission assembly includes a rotatably mounted swing arm and two swing rods corresponding to and parallel to the two ends of the swing arm. One end of the two swing rods is respectively rotatably connected to the two ends of the swing arm, and the other ends of the two swing rods are respectively rotatably connected to different positions of the pliers head. The swing arm, the two swing rods and the pliers head form a parallelogram crank mechanism. The swing tube is connected to the swing arm or any swing rod to push the swing arm to rotate when the swing tube slides.

[0094] Based on the surgical instruments provided in the above embodiments, the present invention further provides a surgical robot, which includes any of the surgical instruments in the above embodiments. Since the surgical robot utilizes the surgical instruments in the above embodiments, the beneficial effects of the surgical robot are described in the above embodiments. The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between the various embodiments can be referenced for reference only.

[0095] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A forceps head swing drive system for a surgical instrument, comprising a forceps head, characterized in that: The invention also includes a swing tube, a swing drive assembly and a swing transmission assembly, wherein the swing drive assembly is connected to the swing tube to drive the swing tube to move linearly, the swing tube is connected to the pliers head through the swing transmission assembly, and the swing transmission assembly and the pliers head form a crank mechanism to drive the pliers head to swing through the linear movement of the swing tube; The swing drive assembly also includes a swing fork and a swing limiting component, the swing fork is connected to the swing tube to drive the swing tube to move linearly; a swing limiting groove is provided on the swing tube, and a swing limiting through hole is correspondingly provided on the swing fork, the swing limiting component is slidably installed in the swing limiting through hole, and when the swing limiting component slides to be inserted into the swing limiting groove, the swing tube and the swing fork are connected to move linearly synchronously; when the swing limiting component slides to exit the swing limiting groove, the swing tube and the swing fork are disengaged to release the synchronous linear movement relationship.

2. The forceps head swing drive system of the surgical instrument according to claim 1, characterized in that: The swing transmission assembly includes a rotatably mounted swing arm and two swing rods corresponding to and parallel to the two ends of the swing arm, one end of one swing rod is rotatably connected to one end of the swing arm, one end of the other swing rod is rotatably connected to the other end of the swing arm, and the other ends of the two swing rods are rotatably connected to different positions of the pliers head respectively. The swing arm, the two swing rods and the pliers head form a parallelogram crank mechanism, and the swing tube is connected to the swing arm or any one of the swing rods to push the swing arm to rotate when the swing tube slides.

3. The forceps head swing drive system of the surgical instrument according to claim 2, characterized in that: The rotating axis of the swing arm is located in the middle of the swing arm, and the two ends of the swing arm are respectively connected with swing arm pin shafts, and the two ends of the swing rod are respectively provided with pull rod strip grooves, and the swing arm pin shafts at both ends of the swing arm are respectively inserted into the pull rod strip grooves at one end of the corresponding swing rod, and the clamp head is respectively provided with clamp head pin shafts corresponding to each swing rod, and each clamp head pin shaft is respectively inserted into the pull rod strip groove at the other end of the corresponding swing rod.

4. The forceps head swing drive system of the surgical instrument according to claim 3, characterized in that: One end of the swing tube close to the pliers head is connected to a swing driving plate, and the swing driving plate is connected to the swing arm to drive the parallelogram crank mechanism to move.

5. The forceps head swing drive system of the surgical instrument according to claim 4, characterized in that: A driving plate strip groove is provided on one end of the swing driving plate close to the pliers head, and the swing arm pin shaft located at one end of the swing arm is inserted into the driving plate strip groove.

6. The forceps head swing drive system of the surgical instrument according to claim 5, characterized in that: The extending direction of the pull rod strip groove is perpendicular to the sliding direction of the swing pull rod, and the extending direction of the drive plate strip groove is perpendicular to the sliding direction of the swing drive plate.

7. The forceps head swing drive system of a surgical instrument according to claim 4, characterized in that: It also includes a base tube that is rotatably inserted into the swing tube. The base tube is connected to the clamp head to drive the clamp head to rotate. A guide groove is axially provided on the outer peripheral surface of the base tube, and the swing drive plate is movably accommodated in the guide groove.

8. The forceps head swing drive system of a surgical instrument according to claim 1, characterized in that: The swing drive assembly includes a swing drive shaft arranged parallel to the swing tube and a swing fork connected to the swing drive shaft. The swing drive shaft is used to receive torque input, and the rotation of the swing drive shaft drives the swing fork to move linearly.

9. The forceps head swing drive system of the surgical instrument according to claim 8, characterized in that: The swing limiting groove is an annular groove arranged around the outer circumference of the swing tube, and the end of the swing limiting component close to the swing limiting groove has an arc shape with a diameter corresponding to the inner diameter of the annular groove.

10. The forceps head swing drive system of a surgical instrument according to claim 8, characterized in that: The swing drive shaft is threadably matched with the swing fork.

11. The forceps head swing drive system of a surgical instrument according to claim 8, characterized in that: It also includes a guide shaft arranged parallel to the swing drive shaft. The swing fork is provided with a guide through hole, and the guide shaft is passed through the guide through hole.

12. The forceps head swing drive system of a surgical instrument according to claim 8, characterized in that: A driving winch is connected to the swing drive shaft and is used to be connected to a robotic arm of a surgical robot.

13. The forceps head swing drive system of a surgical instrument according to claim 12, characterized in that: The driving winch is fixedly connected to the swing driving shaft through a coupling. The coupling includes a split coupling body and an adapter shaft fixing block. The adapter shaft fixing block is detachably fixedly connected to the coupling body and fixes one of the driving winch and the swing driving shaft. The other of the driving winch and the swing driving shaft is fixedly connected to the coupling body.

14. A surgical instrument, characterized in that: include: A drive disk connected to the robotic arm of the surgical robot and receiving and converting the power of the robotic arm into a rotational driving force; a swing drive assembly connected to the drive disc and converting a rotational drive force into a linear drive force; an oscillating tube connected to the oscillating drive assembly and moving linearly under the drive of the oscillating drive assembly; A swing transmission assembly, wherein the swing transmission assembly is connected to the swing tube and the clamp head respectively, and the swing transmission assembly and the clamp head form a crank mechanism to drive the clamp head to swing through the linear movement of the swing tube; The swing drive assembly also includes a swing fork and a swing limiting component, the swing fork is connected to the swing tube to drive the swing tube to move linearly; a swing limiting groove is provided on the swing tube, and a swing limiting through hole is correspondingly provided on the swing fork, the swing limiting component is slidably installed in the swing limiting through hole, and when the swing limiting component slides to be inserted into the swing limiting groove, the swing tube and the swing fork are connected to move linearly synchronously; when the swing limiting component slides to exit the swing limiting groove, the swing tube and the swing fork are disengaged to release the synchronous linear movement relationship.

15. The surgical instrument according to claim 14, characterized in that The swing transmission assembly includes a rotatably mounted swing arm and two swing pull rods corresponding to and parallel to the two ends of the swing arm. One end of the two swing pull rods is respectively rotatably connected to the two ends of the swing arm, and the other ends of the two swing pull rods are respectively rotatably connected to different positions of the pliers head. The swing arm, the two swing pull rods and the pliers head form a parallelogram crank mechanism. The swing tube is connected to the swing arm or any one of the swing pull rods to push the swing arm to rotate when the swing tube slides.

16. A surgical robot comprising a master operating device and a slave operating device controlled by the master operating device, wherein the slave operating device comprises the surgical instrument according to any one of claims 14 to 15.

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