Instrument drive wire pretensioning device

Abstract

The embodiment of the application discloses a device driving wire pre-tightening device, which fixes a surgical device on a base through a bearing assembly, then clamps a finger part of the surgical device through a finger force measuring assembly arranged on the bearing assembly and measures a first external force of the finger part, and can clamp a wrist part of the surgical device through a wrist part force measuring assembly arranged on the bearing assembly and measure a second external force of the wrist part, the sizes of the first external force and the second external force respectively reflect the pre-tightening force sizes of a steel wire rope driving the finger part and a steel wire rope driving the wrist part, and the first external force and / or the second external force are displayed in the form of a visible image through a display assembly, so that a user can clearly and quantitatively perceive the pre-tightening force sizes of each steel wire rope, the pre-tightening force sizes of each steel wire rope are consistent, a quantitative assembly standard is facilitated to be formulated, and product quality and consistency are guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of minimally invasive medical surgical instruments, in particular to a device for pre-tightening instrument driving wires. BACKGROUND

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the body cavity using laparoscopes, thoracoscopes and other modern medical instruments and related equipment. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain and faster recovery. However, in minimally invasive surgery, the operation difficulty is greatly increased due to the size limitation of the incision, and the fatigue, tremor and other actions of the doctor during the long operation process are amplified, 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, has emerged.

[0003] A common minimally invasive surgery robot is composed of a doctor's console, a patient-side cart and a display device. A surgeon operates an input device at the doctor's console and transmits the input to a patient-side cart connected to a remotely operated surgical instrument. Based on the input of the surgeon at the doctor's 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's console and the surgical instrument at the patient-side cart. The surgical instrument is usually driven by a steel wire rope, and the steel wire rope needs to be pre-tightened during assembly to ensure the reliability of the drive.

[0004] However, the size of the pre-tightening force of the steel wire rope currently relies only on the experience of the assembly worker, and it is difficult to ensure the quality (too large pre-tightening force will result in large end resistance, which is not conducive to drive control, and too small pre-tightening force will cause the risk of steel wire rope loosening, resulting in instrument scrap) and product consistency. Even in the same instrument, since there are multiple steel wire ropes, it is also difficult to ensure the consistency of the pre-tightening force. Even if the size of the pre-tightening force meets the consistency requirement, the pre-tightening force of the steel wire rope is still in a qualitative stage, and it is difficult to obtain quantitative perception and establish a unified standard, which is not conducive to the standardization of instrument production and assembly. SUMMARY

[0005] The purpose of the present application is to provide a device for pre-tightening instrument driving wires, so that the user can quantitatively perceive the size of the pre-tightening force of each steel wire rope, ensure the consistency of the pre-tightening force of each steel wire rope, facilitate the development of quantitative assembly standards, and ensure product quality and consistency.

[0006] In a first aspect, the present application provides a device for pre-tightening instrument driving wires, comprising a base, a display assembly, a bearing assembly arranged on the base, a finger force measuring assembly and / or a wrist force measuring assembly arranged on the bearing assembly.

[0007] The bearing assembly is used to fix the surgical instrument;

[0008] The finger force measuring assembly is used to clamp the finger of the surgical instrument and measure the first force of the finger to the outside; and the wrist force measuring assembly is used to clamp the wrist of the surgical instrument and measure the second force of the wrist to the outside.

[0009] The display assembly is used to convert the first force and / or the second force into a visual image.

[0010] In an optional embodiment, the finger force measuring assembly comprises a first tensile and compressive force sensor and a finger clamping member, the finger clamping member is connected to the bearing assembly through the first tensile and compressive force sensor, and the finger clamping member is used to clamp the finger.

[0011] The wrist force measuring assembly comprises a second tensile and compressive force sensor and a wrist clamping member, the wrist clamping member is connected to the bearing assembly through the second tensile and compressive force sensor, and the wrist clamping member is used to clamp the wrist.

[0012] The display assembly is electrically connected with the first tensile and compressive force sensor and the second tensile and compressive force sensor.

[0013] The detection direction of the first tensile and compressive force sensor and the detection direction of the second tensile and compressive force sensor are perpendicular.

[0014] In an optional embodiment, the finger force measuring assembly comprises a first tensile and compressive force sensor and a finger clamping member, the finger clamping member is connected to the bearing assembly through the first tensile and compressive force sensor, the display assembly is electrically connected with the first tensile and compressive force sensor, and the finger clamping member is used to clamp the finger.

[0015] In an optional embodiment, the finger clamping member comprises a clamping plate and a pressing plate, the clamping plate is connected to the bearing assembly through the first tensile and compressive force sensor, the pressing plate is detachably connected to the clamping plate, and the clamping plate and the pressing plate are used to clamp the finger.

[0016] In an optional embodiment, the pressing plate is detachably connected to the clamping plate through a knob screw.

[0017] In an optional embodiment, the wrist force measuring assembly comprises a second tensile and compressive force sensor and a wrist clamping member, the wrist clamping member is connected to the bearing assembly through the second tensile and compressive force sensor, the display assembly is electrically connected with the second tensile and compressive force sensor, and the wrist clamping member is used to clamp the wrist.

[0018] In an optional embodiment, the wrist clamping member comprises a connecting block and a clamping sleeve, the connecting block is connected to the load-bearing assembly through the second tensile and pressure sensor, and the clamping sleeve is detachably mounted on the connecting block, and a space for clamping the wrist is arranged between the clamping sleeve and the connecting block.

[0019] In an optional embodiment, the connecting block is provided with a mounting groove and a knob outside the mounting groove, the clamping sleeve is arranged in the mounting groove, and the knob abuts against the surface of the bottom of the clamping sleeve away from the mounting groove, wherein the knob can rotate relative to the connecting block to be separated from the clamping sleeve.

[0020] In an optional embodiment, the connecting block is connected with a limiting member, the limiting member comprises a connecting portion and a limiting portion connected with each other, and the outer diameter of the limiting portion is larger than that of the connecting portion, the connecting portion is connected with the connecting block, and the knob is rotatably sleeved outside the connecting portion, wherein the distance between the limiting portion and the connecting block is greater than the height of the knob, so that the knob can rotate relative to the connecting block.

[0021] In an optional embodiment, the load-bearing assembly comprises a fixed seat and a sliding seat, the fixed seat and the sliding seat are arranged at intervals in the length direction of the base, and the distance between the sliding seat and the fixed seat can be adjusted.

[0022] The sliding seat is used for fixing the instrument box and the head end of the instrument shaft of the surgical instrument, the fixed seat is used for fixing the tail end of the instrument shaft, and the finger force measuring assembly and the wrist force measuring assembly are arranged on the fixed seat.

[0023] In an optional embodiment, the instrument driving wire pre-tightening device further comprises a fixing plate, the fixing plate is used for detachable connection on the instrument box of the surgical instrument, the fixing plate is provided with a positioning hole, and the positioning hole is used for cooperation with the flat position on the finger winding shaft or the wrist winding shaft on the instrument box to prevent the finger winding shaft or the wrist winding shaft from rotating.

[0024] In an optional embodiment, the fixing plate comprises a plate body and buckles connected at both ends of the plate body, the plate body is provided with the positioning hole, and the buckles are used for clamping connection with the instrument box.

[0025] The beneficial effects of the embodiments of the present application include:

[0026] Surgical instruments are secured to the base using a support assembly. A finger force-measuring component on the support assembly clamps the fingers of the instruments and measures the initial force exerted by the fingers. Alternatively, a wrist force-measuring component on the support assembly clamps the wrist of the instruments and measures the second force exerted by the wrist. The magnitudes of these two forces reflect the preload of the steel cables driving the fingers and wrist, respectively. A display assembly then shows the first and / or second forces as visual images, allowing users to clearly and quantitatively perceive the preload of each steel cable. This ensures consistent preload across all cables, facilitating the development of quantitative assembly standards and guaranteeing product quality and consistency. Attached Figure Description

[0027] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 A schematic diagram showing the use of the instrument drive wire pretensioning device;

[0029] Figure 2 for Figure 1 One of the partial schematic diagrams of the instrument box area;

[0030] Figure 3 for Figure 1 A magnified view of part A in the middle;

[0031] Figure 4 for Figure 3 A schematic diagram showing the components after they have been hidden.

[0032] Figure 5 for Figure 4 A schematic diagram after the wrist force measurement component has been removed;

[0033] Figure 6 This is a schematic diagram of the finger clamping component;

[0034] Figure 7 for Figure 4 A schematic diagram after the force measurement component of the hidden finger is removed;

[0035] Figure 8 for Figure 7 A magnified view of part C in the middle;

[0036] Figure 9 for Figure 7 A cross-sectional diagram;

[0037] Figure 10 is a schematic view of a wrist clamping piece;

[0038] Figure 11 is a schematic view of a Figure 1 is a local enlarged view of a middle B part;

[0039] Figure 12 is a schematic view of a first fixing plate;

[0040] Figure 13 is a schematic view of a second fixing plate.

[0041] Figure legend: 100 - instrument driving wire pre-tightening device; 110 - base; 111 - first positioning groove; 112 - second positioning groove; 113 - strip-shaped hole; 114 - bolt; 115 - fixing sleeve; 116 - magnet block; 120 - sliding seat; 121 - fixed seat; 123 - support block; 130 - finger force measuring assembly; 131 - finger clamping piece; 1310 - clamping plate; 1311 - pressing plate; 1312 - first connecting screw; 1313 - knob screw; 1314 - finger clamping cavity; 1315 - notch; 132 - mounting seat; 133 - first tensile and compressive force sensor; 140 - wrist force measuring assembly; 141 - wrist clamping piece; 1410 - connecting block; 1411 - clamping sleeve; 1412 - second connecting screw; 1413 - mounting groove; 1414 - wrist clamping cavity; 142 - pad block; 1420 - countersunk through hole; 143 - fixing screw; 144 - knob; 145 - limiting piece; 146 - second tensile and compressive force sensor; 150 - display screen; 151 - first signal amplifier; 152 - second signal amplifier; 160 - first fixing plate; 161 - second fixing plate; 162 - plate body; 1620 - positioning hole; 163 - buckle; 164 - avoiding groove; 165 - avoiding hole; 200 - instrument box; 201 - finger winding shaft; 202 - wrist winding shaft; 210 - instrument shaft; 220 - wrist; 230 - finger. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but merely represents selected embodiments of the application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the application without creative efforts fall within the scope of the application.

[0044] It should be noted that similar reference numbers and letters refer to similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0045] In the description of the application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed, and are merely for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application. In addition, the terms "first", "second", "third", and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0046] In addition, the terms "horizontal", "vertical", "overhanging", and the like do not mean that the components must be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only means that it is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0047] In the description of the application, it should also be noted that unless otherwise explicitly specified and limited, the terms "provided", "mounted", "connected", "linked" should be broadly understood, for example, it can be fixedly connected, or detachably connected, or integrally connected; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the communication between two elements inside. For those of ordinary skill in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0048] The following will be described in detail with reference to the accompanying drawings Figures 1 to 13 Some embodiments of the application will be described in detail. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0049] Please refer to Figures 1 to 4The embodiment of the present application discloses a device driving wire pre-tightening device 100, which is mainly used for pre-tightening of driving steel wire rope in surgical instruments, and mainly comprises a base 110, a bearing assembly, a finger force measuring assembly 130, a wrist force measuring assembly 140 and a display assembly.

[0050] The base 110 is roughly rectangular plate-shaped, and mainly serves to bear the bearing assembly, the finger force measuring assembly 130 and the wrist force measuring assembly 140 located thereon.

[0051] The bearing assembly is arranged on the base 110, and is mainly used for fixing the surgical instrument. Generally, the surgical instrument comprises an instrument box 200, an instrument shaft 210, a wrist 220 and a finger 230. The head end of the instrument shaft 210 is connected with the instrument box 200, the wrist 220 is rotatably connected to the tail end of the instrument shaft 210, the finger 230 is rotatably connected to the wrist 220, and the rotation axis of the wrist 220 and the rotation axis of the finger 230 are perpendicular. The instrument box 200 has a finger winding shaft 201 and a wrist winding shaft 202, the steel wire rope on the finger winding shaft 201 is connected to the finger 230 after passing through the instrument shaft 210, and the steel wire rope on the wrist winding shaft 202 is connected to the wrist 220 after passing through the instrument shaft 210.

[0052] Specifically, the base is provided with a first positioning groove 111 and a second positioning groove 112, and the first positioning groove 111 and the second positioning groove 112 are arranged at intervals along the length direction of the base.

[0053] The bearing assembly comprises a fixed seat 121 and a sliding seat 120, the sliding seat 120 is arranged in the first positioning groove 111, and the fixed seat 121 is arranged in the second positioning groove 112, so that the sliding seat 120 and the fixed seat 121 are positioned by the first positioning groove 111 and the second positioning groove 112 respectively, the positions of the sliding seat 120 and the fixed seat 121 on the base are facilitated to be found, and the fixed seat 121 and the sliding seat 120 are arranged at intervals along the length direction of the base 110. The sliding seat 120 is used for fixing the head end of the instrument shaft 210 and the instrument box 200, and the fixed seat 121 is used for fixing the tail end of the instrument shaft 210. The distance between the sliding seat 120 and the fixed seat 121 can be adjusted, so as to adapt to the length of the instrument shaft 210.

[0054] The sliding seat 120 is in inverted T-shaped structure, comprising a bottom plate and a vertical plate vertically connected to the bottom plate, and the vertical plate is used for bearing the head end of the instrument shaft 210. Meanwhile, in order to avoid the instrument box 200 being suspended and causing the part of the instrument shaft 210 on the vertical plate to bear greater shearing stress, a support block 123 is arranged on the sliding seat 120 to bear the instrument box 200, that is, the bearing assembly further comprises the support block 123 arranged on the bottom plate of the sliding seat 120 and used for abutting against the bottom surface of the instrument box 200, thereby supporting the instrument box 200.

[0055] The base is provided with a strip-shaped hole 113 extending along the length direction of the base, the strip-shaped hole 113 penetrating the groove bottom of the first positioning groove 111 and the bottom surface of the base, and the bolt 114 is in threaded connection with the nut after penetrating the bottom plate of the sliding seat 120 and the strip-shaped hole 113 in sequence, so as to detachably connect the sliding seat 120 on the base 110, and the sliding seat 120 can be moved along the length direction of the base by loosening the bolt 114, and the bolt 114 is tightened after the length of the instrument shaft 210 is adapted, so that the sliding seat 120 is fixed relative to the base.

[0056] The number of the strip-shaped holes 113 can be two, and the two strip-shaped holes 113 are arranged in the width direction of the base, so that each strip-shaped hole 113 has a bolt 114 penetrating through, so that the installation and positioning of the sliding seat 120 on the base are more accurate and stable.

[0057] The detachable fixing sleeve 115 is arranged on the sliding seat 120, so that the instrument shaft 210 is arranged between the fixing sleeve 115 and the sliding seat 120, and the head end of the instrument shaft 210 is fixed by the fixing sleeve 115.

[0058] Specifically, the top surface of the vertical plate of the sliding seat 120 is provided with a semicircular groove, the fixing sleeve 115 is substantially in semicircular ring shape, and the two end portions of the fixing sleeve 115 are detachably connected to the outside of the groove of the sliding seat 120, so that the fixing sleeve 115 and the groove jointly form a cylindrical cavity for the instrument shaft 210 to penetrate, thereby achieving the support of the instrument shaft 210.

[0059] The detachable connection between the fixing sleeve 115 and the sliding seat 120 can be achieved by rotating the knob 144 arranged on the sliding seat 120, and of course, the connection mode can also be screw connection or magnetic attraction connection.

[0060] The fixed seat 121 can be detachably fixed in the second positioning groove 112 of the base through screw connection. The fixed seat 121 is provided with a magnet block 116 through magnetic adsorption. The magnet block 116 and the fixed seat 121 form a cylindrical cavity for the instrument shaft 210 to pass through. Of course, the fixed seat 121 can also support the instrument shaft 210 in the form of a sliding seat 120 provided with a rotating knob 144 to press the fixed sleeve 115, or through screw connection and other ways.

[0061] The finger force measuring assembly 130 and the wrist force measuring assembly 140 are arranged on the fixed seat 121. The finger force measuring assembly 130 is used to clamp the finger 230 of the surgical instrument and measure the first external force of the finger 230. The wrist force measuring assembly 140 is used to clamp the wrist 220 of the surgical instrument and measure the second external force of the wrist 220.

[0062] The display assembly is electrically connected with the finger force measuring assembly 130 and the wrist force measuring assembly 140, and is used to convert the first force and the second force into a visible image.

[0063] Generally, when the surgical instrument is pre-tightened with a steel wire rope, the finger 230 and the wrist 220 will produce corresponding actions. In this embodiment, the finger force measuring assembly 130 and the wrist force measuring assembly 140 are used to clamp the finger 230 and the wrist 220 of the surgical instrument respectively, and measure the first external force and the second external force of the finger 230 and the wrist 220 respectively. The size of the first force and the second force reflects the pre-tightening force of the steel wire rope driving the finger 230 and the pre-tightening force of the steel wire rope driving the wrist 220 respectively. The display assembly displays the first force and the second force in the form of a visible image, so that the user can clearly perceive the size of the pre-tightening force of each steel wire rope, ensure the size of the pre-tightening force of each steel wire rope is consistent, facilitate the establishment of quantitative assembly standards, and ensure product quality and consistency.

[0064] In combination with Figure 5The finger force measuring assembly 130 comprises a first tensile and compressive force sensor 133 and a finger clamping member 131. The finger clamping member 131 is connected to the bearing assembly through the first tensile and compressive force sensor 133, i.e. one end of the first tensile and compressive force sensor 133 is connected to the fixed base 121, and the other end of the first tensile and compressive force sensor 133 is connected to the finger clamping member 131. The finger clamping member 131 is used to clamp the finger 230 of the surgical instrument. When the steel wire for driving the rotation of the finger 230 is pre-tightened, the finger 230 will rotate relative to the wrist 220 due to the pre-tightening of the steel wire. Since the finger clamping member 131 is connected to the first tensile and compressive force sensor 133, the rotation of the finger 230 will generate a tensile force or stress on the first tensile and compressive force sensor 133. Due to the physical phenomenon of interaction force, the first tensile and compressive force sensor 133 can output a first force which reflects the pre-tightening force of the steel wire of the finger 230.

[0065] In the present embodiment, in order to distinguish the force direction of the finger 230 and the wrist 220, the detection direction of the first tensile and compressive force sensor 133 is parallel to the upper surface of the base. In order to install the first tensile and compressive force sensor 133, a mounting base 132 is arranged on the fixed base 121, i.e. the finger force measuring assembly 130 further comprises the mounting base 132 which is detachably connected to the fixed base 121 by screws or the like. One end of the first tensile and compressive force sensor 133 is connected to the side surface of the mounting base 132.

[0066] In combination with Figure 6 The finger clamping member 131 comprises a clamping plate 1310 and a pressing plate 1311. The clamping plate 1310 is connected to the end of the first tensile and compressive force sensor 133 away from the mounting base 132 by a first connecting screw 1312, so that the clamping plate 1310 is connected to the bearing assembly through the first tensile and compressive force sensor 133. The pressing plate 1311 is detachably connected to the clamping plate 1310, and the clamping plate 1310 and the pressing plate 1311 are used to clamp the finger 230.

[0067] The pressing plate 1311 is detachably connected with the clamping plate 1310 through the knob screw 1313, that is, the knob screw 1313 is screwed with the clamping plate 1310 after penetrating through the pressing plate 1311, thereby fixing the clamping plate 1310 and the pressing plate 1311 to enable the clamping plate 1310 and the pressing plate 1311 to clamp the finger portion 230 located therebetween, so that the finger portion 230 can exert a pulling force or a pressing force on the first tension and pressure sensor 133 through the clamping plate 1310 and the pressing plate 1311 when the steel wire corresponding to the finger portion 230 is pre-tightened. Moreover, the knob screw 1313 can also be used to adjust the clamping force of the clamping plate 1310 and the pressing plate 1311 on the finger portion 230, so as to prevent the finger portion 230 of the surgical instrument from being damaged due to excessive clamping force or the finger portion 230 from being loosened from the clamping plate 1310 and the pressing plate 1311 due to insufficient clamping force.

[0068] In the clamping plate 1310 and the pressing plate 1311, a finger portion clamping cavity 1314 for the finger portion 230 is formed, so that the shapes of the clamping plate 1310 and the pressing plate 1311 are more suitable for the finger portion 230, thereby more stably clamping the finger portion 230.

[0069] The clamping plate 1310 is provided with a notch 1315 at a position for connecting the knob screw 1313, thereby reducing the volume of the clamping plate 1310 and the use of manufacturing materials.

[0070] In combination with Figure 7 and Figure 8 , the wrist force measuring assembly 140 comprises a second tension and pressure sensor 146 and a wrist clamping member 141, the wrist clamping member 141 being connected to the bearing assembly through the second tension and pressure sensor 146, that is, one end of the second tension and pressure sensor 146 is connected to the fixed seat 121, and the other end of the second tension and pressure sensor 146 is connected to the wrist clamping member 141, the wrist clamping member 141 being used to clamp the wrist portion 220, so that when the steel wire for driving the wrist portion 220 to rotate is pre-tightened, the wrist portion 220 will rotate relative to the instrument shaft 210 due to the pre-tightening of the steel wire, and since the wrist clamping member 141 is connected to the second tension and pressure sensor 146, the wrist clamping member 141 will exert a pulling force or a stress on the second tension and pressure sensor 146 due to the rotation of the wrist portion 220, and the second tension and pressure sensor 146 can output a second acting force reflecting the pre-tightening force of the steel wire of the wrist portion 220 due to the physical phenomenon of mutual acting force.

[0071] It should be noted that since the rotation axes of the wrist 220 and the finger 230 of the surgical instrument are perpendicular to each other, the directions of the external forces of the two are also perpendicular to each other, so the detection directions of the first tensile and compressive force sensor 133 and the second tensile and compressive force sensor 146 are also perpendicular to each other. Since in this embodiment, the detection direction of the first tensile and compressive force sensor 133 is parallel to the upper surface of the base, the detection direction of the second tensile and compressive force sensor 146 is perpendicular to the base, and the wrist clamping piece 141 is connected to the top end of the second tensile and compressive force sensor 146.

[0072] The fixed seat 121 also has a pad 142, and the bottom end of the second tensile and compressive force sensor 146 is connected to the pad 142, thereby raising the height of the second tensile and compressive force sensor 146 and the wrist clamping piece 141, so that the wrist clamping piece 141 is at the same height as the wrist 220 at the end of the instrument shaft 210, facilitating the wrist clamping piece 141 clamping the wrist 220 of the surgical instrument.

[0073] The bottom surface of the fixed seat 121 is provided with a countersunk hole 1420, and the bottom end of the second tensile and compressive force sensor 146 is connected to the pad 142 through the fixed screw 143, which is sequentially threaded through the countersunk hole 1420 and the pad 142, thereby realizing the connection between the bottom end of the second tensile and compressive force sensor 146 and the fixed seat 121.

[0074] In combination with Figure 9 and Figure 10 , the wrist clamping piece 141 includes a connecting block 1410 and a clamping sleeve 1411, the connecting block 1410 is connected to the top end of the second tensile and compressive force sensor 146 through the second connecting screw 1412, so that the connecting block 1410 is connected to the fixed seat 121 of the bearing assembly through the second tensile and compressive force sensor 146, and the clamping sleeve 1411 is detachably installed on the connecting block 1410, and a space for clamping the wrist 220 is provided between the clamping sleeve 1411 and the connecting block 1410.

[0075] The connecting block 1410 is provided with a mounting groove 1413 and a knob 144 outside the mounting groove 1413, the clamping sleeve 1411 is arranged in the mounting groove 1413, and the knob 144 abuts against the surface of the clamping sleeve 1411 away from the groove bottom of the mounting groove 1413, wherein the knob 144 can rotate relative to the connecting block 1410 to separate from the clamping sleeve 1411, so that the locking and unlocking of the clamping sleeve 1411 is realized by the knob 144. Thus, when clamping the wrist part 220 of the surgical instrument, the knob 144 can be first rotated to separate the knob 144 from the clamping sleeve 1411, so that the clamping sleeve 1411 can be disassembled from the connecting block 1410, then the wrist part 220 is arranged on the connecting block 1410, and then the clamping sleeve 1411 is arranged in the mounting groove 1413, and the knob 144 is rotated to abut against the surface of the clamping sleeve 1411 away from the groove bottom of the mounting groove 1413, so that the connecting block 1410 and the clamping sleeve 1411 clamp the wrist part 220.

[0076] Of course, in order to adapt to the shape of the wrist part 220, a semicircular groove is arranged on the groove bottom of the mounting groove 1413, and the corresponding clamping sleeve 1411 is substantially semicircular, so that the mounting groove 1413 and the clamping sleeve 1411 jointly form a cylindrical wrist clamping cavity 1414 for the wrist part 220 of the surgical instrument to pass through, thereby facilitating clamping of the wrist part 220.

[0077] A limiting piece 145 is connected to the connecting block 1410, the limiting piece 145 includes a connecting part and a limiting part connected to each other, and the outer diameter size of the limiting part is greater than the outer diameter size of the connecting part, the connecting part is connected to the connecting block 1410, and the knob 144 is rotatably arranged outside the connecting part, wherein the spacing between the limiting part and the connecting block 1410 is greater than the height of the knob 144, so that the knob 144 can rotate relative to the connecting block 1410 to unlock or lock the clamping sleeve 1411.

[0078] Specifically, the limiting piece 145 is a screw sleeve, so it is connected to the connecting block 1410 by a screw.

[0079] Continuing to refer to Figure 3 , the display assembly is electrically connected to the first tensile and compressive force sensor 133 and the second tensile and compressive force sensor 146 by means of an electric lead, so that the first acting force and the second acting force measured by the first tensile and compressive force sensor 133 and the second tensile and compressive force sensor 146 can be transmitted to the display assembly.

[0080] The display assembly specifically comprises the display screen 150, the first signal amplifier 151 and the second signal amplifier 152, the first tensile force sensor 133, the first signal amplifier 151 and the display screen 150 are electrically connected, the second tensile force sensor 146, the second signal amplifier 152 and the display screen 150 are electrically connected, so that the first acting force and the second acting force can be displayed on the display screen 150 in the form of digital or other visual images, facilitating quantitative perception.

[0081] Since the surgical instrument has multiple steel wire ropes, and the steel wire ropes are coupled (that is, when one steel wire rope is pre-tightened, it will affect the state of another steel wire rope, mainly the mutual influence between the wrist part 220 and the finger part 230), it is difficult to operate when pre-tightening, and a large amount of time is required for repeated adjustment.

[0082] In order to improve the above-mentioned defects, therefore, in the present embodiment, the instrument driving wire pre-tightening device 100 further comprises a fixing plate, the fixing plate is used for detachable connection on the instrument box 200 of the surgical instrument, the fixing plate is provided with a positioning hole 1620, the positioning hole 1620 is used for cooperation with the flat position on the finger part winding shaft 201 or the wrist part winding shaft 202 on the instrument box 200, so as to prevent the finger part winding shaft 201 or the wrist part winding shaft 202 from rotating.

[0083] In this way, when the pre-tightening of the steel wire rope of the finger part 230 is needed, the fixing plate can be connected to the instrument box 200, so that the positioning hole 1620 cooperates with the flat position on the wrist part winding shaft 202, so that the wrist part winding shaft 202 cannot rotate, and for the same reason, when the pre-tightening of the steel wire rope of the wrist part 220 is performed, the positioning hole 1620 of the fixing plate cooperates with the flat position on the finger part winding shaft 201, so that the finger part winding shaft 201 cannot rotate, thereby realizing the decoupling between the steel wire rope of the finger part 230 and the steel wire rope of the wrist part 220, avoiding mutual influence and saving the time for adjusting the pre-tightening force of all steel wire ropes.

[0084] In combination Figures 11 to 13 , for the finger part winding shaft 201 and the wrist part winding shaft 202, the fixing plate has two types of adaptation, the number and position of the positioning holes 1620 on the two fixing plates are different, specifically, the two fixing plates are divided into a first fixing plate 160 and a second fixing plate 161, the first fixing plate 160 is provided with one positioning hole 1620, which is located at the middle part of the first fixing plate 160. The second fixing plate 161 is provided with two positioning holes 1620, which are arranged in a spaced manner along the length direction of the second fixing plate 161.

[0085] One of the first fixing plate 160 and the second fixing plate 161 is used to prevent the finger spool 201 from rotating, and the other is used to prevent the wrist spool 202 from rotating, that is, whether the first fixing plate 160 or the second fixing plate 161 is used to limit the rotation of the finger spool 201 or the wrist spool 202 is not specifically limited, and can be determined according to the number and arrangement direction of each of the finger spool 201 and the wrist spool 202 on the instrument box 200.

[0086] For example, in Figure 11 , two wrist spools 202 are located above one finger spool 201, so the first fixing plate 160 can be used to limit the rotation of one finger spool 201, and the second fixing plate 161 can be used to limit the rotation of two wrist spools 202.

[0087] The fixing plate can be detachably connected to the instrument box 200 in a clamping manner, thereby avoiding excessive processing of the instrument box 200.

[0088] For example, the fixing plate includes a plate body 162 and a buckle 163 connected to both ends of the plate body 162, that is, the first fixing plate 160 and the second fixing plate 161 each include a plate body 162 and a buckle 163, the buckle 163 is used to clamp with the instrument box 200, and the respective plate body 162 is provided with a positioning hole 1620.

[0089] In addition, the fixing plate is also provided with a recessed avoidance, which can be a hole or a slot, so as to avoid the protruding components on the instrument box 200, and facilitate the assembly of the fixing plate and the instrument box 200. Specifically, the upper and lower edges of the first fixing plate 160 are respectively provided with an avoidance slot 164, and the second fixing plate 161 is provided with an avoidance hole 165 penetrating through the front and back surfaces thereof.

[0090] In summary, the instrument driving wire pre-tightening device 100 of the embodiment of the present application has at least the following advantages:

[0091] 1. The finger force measuring assembly 130 and the wrist force measuring assembly 140 are used to clamp the finger 230 and the wrist 220 of the surgical instrument respectively, and measure the first force and the second force of the finger 230 to the outside, respectively. The size of the first force and the second force reflects the pre-tightening force of the steel wire rope driving the finger 230 and the pre-tightening force of the steel wire rope driving the wrist 220, respectively. The display assembly displays the first force and the second force in the form of a visible image, so that the user can clearly perceive the size of the pre-tightening force of each steel wire rope, ensure that the pre-tightening force of each steel wire rope is consistent, facilitate the establishment of quantitative assembly standards, and ensure product quality and consistency.

[0092] 2、When the pre-tightening of the steel wire of the finger 230 is needed, the fixed plate can be connected to the instrument box 200, so that the positioning hole 1620 is matched with the flat position on the wrist winding shaft 202, so that the wrist winding shaft 202 cannot rotate, and for the same reason, when the pre-tightening of the steel wire of the wrist 220 is performed, the positioning hole 1620 of the fixed plate is matched with the flat position on the finger winding shaft 201, so that the finger winding shaft 201 cannot rotate, thereby realizing the decoupling between the steel wire of the finger 230 and the steel wire of the wrist 220, avoiding mutual influence, and saving the time for adjusting the pre-tightening force of all the steel wires.

[0093] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A device for pre-tensioning a drive wire, characterized in that, It includes a base, a display component, a support component disposed on the base, a finger force measuring component and / or a wrist force measuring component disposed on the support component; The support assembly is used to secure the surgical instruments; The finger force measuring component is used to clamp the finger of the surgical instrument and measure the first force exerted by the finger on the outside; the wrist force measuring component is used to clamp the wrist of the surgical instrument and measure the second force exerted by the wrist on the outside. The display component is used to convert the first force and / or the second force into a visual image; The instrument drive wire pretensioning device also includes a fixing plate, which is detachably connected to the instrument box of the surgical instrument. The fixing plate is provided with a positioning hole, which is used to engage with the flat part on the finger winding shaft or wrist winding shaft on the instrument box to prevent the finger winding shaft or wrist winding shaft from rotating. The finger force measuring component includes a first tension / compression sensor and a finger clamping member. The finger clamping member is connected to the bearing component through the first tension / compression sensor. The display component is electrically connected to the first tension / compression sensor. The finger clamping member is used to clamp the finger. The finger clamping component includes a clamping plate and a pressure plate. The clamping plate is connected to the bearing assembly via the first tension / compression sensor. The pressure plate is detachably connected to the clamping plate. The clamping plate and the pressure plate are used to clamp the finger. The wrist force measuring component includes a second tension / compression sensor and a wrist clamping component. The wrist clamping component is connected to the bearing component through the second tension / compression sensor. The display component is electrically connected to the second tension / compression sensor. The wrist clamping component is used to clamp the wrist. The wrist clamping component includes a connecting block and a sleeve. The connecting block is connected to the bearing assembly via the second tension / compression sensor. The sleeve is detachably installed on the connecting block. The sleeve and the connecting block are used to clamp the wrist.

2. The instrument drive wire pre-tensioning device according to claim 1, characterized in that, The pressure plate is detachably connected to the clamping plate via a knob screw.

3. The instrument drive wire pre-tensioning device according to claim 1, characterized in that, The connecting block is provided with a mounting groove and a knob located outside the mounting groove. The sleeve is disposed in the mounting groove, and the knob abuts against the surface of the sleeve away from the bottom of the mounting groove. The knob is rotatable relative to the connecting block to separate from the sleeve.

4. The instrument drive wire pre-tensioning device according to claim 3, characterized in that, A limiting member is connected to the connecting block. The limiting member includes a connecting part and a limiting part connected together. The outer diameter of the limiting part is larger than the outer diameter of the connecting part. The connecting part is connected to the connecting block. The knob is rotatably sleeved outside the connecting part. The distance between the limiting part and the connecting block is greater than the height of the knob, so that the knob can rotate relative to the connecting block.

5. The instrument drive wire pre-tensioning device according to claim 1, characterized in that, The bearing assembly includes a fixed seat and a sliding seat, the fixed seat and the sliding seat are arranged at intervals along the length direction of the base, and the distance between the sliding seat and the fixed seat is adjustable; The sliding seat is used to fix the instrument box of the surgical instrument and the head end of the instrument shaft, and the fixing seat is used to fix the end end of the instrument shaft; the finger force measuring component and the wrist force measuring component are both disposed on the fixing seat.

6. The instrument drive wire pre-tensioning device according to claim 1, characterized in that, The fixing plate includes a plate body and buckles connected to both ends of the plate body. The plate body is provided with the positioning hole, and the buckles are used to engage with the instrument box.

Images