Surgical instrument box and surgical instrument cable routing method

Abstract

The present invention provides a surgical instrument box and a method for laying surgical instrument cables, which relate to the field of medical instrument technology. The surgical instrument box includes a base, a transmission shaft, a guide wheel, and a cable pair; the transmission shafts are all rotatably arranged on the base; the guide wheel is arranged on the periphery of multiple transmission shafts; a first cable is wound around a corresponding transmission shaft among the multiple transmission shafts, and a corresponding second cable is wound in the opposite direction around the corresponding transmission shaft; the cable pairs corresponding to at least two transmission shafts arranged on the distal side of the guide wheel are received by the first guide wheel or the second guide wheel and converge; the first cable and the second cable corresponding to at least one transmission shaft arranged on the proximal side of the guide wheel are received by the first guide wheel and the second guide wheel respectively after being changed in direction and converge. This alleviates the technical problem in the prior art that improper cable laying may cause interference or entanglement, and achieves the technical effect of simple cable laying and less prone to entanglement.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a surgical instrument box and a surgical instrument cable laying method. Background Art

[0002] In robotic-assisted minimally invasive surgery, surgical tools attached to the end of the robot enter the human body through incisions or natural orifices on the surface of the human body to manipulate tissues. This surgical tool primarily consists of an end effector or end tool mounted on a wrist mechanism at the front end, a wrist mechanism that provides multiple degrees of freedom for the front end, a main pipeline extending from the rear end of the instrument to the front end, and a power and transmission device at the rear end of the instrument.

[0003] In some technologies, the front-end actuator and wrist mechanism are usually driven by multiple cables fixed on them. These cables run through the main circuit of the surgical tool and are driven by the power and transmission devices at the back end. Obviously, the more degrees of freedom required, the more complex the cable layout. Improper cable layout may cause interference or entanglement. Summary of the Invention

[0004] The object of the present invention is to provide a surgical instrument box and a surgical instrument cable laying method to alleviate the technical problem in the prior art that improper cable laying may cause interference or entanglement.

[0005] In a first aspect, the present invention provides a surgical instrument box comprising: a base, a drive shaft, a guide wheel, and a cable pair;

[0006] The transmission shafts are provided in a plurality, and the plurality of transmission shafts are rotatably provided on the base;

[0007] The guide wheels are arranged on the periphery of the plurality of transmission shafts, and the guide wheels include a first guide wheel and a second guide wheel arranged in layers;

[0008] The cable pair includes a first cable and a second cable, the first cable being wound around a corresponding drive shaft of the plurality of drive shafts, and the corresponding second cable being counter-wound around the corresponding drive shaft;

[0009] The cable pairs corresponding to the at least two transmission shafts provided on the far side of the guide wheel are received by the first guide wheel or the second guide wheel and converged;

[0010] The first cable and the second cable corresponding to at least one transmission shaft arranged on the proximal side of the guide wheel are respectively received by the first guide wheel and the second guide wheel after being changed in direction at the changing position and converged.

[0011] Furthermore, the height of the turning position is located between the axes of the first guide wheel and the second guide wheel, and the turning positions corresponding to the first cable and the second cable are located at different heights so that there is no cross contact between the two in the direction of the transmission axis.

[0012] Furthermore, a self-rotating wire shaft is rotatably provided at a position of the base opposite to the guide wheel, and the self-rotating wire shaft is provided in parallel with the transmission shaft;

[0013] A first cable corresponding to one of the plurality of transmission shafts is received by the self-rotating spool and wound around it, and a corresponding second cable is received and reversely wound around it;

[0014] Wherein, the cables that are converged are all converged in the self-rotating wire shaft.

[0015] Furthermore, the outer peripheral side coaxial sleeve of the self-rotating silk shaft is provided with a fixing seat that can rotate relative to each other, and the fixing seat is installed on the base;

[0016] The first guide wheel and the second guide wheel are both rotatably disposed on the fixing seat.

[0017] Furthermore, the transmission shafts are provided in four numbers, and the four transmission shafts are arranged in a rectangular or trapezoidal array;

[0018] The self-rotating wire shaft is arranged on the central axis of the rectangle or trapezoid formed by the four transmission shafts, or is arranged at a preset distance away from the central axis.

[0019] Furthermore, the first guide wheel is sleeved on the first pin shaft, the second guide wheel is sleeved on the second pin shaft, and the first pin shaft and the second pin shaft are layered and cross-arranged;

[0020] The wiring grooves of the first guide wheel and the second guide wheel are respectively directed toward two transmission shafts provided on the far side of the guide wheels to guide corresponding cable pairs respectively.

[0021] Furthermore, the first pin is located below the second pin;

[0022] The surgical instrument box further includes a first and a second direction-changing wheel rotatably disposed on the base and located between the plurality of transmission shafts, wherein the center height of the first direction-changing wheel is higher than the center height of the second direction-changing wheel, and the center heights of the first and second direction-changing wheels are located between the axes of the first and second pin shafts;

[0023] The high outlet position of the cable pair corresponding to a transmission shaft arranged on the proximal side of the guide wheel is received by the second guide wheel after being changed in direction by the first changing wheel, and the low outlet position of the corresponding cable pair is received by the first guide wheel after being changed in direction by the second changing wheel.

[0024] Furthermore, the first direction-changing wheel is arranged close to the cable pair received by the second guide wheel, and the second direction-changing wheel is arranged close to the cable pair received by the first guide wheel.

[0025] Furthermore, a button assembly is provided on the base, and the button assembly is provided between the four transmission shafts;

[0026] The button assembly includes a button rack;

[0027] The button rack is provided with a avoidance hole for passing cables;

[0028] The button rack has mounting surfaces of different heights for mounting the first and second direction-changing wheels respectively.

[0029] Furthermore, the button assembly further includes a movable rod movably arranged on the button frame and an elastic member arranged between the button frame and the movable rod;

[0030] The movable rod is provided with a knob and a lock tongue, and the knob can drive the lock tongue to move through the movable rod to achieve a locking action.

[0031] The surgical instrument box provided in the first aspect of the present invention has at least the following beneficial effects:

[0032] The first guide wheel and the second guide wheel are arranged in layers. When the cable pairs corresponding to the at least two transmission shafts arranged on the distal side of the guide wheel are received and converged by the first guide wheel or the second guide wheel, the two do not contact each other in the direction of the transmission axis. By selecting the position of the first guide wheel or the second guide wheel, the projections of the cables corresponding to the at least two transmission shafts on the base can have at most one intersection point, and the number of intersection points is small or there is no intersection point. At the same time, the guide wheels are arranged on the periphery of multiple transmission shafts, which can provide a relatively large wiring space compared to being arranged between multiple transmission shafts, which is convenient for cable laying; the first cable and the second cable corresponding to the at least one transmission shaft arranged on the proximal side of the guide wheel are respectively received and converged by the first guide wheel and the second guide wheel after being changed in the changing position. By selecting the changing position and height, the first cable and the second cable corresponding to the transmission shaft arranged on the proximal side can also be made not to contact each other in the direction of the transmission axis.

[0033] It can be seen that the surgical instrument box provided by the invention can ensure that the multiple groups of cable pairs corresponding to the multiple transmission shafts do not contact each other in the direction of the transmission axis, which can effectively reduce the points of interference or entanglement, and also avoid the wear problem caused by friction between the cables; in addition, the number of intersections of the multiple groups of cable pairs is also relatively small, which can further alleviate the problem of mutual interference or entanglement caused by improper cable laying, and is also conducive to the laying of cables during the actual laying process; in addition, the first guide wheel and the second guide wheel are used to receive the corresponding cables, so that each cable is received separately and independently, realizing the role of dividing the cables, so that the cables will not be entangled in the lumen of the main line.

[0034] In a second aspect, the present invention provides a surgical instrument box, a base, a drive shaft, a guide wheel, a cable pair, and a self-rotating wire shaft;

[0035] The transmission shafts are provided in a plurality, and the plurality of transmission shafts are rotatably provided on the base;

[0036] The cable pair includes a first cable and a second cable, the first cable being wound around a corresponding drive shaft of the plurality of drive shafts, and the corresponding second cable being counter-wound around the corresponding drive shaft;

[0037] The self-rotating wire shaft is arranged on the periphery of the plurality of transmission shafts and is arranged parallel to each of the transmission shafts;

[0038] The guide wheels include a first guide wheel and a second guide wheel arranged in layers;

[0039] The cable pairs corresponding to the at least two transmission shafts provided at the distal end of the self-rotating wire shaft are received by the first guide wheel or the second guide wheel and converge into the self-rotating wire shaft;

[0040] The first cable and the second cable corresponding to at least one transmission shaft provided on the proximal side of the self-rotating silk shaft are respectively received by the first guide wheel and the second guide wheel after being changed in direction and converged into the self-rotating silk shaft;

[0041] A first cable corresponding to one of the plurality of transmission shafts is received by the self-rotating spool and wound around it, and a corresponding second cable is received and wound around it in reverse.

[0042] The surgical instrument box provided in the second aspect of the present invention has at least the following beneficial effects:

[0043] Compared with the aforementioned surgical instrument box, the surgical instrument box provided in the second aspect of the present invention adds a self-rotating wire shaft, and the first cable corresponding to one of the multiple transmission shafts is received by the self-rotating wire shaft and wound around it, and the corresponding second cable is received and wound around it in reverse, without the need to be received and guided by the first guide wheel or the second guide wheel. Simply put, the cable path of the transmission shaft and the cable paths of other transmission shafts have no cross-interference, which is more conducive to the layout of multiple groups of cable pairs, and further alleviates the problem of mutual interference or entanglement caused by improper cable layout.

[0044] In a third aspect, the present invention provides a method for laying cables for surgical instruments, comprising the following steps:

[0045] The first cable proximal end portion and the second cable proximal end portion of the first cable pair are wound around the first transmission shaft in different directions and are both guided to change direction at a first height position;

[0046] The first cable proximal end portion and the second cable proximal end portion of the second cable pair are wound around the second transmission shaft in different directions, and are both guided and redirected at a second height position below or above the first height;

[0047] The proximal end portion of the first cable of the third cable pair is wound around the third transmission shaft, and after changing direction at the first direction-changing position, is guided to change direction at the first height position. The proximal end portion of the corresponding second cable is reversely wound around the third transmission shaft, and after changing direction at the second direction-changing position, is guided to change direction at the second height position. The first cable pair, the second cable pair, and the third cable pair converge after changing direction.

[0048] The height at which the first direction-changing position is located and the height at which the second direction-changing position is located are between the first height and the second height.

[0049] Furthermore, the first cable pair, the second cable pair and the third cable pair are all converged into a self-rotating spool;

[0050] The first cable proximal portion and the second cable proximal portion of the fourth cable pair are wound around the fourth transmission shaft near the convergence point in different directions and are received and fastened by the self-rotating wire shaft.

[0051] The surgical instrument cable routing method provided by the present invention has at least the following beneficial effects:

[0052] The surgical instrument cable routing method provided by the present invention adopts the same inventive concept as the aforementioned surgical instrument box, and can also achieve the same effect as the surgical instrument box, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are 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.

[0054] Figure 1 A schematic structural diagram of a surgical instrument box provided in an embodiment of the present invention;

[0055] Figure 2 for Figure 1 The schematic structural diagram of the surgical instrument box shown does not show the outer cover;

[0056] Figure 3 for Figure 2 The schematic structural diagram of the surgical instrument box shown does not show the cover and knob;

[0057] Figure 4 for Figure 3 The surgical instrument box shown does not show a schematic structural diagram of the complete button assembly;

[0058] Figure 5 for Figure 4 A top view of the surgical instrument box shown;

[0059] Figure 6 A top view of the cable routing for the first and second transmission shafts;

[0060] Figure 7 An axonometric drawing of the cable routing for the first and second drive shafts;

[0061] Figure 8 This is a front view of the surgical instrument box without showing some components and without laying cables;

[0062] Figure 9 A top view of the cable layout of the first transmission shaft, the second transmission shaft, the third transmission shaft and the guide wheel;

[0063] Figure 10 Axonometric drawing of the cable routing for the first, second, and third drive shafts and the guide wheels.

[0064] icon:

[0065] 110-base; 120-outer cover; 130-cover;

[0066] 210 - first transmission shaft; 220 - second transmission shaft; 230 - third transmission shaft; 240 - fourth transmission shaft;

[0067] 310 - first guide wheel; 320 - second guide wheel; 330 - first pin; 340 - second pin; 331 - first end; 332 - second end;

[0068] 410 - first cable pair; 420 - second cable pair; 430 - third cable pair; 440 - fourth cable pair;

[0069] 500-Fixed wire block;

[0070] 600-self-rotating spool;

[0071] 700-fixed seat;

[0072] 810-first turning wheel; 820-second turning wheel;

[0073] 900-button assembly; 910-button rack; 920-movable rod; 930-knob; 911-avoidance hole. DETAILED DESCRIPTION

[0074] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0075] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0076] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0077] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" and the like indicate positions or locations based on the positions shown in the accompanying drawings, or the positions or locations in which the inventive product is typically placed when in use. These terms are intended solely to facilitate the description of the present invention and to simplify the description, and are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0078] Furthermore, terms such as "horizontal," "vertical," and "overhanging" do not necessarily imply that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," not that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0079] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0080] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0081] Reference Figures 1 to 4 The present embodiment provides a surgical instrument box, including a base 110, a transmission shaft, a guide wheel and a cable pair; the transmission shaft is provided in plurality, and the plurality of transmission shafts are rotatably provided on the base 110; the guide wheel is provided on the periphery of the plurality of transmission shafts, and the guide wheel includes a first guide wheel 310 and a second guide wheel 320 arranged in layers; the cable pair includes a first cable and a second cable, the first cable is wound around the corresponding transmission shaft among the plurality of transmission shafts, and the corresponding second cable is wound around the corresponding transmission shaft in the opposite direction; the cable pairs corresponding to at least two transmission shafts arranged on the distal side of the guide wheel are received by the first guide wheel 310 or the second guide wheel 320 and converge; the first cable and the second cable corresponding to at least one transmission shaft arranged on the proximal side of the guide wheel are received by the first guide wheel 310 and the second guide wheel 320 respectively and converge after being changed in direction at the changing position.

[0082] The first guide wheel 310 and the second guide wheel 320 are arranged in layers. When the cable pairs corresponding to the at least two transmission shafts arranged on the far side of the guide wheels are received by the first guide wheel 310 or the second guide wheel 320 and converge, the two do not contact each other in the direction of the transmission axis. By selecting the position of the first guide wheel 310 or the second guide wheel 320, the projections of the cables corresponding to the at least two transmission shafts on the base 110 can have at most one intersection, and the number of intersections is small or there is no intersection; at the same time, the guide wheels are arranged on the periphery of multiple transmission shafts, which can provide a relatively large wiring space compared to being arranged between multiple transmission shafts, thereby facilitating the layout of cables.

[0083] After being redirected at the redirection position, the first and second cables corresponding to at least one transmission shaft disposed proximal to the guide wheel are received and converged by the first guide wheel 310 and the second guide wheel 320, respectively. By selecting the redirection position and height, the first and second cables corresponding to the proximal transmission shaft can be prevented from contacting each other along the transmission axis. This arrangement effectively reduces points of interference or entanglement, while also avoiding wear and tear caused by friction between cables. Furthermore, the number of intersections between multiple cable pairs is relatively small, further alleviating interference or entanglement caused by improper cable routing, and facilitating cable routing during actual routing.

[0084] Reference Figure 1 The base 110 is provided with an outer cover 120, and the two enclose a relatively closed installation space, wherein the outer cover 120 and the base 110 are detachably connected to facilitate the replacement or maintenance of other components in the installation space, and at the same time play a certain protective role for the components in the installation space.

[0085] Reference Figure 2 A cover plate 130 is provided above the base 110. Both the cover plate 130 and the base 110 are provided with shaft holes equal to the number of the transmission shafts, and both ends of each transmission shaft are fixed by bearings.

[0086] Reference Figure 2 or Figure 3 In order to achieve the winding and tightening of the cable, a wire fixing block 500 is fixedly sleeved on each transmission shaft. Of course, the wire fixing block 500 and the transmission shaft can also be set as an integrated structure.

[0087] For example, the plurality of transmission shafts may be three, four, or more. In this embodiment, four transmission shafts are provided, namely a first transmission shaft 210, a second transmission shaft 220, a third transmission shaft 230, and a fourth transmission shaft 240. The first transmission shaft 210 and the second transmission shaft 220 are provided on the distal side of the guide wheel, and the third transmission shaft 230 and the fourth transmission shaft 240 are provided on the proximal side of the guide wheel.

[0088] On the premise of ensuring that the cables do not get entangled, the layout of each transmission shaft is made as compact as possible. The four transmission shafts are arranged in a quadrilateral array, which can be rectangular or trapezoidal. When it is a rectangle, the guide wheel can be arranged on any outer side of the rectangle. When it is a trapezoid, the guide wheel can be arranged on the outside of the long side of the trapezoid.

[0089] As a variation, when there are three transmission shafts, the same arrangement as the first transmission shaft 210, the second transmission shaft 220, and the third transmission shaft 230 can be adopted, and the cable laying method can also be the same; when there are five transmission shafts, three transmission shafts can be set on the far side of the guide wheel and two transmission shafts can be set on the proximal side. Such an arrangement can also avoid entanglement between cables.

[0090] The specific implementation method of setting four transmission shafts will be described in detail below. Among them, the specific methods of three and five transmission shafts can refer to the arrangement of four shafts, and will not be described in detail.

[0091] For ease of description, the cable pair corresponding to the first transmission shaft 210 is referred to as the first cable pair 410 , the cable pair corresponding to the second transmission shaft 220 is referred to as the second cable pair 420 , the cable pair corresponding to the third transmission shaft 230 is referred to as the third cable pair 430 , and the cable pair corresponding to the fourth transmission shaft 240 is referred to as the fourth cable pair 440 .

[0092] In one embodiment of the present application (not shown in the drawings), the first cable pair 410 corresponding to the first transmission shaft 210 arranged on the distal side of the guide wheel is received by the second guide wheel 320 and converged, the second cable pair 420 corresponding to the second transmission shaft 220 arranged on the distal side of the guide wheel is received by the first guide wheel 310 and converged, the third cable pair 430 corresponding to the third transmission shaft 230 arranged on the proximal side of the guide wheel is received by the first guide wheel 310 and the second guide wheel 320 respectively after changing direction and converged, similarly, the fourth cable pair 440 corresponding to the fourth transmission shaft 240 arranged on the proximal side of the guide wheel is received by the first guide wheel 310 and the second guide wheel 320 respectively after changing direction; wherein, the four groups of cable pairs are all converged in the main pipeline connected to the end effector or the end tool.

[0093] In this embodiment, all four transmission shafts require the first guide wheel 310 or the second guide wheel 320 to receive and redirect the cables, wherein the number of the first guide wheels 310 and the second guide wheels 320 is at least four.

[0094] In another embodiment of the present application, referring to Figures 3 to 5 The arrangement of the first transmission shaft 210 and the second transmission shaft 220 provided on the distal side of the guide wheel and the third transmission shaft 230 provided on the proximal side of the guide wheel is the same as the first arrangement, except that:

[0095] A self-rotating wire shaft 600 is added to the base 110. The self-rotating wire shaft 600 is arranged on the periphery of multiple transmission shafts, and is parallel to and staggered with each transmission shaft. The first cable corresponding to the fourth transmission shaft arranged on the proximal side of the self-rotating wire shaft 600 is received by the self-rotating wire shaft 600 and wound around it, and the corresponding second cable is received and wound around it in the opposite direction; among them, the four groups of cable pairs are first converged in the self-rotating wire shaft 600.

[0096] Compared with the first embodiment, in this embodiment, the fourth transmission shaft 240 does not need to be received and guided by the first guide wheel 310 or the second guide wheel 320. Simply put, the cable path of the fourth transmission shaft 240 and the cable paths of the other three transmission shafts do not cross-interfere, which is more conducive to the layout of multiple groups of cable pairs and further alleviates the problem of mutual interference or entanglement caused by improper cable layout.

[0097] The second embodiment will be described in detail below.

[0098] In this embodiment, the four transmission shafts are arranged in a rectangular array, and the rotating wire shaft 600 is set on the central axis of the rectangle surrounded by the four transmission shafts. With this arrangement, the cable pairs can be arranged relatively symmetrically, and the overall wiring is neater and more orderly, further avoiding entanglement between the cables.

[0099] As a variation, the self-rotating wire shaft 600 may also be set at a preset distance away from the central axis, and the specific distance is based on the outermost edge of the self-rotating wire shaft 600 not exceeding the innermost edge of the first transmission shaft 210 and the second transmission shaft 220.

[0100] Reference Figure 2 or Figure 3 The outer peripheral side of the rotating wire shaft 600 is coaxially sleeved with a fixed seat 700 that can rotate relative to each other, and the fixed seat 700 is installed on the base 110; the first guide wheel 310 and the second guide wheel 320 are both rotatably connected to the fixed seat 700; wherein, the fixed seat 700 opens corresponding mounting holes according to the installation positions of the first guide wheel 310 and the second guide wheel 320.

[0101] In this embodiment, the first guide wheel 310 is sleeved on the first pin shaft 330, and the second guide wheel 320 is sleeved on the second pin shaft 340; three first guide wheels 310 are arranged along the axial direction of the first pin shaft 330, and three second guide wheels 320 are also arranged along the axial direction of the second pin shaft 340. The number can be increased or decreased according to the needs of wiring.

[0102] Reference Figures 3 to 6The first pin shaft 330 and the second pin shaft 340 are layered and cross-arranged. The wiring groove of the first guide wheel 310 is set toward the second transmission shaft 220 to directly guide the second cable pair 420. The wiring groove of the second guide wheel 320 is set toward the first transmission shaft 210 to directly guide the first cable pair 410, so that the cables are smoothly guided and will not be bumped during work.

[0103] Reference Figures 6 to 9 The first pin 330 is located below the second pin 340. The surgical instrument box also includes a first and second direction-changing wheels 810, 820, rotatably mounted on the base 110 and positioned between the multiple drive shafts. The center height of the first direction-changing wheel 810 is higher than the center height of the second direction-changing wheel 820, and the center heights of the first and second direction-changing wheels 820 are located between the axes of the first and second direction-changing wheels 330, 340. The high-outgoing position of the cable pair corresponding to the third drive shaft 230 is redirected by the first direction-changing wheel 810 and then received by the second guide wheel 320. The low-outgoing position of the corresponding cable pair is redirected by the second direction-changing wheel 820 and then received by the first guide wheel 310. This arrangement prevents the first, second, and third cable pairs 410, 420, and 430 from crossing each other along the drive axis, reducing the occurrence of cable entanglement.

[0104] Specifically, refer to Figure 6 The first pin shaft 330 has a first end 331 and a second end 332. One end of the second pin shaft 340 intersects with the first end 331 of the first pin shaft 330 at a position close to the first end 331 of the first pin shaft 330, and the other end of the second pin shaft 340 deflects outward counterclockwise relative to the second end 332 of the first pin shaft 330 to form an intersection with it.

[0105] Reference Figure 5 and Figure 6 Along the axial direction of the first pin shaft 330, the first direction-changing wheel 810 is disposed near the second end 332, and the second direction-changing wheel 820 is disposed near the first end 331. Furthermore, the distance between the first direction-changing wheel 810 and the first pin shaft 330 is greater than the distance between the second direction-changing wheel 820 and the first pin shaft 330. In other words, the first direction-changing wheel 810 is disposed near the cable pair received by the second guide wheel 320, and the second direction-changing wheel 820 is disposed near the cable pair received by the first guide wheel 310.

[0106] In simple terms, the high-outlet position of the third cable pair 430 corresponding to the third transmission shaft 230 is changed by the first changing wheel 810 located at a high position, and is received by the second guide wheel 320 on the upper layer. The low-outlet position of the third cable pair 430 corresponding to the third transmission shaft 230 is changed by the second changing wheel 820 located at a low position, and is received by the first guide wheel 310 on the lower layer. This arrangement prevents the third cable pair 430 and the first cable pair 410 from contacting each other in the direction of the transmission axis. At the same time, the number of intersections of multiple cable pairs is relatively small, and the wiring is relatively simple and not messy.

[0107] In actual applications, the self-rotating wire shaft 600 is connected to the wrist mechanism and the end tool through the main pipeline. The end tool can have different designs to achieve different functions. The end tool can include pliers, graspers, scissors, etc.

[0108] Taking the end tool as a pair of pliers as an example, the pliers have front and rear jaws, wherein the rotation of the first transmission shaft 210 and the second transmission shaft 220 can realize the control of the front and rear jaws, the rotation of the third transmission shaft 230 can realize the pitch movement of the end tool, and the rotation of the fourth transmission shaft 240 can realize the rotation of the end tool, so that the corresponding surgical instrument box has four degrees of freedom.

[0109] Based on the above embodiments, Figures 2 to 5 A button assembly 900 is provided on the base 110, and the button assembly 900 is provided between the four transmission shafts; the button assembly 900 includes a button rack 910; the button rack 910 is provided with a avoidance hole 911 for passing cables; the button rack 910 has mounting surfaces of different heights for respectively mounting the first changing wheel 810 and the second changing wheel 820.

[0110] Placing the button assembly 900 between the four transmission shafts can rationally utilize the limited installation space on the base 110. On the basis of realizing the button function, a steering wheel can also be installed to make the overall layout more compact.

[0111] In one embodiment, the button assembly 900 also includes a movable rod 920, which is slidably connected to the button frame 910. An elastic member is provided between the movable rod 920 and the button frame 910. Two groups of lock tongues and two groups of knobs 930 are symmetrically provided on the movable rod 920. Pressing the knob 930 can make the lock tongues on the opposite side move closer to achieve an opening action. Loosening the knob 930 can make the lock tongue on the opposite side pop open under the resetting action of the elastic member to achieve a locking action.

[0112] In another embodiment, the movable rod 920 is rotatably disposed on the button frame 910 , and other configurations are similar to the above configurations, and the above functions can also be achieved, which will not be described in detail here.

[0113] Example 2

[0114] Based on the above-mentioned embodiment 1, this embodiment 2 provides a surgical instrument cable routing method, including the following steps:

[0115] The first cable proximal end portion and the second cable proximal end portion of the first cable pair 410 are wound around the first transmission shaft 210 in different directions, and are both guided and redirected at a first height position;

[0116] The first cable proximal portion and the second cable proximal portion of the second cable pair 420 are wound around the second transmission shaft 220 in different directions, and are both guided and redirected at a second height position below or above the first height;

[0117] The proximal end portion of the first cable of the third cable pair 430 is wound around the third transmission shaft 230, and after changing direction at the first direction-changing position, is guided to change direction at the first height position. The proximal end portion of the corresponding second cable is reversely wound around the third transmission shaft 230, and after changing direction at the second direction-changing position, is guided to change direction at the second height position. The first cable pair 410, the second cable pair 420, and the third cable pair 430 converge after changing direction.

[0118] The height at which the first direction-changing position is located and the height at which the second direction-changing position is located are between the first height and the second height.

[0119] In one embodiment, the first height position is equivalent to the height position of the axis of the second pin shaft 340, and the second height position is equivalent to the height position of the axis of the first pin shaft 330; the first changing position is the position of the first changing wheel 810, and the second changing position is the position of the second changing wheel 820.

[0120] The above steps can realize the layout of the cables corresponding to the three transmission shafts.

[0121] It should be noted that in the surgical instrument cable routing method, the specific routing sequence is not limited by the transmission shaft numbers, and the positions of the three transmission shafts are not limited to the specific positions given in the accompanying drawings.

[0122] Furthermore, the first cable pair 410, the second cable pair 420 and the third cable pair 430 all converge in the rotating wire shaft 600; the first cable proximal portion and the second cable proximal portion of the fourth cable pair 440 are wound on the fourth transmission shaft 240 near the convergence point in different directions, and are received and tightened by the rotating wire shaft 600, and finally the fourth cable pair 440 also converges in the rotating wire shaft 600.

[0123] Reference Figure 10In addition to receiving the corresponding cables and changing their directions, the first guide wheel 310 and the second guide wheel 320 have the function of independently designing the wiring grooves on the guide wheels corresponding to each cable, which can also realize the function of dividing the cables, so that the cables are laid in parallel in the lumen of the main line without entanglement.

[0124] The structure and specific arrangement of the self-rotating silk shaft 600 may refer to the first embodiment and will not be described in detail here.

[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A surgical instrument box, characterized in that: include: base, drive shaft, guide wheels and cable pairs; The transmission shafts are provided in a plurality, and the plurality of transmission shafts are rotatably provided on the base; The guide wheels are arranged on the periphery of the plurality of transmission shafts, and the guide wheels include a first guide wheel and a second guide wheel arranged in layers; The cable pair includes a first cable and a second cable, the first cable being wound around a corresponding drive shaft of the plurality of drive shafts, and the corresponding second cable being counter-wound around the corresponding drive shaft; The cable pairs corresponding to the at least two transmission shafts provided on the far side of the guide wheel are received by the first guide wheel or the second guide wheel and converged; The first cable and the second cable corresponding to at least one transmission shaft provided on the proximal side of the guide wheel are respectively received by the first guide wheel and the second guide wheel after being changed in direction at the change position and converged; The height of the direction-changing position is located between the axes of the first guide wheel and the second guide wheel, and the direction-changing positions corresponding to the first cable and the second cable are located at different heights so that there is no cross contact between the two in the direction of the transmission axis; The surgical instrument box further includes a first direction-changing wheel and a second direction-changing wheel rotatably disposed on the base and located between the plurality of transmission shafts, wherein the center height of the first direction-changing wheel is higher than the center height of the second direction-changing wheel, and the center heights of the first direction-changing wheel and the second direction-changing wheel are located between the axes of the first guide wheel and the second guide wheel; The high outlet position of the cable pair corresponding to a transmission shaft arranged on the proximal side of the guide wheel is received by the second guide wheel after being changed in direction by the first changing wheel, and the low outlet position of the corresponding cable pair is received by the first guide wheel after being changed in direction by the second changing wheel.

2. The surgical instrument box according to claim 1, characterized in that: A self-rotating wire shaft is rotatably provided at a position of the base opposite to the guide wheel, and the self-rotating wire shaft is arranged parallel to the transmission shaft; A first cable corresponding to one of the plurality of transmission shafts is received by the self-rotating spool and wound around it, and a corresponding second cable is received and reversely wound around it; Wherein, the cables that are converged are all converged in the self-rotating wire shaft.

3. The surgical instrument box according to claim 2, characterized in that: The outer peripheral side coaxial sleeve of the self-rotating silk shaft is provided with a fixed seat that can rotate relative to each other, and the fixed seat is installed on the base; The first guide wheel and the second guide wheel are both rotatably disposed on the fixing seat.

4. The surgical instrument box according to claim 2, characterized in that: The transmission shafts are provided in four numbers, and the four transmission shafts are arranged in a rectangular or trapezoidal array; The self-rotating wire shaft is arranged on the central axis of the rectangle or trapezoid formed by the four transmission shafts, or is arranged at a preset distance away from the central axis.

5. The surgical instrument box according to claim 4, characterized in that: The first guide wheel is sleeved on the first pin shaft, the second guide wheel is sleeved on the second pin shaft, and the first pin shaft and the second pin shaft are layered and cross-arranged; The wiring grooves of the first guide wheel and the second guide wheel are respectively directed toward two transmission shafts provided on the far side of the guide wheels to guide corresponding cable pairs respectively.

6. The surgical instrument box according to claim 5, characterized in that: The first pin shaft is located below the second pin shaft.

7. The surgical instrument box according to claim 1, characterized in that: The first direction-changing wheel is disposed close to the cable pair received by the second guide wheel, and the second direction-changing wheel is disposed close to the cable pair received by the first guide wheel.

8. The surgical instrument box according to claim 1, wherein: A button assembly is provided on the base, and the button assembly is provided between the four transmission shafts; The button assembly includes a button rack; The button rack is provided with a avoidance hole for passing cables; The button rack has mounting surfaces of different heights for mounting the first and second direction-changing wheels respectively.

9. The surgical instrument box according to claim 8, characterized in that: The button assembly further includes a movable rod movably arranged on the button frame and an elastic member arranged between the button frame and the movable rod; The movable rod is provided with a knob and a lock tongue, and the knob can drive the lock tongue to move through the movable rod to achieve a locking action.

10. A method for laying cables for surgical instruments based on the surgical instrument box according to any one of claims 1 to 9, characterized in that: The following steps are involved: The first cable proximal end portion and the second cable proximal end portion of the first cable pair are wound around the first transmission shaft in different directions and are both guided to change direction at a first height position; The first cable proximal end portion and the second cable proximal end portion of the second cable pair are wound around the second transmission shaft in different directions, and are both guided and redirected at a second height position below or above the first height; The proximal end portion of the first cable of the third cable pair is wound around the third transmission shaft, and after changing direction at the first direction-changing position, is guided and changed direction again at the first height position. The proximal end portion of the corresponding second cable is reversely wound around the third transmission shaft, and after changing direction at the second direction-changing position, is guided and changed direction again at the second height position. The first cable pair, the second cable pair, and the third cable pair converge after changing direction. The height at which the first direction-changing position is located and the height at which the second direction-changing position is located are between the first height and the second height.

11. The cable laying method according to claim 10, wherein: The first cable pair, the second cable pair, and the third cable pair are all converged into a self-rotating spool; The first cable proximal portion and the second cable proximal portion of the fourth cable pair are wound around the fourth transmission shaft near the convergence point in different directions and are received and fastened by the self-rotating wire shaft.

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