Surgical instruments and their range of motion control methods

Abstract

This invention provides a surgical instrument and a method for controlling its range of motion, relating to the field of medical device technology. The surgical instrument includes a drive box, an instrument box, and an adapter connecting the two. The drive box includes a drive mechanism, which comprises a drive element and a movable seat, the movable seat being driven to rotate by the drive element. The drive mechanism also includes a rotating seat and a limiting element, the rotating seat rotating within a first angle range in a first direction triggering the limiting element. The adapter includes a transition seat and a connecting wheel. After the transition seat is detachably connected to the drive box, the movable seat abuts against the connecting wheel axially. The instrument box includes an instrument shaft. After the transition seat is detachably connected to the instrument box, the connecting wheel is pressed down to release the rotation restriction. This invention alleviates the technical problem of poor engagement efficiency and reliability when the instrument box and drive box are docked via the adapter, due to the unrestricted range of motion of their respective parts, achieving the technical effect of shortening the engagement time and ensuring smooth engagement.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a surgical instrument and a method for controlling its range of motion. Background Technology

[0002] Surgical robots have become a research hotspot in the field of medical devices in recent years. They can assist in minimally invasive surgery and have been widely accepted by the market due to their advantages such as smaller surgical incisions, less bleeding, more precise surgical operations, and faster patient recovery. During the operation of a surgical robot, the surgeon issues commands through a master control unit to control multiple slave robotic arms to work together and complete the surgery at a designated site. Slave robotic arms typically integrate multiple degrees of freedom and are equipped with surgical instruments. By adjusting the posture of each joint, the slave robotic arms can position the end effectors of the surgical instruments to a predetermined location, thus meeting the needs of resection, suturing, and other actions under different surgical positions.

[0003] To provide a sterile operating area during surgical procedures, a sterile barrier can be placed between the non-sterile system and the sterile surgical area. Therefore, a sterile connection point is required, utilizing sterile components such as instrument sterile adapters. This allows surgical instruments to be removed or exchanged with other surgical instruments during the procedure.

[0004] In the existing technology, the drive box and the adapter need to be connected first, and then the adapter and the instrument box need to be docked together to connect the three together to achieve axial force transmission. However, since their respective range of motion is not limited, the time to find the docking position is long during the docking process, resulting in poor docking efficiency and reliability. Summary of the Invention

[0005] The purpose of this invention is to provide a surgical instrument and a method for controlling the range of motion of the instrument box and the drive box, so as to alleviate the technical problem in the prior art that when the instrument box and the drive box are connected through an adapter, the joint efficiency and reliability are poor because their respective range of motion is not restricted.

[0006] The first objective of this invention is to provide a surgical instrument, comprising: a drive box, an instrument box, and an adapter connecting the two;

[0007] The drive box includes a drive mechanism, which includes a drive member and a movable seat connected to the output shaft of the drive member. The movable seat is configured to be triggered to rebound along its axial direction when compressed, and the movable seat is driven to rotate by the drive member. The drive mechanism also includes a rotating seat that rotates coaxially with the movable seat and a limiting member that can be triggered to rotate by the rotating seat. The rotating seat can trigger the limiting member when it rotates a first angle range in a first direction, and both are restricted from rotating when they rotate a second angle range in the first direction.

[0008] The adapter includes an adapter base and a connecting wheel movably disposed on the adapter base. After the adapter base is detachably connected to the drive box, the movable seat abuts against the connecting wheel axially. The connecting wheel is configured to be restricted from rotation and to achieve docking when rotating within a third angle range along the first direction.

[0009] The instrument box includes an instrument shaft. After the adapter is detachably connected to the instrument box, the connecting wheel is pressed down to release the rotation restriction. The driving component is used to drive the connecting wheel to rotate until the connecting wheel is docked with the instrument shaft.

[0010] Wherein, the sum of the first angle range and the second angle range is greater than the third angle range.

[0011] Furthermore, the outer wall of the rotating seat is provided with a first blocking feature;

[0012] The inner wall of the limiting member is provided with a second blocking feature, the second blocking feature having a first limiting and a second limiting opposite to each other;

[0013] The rotating seat can rotate within the first angle range along the first direction to abut against and trigger the first limit of the limiting member.

[0014] Furthermore, the outer wall of the limiting member is also provided with a third blocking feature that is disposed opposite to the second blocking feature;

[0015] The periphery of the limiting member is provided with a fixed blocking feature;

[0016] The third blocking feature is configured to push the limiting member to rotate within the second angle range and abut against the fixed blocking feature while the rotating seat triggers the first limiting position, so that the rotating seat is restricted from rotating.

[0017] Furthermore, the drive unit is equipped with an encoder;

[0018] The encoder is used to record the first limit position of the drive member rotating along the first direction to the first limit position, and to record the second limit position of the drive member rotating along the second direction opposite to the first direction to the second limit position, and to obtain the initial zero position by obtaining the midpoint between the first limit position and the second limit position.

[0019] Furthermore, the adapter is provided with a mounting hole for accommodating the connecting wheel, and the wall of the mounting hole extends radially inward to form a flange.

[0020] The connecting wheel includes a first wheel portion and a second wheel portion, and the gap between the first wheel portion and the second wheel portion is greater than the thickness of the flange portion, so that the flange portion can slide along the mounting hole between the first wheel portion and the second wheel portion.

[0021] Furthermore, the flange portion protrudes from the surface of the movable seat and is provided with at least two sets of slides with gradually increasing or decreasing slope angles, and the at least two sets of slides are arranged in a centrally symmetrical manner.

[0022] The second wheel is disposed close to the movable seat, and the outer edge of the second wheel is recessed radially inward to form a limiting opening. The number of the limiting openings is equal to the number of the slides.

[0023] The limiting opening is aligned and engaged with the slide table to restrict rotation, and the limiting opening is misaligned and separated from the slide table to release the rotation restriction.

[0024] Furthermore, the slide table is configured in two sets, with the two sets of slide tables arranged facing each other, and correspondingly, the range of the third angle reaches 0 to 180°;

[0025] Alternatively, the slides can be configured into four groups, with the four groups of slides evenly arranged, and the corresponding third angle range reaches 0 to 90°.

[0026] Furthermore, the first blocking feature and the second blocking feature are respectively boss structures disposed on the opposing surfaces of the rotating seat and the limiting member, and correspondingly, the first angle range is greater than or equal to 0° and less than 360°.

[0027] The second blocking feature is disposed opposite to the third blocking feature, and the third blocking feature extends outward along the outer wall of the limiting member to protrude from the bottom surface of the limiting member. Correspondingly, the second angle range is greater than or equal to 0° and less than 360°.

[0028] Furthermore, the drive mechanism is configured as multiple sets, and the drive components in the multiple sets of drive mechanisms are configured to provide independent rotational motion and are fixedly installed by quick-change seats, the top of which is provided with a fixed blocking feature.

[0029] The outer periphery of the multiple sets of drive mechanisms is covered by a housing, and the movable seat is provided with engagement features for engaging with the connecting wheel. The engagement features protrude from the top surface of the housing in the initial state.

[0030] Correspondingly, the connecting wheel and the instrument shaft are both set in multiple groups, and are set one-to-one with the multiple groups of the drive mechanism.

[0031] Furthermore, the outer shell and the adapter are provided with a first positioning structure on their opposite surfaces, and a first snap-fit ​​connection structure is provided between them. The first positioning structure is used to achieve positioning, and the first snap-fit ​​connection structure is used to connect the two.

[0032] The adapter and the base of the instrument box are provided with a second positioning structure on their opposite surfaces, and a second snap-fit ​​connection structure is provided between them. The second positioning structure is used to achieve positioning, and the second snap-fit ​​connection structure is used to connect the two.

[0033] The adapter is provided with a conductive sheet, and the base is provided with a spring contact pin. While the second snap-fit ​​connection structure enables connection, the spring contact pin can communicate with the conductive sheet.

[0034] Furthermore, the first positioning structure or the second positioning structure includes a conical protrusion and a conical hole that interlocks with the conical protrusion.

[0035] The surgical instrument provided by this invention has at least the following beneficial effects:

[0036] The movable seat is driven to rotate by a drive component. Since the drive mechanism also includes a rotating seat that rotates coaxially with the movable seat and a limiting component that can be triggered to rotate by the rotating seat, the movement range of the drive component can be controlled by the setting of the rotating seat and the limiting component. Its movement range is the sum of the first angle range of the rotating seat rotating in the first direction and the second angle range of the rotating seat rotating in the first direction. After the adapter and the drive mechanism are detachably connected, the movable seat is triggered to spring back and abut against the connecting wheel axially. Since the connecting wheel is configured to be restricted to rotate and achieve docking when rotating in the first direction in the third angle range, it will stop rotating when rotating in the first direction in the third angle range. Since the sum of the first angle range and the second angle range is greater than the third angle range, that is, the docking range of the adapter is less than the movement range of the drive component, docking can be completed during the process of the connecting wheel rotating in the first direction in the third angle range, shortening the engagement time. After the adapter and the instrument box are detachably connected, the connecting wheel is pressed down to release the rotation restriction. At this time, the drive component can drive the movable seat and the connecting wheel to rotate until the connecting wheel docks with the instrument shaft.

[0037] It is evident that this surgical instrument can connect the instrument box and the drive box via an adapter. During the connection process, since the adapter's docking range is smaller than the drive component's range of motion, there is no issue of connection failure due to the adapter's docking range exceeding the drive component's range of motion, thus shortening the connection time and improving connection efficiency. During the connection process between the adapter and the instrument box, the connecting wheel is pressed down to release rotational restrictions, thus unrestricting the movement range of the instrument shaft. The final movement range of the instrument shaft is influenced by the joint movement range of the instrument box itself and the movement range of the drive box, i.e., it is the intersection of their movement ranges. Therefore, it avoids the reduction in movement range or the complexity of connection caused by the superposition of the movement ranges of the drive box, instrument box, and adapter, thereby improving the movement range, connection efficiency, and reliability of the instrument shaft.

[0038] The second objective of this invention is a method for controlling the range of motion of a surgical instrument, comprising the following steps:

[0039] The driving component drives the rotating seat to rotate along the first direction. When the first blocking feature of the rotating seat touches the second blocking feature of the limiting component, the rotating seat pushes the limiting component to continue rotating along the first direction, so that the third blocking feature of the limiting component touches the fixed blocking feature, until the rotating seat is restricted from rotating, so as to control the movement range of the output shaft of the driving component to be greater than 0° and less than 720°.

[0040] The rotation of the connecting wheel in the adapter, which engages with the drive box, is restricted in the first direction and its range of motion is controlled between 0 and 180°, while its rotation in the second direction, which is opposite to the first direction, is unrestricted.

[0041] The range of motion of the instrument axis in the instrument box is jointly controlled by the range of motion of its own joints and the range of motion of the drive box.

[0042] The method for controlling the range of motion of surgical instruments provided by this invention has at least the following beneficial effects:

[0043] The range of motion of the drive component is controlled between 0° and 720°, and the range of motion of the connecting wheel in the adapter along the first direction is controlled between 0° and 180°, which makes the docking range of the adapter smaller than the range of motion of the drive component; at the same time, the range of motion of the instrument shaft in the instrument box is limited by the range of motion of its own joint and the range of motion of the drive box, which makes it smaller than the docking range of the adapter, so that the docking point can be found smoothly for docking during the docking operation. Attached Figure Description

[0044] 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.

[0045] Figure 1 A schematic diagram of the structure of a surgical instrument provided in an embodiment of the present invention;

[0046] Figure 2 One of the exploded views of a surgical instrument provided in an embodiment of the present invention;

[0047] Figure 3 A second exploded view of the surgical instruments provided in an embodiment of the present invention;

[0048] Figure 4 This is a schematic diagram of the driver box structure;

[0049] Figure 5 This is a partial structural diagram of the driver box;

[0050] Figure 6 for Figure 4 Top view of the driver box shown;

[0051] Figure 7 For along Figure 6 A cross-sectional view of line AA shown;

[0052] Figure 8 for Figure 5 The top view of the movable base is not shown in the diagram of the drive box.

[0053] Figure 9 for Figure 5 Another angle view of the driver box shown;

[0054] Figure 10 This is a schematic diagram of the adapter's structure;

[0055] Figure 11 This is a schematic diagram of the connecting wheel structure;

[0056] Figure 12 This is a schematic diagram of the front structure of the adapter.

[0057] Figure 13 This is a schematic diagram of the back structure of the adapter.

[0058] Figure 14 for Figure 10 The adapter shown is shown in a bottom view;

[0059] Figure 15 For along Figure 14 The cross-sectional view of the BB line shown;

[0060] Figure 16 For along Figure 14 The cross-sectional view of the CC line shown;

[0061] Figure 17 This is a schematic diagram of the back structure of the adapter;

[0062] Figure 18 This is a schematic diagram of the instrument box structure;

[0063] Figure 19 for Figure 18 The diagram shown is a structural schematic of the instrument box, but the outer casing is not shown.

[0064] Figure 20 for Figure 18 The instrument box shown is viewed from below.

[0065] icon:

[0066] 100-Drive box; 110-Drive mechanism; 120-Housing shell; 130-Quick change seat; 111-Drive component; 112-Moving seat; 113-Rotating seat; 114-Limiting sleeve; 115-Elastic element; 131-Fixed blocking feature; 1111-Output shaft; 1121-First engaging protrusion; 1131-First blocking feature; 1141-Second blocking feature; 1142-Third blocking feature;

[0067] 200 - Instrument box; 210 - Instrument shaft; 220 - Base; 230 - Outer cover; 240 - Disc; 241 - Second mating hole;

[0068] 300 - Adapter; 310 - Adapter base; 320 - Connecting wheel; 311 - Mounting hole; 321 - First wheel portion; 322 - Second wheel portion; 3111 - Flange portion; 3112 - Slide table; 3211 - Second engaging protrusion; 3221 - Limiting opening; 3222 - First mating hole;

[0069] 400 - First snap-fit ​​connection structure; 500 - Second snap-fit ​​connection structure; 610 - Conical protrusion; 620 - Conical hole. Detailed Implementation

[0070] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0071] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0072] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0073] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0074] Furthermore, terms such as "horizontal," "vertical," and "suspended" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," not that the structure must be completely horizontal, but can be slightly tilted.

[0075] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0076] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0077] Example 1

[0078] Reference Figure 1This embodiment provides a surgical instrument, which includes a drive housing 100, an instrument housing 200, and an adapter 300 connecting the two. A shaft (not shown in the attached drawings) is connected to the left side of the instrument housing 200. U-shaped notches are provided at corresponding positions in the drive housing 100 and the instrument housing 200 for the shaft to pass through. The shaft and the surgical instrument are controlled by a hinged wrist joint, allowing the surgical instrument to achieve multiple degrees of freedom of movement, such as rotation, pitch, or opening and closing. The surgical instrument in this embodiment can be any of various surgical instruments, including forceps, needle actuators, cauterization devices, cutting tools (ultrasonic scalpels), or ultrasonic probes.

[0079] Reference Figure 1 or Figure 2 A first snap-fit ​​connection structure 400 is provided between the driver box 100 and the adapter 300, and a second snap-fit ​​connection structure 500 is provided between the adapter 300 and the instrument box 200, for detachable connection between the three. The first snap-fit ​​connection structure 400 and the second snap-fit ​​connection structure 500 can be the same or different.

[0080] In this embodiment, the first snap-fit ​​connection structure 400 and the second snap-fit ​​connection structure 500 adopt the same structural form. The adapter 300 is provided with slots at the top and bottom respectively. The first snap-fit ​​connection structure 400 and the second snap-fit ​​connection structure 500 are respectively provided with button components for insertion and cooperation with the slots. Pressing the button component can realize the locking operation, and releasing the button component can realize the unlocking operation.

[0081] Specifically, the button assembly includes a locking tongue arranged in opposite directions and a button arranged corresponding to the locking tongue. An elastic element 115 is provided between the locking tongue and the button holder. The locking tongue and the corresponding slot are arranged opposite to each other. During operation, pressing the button can trigger the locking tongue to compress the elastic element 115, thereby causing the opposing locking tongues to move relative to each other to disengage from the slot and realize the unlocking operation. When the button is released, during the process of the elastic element 115 returning to its initial state, the opposing locking tongues move in opposite directions to engage with the slot and realize the locking operation.

[0082] Furthermore, a first positioning structure is provided between the drive box 100 and the adapter 300, and a second positioning structure is provided between the adapter 300 and the instrument box 200. While positioning is achieved through the corresponding positioning structure, the corresponding two parts can be connected through the corresponding snap-fit ​​connection structure.

[0083] Reference Figure 2 or Figure 3The first or second positioning structure includes a conical protrusion 610 and a conical hole 620 that is inserted into the conical protrusion 610, wherein the conical hole 620 has a flared entrance; compared with the prior art which uses a cylinder and a round hole for positioning, the former is more conducive to the conical protrusion 610 being inserted into the conical hole 620 through the flared entrance, and is more conducive to alignment and positioning.

[0084] For example, the top of the drive box 100 is provided with a conical protrusion 610, and correspondingly, the bottom of the adapter 300 is provided with a conical hole 620; the top of the adapter 300 is provided with a conical protrusion 610, and correspondingly, the instrument box 200 and the bottom are provided with a conical hole 620.

[0085] In this embodiment, the conical protrusions 610 and the conical holes 620 are both set in three groups. The three groups of conical protrusions 610 or conical holes 620 are arranged in a stable triangular structure. Of course, they can also be arranged in two or more groups, which can be selectively set according to the needs.

[0086] The aforementioned positioning structure enables accurate positioning of the drive box 100, instrument box 200, and adapter 300, while the snap-fit ​​connection structure ensures a stable and reliable mechanical connection between them.

[0087] Furthermore, the adapter 310 is equipped with a spring-loaded contact pin, and the base 220 of the instrument box 200 is equipped with a conductive sheet. While the second snap-fit ​​connection structure enables connection, it also enables the spring-loaded contact pin to communicate with the conductive sheet.

[0088] The specific structure of the driver box 100 will be described in detail below.

[0089] Reference Figure 4 The drive box 100 includes a drive mechanism 110, which is configured as multiple sets. The outer periphery of the multiple sets of drive mechanisms 110 is covered by a housing 120. The upper end of the housing 120 is open, and a quick-change seat 130 is provided at the upper end opening for fixing and installing the multiple sets of drive mechanisms 110. The specific number of sets of drive mechanisms 110 is set as needed. In this embodiment, the drive mechanisms 110 are configured as four sets and arranged in a rectangular shape to provide independent rotational motion.

[0090] Combination Figures 5 to 7 The drive mechanism 110 includes a drive member 111. The output shaft 1111 of the drive member 111 is provided with a movable seat 112. The movable seat 112 is configured to be triggered to rebound along its axial direction when it is compressed. The movable seat 112 is driven to rotate by the drive member 111. A rotating seat 113 that can rotate coaxially is provided below the movable seat 112. A limiting sleeve 114 is provided on the outer periphery of the rotating seat 113.

[0091] During operation, the rotation of the drive component 111 can drive the movable seat 112 and the rotating seat 113 to rotate synchronously. The rotation of the limiting sleeve 114 is triggered by the rotating seat 113 when certain conditions are met. Optionally, the drive component 111 can be a motor.

[0092] Reference Figure 7 An elastic element 115 is provided between the movable seat 112 and the output shaft 1111. When the movable seat 112 is compressed, such as when it is pressed down, the elastic element 115 can be compressed to make it spring back, i.e., it is pressed down. Conversely, when the external force is removed, the movable seat 112 springs back to its initial state under the elastic force of the elastic element 115. Optionally, the elastic element 115 can be a spring, with the lower end of the spring sleeved on the output shaft 1111 and the other end pressed against the lower surface of the movable seat 112.

[0093] Reference Figure 6 The upper surface of the movable seat 112 is provided with two sets of first engaging protrusions 1121. Figure 4 The image shows the moving seats 112 corresponding to the three sets of drive mechanisms 110 in the initial state. At this time, the first engaging protrusion 1121 protrudes from the top surface of the quick-change seat 130 in the initial state. The moving seats 112 of the remaining set of drive mechanisms 110 are in the state of being pressed and triggered to rebound along their axial direction. At this time, the first engaging protrusion 1121 retracts into the top surface of the quick-change seat 130.

[0094] Please continue to refer to Figure 6 The first engaging protrusions 1121 are configured in two sets and arranged at 180° to mate with corresponding features on the adapter 300. The number of first engaging protrusions 1121 is not limited to two; it can also be three or more.

[0095] Furthermore, in combination Figure 8 and Figure 9 The outer wall of the rotating seat 113 is provided with a first blocking feature 1131, and the inner wall of the limiting sleeve 114 is provided with a second blocking feature 1141. The second blocking feature 1141 has a first limiting and a second limiting opposite to each other. The moving seat 112 can abut and trigger the first limiting by rotating a first angle range along a first direction. In this embodiment, the first direction is clockwise.

[0096] Continue to combine Figure 8 and Figure 9 The outer wall of the limiting sleeve 114 is also provided with a third blocking feature 1142 that is opposite to the second blocking feature 1141; a fixed blocking feature 131 is fixedly provided on the periphery of the rotating seat 113; the third blocking feature 1142 is configured to abut against the fixed blocking feature 131 when the moving seat 112 rotates within a second angle range, so that the moving seat 112 is restricted from rotating. The fixed blocking feature 131 is provided on the top surface of the quick-change seat 130.

[0097] Specifically, in the initial state, the motor can be in any position. The motor drives the moving seat 112 and the rotating seat 113 to rotate clockwise within a first angle range, which can abut and trigger the first limit of the second blocking feature 1141 of the limiting sleeve 114, thereby pushing the limiting sleeve 114 to rotate clockwise. When the third blocking feature 1142, which is opposite to the second blocking feature 1141, rotates within a second angle range and abuts the fixed blocking feature 131, the rotation is limited and stops. It can be seen that the rotation range that the moving seat 112 can achieve is the sum of the first angle range and the second angle range. In this embodiment, the sum of the two can be close to 720°.

[0098] For example, the first blocking feature 1131, the second blocking feature 1141, the third blocking feature 1142, and the fixed blocking feature 131 can be a boss or a protruding post, or other structures that can achieve the aforementioned functions. Among them, the third blocking feature 1142 extends along the outer wall of the limiting sleeve 114 and toward the top surface of the quick-change seat 130 to protrude from the bottom surface of the limiting sleeve 114.

[0099] Furthermore, the motor is equipped with an encoder; the encoder is used to record the first limit position when the motor rotates clockwise to the first limit position, and to record the second limit position when the motor rotates counterclockwise to the second limit position. The encoder also obtains the initial zero position by finding the midpoint between the first limit position and the second limit position. After finding the initial zero position, the motor moves to the second limit position and stops, preparing for the subsequent docking operation.

[0100] The specific structure of the driver box 100 has been described in detail above. Next, the adapter 300 and the parts that interface with the driver box 100 will be described in detail.

[0101] Combination Figure 10 and Figure 11 The adapter 300 includes a connector 310, which has multiple mounting holes 311. The number of mounting holes 311 is the same as the number of sets of the drive mechanism 110 and they are arranged in a one-to-one correspondence. A connecting wheel 320 is movably disposed in each mounting hole 311.

[0102] Combination Figure 11 , Figure 12 , Figure 14 and Figure 15 The wall of the mounting hole 311 extends radially inward to form a flange portion 3111. The connecting wheel 320 includes a first wheel portion 321, a second wheel portion 322, and a rod portion connecting the two. The gap between the first wheel portion 321 and the second wheel portion 322 is greater than the thickness of the flange portion 3111, so that the connecting wheel 320 can move along the mounting hole 311. The size of the gap between the first wheel portion 321 and the second wheel portion 322 can be determined by the height of the rod portion.

[0103] Combination Figures 11 to 13 The flange portion 3111 faces the movable seat 112. That is, the lower surface of the flange portion 3111 protrudes and is provided with at least two sets of slides 3112 with gradually increasing or decreasing slope angles. The at least two sets of slides 3112 are arranged in a centrally symmetrical manner. The second wheel portion 322 is disposed close to the movable seat 112. The outer edge of the second wheel portion 322 is recessed radially inward to form a limiting opening 3221. The number of limiting openings 3221 is equal to the number of slides 3112. The limiting openings 3221 and the slides 3112 are aligned and engaged and rotated to limit the movement. The limiting openings 3221 and the slides 3112 are misaligned and separated to release the restriction.

[0104] In this embodiment, when the connecting wheel 320 rotates clockwise to its maximum angle, the limiting opening 3221 and the slide 3112 are aligned and locked, thus limiting the rotation. Conversely, when the connecting wheel 320 rotates counterclockwise, it is not restricted.

[0105] For example, the bottom surface of the slide 3112 can be an inclined plane, an arc-shaped convex surface, an arc-shaped concave surface, or a combination of an inclined plane and an arc-shaped convex surface.

[0106] In this embodiment, the slide table 3112 is configured in two sets, and the two sets of slide tables 3112 are centrally symmetrically arranged. At this time, the connecting wheel 320 rotates clockwise to the maximum angle to achieve locking within the range of 0 to 180°. This angle range can shorten the engagement time. Optionally, the slide table 3112 can also be configured in four sets, and the four sets of slide tables 3112 are centrally symmetrically arranged. At this time, the connecting wheel 320 rotates clockwise to the maximum angle to achieve locking within the range of 0 to 90°. This angle range can further shorten the engagement time.

[0107] Combination Figure 14 , Figure 16 and Figure 17 During the process of the connecting wheel 320 rotating clockwise to its maximum angle, when one side of the limiting opening 3221 contacts the side of the slide table 3112 with the largest slope angle, the side of the slide table 3112 with the largest slope angle will limit the rotation of the connecting wheel 320 (the side opposite to the side of the slide table 3112 with the largest slope angle is not limited), that is, the connecting wheel 320 stops rotating; at this time, the connecting wheel 320 can rotate counterclockwise. During the counterclockwise rotation, while one side of the limiting opening 3221 separates from the side of the slide table 3112 with the largest slope angle, the surface close to the other side of the limiting opening 3221, that is, the upper surface of the second wheel part 322, will gradually slide along the slope of the slide table 3112 in the direction where the slope angle gradually increases, until it disengages from the slide table 3112.

[0108] Reference Figure 17The bottom of the second wheel portion 322 is provided with a first mating hole 3222 for engaging with the first engaging protrusion 1121. The number of first mating holes 3222 is equal to the number of first engaging protrusions 1121. In this embodiment, the first mating holes 3222 are also set in two sets and arranged at 180°. As a variation, engaging protrusions can be provided at the bottom of the second wheel portion 322, and correspondingly, mating holes can be provided at the top of the movable seat 112.

[0109] Reference Figure 11 The top of the first wheel portion 321 is provided with a second engaging protrusion 3211. The second engaging protrusion 3211 is configured in two sets and is arranged at 180°.

[0110] In summary, the docking process between the driver box 100 and the adapter 300 is as follows:

[0111] The adapter 300 is placed directly above the drive box 100, and the slot in the first snap-fit ​​connection structure 400 is aligned with the button assembly. At the same time, the first positioning structure is aligned. While positioning is achieved through the first positioning structure, the adapter 300 and the drive box 100 can be detachably connected, i.e., mechanically connected, through the first snap-fit ​​connection structure 400. While the two are detachably connected, the moving seat 112 is pressed down and springs back by the pressure of the connecting wheel 320. At the same time, the connecting wheel 320 is pushed up to contact any position of the flange 3111 and cannot move further upward. At this time, the control switch on the drive box 100 can be triggered to trigger the adapter 300 engagement procedure.

[0112] The motor starts moving from the aforementioned second limiting position, driving the movable seat 112 and the rotating seat 113 to rotate. The movable seat 112 abuts against the connecting wheel 320 under the action of the spring. There is friction between the movable seat 112 and the connecting wheel 320. Under the action of friction, the connecting wheel 320 rotates accordingly. When the limiting opening 3221 of the connecting wheel 320 moves to the limiting position of the slide 3112 of the adapter 300, the connecting wheel 320 moves upward under the action of the spring of the movable seat 112, realizing the locking of the connecting wheel 320 and the limiting position of the adapter 300, thereby enabling the first engaging protrusion 1121 to mate with the first mating hole 3222 within the range of 0 to 180°.

[0113] It should be noted that each drive mechanism 110 can be connected simultaneously or sequentially, and the specific settings can be configured through the controller.

[0114] The specific structure of the adapter 300 has been described in detail above. Next, the instrument box 200 and the parts that mate with the adapter 300 will be described in detail.

[0115] Combination Figure 18 and Figure 19The instrument box 200 includes instrument shafts 210, the number of which is the same as the number of drive mechanisms 110 and they are arranged in a one-to-one correspondence. The instrument box 200 also includes a base 220 and an outer cover 230, which cooperate to form a relatively sealed installation space. The instrument shafts 210 are rotatably connected to the base 220.

[0116] Reference Figure 20 Each instrument shaft 210 has a disc 240 fixedly fitted at its bottom end. The disc 240 has second mating holes 241 that engage with the second engaging protrusions 3211. The number of second mating holes 241 is equal to the number of second engaging protrusions 3211. In this embodiment, the second mating holes 241 are also set in two sets, arranged at 180°. As a variation, engaging protrusions can be provided at the bottom of the disc 240, and correspondingly, mating holes can be provided at the top of the first wheel portion 321. The mating holes can be elongated holes or U-shaped slots to facilitate mating.

[0117] In summary, the docking process between the instrument box 200 and the adapter 300 is as follows:

[0118] The instrument box 200 is placed directly above the adapter 300, and the slot in the second snap-fit ​​connection structure 500 is aligned with the button assembly. At the same time, the second positioning structure is aligned. While positioning is achieved through the second positioning structure, the adapter 300 and the instrument box 200 can be detachably connected, i.e., mechanically connected, through the second snap-fit ​​connection structure 500. While the two are detachably connected, the moving base 112 is pressed down and rebounded by the pressure of the disc 240, pushing the connecting wheel 320 downward out of the slide 3112. At this time, the connecting wheel 320 is completely disengaged from the slide 3112 limit of the adapter 300, and the slide 3112 limit no longer has any effect on the movement of the connecting wheel 320.

[0119] The motor simultaneously drives the movable seat 112 and the connecting wheel 320 to rotate clockwise until the second engaging protrusion 3211 engages with the second mating hole 241.

[0120] It should be noted that when the instrument box 200 and the adapter 300 are docked, the docking range of each instrument axis 210 is inconsistent due to the limitation of the instrument joints.

[0121] In summary, the surgical instrument of this embodiment can be connected between the instrument box 200 and the drive box 100 via the adapter 300. During the connection process between the adapter 300 and the drive box 100, since the docking range of the adapter 300 is smaller than the movement range of the drive component 111, there will be no connection failure due to the docking range of the adapter 300 exceeding the movement range of the drive component 111, thus shortening the connection time and improving the connection efficiency. During the connection process between the adapter 300 and the instrument box 200, since the connecting wheel 320 is pressed down to release the rotation restriction, it has no restriction on the movement range of the instrument shaft 210. The final movement range of the instrument shaft 210 is affected by the joint movement range of the instrument shaft 210 itself and the movement range of the drive box 100, that is, it is the intersection of the movement ranges of the two. Therefore, the reduction in movement range or the complexity of connection caused by the superposition of the movement ranges of the three components, the drive box 100, the instrument box 200 and the adapter 300, is avoided, thus improving the movement range, connection efficiency and reliability of the instrument shaft.

[0122] Example 2

[0123] This second embodiment provides a method for controlling the range of motion of a surgical instrument, including the following steps:

[0124] The driving member 111 drives the rotating seat 113 to rotate along the first direction. When the first blocking feature 1131 of the rotating seat 113 touches the second blocking feature 1141 of the limiting member, the rotating seat 113 pushes the limiting sleeve 114 to continue rotating along the first direction, so that the third blocking feature 1142 of the limiting sleeve 114 touches the fixed blocking feature 131 until the rotating seat 113 is restricted from rotating, so as to control the movement range of the output shaft of the driving member 111 to be greater than 0° and less than 720°.

[0125] The rotation of the connecting wheel 320 in the adapter 300, which engages with the drive box 100, is restricted in the first direction and its range of motion is controlled between 0 and 180°, while its rotation in the second direction, which is opposite to the first direction, is unrestricted.

[0126] The range of motion of the instrument shaft 210 in the instrument box 200 is controlled by the range of motion of its own joint and the range of motion of the drive box.

[0127] One specific embodiment of this application is as follows: the movable seat 112 is driven to rotate by a motor, and the movable seat 112 is controlled to rotate within a range greater than 0° and less than 720°; after the drive box 100 and the adapter 300 are detachably connected, the movable seat 112 and the connecting wheel 320 in the adapter 300 generate mutual pressing force and form a rotating integral structure; the rotating integral structure is controlled to rotate clockwise and is locked within a range of 0° to 180°; after the adapter 300 and the instrument box 200 are detachably connected, the rotating integral structure is unlocked; the rotating integral structure is controlled to rotate clockwise and stops when it reaches the range of motion of the instrument's own joints.

[0128] In this embodiment, the range of motion of the motor is controlled between 0° and 720°, specifically between 360° and 720°. The range of motion of the connecting wheel 320 in the adapter 300 along the clockwise direction is controlled between 0° and 180°. This setting allows the docking range of the adapter 300 to be smaller than the range of motion of the motor. At the same time, the range of motion of the instrument shaft 210 in the instrument box 200 is limited by the range of motion of its own joint and the range of motion of the drive box 100, which can make it smaller than the docking range of the adapter 300, so that the docking point can be found smoothly for docking during the docking operation.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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, characterized in that, include: The driver box, the instrument box, and the adapter that connects the two; The drive box includes a drive mechanism, which includes a drive member and a movable seat connected to the output shaft of the drive member. The movable seat is configured to be triggered to rebound along its axial direction when compressed, and the movable seat is driven to rotate by the drive member. The drive mechanism also includes a rotating seat that rotates coaxially with the movable seat and a limiting member that can be triggered to rotate by the rotating seat. The rotating seat can trigger the limiting member when it rotates a first angle range in a first direction, and both are restricted from rotating a second angle range in the first direction. The adapter includes an adapter base and a connecting wheel movably disposed on the adapter base. After the adapter base is detachably connected to the drive box, the movable seat abuts against the connecting wheel axially. The connecting wheel is configured to be restricted from rotation and to achieve docking when rotating within a third angle range along the first direction. The instrument box includes an instrument shaft. After the adapter is detachably connected to the instrument box, the connecting wheel is pressed down to release the rotation restriction. The driving component is used to drive the connecting wheel to rotate until the connecting wheel is docked with the instrument shaft. Wherein, the sum of the first angle range and the second angle range is greater than the third angle range, and the range of motion of the instrument axis is the intersection of the range of motion of the joint of the instrument box itself and the range of motion of the drive box.

2. The surgical instrument according to claim 1, characterized in that, The outer wall of the rotating seat is provided with a first blocking feature; The inner wall of the limiting member is provided with a second blocking feature, the second blocking feature having a first limiting and a second limiting opposite to each other; The rotating seat can rotate within the first angle range along the first direction to abut against and trigger the first limit of the limiting member.

3. The surgical instrument according to claim 2, characterized in that, The outer wall of the limiting member is also provided with a third blocking feature; The periphery of the limiting member is provided with a fixed blocking feature; The third blocking feature is configured to push the limiting member to rotate within the second angle range and abut against the fixed blocking feature while the rotating seat triggers the first limiting position, so that the rotating seat is restricted from rotating.

4. The surgical instrument according to claim 2, characterized in that, The drive unit is equipped with an encoder; The encoder is used to record the first limit position of the drive member rotating along the first direction to the first limit position, and to record the second limit position of the drive member rotating along the second direction opposite to the first direction to the second limit position, and to obtain the initial zero position by obtaining the midpoint between the first limit position and the second limit position.

5. The surgical instrument according to any one of claims 1-4, characterized in that, The adapter is provided with a mounting hole for accommodating the connecting wheel, and the wall of the mounting hole extends radially inward to form a flange. The connecting wheel includes a first wheel portion and a second wheel portion, and the gap between the first wheel portion and the second wheel portion is greater than the thickness of the flange portion, so that the flange portion can slide along the mounting hole between the first wheel portion and the second wheel portion.

6. The surgical instrument according to claim 5, characterized in that, The flange portion protrudes from the surface of the movable seat and is provided with at least two sets of sliding platforms with gradually increasing or decreasing inclined angles, and the at least two sets of sliding platforms are arranged in a centrally symmetrical manner. The second wheel is disposed close to the movable seat, and the outer edge of the second wheel is recessed radially inward to form a limiting opening. The number of the limiting openings is equal to the number of the slides. The limiting opening is aligned and engaged with the slide table to restrict rotation, and the limiting opening is misaligned and separated from the slide table to release the rotation restriction.

7. The surgical instrument according to claim 6, characterized in that, The slide table is configured in two sets, with the two sets of slide tables arranged facing each other, and the corresponding third angle range reaches 0~180°; Alternatively, the slides can be configured into four groups, with the four groups of slides evenly arranged, and the corresponding third angle range reaches 0~90°.

8. The surgical instrument according to claim 3, characterized in that, The first blocking feature and the second blocking feature are respectively boss structures provided on the opposite surfaces of the rotating seat and the limiting member. Correspondingly, the first angle range is greater than or equal to 0° and less than 360°. The second blocking feature is disposed opposite to the third blocking feature, and the third blocking feature extends outward along the outer wall of the limiting member to protrude from the bottom surface of the limiting member. Correspondingly, the second angle range is greater than or equal to 0° and less than 360°.

9. The surgical instrument according to claim 1 or 3, characterized in that, The drive mechanism is configured in multiple groups, and the drive components in the multiple groups of drive mechanisms are configured to provide independent rotational motion and are fixedly installed by quick-change seats. The top of the quick-change seats is provided with a fixed blocking feature. The outer periphery of the multiple sets of drive mechanisms is covered by a housing, and the movable seat is provided with engagement features for engaging with the connecting wheel. The engagement features protrude from the top surface of the housing in the initial state. Correspondingly, the connecting wheel and the instrument shaft are both set in multiple groups, and are set one-to-one with the multiple groups of the drive mechanism.

10. The surgical instrument according to claim 9, characterized in that, The outer shell and the adapter are provided with a first positioning structure on their opposite surfaces, and a first snap-fit ​​connection structure is provided between them. The first positioning structure is used to achieve positioning, and the first snap-fit ​​connection structure is used to connect the two. The adapter and the base of the instrument box are provided with a second positioning structure on their opposite surfaces, and a second snap-fit ​​connection structure is provided between them. The second positioning structure is used to achieve positioning, and the second snap-fit ​​connection structure is used to connect the two. The adapter is provided with a conductive sheet, and the base is provided with a spring contact pin. While the second snap-fit ​​connection structure enables connection, the spring contact pin can communicate with the conductive sheet.

11. The surgical instrument according to claim 10, characterized in that, The first positioning structure or the second positioning structure includes a conical protrusion and a conical hole that is inserted into the conical protrusion.

12. A method for controlling the range of motion of a surgical instrument based on claim 3, characterized in that, include: The driving component drives the rotating seat to rotate along the first direction. When the first blocking feature of the rotating seat touches the second blocking feature of the limiting component, the rotating seat pushes the limiting component to continue rotating along the first direction, so that the third blocking feature of the limiting component touches the fixed blocking feature, until the rotating seat is restricted from rotating, so as to control the movement range of the output shaft of the driving component to be greater than 0° and less than 720°. The rotation of the connecting wheel in the adapter, which engages with the drive box, is restricted in the first direction and its range of motion is controlled between 0 and 180°, while its rotation in the second direction, which is opposite to the first direction, is unrestricted. The range of motion of the instrument axis in the instrument box is jointly controlled by the range of motion of its own joints and the range of motion of the drive box.

Images