Drive cassette, operating arm, and surgical robot

Abstract

The application discloses a driving box, an operating arm and a surgical robot. A driven shaft of the driving box comprises a first shaft body and a protrusion. A connecting rod is provided with a notch part corresponding to the protrusion, which is used for accommodating the protrusion when the connecting rod is inserted into the driven shaft, so that the connecting rod is driven to rotate by the protrusion when the driven shaft rotates. The driving shaft assembly further comprises a connecting pipe connected with the driven shaft. The driven shaft and the connecting pipe are sleeved on the connecting rod and fixedly connected with the connecting rod. The driven shaft and the connecting pipe are integrated structures. A rotation driving shaft, a first driving shaft, a second driving shaft or a third driving shaft of the driving shaft assembly comprises a second shaft body and a rotating part sleeved on the second shaft body and away from the base side. The rotating part comprises oppositely arranged first and second rotating bodies, a first winding part fixedly connected with the first rotating body, and a second winding part fixedly connected with the second rotating body. The first winding part is connected with the second winding part. The application can improve the operation precision of the operating arm in the minimally invasive surgery process.

Description

[0001] This application is a divisional application filed with the Chinese Patent Office on February 9, 2020, with application number 202010083294.4 and title "Driver Box, Manipulator Arm and Surgical Robot", the full text of which is incorporated herein by reference. Technical Field

[0002] This invention relates to the field of medical device technology, and in particular to a drive box, a manipulator arm, and a surgical robot. Background Technology

[0003] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery.

[0004] With the advancement of technology, minimally invasive surgical robot technology has gradually matured and is widely used. A minimally invasive surgical robot typically includes a master control panel and slave operating devices. The master control panel sends control commands to the slave operating devices based on the surgeon's instructions, thereby controlling the slave operating devices. The slave operating devices respond to the control commands sent by the master control panel and perform the corresponding surgical procedures.

[0005] Surgical manipulation devices typically include a robotic arm, a power mechanism mounted on the robotic arm, and a manipulator arm. The robotic arm is used to adjust the position of the manipulator arm, which is then inserted into the body to perform surgical procedures. The power mechanism drives the end effector of the manipulator arm to perform corresponding operations. However, existing surgical arms may experience loosening of the linkages during surgical procedures, leading to errors in the rotation of these linkages and consequently, lower operational precision. Therefore, improving the operational precision of surgical arms during surgery is a pressing issue that the industry needs to address. Summary of the Invention

[0006] The main objective of this invention is to provide a drive box, a manipulator, and a surgical robot, which aim to improve the operational precision of the manipulator during minimally invasive surgery.

[0007] To achieve the above objectives, the present invention provides a drive box, which is connected to an end effector via a connecting rod and a drive wire passing through the connecting rod. The drive box includes a base connected to the connecting rod and a drive shaft assembly disposed on the base. The drive shaft assembly includes a self-rotating drive shaft wound with a drive wire assembly and a driven shaft connected to the self-rotating drive shaft via the drive wire assembly. The driven shaft includes a first shaft for winding the drive wire assembly and a protrusion protruding from the first shaft towards the axial center of the first shaft. The connecting rod has a notch on the side near the driven shaft, the notch being used to accommodate the protrusion when the connecting rod extends into the driven shaft, so that when the driven shaft rotates, the connecting rod is driven to rotate via the protrusion.

[0008] The drive shaft assembly also includes a connecting tube connected to the driven shaft. The driven shaft and the connecting tube are sleeved on the connecting rod and fixedly connected to the connecting rod. The driven shaft and the connecting tube are an integral structure.

[0009] The drive shaft assembly further includes a first drive shaft arranged around the driven shaft and opposite to the self-rotating drive shaft, a second drive shaft and a third drive shaft arranged opposite to the driven shaft, each of the self-rotating drive shaft, the first drive shaft, the second drive shaft or the third drive shaft including a second shaft body and a rotating portion sleeved on the second shaft body and away from the base side; the rotating portion includes a first rotating body and a second rotating body arranged opposite to each other, a first winding portion fixedly connected to the first rotating body, and a second winding portion fixedly connected to the second rotating body, the first winding portion and the second winding portion being connected.

[0010] Optionally, the drive box further includes a snap-fit ​​part, and the connecting tube has a mounting groove recessed around its end near the end device on the side of the connecting tube toward the center of the connecting tube. The mounting groove is used to receive the snap-fit ​​part so as to fix the connecting tube to the connecting rod under the fixing action of the snap-fit ​​part.

[0011] Optionally, the first shaft is used to be sleeved on the connecting rod and fixedly connected to the connecting rod. The driven shaft also includes a first end body and a second end body located on opposite sides of the first shaft and protruding in a direction away from the axis of the driven shaft. The first shaft is used to wind the first set of drive wires.

[0012] Optionally, the drive wire assembly includes a first drive wire near the first end body and a second drive wire near the second end body; the first end body is provided with a first guide groove for guiding the first drive wire, and the first shaft is recessed in the first end body side towards the axis of the drive shaft with a first receiving groove, the first receiving groove communicating with the first guide groove to fix the end of the first drive wire in the first receiving groove; the second end body is provided with a second guide groove for guiding the second drive wire, and the first shaft is recessed in the second end body side towards the axis of the drive shaft with a second receiving groove, the second receiving groove communicating with the second guide groove to fix the end of the second drive wire in the second receiving groove.

[0013] Optionally, the drive shaft assembly further includes a first set of reversing wheels, a second set of reversing wheels, and a third set of reversing wheels located above the drive shaft. The first drive shaft has a first set of drive wires wound in opposite directions, the second drive shaft has a second set of drive wires wound in opposite directions, and the third drive shaft has a third set of drive wires wound in opposite directions. The first set of drive wires passes through the connecting rod and connects to the end effector after being reversed by the first set of reversing wheels. The second set of drive wires passes through the connecting rod and connects to the end effector after being reversed by the second set of reversing wheels. The third set of drive wires passes through the connecting rod and connects to the end effector after being reversed by the third set of reversing wheels.

[0014] Optionally, the extension direction of the portion of the drive wire set between the self-rotating drive shaft and the driven shaft is parallel to the base; the extension direction of the portion of the first set of drive wires between the first drive shaft and the first set of reversing wheels is parallel to the base; the extension direction of the second set of drive wires between the second drive shaft and the second set of reversing wheels is parallel to the base; and the extension direction of the portion of the third set of drive wires between the third drive shaft and the third set of reversing wheels is parallel to the base.

[0015] Optionally, the first winding portion is provided with a first winding groove on which a first winding drive wire is wound, and the second winding portion is provided with a second winding groove on which a second winding drive wire is wound. The first winding drive wire and the second winding drive wire belong to the same group of drive wires. The same group of drive wires is one of the drive wire group, the first group of drive wires, the second group of drive wires, and the third group of drive wires.

[0016] The first rotating body is provided with a third guide groove for guiding the first winding drive wire, and the end of the third guide groove is recessed in a third receiving groove in a direction away from the first winding portion, so as to fix the end of the first winding drive wire in the third receiving groove; the second rotating body is provided with a fourth guide groove for guiding the second winding drive wire, and the end of the fourth guide groove is recessed in a fourth receiving groove in a direction away from the second winding portion, so as to fix the end of the second winding drive wire in the fourth receiving groove.

[0017] Optionally, the first rotating body is provided with a first through hole for a first bolt to pass through. The first rotating body has a first slit recessed on the side opposite to the first winding portion towards the first winding portion. The first slit divides the first through hole into a first hole and a second hole. The first bolt is used to abut against the second shaft and fix the first rotating body to the second shaft when it passes through the first hole, the first slit, and the second hole in sequence. The second rotating body is provided with a second through hole for a second bolt to pass through. The second rotating body has a second slit recessed on the side opposite to the second winding portion towards the second winding portion. The second slit divides the second through hole into a third hole and a fourth hole. The second bolt is used to abut against the second shaft and fix the second rotating body to the second shaft when it passes through the third hole, the second slit, and the fourth hole in sequence.

[0018] Optionally, the self-rotating drive shaft, the first drive shaft, the second drive shaft, or the third drive shaft further includes a turntable portion fixed to the second shaft body and close to the base side. The turntable portion has a disc body fixedly connected to the second shaft body, and the turntable portion includes a protrusion extending from the disc body in a direction away from the center of the second shaft body; or

[0019] The turntable is gear-shaped.

[0020] Optionally, the first set of reversing wheels includes a first set of drive wires wound on the first drive shaft and inserted into a first and second wheel of the connecting rod; the second set of reversing wheels includes a second set of drive wires wound on the second drive shaft and inserted into a third and fourth wheel of the connecting rod; and the third set of reversing wheels includes a third set of drive wires wound on the third drive shaft and inserted into a fifth and sixth wheel of the connecting rod.

[0021] Optionally, a connecting plate is provided at the connection between the connecting rod and the end effector. The connecting plate is provided with a first through hole, a sixth through hole, and a fifth through hole on the side near the third drive shaft, and a second through hole, a third through hole, and a fourth through hole on the side near the second drive shaft. The first through hole and the fourth through hole are arranged relative to the center of the connecting plate, the second through hole and the fifth through hole are arranged relative to the center of the connecting plate, and the third through hole and the sixth through hole are arranged relative to the center of the connecting plate.

[0022] Optionally, the first set of drive wires enters the first through hole after the first spool reversal, and enters the third through hole after the second spool reversal; the second set of drive wires enters the second through hole after the third spool reversal, and enters the fifth through hole after the fourth spool reversal; the third set of drive wires enters the fourth through hole after the fifth spool reversal, and enters the sixth through hole after the sixth spool reversal; or

[0023] The first set of drive wires enters the fifth through hole after the first reversal and the second through hole after the second reversal; the second set of drive wires enters the sixth through hole after the third reversal and the fourth through hole after the fourth reversal; the third set of drive wires enters the third through hole after the fifth reversal and the first through hole after the sixth reversal; or

[0024] The first set of drive wires enters the fifth through hole after the first reversal and the second through hole after the second reversal; the second set of drive wires enters the first through hole after the third reversal and the third through hole after the fourth reversal; the third set of drive wires enters the fourth through hole after the fifth reversal and the sixth through hole after the sixth reversal; or

[0025] The first set of drive wires enters the sixth through hole after the first wheel reversal and enters the fourth through hole after the second wheel reversal. The second set of drive wires enters the first through hole after the third wheel reversal and enters the third through hole after the fourth wheel reversal. The third set of drive wires enters the fifth through hole after the fifth wheel reversal and enters the second through hole after the sixth wheel reversal.

[0026] To achieve the above objectives, the present invention also provides an operating arm, the operating arm including the drive box, the connecting rod and the end effector as described above, the operating arm further including a drive wire passing through the connecting rod and connected to the end effector and the drive box respectively.

[0027] To achieve the above objectives, the present invention also provides a surgical robot, which includes the operating arm described above.

[0028] The drive box, manipulator, and surgical robot provided by this invention feature a self-rotating drive shaft wound with a drive wire assembly and a driven shaft connected to the self-rotating drive shaft via the drive wire assembly. The driven shaft includes a first shaft for winding the drive wire assembly and a protrusion extending from the first shaft towards its axial center. A connecting rod has a corresponding notch on its side near the driven shaft. The notch accommodates the protrusion when the connecting rod extends into the driven shaft, so that the connecting rod is driven to rotate by the protrusion when the driven shaft rotates. This improves the rotational accuracy of the connecting rod under the drive of the driven shaft, thereby improving the operational accuracy of the manipulator. Furthermore, the drive shaft assembly includes a connecting tube connected to the driven shaft. The driven shaft and the connecting tube are sleeved on the connecting rod and fixedly connected to it. The driven shaft and the connecting tube are an integral structure, simplifying the structure and making the fixed connection assembly between the connecting rod and the driven shaft simple. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of an embodiment of the operating arm of the present invention;

[0030] Figure 2 for Figure 1 A schematic diagram of the assembly structure of a central connecting rod, a drive shaft, and a connecting tube according to one embodiment;

[0031] Figure 3 for Figure 2 A cross-sectional structural schematic diagram of an embodiment along line AA;

[0032] Figure 4 for Figure 2 A cross-sectional structural schematic diagram of another embodiment along line AA;

[0033] Figure 5 for Figure 1 A schematic diagram of the assembly structure of the connecting rod, the drive shaft, and the connecting tube in another embodiment;

[0034] Figure 6 for Figure 1 An assembly diagram of an embodiment of the pitch angle drive shaft assembly, the yaw angle drive shaft assembly, the rotation drive shaft assembly, and the end opening / closing drive shaft assembly;

[0035] Figure 7 for Figure 2 A structural diagram from another angle;

[0036] Figure 8 for Figure 1A schematic diagram of a structure of an embodiment of a rotation drive shaft, pitch angle drive shaft, yaw angle drive shaft or end opening / closing drive shaft;

[0037] Figure 9 for Figure 1 A top-view structural schematic diagram of one embodiment;

[0038] Figure 10 for Figure 1 A simplified structural diagram of an embodiment, viewed from above;

[0039] Figure 11 for Figure 1 A simplified structural diagram of another embodiment from a top-down perspective;

[0040] Figure 12 for Figure 1 A simplified structural diagram of another embodiment from a top-down perspective;

[0041] Figure 13 for Figure 1 A simplified structural diagram of another embodiment, viewed from above;

[0042] Figure 14 for Figure 1 A schematic diagram of the structure of one embodiment of the middle shell.

[0043] Explanation of icon numbers:

[0044]

[0045]

[0046] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0047] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0048] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0049] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0051] This invention provides a surgical robot, comprising a main control panel and slave operating devices. The main control panel sends control commands to the slave operating devices according to the surgeon's instructions to control the slave operating devices. The slave operating devices respond to the control commands sent by the main control panel and perform corresponding surgical operations. The slave operating devices include a robotic arm, a power mechanism mounted on the robotic arm, and an operating arm. The operating arm is used to extend into the body to perform corresponding surgical operations under the drive of the power mechanism.

[0052] like Figure 1 As shown, the operating arm 1 includes a drive box 10, a connecting rod 20, and an end effector 30 connected in sequence. The operating arm 1 also includes a drive wire that passes through the connecting rod 20 and is connected to the end effector 30 and the drive box 10 respectively.

[0053] like Figure 1As shown, the drive box 10 is connected to the end effector 30 via a connecting rod 20 and a drive wire passing through the connecting rod 20. The drive box 10 includes a base 11 connected to the connecting rod 20, drive shaft assemblies 12 disposed on the base, and a housing 13 disposed on the base and housing each drive shaft assembly 12. Specifically, each drive shaft assembly 12 includes a pitch angle drive shaft assembly, a yaw angle drive shaft assembly, a rotation drive shaft assembly, and an end effector opening / closing drive shaft assembly. The relative positions of these drive shaft assemblies 12 on the base can be reasonably set according to actual needs. For example, the pitch angle drive shaft assembly can be disposed opposite to the yaw angle drive shaft assembly on the base, and the rotation drive shaft assembly and the end effector opening / closing drive shaft assembly can be disposed opposite to each other on the base. Of course, in other embodiments, the pitch angle drive shaft assembly can also be disposed adjacent to the yaw angle drive shaft assembly on the base, and similarly, the rotation drive shaft assembly and the end effector opening / closing drive shaft assembly can also be disposed adjacent to each other on the base.

[0054] Among them, such as Figure 2 As shown, the rotation drive shaft assembly includes a rotation drive shaft 14 wound with a drive wire assembly 40, a driven shaft 15 connected to the rotation drive shaft via the drive wire assembly 40, and a connecting tube 16 sleeved on and fixedly connected to the connecting rod 20. The connecting tube 16 is used to fixably connect the driven shaft 15 and the connecting rod 20.

[0055] like Figure 2 As shown, the driven shaft 15 includes a first shaft 151 for winding the drive wire assembly 40, and a protrusion 150 protruding from the first shaft 151 toward its axial center. Specifically, the protrusion 150 can protrude along the axial direction of the driven shaft 15 toward its axial center. The connecting rod 20 has a corresponding notch 200 on the side near the driven shaft 15. The notch 200 is used to accommodate the protrusion 150 when the connecting rod 20 extends into the driven shaft 15, so that the connecting rod 20 can be driven to rotate by the protrusion 150 when the driven shaft 15 rotates. It can be understood that the thickness of the protrusion 150 protruding toward the axial center of the driven shaft 15, that is, the termination position of the extension of the protrusion 150, can reach the position of the notch 200 and can be accommodated up to the position of the notch 200. Of course, in other embodiments, the protrusion 150 may continue to extend in the axial direction of the drive shaft 15 and protrude beyond the notch 200 to further prevent the drive shaft 15 from slipping off the connecting rod 20.

[0056] The drive box 10 provided by the present invention comprises a self-rotating drive shaft 14 wound with a drive wire assembly 40 and a driven shaft 15 connected to the self-rotating drive shaft 14 via the drive wire assembly 40. The driven shaft 15 has a protrusion 150 protruding towards its axis, and the connecting rod 20 has a corresponding notch 200 on the side near the driven shaft 15. The notch 200 accommodates the protrusion 150 when the connecting rod 20 extends into the driven shaft 15, so that the connecting rod 20 is driven to rotate by the protrusion 150 when the driven shaft 15 rotates. This ensures that the driven shaft 15 rotates in a timely manner, thereby improving the rotational accuracy of the connecting rod 20 under the driving action of the driven shaft 15, and consequently improving the operating accuracy of the operating arm 1.

[0057] Furthermore, referring to Figure 2 The connecting pipe 16 has a pipe body 160 for extending into the driven shaft 15. An elastic member 17 protrudes from the end of the pipe body 160 near the driven shaft 15. The elastic member is used to elastically abut against the driven shaft 15 after the connecting pipe 16 extends into the driven shaft 15.

[0058] like Figure 3 As shown, in one embodiment, the elastic element 17 is a plurality of adjacent toothed structures. Each toothed structure has a first side surface 171 and a second side surface 172 arranged opposite to each other. The first side surface 171 is the side surface near the center of the connecting tube 16, and the second side surface 172 is the side surface of the toothed structure protruding away from the center of the connecting tube 16. Specifically, the second side surface 172 is a convex arc surface. The toothed structures are arranged around the center of the connecting tube 16. The connecting tube 16 has an inner sidewall 174 near the center of the connecting tube 16 and an outer sidewall 175 away from the center of the connecting tube 16. The first side surface 171 is located between the inner sidewall 174 and the outer sidewall 175, and the second side surface 172 is located on the side of the outer sidewall 175 away from the center of the connecting tube 16. The convex arc surface structure prevents the drive shaft 15 from moving away from the end device 30, thereby limiting the displacement of the drive shaft 15 along the axial direction of the connecting rod 20 during rotation.

[0059] like Figure 4As shown, in another embodiment, the second side surface 172 or outer wall 175 of the elastic member 17 extends away from the center of the connecting tube 16 and protrudes beyond the inner wall 170 of the drive shaft 15. In this case, the elastic member 17 has a corresponding abutment surface 180 near the end device 30. The abutment surface 180 prevents the drive shaft 15 from moving away from the end device 30, thereby limiting the displacement of the drive shaft 15 along the axial direction of the connecting rod 20 during rotation. It is understood that the shape of the second side surface 172 is not limited to an arcuate shape.

[0060] Of course, in other embodiments, the protruding arc surface can also directly and elastically abut against the inner wall 170 of the drive shaft 15 to limit the displacement of the drive shaft 15 along the axial direction of the connecting rod 20 during rotation.

[0061] Reference Figure 5 In another embodiment, the connecting rod 20 and the connecting tube 16 are integrally formed. The connecting tube 16 may not have an elastic element 17, and the driven shaft 15 and the connecting tube 16 are also integrally formed. Additionally, the drive box 10 includes a snap-fit ​​part 60. A mounting groove 50 is recessed along the circumference of the connecting tube 16 at its end near the end device 30, towards the center of the connecting tube 16. The mounting groove 50 accommodates the snap-fit ​​part 60, such as a retaining spring. When the retaining spring is installed in the mounting groove 50, the connecting tube 16 can be fixed to the connecting rod 20, thereby restricting the driven shaft 15 from displacing along the axial direction of the connecting rod 20 during rotation.

[0062] Reference Figure 2 The first shaft 151 is sleeved on the connecting rod 20 and fixedly connected to the connecting rod 20. The driven shaft 15 further includes a first end body 152 and a second end body 153 located on opposite sides of the first shaft 151 and protruding in a direction away from the axis of the driven shaft 15. It is understood that the first end body 152 and the second end body 153 can be formed by protruding along the periphery of both ends of the first shaft 151. The first shaft 151 is used to wind the first set of drive wires, and the driven shaft 15 has the protrusion 150 protruding from the first shaft 151 in the direction of the axis of the driven shaft 15. Specifically, the length of the protrusion 150 can be equal to the length of the driven shaft 15. Of course, in other embodiments, the length of the protrusion 150 can be less than or greater than the length of the driven shaft 15, and the specific length of the protrusion 150 can be reasonably set according to actual needs.

[0063] like Figure 1 , Figure 6 As shown, the drive wire assembly 40 includes a first drive wire 41 near the first end body 152 and a second drive wire 42 near the second end body 153. (Refer to...) Figure 7 The first end body 152 is provided with a first guide groove 521 for guiding the first drive wire 41. The first shaft body 151 is recessed with a first receiving groove (not shown in the figure) on the side of the first end body 152 towards the axis of the drive shaft 15. The first receiving groove communicates with the first guide groove 521 to fix the end of the first drive wire 41 in the first receiving groove. Specifically, the first guide groove 521 guides the drive wire wound in the first receiving groove into the first guide groove 521. In one embodiment, the first guide groove 521 may extend into the protrusion 150 and form a termination position in the protrusion 150. The termination position may be a circular groove. It is understood that the end of the first drive wire 41 can be fixed in the circular groove. The specific fixing method is not specifically limited in this invention. For example, the end of the first drive wire 41 can be spherical or a protruding structure and accommodated in the circular groove. In addition, the tightening / untightening length of the first drive wire 41 and the loosening / tightening length of the second drive wire 42 are correspondingly equal.

[0064] Similarly, the second end body 153 is provided with a second guide groove 531 for guiding the second drive wire 42. The first shaft body 151 has a second receiving groove 532 recessed on the side of the second end body 153 towards the axis of the drive shaft 15. The second receiving groove 532 communicates with the second guide groove 531 to fix the end of the second drive wire 42 in the second receiving groove 532. Specifically, the second guide groove 531 guides the drive wire wound in the second receiving groove 532 into the second guide groove 531. In one embodiment, the second guide groove 531 may extend into the protrusion 150 and form a termination position in the protrusion 150. The termination position may be a circular groove. It is understood that the end of the second drive wire 42 can be fixed in the circular groove. The specific fixing method is not specifically limited in this invention. For example, the end of the second drive wire 42 may be spherical or a protruding structure and accommodated in the circular groove.

[0065] Reference Figure 6The drive shaft assembly 12 further includes a first drive shaft 121 surrounding the driven drive shaft 15 and opposite to the self-rotating drive shaft 14, a second drive shaft 122 and a third drive shaft 123 surrounding the driven drive shaft 15 and opposite to it, and a first set of reversing wheels 124, a second set of reversing wheels 125, and a third set of reversing wheels 126 located above the driven drive shaft 15. A first set of drive wires 127 with opposite winding directions are wound on the first drive shaft 121, a second set of drive wires 128 with opposite winding directions are wound on the second drive shaft 122, and a third set of drive wires 129 with opposite winding directions are wound on the third drive shaft 123. The first set of drive wires 127, after being reversed by the first set of reversing wheels 124, passes through the connecting rod 20 and connects to the end effector 30. The second set of drive wires 128, after being reversed by the second set of reversing wheels 125, passes through the connecting rod 20 and connects to the end effector 30. The third set of drive wires 129, after being reversed by the third set of reversing wheels 126, passes through the connecting rod 20 and connects to the end effector 30. It can be understood that the first drive shaft 121, the second drive shaft 122, and the third drive shaft 123 can be any one of a pitch angle drive shaft, a yaw angle drive shaft, and an end effector opening / closing drive shaft, respectively.

[0066] The extension direction of the drive wire group 40 between the self-rotating drive shaft 14 and the driven drive shaft 15 is parallel to the base. The extension direction of the first drive wire group 127 between the first drive shaft 121 and the first set of reversing wheels 124 is parallel to the base. The extension direction of the second drive wire group 128 between the second drive shaft 122 and the second set of reversing wheels 125 is parallel to the base. The extension direction of the third drive wire group 129 between the third drive shaft 123 and the third set of reversing wheels 126 is parallel to the base. This design prevents the drive wires from slipping out of their respective slots on the drive shafts and reduces force loss in the drive wires.

[0067] Reference Figure 6 , Figure 8 , Figure 13 and Figure 14The rotation drive shaft 14, pitch angle drive shaft, yaw angle drive shaft, and end opening / closing drive shaft each include a second shaft body 141, a rotating portion 142 sleeved on the second shaft body 141 and located away from the base, and a turntable portion 143 fixed on the second shaft body 141 and located near the base. The rotating portion 142 includes a first rotating body 144 and a second rotating body 145 disposed opposite to each other, a first winding portion 421 fixedly connected to the first rotating body 144, and a second winding portion 422 fixedly connected to the second rotating body 145. The first winding portion 421 is connected to the second winding portion 422. (Refer to...) Figure 8 The turntable portion 143 has a disc body 430 fixedly connected to the second shaft 141. The turntable portion 143 includes a protrusion 146 extending from the disc body 430 away from the center of the second shaft 141. This protrusion allows the second shaft 141 to be manually rotated back to its initial position by manually rotating the turntable portion 143 in the event of a sudden power failure in the surgical robot, thereby preventing surgical accidents. Further, the turntable portion 143 is gear-shaped. Of course, in other embodiments, the turntable portion 143 can also have other shapes and is not limited to the gear shape.

[0068] like Figure 6 and Figure 8 As shown, the first winding portion 421 has a first winding groove 147 on which a first winding drive wire 110 is wound, and the second winding portion 422 has a second winding groove 148 on which a second winding drive wire 120 is wound. The first winding drive wire 110 and the second winding drive wire 120 belong to the same group of drive wires, which is one of the drive wire group 40, the first group of drive wires 127, the second group of drive wires 128, and the third group of drive wires 129. The first rotating body 144 has a third guide groove 441 for guiding the first winding drive wire 110. The end of the third guide groove 441 is recessed in a third receiving groove 442 in a direction away from the first winding portion 421 to fix the end of the first winding drive wire 110 in the third receiving groove 442. The second rotating body 145 is provided with a fourth guide groove (not shown in the figure) for guiding the second winding drive wire 120. The end of the fourth guide groove is recessed in a fourth receiving groove (not shown in the figure) in a direction away from the second winding portion 422, so as to fix the end of the second winding drive wire 120 in the fourth receiving groove. The fixing method of each set of drive wires can be the same as above, and will not be described again here.

[0069] Furthermore, the first rotating body 144 is provided with a first through hole (not shown in the figure) for the first bolt (not shown in the figure) to pass through. The first rotating body 144 has a first slit (not shown in the figure) recessed in the direction of the first winding portion 421 on the side opposite to the first winding portion 421. The first slit divides the first through hole into a first hole (not shown in the figure) and a second hole (not shown in the figure). The first bolt is used to abut against the second shaft 141 and fix the first rotating body 144 to the second shaft 141 when it passes through the first hole, the first slit and the second hole in sequence. The second rotating body 145 is provided with a second through hole (not shown in the figure) for the second bolt (not shown in the figure) to pass through. The second rotating body 145 has a second cut 454 recessed in the direction of the second winding portion 422 on the side opposite to the second winding portion 422. The second cut 454 divides the second through hole into a third hole (not shown in the figure) and a fourth hole (not shown in the figure). The second bolt is used to abut against the second shaft 141 and fix the second rotating body 145 to the second shaft 141 when it passes through the third hole, the second cut 454 and the fourth hole in sequence.

[0070] Reference Figure 6 The first set of reversing wheels 124 includes a first set of drive wires 127 wound on the first drive shaft 121 to enter the first wheel 181 and the second wheel 182 of the connecting rod 20. The second set of reversing wheels 125 includes a second set of drive wires 128 wound on the second drive shaft 122 to enter the third wheel 183 and the fourth wheel 184 of the connecting rod 20. The third set of reversing wheels 126 includes a third set of drive wires 129 wound on the third drive shaft 123 to enter the fifth wheel 185 and the sixth wheel 186 of the connecting rod 20. In this embodiment, the first wheel 181, the second wheel 182, the third wheel 183, the fourth wheel 184, the fifth wheel 185, and the sixth wheel 186 are all located above the connecting rod 20. The positions of each wheel can be reasonably set according to actual needs, which will be described in detail below.

[0071] like Figures 9 to 13As shown, a connecting plate 19 is provided at the connection between the connecting rod 20 and the end effector 30. The connecting plate 19 has a first through hole 191, a sixth through hole 196, and a fifth through hole 195 near the third drive shaft 123, and a second through hole 192, a third through hole 193, and a fourth through hole 194 near the second drive shaft 122. The first through hole 191 and the fourth through hole 194 are positioned relative to the center of the connecting plate 19, the second through hole 192 and the fifth through hole 195 are positioned relative to the center of the connecting plate 19, and the third through hole 193 and the sixth through hole 196 are positioned relative to the center of the connecting plate 19. It should be understood that the positions of the first through hole 191, the second through hole 192, the third through hole 193, the fourth through hole 194, the fifth through hole 195, and the sixth through hole 196 on the connecting plate 19 can be reasonably set according to actual needs. The above-mentioned relative positions of the various through holes in this embodiment allow each drive wire to extend vertically into the connecting rod 20, avoiding twisting of the drive wire and thus reducing force loss of the drive wire.

[0072] Reference Figure 10 In one embodiment, the first set of drive wires 127 enters the first through hole 191 after being reversed by the first wheel 181, and enters the third through hole 193 after being reversed by the second wheel 182. The second set of drive wires 128 enters the second through hole 192 after being reversed by the third wheel 183, and enters the fifth through hole 195 after being reversed by the fourth wheel 184. The third set of drive wires 129 enters the fourth through hole 194 after being reversed by the fifth wheel 185, and enters the sixth through hole 196 after being reversed by the sixth wheel 186.

[0073] Reference Figure 11 In another embodiment, the first set of drive wires 127 enters the fifth through hole 195 after being reversed by the first wheel 181 and enters the second through hole 192 after being reversed by the second wheel 182. The second set of drive wires 128 enters the sixth through hole 196 after being reversed by the third wheel 183 and enters the fourth through hole 194 after being reversed by the fourth wheel 184. The third set of drive wires 129 enters the third through hole 193 after being reversed by the fifth wheel 185 and enters the first through hole 191 after being reversed by the sixth wheel 186.

[0074] Reference Figure 12In another embodiment, the first set of drive wires 127 enters the fifth through hole 195 after being reversed by the first wheel 181 and the second through hole 192 after being reversed by the second wheel 182. The second set of drive wires 128 enters the first through hole 191 after being reversed by the third wheel 183 and the third through hole 193 after being reversed by the fourth wheel 184. The third set of drive wires 129 enters the fourth through hole 194 after being reversed by the fifth wheel 185 and the sixth through hole 196 after being reversed by the sixth wheel 186.

[0075] Reference Figure 13 In another embodiment, the first set of drive wires 127 enters the sixth through hole 196 after being reversed by the first wheel 181 and enters the fourth through hole 194 after being reversed by the second wheel 182. The second set of drive wires 128 enters the first through hole 191 after being reversed by the third wheel 183 and enters the third through hole 193 after being reversed by the fourth wheel 184. The third set of drive wires 129 enters the fifth through hole 195 after being reversed by the fifth wheel 185 and enters the second through hole 192 after being reversed by the sixth wheel 186.

[0076] Reference Figure 14The base has a first mounting hole (not shown) and a second mounting hole (not shown) arranged diagonally opposite each other, a third mounting hole (not shown) and a fourth mounting hole (not shown) arranged diagonally opposite each other, and a fifth mounting hole (not shown) located at the center of the base and surrounded by the first mounting hole, the second mounting hole, the third mounting hole and the fourth mounting hole. The housing 13 includes a column 130 extending from the base away from the end device 30, and a cover connected to the column 130 and extending in a direction parallel to the base. The cover includes a first cover 131 corresponding to the position of the first mounting hole, a second cover 132 corresponding to the position of the second mounting hole, a third cover 133 corresponding to the position of the third mounting hole, a fourth cover 134 corresponding to the position of the fourth mounting hole, and a fifth cover 135 corresponding to the position of the fifth mounting hole. The first cover 131, the second cover 132, the third cover 133, the fourth cover 134, and the fifth cover 135, together with the column 130 and the base, form a first accommodating space 136, a second accommodating space 137, a third accommodating space 138, a fourth accommodating space 139, and a fifth accommodating space 140 with openings. The first accommodating space 136 is used to accommodate the self-rotating drive shaft 14, the second accommodating space 137 is used to accommodate the first drive shaft 121, the third accommodating space 138 is used to accommodate the second drive shaft 122, the fourth accommodating space 139 is used to accommodate the third drive shaft 123, and the fifth accommodating space 140 is used to accommodate the first set of reversing wheels 124, the second set of reversing wheels 125, and the third set of reversing wheels 126. Assuming that the first drive shaft 121, the second drive shaft 122, and the third drive shaft 123 are respectively the pitch angle drive shaft, the yaw angle drive shaft, and the end opening / closing drive shaft, then the rotation drive shaft 14, the pitch angle drive shaft, the yaw angle drive shaft, and the end opening / closing drive shaft enter the corresponding receiving spaces from the mounting holes on the base.

[0077] Furthermore, the fifth cover 135 includes a first mounting portion 501 for mounting the first set of reversing wheels 124 located between the base and the second cover 132, a second mounting portion 502 for mounting the second set of reversing wheels 125 located between the base and the third cover 133, and a third mounting portion 503 for mounting the third set of reversing wheels 126 located between the base and the fourth cover 134. The first mounting portion 501 includes a first connector (not shown) extending from the second cover 132 toward the base and a first mounting member (not shown) extending from the first connector toward the center of the housing 13. The first mounting member has a first set of through holes (not shown) for a first pin to pass through and fix the first set of reversing wheels 124. The second mounting portion 502 includes a second connector 507 extending from the third cover 133 toward the base and a second mounting member 508 extending from the second connector 507 toward the center of the housing 13. The second mounting member 508 has a second set of through holes 509 for a second pin to pass through and fix the second set of reversing wheels 125. The third mounting portion 503 includes a third connector (not shown) extending from the fourth cover 134 toward the base and a third mounting member (not shown) extending from the third connector toward the center of the housing 13. The third mounting member has a third set of through holes (not shown) for a third pin to pass through and fix the third set of reversing wheels 126. Understandably, each mounting section is also equipped with a hole-like structure or a strip-like groove structure for the drive wire to pass through.

[0078] In this embodiment, each cover and each mounting part is an integral structure, which simplifies the number of structures to a certain extent, making the structure small and compact. Of course, in other embodiments, the first mounting part 501, the second mounting part 502, and the third mounting part 503 can be set independently of the first cover 131, the second cover 132, and the third cover 133, respectively.

[0079] The above description is merely an optional embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A drive box, wherein the drive box is connected to an end effector via a connecting rod and a drive wire passing through the connecting rod, characterized in that, The drive box includes a base connected to the connecting rod and a drive shaft assembly disposed on the base. The drive shaft assembly includes a self-rotating drive shaft wound with a drive wire assembly and a driven shaft connected to the self-rotating drive shaft through the drive wire assembly. The driven shaft includes a first shaft for winding the drive wire assembly and a protrusion protruding from the first shaft towards the axial center of the first shaft. The connecting rod has a corresponding notch on the side near the driven shaft. The notch is used to accommodate the protrusion when the connecting rod extends into the driven shaft, so that when the driven shaft rotates, the connecting rod is driven to rotate through the protrusion. The drive shaft assembly further includes a first drive shaft arranged around the driven drive shaft and opposite to the self-rotating drive shaft, a second drive shaft and a third drive shaft arranged opposite to the driven drive shaft, each of the self-rotating drive shaft, the first drive shaft, the second drive shaft or the third drive shaft including a second shaft body and a rotating portion sleeved on the second shaft body and located away from the base; the rotating portion includes a first rotating body and a second rotating body arranged opposite to each other, a first winding portion fixedly connected to the first rotating body, and a second winding portion fixedly connected to the second rotating body, the first winding portion being connected to the second winding portion; The drive shaft assembly further includes a connecting tube sleeved on and fixedly connected to the connecting rod. The connecting tube has a tube body for extending into the driven shaft. An elastic element protrudes from the end of the connecting tube near the driven shaft. The elastic element is used to elastically abut against the driven shaft after the connecting tube extends into the driven shaft. The elastic element is a plurality of adjacent toothed structures. The toothed structures are arranged around the center of the connecting tube. The toothed structures have a first side and a second side. The first side is the side near the center of the connecting tube, and the second side is an arcuate surface of the toothed structure protruding away from the center of the connecting tube to limit the movement of the driven shaft away from the end device. The connecting tube has an inner sidewall near the center of the connecting tube and an outer sidewall away from the center of the connecting tube. The first sidewall is located between the inner sidewall and the outer sidewall, and the second sidewall is located on the side of the outer sidewall away from the center of the connecting tube.

2. The driver box as described in claim 1, characterized in that, The drive box also includes a snap-fit ​​part. At the end of the connecting tube near the end device, a mounting groove is recessed along the circumference of the connecting tube towards the center of the connecting tube. The mounting groove is used to receive the snap-fit ​​part so that the connecting tube is fixed to the connecting rod under the fixing action of the snap-fit ​​part.

3. The driver box as described in claim 1, characterized in that, The first drive shaft is wound with a first set of drive wires in opposite directions; the first shaft body is used to be sleeved on the connecting rod and fixedly connected to the connecting rod; the driven shaft also includes a first end body and a second end body located on opposite sides of the first shaft body and protruding in a direction away from the axis of the driven shaft; the first shaft body is used to wind the first set of drive wires.

4. The driver box as described in claim 3, characterized in that, The drive wire assembly includes a first drive wire near the first end body and a second drive wire near the second end body. The first end body is provided with a first guide groove for guiding the first drive wire, and the first shaft is recessed in the first end body towards the axis of the drive shaft, with the first receiving groove communicating with the first guide groove to fix the end of the first drive wire in the first receiving groove. The second end body is provided with a second guide groove for guiding the second drive wire, and the first shaft is recessed in the second end body towards the axis of the drive shaft, with the second receiving groove communicating with the second guide groove to fix the end of the second drive wire in the second receiving groove.

5. The driver box as described in claim 1, characterized in that, The drive shaft assembly further includes a first set of reversing wheels, a second set of reversing wheels, and a third set of reversing wheels located above the drive shaft. A first set of drive wires with opposite winding directions is wound on the first drive shaft, a second set of drive wires with opposite winding directions is wound on the second drive shaft, and a third set of drive wires with opposite winding directions is wound on the third drive shaft. The first set of drive wires passes through the connecting rod and connects to the end effector after being reversed by the first set of reversing wheels. The second set of drive wires passes through the connecting rod and connects to the end effector after being reversed by the second set of reversing wheels. The third set of drive wires passes through the connecting rod and connects to the end effector after being reversed by the third set of reversing wheels.

6. The driver box as described in claim 5, characterized in that, The extension direction of the drive wire group between the self-rotating drive shaft and the driven shaft is parallel to the base; the extension direction of the first set of drive wires between the first drive shaft and the first set of reversing wheels is parallel to the base; the extension direction of the second set of drive wires between the second drive shaft and the second set of reversing wheels is parallel to the base; and the extension direction of the third set of drive wires between the third drive shaft and the third set of reversing wheels is parallel to the base.

7. The driver box as described in claim 1, characterized in that, The first winding section is provided with a first winding groove on which a first winding drive wire is wound, and the second winding section is provided with a second winding groove on which a second winding drive wire is wound. The first winding drive wire and the second winding drive wire belong to the same group of drive wires. The same group of drive wires is one of the drive wire group, the first group of drive wires, the second group of drive wires, and the third group of drive wires. The first rotating body is provided with a third guide groove for guiding the first winding drive wire, and the end of the third guide groove is recessed in a third receiving groove in a direction away from the first winding portion, so as to fix the end of the first winding drive wire in the third receiving groove; the second rotating body is provided with a fourth guide groove for guiding the second winding drive wire, and the end of the fourth guide groove is recessed in a fourth receiving groove in a direction away from the second winding portion, so as to fix the end of the second winding drive wire in the fourth receiving groove.

8. The driver box as described in claim 1, characterized in that, The first rotating body has a first through hole for a first bolt to pass through. The first rotating body has a first slit recessed on the side opposite to the first winding portion towards the first winding portion. The first slit divides the first through hole into a first hole and a second hole. The first bolt is used to abut against the second shaft and fix the first rotating body to the second shaft when it passes through the first hole, the first slit, and the second hole in sequence. The second rotating body has a second through hole for a second bolt to pass through. The second rotating body has a second slit recessed on the side opposite to the second winding portion towards the second winding portion. The second slit divides the second through hole into a third hole and a fourth hole. The second bolt is used to abut against the second shaft and fix the second rotating body to the second shaft when it passes through the third hole, the second slit, and the fourth hole in sequence.

9. The driver box as described in claim 1, characterized in that, The self-rotating drive shaft, the first drive shaft, the second drive shaft, or the third drive shaft further includes a turntable portion fixed to the second shaft body and close to the base side. The turntable portion has a disc body fixedly connected to the second shaft body. The turntable portion includes a protrusion protruding from the disc body in a direction away from the center of the second shaft body, or the turntable portion is gear-shaped.

10. The driver box as described in claim 5, characterized in that, The first set of reversing wheels includes a first set of drive wires wound on the first drive shaft and used to guide the first set of drive wires wound on the second drive shaft into the first and second wheels of the connecting rod. The second set of reversing wheels includes a third set of drive wires wound on the second drive shaft and used to guide the second set of drive wires wound on the second drive shaft into the third and fourth wheels of the connecting rod. The third set of reversing wheels includes a fifth and sixth set of drive wires wound on the third drive shaft and used to guide the third set of drive wires wound on the third drive shaft into the fifth and sixth wheels of the connecting rod.

11. The driver box as described in claim 10, characterized in that, A connecting plate is provided at the connection between the connecting rod and the end effector. The connecting plate is provided with a first through hole, a sixth through hole, and a fifth through hole on the side near the third drive shaft, and a second through hole, a third through hole, and a fourth through hole on the side near the second drive shaft. The first through hole and the fourth through hole are arranged opposite to the center of the connecting plate, the second through hole and the fifth through hole are arranged opposite to the center of the connecting plate, and the third through hole and the sixth through hole are arranged opposite to the center of the connecting plate.

12. The driver box as described in claim 11, characterized in that, The first set of drive wires enters the first through hole after the first wheel reversal, and enters the third through hole after the second wheel reversal; the second set of drive wires enters the second through hole after the third wheel reversal, and enters the fifth through hole after the fourth wheel reversal; the third set of drive wires enters the fourth through hole after the fifth wheel reversal, and enters the sixth through hole after the sixth wheel reversal; or The first set of drive wires enters the fifth through hole after the first reversal and the second through hole after the second reversal; the second set of drive wires enters the sixth through hole after the third reversal and the fourth through hole after the fourth reversal; the third set of drive wires enters the third through hole after the fifth reversal and the first through hole after the sixth reversal; or The first set of drive wires enters the fifth through hole after the first reversal and the second through hole after the second reversal; the second set of drive wires enters the first through hole after the third reversal and the third through hole after the fourth reversal; the third set of drive wires enters the fourth through hole after the fifth reversal and the sixth through hole after the sixth reversal; or The first set of drive wires enters the sixth through hole after the first wheel reversal and enters the fourth through hole after the second wheel reversal. The second set of drive wires enters the first through hole after the third wheel reversal and enters the third through hole after the fourth wheel reversal. The third set of drive wires enters the fifth through hole after the fifth wheel reversal and enters the second through hole after the sixth wheel reversal.

13. A manipulator arm, characterized in that, The operating arm includes a drive box, a connecting rod, and an end effector as described in any one of claims 1 to 12. The operating arm also includes a drive wire that passes through the connecting rod and is connected to the end effector and the drive box, respectively.

14. A surgical robot, characterized in that, The surgical robot includes the operating arm as described in claim 13.

Images