Surgical instrument transmission mechanism, assembly method, and surgical instrument drive device

Abstract

The present application provides a surgical instrument transmission mechanism, an assembly method and a surgical instrument driving device, which can reduce the friction torque between transmission members during assembly, thereby preventing the transmission members from rotating during docking. The surgical instrument transmission mechanism comprises a first transmission member having a substantially circular first assembly surface, wherein a protrusion located at the center, a positioning block close to the protrusion, and a boss away from the protrusion and arranged in the circumferential direction are arranged on the first assembly surface, wherein the height of the protrusion relative to the first assembly surface is greater than the height of the positioning block relative to the first assembly surface, and the height of the positioning block relative to the first assembly surface is greater than the height of the boss relative to the first assembly surface; and a second transmission member having a second assembly surface opposite to the first assembly surface, wherein a positioning groove corresponding to the protrusion and the positioning block, and a groove corresponding to the boss are arranged on the second assembly surface.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a surgical instrument transmission mechanism, an assembly method for the surgical instrument transmission mechanism, and a surgical instrument drive device. Background Technology

[0002] In recent years, with the development of science and technology and the increasing demands of medicine, minimally invasive surgical robots, used to assist in minimally invasive surgery, have emerged and developed rapidly. These robots are modern medical devices integrating three major systems: imaging, control, and mechanical systems. Robotic minimally invasive surgery has many unique advantages, such as lower tissue trauma, higher surgical quality, shorter recovery time, more comfortable surgical procedures, and greater adaptability to complex surgeries. Therefore, it has extensive clinical applications.

[0003] Surgical instruments used in surgical robots to perform surgical operations are usually connected to motors via transmission components, and the motors drive the surgical instruments through the transmission components.

[0004] In addition, surgical instruments typically require aseptic operation. Therefore, a sterile adapter is needed to connect the motor drive components for attaching to the robotic arm of the surgical robot and the instrument drive components for attaching the surgical instruments, in order to achieve aseptic isolation and at the same time allow the instrument drive components, sterile adapter, and motor drive components to rotate or move together with the robotic arm. Summary of the Invention

[0005] The technical problem that the invention aims to solve

[0006] In the prior art, the connection between the sterile adapter and the motor drive component is achieved by aligning the rotation axis of the motor drive component with the rotation axis of the sterile adapter and locking the groove of the sterile adapter to accommodate the protrusion of the motor drive component.

[0007] However, in the above method, due to the large torque of the frictional force generated by the contact between the motor drive component and the sterile adapter, the motor drive component may drive the sterile adapter to rotate before the protrusion and the groove are fully engaged.

[0008] Furthermore, in existing technologies, the cross-sectional shape of the protrusion is usually set to a square or similar shape. Due to the small contact area, this leads to increased contact stress, which can cause damage to the transmission components.

[0009] Furthermore, in the prior art, when the motor drive component has multiple protrusions, if each protrusion is symmetrically arranged relative to the rotating shaft and each protrusion has the same shape, there is a technical problem that it is difficult to ensure that the docking angle between the motor drive component and the sterile adapter is fixed.

[0010] The purpose of this invention is to provide a surgical instrument transmission mechanism, assembly method, and surgical instrument driving device, which can reduce the frictional torque between transmission components during assembly, thereby preventing the transmission components from rotating before docking is completed and ensuring the docking accuracy between transmission components.

[0011] Technical solutions to solve technical problems

[0012] The surgical instrument transmission mechanism according to the first aspect of the present invention includes:

[0013] A first transmission component has a generally circular first mounting surface. The first mounting surface has a centrally located protrusion, a aligning block near the protrusion, and a boss arranged circumferentially away from the protrusion. The height of the protrusion relative to the first mounting surface is greater than the height of the aligning block relative to the first mounting surface, and the height of the aligning block relative to the first mounting surface is greater than the height of the boss relative to the first mounting surface.

[0014] The second transmission component has a second assembly surface opposite to the first assembly surface. The second assembly surface is provided with an alignment groove corresponding to the protrusion and the alignment block, and a groove corresponding to the boss.

[0015] In addition, preferably, the first mounting surface is provided with at least two bosses that are asymmetrically arranged relative to the center.

[0016] Furthermore, it is even more preferable that at least two or more of the bosses have different shapes.

[0017] In addition, preferably, the first mounting surface is provided with at least two bosses that are symmetrically arranged with respect to the center, and the at least two bosses have different shapes.

[0018] In addition, it is preferable that the boss and the corresponding groove are interference-fitted.

[0019] In addition, it is preferable that the cross-section of the boss parallel to the first mounting surface is fan-shaped.

[0020] In addition, the second transmission component preferably includes a sterile membrane.

[0021] In addition, the first transmission component preferably further includes: a fixed part having an axial limiting member disposed on a side wall, the fixed part being connected to a motor; a movable part having an axial limiting groove disposed on a side wall and being provided with the first mounting surface, capable of moving relative to the fixed part in a direction perpendicular to the first mounting surface; and an elastic member sandwiched between the movable part and the fixed part for providing a force to separate the movable part from the fixed part, wherein the axial limiting member is inserted into the axial limiting groove to restrict the relative movement between the movable part and the fixed part in a direction perpendicular to the first mounting surface and in the circumferential direction.

[0022] In addition, preferably, the length of the axial limiting groove in the direction perpendicular to the first assembly surface is greater than or equal to the height of the alignment block relative to the first assembly surface.

[0023] In addition, the elastic member is preferably a spring.

[0024] Furthermore, the surgical instrument driving device according to the second aspect of the present invention includes:

[0025] Motor; a first transmission member as described in the embodiments of the present invention, wherein the side of the first transmission member opposite to the first mounting surface is connected to the motor;

[0026] As described in the embodiments of the present invention, the second transmission member has a second mounting surface that is in contact with the first mounting surface, and the side of the second transmission member opposite to the second mounting surface has a third mounting surface.

[0027] A third transmission component, the third transmission component having a fourth mounting surface that contacts the third mounting surface; and

[0028] A surgical instrument is connected to the side of the third transmission member opposite to the fourth mounting surface S4. The motor drives the surgical instrument via the first transmission member, the second transmission member, and the third transmission member.

[0029] Furthermore, the assembly method of the surgical instrument transmission mechanism according to the third aspect of the present invention is a method for assembling the surgical instrument transmission mechanism according to the first aspect of the present invention, comprising: bringing the second transmission member closer to the first transmission member, and pressing the first transmission member and the second transmission member against each other, thereby causing the protrusion to engage with the alignment groove; continuing to press the first transmission member and the second transmission member against each other, causing the alignment block to contact the second assembly surface; rotating the first transmission member about a pivot axis passing through the center and perpendicular to the first assembly surface; as the first transmission member rotates, causing the alignment block to engage with the alignment groove, and causing the boss to engage with the groove; and further pressing the first transmission member against the second transmission member, causing the boss to engage with the groove.

[0030] Furthermore, the assembly method of the surgical instrument transmission mechanism according to the fourth aspect of the present invention is a method for assembling the surgical instrument transmission mechanism according to the first aspect of the present invention, comprising: bringing a second transmission member closer to a first transmission member, and pressing the first transmission member and the second transmission member against each other, thereby causing the protrusion to engage with the alignment groove; continuing to press the first transmission member and the second transmission member against each other, thereby causing the alignment block to contact the second assembly surface; rotating the first transmission member about a pivot axis passing through the center and perpendicular to the first assembly surface; the rotation causes the elastic member to be compressed, thereby causing the movable part to move toward the fixed part by a compression amount corresponding to the height of the alignment block relative to the first assembly surface; as the first transmission member rotates, the alignment block engages with the alignment groove, and the boss engages with the groove; using the force provided by the elastic member, the movable part is further pressed toward the second transmission member, thereby causing the boss to engage with the groove.

[0031] Invention Effects

[0032] The surgical instrument transmission mechanism, assembly method, and surgical instrument drive device according to the present invention can reduce the frictional torque between transmission components during assembly, thereby preventing the transmission components from rotating before docking is completed and ensuring the docking accuracy between transmission components. Attached Figure Description

[0033] This disclosure can be better understood by describing exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, in which:

[0034] Figure 1 This is a schematic diagram showing the assembly structure of the surgical instrument transmission mechanism according to Embodiment 1 of the present invention.

[0035] Figure 2This is a schematic diagram showing the assembly surface of the surgical instrument transmission mechanism according to Embodiment 1 of the present invention.

[0036] Figure 3 This is a side view of the first transmission member according to Embodiment 1 of the present invention.

[0037] Figure 4 This is a flowchart illustrating the assembly method of the surgical instrument transmission mechanism according to Embodiment 1 of the present invention.

[0038] Figure 5 This is a schematic diagram showing the assembly structure of the surgical instrument transmission mechanism according to Embodiment 2 of the present invention.

[0039] Figure 6 This is a side view of the first transmission member involved in Embodiment 2 of the present invention.

[0040] Figure 7 This is a flowchart illustrating the assembly method of the surgical instrument transmission mechanism according to Embodiment 2 of the present invention.

[0041] Figure 8 This is a schematic diagram showing the assembly structure of the surgical instrument driving device according to Embodiment 3 of the present invention.

[0042] Figure 9 This is a schematic diagram showing the assembly surface of the surgical instrument driving device according to Embodiment 3 of the present invention.

[0043] Labeling Explanation: 10, 20 Surgical Instrument Transmission Mechanism, 30 Surgical Instrument Transmission Device, 110, 120 First Transmission Component, 100 Fixed Part, 200 Axial Limiting Component, 300 Elastic Component, 400 Movable Part, 401 First Boss, 402 Second Boss, 410 First Protrusion, 420 First Alignment Block, 430 Axial Limiting Slide, 500 Second Transmission Component, 501 Third Boss, 502 Fourth Boss, 503 First Groove, 504 Second Groove, 510 Second Protrusion, 520 Second Alignment Block, 530 First Alignment Groove, 600 Third Transmission Component, 603 Third Groove, 604 Fourth Groove, 630 Second Alignment Groove, S1 First Assembly Surface, S2 Second Assembly Surface, S3 Third Assembly Surface, S4 Fourth Assembly Surface. Detailed Implementation

[0044] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0045] In the description of this disclosure, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," etc., indicating orientation or positional relationship are only for the convenience of describing this disclosure 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 disclosure. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Vertical" is not vertical in the strict sense, but within the allowable tolerance range. "Parallel" is not parallel in the strict sense, but within the allowable tolerance range.

[0046] The directional terms used in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of this disclosure. It should also be noted that, unless otherwise explicitly specified and limited, the terms "assembly," "connected," "linked," "relative," "interlocking," and "connected" 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 direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances.

[0047] In this document, the term "implementation" means that a particular feature, structure, or characteristic described in connection with an implementation may be included in at least one implementation of this disclosure. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same implementation, nor is it a separate or alternative implementation mutually exclusive with other implementations. It will be explicitly and implicitly understood by those skilled in the art that the implementations described herein can be combined with other implementations.

[0048] Furthermore, in this invention, "fitting" refers to the state where the aligning block or boss is slightly engaged in the aligning groove or recess, and "docking" refers to the state where the aligning block or boss is pushed into the aligning groove or recess. An interference fit means that the shape and size of the boss are greater than or equal to the shape and size of the recess, allowing the boss to dock tightly with the recess.

[0049] <Implementation Method 1>

[0050] The following is a schematic diagram of the structure of the surgical instrument transmission mechanism according to Embodiment 1 of the present invention, with reference to the attached diagram. Figure 1 To be continued Figure 3 Please provide an explanation. Figure 1 This is a schematic diagram showing the assembly structure of the surgical instrument transmission mechanism according to Embodiment 1 of the present invention. Figure 2 This is a schematic diagram showing the assembly surface of the surgical instrument transmission mechanism according to Embodiment 1 of the present invention. Figure 3 This is a side view of the first transmission member of the surgical instrument transmission mechanism according to Embodiment 1 of the present invention.

[0051] like Figure 1 As shown, the surgical instrument transmission mechanism 10 according to Embodiment 1 of the present invention includes a first transmission component 110 and a second transmission component 500.

[0052] like Figure 1 and Figure 2 As shown, the first transmission component 110 has a generally circular first mounting surface S1. "Generally circular" means that the first mounting surface S1 has an imaginary center (hereinafter referred to as "center"), and all points on the first mounting surface S1 lie on the circumference of a circle centered at this center. Therefore, the first mounting surface S1 can also be as follows: Figure 1 The shape shown is semi-circular.

[0053] The first mounting surface S1 is provided with a first protrusion 410 located at the center of the first mounting surface S1, a first alignment block 420 near the first protrusion 410, and a first boss 401 and a second boss 402 disposed circumferentially away from the first protrusion 410. Furthermore, as... Figure 3 As shown, the height of the first protrusion 410 relative to the first mounting surface S1 is greater than the height of the first alignment block 420 relative to the first mounting surface S1. The height of the first alignment block 420 relative to the first mounting surface S1 is also greater than the heights of the first boss 401 and the second boss 402 relative to the first mounting surface S1. That is, while the height of the first protrusion 410 relative to the first mounting surface S1 is greater than the height of the first alignment block 420 relative to the first mounting surface S1, the height of the first alignment block 420 relative to the first mounting surface S1 must also be greater than the heights of the first boss 401 and the second boss 402 relative to the first mounting surface S1.

[0054] In the prior art, assembly is usually achieved by aligning the rotation axes of the two transmission components and accommodating the protrusion of the other transmission component in the groove of one transmission component. That is, assembly is achieved solely through the relationship between the rotation axis, the protrusion, and the groove, rather than through the height relationship of the protrusion, the alignment block, and the boss relative to the assembly surface, as in the present invention, where the height of the protrusion is greater than the height of the alignment block and the height of the alignment block is greater than the height of the boss.

[0055] When the first transmission component 110 is assembled to the second transmission component 500, since the first protrusion 410 is located at the center of the first assembly surface S1 and its height relative to the first assembly surface S1 is greater than the heights of the first alignment block 420, the first boss 401, and the second boss 402 relative to the first assembly surface S1, the first transmission component 110 and the second transmission component 500 can be aligned center-to-center through the cooperation of the first protrusion 410 with the second transmission component 500 (described in detail later). Furthermore, the first alignment block 420 can be used to initially position the first transmission component 110 and the second transmission component 500 circumferentially through the cooperation of the second transmission component 500.

[0056] Furthermore, since the height of the first alignment block 420 relative to the first mounting surface S1 is greater than the heights of the first boss 401 and the second boss 402 relative to the first mounting surface S1, the first alignment block 420 contacts the second mounting surface S2 of the second transmission member 500 before the first boss 401 and the second boss 402. Also, since the first alignment block 420 is positioned close to the center of the first mounting surface S1, the torque generated by the frictional force between the first alignment block 420 and the second mounting surface S2 is relatively small, thus preventing the second transmission member 500 from rotating before successfully engaging with the first boss 401 and the second boss 402 of the first transmission member 110.

[0057] More specifically, the shape of the first protrusion 410 may be, for example, cylindrical. The cross-sectional shape of the first alignment block 420 parallel to the first assembly surface S1 may be approximately rectangular, and may be integral with the first protrusion 410 or may be a separate structure.

[0058] The first boss 401 and the second boss 402 are asymmetrically configured with respect to the center of the first mounting surface S1, and compared with the first alignment block 420, they are farther away from the first protrusion 410 and closer to the edge of the first mounting surface S1 in the radial direction. For example, the first boss 401 can be located at a certain distance from the edge of the first mounting surface S1, while the second boss 402 can be located at the outermost edge of the first mounting surface S1. Since the first boss 401 and the second boss 402 are asymmetrically configured, the uniqueness of the mating direction of the first transmission member 110 and the second transmission member 500 can be achieved throughout the entire circumference, ensuring the docking accuracy between the transmission members.

[0059] Furthermore, in this embodiment 1, the first boss 401 and the second boss 402 are assumed to be bosses with the same shape and a fan-shaped cross-section parallel to the first assembly surface S1. Additionally, the boss can also be a conical boss with a fan-shaped cross-section, meaning the fan-shaped cross-section of the lower surface of the boss located on the first assembly surface S1 is smaller than the fan-shaped cross-section of the upper surface of the boss located in a direction perpendicular to the first assembly surface S1 and away from it. Compared to the prior art where the cross-sectional shape of the protrusion or boss is set to a square or similar shape with a small contact area, the fan-shaped cross-section of the first boss 401 and the second boss 402 increases the contact area of ​​the transmission components, reduces contact stress, and thus prevents damage to the transmission components. Furthermore, while the fan-shaped cross-sectional shape of the boss is described above, it is not limited to this; other shapes such as trapezoids can also be used, as long as they increase the contact area between the transmission components and reduce contact stress.

[0060] Furthermore, in the above description, it is described that the first boss 401 and the second boss 402 are asymmetrically arranged with respect to the center of the first assembly surface S1 and have the same shape. However, the shapes of the first boss 401 and the second boss 402 can also be different. For example, in the cross-section of the first boss 401 and the second boss 402, the fan angle of one boss is larger and the fan angle of the other boss is smaller. This can further ensure the uniqueness of the mating direction of the first transmission member 110 and the second transmission member 500 in the entire circumferential direction, and ensure the docking accuracy between the transmission members.

[0061] The first boss 401 and the second boss 402 can also be symmetrically arranged with respect to the center of the first assembly surface S1 and have different shapes. Similarly, they can also achieve the uniqueness of the mating direction of the first transmission component 110 and the second transmission component 500 in the entire circumference, ensuring the docking accuracy between the transmission components.

[0062] The above describes an example of a first boss 401 and a second boss 402, i.e., a number of bosses of two. However, the present invention is not limited to this. The above-described bosses may also be one, three or more.

[0063] like Figure 2 As shown, the second transmission component 500 has a second assembly surface S2 opposite to the first assembly surface S1. The second assembly surface S2 is provided with a first alignment groove 530 corresponding to the first protrusion 410 and the first alignment block 420 of the first transmission component 110, and a first groove 503 and a second groove 504 corresponding to the first boss 401 and the second boss 402.

[0064] The first alignment groove 530 is a groove that can accommodate the first protrusion 410 and the first alignment block 420. Its cross-sectional shape parallel to the second assembly surface S2 is the same as the cross-sectional shape of the first alignment block 420 parallel to the first assembly surface S1, but preferably its cross-sectional shape is slightly larger than that of the first alignment block 420.

[0065] Furthermore, the first groove 503 and the second groove 504 corresponding to the first boss 401 and the second boss 402 can be configured asymmetrically with respect to the center of the second mounting surface S2. The first groove 503 can be located at a certain distance from the edge of the second mounting surface S2, and can completely surround the first boss 401. The second groove 504 can be located at the edge of the corresponding second mounting surface S2 and has an opening at the edge, but it is not limited to this. As long as the first groove 503 and the second groove 504 can correspond to the first boss 401 and the second boss 402, it is acceptable. Furthermore, the first boss 401, the second boss 402, and the first groove 503, the second groove 504 are interference-fitted. In other words, the shape and size of the first boss 401 and the second boss 402 are greater than or equal to the shape and size of their corresponding first grooves 503 and second grooves 504. This ensures that during assembly, the first boss 401 and the second boss 402 can be tightly and seamlessly joined with the first grooves 503 and the second grooves 504, guaranteeing the alignment accuracy between the transmission components. Additionally, since the first boss 401 and the second boss 402, and the first grooves 503 and the second grooves 504 are all tapered, they also allow for efficient interference fit.

[0066] As described above, since the first protrusion 410 of the first transmission member 110 is located at the center of the first assembly surface S1 and its height relative to the first assembly surface S1 is greater than the heights of the first alignment block 420, the first boss 401, and the second boss 402 relative to the first assembly surface S1, the engagement of the first protrusion 410 with the first alignment groove 530 can first achieve the engagement of the first protrusion 410 with the first alignment groove 530, thereby completing the center alignment of the first assembly surface S1 and the second assembly surface S2. Furthermore, the engagement of the first alignment block 420 with the first alignment groove 530 can achieve the initial circumferential positioning of the first transmission member 110 and the second transmission member 500.

[0067] Furthermore, since the height of the first alignment block 420 relative to the first mounting surface S1 is greater than the heights of the first boss 401 and the second boss 402 relative to the first mounting surface S1, the first alignment block 420 contacts the second mounting surface S2 before the first boss 401 and the second boss 402 during assembly. Also, since the first alignment block 420 is positioned close to the center of the first mounting surface S1, the torque generated by the frictional force between the first alignment block 420 and the second mounting surface S2 is relatively small, thus preventing the second transmission member 500 from rotating before its first groove 503 and second groove 504 successfully engage with the first boss 401 and the second boss 402 of the first transmission member 110. Conversely, if there is no first alignment block 420, or if the height of the first alignment block 420 relative to the first assembly surface S1 is lower than or equal to the height of the first boss 401 and the second boss 402 relative to the first assembly surface S1, the first boss 401 and the second boss 402 will come into contact with the second assembly surface S2 of the first transmission component 500, thereby generating a large frictional torque. This will cause the second transmission component 500 to rotate before the first groove 503 and the second groove 504 successfully engage with the first boss 401 and the second boss 402.

[0068] When the second transmission member 500 of Embodiment 1 is used as a sterile adapter, the second transmission member 500 may also include a sterile membrane. Furthermore, the sterile membrane may be provided on the second mounting surface S2 of the second transmission member 500, or on a surface of the second transmission member 500 opposite to the second mounting surface S2, or simultaneously on both surfaces of the second transmission member 500 including the second mounting surface S2. This structure enables the second transmission member 500 to function as a sterile isolation device.

[0069] In this embodiment 1, it is shown that the first assembly surface S1 is provided with a protrusion, a positioning block, and a boss, and the second assembly surface S2 is provided with a corresponding positioning groove and a recess. However, it is not limited to this. Alternatively, the second assembly surface S2 may be provided with a protrusion, a positioning block, and a boss, and the first assembly surface S1 may be provided with a corresponding positioning groove and a recess.

[0070] Next, refer to Figure 4 The assembly method of the first transmission member 110 and the second transmission member 500 in Embodiment 1 of the present invention will be described.

[0071] like Figure 4As shown, in step S1, when the second transmission component 500 is to be assembled onto the first transmission component 110, the second transmission component 500 is brought closer to the first transmission component 110, and the first transmission component 110 and the second transmission component 500 are pressed against each other, so that the first protrusion 410 of the first transmission component 110 engages with the first alignment groove 530 of the second transmission component 500, thereby completing the center positioning of the first assembly surface S1 of the first transmission component 110 and the second assembly surface S2 of the second transmission component 500. At this time, the first alignment block 420, the first boss 401 and the second boss 402 are not yet in contact with the second assembly surface S2 of the second transmission component 500.

[0072] In step S2, the second transmission member 500 and the first transmission member 110 continue to press against each other, thereby bringing the first alignment block 420 into contact with the second assembly surface S2 of the second transmission member 500. This achieves initial circumferential positioning of the first transmission member 110 and the second transmission member 500. Furthermore, due to the small torque of the frictional force, the second transmission member 500 will not rotate before its first groove 503, second groove 504 successfully engages with the first boss 401 and second boss 402 of the first transmission member 110.

[0073] In step S3, the first transmission member 110 is rotated about a pivot that passes through the center of the first mounting surface S1 and is perpendicular to the first mounting surface S1.

[0074] In step S4, as the first transmission member 110 rotates, the first alignment block 420 engages with the first alignment groove 530, and the first boss 401 and the second boss 402 engage with the first groove 503 and the second groove 504. Therefore, through the engagement of the first alignment block 420 with the first alignment groove 530, the first boss 401, and the second boss 402 with the first groove 503 and the second groove 504, the uniqueness of the engagement direction of the first transmission member 110 and the second transmission member 500 can be achieved throughout the entire circumference, ensuring the docking accuracy between the transmission members.

[0075] In step S5, the first transmission member 110 is further pressed against the second transmission member 500, causing the first boss 401 and the second boss 402 to engage with the first groove 503 and the second groove 504. Therefore, through the engagement of the first boss 401, the second boss 402, and the first groove 503 and the second groove 504, the first boss 401 and the second boss 402 are tightly joined together without gap in an interference fit, ensuring the engagement accuracy between the transmission members. Furthermore, due to the increased contact area of ​​the transmission members, contact stress is reduced, preventing damage to the transmission members.

[0076] This completes the assembly of the first transmission component 110 and the first transmission component 500.

[0077] <Implementation Method 2>

[0078] Next, refer to the appendix Figure 5-7 Embodiment 2 of the present invention will be described.

[0079] Figure 5 This is a schematic diagram showing the assembly structure of the surgical instrument transmission mechanism according to Embodiment 2 of the present invention. Figure 6 This is a side view of the first transmission member involved in Embodiment 2 of the present invention. Figure 7 This is a flowchart illustrating the assembly method of the surgical instrument transmission mechanism according to Embodiment 2 of the present invention.

[0080] like Figure 5 As shown, the surgical instrument transmission mechanism 20 according to Embodiment 2 of the present invention includes a first transmission component 120 and a second transmission component 500.

[0081] The first transmission member 120 differs from the first transmission member 110 in Embodiment 1 in that it also includes a fixed part 100, an elastic member 300, and a movable part 400.

[0082] like Figure 5 As shown, an axial limiting member 200 is provided on one side wall of the fixing part 100. In addition, although not shown, an axial limiting member is also provided on the other side wall of the fixing part 100 opposite to the one side wall.

[0083] like Figure 5 and Figure 6 As shown, the movable part 400 has an axial limiting groove 430 provided on the side wall of the movable part 400, so that the movable part 400 can move relative to the fixed part 100 in a direction perpendicular to the first mounting surface S1 of the first transmission member 110. Furthermore, the first mounting surface S1 is disposed on the movable part 400.

[0084] An elastic member 300 is sandwiched between the movable part 400 and the fixed part 100. The elastic member 300 can be in a pre-compressed state to provide a force that separates the movable part 400 from the fixed part 100. In this embodiment, the elastic member 300 is, for example, a spring. However, the invention is not limited to this. The elastic member 300 can be any component capable of providing a force that separates the movable part 400 from the fixed part 100, and can adopt any known structure.

[0085] The axial limiting member 200 is inserted into the axial limiting groove 430 to restrict the relative movement between the movable part 400 and the fixed part 100 in the direction perpendicular to the first assembly surface S1 and in the circumferential direction. Specifically, as follows: Figure 5As shown, the end of the axial limiting groove 430 furthest from the first mounting surface S1 abuts against the axial limiting member 200, meaning the movable part 400 reaches its maximum elongation position under the elastic force of the elastic member 300 and the limitation of the axial limiting member 200, i.e., the first mounting surface S1 is at its highest position. At this time, the elastic member 300 can be in a pre-compressed state. When the elastic member 300 is in a further compressed state, the end of the axial limiting groove 430 near the first mounting surface S1 abuts against the limiting member 200, or the limiting member 200 is in the limiting groove 430 and at a certain distance from the end near the first mounting surface S1. Thus, while ensuring successful docking of the first transmission member 120 and the second transmission member 500, the movable part 400 can move along... Figure 5 The axial limiting mechanism is located in the left-right direction, i.e., the axial direction. Furthermore, the two sides of the axial limiting groove 430 perpendicular to the first mounting surface S1 abut against the upper and lower parts of the axial limiting member 200, thus enabling the movable part 400 to move along... Figure 5 The limit is in the vertical direction, i.e., the circumferential direction.

[0086] Therefore, through the cooperation of the elastic member 300, the fixed part 100, and the movable part 400, when the first transmission member 120 and the second transmission member 500 are docked, the restoring force provided by the elastic member 300 ensures that the first transmission member is stably docked with the second transmission member 500. Furthermore, after the first boss 401 and the first boss 402 are pushed into the first groove 503 and the second groove 504, the restoring force provided by the elastic member 300 can effectively prevent the conical boss from dislodging under high torque, thereby further ensuring the stability of the docking between the transmission members.

[0087] Furthermore, in this embodiment, the length of the axial limiting groove 430 in the direction perpendicular to the first mounting surface S1 is greater than or equal to the height of the first alignment block 420 relative to the first mounting surface S1. Therefore, when the movable part 400 is pushed towards the second transmission member 500 by the elastic member 300 to complete the docking, the first boss 401 and the second boss 402 can be fully pushed into the first groove 503 and the second groove 504, without the movable part 400 being unable to complete the docking due to insufficient length of the axial limiting groove 430 restricting its axial movement.

[0088] Next, refer to Figure 7 The assembly method of the first transmission member 120 and the second transmission member 500 in Embodiment 2 of the present invention will be described. The assembly methods of steps S1-S3 and S4 are the same as those of steps S1-S3 and S4 in Embodiment 1, and therefore the same step numbers are used.

[0089] In step S1, when the second transmission component 500 is to be assembled onto the first transmission component 120, the second transmission component 500 is brought closer to the first transmission component 120, and the first transmission component 120 and the second transmission component 500 are pressed against each other, thereby causing the first protrusion 410 to engage with the first alignment groove 530, completing the center positioning of the first assembly surface S1 and the second assembly surface S2. At this time, the first alignment block 420, the first boss 401 and the second boss 402 are not yet in contact with the second assembly surface S2 of the second transmission component 500. Furthermore, at this time, the elastic component 300 can be in a pre-compressed state.

[0090] In step S2, the second transmission member 500 and the first transmission member 120 continue to press against each other so that the first alignment block 420 comes into contact with the second assembly surface S2.

[0091] In step S3, the first transmission member 120 is rotated about a pivot that passes through the center of the first mounting surface S1 and is perpendicular to the first mounting surface S1.

[0092] In step S6, while rotating, the second transmission member 500 and the first transmission member 120 continue to press against each other, thereby further compressing the elastic member 300, so that the movable part 400 moves toward the fixed part 100 by a compression amount corresponding to the height of the first alignment block 420 relative to the first assembly surface S1.

[0093] In step S4, as the first transmission member 120 rotates, and under the restoring force provided by the elastic member 300, the first alignment block 420 engages with the first alignment groove 530, and the first boss 401 and the second boss 402 engage with the first groove 503 and the second groove 504.

[0094] In step S7, the restoring force provided by the elastic member 300, after pre-compression, further presses the first transmission member 120 against the second transmission member 500, ensuring a stable connection between the first boss 401, the second boss 402, the first groove 503, and the second groove 504. Thus, the elastic member 300 continues to provide resistance to prevent the first boss 401 and the second boss 402 from dislodging from the first groove 503 and the second groove 504, thereby further ensuring the stability of the connection between the transmission members. Furthermore, since the first boss 401, the second boss 402, the first groove 503, and the second groove 504 are interference fit, the first assembly surface S1 cannot spring back to the highest position after they are fitted. This results in the axial limiting groove 430 and the axial limiting member 200 being either in contact or not in contact, ensuring that the elastic force of the elastic member 300 remains between the movable part 400 and the second transmission member 500. This further increases the stability of the fit and effectively prevents the tapered boss from dislodging under high torque.

[0095] This completes the assembly of the first transmission component 120 and the first transmission component 500.

[0096] <Implementation Method 3>

[0097] Next, refer to the appendix Figure 8-9 The surgical instrument driving device according to Embodiment 3 of the present invention will be described. Figure 8 This is a schematic diagram showing the assembly structure of the surgical instrument driving device according to Embodiment 3 of the present invention. Figure 9 This is a schematic diagram showing the assembly surface of the surgical instrument driving device according to Embodiment 3 of the present invention.

[0098] In this embodiment, a specific example of a surgical instrument drive device that uses the surgical instrument transmission mechanism of Embodiments 1 and 2 above to drive surgical instruments will be described.

[0099] like Figure 8 As shown, the surgical instrument drive device comprises a motor (not shown) connected to the right side of the first transmission member 120, the first transmission member 120, the second transmission member 500, the third transmission member 600, and a surgical instrument (not shown) connected to the left side of the third transmission member 600. In this embodiment, the first transmission member 120 is used as a motor transmission member, the second transmission member 500 is used as a sterile adapter, and the third transmission member is used as an instrument transmission member.

[0100] Specifically, the side of the first transmission component 120 opposite to the first mounting surface S1 is connected to the motor, and there is no particular limitation on the specific connection method.

[0101] The second assembly surface S2 of the second transmission component 500 is connected to the first assembly surface S1. Regarding the connection method, the docking method described in embodiments 1 and 2 above can be adopted.

[0102] In addition, such as Figure 9 As shown, the second transmission member 500 has a third mounting surface S3 on the side opposite to the second mounting surface S2. Furthermore, the third transmission member 600 has a fourth mounting surface S4 that is in contact with the third mounting surface S3.

[0103] In this embodiment 3, the structure of the third assembly surface S3 is the same as that of the first assembly surface S1, and the structure of the fourth assembly surface S4 is the same as that of the second assembly surface S2. That is, the shapes of the third assembly surface S3 and its second protrusion 510, second alignment block 520, third boss 501, and fourth boss 502 are the same as those of the first assembly surface S1 and its first protrusion 410, first alignment block 420, first boss 401, and second boss 402, and the shapes of the fourth assembly surface S4 and its second alignment groove 630, third groove 603, and fourth groove 604 are the same as those of the second assembly surface S2 and its first alignment groove 530, first groove 503, and second groove 504.

[0104] Additionally, on the side of the third transmission member 600 opposite to the fourth assembly surface S4, a surgical instrument (not shown) is connected, and there are no particular limitations on its specific connection method.

[0105] As described above, the surgical instrument drive device of this embodiment includes: a motor (not shown); a first transmission member 120 connected to the motor; a second transmission member 500 connected to the first transmission member 120 via a mating of a first mounting surface S1 and a second mounting surface S2; a third transmission member 600 connected to the second transmission member 500 via a mating of a third mounting surface S3 and a fourth mounting surface S4; and a surgical instrument (not shown) connected to the third transmission member 600. Thus, the motor can drive the surgical instrument via the first transmission member 120, the second transmission member 500, and the third transmission member 600.

[0106] Furthermore, since the structure and connection method between the first transmission component 120 and the second transmission component 500, and between the second transmission component 500 and the third transmission component 600, are the same as those in Embodiments 1 and 2, the first transmission component 120, the second transmission component 500, and the third transmission component 600 can be assembled using the assembly method of the transmission components in Embodiments 1 and 2, thereby completing the transmission between the three transmission components and realizing rapid positioning and rotational fixing between each transmission component.

[0107] Alternatively, the structures and connection methods of embodiments 1 and 2 described above can be used for any one of the connections between the first transmission member 120 and the second transmission member 500, and between the second transmission member 500 and the third transmission member 600, while the other connection can be implemented using any other connection method. Even with this structure, the technical effects of the present invention can still be partially achieved.

[0108] It should be understood that the above description is illustrative and not restrictive. For example, the above embodiments (and / or aspects thereof) can be used in combination with each other. Furthermore, many modifications can be made to adapt particular conditions or materials to the teachings of the various embodiments of the invention without departing from the scope of the invention. While the dimensions and types of materials described herein are used to define parameters of the various embodiments of the invention, the embodiments are not intended to be restrictive but are exemplary. Many other embodiments will become apparent to those skilled in the art upon reading the above description. Therefore, the scope of the various embodiments of the invention should be determined by reference to the appended claims and the full scope of their equivalents.

Claims

1. A surgical instrument transmission mechanism, characterized by, include: A first transmission component has a generally circular first mounting surface. The first mounting surface has a centrally located protrusion, a aligning block near the protrusion, and a boss arranged circumferentially away from the protrusion. The height of the protrusion relative to the first mounting surface is greater than the height of the aligning block relative to the first mounting surface, and the height of the aligning block relative to the first mounting surface is greater than the height of the boss relative to the first mounting surface. The second transmission component has a second assembly surface opposite to the first assembly surface. The second assembly surface is provided with an alignment groove corresponding to the protrusion and the alignment block, and a groove corresponding to the boss.

2. The surgical instrument transmission mechanism as described in claim 1, characterized in that, The first mounting surface is provided with at least two bosses that are asymmetrically arranged relative to the center.

3. The surgical instrument transmission mechanism as described in claim 2, characterized in that, At least two of the bosses have different shapes.

4. The surgical instrument transmission mechanism as described in claim 1, characterized in that, The first mounting surface is provided with at least two bosses that are symmetrically arranged with respect to the center. At least two of the bosses have different shapes.

5. The surgical instrument transmission mechanism as described in any one of claims 1 to 4, characterized in that, The boss and the corresponding groove are interference-fitted.

6. The surgical instrument transmission mechanism according to any one of claims 1 to 4, characterized in that, The cross-section of the boss, parallel to the first mounting surface, is fan-shaped.

7. The surgical instrument transmission mechanism as described in any one of claims 1 to 4, characterized in that, The second transmission component includes a sterile membrane.

8. The surgical instrument transmission mechanism as described in any one of claims 1 to 4, characterized in that, The first transmission component further includes: The fixing part has an axial limiting member disposed on the side wall, and the fixing part is connected to the motor; A movable part, the movable part having an axial limiting groove provided on a side wall and being configured with the first mounting surface, is capable of moving relative to the fixed part in a direction perpendicular to the first mounting surface; and An elastic member, sandwiched between the movable part and the fixed part, is used to provide a force that separates the movable part from the fixed part. The axial limiting member is inserted into the axial limiting groove to restrict the relative movement between the movable part and the fixed part in the direction perpendicular to the first assembly surface and in the circumferential direction.

9. The surgical instrument transmission mechanism as described in claim 8, characterized in that, The length of the axial limiting groove in the direction perpendicular to the first assembly surface is greater than or equal to the height of the alignment block relative to the first assembly surface.

10. The surgical instrument transmission mechanism as described in claim 8, characterized in that, The elastic component is a spring.

11. A surgical instrument driving device, characterized in that, include: Electric motor; The surgical instrument transmission mechanism as described in claim 1, wherein the side of the first transmission member opposite to the first mounting surface is connected to the motor; The second mounting surface of the second transmission member is in contact with the first mounting surface, and the side of the second transmission member opposite to the second mounting surface has a third mounting surface; A third transmission component, the third transmission component having a fourth assembly surface that is in contact with the third assembly surface; as well as A surgical instrument is connected to the side of the third transmission member opposite to the fourth mounting surface. The motor drives the surgical instrument via the first transmission member, the second transmission member, and the third transmission member.

12. A method for assembling a surgical instrument transmission mechanism as described in any one of claims 1 to 7, characterized in that, include: The second transmission component is brought closer to the first transmission component, and the first transmission component and the second transmission component are pressed against each other, so that the protrusion engages with the alignment groove; The first transmission component and the second transmission component continue to press against each other, so that the alignment block comes into contact with the second assembly surface; The first transmission component is rotated about a pivot that passes through the center and is perpendicular to the first mounting surface; As the first transmission component rotates, the alignment block engages with the alignment groove, and the boss engages with the recess; and The first transmission component is then pressed against the second transmission component, causing the boss to align with the groove.

13. A method for assembling a surgical instrument transmission mechanism as described in any one of claims 8 to 10, characterized in that, include: The second transmission component is brought closer to the first transmission component, and the first and second transmission components are pressed against each other, so that the protrusion engages with the alignment groove. The first transmission component and the second transmission component continue to press against each other, thereby bringing the alignment block into contact with the second assembly surface; The first transmission component is rotated about a pivot that passes through the center and is perpendicular to the first mounting surface; While rotating, the elastic member is compressed, causing the movable part to move toward the fixed part by a compression amount corresponding to the height of the alignment block relative to the first mounting surface. As the first transmission component rotates, and under the restoring force of the elastic component, the alignment block engages with the alignment groove, and the boss engages with the groove. Using the force provided by the elastic member, the movable part is further pressed against the second transmission member, so that the boss and the groove are engaged.

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