Auxiliary assembly and test tool platform for wire-driven minimally invasive surgical instrument

Abstract

The application discloses a kind of silk transmission minimally invasive surgical instrument auxiliary assembly and test tool platform, steel wire rope auxiliary assembly component is integrated on its bottom plate, steel wire rope auxiliary assembly component includes surgical instrument end positioning clamping mechanism, surgical instrument wrist positioning clamping mechanism and long and narrow operating lever positioning clamping mechanism;Pre-tightening force loading and testing component is integrated on the bottom plate;Pre-tightening force loading and testing component is respectively connected with the wire reel shaft of the corresponding wire reel of transmission box by multiple groups of pre-tightening force loading motor and gear transmission mechanism to apply pre-tightening force to the corresponding steel wire rope.The auxiliary assembly and test tool platform of the application make the pre-tightening force loading process more stable and smooth by pre-tightening force loading and testing component, and the tension on the steel wire rope during pre-tightening is more accurately measured using a torque sensor, which expands the application range of the test platform, so that it is not limited to handheld minimally invasive surgical instruments.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of minimally invasive surgical instrument assembly and testing, and particularly relates to an auxiliary assembly and testing tool platform for a wire transmission minimally invasive surgical instrument. BACKGROUND

[0002] In the process of laparoscopic minimally invasive surgery, the main surgeon is usually mainly responsible for the operation, decision-making and guidance. The main surgeon needs to be very familiar with the use of surgical instruments and the operation of an endoscope, and can make correct decisions in a timely manner according to the surgical situation and ensure the smooth progress of the surgery. The assistant mainly performs surgical auxiliary work such as delivery, control and opening of surgical instruments, so that the main surgeon can better perform the surgery. The assistant needs to closely coordinate with the main surgeon to ensure smooth operation. In the actual operation process, it is required that the main surgeon and the assistant have a high tacit understanding and a large amount of training is needed to achieve good surgical results. In recent years, the development of robot technology has had a profound impact on laparoscopic minimally invasive surgery, mainly in the improvement of surgical precision and controllability. The robot surgery system can provide higher surgical precision and controllability, and the entire surgical process can be monitored and controlled through a computer program, reducing operation errors and surgical risks.

[0003] Of course, the application of robot technology to laparoscopic minimally invasive surgery also faces some problems and challenges. The high cost of purchasing and maintaining the robot surgery system greatly increases the economic burden of medical institutions, making robot surgery not suitable for all patients. Compared with traditional laparoscopic surgery, robot surgery requires longer operation training and learning so that doctors can fully master the operation skills of the robot surgery system. Technical problems such as software and hardware failures in the robot surgery system can cause surgery delays or surgery failures. According to research, the application of robot minimally invasive surgery in China is still in the initial development stage. Currently, only some large hospitals have introduced daVinci robot minimally invasive surgery operation systems, but the high cost has made many patients hesitate. Therefore, after investigation and research, it is found that the main operation method of minimally invasive surgery in China is still by doctors operating through handheld instruments. Surgical instruments, as the tool directly connecting doctors and patients, are self-evident in importance. Their performance directly affects the outcome of surgery, and high-quality instruments can provide better handling and precision. Surgical instruments can provide precise surgical operations, allowing doctors to perform surgery more accurately and avoid affecting surrounding tissues and organs. It can improve operational efficiency, which usually has faster and more efficient operation characteristics, helping doctors complete surgery in a shorter time, reducing the inconvenience and risk of the surgery process, and maximizing the expected results of surgery. Most existing surgical instruments achieve power transmission through steel wire ropes, and the pre-tightening force on the transmission steel wire rope has a crucial impact on performance parameters such as instrument end clamping force. Moreover, during instrument assembly, due to the small diameter of the instrument operating rod, the steel wire rope is prone to entanglement in the rod. There is currently a lack of corresponding surgical instrument auxiliary assembly and testing platforms in actual application. The minimally invasive surgery instrument assembly and testing platform is an important part of modern medical device manufacturing. In terms of technology, the platform technology of developed countries such as Europe and the United States is at the global forefront. For example, intelligent assembly and testing systems incorporating artificial intelligence significantly improve testing efficiency and accuracy. Industry standards are also established by foreign countries, with international standards such as ISO 13485 providing specifications for platform design and testing, ensuring global market recognition. International companies such as Siemens and GE Healthcare dominate the assembly and testing platform field, but emerging companies such as Medtronic are constantly challenging the traditional landscape. In terms of technological innovation, domestic companies such as Aerospace Science and Technology and Aviation Industry of China have made breakthroughs in platform development, such as automated assembly lines and precision testing equipment, improving assembly efficiency and precision. The application field is also increasingly broad, with platforms widely used in endoscopic instruments, cardiac surgery instruments, orthopedic instruments, and other surgical instruments, providing reliable support for surgery. The government also encourages independent research and development of medical devices and provides policy support for the development of assembly and testing platforms.

[0004] The field of minimally invasive surgical instrument assembly test platform coexists with challenges and opportunities, and the main challenges are high precision requirements, increased complexity, regulatory updates, etc. With the popularization of minimally invasive surgery, the demand for assembly test platforms will continue to grow, providing a broad space for industry development.

[0005] However, the existing tool test platform has the following problems:

[0006] 1. The problem of mutual entanglement of steel wires during assembly is not solved, which reduces the precision of the assembled surgical instrument and reduces the operability of the surgical instrument, affecting the surgical effect;

[0007] 2. The pre-tightening force loading part needs to keep the steel wire horizontal when measuring the tension of the steel wire, but needs to rely on manual adjustment of the position of the steel wire. Due to the large manual operation error, the level of the steel wire cannot be guaranteed, so the measurement error of the device is large;

[0008] 3. The existing test platform pre-tightening force applying mechanism is a three-coordinate sliding table, which needs to be manually adjusted, and the pre-tightening force applying process is not smooth, and the peak tension of the applied steel wire is prone to be too large;

[0009] 4. The working object of the existing test platform is a handheld minimally invasive surgical instrument, and there are only four steel wires inside the operating rod, which can only control the opening and closing of the end claw and the rotation of the wrist, and the degree of freedom is low, and the application scene is limited.

[0010] Therefore, based on the above technical problems, the technical personnel in the art urgently need to develop a silk transmission minimally invasive surgical instrument auxiliary assembly and test tool platform. SUMMARY

[0011] The purpose of the present application is to provide a silk transmission minimally invasive surgical instrument auxiliary assembly and test tool platform, which can integrate multiple scenes and realize the loading and testing of the pre-tightening force of the surgical instrument steel wire, solving the problem of easy entanglement of the steel wire during assembly.

[0012] In order to achieve the above purpose, the present application provides the following technical scheme:

[0013] The silk transmission minimally invasive surgical instrument auxiliary assembly and test tool platform of the present application, the platform comprises a bottom plate, the bottom plate is provided with a footing supported on the ground;

[0014] The bottom plate is integrated with a steel wire auxiliary assembly component, the steel wire auxiliary assembly component comprises:

[0015] A surgical instrument end positioning and clamping mechanism is used to clamp and fix the end execution claw of the surgical instrument;

[0016] A surgical instrument wrist positioning and clamping mechanism is used to clamp and fix the surgical instrument wrist.

[0017] A long operation lever positioning and clamping mechanism is used to fix the surgical instrument long operation lever.

[0018] The bottom plate is integrated with a steel wire pre-tightening force loading and testing assembly, which acts on the transmission box of the surgical instrument.

[0019] The steel wire pre-tightening force loading and testing assembly is in transmission connection with the wire wheel shaft of the corresponding wire wheel of the transmission box through a plurality of groups of pre-tightening force loading motors and gear transmission mechanisms to apply pre-tightening force to the corresponding steel wire.

[0020] The output end of the pre-tightening force loading motor of the steel wire pre-tightening force loading and testing assembly is integrated with a torque sensor.

[0021] Further, the transmission box has eight wire wheels.

[0022] The steel wire pre-tightening force loading and testing assembly has eight groups of pre-tightening force loading motors and gear transmission mechanisms.

[0023] Six steel wires extend into the long operation lever and are used to control the movement of the surgical instrument end execution claw and the surgical instrument wrist.

[0024] The other two steel wires are connected with the long operation lever to control the rotation of the long operation lever.

[0025] Further, the surgical instrument end positioning and clamping mechanism comprises:

[0026] A surgical instrument end bench vice; and

[0027] An end execution claw clamping part is located at the clamping end of the surgical instrument end bench vice, and the inner side surface of the end execution claw clamping part is formed into a bevel structure matching the outer side surface of the surgical instrument end execution claw.

[0028] Further, the surgical instrument wrist positioning and clamping mechanism comprises:

[0029] A surgical instrument wrist bench vice; and

[0030] A surgical instrument wrist clamping part is located at the clamping end of the surgical instrument wrist bench vice, and the inner side surface of the surgical instrument wrist clamping part is provided with a semi-circular cylinder, and the two semi-circular cylinders are combined to form a cylinder capable of accommodating the surgical instrument wrist.

[0031] Further, the long operation lever positioning and clamping mechanism comprises:

[0032] A long handle bench vice;

[0033] A long handle clamping part at the clamping end of the long handle bench vice, a V-shaped centering block is arranged on the inner side of the long handle clamping part, and the long handle is clamped and fixed by the V-shaped centering block.

[0034] Further, the long handle positioning and clamping mechanism and the steel wire rope pre-tightening force loading and testing assembly are provided with a steel wire rope locking assembly;

[0035] The steel wire rope locking assembly is divided into a sliding locking structure and a plurality of button type lockers integrated on the sliding locker;

[0036] The sliding locking structure comprises:

[0037] Two support frames capable of moving along the width direction of the bottom plate to adjust the distance between each other; and

[0038] A sliding locker connected to the lower part of the support frame and locking the relative position of the support frame and the bottom plate;

[0039] The upper part of each support frame is integrated with three button type lockers, each corresponding to a steel wire rope, and six steel wire ropes extending into the long handle pass through the button type lockers and enter the long handle, and the steel wire ropes are locked by the button type lockers.

[0040] Further, the steel wire rope pre-tightening force loading and testing assembly comprises:

[0041] Eight pre-tightening force loading motors, which are assembled with the bottom plate through a connecting device;

[0042] The torque sensor integrated on the output end of the pre-tightening force loading motor; and

[0043] A gear transmission mechanism in transmission connection with the torque sensor;

[0044] The gear transmission mechanism comprises a transmission shaft connected with the output end of the pre-tightening force loading motor, and the transmission shaft is connected with the connecting device through a bearing in the bearing seat, and one end of the transmission shaft and the wire reel shaft are provided with bevel gears, and the pre-tightening force loading motor drives the wire reel shaft to rotate through the transmission between the bevel gears.

[0045] Further, the transmission box comprises:

[0046] An integrated plate;

[0047] Four wire wheels passing through the integrated plate;

[0048] Two wire wheels mounted on the wire wheel shafts;

[0049] The wire wheel shaft is provided with a clutch and a clutch flange at one end of the wire wheel;

[0050] The wire wheel close to the clutch end of the wire wheel shaft is fixed to the wire wheel shaft, and the wire wheel away from the clutch end of the wire wheel shaft is fixed to the wire wheel shaft after reaching the required pre-tightening force.

[0051] In the above technical solution, the wire transmission minimally invasive surgical instrument auxiliary assembly and test tool platform provided by the application has the following beneficial effects:

[0052] The auxiliary assembly and test tool platform of the application makes the pre-tightening force loading process more smooth and smooth through the steel wire rope pre-tightening force loading and testing assembly, and more accurately measures the tension on the steel wire rope during pre-tightening by using a torque sensor, thereby expanding the application range of the test platform and making it not limited to handheld minimally invasive surgical instruments.

[0053] The auxiliary assembly and test tool platform of the application solves the problem of easy entanglement of steel wire ropes during assembly, and the device part has quick change nature, and the overall operation is more simple and convenient. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0055] Figure 1 The structure of the wire transmission minimally invasive surgical instrument auxiliary assembly and test tool platform provided by the embodiment of the present application Figure 1 ;

[0056] Figure 2 The structure of the wire transmission minimally invasive surgical instrument auxiliary assembly and test tool platform provided by the embodiment of the present application Figure 2 ;

[0057] Figure 3 The structure of the wire transmission minimally invasive surgical instrument auxiliary assembly and test tool platform provided by the embodiment of the present application

[0058] Figure 4The structure schematic view of the narrow operation rod positioning and clamping mechanism of the silk transmission minimally invasive surgical instrument auxiliary assembly and test tool platform provided by the embodiment of the application is shown in the figure.

[0059] Figure 5 The structure schematic view of the sliding locking structure and the button type locker of the silk transmission minimally invasive surgical instrument auxiliary assembly and test tool platform provided by the embodiment of the application is shown in the figure.

[0060] Figure 6 The structure schematic view of the steel wire rope pre-tightening force loading and test assembly of the silk transmission minimally invasive surgical instrument auxiliary assembly and test tool platform provided by the embodiment of the application is shown in the figure.

[0061] Figure 7 The structure schematic view of the transmission box of the silk transmission minimally invasive surgical instrument auxiliary assembly and test tool platform provided by the embodiment of the application is shown in the figure.

[0062] Mark explanation:

[0063] 11, surgical instrument end execution claw; 12, surgical instrument wrist; 13, narrow operation rod;

[0064] 1, base plate; 2, surgical instrument end positioning and clamping mechanism; 3, surgical instrument wrist positioning and clamping mechanism; 4, narrow operation rod positioning and clamping mechanism; 5, sliding locking structure; 6, button type locker; 7, steel wire rope pre-tightening force loading and test assembly; 8, transmission box;

[0065] 101, ground foot;

[0066] 201, surgical instrument end bench vice; 202, inclined surface structure;

[0067] 301, surgical instrument wrist bench vice; 302, cylinder;

[0068] 401, narrow operation rod bench vice; 402, V-shaped centering block;

[0069] 501, support frame; 502, sliding locker;

[0070] 701, pre-tightening force loading motor; 702, torque sensor; 703, connecting device; 704, bevel gear; 705, bearing;

[0071] 801, integrated plate; 802, thread wheel shaft; 803, thread wheel; 804, clutch; 805, clutch flange. DETAILED DESCRIPTION

[0072] In order for those skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below with reference to the drawings.

[0073] Referring toFigures 1 to 7 as shown;

[0074] The silk transmission minimally invasive surgical instrument auxiliary assembly and test tool platform of the embodiment includes a base plate 1 provided with ground anchors 101 supported on the ground;

[0075] The base plate 1 is integrated with a steel wire auxiliary assembly component, which includes:

[0076] A surgical instrument end positioning and clamping mechanism 2 is used to clamp and fix the surgical instrument end execution claw 11.

[0077] A surgical instrument wrist positioning and clamping mechanism 3 is used to clamp and fix the surgical instrument wrist 12.

[0078] A long operation rod positioning and clamping mechanism 4 is used to fix the surgical instrument long operation rod 13.

[0079] The base plate 1 is integrated with a steel wire pre-tightening force loading and testing component 7, which acts on the transmission box 8 of the surgical instrument.

[0080] The steel wire pre-tightening force loading and testing component 7 is in transmission connection with the wire wheel shaft 802 of the corresponding wire wheel 803 of the transmission box 8 through a plurality of pre-tightening force loading motors 701 and gear transmission mechanisms to apply pre-tightening force to the corresponding steel wire.

[0081] The output end of the pre-tightening force loading motor 701 of the steel wire pre-tightening force loading and testing component 7 is integrated with a torque sensor 702.

[0082] Specifically, the embodiment discloses an auxiliary assembly and testing tool platform suitable for surgical instruments; it is divided into two main parts, namely a steel wire auxiliary assembly mechanism and a steel wire pre-tightening force loading and testing mechanism. Among them, the steel wire auxiliary assembly mechanism is mainly to position and fix the surgical instrument end execution claw 11, the surgical instrument wrist 12 and the long operation rod 13, so it is divided into a surgical instrument end positioning and clamping mechanism 2, a surgical instrument wrist positioning and clamping mechanism 3, and a long operation rod positioning and clamping mechanism 4; the three mechanisms correspond to the surgical instrument end execution claw 11, the surgical instrument wrist 12 and the long operation rod 13 respectively. And according to the structure of the three components, a positioning and clamping mechanism that can meet the positioning and clamping requirements is designed.

[0083] In addition, the bottom plate of the embodiment integrates a steel wire pre-tightening force loading and testing assembly 7 on the other side, which mainly acts on the transmission box 8 and pre-tightens and measures the steel wire in the transmission box 8. The power source of the loading is a pre-tightening force loading motor 701, and the component for measuring the tension is a torque sensor 702. The pre-tightening force loading of the corresponding wire wheel 803 is realized through the driving of the eight pre-tightening force loading motors 701.

[0084] Preferably, the transmission box 8 of the embodiment has eight wire wheels 803.

[0085] The steel wire pre-tightening force loading and testing assembly 7 has eight groups of pre-tightening force loading motors 701 and gear transmission mechanisms.

[0086] Six steel wires extend into the slender operating rod 13 and are used to control the movement of the end execution claw 11 and the surgical instrument wrist 12 of the surgical instrument;

[0087] The other two steel wires are connected with the slender operating rod 13 to control the rotation of the slender operating rod 13.

[0088] Therefore, in the design, the lengths of the three wire wheel shafts 802 in the transmission box 8 are the same, and the length of the three wire wheel shafts 802 is greater than the length of the fourth wire wheel shaft 802; in the form of three long and one short.

[0089] Preferably, the positioning and clamping mechanisms of the embodiment are all improved from bench vices, and the corresponding clamping ends are designed according to the structure design of the required positioning and clamping.

[0090] Specifically, the end positioning and clamping mechanism 2 of the surgical instrument of the embodiment comprises:

[0091] a surgical instrument end bench vice 201; and

[0092] an end execution claw clamping part located at the clamping end of the surgical instrument end bench vice 201, and the inner side surface of the end execution claw clamping part is formed into a bevel structure 202 matched with the outer side surface of the end execution claw 11 of the surgical instrument.

[0093] Specifically, the wrist positioning and clamping mechanism 3 of the surgical instrument of the embodiment comprises:

[0094] a surgical instrument wrist bench vice 301; and

[0095] a surgical instrument wrist clamping part located at the clamping end of the surgical instrument wrist bench vice 301, and a semicircular cylinder is arranged on the inner side surface of the surgical instrument wrist clamping part, and the two semicircular cylinders are combined to form a cylinder body 302 capable of accommodating the surgical instrument wrist 12.

[0096] Specifically, the slender operating rod positioning and clamping mechanism 4 of the embodiment comprises:

[0097] a long lever bench vice 401; and

[0098] A long lever clamping part is located at the clamping end of the long lever bench vice 401, and a V-shaped centering block 402 is arranged on the inner side of the long lever clamping part. The long lever clamping part clamps and fixes the long lever 13 through the V-shaped centering block 402.

[0099] The bottom of the bench vice of the embodiment is assembled and fixed with the bottom plate 1 through fastening screws.

[0100] Preferably, the long lever positioning and clamping mechanism 4 of the embodiment and the steel wire rope pre-tightening force loading and testing assembly 7 have a steel wire rope locking assembly therebetween.

[0101] The steel wire rope locking assembly is divided into a sliding locking structure 5 and a plurality of button type lockers 6 integrated on the sliding locking structure 5.

[0102] The sliding locking structure 5 comprises:

[0103] Two support frames 501 capable of moving along the width direction of the bottom plate 1 to adjust the distance between each other; and

[0104] A sliding locker 502 connected to the lower part of the support frame 501 and locking the relative position of the support frame 501 and the bottom plate 1;

[0105] The upper part of each support frame 501 is integrated with three button type lockers 6, each corresponding to a steel wire rope. The six steel wire ropes extending into the long lever 13 pass through the button type lockers 6 and then enter the long lever 13, and the steel wire ropes are locked by the button type lockers 6.

[0106] The support frame 501 of the embodiment is in an I-shaped or Z-shaped structure, the upper end of which is the part integrated with the button type locker 6, and the lower end of which is the part slidingly connected with the bottom plate 1. The support frame 501 is positioned and fixed with the bottom plate 1 through the sliding locker 502 at the lower end, which is a commonly used locking structure, has a knob thereon, and has two states of ON / OFF. When rotated to ON, it means that the locker is locked, at this time the support frame 501 is pressed and cannot produce relative displacement with the bottom plate 1. Conversely, when OFF, the position of the support frame 501 can be adjusted horizontally. The maximum distance that the support frame 501 of the embodiment can slide to both sides is 7 cm. When the two support frames 501 of the embodiment move to the limit distance towards the middle, they just touch each other.

[0107] The button type lock 6 of the embodiment also adopts the existing lock structure, which is generally unlocked and locked by pressing, and can realize quick locking and releasing. The existing button type lock 6 is generally composed of a button, a locking pin, a steel ball and a matched sleeve. When the button is pressed, the steel ball is retracted, and at this time the locking pin can be inserted into the sleeve. When the button is released, the steel ball protrudes to fix the locking pin. Since the locking pin and the sleeve are respectively fixed to two steel plates, the locking pin generates a pressure between the two plates after being fixed, and the size is 30N.

[0108] Preferably, the steel wire rope pre-tightening force loading and testing assembly 7 of the embodiment comprises:

[0109] Eight pre-tightening force loading motors 701, which are assembled with the bottom plate 1 through a connecting device 703;

[0110] A torque sensor 702 integrated at the output end of the pre-tightening force loading motor 701; and

[0111] A gear transmission mechanism in transmission connection with the torque sensor 702;

[0112] The gear transmission mechanism comprises a transmission shaft connected with the output end of the pre-tightening force loading motor 701, and the transmission shaft is connected with the connecting device 703 through a bearing 705 in the bearing seat, and the transmission shaft is cooperated with the wire reel shaft 802 and one end of which is installed with a bevel gear 704. The pre-tightening force loading motor 701 drives the wire reel shaft 802 to rotate through the transmission between the bevel gears 704.

[0113] Among them, the transmission box 8 of the embodiment comprises:

[0114] An integrated plate 801;

[0115] Four wire reel shafts 802 passing through the integrated plate 801; and

[0116] Two wire reels 803 installed on the wire reel shaft 802;

[0117] The wire reel shaft 802 is installed with a clutch 804 and a clutch flange 805 at one end relative to the wire reel 803;

[0118] The wire reel 803 on the wire reel shaft 802 close to the clutch 804 is fixed with the wire reel shaft 802, and the wire reel 803 on the wire reel shaft 802 away from the clutch 804 is fixed with the wire reel shaft 802 after reaching the pre-tightening force requirement.

[0119] Two symmetrical grooves are added to the upper clutch 804 in each wire wheel group of the embodiment, two cylindrical protrusions are added to the terminal wire wheel, and corresponding connecting devices are designed respectively, so that the torque transmission is more convenient, and the subsequent use of the surgical instrument is not affected. And the series of transmission mechanisms including the bevel gear 704 and the transmission shaft make the transmission process more stable, the torque loss is smaller, and the pre-tightening force measurement result is more accurate.

[0120] The pre-tightening force loading motor 701 of the embodiment selects a permanent magnet synchronous motor, the model number is 50KTYZ, the power is 6W, the voltage is AC220V, the size is 38mm*50mm, the rated speed is 50rpm, the rated torque is 15kgf·cm, the rated frequency is 50 / 60HZ, and the motor weight is 0.3kg. The scene applied by the application requires a low speed, and the motor speed is set to 5rpm.

[0121] The torque sensor 702 of the embodiment needs to be rotated by about 30° from the natural state to 200N pre-tightening force of the steel wire rope in the device, so that the static torque sensor 702 can meet the requirements of the device. The torque sensor 702 is rigidly connected with the servo motor and needs to be installed in the transmission system of the shaft. The torque of the shaft is TTII=1.11N. The sensor range is selected as a static torque sensor with a range of 2N.m, the brand is ARIZON, and the model is AR-AT10S.

[0122] The bevel gear 704 of the embodiment has a good working condition and a low speed, so an open gear transmission is adopted. Because it is an open gear transmission, a soft tooth surface gear can be selected, and the material is 38CrMoALA alloy structural steel. The gear is quenched and then nitrided, and the tooth surface hardness is >850HV. The number of teeth u=1; the equivalent number of teeth z1=z2=24; the standard modulus of the large end of the bevel gear 704 m=1mm; the tooth width B1=B2=4mm; the full tooth height is 2.25mm, and the gear accuracy grade is 8.

[0123] In the pre-tightening force loading and testing assembly 7 of the embodiment, two wire wheels 803 are installed on each wire wheel shaft 802 of the transmission box 8. Specifically, the two wire wheels 803 need to be fixed on the same wire wheel shaft 802, and they will affect each other's pre-tightening force, so it is not suitable to adjust the pre-tightening force of one wire wheel 803 first, and then fix the other wire wheel 803 after fixing. The two wire wheels 803 need to be fixed at the same time to reduce the influence of their interaction.

[0124] Second, one end of the wire wheel shaft 802 of the embodiment is connected with the clutch 804, and the other end is not connected with other parts during assembly, so it is planned to fix the wire wheel 803 close to the clutch 804 with the wire wheel shaft 802 first, and not to fix the wire wheel 803 close to the other end with the wire wheel shaft 802 first. Then rotate the wire wheel 803 close to the clutch 804 by rotating the clutch 804, and rotate the wire wheel 803 away from the clutch 804 directly, so that the two wire wheels 803 rotate at the same time. Then, after reaching the required pre-tightening force, fix the wire wheel 803 away from the clutch 804 on the wire wheel shaft 802. The distance between the clutch 804 and the fixing device is not enough to design a complete rotating wire wheel device, so the wire wheel shaft 802 will not be on the same axis as the driving shaft. The clutch first connects with the clutch flange 805, which has a boss matched with the groove on the clutch 804. The clutch flange 805 is connected with the transmission shaft, which obtains power through the synchronous belt fixed on the rotating shaft. Considering the support problem of the shaft, two supports will be designed to support the transmission shaft, and the bevel gear will be designed as a cantilever support. The rotating shaft and its accessories will be designed as a whole for easy movement. The bevel gear 704 and the shaft are integrated, and the clutch flange 805 is positioned and fixed on the shaft through the hexagon and the set screw.

[0125] In addition, the material of the shaft of the embodiment is 45 steel, which needs to be quenched and tempered.

[0126] In actual operation: Before assembling the steel wire rope, the surgical instrument is first pre-assembled, and the end execution claw, wrist rotating device and narrow operation rod are assembled according to the design scheme. After the assembly is completed, it is positioned and clamped by three bench vices.

[0127] After clamping, the wire threading process is performed. The structure of the surgical instrument dictates that the narrow operating rod 13 contains six steel wires, which are arranged in pairs to control the opening and closing of the end effector pawl 11, the horizontal movement of the wrist, and the vertical movement of the wrist, respectively. When assembling the steel wires, each steel wire needs to be assembled individually. The assembly process for each steel wire is roughly the same. Taking the steel wire controlling the opening and closing of the end effector pawl 11 as an example, firstly, one end of the steel wire is fixed in the stepped hole of the end wrist 12 and the end effector pawl 11. Then, the steel wire is threaded through the end clamping part and the wrist swinging part in sequence according to the predetermined path into the operating rod 13. Because the wire rope has a certain degree of flexibility, it can be manually passed through the operating rod 13. After passing through the operating rod 13, the wire rope is clamped by the button-type locking device 6 on the support frame 501. The wire rope locking mechanism is divided into left and right parts, with two "I"-shaped brackets as the main body. Three button-type locking devices 6 are installed on the top of the brackets, which are responsible for clamping the wire rope during assembly. Before clamping, a tension is manually applied to the wire rope to make it taut. The first two wire ropes to be assembled are fixed to the outer locking mechanism, the third and fourth are fixed to the middle locking mechanism, and the last two are fixed to the inner locking mechanism. The purpose of this is to connect the wire rope that is passed through first with the locking mechanism that is farther away from the operating rod 13, so that the wire rope is close to the inner wall of the operating rod 13 when taut. Subsequent wire ropes will not be affected by the previous wire ropes, thus avoiding the problem of wire ropes getting tangled together. The bottom of the bracket is equipped with a sliding locking mechanism. When the wire rope assembly is finished, the bracket can be moved to both sides by adjusting the locking mechanism without hindering subsequent assembly work.

[0128] After the steel wire rope of the long and narrow operating lever 13 is assembled, the steel wire rope inside the transmission box 8 is assembled according to the designed route. Then, the surgical instruments need to be pre-tightened. The surgical instruments have four sheave groups, controlling the two claws at the end of the instrument and the wrist of the instrument. Each sheave group contains two sheaves 803, and each sheave 803 corresponds to a permanent magnet synchronous motor. When the pre-tightening mechanism is working, the motor provides torque, the transmission shaft transmits the torque, the bevel gear 704 changes the direction of the torque, and finally, a special connecting device applies the torque to the two separate sheaves, causing the two sheaves 803 controlling the same movement to rotate in opposite directions. The steel wire rope will gradually tighten and acquire a certain tension under the drive of the rotating sheaves 803. The torque sensor 702 is rigidly connected to the servo motor. By combining the torque magnitude with the sheave diameter, the tension on the steel wire rope can be calculated. When the tension reaches the set pre-tightening force, the fixing screws of the sheaves 803 are tightened, fixing the sheaves 803 to the rotating shaft, thus achieving the purpose of pre-tightening the surgical instruments.

[0129] The wire-driven minimally invasive surgical instrument auxiliary assembly and testing fixture platform provided by the present invention has the following beneficial effects:

[0130] The auxiliary assembly and test tool platform of the application makes the pre-tightening process more smooth through the steel wire pre-tightening force loading and test assembly 7, more accurately measures the tension on the steel wire during pre-tightening through the torque sensor 702, expands the application range of the test platform, and makes it not limited to handheld minimally invasive surgical instruments.

[0131] The auxiliary assembly and test tool platform of the application solves the problem of easy entanglement of steel wires during assembly, and the device part has quick change nature, and the overall operation is more simple and convenient.

[0132] The above only describes some exemplary embodiments of the application by way of illustration, and it is needless to say that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the application. Therefore, the above drawings and descriptions are illustrative in nature and should not be understood as limiting the scope of protection of the claims of the application.

Claims

1. A silk transmission minimally invasive surgical instrument auxiliary assembly and test tool platform, the platform comprising a base plate, the base plate (1) being provided with ground supports (101) supported on the ground; Characterized in that: The base plate (1) is integrated with a steel wire auxiliary assembly component, which comprises: A surgical instrument end positioning clamping mechanism (2) for clamping and fixing the surgical instrument end execution claw (11); A surgical instrument wrist positioning clamping mechanism (3) for clamping and fixing the surgical instrument wrist (12); and A narrow operation rod positioning clamping mechanism (4) for fixing the surgical instrument narrow operation rod (13); The base plate (1) is integrated with a steel wire pre-tightening force loading and testing assembly (7) acting on the transmission box (8) of the surgical instrument; The steel wire pre-tightening force loading and testing assembly (7) is connected in transmission with the wire wheel shaft (802) of the corresponding wire wheel (803) of the transmission box (8) through a plurality of pre-tightening force loading motors (701) and gear transmission mechanisms to apply pre-tightening force to the corresponding steel wire; The output end of the pre-tightening force loading motor (701) of the steel wire pre-tightening force loading and testing assembly (7) is integrated with a torque sensor (702); The transmission box (8) has eight wire wheels (803); The steel wire pre-tightening force loading and testing assembly (7) has eight groups of pre-tightening force loading motors (701) and gear transmission mechanisms; Six steel wires extend into the narrow operation rod (13) and are used to control the movement of the surgical instrument end execution claw (11) and the surgical instrument wrist (12); The other two steel wires are connected with the narrow operation rod (13) to control the rotation of the narrow operation rod (13); The narrow operation rod positioning clamping mechanism (4) and the steel wire pre-tightening force loading and testing assembly (7) have a steel wire locking assembly; The steel wire locking assembly is divided into a sliding locking structure (5) and a plurality of button type lockers (6) integrated on the sliding locking structure (5); The sliding locking structure (5) comprises: Two support frames (501) capable of moving along the width direction of the base plate (1) to adjust the distance between each other; and A sliding locker (502) connected to the lower part of the support frame (501) and locking the relative position of the support frame (501) and the base plate; The upper part of each support frame (501) is integrated with three button type lockers (6), each corresponding to a steel wire, the six steel wires extending into the narrow operation rod (13) pass through the button type lockers (6) and then enter the narrow operation rod (13), and the steel wires are locked by the button type lockers (6).

2. The silk-drive minimally invasive surgical instrument assisted assembly and test fixture platform of claim 1, wherein, The surgical instrument end positioning clamping mechanism (2) comprises: A surgical instrument end bench vice (201); and The end execution claw clamping part at the clamping end of the end table vice (201) of the surgical instrument, the inner side of the end execution claw clamping part is formed as a bevel structure (202) matching the outer side of the end execution claw (11) of the surgical instrument.

3. The wire-driven minimally invasive surgical instrument assembly and test fixture platform of claim 1, wherein, The surgical instrument wrist positioning clamping mechanism (3) comprises: A surgical instrument wrist table vice (301); and The surgical instrument wrist clamping part at the clamping end of the surgical instrument wrist table vice (301), the inner side of the surgical instrument wrist clamping part is provided with a semicircular barrel, and the two semicircular barrels are combined to form a barrel body (302) capable of accommodating the surgical instrument wrist (12).

4. The silk-drive minimally invasive surgical instrument assisted assembly and test tooling platform of claim 1, wherein, The long slender operating rod positioning clamping mechanism (4) comprises: A long slender operating rod table vice (401); and The long slender operating rod clamping part at the clamping end of the long slender operating rod table vice (401), the inner side of the long slender operating rod clamping part is provided with a V-shaped centering block (402), and the long slender operating rod clamping part clamps and fixes the long slender operating rod (13) through the V-shaped centering block (402).

5. The wire-driven minimally invasive surgical instrument assembly and test fixture platform of claim 1, wherein, The steel wire rope pre-tightening force loading and testing assembly (7) comprises: Eight pre-tightening force loading motors (701) assembled with the bottom plate (1) through a connecting device (703); The torque sensor (702) integrated at the output end of the pre-tightening force loading motor (701); and A gear transmission mechanism in transmission connection with the torque sensor (702); The gear transmission mechanism comprises a transmission shaft connected with the output end of the pre-tightening force loading motor (701), the transmission shaft is connected with the connecting device (703) through a bearing (705) in a bearing seat, and one end of the transmission shaft is provided with a bevel gear (704) matched with the wire reel shaft (802), and the pre-tightening force loading motor (701) drives the wire reel shaft (802) to rotate through the transmission between the bevel gears (704).

6. The wire-driven minimally invasive surgical instrument assisted assembly and testing fixture platform of claim 5, wherein, The transmission box (8) comprises: An integrated plate (801); Four wire reel shafts (802) penetrating through the integrated plate (801); and Two wire reels (803) installed on the wire reel shafts (802); The wire reel shaft (802) is provided with a clutch (804) and a clutch flange (805) at one end relative to the wire reel (803); The wire reel (803) on the wire reel shaft (802) close to the clutch (804) is fixed with the wire reel shaft (802), and the wire reel (803) on the wire reel shaft (802) away from the clutch (804) is fixed with the wire reel shaft (802) after reaching the pre-tightening force requirement.

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