Drive box of surgical robot and surgical robot

Abstract

The application provides a driving box of a surgical robot and the surgical robot. The surgical robot comprises the driving box and an instrument box. The driving box comprises a shell, a driving part, an output shaft and a transmission sleeve. The driving part is arranged in the shell. The transmission sleeve is provided with a mounting hole and a through opening. The through opening is in communication with the mounting hole. The output shaft is arranged in the mounting hole. The output shaft is provided with a transmission groove. The transmission groove is arranged opposite to the through opening. The driving box further comprises a compression joint. The compression joint comprises a main body and a fixing part which are connected. The main body is detachably connected with the transmission sleeve. The fixing part is arranged in the transmission groove through the through opening. The fixing part is in abutment with the groove bottom surface of the transmission groove. The transmission sleeve of the driving box is connected with the instrument box. The application improves the output precision of the driving box of the surgical robot and improves the operation precision of the surgical robot.

Description

Technical Field

[0001] This application relates to the field of medical devices, and more particularly to a drive box for a surgical robot and the surgical robot itself. Background Technology

[0002] Minimally invasive surgery refers to surgical procedures performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. With the development of robotics technology, minimally invasive surgical robots have emerged. These robots can reduce incisions, promote faster recovery, and allow doctors to operate them remotely.

[0003] In related technologies, surgical robots include a movable control console and a robotic arm. Surgeons can control the robotic arm's movement via the control console to perform surgical procedures. The robotic arm's end effector is equipped with a drive unit, which is detachably connected to an instrument box. The drive unit's transmission sleeve is connected to the instrument box, enabling the drive unit to drive the robotic arm's actuators to perform surgical operations via the instrument box.

[0004] However, when the actuator of the robotic arm is driven by the instrument box to perform surgical operations, the rotation error of the drive box's transmission sleeve is large, and the output accuracy of the drive box's transmission sleeve is poor. Summary of the Invention

[0005] This application provides a drive box for a surgical robot and a surgical robot to solve the problem of poor output accuracy of the transmission sleeve of the drive box.

[0006] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0007] One aspect of this application provides a drive box for a surgical robot, including a housing, a drive component, an output shaft, and a transmission sleeve. The drive component is disposed inside the housing, and the transmission sleeve is provided with a mounting hole and a through-hole, the through-hole communicating with the mounting hole. The output shaft passes through the mounting hole and is provided with a transmission groove, the transmission groove being disposed opposite to the through-hole.

[0008] It also includes a crimping component, which includes a connected main body and a fixing part. The main body is detachably connected to the transmission sleeve, and the fixing part passes through the through-hole into the transmission groove, and the fixing part abuts against the bottom surface of the transmission groove.

[0009] This application provides a drive unit for a surgical robot. The drive unit includes a housing, a drive component, an output shaft, and a transmission sleeve. The drive component is housed within the housing. The transmission sleeve has a mounting hole and a through-hole, with the through-hole communicating with the mounting hole. The output shaft passes through the mounting hole and has a transmission groove, which is opposite to the through-hole. The drive unit also includes a crimping component, which includes a connected main body and a fixing part. The main body is detachably connected to the transmission sleeve. The fixing part passes through the through-hole into the transmission groove and abuts against the bottom surface of the groove. When the main body of the crimping component abuts against the transmission sleeve, the fixing part passes through the through-hole into the transmission groove and abuts against the bottom surface of the groove, thus minimizing the rotational clearance between the transmission sleeve and the output shaft. This configuration allows the output shaft and the transmission sleeve to rotate synchronously, improving the output accuracy of the drive unit and thereby enhancing the surgical operation accuracy of the surgical robot.

[0010] As an optional implementation, the extension direction of the transmission groove is perpendicular to the axial direction of the output shaft;

[0011] When the main body is not fixed to the transmission sleeve, the main body can move closer to or further away from the output shaft in the radial direction of the output shaft, and the fixing part can move closer to or further away from the bottom surface of the transmission groove in the radial direction of the output shaft.

[0012] This allows the fixing part to be inserted into the transmission groove in the radial direction of the output shaft, thereby achieving radial fixation of the output shaft, reducing rotational backlash, and improving the transmission accuracy of the drive box.

[0013] As an optional implementation, when the main body and the transmission sleeve are fixed, the main body abuts against the transmission sleeve;

[0014] The height of the fixed part is adjustable along the radial direction of the output shaft;

[0015] The fixing part is configured such that when the main body is not fixed to the transmission sleeve, the height of the fixing part is adjusted so that the main body abuts against the transmission sleeve, and the end of the fixing part away from the main body abuts against the bottom surface of the transmission groove.

[0016] This allows the crimping component to avoid interference with the output shaft during disassembly, simplifying the disassembly process and preventing damage to the transmission groove due to collision.

[0017] As an optional implementation, the crimping member includes an arcuate portion, which is arranged along the axial direction of the output shaft with the fixing portion; the arcuate portion is at least used to abut against the outer peripheral surface of the output shaft.

[0018] This configuration enhances the stability between the output shaft and the crimping component, thereby improving the stability between the output shaft and the transmission sleeve and reducing loosening of the connection caused by vibration or impact.

[0019] As an optional implementation, the transmission sleeve is provided with a insertion groove; when the main body is fixed to the transmission sleeve, at least a portion of the main body is located in the insertion groove.

[0020] The main body is located in the insertion slot, and the height of the crimping component can be set to be low, which can reduce the material cost and weight of the crimping component.

[0021] As an optional implementation, the main body abuts against the side wall of the insertion slot in the axial direction of the output shaft;

[0022] When the main body is not fixed to the transmission sleeve, the main body moves in the insertion groove along the radial direction of the output shaft, and the fixed part can move closer to or further away from the bottom surface of the transmission groove along the radial direction of the output shaft.

[0023] This design ensures that the fixing part is in close contact with the bottom surface of the transmission groove, thereby reducing the rotational clearance between the transmission sleeve and the output shaft and improving the transmission accuracy of the output shaft.

[0024] As an optional implementation, the crimping member is provided with at least one fixing member, the extension direction of which is perpendicular to the axial direction of the output shaft;

[0025] The fastener passes through the crimping member and through the bottom surface of the insertion groove.

[0026] This design makes the crimping parts easy to install and remove. It also facilitates the assembly and disassembly of the crimping parts when their height needs adjustment.

[0027] As an optional implementation, the number of fasteners is set to two, and the arrangement direction of the two fasteners is perpendicular to the extension direction of the transmission groove;

[0028] This allows for a more uniform force between the crimping component and the transmission sleeve, reducing localized stress concentration in the crimping component and extending its service life.

[0029] The crimping component is equipped with a weight-reducing section, which is located between the two fixing components.

[0030] The weight-reducing section lowers the weight of the crimping components, thereby reducing the overall weight of the surgical robot and improving its operational efficiency. Furthermore, the weight-reducing section is located between the two fixing components, ensuring it does not adversely affect the direction of force on the fixing components.

[0031] As an alternative implementation, the transmission sleeve can be moved axially relative to the output shaft;

[0032] Along the axial direction of the output shaft, the width of the transmission groove is greater than the thickness of the fixed part.

[0033] This allows the transmission sleeve to move axially relative to the output shaft, increasing the functionality of the transmission sleeve and thus increasing the flexibility and functionality of the drive box.

[0034] Another aspect of this application provides a surgical robot, including a drive box and an instrument box as described above, wherein a transmission sleeve is connected to the instrument box.

[0035] This application provides a surgical robot comprising a drive unit and an instrument unit. As mentioned above, the output accuracy of the drive unit can be improved. The drive unit is directly or indirectly connected to the instrument unit via a transmission sleeve, which can enhance the surgical operation accuracy of the surgical robot. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram showing the connection between the driver box and the instrument box provided in an embodiment of this application;

[0038] Figure 2 This is a schematic diagram of the structure of the driver box provided in an embodiment of this application;

[0039] Figure 3 for Figure 2 A schematic diagram of the transmission sleeve in the middle;

[0040] Figure 4 for Figure 2 A schematic diagram of the output shaft in the diagram;

[0041] Figure 5 for Figure 2 A schematic diagram of the structure of the crimping component in the middle;

[0042] Figure 6 A side view of the transmission sleeve provided in an embodiment of this application;

[0043] Figure 7 for Figure 6 A full sectional view of the transmission sleeve along AA;

[0044] Figure 8 for Figure 2 Side view of the driver box in the middle;

[0045] Figure 9 for Figure 8 Full sectional view of the drive box along BB;

[0046] Figure 10 for Figure 9 A magnified view of a portion of position A in the middle.

[0047] Explanation of reference numerals in the attached figures:

[0048] 10-Driver Box;

[0049] 11-Transmission sleeve;

[0050] 111-Mounting hole; 112-Through opening; 113-Matching slot;

[0051] 12-Output shaft;

[0052] 121-Transmission groove;

[0053] 13-Crimp fitting;

[0054] 131-Main body; 132-Fixing part; 133-Curved part; 134-Weight-reducing part;

[0055] 14-Factors;

[0056] 15-Elastic component;

[0057] 16-Shell;

[0058] 17-Drive components;

[0059] 20 - Instrument box. Detailed Implementation

[0060] As described in the background section, minimally invasive surgery offers advantages over traditional surgical methods, including less trauma, less pain, and faster recovery. However, the limitations imposed by the incision size on minimally invasive instruments significantly increase the difficulty of the procedure, and the fatigue and tremors experienced by surgeons during prolonged operations are amplified. These factors have become key constraints on the development of minimally invasive surgical techniques. With the advancement of robotics technology, minimally invasive surgical robots have emerged.

[0061] The minimally invasive surgical robot includes a movable console and a robotic arm. Surgeons can control the robotic arm's movement via the console to perform surgical procedures. A drive unit is located at the distal end of the robotic arm, and the drive unit and instrument box are detachably connected. Surgical instruments (e.g., endoscopes, clamps, etc.) are attached to the end of the instrument box. The drive unit controls the surgical instruments connected to the instrument box to perform surgical operations. The drive unit contains a drive assembly, which includes a drive component, an output shaft, and a transmission sleeve. The drive component connects to the output shaft, outputting torque to the output shaft to rotate the transmission sleeve. Finally, the torque is output to the instrument box via the transmission sleeve, or connected to other components via the transmission sleeve.

[0062] However, due to assembly and machining tolerances, the rotational clearance between the transmission sleeve and the output shaft is relatively large. When the actuator of the robotic arm is driven by the instrument box to perform surgical operations, the rotational error of the transmission sleeve in the drive box is large, and the output accuracy of the transmission sleeve in the drive box is poor.

[0063] In view of the above problems, the present application provides a drive box for a surgical robot. The drive box includes a housing, a drive component, an output shaft, and a transmission sleeve. The drive component is disposed within the housing, and the transmission sleeve has a mounting hole and a through-hole, with the through-hole communicating with the mounting hole. The output shaft passes through the mounting hole and has a transmission groove, which is opposite to the through-hole. The drive box also includes a crimping component, which includes a connected main body and a fixing part. The main body is detachably connected to the transmission sleeve, and the fixing part passes through the through-hole into the transmission groove, abutting against the bottom surface of the transmission groove. When the main body of the crimping component abuts against the transmission sleeve, the fixing part passes through the through-hole into the transmission groove, abutting against the bottom surface of the transmission groove, thereby minimizing the rotational clearance between the transmission sleeve and the output shaft. This configuration allows the output shaft and the transmission sleeve to rotate synchronously, improving the output accuracy of the drive box and thus enhancing the surgical operation accuracy of the surgical robot.

[0064] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0065] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0066] The surgical robot in this embodiment includes a master robot and a slave robot. The master robot receives the surgeon's instructions and converts these instructions or signals before transmitting them to the slave robot. The surgeon controls the master robot, and the slave robot performs surgical operations according to the control signals from the master robot. The drive box provided in this embodiment is used in the slave robot. It should be noted that the surgical robot provided in this embodiment is a minimally invasive surgical robot used for minimally invasive surgical procedures; further details are not elaborated upon here.

[0067] Reference Figure 1 and Figure 2As shown in the embodiment of this application, the surgical robot includes a drive box 10 and an instrument box 20.

[0068] The drive box 10 includes a housing 16, a drive component 17, a transmission sleeve 11, and an output shaft 12. The housing 16 is used to protect the parts of the drive box 10 located inside the housing 16 and prevent them from being damaged.

[0069] The drive unit 17 is housed within the housing 16 and provides power. The drive unit 17 can be directly connected to the output shaft 12, or it can be connected to the output shaft 12 via a gear set or other components. The drive unit 17 is connected to the transmission sleeve 11 via the output shaft 12, driving the transmission sleeve 11 to rotate. The drive box 10 is directly or indirectly connected to the instrument box 20 via the transmission sleeve 11.

[0070] For example, the drive unit 17 can be configured as a motor. The drive unit 17 can be connected to the output shaft 12 via a coupling. The drive unit 17 drives the transmission sleeve 11 connected to the output shaft 12 to rotate via the output shaft 12.

[0071] The transmission sleeve 11 may be provided with gear teeth. These gear teeth mesh with other gears, thereby causing the transmission sleeve 11 to drive the other gears to rotate, which can increase the functionality of the transmission sleeve 11. It should be noted that the axis of the gear teeth on the transmission sleeve 11 is defined as the axis of the transmission sleeve 11.

[0072] For ease of understanding, such as Figure 1 As shown, the direction of the axis of the transmission sleeve 11 is defined as the X direction of the drive box 10.

[0073] Reference Figure 3 As shown, the transmission sleeve 11 is provided with a mounting hole 111, which is a through hole arranged around the axis of the transmission sleeve 11. The output shaft 12 passes through the mounting hole 111 to realize torque transmission of the output shaft 12. For example, the dimensions of the output shaft 12 and the mounting hole 111 are designed to match to realize torque transmission, preventing the output shaft 12 or the mounting hole 111 from being too large or too small, which would cause the output shaft 12 to be unable to drive the transmission sleeve 11 to rotate.

[0074] The transmission sleeve 11 is provided with a through port 112. The through port 112 communicates with the mounting hole 111 and extends radially along the transmission sleeve 11. The through port 112 connects the outside of the transmission sleeve 11 with the mounting hole 111 so that the crimping member 13 can enter through the through port 112 and abut against the output shaft 12.

[0075] For example, the transmission sleeve 11 can be made of metal material by machining on a machine tool. This ensures that the transmission sleeve 11 has high precision, thereby improving the transmission accuracy of the transmission sleeve 11.

[0076] Reference Figure 4As shown, the output shaft 12 is provided with a transmission groove 121, which is positioned opposite to the through-hole 112. That is, when the output shaft 12 passes through the mounting hole 111, the positions of the transmission groove 121 and the through-hole 112 correspond so that the crimping member 13 abuts against the transmission groove 121 of the output shaft 12 through the through-hole 112.

[0077] In some embodiments, the transmission sleeve 11 can be moved axially relative to the output shaft 12, which can improve the functionality of the transmission sleeve 11. For example, when surgical operations are not required, moving the transmission sleeve 11 axially along the output shaft 12 facilitates the disengagement of components such as the transmission shaft located outside the drive box 10 that are connected to the transmission sleeve 11, preventing the drive box 10 and the surgical robot from operating when not needed.

[0078] In some embodiments, when the bearing is mounted on the output shaft 12, a step is machined on the output shaft 12 to limit the inner ring of the bearing. This configuration can be used to axially limit the output shaft 12 and ensure smooth rotation of the output shaft 12.

[0079] Reference Figure 5 As shown, the drive box 10 includes a crimping member 13. The crimping member 13 includes a main body 131 and a fixing part 132 connected together. The main body 131 is the main part of the crimping member 13, and the fixing part 132 is the functional part of the crimping member 13. The main body 131 is detachably connected to the transmission sleeve 11. For example, the main body 131 and the transmission sleeve 11 can be connected by various methods such as threaded connection, snap-fit ​​connection, and quick-release interface connection. The connection method needs to be selected according to the actual application scenario and space. This application embodiment does not limit this.

[0080] In some embodiments, without affecting the strength and function of the crimping member 13, the crimping member 13 is provided with a weight-reducing portion 134. The weight-reducing portion 134 can reduce the weight of the crimping member 13, making the surgical robot lighter. This configuration reduces the cost of the crimping member 13 and reduces the energy consumption of the drive box 10 during operation. For example, the weight-reducing portion 134 can be reduced by removing material and machining structures such as holes, grooves, and hollows on the crimping member 13.

[0081] In some embodiments, when the main body 131 of the crimping member 13 abuts against the transmission sleeve 11, the fixing part 132 passes through the through-hole 112 into the transmission groove 121, and the fixing part 132 abuts against the bottom surface of the transmission groove 121, so that the rotational clearance between the transmission sleeve 11 and the output shaft 12 is small. This arrangement allows the output shaft 12 to rotate synchronously with the transmission sleeve 11, improving the output accuracy of the drive box 10, thereby enhancing the surgical operation accuracy of the surgical robot.

[0082] The extension direction of the transmission groove 121 is perpendicular to the axial direction of the output shaft 12. That is, the extension direction of the transmission groove 121 is along the radial direction of the output shaft 12. For example, the transmission groove 121 can be manufactured by milling the outer surface of the output shaft 12 radially, which simplifies the manufacturing process and reduces the manufacturing cost.

[0083] When the crimping part 13 is installed with the transmission sleeve 11, the main body 131 is not fixed to the transmission sleeve 11. The main body 131 can approach the output shaft 12 radially, and the fixing part 132 can approach the bottom surface of the transmission groove 121 radially. This allows the fixing part 132 to be inserted into the transmission groove 121 radially on the output shaft 12, thereby achieving radial fixation of the output shaft 12, reducing rotational backlash, and improving the transmission accuracy of the drive box 10. Furthermore, this makes the relevant dimensions of the mating surfaces of the fixing part 132 and the transmission groove 121 easier to design and process, reducing the fitting error between the fixing part 132 and the transmission groove 121, and improving the accuracy of the fixing part 132 and the transmission groove 121.

[0084] In some embodiments, the bottom of the transmission groove 121 may be configured as a plane. This configuration makes the bottom of the transmission groove 121 easier to manufacture and process, and also facilitates the contact between the fixing part 132 and the bottom of the transmission groove 121. The plane where the fixing part 132 contacts the bottom of the transmission groove 121 may also be configured as a plane. Similarly, this reduces irregularities in the plane, thereby improving the stability and transmission accuracy between the fixing part 132 and the transmission groove 121.

[0085] When the crimping member 13 is disassembled from the transmission sleeve 11, the main body 131 is not fixed to the transmission sleeve 11. The main body 131 can move away from the output shaft 12 radially, and the fixing part 132 can move away from the bottom surface of the transmission groove 121 radially. This allows the crimping member 13 to avoid interference with the output shaft 12 during disassembly, simplifying the disassembly steps and preventing damage to the transmission groove 121 due to collision.

[0086] When the main body 131 is fixed to the transmission sleeve 11, the main body 131 abuts against the transmission sleeve 11, which can ensure the stability of the crimping part 13 during operation and prevent failures caused by loosening or falling off the crimping part 13.

[0087] The fixing part 132 abuts against the bottom of the transmission groove 121 of the output shaft 12. The height of the fixing part 132 is defined as the dimension along the radial direction of the output shaft 12. The height of the fixing part 132 can be adjusted. During the actual installation of the crimping member 13, if the height of the fixing part 132 is too high or too low, the crimping member 13 and the output shaft 12 will not meet the installation requirements. Therefore, by adjusting the height of the fixing part 132, the height of the fixing part 132 is made to meet the installation requirements, so that the crimping member 13 and the output shaft 12 can meet the installation requirements.

[0088] For example, the height of the fixed part 132 can be adjusted by manual grinding, which is flexible and suitable for small-batch or customized products. Manual grinding does not require high-precision equipment, and this adjustment method is low-cost. The height of the fixed part 132 can also be machined and adjusted using high-precision machine tools (such as CNC machine tools, grinding machines, etc.). The fixed part 132 can be adjusted with high precision and efficiency, making it suitable for mass production or applications requiring high efficiency. This helps to ensure the consistency and stability of the machining quality of the fixed part 132.

[0089] In some embodiments, the plane of the fixing part 132 that abuts against the bottom of the transmission groove 121 is provided on the pressing member 13, along with the main body 131. When adjusting the height of the fixing part 132, it is necessary to adjust the overall height of the pressing member 13.

[0090] When the main body 131 is not fixed to the transmission sleeve 11, the height of the fixing part 132 can be adjusted to improve the adaptability of the pressing part 13. When the main body 131 is fixed to the transmission sleeve 11, the main body 131 abuts against the transmission sleeve 11, and the end of the fixing part 132 away from the main body 131 abuts against the bottom surface of the transmission groove 121. This allows adjustment of the rotational clearance between the transmission sleeve 11 and the output shaft 12, thereby improving the transmission accuracy of the drive box 10.

[0091] Reference Figure 2 and Figure 5 As shown, the crimping member 13 includes an arc-shaped portion 133, which can be used to limit the output shaft 12. The arc-shaped portion 133 can be made by removing material from the crimping member 13, which is a low-difficulty manufacturing process.

[0092] The fixing part 132 abuts against the bottom of the transmission groove 121 of the output shaft 12. Along the axial direction of the output shaft 12, that is, along the X direction, the fixing part 132 and the arc-shaped part 133 are arranged sequentially. The side of the fixing part 132 facing the arc-shaped part 133 can move relative to the side of the transmission groove 121. Specifically, the side of the transmission groove 121 can move along the X direction or in the opposite direction of the X direction with the output shaft 12. During the movement of the output shaft 12, when the side of the transmission groove 121 coincides with the side of the fixing part 132 facing the arc-shaped part 133, the transmission groove 121 cannot continue to move in the opposite direction of the X direction, thereby restricting the reverse movement of the output shaft 12 in the X direction.

[0093] Similarly, the side of the crimping member 13 facing away from the arc-shaped portion 133 is also provided with an arc-shaped groove (not shown in the figure). Along the X direction, the arc-shaped groove, the fixing portion 132, and the arc-shaped portion 133 are arranged in sequence. The arc-shaped groove can be similar to the arc-shaped portion 133, used to limit the output shaft 12 along the X direction. During the movement of the output shaft 12, when the side of the fixing portion 132 facing the arc-shaped groove coincides with the other side of the transmission groove 121, the transmission groove 121 cannot continue to move along the X direction, thereby restricting the movement of the output shaft 12 along the X direction and achieving axial limiting of the output shaft 12.

[0094] In some embodiments, the arcuate portion 133 abuts against the outer peripheral surface of the output shaft 12, which can enhance the stability between the output shaft 12 and the pressing member 13, thereby enhancing the stability between the output shaft 12 and the transmission sleeve 11 and reducing connection loosening caused by vibration or impact. By abutting against each other, the gap between the arcuate portion 133 and the output shaft 12 can be reduced, improving the transmission accuracy and efficiency of the output shaft 12.

[0095] In other embodiments, there is a gap between the arc-shaped portion 133 and the outer peripheral surface of the output shaft 12, which reduces the wear between the output shaft 12 and the pressing member 13 at the arc-shaped portion 133, facilitates the movement of the output shaft 12 in the X direction, and ensures the functionality of the output shaft 12.

[0096] Reference Figure 2 , Figure 6 and Figure 7 As shown, the transmission sleeve 11 is provided with a insertion groove 113, which is arranged sequentially with the gear teeth along the X direction. When the main body 131 is fixed to the transmission sleeve 11, at least a portion of the main body 131 is located within the insertion groove 113. When the transmission sleeve 11 does not have an insertion groove 113, the crimping member 13 needs to be set at a relatively high height so that the fixing part 132 can abut against the bottom of the transmission groove 121 of the output shaft 12. Therefore, since the main body 131 is partially located within the insertion groove 113, the height of the crimping member 13 can be set lower, reducing the material cost and weight of the crimping member 13.

[0097] The main body 131 is configured to cooperate with the insertion slot 113, allowing the crimping member 13 to be embedded in the insertion slot 113, reducing the obtrusiveness of the crimping member 13 and improving the aesthetics of the drive box 10. This makes the crimping member 13 and the transmission sleeve 11 more compact, reducing the axial dimension of the drive box 10, saving internal space of the drive box 10, and improving the space utilization rate of the drive box 10.

[0098] Reference Figure 2 and Figure 5 As shown, the crimping member 13 is provided with one or more fixing members 14. The fixing members 14 are used to fix the crimping member 13 to the transmission sleeve 11, so that the fixing part 132 of the crimping member 13 abuts against the bottom of the transmission groove 121. For example, the fixing member 14 can be a common fixing member such as a bolt, screw, or pin. The extension direction of the fixing member 14 is perpendicular to the axial direction of the output shaft 12. This arrangement makes the crimping member 13 easier to install and remove. When the height of the crimping member 13 needs to be adjusted, the crimping member 13 is easy to install and remove.

[0099] In some embodiments, to reduce the abruptness of the fastener 14, some material can be removed from the crimping member 13. In this way, when the fastener 14 is installed in place, the fastener 14 occupies the space of the crimping member 13 where some material has been removed, improving the aesthetics of the crimping member 13 after installation and making the fit between the crimping member 13 and the transmission sleeve 11 tight.

[0100] A fixing member 14 passes through the crimping member 13 and the bottom surface of the insertion groove 113, so that the crimping member 13 is fixedly connected to the transmission sleeve 11. For example, a through hole is provided on the crimping member 13, and a threaded hole is provided on the transmission sleeve 11 at a position corresponding to the through hole. The fixing member 14 is a bolt. The fixing member 14 passes through the through hole of the crimping member 13 and engages with the threaded hole of the transmission sleeve 11, thereby fixing the crimping member 13 to the transmission sleeve 11. The through holes are located on both sides of the fixing part 132 of the crimping member 13, so that when the fixing part 132 is fixed to the transmission sleeve 11, the crimping member 13 is subjected to more uniform force, extending the service life of the crimping member 13.

[0101] Specifically, the number of fasteners 14 can be set to two. Two fasteners 14, compared to a single fastener 14, can enhance the stability of the connection between the crimping member 13 and the transmission sleeve 11. If multiple fasteners 14 are provided on the crimping member 13, it will occupy more space and increase manufacturing costs. The arrangement direction of the two fasteners 14 is perpendicular to the extension direction of the transmission groove 121. This allows for a more uniform force between the crimping member 13 and the transmission sleeve 11, reducing local stress concentration in the crimping member 13 and extending its service life.

[0102] In some embodiments, while ensuring the function of the crimping member 13, the weight-reducing portion 134 is located between the two fixing members 14. The weight-reducing portion 134 can reduce the weight of the crimping member 13, thereby reducing the weight of the surgical robot and improving the operating efficiency of the surgical robot. Blind holes may be machined into the crimping member 13 along the X direction. The weight-reducing portion 134 is perpendicular to the mounting direction of the fixing members 14 and located between the two fixing members 14, so that the weight-reducing portion 134 does not adversely affect the force direction of the fixing members 14.

[0103] Reference Figure 7 , Figure 8 and Figure 9 As shown, the main body 131 abuts against the side wall of the insertion groove 113 along the axial direction of the output shaft 12. During torque transmission, the main body 131 will not move along the axial direction of the output shaft 12 due to vibration or impact, ensuring the accuracy and reliability of the transmission. This arrangement also eliminates gaps between the press-fit part 13 and the insertion groove 113 of the transmission sleeve 11, preventing the weight-reducing part 134 from being exposed and improving the aesthetics of the drive box 10.

[0104] For example, the main body 131 is provided with a chamfer. When the crimping member 13 is installed into the insertion groove 113 of the transmission sleeve 11, this avoids the crimping member 13 from colliding with the side of the insertion groove 113 and causing cracks, which would result in the crimping member 13 breaking and becoming unusable.

[0105] During the disassembly or installation of the crimping member 13 and the transmission sleeve 11, the main body 131 is not fixed to the transmission sleeve 11. The main body 131 moves radially along the output shaft 12 within the insertion groove 113, facilitating the adjustment of the relative position between the crimping member 13 and the transmission sleeve 11. When the relative position between the crimping member 13 and the transmission sleeve 11 can be adjusted, the fixing part 132 can move radially toward or away from the bottom surface of the transmission groove 121 to ensure that the fixing part 132 is in close contact with the bottom surface of the transmission groove 121, thereby reducing the rotational clearance between the transmission sleeve 11 and the output shaft 12 and improving the transmission accuracy of the output shaft 12.

[0106] The drive box 10 also includes an elastic element 15, which is sleeved on the output shaft 12. When an external force is applied to the output end of the transmission sleeve 11, the transmission sleeve 11 moves in the X direction, and the elastic element 15 compresses to generate an elastic force, thus buffering the transmission sleeve 11 and reducing the impact of the transmission sleeve 11 on the output shaft 12. When the external force is removed from the output end of the transmission sleeve 11, the elastic force of the elastic element 15 causes the transmission sleeve 11 to move in the opposite direction in the X direction, allowing the transmission sleeve 11 to automatically reset and improving the functionality of the transmission sleeve 11. For example, the elastic element 15 can be a spring or other similar component.

[0107] Reference Figure 10As shown, the distance between the two sides of the transmission groove 121 is defined as the width L1 of the transmission groove 121. The distance between the side of the fixing part 132 facing the arcuate part 133 and the side facing the arcuate groove is defined as the thickness L2 of the fixing part 132. Along the axial direction of the output shaft 12, the width L1 of the transmission groove 121 is greater than the thickness L2 of the fixing part 132, so that the transmission sleeve 11 can move axially relative to the output shaft 12, increasing the functionality of the transmission sleeve 11, and thus increasing the flexibility and functionality of the drive box 10.

[0108] This application provides a surgical robot, which includes a drive box 10 and an instrument box 20. A motor outputs torque to an output shaft 12, which drives a transmission sleeve 11 to rotate. When the main body 131 of the crimping member 13 abuts against the transmission sleeve 11, a fixing part 132 passes through a through-hole 112 into a transmission groove 121, and abuts against the bottom surface of the transmission groove 121 to reduce the rotational clearance between the transmission sleeve 11 and the output shaft 12, allowing the output shaft 12 and the transmission sleeve 11 to rotate synchronously. The transmission sleeve 11 can also move axially relative to the output shaft 12. The transmission sleeve 11 of the drive box 10 is directly or indirectly connected to the instrument box 20. Surgical instruments (e.g., endoscopes, clamps, etc.) are mounted at the end of the instrument box 20. The drive box controls the surgical instruments connected to the instrument box 20 to perform surgical operations via the transmission sleeve 11.

[0109] It should be noted that the surgical robot provided in this application embodiment may include all the technical solutions and technical effects of the drive box 10 described above, which will not be repeated here.

[0110] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0111] In the description of this invention, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0112] Unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can be a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A drive box for a surgical robot, characterized in that, The device includes a housing (16), a drive component (17), an output shaft (12), and a transmission sleeve (11). The drive component (17) is disposed inside the housing (16) and is connected to the transmission sleeve (11) via the output shaft (12). The transmission sleeve (11) is provided with a mounting hole (111) and a through-hole (112), and the through-hole (112) communicates with the mounting hole (111). The output shaft (12) passes through the mounting hole (111) and is provided with a transmission groove (121), which is opposite to the through-hole (112). It also includes a crimping component (13), which includes a connected main body (131) and a fixing part (132). The main body (131) is detachably connected to the transmission sleeve (11). The fixing part (132) passes through the through-hole (112) into the transmission groove (121). The fixing part (132) abuts against the bottom surface of the transmission groove (121) to reduce the rotational clearance between the transmission sleeve (11) and the output shaft (12). The crimping member (13) includes an arc-shaped portion (133), which is arranged along the axial direction of the output shaft (12) with the fixing portion (132); the arc-shaped portion (133) is at least used to abut against the outer peripheral surface of the output shaft (12).

2. The drive box for the surgical robot according to claim 1, characterized in that, The extension direction of the transmission groove (121) is perpendicular to the axial direction of the output shaft (12); When the main body (131) is not fixed to the transmission sleeve (11), the main body (131) may move closer to or further away from the output shaft (12) in the radial direction, and the fixing part (132) may move closer to or further away from the bottom surface of the transmission groove (121) in the radial direction of the output shaft (12).

3. The drive box for the surgical robot according to claim 2, characterized in that, When the main body (131) and the transmission sleeve (11) are fixed, the main body (131) and the transmission sleeve (11) abut against each other; The height of the fixing part (132) is adjustable along the radial direction of the output shaft (12); The fixing part (132) is configured such that when the main body (131) is not fixed to the transmission sleeve (11), the height of the fixing part (132) is adjusted so that the main body (131) abuts against the transmission sleeve (11), and one end of the fixing part (132) away from the main body (131) abuts against the bottom surface of the transmission groove (121).

4. The drive box for the surgical robot according to claim 1, characterized in that, The transmission sleeve (11) is provided with a insertion groove (113); when the main body (131) is fixed to the transmission sleeve (11), at least a portion of the main body (131) is located in the insertion groove (113).

5. The drive box for the surgical robot according to claim 4, characterized in that, In the axial direction of the output shaft (12), the main body (131) abuts against the side wall of the insertion slot (113); When the main body (131) is not fixed to the transmission sleeve (11), the main body (131) moves in the insertion groove (113) along the radial direction of the output shaft (12), and the fixing part (132) can move closer to or further away from the bottom surface of the transmission groove (121) along the radial direction of the output shaft (12).

6. The drive box for the surgical robot according to claim 5, characterized in that, The crimping member (13) is provided with at least one fixing member (14), the extension direction of the fixing member (14) being perpendicular to the axial direction of the output shaft (12); The fastener (14) passes through the crimping member (13) and the fastener (14) passes through the bottom surface of the insertion groove (113).

7. The drive box for the surgical robot according to claim 6, characterized in that, The number of the fixing members (14) is set to two, and the arrangement direction of the two fixing members (14) is perpendicular to the extension direction of the transmission groove (121); The crimping member (13) is provided with a weight-reducing part (134), which is located between the two fixing members (14).

8. The drive unit of the surgical robot according to any one of claims 1-7, characterized in that, The transmission sleeve (11) is axially movable relative to the output shaft (12); Along the axial direction of the output shaft (12), the width of the transmission groove (121) is greater than the thickness of the fixing part (132).

9. A surgical robot, characterized in that, Includes a drive box (10) and an instrument box (20) of the surgical robot as described in any one of claims 1-8, wherein the transmission sleeve (11) is connected to the instrument box (20).

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