Instrument boxes, surgical instruments and surgical robots

Abstract

This application relates to an instrument box, surgical instruments, and a surgical robot. The instrument box includes: a housing having a receiving cavity; a lifting member movably disposed on the housing, with at least a portion of the lifting member located on the outer wall of the housing; and an assembly structure disposed on the outer wall of the housing. The assembly structure has an assembly area. The lifting member is configured such that, in an initial state, it is located on the side of the assembly area near the receiving cavity; and when transitioning from the initial state to a lifted state, the lifting member moves away from the receiving cavity and passes through the assembly area until the surface of the lifting member on the side away from the housing passes through the assembly area. Thus, when the instrument box needs to be disassembled, the lifting member can be lifted, and during this lifting process, it passes through the assembly area of ​​the assembly structure, thereby separating the assembled components from the assembly area. This allows for rapid disassembly of the instrument box and improves the assembly efficiency of the surgical robot.

Description

Technical Field

[0001] This application relates to the field of medical surgical equipment technology, and in particular to an instrument box, surgical instruments and surgical robots. Background Technology

[0002] Single-port laparoscopic surgery robots control multi-degree-of-freedom surgical arms to precisely guide end-effectors and lenses to the surgical site along desired paths, enabling minimally invasive laparoscopic surgery. The instrument housing acts as a bridge connecting the surgical arms and the power unit. It needs to quantitatively transmit motor rotation to the end-effector joints of the surgical arms, enabling motor-controlled arm movement while ensuring sufficient positioning accuracy and load capacity. Furthermore, the instrument housing needs to connect to components such as sterile adapters and power devices. However, existing instrument housings cannot be quickly disassembled, resulting in low assembly efficiency for the surgical robot. Summary of the Invention

[0003] Therefore, it is necessary to provide an instrument box, surgical instruments, and surgical robot to address at least one of the above problems.

[0004] To achieve the above objectives, in a first aspect, embodiments of this application provide an instrument box for surgical instruments, the instrument box comprising:

[0005] The shell has a receiving cavity;

[0006] A lifting member is movably disposed on the housing, and at least a portion of the structure of the lifting member is located on the outer wall of the housing;

[0007] An assembly structure is disposed on the outer wall of the housing; the assembly structure has an assembly area.

[0008] The lifting member is configured such that, in the initial state, the lifting member is located on the side of the assembly area close to the receiving cavity; when transitioning from the initial state to the lifted state, the lifting member moves away from the receiving cavity and passes through the assembly area until the surface of the lifting member on the side away from the housing passes through the assembly area.

[0009] In one embodiment, the instrument box further includes:

[0010] The first assembly is disposed within the receiving cavity; the lifting member is slidably disposed on the first assembly.

[0011] The drive assembly is connected to the lifting member via a transmission.

[0012] In one embodiment, the driving component includes:

[0013] A crank-slider mechanism is disposed within the receiving cavity; the crank-slider mechanism has a driving end and an output end; the output end is connected to the lifting member and moves along a first direction; the driving end moves along a second direction perpendicular to the first direction;

[0014] The pressing part is movably disposed on the housing and connected to the driving end.

[0015] In one embodiment, the crank-slider mechanism includes:

[0016] The movable part is connected to the pressing part;

[0017] The first connecting rod is hinged at one end to the movable part and at the other end to the lifting part;

[0018] The second connecting rod is hinged at one end to the movable part and at the other end to the first assembly.

[0019] The movable component is the driving end of the crank-slider mechanism, and the hinge end of the first connecting rod and the lifting component is the output end of the crank-slider mechanism.

[0020] In one embodiment, the instrument box further includes a first elastic member disposed within the receiving cavity and connected to the lifting member; the first elastic member is used to reset the lifting member.

[0021] And / or, the instrument box further includes a second elastic element disposed between the first assembly and the pressing part, the second elastic element being used to reset the pressing part.

[0022] In one embodiment, the instrument box further includes a split-type frame disposed within the receiving cavity, the split-type frame comprising:

[0023] The first and second frames are spaced apart; and

[0024] A connecting post is disposed between the first frame and the second frame; wherein both the first frame and the second frame are detachably connected to the connecting post.

[0025] In one embodiment, the instrument box further includes:

[0026] A hinge assembly is disposed on the split frame, and a drive rope is mounted on the hinge assembly;

[0027] A winding wheel assembly is disposed on the split frame; wherein the drive rope is also wound on the winding wheel assembly.

[0028] In one embodiment, the instrument box further includes a first tensioning assembly disposed on the split frame, the first tensioning assembly being used to tension the drive rope.

[0029] In one embodiment, the first tensioning component includes:

[0030] The tensioning seat is slidably mounted on the split frame;

[0031] A tensioning element is disposed on the tensioning seat; the tensioning seat and the tensioning element form a rope threading area for threading the drive rope.

[0032] An adjusting component is disposed on the split frame and connected to the tensioning seat; the adjusting component is used to adjust the position of the tensioning seat.

[0033] In one embodiment, the adjusting member is a lead screw, and the connecting post is provided with a threaded hole, through which the lead screw passes.

[0034] In one embodiment, the winding wheel assembly includes:

[0035] Multiple stacked wheel discs, each wheel disc equipped with at least one pulley; the drive rope is wound around the pulley; and

[0036] A fixing pin is inserted into the plurality of discs.

[0037] In one embodiment, the wheel is provided with a shaft hole; the winding wheel assembly further includes:

[0038] A wheel axle is inserted into the axle hole, and the pulley is sleeved on the wheel axle;

[0039] A sleeve is fitted onto the axle and passes through the axle hole;

[0040] A sealing element is inserted into the shaft hole and located on the side of the sleeve away from the pulley.

[0041] In one embodiment, the instrument box further includes a rotary mechanism disposed on the split frame, the rotary mechanism being used to connect to the instrument arm of the surgical instrument.

[0042] In one embodiment, the rotary mechanism includes:

[0043] A drive shaft, on which a drive gear is mounted;

[0044] A drive shaft, on which a first drive gear and a second drive gear are provided, the first drive gear meshing with the driving gear;

[0045] A driven shaft is provided with a driven gear, which meshes with the second transmission gear;

[0046] The centerline of the drive shaft is parallel to the centerline of the transmission shaft, and the centerline of the driven shaft intersects the centerline of the transmission shaft; both the second transmission gear and the driven gear are bevel gears.

[0047] In one embodiment, the rotary mechanism includes:

[0048] drive shaft;

[0049] A drive shaft is connected to the drive shaft; a flexible rod is provided between the drive shaft and the drive shaft, one end of the flexible rod is connected to the drive shaft and the other end is connected to the drive shaft;

[0050] A driven shaft is drivingly connected to the drive shaft; a transmission element is wound around both the driven shaft and the drive shaft;

[0051] The centerline of the drive shaft intersects with the centerline of the transmission shaft, and the centerline of the transmission shaft is parallel to the centerline of the driven shaft.

[0052] In one embodiment, the instrument box further includes a second tensioning assembly connected to the split frame: the second tensioning assembly includes:

[0053] Split-type guide component, with multiple guide grooves;

[0054] A telescopic joint is disposed within the guide groove; the telescopic joint has an assembly cavity for accommodating the joint of the drive rope.

[0055] In one embodiment, the second tensioning assembly further includes a strain sensor disposed on the telescopic joint.

[0056] Secondly, embodiments of this application provide a surgical instrument, which includes the instrument box in any embodiment of the first aspect.

[0057] Thirdly, embodiments of this application provide a surgical robot that includes the surgical instruments described in the second aspect.

[0058] The instrument box, surgical instruments, and surgical robot provided in this application embodiment utilize a lifting member on the exterior of the instrument box housing. This allows the lifting member to be raised when the instrument box needs to be disassembled. During this process, the lifting member passes through the assembly area of ​​the assembly structure, thereby disassembling the assembly components from the assembly area. This enables rapid disassembly of the instrument box and improves the assembly efficiency of the surgical robot. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 This is a schematic diagram of the structure of an instrument box provided in one embodiment of this application.

[0061] Figure 2 for Figure 1 An exploded view of the instrument box shown.

[0062] Figure 3 for Figure 1 The diagram shows the internal structure of the instrument box.

[0063] Figure 4 for Figure 1 The diagram shows the lifting mechanism, assembly structure, and assembly diagram of the second frame of the instrument box.

[0064] Figure 5 for Figure 1 The diagram shows the structure of the lifting mechanism of the device.

[0065] Figure 6 for Figure 1 The diagram shows the structural schematic of the split frame of the instrument box.

[0066] Figure 7 for Figure 1 The diagram shows the assembly of the hinge assembly, winding wheel assembly, first frame, and second frame of the instrument box.

[0067] Figure 8 for Figure 1 The diagram shows the assembly of the first tensioning component and the second frame of the instrument box.

[0068] Figure 9 for Figure 8 Exploded view.

[0069] Figure 10 for Figure 8 The first tension component in the diagram is shown.

[0070] Figure 11 Figure 1 A partial structural diagram of the second tensioning assembly of the instrument box shown.

[0071] Figure 12 for Figure 11The diagram shows the assembly of the telescopic joint and strain sensor of the second tensioning assembly.

[0072] Figure 13 for Figure 12 A cross-sectional schematic diagram.

[0073] Figure 14 for Figure 11 The diagram shows the structure of the split guide component of the second tensioning assembly.

[0074] Figure 15 for Figure 1 A schematic diagram of one structure of the rotating mechanism of the instrument box shown.

[0075] Figure 16 for Figure 15 Exploded view.

[0076] Figure 17 for Figure 1 Another schematic diagram of the rotating mechanism of the instrument box shown.

[0077] Figure 18 for Figure 17 A partial structural schematic diagram of the rotary mechanism shown.

[0078] Figure 19 for Figure 17 The diagram shows the assembly of the drive shaft, transmission shaft, and flexible rod of the rotary mechanism.

[0079] Figure 20 for Figure 7 The diagram shows the assembly of the hinge assembly and the winding wheel assembly.

[0080] Figure 21 for Figure 20 The diagram shows the structure of the winding wheel assembly.

[0081] Figure 22 for Figure 21 Exploded view.

[0082] Figure 23 for Figure 21 A partial structural diagram.

[0083] Figure 24 for Figure 23 Assembly diagram of the central shaft, pulley and sleeve.

[0084] Figure label:

[0085] 10. Instrument box; 11. Housing; 11a. Receiving cavity; 111. Pressing hole; 12. Lifting mechanism; 121. Lifting component; 122. First assembly; 123. Drive assembly; 1231. Crank-slider mechanism; 12311. Moving component; 12312. First connecting rod; 12313. Second connecting rod; 1232. Pressing part; 124. First elastic element; 125. Second elastic element; 13. Assembly structure; 13a. Assembly area; 14. Split frame; 141. First frame; 142. Second frame; 143. Connecting column; 15. Hinge assembly; 151. Hinge; 16. Winding wheel assembly; 161. Wheel disc; 1611. Shaft hole; 162. Pulley; 163. Fixing pin; 164. Wheel axle; 165. Sleeve; 17. Drive rope; 171. 172. First rope end; 181. Second rope end; 181. First tensioning assembly; 181a. Rope threading area; 1811. Tensioning seat; 1812. Tensioning element; 1813. Adjusting element; 182. Second tensioning assembly; 1821. Split guide element; 18211. Guide groove; 18212. Guide hole; 1822. Telescopic joint; 1822a. Assembly cavity; 18221. First connecting element; 18222. Second connecting element; 1823. Strain sensor; 19. Rotary mechanism; 191. Drive shaft; 192. Drive gear; 193. Transmission shaft; 194. First transmission gear; 195. Second transmission gear; 196. Driven shaft; 197. Driven gear; 198. Flexible rod; 199. Transmission element; 1910. Upper bearing seat; 1911. Lower bearing seat. Detailed Implementation

[0086] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0087] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0088] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0089] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0090] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0091] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0092] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, in this specification, the term “and / or” includes any and all combinations of the associated listed items.

[0093] Firstly, referring to Figure 1 , Figure 2 and Figure 3 As shown, this application embodiment provides an instrument box 10 for surgical instruments. The instrument box 10 includes a housing 11, a lifting member 121, and an assembly structure 13. The housing 11 has a receiving cavity 11a. Exemplarily, the housing 11 may include an upper housing and a lower housing, which are assembled to form the housing 11. The lifting member 121 is movably disposed on the housing 11, and at least a portion of the structure of the lifting member 121 is located on the outer wall of the housing 11. The assembly structure 13 is disposed on the outer wall of the housing 11, and the assembly structure 13 has an assembly area 13a.

[0094] The lifting member 121 is configured such that, in the initial state, the lifting member 121 is located on the side of the assembly area 13a close to the receiving cavity 11a. When transitioning from the initial state to the lifted state, the lifting member 121 moves away from the receiving cavity 11a and passes through the assembly area 13a until the surface of the lifting member 121 on the side away from the housing 11 passes through the assembly area 13a.

[0095] Here, it should be noted that assembly structure 13 refers to a structure provided on the housing 11 for assembly with other components. For example, assembly structure 13 can be a structure for assembly with a sterile adapter. It can be understood that, taking a sterile adapter as an example, in the initial state, the sterile adapter and instrument box 10 are assembled through assembly structure 13 via the lifting member 121. When it is necessary to disassemble the sterile adapter from the instrument box 10, the lifting member 121 can be activated, causing it to transition from the initial state to a lifted state, i.e., the lifting member 121 is lifted. During the lifting process, the lifting member 121 passes through the assembly area 13a, pushing the sterile adapter away from the assembly area 13a, thereby achieving disassembly.

[0096] The instrument box 10 provided in this embodiment of the application has a lifting member 121 provided on the outside of the shell 11 of the instrument box 10. In this way, when it is necessary to disassemble the instrument box 10, the lifting member 121 can be lifted up. During the lifting process, the lifting member 121 can pass through the assembly area 13a of the assembly structure 13, thereby lifting the assembly components out of the assembly area 13a. Compared with the conventional method of manually disassembling the instrument box 10, this embodiment of the application can realize the rapid disassembly of the instrument box 10, improving the assembly efficiency of the surgical robot.

[0097] It is understood that the lifting component 121 can be a manually controlled structural component, for example, the lifting component 121 can be moved by pushing (or pulling) by hand.

[0098] In one embodiment, reference Figure 4 and Figure 5As shown, the instrument box 10 also includes a first mounting component 122 and a drive assembly 123. The first mounting component 122 is disposed within the receiving cavity 11a, and the lifting member 121 is slidably disposed on the first mounting component 122. The drive assembly 123 is drively connected to the lifting member 121.

[0099] Here, "transmission connection" means that the drive assembly 123 can transmit power to the lifting member 121, causing the lifting member 121 to move. By providing the drive assembly 123, it is convenient to drive the lifting member 121. For example, the drive assembly 123 can be an electric drive or a hydraulic drive, and the electric drive can be an electric actuator, an electric cylinder, etc.

[0100] In one embodiment, reference Figure 4 and Figure 5 As shown, the drive assembly 123 includes a crank-slider mechanism 1231 and a pressing part 1232. The crank-slider mechanism 1231 is disposed within the receiving cavity 11a. The crank-slider mechanism 1231 has a drive end and an output end. The output end is connected to the lifting member 121 and moves along a first direction X. The drive end moves along a second direction Y perpendicular to the first direction X. The pressing part 1232 is movably disposed on the housing 11 and connected to the drive end.

[0101] Thus, when the instrument box 10 needs to be disassembled, force can be applied to the pressing part 1232 along the second direction Y. The pressing part 1232 drives the driving end to move along the second direction Y, thereby driving the output end to move along the first direction X, and then causing the lifting member 121 to move along the first direction X. It should be noted here that the movement of the lifting member 121 along the first direction X can realize the "lifting" and "retracting" movements.

[0102] By setting up the crank-slider mechanism 1231 and the pressing part 1232, on the one hand, the drive assembly 123 has fewer parts and a simpler structure, reducing the manufacturing and assembly difficulty of the drive assembly 123; on the other hand, the drive assembly 123 can be driven by pressing the pressing part 1232, thereby activating the lifting member 121, making the activation process of the lifting member 121 less labor-intensive.

[0103] It is understandable that a pressing hole 111 may be provided on the housing 11, and the pressing part 1232 is located inside the pressing hole 111.

[0104] In one embodiment, the crank-slider mechanism 1231 includes a movable member 12311, a first connecting rod 12312, and a second connecting rod 12313. Specifically, the movable member 12311 is connected to the pressing part 1232. One end of the first connecting rod 12312 is hinged to the movable member 12311, and the other end is hinged to the lifting member 121. One end of the second connecting rod 12313 is hinged to the movable member 12311, and the other end is hinged to the first assembly 122. The movable member 12311 is the driving end of the crank-slider mechanism 1231, and the hinged end of the first connecting rod 12312 with the lifting member 121 is the output end of the crank-slider mechanism 1231.

[0105] The above configuration can reduce the number of parts in the crank-slider mechanism 1231, thereby simplifying the structure of the crank-slider mechanism 1231 and making it easier to manufacture and assemble.

[0106] In one example, the first link 12312 is hinged to the movable part 12311 via a hinge axis (not shown in the figure), the first link 12312 is hinged to the lifting part 121 via a hinge axis, the second link 12313 is hinged to the movable part 12311 via a hinge axis, and the second link 12313 is hinged to the first assembly 122 via a hinge axis.

[0107] In one embodiment, reference Figure 4 and Figure 5 As shown, the instrument box 10 also includes a first elastic element 124, which is disposed within the receiving cavity 11a and connected to the lifting element 121. The first elastic element 124 is used to reset the lifting element 121.

[0108] In this way, when the lifting member 121 is lifted, the elastic force of the first elastic member 124 can drive the lifting member 121 to retract and achieve reset.

[0109] Specifically, the first elastic element 124 can be a spring or a sheet. The extension direction of the first elastic element 124 is parallel to the movement direction of the lifting element 121. One end of the first elastic element 124 is connected to the lifting element 121, and the other end is connected to the component in the receiving cavity 11a.

[0110] In one embodiment, the instrument box 10 further includes a second elastic member 125, which is disposed between the first mounting part 122 and the pressing part 1232, and is used to reset the pressing part 1232.

[0111] In this way, when the pressing part 1232 is pressed, the elastic force of the second elastic member 125 can drive the pressing part 1232 to reset.

[0112] Specifically, the second elastic element 125 can be a spring or a sheet. The extension direction of the second elastic element 125 is parallel to the movement direction of the pressing part 1232. One end of the second elastic element 125 is connected to the pressing part 1232, and the other end is connected to the first assembly 122.

[0113] In one embodiment, reference Figure 6 As shown, the instrument box 10 also includes a split frame 14 disposed within the receiving cavity 11a. The split frame 14 includes a first frame 141, a second frame 142, and a connecting post 143. The first frame 141 and the second frame 142 are spaced apart, and the connecting post 143 is disposed between the first frame 141 and the second frame 142. Furthermore, both the first frame 141 and the second frame 142 are detachably connected to the connecting post 143.

[0114] It should be noted that the split frame 14 in this application embodiment has at least the following advantages compared with the integral frame in the traditional technology: First, during manufacturing, the first frame 141, the second frame 142 and the connecting column 143 can be manufactured separately, which not only reduces the manufacturing difficulty, but also helps to ensure higher processing accuracy; Second, the split structure makes it easy to assemble other components of the receiving cavity 11a onto the split frame 14.

[0115] For example, the connecting post 143 can be a bolt or screw, and the first frame 141 and the second frame 142 can be provided with threaded holes for assembling the connecting post 143.

[0116] In one embodiment, reference Figure 7 As shown, the instrument box 10 also includes a hinge assembly 15 and a winding wheel assembly 16. Specifically, the hinge assembly 15 is disposed on the split frame 14, and a drive rope 17 is mounted on the hinge assembly 15. The winding wheel assembly 16 is disposed on the split frame 14. Furthermore, the drive rope 17 is also wound around the winding wheel assembly 16.

[0117] Understandably, the drive rope 17 can be guided by the winding wheel assembly 16 and then transmitted to the end effector of the surgical instrument. There are usually multiple drive ropes 17, and different drive ropes 17 perform different driving functions. The winding wheel assembly 16 can improve the phenomenon of mutual interference and entanglement between different drive ropes 17.

[0118] In one example, refer to Figure 20 As shown, the hinge assembly 15 may include a plurality of hinges 151, which can be mounted on the split frame 14. Each hinge 151 may correspond to a drive rope 17.

[0119] In one embodiment, reference Figure 8As shown, the instrument box 10 also includes a first tensioning assembly 181 disposed on the split frame 14, the first tensioning assembly 181 being used to tension the drive rope 17.

[0120] It should be noted that during the use of surgical instruments, the tension of the drive cord 17 at the proximal end of the instrument arm is much greater than that at the distal end. After several surgeries, the drive cord 17 at the proximal end of the instrument arm is more prone to slackening, causing the flexible section of the entire instrument arm to become soft and its stiffness to decrease significantly, even affecting the normal use of the surgical instrument. This embodiment of the application, by providing a first tensioning component 181 for tensioning the drive cord 17 on the split frame 14, can effectively improve the problem of the drive cord 17 at the proximal end of the instrument arm being prone to slackening, thereby improving the performance of the surgical instrument.

[0121] In one embodiment, reference Figure 8 , Figure 9 and Figure 10 As shown, the first tensioning assembly 181 includes a tensioning seat 1811, a tensioning element 1812, and an adjusting element 1813. The tensioning seat 1811 is slidably mounted on the split frame 14. The tensioning element 1812 is mounted on the tensioning seat 1811. The tensioning seat 1811 and the tensioning element 1812 form a rope-threading area 181a for threading the drive rope 17. The adjusting element 1813 is mounted on the split frame 14 and connected to the tensioning seat 1811. The adjusting element 1813 is used to adjust the position of the tensioning seat 1811.

[0122] In this way, by adjusting the position of the tensioning seat 1811 through the adjusting component 1813, the spatial position of the rope threading area 181a can be changed, thereby causing the position of the drive rope 17 to change, achieving the purpose of tensioning the drive rope 17. The above configuration makes the structure of the first tensioning component 181 simple, easy to assemble, and easy to adjust.

[0123] In one embodiment, the adjusting member 1813 is a lead screw, and the connecting post 143 is provided with a threaded hole, through which the lead screw passes. In this way, on the one hand, the connecting post 143 of the split frame 14 is used for adjustment, further simplifying the structure of the first tensioning assembly 181; on the other hand, setting the adjusting member 1813 as a lead screw makes it easier for the operator to operate the tensioning drive rope 17.

[0124] In one embodiment, reference Figure 3 and Figure 11As shown, the instrument case 10 also includes a second tensioning assembly 182 connected to the split frame 14. Specifically, the second tensioning assembly 182 can be connected between the instrument case 10 and the instrument arm of the surgical instrument. The drive cable 17 in the instrument case 10 is transmitted to the end effector of the surgical instrument after passing through the second tensioning assembly 182. By providing the second tensioning assembly 182, it is easier to tension the drive cable 17, improve the driving accuracy of the surgical instrument arm, and thus improve the performance of the surgical instrument arm.

[0125] Specifically, refer to Figure 11 , Figure 12 , Figure 13 and Figure 14 As shown, the second tensioning assembly 182 includes a split guide 1821 and a telescopic joint 1822. The split guide 1821 has multiple guide grooves 18211, and the telescopic joint 1822 is disposed within the guide grooves 18211. The telescopic joint 1822 has an assembly cavity 1822a for accommodating the connector of the drive rope 17.

[0126] It should be noted that each guide groove 18211 may be provided with a corresponding telescopic joint 1822, which is used to connect the same drive rope 17. Specifically, the same drive rope 17 may have two joints, which are assembled in the assembly cavity 1822a of the telescopic joint 1822. By adjusting the telescopic state of the telescopic joint 1822, the tension of the drive rope 17 can be achieved.

[0127] In one embodiment, the retractable joint 1822 includes a first connector 18221 and a second connector 18222 connected to each other. Further, the first connector 18221 and the second connector 18222 are threaded together, forming an assembly cavity 1822a. The assembly cavity 1822a has rope holes (not shown in the figure) at opposite ends. The first rope end 171 and the second rope end 172 of the drive rope 17 are engaged in the assembly cavity 1822a and pass through the rope holes respectively. By rotating the first connector 18221 (or the second connector 18222), the relative positions of the first connector 18221 and the second connector 18222 change, thereby changing the size of the assembly cavity 1822a, which in turn changes the positions of the first rope end 171 and the second rope end 172, thus achieving the purpose of adjusting the tension of the drive rope 17.

[0128] Specifically, when the first connector 18221 (or the second connector 18222) is tightened, the space in the assembly cavity 1822a decreases, and the first rope end 171 and the second rope end 172 move towards each other, thereby tensioning the drive rope 17. When the first connector 18221 (or the second connector 18222) is loosened, the space in the assembly cavity 1822a increases, and the first rope end 171 and the second rope end 172 move away from each other, thereby slackening the drive rope 17.

[0129] In one example, during the initial installation of the second tensioning assembly 182, the threads of the first connector 18221 and the second connector 18222 are only screwed in halfway. During subsequent maintenance, the first connector 18221 (or the second connector 18222) can be tightened further to achieve secondary tensioning of the drive rope 17. The amount of secondary tension can be recorded by measuring the number of rotations of the first connector 18221 (or the second connector 18222).

[0130] In one embodiment, the split guide 1821 may include two mutually mating guide bodies (not shown in the figure), each guide body having a guide groove 18211. The two guide bodies are assembled to form the split guide 1821. It is understood that by providing the split guide 1821, it is convenient to process and assemble the second tensioning assembly 182.

[0131] In one example, the split guide 1821 can be made of plastic. In another example, the split guide 1821 can be made of metal or alloy, and furthermore, the surface of the split guide 1821 can be coated with a lubricating material.

[0132] Furthermore, the split guide member 1821 is also provided with a guide hole 18212, which penetrates the split guide member 1821 along its axial direction. The guide hole 18212 can be used to thread the drive rope 17 through.

[0133] In one example, the guide groove 18211 is disposed on the outer wall of the split guide member 1821. Further, the guide groove 18211 can be a strip groove, and the wall surface of the strip groove can be an arc surface. Further, the arc angle of the arc surface is not less than 180 degrees.

[0134] In one embodiment, the second tensioning assembly 182 further includes a strain sensor 1823, which is disposed on the telescopic joint 1822. Specifically, the strain sensor 1823 can be attached to the first connector 18221 or the second connector 18222. It is understood that when the second tensioning assembly 182 is tensioned, the tension of the drive rope 17 can be transmitted to the first connector 18221 or the second connector 18222, causing deformation of the first connector 18221 or the second connector 18222. The strain sensor 1823 obtains the tension force by detecting the deformation of the first connector 18221 or the second connector 18222.

[0135] In this way, when tensioning the drive rope 17, the tension force can be obtained through the strain sensor 1823, which makes it easy for the operator to make precise adjustments to the drive rope 17.

[0136] For example, strain sensor 1823 may be a resistive strain sensor, and further, the resistive strain sensor may be a wire resistance strain gauge or a foil resistance strain gauge.

[0137] In one embodiment, the first connector 18221 or the second connector 18222 may be wrapped with a sheet, on which the strain sensor 1823 is wrapped. Exemplarily, the sheet comprises two semi-circular pieces. The sheet can be removed when the second tensioning assembly 182 needs to be disassembled, and then restored after maintenance.

[0138] In one embodiment, the instrument box 10 further includes a rotation mechanism 19 disposed on the split frame 14, the rotation mechanism 19 being used to connect to the instrument arm of the surgical instrument.

[0139] It should be noted that by setting a rotating mechanism 19 on the split frame 14 and connecting the surgical instrument arm to the rotating mechanism 19, the entire instrument arm can be rotated, while also allowing the instrument arm to have a certain tilt angle.

[0140] In one embodiment, reference Figure 3 , Figure 15 and Figure 16 As shown, the rotary mechanism 19 includes a drive shaft 191, a transmission shaft 193, and a driven shaft 196. Specifically, a drive gear 192 is mounted on the drive shaft 191. A first transmission gear 194 and a second transmission gear 195 are mounted on the transmission shaft 193, with the first transmission gear 194 meshing with the drive gear 192. A driven gear 197 is mounted on the driven shaft 196, with the driven gear 197 meshing with the second transmission gear 195.

[0141] The centerline of the drive shaft 191 is parallel to the centerline of the transmission shaft 193, while the centerline of the driven shaft 196 intersects with the centerline of the transmission shaft 193. Both the second transmission gear 195 and the driven gear 197 are bevel gears.

[0142] In this way, the motor drives the drive shaft 191 to rotate, the drive shaft 191 drives the drive gear 192 to rotate, the drive gear 192 drives the first transmission gear 194 to rotate, the first transmission gear 194 drives the transmission shaft 193 to rotate, the transmission shaft 193 drives the second transmission gear 195 to rotate, the second transmission gear 195 drives the driven gear 197 to rotate, the driven gear 197 drives the driven shaft 196 to rotate, and the power is transmitted to the instrument arm through the driven shaft 196. This configuration allows the power from the drive shaft 191 to the driven shaft 196 even when the instrument arm has a certain tilt angle.

[0143] In one embodiment, the slewing mechanism 19 further includes an upper bearing housing 1910 and a lower bearing housing 1911, which can be assembled using fasteners. Exemplarily, the fasteners can be pins or screws. Specifically, one of the upper bearing housing 1910 and the lower bearing housing 1911 is mounted on the split frame 14.

[0144] It should be noted that the driving gear 192, the first transmission gear 194, the second transmission gear 195, and the driven gear 197 are equivalent to three sets of gears. Among them, the driving gear 192 is a separate set, the first transmission gear 194 and the second transmission gear 195 are a separate set, and the driven gear 197 is a separate set.

[0145] In one example, the first transmission gear 194 and the second transmission gear 195 are stacked together, positioned by two pins, and connected by two screws. The first transmission gear 194 is a spur gear, and the second transmission gear 195 is a bevel gear with a predetermined cone angle, such as 5°. It is understood that the predetermined angle can be adjusted accordingly based on the overall assembly dimensions of the instrument box 10.

[0146] Furthermore, shims can be installed between the first transmission gear 194 and the lower bearing housing 1911, or between the second transmission gear 195 and the upper bearing housing 1910, to adjust the meshing backlash. Both spur gears and bevel gears require backlash elimination treatment. Backlash elimination can be achieved using conventional gear backlash elimination methods. For example, for spur gears, the meshing backlash can be controlled by adjusting the displacement coefficient and the mounting center distance, or it can be eliminated by using double-layered gears with a torsion spring. For bevel gears, the meshing backlash can be controlled by adjusting the mounting distance, or it can be eliminated by deforming the flexible gear.

[0147] In one example, the drive gear 192 may be provided with a zero-position limiting hole (not shown) and a limiting pin hole (not shown). When the end effector is in the zero-degree rotation position, inserting a pin into the zero-position limiting hole can lock the zero-degree rotation position; removing the pin releases the lock. When a pin is inserted into the limiting pin hole, the drive gear 192 is restricted from moving to a specific position. For example, the lower bearing housing 1911 is provided with an annular groove (not shown). When a pin is inserted into the limiting pin hole, the other end of the pin rotates within the annular groove. When the drive gear 192 moves to a position of ±175 degrees, the drive gear 192 is restricted from moving. Through the transmission ratio of the three sets of gears, the driven gear 197 (machine arm) can achieve a limit of ±270 degrees.

[0148] In this embodiment, the rotation of the instrument arm is achieved by setting a gear set. On the one hand, the gear set provides the transmission ratio required for the rotation of the instrument arm; on the other hand, the meshing clearance of the spur gears and bevel gears in the gear set can be adjusted, which helps to reduce rotation deviation and thus improve rotation accuracy.

[0149] In one embodiment, reference Figure 17 , Figure 18 and Figure 19 As shown, the rotary mechanism 19 includes a drive shaft 191, a transmission shaft 193, and a driven shaft 196. Specifically, the transmission shaft 193 is drive-connected to the drive shaft 191. A flexible rod 198 is provided between the drive shaft 191 and the transmission shaft 193, with one end of the flexible rod 198 connected to the drive shaft 191 and the other end connected to the transmission shaft 193. The driven shaft 196 is drive-connected to the transmission shaft 193, wherein a transmission element 199 is wound around both the driven shaft 196 and the transmission shaft 193. Exemplarily, the transmission element 199 can be a transmission rope, a transmission belt, or a synchronous toothed belt. The flexible rod 198 can be a rod with a certain rigidity and a certain flexibility. Exemplarily, the flexible rod 198 can be a rod made of nickel-titanium wire.

[0150] Furthermore, the centerline of the drive shaft 191 intersects the centerline of the transmission shaft 193, and the centerline of the transmission shaft 193 is parallel to the centerline of the driven shaft 196.

[0151] In this way, the motor drives the drive shaft 191 to rotate, the drive shaft 191 drives the flexible rod 198 to rotate, the flexible rod 198 drives the transmission shaft 193 to rotate, and the transmission shaft 193 drives the driven shaft 196 to rotate through the transmission component 199, and transmits power to the instrument arm through the driven shaft 196. The above configuration allows the power on the drive shaft 191 to be transmitted to the driven shaft 196 even when the instrument arm has a certain tilt angle.

[0152] Understandably, the flexible rod 198 can be bent at a certain angle and can transmit torque while bent. It should be noted that the number of flexible rods 198 can be one or more.

[0153] In one example, the rotary mechanism 19 includes seven flexible rods 198 made of nickel-titanium wire, one of which is positioned at the very center, and the other six are evenly distributed around the circumference. The diameter of the flexible rod 198 at the center is larger than the diameter of the other six flexible rods 198. This arrangement allows the flexible rods 198 to transmit torque more effectively and stably.

[0154] In one embodiment, reference Figure 21 and Figure 22 As shown, the winding wheel assembly 16 includes a plurality of stacked wheel discs 161 and fixing pins 163, wherein the plurality of wheel discs 161 are connected by fixing pins 163. Further, the fixing pins 163 pass through the plurality of wheel discs 161. Each wheel disc 161 is equipped with at least one pulley 162, and the drive rope 17 is wound around the pulley 162.

[0155] This embodiment of the application uses multiple stacked discs 161, with at least one pulley 162 on each disc 161. Compared to the integrated chassis in conventional technology, this reduces the assembly difficulty of the pulleys 162.

[0156] In one embodiment, reference Figure 23 and Figure 24 As shown, the wheel 161 has a shaft hole 1611. The winding wheel assembly 16 also includes a wheel axle 164, a sleeve 165, and a sealing element (not shown). Specifically, the wheel axle 164 passes through the shaft hole 1611, and the sleeve 165 is fitted onto the wheel axle 164 and passes through the shaft hole 1611. The pulley 162 is fitted onto the wheel axle 164. The sealing element fills the shaft hole 1611 and is located on the side of the sleeve 165 away from the pulley 162. Exemplarily, the sealing element can be hot melt adhesive or a rubber ring.

[0157] In this way, when assembling the wheel 161, the pulley 162 and the axle 164 can be assembled first, and the axle 164 can be inserted into the shaft hole 1611. Then, the sleeve 165 is inserted from the outside of the shaft hole 1611 and fitted onto the axle 164. Finally, the hole in the base of the pulley 162 is plugged with a sealing piece to prevent the sleeve 165 from coming out. In this way, it can be ensured that the pulley 162 will not easily fall off after the winding wheel assembly 16 is assembled.

[0158] Secondly, embodiments of this application provide a surgical instrument, which includes the instrument box 10 in any embodiment of the first aspect.

[0159] Specifically, the surgical instrument also includes an instrument arm, which is assembled and connected to the instrument box 10.

[0160] The surgical instruments provided in this application embodiment have a lifting member 121 provided outside the housing 11 of the instrument box 10. In this way, when it is necessary to disassemble the instrument box 10, the lifting member 121 can be lifted up. During the lifting process, the lifting member 121 can pass through the assembly area 13a of the assembly structure 13, thereby pushing the assembly components away from the assembly area 13a. In this way, the instrument box 10 can be quickly disassembled, improving the assembly efficiency of the surgical instruments.

[0161] Thirdly, embodiments of this application provide a surgical robot that includes the surgical instruments described in the second aspect.

[0162] The surgical robot provided in this application embodiment has a lifting member 121 provided on the outside of the shell 11 of the instrument box 10. In this way, when it is necessary to disassemble the instrument box 10, the lifting member 121 can be lifted up. During the lifting process, the lifting member 121 can pass through the assembly area 13a of the assembly structure 13, thereby lifting the assembly components from the assembly area 13a. In this way, the instrument box 10 can be quickly disassembled, improving the assembly efficiency of the surgical robot.

[0163] In the description of this specification, the references to terms such as "some embodiments," "other embodiments," "ideal embodiments," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example that are included in at least one embodiment or example of this application. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0164] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features of the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0165] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An instrument case for surgical instruments, characterized in that, The instrument box (10) includes: The housing (11) has a receiving cavity (11a); A lifting member (121) is movably disposed on the housing (11), and at least a portion of the structure of the lifting member (121) is located on the outer wall of the housing (11); An assembly structure (13) is disposed on the outer wall of the housing (11); the assembly structure (13) has an assembly area (13a); The lifting member (121) is configured such that, in the initial state, the lifting member (121) is located on the side of the assembly area (13a) close to the receiving cavity (11a); when transitioning from the initial state to the lifted state, the lifting member (121) moves away from the receiving cavity (11a) and passes through the assembly area (13a) until the surface of the lifting member (121) on the side away from the housing (11) passes through the assembly area (13a); The instrument box (10) also includes: The first assembly (122) is disposed within the receiving cavity (11a); the lifting member (121) is slidably disposed on the first assembly (122); The drive assembly (123) is connected to the lifting member (121) in a transmission manner; The driving component (123) includes: A crank-slider mechanism (1231) is disposed within the receiving cavity (11a); the crank-slider mechanism (1231) has a driving end and an output end; the output end is connected to the lifting member (121) and moves along a first direction; the driving end moves along a second direction perpendicular to the first direction; The pressing part (1232) is movably disposed on the housing (11) and connected to the driving end; The crank-slider mechanism (1231) includes: The movable part (12311) is connected to the pressing part (1232); The first connecting rod (12312) is hinged at one end to the movable part (12311) and at the other end to the lifting part (121); The second link (12313) is hinged at one end to the movable part (12311) and at the other end to the first assembly (122); The movable part (12311) is the driving end of the crank-slider mechanism (1231), and the hinge end of the first connecting rod (12312) and the lifting part (121) is the output end of the crank-slider mechanism (1231).

2. The instrument box according to claim 1, characterized in that, The instrument box (10) further includes a first elastic element (124), which is disposed in the receiving cavity (11a) and connected to the lifting element (121); the first elastic element (124) is used to reset the lifting element (121); And / or, the instrument box (10) further includes a second elastic element (125) disposed between the first assembly (122) and the pressing part (1232), the second elastic element (125) being used to reset the pressing part (1232).

3. The instrument box according to claim 1, characterized in that, The instrument box (10) further includes a split frame (14) disposed within the receiving cavity (11a), the split frame (14) comprising: The first frame (141) and the second frame (142) are spaced apart; and A connecting post (143) is disposed between the first frame (141) and the second frame (142); wherein the first frame (141) and the second frame (142) are detachably connected to the connecting post (143).

4. The instrument box according to claim 3, characterized in that, The instrument box (10) also includes: A hinge assembly (15) is disposed on the split frame (14), and a drive rope (17) is mounted on the hinge assembly (15); A winding wheel assembly (16) is disposed on the split frame (14); wherein the drive rope (17) is also wound on the winding wheel assembly (16).

5. The instrument box according to claim 4, characterized in that, The instrument box (10) also includes a first tensioning assembly (181) disposed on the split frame (14), the first tensioning assembly (181) being used to tension the drive rope (17).

6. The instrument box according to claim 5, characterized in that, The first tensioning assembly (181) includes: Tensioner seat (1811) is slidably mounted on the split frame (14); Tensioner (1812) is disposed on tensioner seat (1811); tensioner seat (1811) and tensioner (1812) form a rope threading area (181a) for threading the drive rope (17); An adjusting member (1813) is disposed on the split frame (14) and connected to the tensioning seat (1811); the adjusting member (1813) is used to adjust the position of the tensioning seat (1811).

7. The instrument box according to claim 6, characterized in that, The adjusting component (1813) is a lead screw, and the connecting column (143) is provided with a threaded hole, through which the lead screw passes.

8. The instrument box according to claim 4, characterized in that, The winding wheel assembly (16) includes: A plurality of stacked discs (161), each disc (161) being equipped with at least one pulley (162); the drive rope (17) is wound around the pulley (162); and A fixing pin (163) is inserted into the plurality of discs (161).

9. The instrument box according to claim 8, characterized in that, The wheel (161) is provided with a shaft hole (1611); the winding wheel assembly (16) further includes: A wheel axle (164) is inserted into the axle hole (1611), and a pulley (162) is sleeved on the wheel axle (164); A sleeve (165) is fitted onto the axle (164) and passes through the shaft hole (1611); A sealing element is filled in the shaft hole (1611) and located on the side of the sleeve (165) away from the pulley (162).

10. The instrument box according to claim 4, characterized in that, The instrument box (10) also includes a rotary mechanism (19) disposed on the split frame (14), the rotary mechanism (19) being used to connect with the instrument arm of the surgical instrument.

11. The instrument box according to claim 10, characterized in that, The rotary mechanism (19) includes: A drive shaft (191) is provided with a drive gear (192); A drive shaft (193) is provided with a first drive gear (194) and a second drive gear (195), wherein the first drive gear (194) meshes with the drive gear (192); Driven shaft (196), on which a driven gear (197) is provided, the driven gear (197) meshing with the second transmission gear (195); The centerline of the drive shaft (191) is parallel to the centerline of the transmission shaft (193), and the centerline of the driven shaft (196) intersects the centerline of the transmission shaft (193); the second transmission gear (195) and the driven gear (197) are both bevel gears.

12. The instrument box according to claim 10, characterized in that, The rotary mechanism (19) includes: Drive shaft (191); A drive shaft (193) is connected to the drive shaft (191) in a drive-drive manner; a flexible rod (198) is provided between the drive shaft (191) and the drive shaft (193), one end of the flexible rod (198) is connected to the drive shaft (191), and the other end is connected to the drive shaft (193); Driven shaft (196) is connected to drive shaft (193); drive element (199) is wound around driven shaft (196) and drive shaft (193); The centerline of the drive shaft (191) intersects with the centerline of the transmission shaft (193), and the centerline of the transmission shaft (193) is parallel to the centerline of the driven shaft (196).

13. The instrument box according to claim 4, characterized in that, The instrument box (10) further includes a second tensioning assembly (182) connected to the split frame (14): the second tensioning assembly (182) includes: The split guide component (1821) is provided with multiple guide grooves (18211); A telescopic joint (1822) is disposed within the guide groove (18211); the telescopic joint (1822) has an assembly cavity (1822a) for accommodating the joint of the drive rope (17).

14. The instrument box according to claim 13, characterized in that, The second tensioning assembly (182) also includes a strain sensor (1823) disposed on the telescopic joint (1822).

15. A surgical instrument, characterized in that, Includes the instrument box (10) as described in any one of claims 1-14.

16. A surgical robot, characterized in that, Includes the surgical instruments as described in claim 15.

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