Driving device and single-hole surgical robot

Abstract

The invention relates to a driving device. The driving device comprises a mounting frame, a driving assembly and a transmission assembly. The driving assembly is mounted on the mounting frame; the transmission shaft assembly is mounted on the mounting frame and spaced from the driving assembly in the first direction, and the transmission shaft assembly is in transmission connection with the driving assembly; wherein the transmission shaft assembly is used for being in transmission connection with a surgical instrument of the single-hole surgical robot in the second direction, and an angle is formed between the second direction and the first direction; when the driving assembly rotates around the axis of the driving assembly, the transmission shaft assembly can drive a surgical instrument of the single-hole surgical robot to rotate around the rotating axis of the surgical instrument. Due to the fact that the surgical instrument and the driving assembly are separated in the second direction, the size of the whole single-hole surgical robot at the surgical instrument in the second direction is smaller, the occupied space is smaller, the flexibility of the single-hole surgical robot in the operation process is high, and the surgical precision can be effectively guaranteed; meanwhile, the appearance of the whole single-hole surgical robot can be more attractive.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a drive device and a single-port surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. With the development of medical technology, single-port surgical robots are being used more and more widely in more minimally invasive surgical fields, such as in the field of abdominal surgery. However, the existing single-port surgical robots have poor flexibility during operation, which makes it difficult to effectively ensure the accuracy of the operation. Summary of the invention

[0003] Based on this, it is necessary to provide a driving device to address the problems that the current single-port surgical robot has poor flexibility during operation and the accuracy of the surgery is difficult to effectively ensure.

[0004] A driving device, comprising:

[0005] Mounting frame;

[0006] A drive assembly, wherein the drive assembly is mounted on the mounting frame;

[0007] A transmission shaft assembly, the transmission shaft assembly is mounted on the mounting frame and is spaced apart from the driving assembly along a first direction, and the transmission shaft assembly is in transmission connection with the driving assembly;

[0008] Among them, the transmission shaft assembly is used for transmission connection with the surgical instrument of the single-port surgical robot in the second direction, and the second direction is set at an angle to the first direction; when the driving assembly rotates around its own axis, the transmission shaft assembly can drive the surgical instrument of the single-port surgical robot to rotate around its own rotation axis.

[0009] In one embodiment, the dimension h of the transmission shaft assembly along its own axis direction is 1 Requirements:

[0010] 50mm≤h 1 ≤60mm.

[0011] In one embodiment, the transmission shaft assembly includes a fixed shaft and a rotating shaft that are rotatably connected to each other; the fixed shaft is fixedly connected to the mounting frame, and the fixed shaft is configured with a receiving cavity for the cable to pass through; the rotating shaft is sleeved on the outer circumference of the fixed shaft, and the rotating shaft is used to be fixedly connected to the surgical instrument of the single-port surgical robot;

[0012] When the driving component rotates around its own rotation axis, it can drive the rotation shaft to rotate around itself, so that the surgical instrument of the single-port surgical robot rotates around its own rotation axis.

[0013] In one embodiment, the driving device further includes a first transmission member, wherein the first transmission member is connected between the rotating shaft and the driving assembly, and the first transmission member is used to transmit the power of the driving assembly to the rotating shaft.

[0014] In one embodiment, the outer periphery of the rotating shaft is configured with first meshing teeth, the first transmission member is configured with second meshing teeth, and the first meshing teeth mesh with the second meshing teeth.

[0015] In one embodiment, the first transmission member is a conveyor belt, which is arranged along the first direction and is tensioned around the outer periphery of the fixed shaft and the outer periphery of the power output end of the driving assembly, and the second meshing teeth are configured on the inner ring of the conveyor belt;

[0016] The outer periphery of the power output end of the driving assembly is configured with third meshing teeth, and the third meshing teeth are meshed with the second meshing teeth.

[0017] In one embodiment, the first transmission member is respectively provided with a first transmission gear and a second transmission gear at two ends along the first direction, the first transmission gear is provided with a second meshing tooth, and the second transmission gear is provided with a fourth meshing tooth;

[0018] The outer periphery of the power output end of the driving assembly is configured with third meshing teeth, and the third meshing teeth are meshed with the fourth meshing teeth.

[0019] In one of the embodiments, the drive assembly includes a drive member and a second transmission member;

[0020] The second transmission member is sleeved and fixed on the power output end of the driving member, and the third meshing teeth are constructed on the second transmission member.

[0021] The present application also provides a single-port surgical robot, comprising the driving device described in any one of the above embodiments, and also comprising a surgical instrument, wherein the surgical instrument is transmission-connected to the driving assembly and can solve at least one of the above technical problems.

[0022] In one of the embodiments, it further includes a mounting base; the mounting base is mounted on the transmission shaft assembly, and a plurality of assembly stations arranged at intervals are constructed on the mounting base, and each of the assembly stations is used to install one of the surgical instruments.

[0023] In one of the embodiments, the single-port surgical robot further comprises a C-arm and a trolley system;

[0024] The C-arm is installed on the trolley system, and the mounting frame is installed on the C-arm.

[0025] In one embodiment, the single-port surgical robot further comprises a multi-channel puncture device, and the multi-channel puncture device is mounted on the C-arm;

[0026] The surgical instruments all include a sliding assembly and a flexible driving rod; the sliding assembly is installed on the assembly station, one end of the flexible driving rod is connected to the sliding assembly, and the other end of the flexible driving rod is connected to the multi-channel puncture device.

[0027] When the above-mentioned driving device is installed on the single-port surgical robot, since the transmission shaft assembly and the driving assembly of the single-port surgical robot are spaced apart along the first direction, and the transmission assembly is transmission-connected to the surgical instrument of the single-port surgical robot in the second direction, the first direction and the second direction are spaced apart, which is equivalent to separating the surgical instrument and the driving assembly in the second direction, thereby making the size of the entire single-port surgical robot at the surgical instrument along the second direction smaller, so the occupied space is also smaller, which not only makes the single-port surgical robot more flexible during operation and can effectively ensure the accuracy of the operation; it also makes the appearance of the entire single-port surgical robot more beautiful. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of a driving device provided in one embodiment of the present application installed on a single-port surgical robot.

[0029] Figure 2 for Figure 1 The diagram shown is a schematic diagram of the connection between the drive device and the surgical instruments, C-arm and multi-channel puncture device on the single-port surgical robot.

[0030] Figure 3 for Figure 1 Schematic diagram of the drive device shown.

[0031] Figure 4 for Figure 3 A schematic diagram of the assembly of the drive device and the mounting base of the single-port surgical robot is shown.

[0032] Figure 5 for Figure 4 An exploded schematic diagram of the mounting frame, driving assembly, transmission shaft assembly, first transmission member, and mounting base of the single-port surgical robot in the driving device shown.

[0033] Figure 6 for Figure 4 A schematic diagram of a mounting frame, a driving assembly, a transmission shaft assembly and a first transmission member in the driving device shown.

[0034] Figure 7 A schematic diagram of a driving device provided in the second embodiment of the present application.

[0035] Figure 8 A schematic diagram of a driving device provided in the third embodiment of the present application.

[0036] Figure markings: 100-mounting frame; 110-mounting seat; 200-driving assembly; 210-driving member; 220-second transmission member; 230-third meshing tooth; 300-transmission shaft assembly; 310-fixed shaft; 311-accommodating cavity; 320-rotating shaft; 321-first meshing tooth; 330-cover plate; 400-first transmission member; 410-second meshing tooth; 420-first transmission gear; 430-second transmission gear; 440-fourth meshing tooth; 500-surgical instrument; 510-sliding assembly; 520-flexible driving rod; 600-mounting base; 610-assembly station; 620-through hole; 700-C-arm; 800-trolley system; 900-multi-channel puncture device. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0038] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0039] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0040] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0041] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0042] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0043] See also Figure 1-Figure 4 and Figure 7-Figure 8 The driving device provided in the embodiment of the present application includes a mounting frame 100, a driving assembly 200 and a transmission assembly. The driving assembly 200 is mounted on the mounting frame 100; the transmission shaft assembly 300 is mounted on the mounting frame 100 and is spaced apart from the driving assembly 200 along a first direction. Specifically, the first direction is Figure 1 and Figure 4xx' direction, and the transmission shaft assembly 300 is transmission-connected with the driving assembly 200; wherein the transmission shaft assembly 300 is used for transmission connection with the surgical instrument 500 of the single-hole surgical robot in the second direction, and the second direction is set at an angle to the first direction. Specifically, the second direction is Figure 1 and Figure 4 when the drive assembly 200 rotates around its own axis, the drive shaft assembly 300 can drive the surgical instrument 500 of the single-hole surgical robot to rotate around its own rotation axis 320 lines.

[0044] When the above-mentioned driving device is installed on the single-port surgical robot, since the transmission shaft assembly 300 and the driving assembly 200 of the single-port surgical robot are spaced apart along the first direction, and the transmission assembly is transmission-connected to the surgical instrument 500 of the single-port surgical robot in the second direction, the first direction and the second direction are spaced apart, which is equivalent to separating the surgical instrument 500 and the driving assembly 200 in the second direction, thereby making the size of the entire single-port surgical robot at the surgical instrument 500 along the second direction smaller, so the occupied space is also smaller, which not only makes the single-port surgical robot more flexible during operation and can effectively ensure the accuracy of the operation; it also makes the appearance of the entire single-port surgical robot more beautiful.

[0045] It should be noted that the transmission assembly can be a conveyor belt assembly, a wire rope assembly or a gear assembly, etc., so as to achieve the spacing arrangement of the transmission assembly and the drive assembly 200 in the first direction. Compared with the driving method such as the harmonic reduction rotation module, this arrangement can reduce the size of the entire single-hole surgical robot along the second direction at the surgical instrument 500 by about 40%.

[0046] The following is a detailed description of the structure of the drive device. Figure 5 and Figure 6 , Figure 5 Shows Figure 4 The exploded schematic diagram of the mounting frame 100, the driving assembly 200, the transmission shaft assembly 300, the first transmission member 400, and the mounting base 600 of the single-port surgical robot in the driving device is shown. Figure 6 Shows Figure 4 A schematic diagram of a mounting frame 100, a driving assembly 200, a transmission shaft assembly 300 and a first transmission member 400 in the driving device is shown.

[0047] See also Figure 6 The dimension h of the transmission shaft assembly 300 of the driving device provided in one embodiment of the present application along its own axis direction is 1 Satisfying conditions: 50mm≤h 1 ≤60mm. In the present application, the dimension h of the moving shaft assembly 300 along its own axis direction is1 It is set within the range of greater than 50mm and less than 60mm, thereby greatly reducing the size of the entire single-port surgical robot along the second direction at the surgical instrument 500, effectively reducing the axial space occupied by the single-port surgical robot along the second direction at the surgical instrument 500, and effectively reducing the size of the surgical robot, making the overall size achieve a more compact effect.

[0048] In one specific embodiment, h 1 It is 50mm, so that the size of the entire single-port surgical robot along the second direction at the surgical instrument 500 is smaller, which effectively reduces the axial space occupied by the single-port surgical robot along the second direction at the surgical instrument 500, and effectively reduces the size of the surgical robot, making the overall size achieve a more compact effect.

[0049] In another specific embodiment, h 1 The length of the transmission shaft assembly 300 is 60 mm, which makes the entire transmission shaft assembly 300 slightly larger in its own axial direction, thereby making the transmission shaft assembly 300 have better rigidity. 1 It is 55mm.

[0050] It should be noted that when h 1 When the value is small, the axial space occupied by the single-port surgical robot along the second direction at the surgical instrument 500 can be reduced, and the size of the surgical robot can be effectively reduced, so that the overall size can be more compact. 1 When the value is larger, the rigidity of the transmission shaft assembly 300 can be better, and the transmission shaft assembly 300 is not easy to deform. Therefore, the user can design the dimension h of the transmission shaft assembly 300 along its own axis direction between 50mm-60mm according to actual needs. 1 There is no special limitation on the size.

[0051] See also Figure 5 and Figure 6The transmission shaft assembly 300 of the driving device provided in one embodiment of the present application includes a fixed shaft 310 and a rotating shaft 320 that are rotatably connected to each other; the fixed shaft 310 is fixedly connected to the mounting frame 100, and the fixed shaft 310 is configured with a receiving cavity 311 for the cable to pass through; the rotating shaft 320 is sleeved on the outer circumference of the fixed shaft 310, and the rotating shaft 320 is used to be fixedly connected to the surgical instrument 500 of the single-port surgical robot; when the driving assembly 200 rotates around its own rotating shaft 320, it can drive the rotating shaft 320 to rotate around itself, so that the surgical instrument 500 of the single-port surgical robot rotates around its own rotating shaft 320. The rotating shaft 320 is fixed to the mounting frame 100 by the fixed shaft 310, so that when the driving assembly 200 rotates around its own rotating shaft 320, it can drive the rotating shaft 320 to rotate, so that the surgical instrument 500 can perform a rotational motion. In this way, the rotational movement of the surgical instrument 500 is achieved by the cooperation of the fixed shaft 310 and the rotating shaft 320 , which is relatively simple and convenient.

[0052] In one specific embodiment, the transmission shaft assembly 300 is a cross roller bearing, the inner ring of the cross roller bearing serves as the fixed shaft 310 , and the outer ring of the cross roller bearing serves as the rotating shaft 320 .

[0053] See also Figure 1 and Figure 3-Figure 8 The driving device provided in one embodiment of the present application further includes a first transmission member 400, which is connected between the rotating shaft 320 and the driving assembly 200, and is used to transmit the power of the driving assembly 200 to the rotating shaft 320. The first transmission member 400 is connected between the rotating shaft 320 and the driving assembly 200, so that the rotating shaft 320 does not need to directly abut with the driving assembly 200 for transmission, so that the distance between the rotating shaft 320 and the driving assembly 200 can be adjusted, so that the position of the driving assembly 200 can be arranged according to the size of the surgical instrument 500, and the driving assembly 200 on the periphery of the rotating shaft 320 is prevented from interfering with the movement of the surgical instrument 500.

[0054] See also Figure 4-Figure 8 The outer periphery of the rotating shaft 320 of the driving device provided in one embodiment of the present application is configured with a first meshing tooth 321, and the first transmission member 400 is configured with a second meshing tooth 410, and the first meshing tooth 321 meshes with the second meshing tooth 410. Through the meshing transmission of the first meshing tooth 321 and the second meshing tooth 410, the transmission function of the first transmission member 400 and the rotating shaft 320 is realized.

[0055] See also Figure 4-Figure 6The first transmission member 400 of the driving device provided in one embodiment of the present application is a conveyor belt, which is arranged along the first direction and tensioned around the outer periphery of the fixed shaft 310 and the outer periphery of the power output end of the driving component 200, and the second meshing teeth 410 are constructed on the inner ring of the conveyor belt; the outer periphery of the power output end of the driving component 200 is constructed with third meshing teeth 230, and the third meshing teeth 230 mesh with the second meshing teeth 410. When the driving component 200 rotates around its own rotating shaft 320, the third meshing teeth 230 can drive the second meshing teeth 410 to move, thereby causing the conveyor belt to rotate, and finally driving the rotating shaft 320 to rotate. Through the cooperation between the third meshing teeth 230, the second meshing teeth 410 and the first meshing teeth 321, the entire transmission process is relatively smooth and the transmission accuracy is high.

[0056] See also Figure 7 The first transmission member 400 of the driving device provided in an embodiment of the present application is respectively configured with a first transmission gear 420 and a second transmission gear 430 at both ends along the first direction, the first transmission gear 420 is configured with a second meshing tooth 410, and the second transmission gear 430 is configured with a fourth meshing tooth 440; the outer periphery of the power output end of the driving component 200 is configured with a third meshing tooth 230, and the third meshing tooth 230 meshes with the fourth meshing tooth 440. When the driving component 200 rotates around its own rotating shaft 320, the third meshing tooth 230 can drive the fourth meshing tooth 440 to move, thereby causing the first transmission member 400 to rotate around the axis of the second transmission gear 430, thereby driving the first transmission gear 420 to rotate synchronously, and the second meshing tooth 410 on the first transmission gear 420 finally drives the rotating shaft 320 to rotate.

[0057] It should be noted that when the first transmission member 400 is respectively configured with a first transmission gear 420 and a second transmission gear 430 at both ends along the first direction, please refer to Figure 7 A mounting seat 110 is also provided on the mounting frame 100. The mounting seat 110 is constructed with a rotating groove. The groove wall of the rotating groove is rotatably connected to the first transmission member 400. The mounting seat 110 can apply a supporting force to the first transmission member 400, and make the mounting seat 110 suspended relative to the surface of the mounting frame 100, so that the first transmission member 400 can rotate more smoothly around its own rotation axis, and the first transmission member 400 is not easy to deform under the action of the supporting force.

[0058] See also Figure 3-Figure 8The driving assembly 200 of the driving device provided in one embodiment of the present application includes a driving member 210 and a second transmission member 220; the second transmission member 220 is sleeved and fixed on the power output end of the driving member 210, and the third meshing teeth 230 are configured on the second transmission member 220. When the driving member 210 rotates, it can drive the second transmission member 220 to rotate, and then transmit the power of the driving member 210 to the rotating shaft 320 through the second transmission member 220 and the first transmission member 400. In one specific embodiment, the driving member 210 is a motor. Of course, in other embodiments, the driving member 210 can also be a rotary cylinder, etc., which is not particularly limited.

[0059] In one of the embodiments, the transmission shaft assembly 300 of the driving device is also provided with a dual encoder and a brake, thereby effectively ensuring the safety of the use of the surgical robot.

[0060] In another embodiment, the driving assembly 200 of the driving device is also provided with dual encoders and brakes, so that the use of the surgical robot is safer.

[0061] See also Figure 1 An embodiment of the present application also provides a single-port surgical robot, which includes the driving device described in any of the above embodiments, and also includes a surgical instrument 500, which is transmission-connected to the driving assembly 200 and can achieve at least one of the above technical effects.

[0062] See also Figure 4 , Figure 5 and Figure 7-Figure 8 , the single-port surgical robot provided in one embodiment of the present application also includes a mounting base 600; the mounting base 600 is mounted on the transmission shaft assembly 300, and a plurality of assembly stations 610 arranged at intervals are constructed on the mounting base 600, and each assembly station 610 is used to install a surgical instrument 500. By setting the mounting base 600, the single-port surgical robot can simultaneously install multiple surgical instruments 500. In one specific embodiment, the single-port surgical robot is a single-port laparoscopic surgical robot, and four assembly stations 610 arranged at intervals are arranged on the mounting base 600, and the four assembly stations 610 are arranged at equal intervals. Of course, in other embodiments, when the single-port surgical robot is of other types, the assembly stations 610 on the mounting base 600 can also be three or five, etc. as needed, and there is no special limitation on this.

[0063] See also Figure 4 In one embodiment, the mounting base 600 is further configured with a through hole 620, the through hole 620 is used for the cable to pass through, and the aperture of the through hole 620 is greater than or equal to 30 mm.

[0064] In one specific embodiment, the mounting base 600 is mounted on the transmission shaft assembly 300 by means of screws.

[0065] See also Figure 3 The single-port surgical robot provided in one embodiment of the present application further includes a cover plate 330 , and the cover plate 330 is disposed above the mounting base 600 .

[0066] See also Figure 1 The single-port surgical robot provided in one embodiment of the present application further includes a C-arm 700 and a trolley system 800; the C-arm 700 is mounted on the trolley system 800, and the mounting frame 100 is mounted on the C-arm 700. The trolley system 800 is used to drive the entire single-port surgical robot to move, and the entire driving device and surgical instrument 500 are mounted on the trolley system 800 through the connection between the mounting frame 100 and the C-arm 700.

[0067] See also Figure 1 and Figure 2 The single-port surgical robot provided in one embodiment of the present application further includes a multi-channel puncture device 900, which is mounted on a C-arm 700; the surgical instruments 500 each include a sliding assembly 510 and a flexible driving rod 520; the sliding assembly 510 is mounted on an assembly station 610, one end of the flexible driving rod 520 is connected to the sliding assembly 510, and the other end of the flexible driving rod 520 is connected to the multi-channel puncture device 900. The sliding assembly 510 drives the flexible driving rod 520 to move relative to the multi-channel puncture device 900; and the transmission of the transmission shaft assembly 300 drives the rotation of the flexible driving rod 520, so that the single-port surgical robot cooperates with the multi-channel puncture device 900 during surgery to achieve corresponding functions.

[0068] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0069] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A driving device, characterized in that: The driving device comprises: Mounting frame (100); A driving assembly (200), wherein the driving assembly (200) is mounted on the mounting frame (100); a transmission shaft assembly (300), the transmission shaft assembly (300) being mounted on the mounting frame (100) and spaced apart from the driving assembly (200) along a first direction, and the transmission shaft assembly (300) being transmission-connected to the driving assembly (200); The transmission shaft assembly (300) is used for transmission connection with the surgical instrument (500) of the single-port surgical robot in a second direction, and the second direction is set at an angle to the first direction; when the driving assembly (200) rotates around its own axis, the transmission shaft assembly (300) can drive the surgical instrument (500) of the single-port surgical robot to rotate around its own rotation axis (320).

2. The driving device according to claim 1, characterized in that: The dimension h1 of the transmission shaft assembly (300) along its own axial direction satisfies the following condition: 50mm≤h1≤60mm.

3. The driving device according to claim 1 or 2, characterized in that: The transmission shaft assembly (300) comprises a fixed shaft (310) and a rotating shaft (320) which are rotatably connected to each other; the fixed shaft (310) is fixedly connected to the mounting frame (100), and the fixed shaft (310) is configured with a receiving cavity (311) for the cable to pass through; the rotating shaft (320) is sleeved on the outer circumference of the fixed shaft (310), and the rotating shaft (320) is used to be fixedly connected to the surgical instrument (500) of the single-port surgical robot; When the driving component (200) rotates around its own rotation axis (320), it can drive the rotation axis (320) to rotate around itself, so that the surgical instrument (500) of the single-port surgical robot rotates around its own rotation axis (320).

4. The driving device according to claim 3, characterized in that: The driving device further comprises a first transmission member (400), wherein the first transmission member (400) is connected between the rotating shaft (320) and the driving assembly (200), and the first transmission member (400) is used to transmit the power of the driving assembly (200) to the rotating shaft (320).

5. The driving device according to claim 4, characterized in that: The outer periphery of the rotating shaft (320) is configured with first meshing teeth (321), and the first transmission member (400) is configured with second meshing teeth (410), and the first meshing teeth (321) mesh with the second meshing teeth (410).

6. The driving device according to claim 5, characterized in that: The first transmission member (400) is a conveyor belt, which is arranged along the first direction and is tensioned around the outer periphery of the fixed shaft (310) and the outer periphery of the power output end of the driving assembly (200), and the second meshing teeth (410) are configured on the inner ring of the conveyor belt; The outer periphery of the power output end of the driving component (200) is configured with a third meshing tooth (230), and the third meshing tooth (230) meshes with the second meshing tooth (410).

7. The driving device according to claim 5, characterized in that: The first transmission member (400) is respectively provided with a first transmission gear (420) and a second transmission gear (430) at two ends along the first direction, the first transmission gear (420) is provided with a second meshing tooth (410), and the second transmission gear (430) is provided with a fourth meshing tooth (440); The outer periphery of the power output end of the driving assembly (200) is configured with a third meshing tooth (230), and the third meshing tooth (230) meshes with the fourth meshing tooth (440).

8. The driving device according to claim 6 or 7, characterized in that: The driving assembly (200) comprises a driving member (210) and a second transmission member (220); The second transmission member (220) is sleeved and fixed on the power output end of the driving member (210), and the third meshing teeth (230) are constructed on the second transmission member (220).

9. A single-port surgical robot, characterized in that: It comprises the driving device according to any one of claims 1 to 8, and also comprises a surgical instrument (500), wherein the surgical instrument (500) is transmission-connected to the driving assembly (200).

10. The single-port surgical robot according to claim 9, characterized in that: It also includes a mounting base (600); the mounting base (600) is mounted on the transmission shaft assembly (300), and a plurality of assembly stations (610) arranged at intervals are constructed on the mounting base (600), and each of the assembly stations (610) is used to install one of the surgical instruments (500).

11. The single-port surgical robot according to claim 10, characterized in that: The single-port surgical robot further comprises a C-arm (700) and a trolley system (800); The C-arm (700) is installed on the trolley system (800), and the mounting frame (100) is installed on the C-arm (700).

12. The single-port surgical robot according to claim 11, characterized in that: The single-port surgical robot further comprises a multi-channel puncture device (900), wherein the multi-channel puncture device (900) is mounted on the C-arm (700); The surgical instruments (500) each include a sliding assembly (510) and a flexible driving rod (520); the sliding assembly (510) is installed on the assembly station (610), one end of the flexible driving rod (520) is connected to the sliding assembly (510), and the other end of the flexible driving rod (520) is connected to the multi-channel puncture device (900).

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