Expanded surgical instrument for minimally invasive surgical robot

Abstract

The invention discloses an unfolded surgical instrument for a minimally invasive surgical robot, and belongs to the field of medical instruments. The unfolding mechanism is connected with the tail end executing mechanism; the rod body is connected with the unfolding mechanism; the transmission box is connected with the rod body; the driving box is connected with the transmission box; the tail end executing mechanism is connected with the transmission box and the driving box through two opening and closing driving wires and a swing driving wire respectively, and the tail end executing mechanism is controlled by the three driving wires, the transmission box and the driving box to conduct opening, closing and swing movement. And each unfolding mechanism is controlled by the driving box to drive the tail end executing mechanism to perform unfolding and closing movement. The device has the functions of opening, closing, swinging and unfolding, the integration degree of an instrument driving part is high, stable operation of driving is ensured, more flexible operability is achieved, and efficient proceeding of minimally invasive surgery is better facilitated. According to the minimally invasive surgery tail end instrument, the small size before body entering and a doctor operation triangular area after body entering are guaranteed at the same time, miniaturization and light weight of the minimally invasive surgery tail end instrument are achieved, and disassembly is convenient.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical instruments, and in particular relates to an expandable surgical instrument for a minimally invasive surgical robot. Background Art

[0002] Minimally invasive surgery refers to surgery with tiny incisions. It is performed using modern medical devices such as laparoscopes and thoracoscopes and related equipment. In the application process of modern medical surgical treatment, minimally invasive surgery has become increasingly important because it can achieve the requirements of small surgical trauma, light pain, and fast recovery. Since the last century, robot-assisted minimally invasive surgery has gradually become a significant development trend. With the emergence of minimally invasive surgical robots, doctors can perform minimally invasive, precise, and efficient stereotactic surgery with the help of minimally invasive surgical robots. The minimally invasive surgical robot system integrates many emerging disciplines and realizes minimally invasive, intelligent, and digital surgery. For the minimally invasive surgical robot system, the doctor controls the front-end surgical instruments through the operating table to imitate the flexible movements of the doctor's arms and wrists. Therefore, there are higher design requirements for surgical instruments used in minimally invasive surgical robots. Compared with traditional surgical instruments, the surgical instruments used in minimally invasive surgery should meet the requirements of miniaturization, light weight, multiple degrees of freedom, flexible operation, and easy installation.

[0003] Chinese patent CN116492056A discloses a multi-degree-of-freedom surgical instrument for a minimally invasive surgical system, which includes a driving mechanism, a connecting mechanism and an actuator. The driving mechanism is installed at the hand end of the minimally invasive surgical system; the connecting mechanism is installed on the driving mechanism and includes a rigid tube and a flexible tube. One end of the rigid tube is installed on the driving mechanism; the flexible tube is connected and arranged at the end of the rigid tube away from the driving mechanism, and is constructed to be able to extend into the body, and to bend in the axial direction and in the direction deviating from the extension direction of the rigid tube under the drive of the driving mechanism; the actuator is installed at the end of the flexible tube away from the rigid tube, and is constructed to perform surgical operations under the drive of the driving mechanism. The flexible tube is combined with the rigid tube to achieve a high flexibility of movement and convenient and controllable effect, which is convenient for minimally invasive surgical operations in narrow spaces. The problem with this surgical instrument is that it does not have the functions of swinging and unfolding, nor does it have multi-angle free operation, and it also has the disadvantages of occupying a large space and being inconvenient to disassemble, which is not conducive to the development trend of miniaturization and lightweight equipment. Summary of the invention

[0004] The purpose of the present invention is to provide an expandable surgical instrument for a minimally invasive surgical robot. The minimally invasive surgical end instrument adopts a technical solution of merging at least three operating arms into a single operating arm, has a certain degree of multi-degree-of-freedom operability, and has both the opening and closing and swinging functions of the end actuator and the expansion function, which is more suitable for minimally invasive surgery and convenient for doctors to operate, so as to further improve the convenience of minimally invasive surgery.

[0005] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0006] The present invention provides an expandable surgical instrument for a minimally invasive surgical robot, comprising:

[0007] End effector;

[0008] a deployment mechanism connected to the end effector;

[0009] a rod body connected to the deployment mechanism;

[0010] a transmission box connected to the rod body;

[0011] A drive box connected to the transmission box;

[0012] The end actuator is connected to the transmission box and the drive box respectively through two opening and closing drive wires and one swinging drive wire. The end actuator is controlled to perform opening and closing and swinging movements through three drive wires, the transmission box and the drive box; and each unfolding mechanism is controlled through the drive box to drive the end actuator to perform unfolding and closing movements.

[0013] Furthermore, the end actuator includes: an end left claw, an end right claw, a wrist joint swing part and two wrist joint guide wheels; the end left claw, the end right claw and the wrist joint swing part are connected; the two wrist joint guide wheels are respectively placed on both sides of the wrist joint swing part and are connected to the unfolding mechanism together with the wrist joint swing part; the ends of the two opening and closing drive wires are respectively fixed in the end left claw and the end right claw, and are respectively wrapped around the end left claw and the end right claw, and then are respectively wrapped around the two wrist joint guide wheels, and then pass through the unfolding mechanism and the rod body in turn, and then are connected to the transmission box; the end of a swing drive wire is fixed in the wrist joint swing part, and is wrapped around the wrist joint swing part, and then pass through the unfolding mechanism and the rod body in turn, and then are connected to the transmission box.

[0014] Furthermore, the left claw at the end is provided with a left claw hole, a first groove and a first driving wire fixing hole; the right claw at the end is provided with a right claw hole, a second groove and a second driving wire fixing hole; the ends of the two opening and closing driving wires are respectively fixed in the first driving wire fixing hole and the second driving wire fixing hole, and then respectively wrapped around the first groove and the second groove and then respectively wrapped around the two wrist joint guide wheels.

[0015] Furthermore, the wrist joint swing part is provided with a small claw connecting hole, a driving wire through hole, a first connecting hole and a first wire transmission groove; the end of the swing driving wire is fixed in the driving wire through hole, then wrapped around the first wire transmission groove, and then passes through the unfolding mechanism and the rod body in sequence and is connected to the transmission box.

[0016] Furthermore, the deployment mechanism includes:

[0017] a deployment manipulator arm connected to the end effector;

[0018] A fixed support rod with two ends respectively connected to the rod body and the deployment operating arm;

[0019] A long support rod and a short support rod respectively fixed to the deployment operating arm through a pin seat;

[0020] An unfolding center rod is connected to the other ends of the long support rod and the short support rod, and the unfolding center rod is installed in the rod body. The unfolding center rod is connected to the transmission box. Through the joint action of the transmission box, the long support rod, the short support rod, the fixed support rod and the unfolding center rod, the unfolding operating arm can perform unfolding and retracting movements.

[0021] Furthermore, the unfolding operating arm is provided with two third grooves, a second wire transmission groove and an anti-interference groove; the pin shaft seat is fixed in the third groove; the unfolding center rod is provided with support rod grooves in multiple directions, and the number of the support rod grooves is the same as the number of the unfolding operating arms; the unfolding center rod is provided with a fourth wire transmission groove; the second wire transmission groove and the fourth wire transmission groove are both used to transmit the driving wire.

[0022] Furthermore, the transmission box comprises:

[0023] Base plate;

[0024] An electric push rod fixed on the bottom plate, wherein the electric push rod is connected to the unfolding mechanism;

[0025] A plurality of winding wheel shafts and a plurality of guide wheel shafts are evenly arranged on the bottom plate, and the lower ends of the plurality of guide wheel shafts are respectively connected to the driving box;

[0026] A winding wheel is mounted on each reel shaft;

[0027] A transmission box guide wheel is mounted on each guide wheel shaft;

[0028] A box cover connected to the base plate.

[0029] Furthermore, the transmission box also includes a rod body connecting seat, ear plate one and ear plate two; the bottom plate and the box cover are connected through the rod body connecting seat, ear plate one and ear plate two, and the rod body connecting seat is connected to the rod body.

[0030] Furthermore, the base plate is provided with a plurality of transmission holes and guide holes. The winding wheel shaft is connected to the drive box after being inserted into the transmission hole, and the guide wheel shaft is fixed in the guide hole; the winding wheel is provided with a winding groove for winding the drive wire; the winding wheel is provided with a fixing hole for fixing the drive wire; the transmission box guide wheel is provided with a guide groove for guiding the drive wire to different winding wheels respectively.

[0031] Furthermore, the drive box comprises:

[0032] A drive housing connected to the base plate;

[0033] A drive box cover connected to the drive box body;

[0034] A plurality of micro drive motors are fixed in the drive box; the output shafts of the micro drive motors are connected to the winding wheel shaft in the transmission box.

[0035] The beneficial effects of the present invention are:

[0036] The present invention discloses an expandable surgical instrument for a minimally invasive surgical robot, which mainly includes multiple end actuators, multiple expansion mechanisms, a rod body, multiple drive wires, a transmission box and a drive box, wherein the end actuator is connected to the expansion operating arm in the expansion mechanism through a pin connection, and the end actuator is connected to the drive box and the transmission box by means of the drive wire to control their opening and closing and swinging; the expansion mechanism is connected to the rod body to ensure the positional relationship and relative movement between the two; the rod body is connected to the transmission box through a thread, and the transmission box is connected to the drive box through a transmission shaft; at the same time, an electric push rod is placed in the transmission box to control the expansion movement of the expansion mechanism.

[0037] Compared with the prior art, the advantages of the present invention are:

[0038] 1. With opening and closing and swinging functions: The micro-drive motor in the drive box drives the winding wheel in the transmission box to rotate, thereby tightening or loosening the opening and closing drive wire / swinging drive wire, thereby realizing the opening and closing movement and swinging movement of the end actuator. Compared with the existing ordinary rigid surgical instruments, the deployable surgical instrument for a minimally invasive surgical robot of the present invention has more flexible operability and is more conducive to the efficient performance of minimally invasive surgery.

[0039] 2. With the function of unfolding: the electric push rod in the transmission box pushes the unfolding center rod forward, and the long support rod, short support rod and fixed support rod unfold the unfolding operation arm under the action of the supporting force, and vice versa, the unfolding operation arm can be retracted. Compared with the existing common rigid surgical instruments, the unfolding surgical instrument for minimally invasive surgical robots of the present invention has more flexible operability and is more conducive to the efficient performance of minimally invasive surgery.

[0040] 3. Flexible and stable drive with multiple degrees of freedom: The deployable surgical instrument for a minimally invasive surgical robot of the present invention has multiple degrees of freedom (opening and closing, swinging and unfolding), which ensures the flexibility of minimally invasive surgical movements, and the instrument driving part is highly integrated, ensuring the stable operation of the drive.

[0041] 4. Miniaturization and lightweight: The operating arm of the deployable surgical instrument for a minimally invasive surgical robot of the present invention innovatively adopts a form similar to the deployment mechanism of a spacecraft, while ensuring the small size before entering the body and the doctor's operating triangle after entering the body, thereby realizing the miniaturization and lightweight of the terminal instrument of minimally invasive surgery.

[0042] 5. Easy disassembly: The expandable surgical instrument for a minimally invasive surgical robot of the present invention has flexible installation and connection methods between various parts, reasonable layout, strong disassembly, and convenient disassembly and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a schematic structural diagram of a deployable surgical instrument for a minimally invasive surgical robot provided by the present invention.

[0044] Figure 2 This is a structural schematic diagram of a deployable surgical instrument for a minimally invasive surgical robot provided by the present invention (without the box cover).

[0045] Figure 3 for Figure 1 A partial enlarged view.

[0046] Figure 4 This is an exploded diagram of the end effector.

[0047] Figure 5 It is a schematic diagram of the overall assembly structure of the unfolding mechanism.

[0048] Figure 6 This is an exploded diagram of the unfolded mechanism.

[0049] Figure 7 It is a schematic diagram of the structure of the long support rod.

[0050] Figure 8 It is a schematic diagram of the structure of the short support rod.

[0051] Fig. 9 A schematic diagram of the structure of the fixed support rod.

[0052] Fig.10 Schematic diagram of the rod structure.

[0053] Fig.11 It is a schematic diagram of the structure of the transmission box.

[0054] Fig.12 It is a schematic diagram of the positional relationship between the winding wheel and the winding wheel axis.

[0055] Fig.13 It is a schematic diagram of the positional relationship between the transmission box guide wheel and the guide wheel shaft.

[0056] Fig.14 It is a schematic diagram of the structure of the drive box.

[0057] In the figure: end actuator 1, end left claw 101, left claw hole 101-1, first groove 101-2, first drive wire fixing hole 101-3, end right claw 102, right claw hole 102-1, second groove 102-2, wrist joint swing part 103, small claw connecting hole 103-1, drive wire through hole 103-2, first connecting hole 103-3, first wire transmission groove 103-4, wrist joint guide wheel 104;

[0058] Deployment mechanism 2, long support rod 201, first combination pin shaft hole 201-1, second combination pin shaft hole 201-2, first connection pin shaft hole 201-3, second connection pin shaft hole 201-4, short support rod 202, third combination pin shaft hole 202-1, fourth combination pin shaft hole 202-2, third connection pin shaft hole 202-3, fourth connection pin shaft hole 202-4, fixed support rod 203, fifth combination pin shaft hole 203-1, sixth combination pin shaft hole 203 -2, the fifth connecting pin hole 203-3, the sixth connecting pin hole 203-4, the third wire transmission slot 203-5, the pin seat 204, the unfolding operating arm 205, the third groove 205-1, the second wire transmission slot 205-2, the anti-interference slot 205-3, the seventh connecting pin hole 205-4, the eighth connecting pin hole 205-5, the unfolding center rod 206, the support rod slot 206-1, the ninth connecting pin hole 206-2, and the fourth wire transmission slot 206-3;

[0059] Rod body 3, central rod hole 3-1, tenth connecting pin shaft hole 3-2, light hole 3-3;

[0060] Drive box 4, drive box cover 401, second connection hole 401-1, drive box body 402, column 403;

[0061] Transmission box 5, bottom plate 501, transmission hole 501-1, guide hole 501-2, box cover 502, connecting countersunk hole 502-1, winding wheel 503, winding groove 503-1, fixing hole 503-2, winding wheel shaft 504, transmission box guide wheel 505, guide groove 505-1, guide wheel shaft 506, electric push rod 507, rod body connecting seat 508, ear plate 1 509, ear plate 2 510. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0063] like Figures 1 to 14As shown, the present invention provides an expandable surgical instrument for a minimally invasive surgical robot, which mainly includes the following components: multiple end-actuators 1, multiple expansion mechanisms 2, a rod body 3, multiple drive wires, a transmission box 5 and a drive box 4, wherein the number of end-actuators 1 and expansion mechanisms 2 is the same, one end-actuator 1 is connected to one expansion mechanism 2 by pin connection, multiple expansion mechanisms 2 are connected to one end of the rod body 3, and the other end of the rod body 3 is connected to the transmission box 5 by thread connection, the transmission box 5 is connected to the drive box 4, and multiple expansion mechanisms 2 are also connected to the transmission box 5. In addition, each end-actuator 1 is connected to the transmission box 5 and the drive box 4 respectively by three drive wires (two of which are opening and closing drive wires and one is a swinging drive wire), and each end-actuator 1 can be controlled to perform opening and closing motion and swinging motion through the coordinated action of the three drive wires, the transmission box 5 and the drive box 4; each expansion mechanism 2 can also be controlled to drive the corresponding end-actuator 1 to perform expansion and closing motion through the action of the drive box 4.

[0064] like Figure 3 and Figure 4 As shown, the end actuator 1 mainly includes: an end left claw 101, an end right claw 102, a wrist joint swing part 103 and a wrist joint guide wheel 104; wherein the end left claw 101, the end right claw 102 and the wrist joint swing part 103 are connected and fixed by the same pin shaft; the number of wrist joint guide wheels 104 is two, and the two wrist joint guide wheels 104 are respectively placed on the left and right sides of the front end of the wrist joint swing part 103, and the two wrist joint guide wheels 104 and the wrist joint swing part 103 are connected to the unfolding mechanism 2 through the same pin shaft, and the wrist joint guide wheel 104 facilitates the rear wiring of the opening and closing drive wire; the ends of the two opening and closing drive wires are respectively fixed in the end left claw 101 and the end right claw 102 and are respectively wound around the end left claw 101 and the end right claw 102, and the two opening and closing drive wires are then respectively wound around the two wrist joint guide wheels 104, and after the transmission action of the two wrist joint guide wheels 104, the two opening and closing drive wires pass through the unfolding mechanism 2 and the rod body 3 in turn and are connected to the transmission box 5. The end of a swing driving wire is fixed in the wrist joint swing part 103 and is wound around the wrist joint swing part 103 , and then passes through the unfolding mechanism 2 and the rod body 3 and is connected to the transmission box 5 .

[0065] Specifically, a left claw hole 101-1 is provided at the front end center of the left claw 101, a first groove 101-2 is provided at the front end of the left claw 101, and a first drive wire fixing hole 101-3 is also provided on the side wall of the front end of the left claw 101; a right claw hole 102-1 is provided at the front end center of the right claw 102, a second groove 102-2 is provided at the front end of the right claw 102, and a second drive wire fixing hole is also provided on the side wall of the front end of the right claw 102 (not shown in the figure, refer to the position of the first drive wire fixing hole 101-3); small claw connecting holes 103-1 are provided above and below the rear end of the wrist joint swing part 103, drive wire through holes 103-2 are respectively provided above and below the front end of the wrist joint swing part 103, a first connecting hole 103-3 is provided at the front end center of the wrist joint swing part 103, and a first wire transmission groove 103-4 is provided at the front end of the wrist joint swing part 103. The left claw hole 101-1 at the front end of the left claw 101, the right claw hole 102-1 at the front end of the right claw 102, and the two small claw connecting holes 103-1 at the rear end of the wrist joint swing part 103 are connected and fixed with the same pin shaft, and the shaft connection is used to ensure the matching and relative rotation; the two wrist joint guide wheels 104 and the first connecting hole 103-3 at the front end of the wrist joint swing part 103 are connected to the unfolding mechanism 2 with the same pin shaft.

[0066] Specifically, the ends of the two opening and closing drive wires are respectively fixed in the first drive wire fixing hole 101-3 of the terminal left claw 101 and the second drive wire fixing hole of the terminal right claw 102 and are respectively wound around the first groove 101-2 of the terminal left claw 101 and the second groove 102-2 of the terminal right claw 102. The two opening and closing drive wires are then respectively wound around the two wrist joint guide wheels 104. After the transmission of the two wrist joint guide wheels 104, the two opening and closing drive wires pass through the unfolding mechanism 2 and the rod body 3 in turn and are connected to the transmission box 5. During operation, the drive box 4 sends out an excitation to drive the winding wheel 503 in the transmission box 5 to rotate, thereby tightening or loosening the opening and closing drive wire, and finally driving the terminal actuator 1 to perform an opening and closing movement.

[0067] Specifically, the end of the swing driving wire is fixed in the driving wire through hole 103-2 of the wrist joint swing part 103, and then is wound around the first wire transmission groove 103-4 of the wrist joint swing part 103, and then passes through the unfolding mechanism 2 and the rod body 3 and is connected to the transmission box 5. During operation, the driving box 4 sends out an excitation to drive the winding wheel 503 in the transmission box 5 to rotate, thereby tightening or loosening the swing driving wire, and finally driving the end actuator 1 to swing.

[0068] like Figures 5 to 9As shown, the unfolding mechanism 2 mainly includes: a long support rod 201, a short support rod 202, a fixed support rod 203, a pin seat 204, an unfolding operating arm 205 and an unfolding center rod 206. One end of the long support rod 201 and the short support rod 202 are fixed to the unfolding operating arm 205 through a pin seat 204, and the other ends of the long support rod 201 and the short support rod 202 are fixed to the unfolding center rod 206, and the long support rod 201 and the short support rod 202 provide support for the unfolding operation; one end of the fixed support rod 203 is fixed to the unfolding operating arm 205, and the other end of the fixed support rod 203 is fixed to the rod body 3, and the fixed support rod 203 is used to perform the unfolding limit while providing support.

[0069] Specifically, there are two long support rods 201, and two combination pin holes are arranged in the middle of each long support rod 201, namely the first combination pin hole 201-1 and the second combination pin hole 201-2. At the same time, in order to ensure the matching relationship between the long support rod 201 and other parts, a first connecting pin hole 201-3 and a second connecting pin hole 201-4 are also arranged at both ends of each long support rod 201; the two support rods 201 are connected and fixed by the connecting pin, the first combination pin hole 201-1 and the second combination pin hole 201-2.

[0070] Specifically, there are two short support rods 202, and two combination pin holes are arranged in the middle of each short support rod 202, namely the third combination pin hole 202-1 and the fourth combination pin hole 202-2. At the same time, in order to ensure the matching relationship between the short support rod 202 and other parts, a third connecting pin hole 202-3 and a fourth connecting pin hole 202-4 are arranged at both ends of each short support rod 202; the two short support rods 202 are connected and fixed by the connecting pin, the third combination pin hole 202-1 and the fourth combination pin hole 202-2.

[0071] Specifically, there are two fixed support rods 203, and a third wire transmission groove 203-5 is arranged in the middle of each fixed support rod 203. The third wire transmission groove 203-5 is mainly used to accommodate the opening and closing drive wire and the swing drive wire. The fifth combination pin shaft hole 203-1 and the sixth combination pin shaft hole 203-2 are arranged on both sides of the third wire transmission groove 203-5. At the same time, in order to ensure the matching relationship between the fixed support rod 203 and other parts, the fifth connecting pin shaft hole 203-3 and the sixth connecting pin shaft hole 203-4 are arranged at both ends of each fixed support rod 203; the two short support rods 202 are connected and fixed by the connecting pin, the fifth combination pin shaft hole 203-1 and the sixth combination pin shaft hole 203-2.

[0072] Specifically, there are two pin seats 204 , and pin holes are provided on the pin seats 204 .

[0073] Specifically, two third grooves 205-1 are opened in the middle of the unfolding operating arm 205, a second wire transmission groove 205-2 and an eighth connecting pin shaft hole 205-5 are opened at the upper end of the unfolding operating arm 205, and an anti-interference groove 205-3 and a seventh connecting pin shaft hole 205-4 are opened at the lower end of the unfolding operating arm 205, wherein the seventh connecting pin shaft hole 205-4 is located in the anti-interference groove 205-3.

[0074] The wrist joint swinging part 103 and the two wrist joint guide wheels 104 in the end actuator 1 are connected to the eighth connection pin hole 205-5 of the deployment operating arm 205 through the same pin shaft. Two pin shaft seats 204 are respectively fixed in the two third grooves 205-1 on the deployment operating arm 205, one of the pin shaft seats 204 is connected to the second connection pin shaft hole 201-4 on the two long support rods 201 through a pin shaft, and the other pin shaft seat 204 is connected to the fourth connection pin shaft hole 202-4 on the two short support rods 202 through a pin shaft; at the same time, the seventh connection pin shaft hole 205-4 at the lower end of the deployment operating arm 205 is connected to the fifth connection pin shaft hole 203-3 on the two fixed support rods 203 through a pin shaft.

[0075] Specifically, the deployment center rod 206 is provided with support rod grooves 206-1 in multiple directions, wherein the number of the support rod grooves 206-1 is the same as the number of the deployment operating arms 205. A ninth connection pin hole 206-2 is provided in the support rod groove 206-1, and two ninth connection pin holes 206-2 are provided in the support rod groove 206-1, which are respectively connected to the first connection pin hole 201-3 of the long support rod 201 and the third connection pin hole 202-3 of the short support rod 202 through pins, so as to ensure the coordinated relative movement of the deployment operating arm 205 and the deployment center rod 206. In addition, a fourth wire transmission groove 206-3 is provided on the deployment center rod 206 for transmitting the driving wire.

[0076] like Fig.10 As shown, a center rod hole 3-1 is provided on the rod body 3, which is mainly used to accommodate the expansion center rod 206 in the expansion mechanism 2. The rear end of the expansion center rod 206 is connected to the electric push rod 507 in the transmission box 5; a tenth connecting pin shaft hole 3-2 is provided on the side wall of the rod body 3, and the tenth connecting pin shaft hole 3-2 on the rod body 3 is connected to the sixth connecting pin shaft hole 203-4 on the fixed support rod 203 through a pin shaft. During movement, the expansion center rod 206 moves forward under the push of the electric push rod 507 in the transmission box 5, and the long support rod 201, the short support rod 202, and the fixed support rod 203 expand the expansion operating arm 205 under the action of the supporting force, and vice versa, the expansion operating arm 205 can be retracted. At the same time, four light holes 3-3 are provided at the tail of the rod body to facilitate the connection between the rod body and the transmission box.

[0077] The ends of the two opening and closing drive wires are respectively fixed in the first drive wire fixing hole 101-3 of the terminal left claw 101 and the second drive wire fixing hole of the terminal right claw 102 and are respectively wound around the first groove 101-2 of the terminal left claw 101 and the second groove 102-2 of the terminal right claw 102. The two opening and closing drive wires are then respectively wound around the two wrist joint guide wheels 104, and then successively pass through the second wire transmission groove 205-2 of the unfolding operating arm 205 in the unfolding mechanism 2, the third wire transmission groove 203-5 of the fixed support rod 203, and the fourth wire transmission groove 206-3 of the unfolding center rod 206, and then continue to be transmitted backward to the transmission box 5.

[0078] The end of the swing driving wire is fixed in the driving wire through hole 103-2 of the wrist joint swing part 103, then wrapped around the first wire transmission groove 103-4 of the wrist joint swing part 103, and then passes through the second wire transmission groove 205-2 of the unfolding operating arm 205 in the unfolding mechanism 2, the third wire transmission groove 203-5 of the fixed support rod 203, and the fourth wire transmission groove 206-3 of the unfolding center rod 206, and then continues to be transmitted backward to the transmission box 5.

[0079] like Figures 11 to 13As shown, the transmission box 5 mainly includes: a bottom plate 501, a box cover 502, a plurality of winding wheels 503, a plurality of winding wheel shafts 504, a plurality of transmission box guide wheels 505, a plurality of guide wheel shafts 506, an electric push rod 507, a rod body connecting seat 508, an ear plate 1 509, and an ear plate 2 510. The number of winding wheels 503, winding wheel shafts 504, transmission box guide wheels 505, and guide wheel shafts 506 are the same; each winding wheel 503 is correspondingly installed on each winding wheel shaft 504, and each transmission box guide wheel 505 is correspondingly installed on each guide wheel shaft 506; the electric push rod 507 is fixed on the bottom plate 501, and the electric push rod 507 is connected and fixed to the unfolding center rod 206 in the unfolding mechanism 2, and the electric push rod 507 provides power for the unfolding movement of the unfolding mechanism 2. The bottom plate 501 is connected to the box cover 502. Specifically, the lower ends of the rod body connection seat 508, the ear plate 1 509, and the ear plate 2 510 are all installed on the bottom plate 501, and the upper ends of the rod body connection seat 508, the ear plate 1 509, and the ear plate 2 510 are all connected to the box cover 502. Among them, the rod body connection seat 508 is set at the edge of the bottom plate 501, and a countersunk hole is opened on it; the ear plate 2 510 is set in the middle position of the bottom plate 501, and a countersunk hole is opened on it; the ear plate 1 509 is set at a position symmetrical to the rod body connection seat 508 The bottom plate 501 edge is provided with a countersunk hole; at the same time, three connecting countersunk holes 502-1 are provided on the box cover 502, and the positions of the three connecting countersunk holes 502-1 correspond to the positions of the rod body connecting seat 508, the ear plate 1 509, and the ear plate 2 510 respectively. The countersunk holes of the rod body connecting seat 508, the ear plate 1 509, and the ear plate 2 510 are connected to the three connecting countersunk holes 502-1 on the box cover 502 by screws, thereby realizing the connection between the bottom plate 501 and the box cover 502. Among them, the rod body connecting seat 508 is also used to connect with the rear end of the rod body 3, and the end of the electric push rod 507 passes through the rod body connecting seat 508 and is connected and fixed to the unfolding center rod 206.

[0080] Specifically, a plurality of transmission holes 501-1 are provided on the bottom plate 501, and the number of the transmission holes 501-1, the number of the winding wheels 503, the number of the winding wheel shafts 504, and the number of the micro-driving motors in the driving box 4 are all the same; the winding wheel shaft 504 is inserted into the transmission hole 501-1, and the lower end of the winding wheel shaft 504 is connected to the output shaft of the micro-driving motor in the driving box 4, and the driving force is provided by the micro-driving motor in the driving box 4, and the winding wheel shaft 504 and the winding wheel 503 can be driven to rotate by the micro-driving motor.

[0081] Specifically, the winding wheel 503 is provided with a winding groove 503 - 1 for winding the driving wire; the winding wheel 503 is also provided with a fixing hole 503 - 2 for fixing the driving wire.

[0082] Specifically, guide holes 501 - 2 are opened on the bottom plate 501 , and the number of the guide holes 501 - 2 , the number of the transmission box guide wheels 505 , and the number of the guide wheel shafts 506 are all the same; the guide wheel shafts 506 are fixed in the guide holes 501 - 2 .

[0083] Specifically, a guide groove 505 - 1 is provided on the transmission box guide wheel 505 for guiding the driving wire to different winding wheels 503 respectively.

[0084] Two opening and closing drive wires and one swinging drive wire are respectively transmitted to the transmission box 5 through the unfolding mechanism 2. In the transmission box 5 and the drive box 4, each opening and closing drive wire corresponds to two winding wheels 503, two transmission box guide wheels 505 and two micro drive motors, and each swinging drive wire corresponds to two winding wheels 503, two transmission box guide wheels 505 and two micro drive motors.

[0085] The following is an explanation of the connection between one of the opening and closing drive wires, two winding wheels 503, two transmission box guide wheels 505 and two micro drive motors. Specifically, an opening and closing drive wire is first wound around a winding wheel 503 and fixed in a fixing hole 503-2, and then transmitted to the unfolding center rod 206 through the transmission box guide wheel 505. After passing through the unfolding center rod 206, it then passes through the second wire transmission groove 205-2 of the unfolding operating arm 205 in the unfolding mechanism 2, the third wire transmission groove 203-5 of the fixed support rod 203, and the fourth wire transmission groove 206-3 of the unfolding center rod 206 in sequence, and then guides the drive wire to the end left claw 101 through the wrist joint guide wheel 104, winds around the first groove 101-2 of the end left claw 101, and is fixed on the first drive wire fixing hole 101-3, and then bypasses the first groove 101-2 of the end left claw 101, passes through another wrist joint guide wheel 104, and then successively passes through the second wire transmission slot 205-2 of the unfolding operating arm 205 in the unfolding mechanism 2, the third wire transmission slot 203-5 of the fixed support rod 203, and the fourth wire transmission slot 206-3 of the unfolding center rod 206, and is transmitted to the unfolding center rod 206. After passing through the unfolding center rod 206, it is transmitted to another winding wheel 503 through another transmission box guide wheel 505 and fixed on the fixing hole 503-2, thereby completing the transmission and fixation of an opening and closing drive wire; start one of the micro-drive motors, the first winding wheel 503 rotates, tightens the opening and closing drive wire, starts another micro-drive motor, the second winding wheel 503 rotates, loosens the opening and closing drive wire, and finally drives the end actuator 1 to perform an opening and closing movement.

[0086] like Fig.14As shown, the drive box 4 mainly includes: a drive box cover 401, a drive box body 402, a plurality of columns 403 and a plurality of micro drive motors (not shown in the figure, micro drive motors in the prior art can be used), a plurality of second connection holes 401-1 are provided on the drive box cover 401, and the number of the second connection holes 401-1 on the drive box 4 is the same as the number of the transmission holes 501-1 on the bottom plate 501 in the transmission box 5, that is, each second connection hole 401-1 corresponds to the transmission hole 501-1 on the bottom plate 501 in the transmission box 5; the number of the columns 403 is three, and the drive box cover 401 is fixedly connected to the drive box body 402 through three screws in the middle of the three columns 403; the drive box cover 401 is provided with four screw holes in the middle, and the drive box body 402 is fixedly connected to the bottom plate 501 in the transmission box 5 through four screws. The plurality of micro drive motors are all fixed in the drive box body 402, and the output shaft of the micro drive motor is connected to the winding wheel shaft 504 in the transmission box 5.

[0087] In the present invention, each end actuator 1 is connected to the transmission box 5 and the drive box 4 respectively through three drive wires (two of which are opening and closing drive wires and one is a swinging drive wire), wherein the specific routing of the two opening and closing drive wires is as follows:

[0088] The end of one opening and closing driving wire is fixed in the first driving wire fixing hole 101-3 of the terminal left claw 101 and is wound around the first groove 101-2 of the terminal left claw 101; the end of the other opening and closing driving wire is fixed in the second driving wire fixing hole of the terminal right claw 102 and is wound around the second groove 102-2 of the terminal right claw 102; the two opening and closing driving wires are then respectively wound around the two wrist joint guide wheels 104, and then successively pass through the second wire transmission groove 205-2 of the unfolding operating arm 205 in the unfolding mechanism 2, the third wire transmission groove 203-5 of the fixed support rod 203, and the fourth wire transmission groove 206-3 of the unfolding center rod 206, and then continue to be transmitted backward to the unfolding center rod 206, and then transmitted to the transmission box 5 after passing through the unfolding center rod 206; transmitted through the transmission box guide wheel 505 in the transmission box 5, wound around a winding wheel 503 in the transmission box 5, and fixed in the fixing hole 503-2.

[0089] In the present invention, each end actuator 1 is connected to the transmission box 5 and the drive box 4 respectively through three drive wires (two of which are opening and closing drive wires and one is a swing drive wire), wherein the specific routing of one swing drive wire is as follows:

[0090] The end of the swing driving wire is fixed in the driving wire through hole 103-2 of the wrist joint swinging part 103, and then is wound around the first wire transmission groove 103-4 of the wrist joint swinging part 103, and then passes through the second wire transmission groove 205-2 of the unfolding operating arm 205 in the unfolding mechanism 2, the third wire transmission groove 203-5 of the fixed support rod 203, and the fourth wire transmission groove 206-3 of the unfolding center rod 206 in turn, and then continues to be transmitted backward to the unfolding center rod 206, and then transmitted to the transmission box 5 through the unfolding center rod 206; it is transmitted through the transmission box guide wheel 505 in the transmission box 5, wound on a winding wheel 503 in the transmission box 5, and fixed in the fixing hole 503-2.

[0091] The above are only embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A deployable surgical instrument for a minimally invasive surgical robot, characterized in that: include: End effector; a deployment mechanism connected to the end effector; a rod body connected to the deployment mechanism; a transmission box connected to the rod body; A drive box connected to the transmission box; The end actuator is connected to the transmission box and the drive box respectively through two opening and closing drive wires and one swinging drive wire. The end actuator is controlled to perform opening and closing and swinging movements through three drive wires, the transmission box and the drive box; and each unfolding mechanism is controlled through the drive box to drive the end actuator to perform unfolding and closing movements.

2. The deployable surgical instrument for a minimally invasive surgical robot according to claim 1, characterized in that: The end actuator includes: an end left claw, an end right claw, a wrist joint swing part and two wrist joint guide wheels; the end left claw, the end right claw and the wrist joint swing part are connected; the two wrist joint guide wheels are respectively placed on both sides of the wrist joint swing part and are connected to the unfolding mechanism together with the wrist joint swing part; the ends of the two opening and closing drive wires are respectively fixed in the end left claw and the end right claw, and are respectively wound around the end left claw and the end right claw, and then are respectively wound around the two wrist joint guide wheels, and then pass through the unfolding mechanism and the rod body in turn, and then are connected to the transmission box; the end of a swing drive wire is fixed in the wrist joint swing part, and is wound around the wrist joint swing part, and then pass through the unfolding mechanism and the rod body in turn, and then are connected to the transmission box.

3. The deployable surgical instrument for a minimally invasive surgical robot according to claim 2, characterized in that: The left claw at the end is provided with a left claw hole, a first groove and a first driving wire fixing hole; the right claw at the end is provided with a right claw hole, a second groove and a second driving wire fixing hole; the ends of the two opening and closing driving wires are respectively fixed in the first driving wire fixing hole and the second driving wire fixing hole, and then respectively wrapped around the first groove and the second groove, and then respectively wrapped around the two wrist joint guide wheels.

4. The deployable surgical instrument for a minimally invasive surgical robot according to claim 2, characterized in that: The wrist joint swing part is provided with a small claw connecting hole, a driving wire through hole, a first connecting hole and a first wire transmission groove; the end of the swing driving wire is fixed in the driving wire through hole, then wound around the first wire transmission groove, and then passes through the unfolding mechanism and the rod body in sequence and is connected to the transmission box.

5. The deployable surgical instrument for a minimally invasive surgical robot according to claim 1, characterized in that: The unfolding mechanism comprises: a deployment manipulator arm connected to the end effector; A fixed support rod with two ends respectively connected to the rod body and the deployment operating arm; A long support rod and a short support rod respectively fixed to the deployment operating arm through a pin seat; An unfolding center rod is connected to the other ends of the long support rod and the short support rod, and the unfolding center rod is installed in the rod body. The unfolding center rod is connected to the transmission box. Through the joint action of the transmission box, the long support rod, the short support rod, the fixed support rod and the unfolding center rod, the unfolding operating arm can perform unfolding and retracting movements.

6. The deployable surgical instrument for a minimally invasive surgical robot according to claim 5, characterized in that: The unfolding operating arm is provided with two third grooves, a second wire transmission groove and an anti-interference groove; the pin shaft seat is fixed in the third groove; the unfolding center rod is provided with support rod grooves in multiple directions, and the number of the support rod grooves is the same as the number of the unfolding operating arms; the unfolding center rod is provided with a fourth wire transmission groove; the second wire transmission groove and the fourth wire transmission groove are both used to transmit the driving wire.

7. The deployable surgical instrument for a minimally invasive surgical robot according to claim 1, characterized in that: The transmission box comprises: Base plate; An electric push rod fixed on the bottom plate, wherein the electric push rod is connected to the unfolding mechanism; A plurality of winding wheel shafts and a plurality of guide wheel shafts are evenly arranged on the bottom plate, and the lower ends of the plurality of guide wheel shafts are respectively connected to the driving box; A winding wheel is mounted on each reel shaft; A transmission box guide wheel is mounted on each guide wheel shaft; A box cover connected to the base plate.

8. The deployable surgical instrument for a minimally invasive surgical robot according to claim 7, characterized in that: The transmission box also includes a rod body connecting seat, ear plate one and ear plate two; the bottom plate and the box cover are connected through the rod body connecting seat, ear plate one and ear plate two, and the rod body connecting seat is connected to the rod body.

9. The deployable surgical instrument for a minimally invasive surgical robot according to claim 7, characterized in that: The bottom plate is provided with a plurality of transmission holes and guide holes. The winding wheel shaft is connected to the driving box after being inserted into the transmission hole, and the guide wheel shaft is fixed in the guide hole; the winding wheel is provided with a winding groove for winding the driving wire; the winding wheel is provided with a fixing hole for fixing the driving wire; the transmission box guide wheel is provided with a guide groove for guiding the driving wire to different winding wheels respectively.

10. The deployable surgical instrument for a minimally invasive surgical robot according to claim 7, characterized in that: The drive box comprises: A drive housing connected to the base plate; A drive box cover connected to the drive box body; A plurality of micro drive motors are fixed in the drive box; the output shafts of the micro drive motors are connected to the winding wheel shaft in the transmission box.

Images