A deployment type surgical instrument for minimally invasive robotic surgery

Abstract

The utility model provides an unfolding type surgical instrument for minimally invasive surgery robot belongs to medical instrument field, including end effector, with end effector links to each other's unfolding mechanism, with unfolding mechanism links to each other's pole body, with pole body links to each other's transmission case, with transmission case links to each other's drive case, end effector is linked with transmission case and drive case through two opening and closing drive wires and a swing drive wire, and end effector is controlled to open and close and swing motion through three drive wires, transmission case and drive case, and end effector is driven to carry out unfolding and closing motion through drive case control each unfolding mechanism, the utility model has opening and closing, swing and unfolding function, and the integration degree of instrument drive part is high, ensures the stable operation of driving, has more flexible operability, and is more favorable to the efficient performance of minimally invasive surgery, the utility model guarantees small size before entering the body and doctor's operation triangle area after entering the body simultaneously, realizes the miniaturization and light weight of minimally invasive surgery end instrument, and is convenient to disassemble.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical devices, and particularly relates to a kind of unfolding type surgical instrument for minimally invasive surgery robot. BACKGROUND

[0002] Minimally invasive surgery refers to a small incision surgery, which is performed using modern medical instruments such as laparoscopes and thoracoscopes and related equipment. In the application process of modern medical surgical treatment, minimally invasive surgery occupies an increasingly important position because it can achieve the requirements of small surgical trauma, light pain, and rapid recovery. Since the last century, robot-assisted minimally invasive surgery has gradually become a significant development trend, and with the advent of minimally invasive surgery robots, doctors can perform minimally invasive, precise, and efficient stereoscopic directional surgery with the help of minimally invasive surgery robots. Minimally invasive surgery robot systems integrate many emerging disciplines, achieving the minimally invasive, intelligent, and digitalization of surgical operations. For minimally invasive surgery robot systems, doctors control the front-end surgical instruments through the console to mimic the dexterous movements of the doctor's arms and wrists, so there are higher design requirements for surgical instruments for minimally invasive surgery robots. Surgical instruments used in minimally invasive surgery should meet the requirements of miniaturization, lightweight, multi-degree-of-freedom, flexible operation, and easy installation compared to traditional surgical instruments.

[0003] Chinese patent CN116492056A discloses a telescopic and bendable multi-degree-of-freedom surgical instrument for a minimally invasive surgery system, which includes a driving mechanism, a connecting mechanism, and an execution mechanism. The driving mechanism is installed at the slave end of the minimally invasive surgery 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 communicatively arranged at the end of the rigid tube away from the driving mechanism and is configured to be inserted into the body and to be telescoped in the axial direction and bent in a direction deviating from the extension direction of the rigid tube under the drive of the driving mechanism. The execution mechanism is installed at the end of the flexible tube away from the rigid tube and is configured to perform surgical operations under the drive of the driving mechanism. The combination of the flexible tube and the rigid tube achieves high motion compliance and convenient controllability, facilitating minimally invasive surgical operations in narrow spaces. However, this surgical instrument has the following problems: it does not have the functions of swinging and unfolding, it does not have the function of multi-angle free operation, and it has the disadvantages of large space occupation and inconvenient disassembly, which is not conducive to the development trend of miniaturization and lightweight of equipment. SUMMARY

[0004] The purpose of the present application is to provide a kind of unfolding type surgical instrument for minimally invasive surgery robot. The minimally invasive surgery end instrument adopts a technical solution in which at least three operation arms are combined into a single operation arm, has a certain multi-degree-of-freedom operation, and simultaneously has the functions of opening and closing and swinging of the end execution mechanism and the unfolding function, which is more suitable for minimally invasive surgery and facilitates doctor operation, thereby further improving the convenience of minimally invasive surgery.

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

[0006] This invention provides a deployable surgical instrument for a minimally invasive surgical robot, comprising:

[0007] End effector;

[0008] An unfolding mechanism connected to the end effector;

[0009] The rod connected to the deployment mechanism;

[0010] The transmission box connected to the rod;

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

[0012] The end effector is connected to the transmission box and the drive box via two opening and closing drive wires and one swing drive wire, respectively. The three drive wires, the transmission box and the drive box control the end effector to perform opening, closing and swinging movements. The drive box controls each unfolding mechanism to drive the end effector to perform unfolding and closing movements.

[0013] Furthermore, the end effector includes: a left end claw, a right end claw, a wrist joint swinging component, and two wrist joint guide wheels; the left end claw, the right end claw, and the wrist joint swinging component are connected; the two wrist joint guide wheels are respectively placed on both sides of the wrist joint swinging component and are connected to the deployment mechanism together with the wrist joint swinging component; the ends of two opening and closing drive wires are respectively fixed in the left end claw and the right end claw, and respectively wrapped around the left end claw and the right end claw, and then respectively wrapped around the two wrist joint guide wheels, and then passed through the deployment mechanism and the rod in sequence before being connected to the transmission box; the end of a swinging drive wire is fixed in the wrist joint swinging component, and wrapped around the wrist joint swinging component, and then passed through the deployment mechanism and the rod in sequence before being connected to the transmission box.

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

[0015] Furthermore, the wrist joint swing component is provided with a small claw connection hole, a drive wire through hole, a first connection hole and a first wire transmission groove; the end of the swing drive wire is fixed in the drive wire through hole, then wound around the first wire transmission groove, and then passes through the unfolding mechanism and the rod body in sequence before being connected to the transmission box.

[0016] Furthermore, the deployment mechanism includes:

[0017] The deployment operation arm connected with the end effector;

[0018] The fixed support rod connected with the rod body and the deployment operation arm respectively;

[0019] The long support rod and the short support rod fixed on the deployment operation arm respectively through the pin shaft seat;

[0020] The deployment center rod connected with the other end of the long support rod and the short support rod, the deployment center rod is installed in the rod body, the deployment center rod is connected with the transmission box, and the deployment operation arm is driven to perform the deployment movement and the folding movement through the common action of the transmission box, the long support rod, the short support rod, the fixed support rod and the deployment center rod.

[0021] Further, two third grooves, a second wire transmission groove and an anti-interference groove are arranged on the deployment operation arm; the pin shaft seat is fixed in the third groove; the deployment center rod is provided with support rod grooves in multiple directions, the number of the support rod grooves is the same as the number of the deployment operation arms; a fourth wire transmission groove is arranged on the deployment center rod; the second wire transmission groove and the fourth wire transmission groove are used for transmitting the driving wire.

[0022] Further, the transmission box comprises:

[0023] A bottom plate;

[0024] An electric push rod fixed on the bottom plate, the electric push rod is connected with the deployment mechanism;

[0025] A plurality of wire winding wheel shafts and a plurality of guide wheel shafts are uniformly arranged on the bottom plate, and the lower ends of the plurality of guide wheel shafts are connected with the drive box respectively;

[0026] A wire winding wheel is installed on each wire winding wheel shaft;

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

[0028] A box cover connected with the bottom plate.

[0029] Further, the transmission box further comprises a rod body connecting seat, an ear plate one and an ear plate two; the bottom plate and the box cover are connected through the rod body connecting seat, the ear plate one and the ear plate two, and the rod body connecting seat is connected with the rod body.

[0030] Further, a plurality of transmission holes and guide holes are arranged on the bottom plate, the wire winding wheel shaft is connected with the drive box after being inserted into the transmission hole, and the guide wheel shaft is fixed in the guide hole; a wire winding groove is arranged on the wire winding wheel for winding the driving wire; a fixing hole is arranged on the wire winding wheel for fixing the driving wire; a guide groove is arranged on the transmission box guide wheel for guiding the driving wire to different wire winding wheels respectively.

[0031] Further, the drive box comprises:

[0032] A driving box body connected with the bottom plate;

[0033] A driving box cover connected with the driving box body;

[0034] A plurality of micro driving motors fixed in the driving box body; the output shafts of the micro driving motors are connected with the winding wheel shafts in the transmission box.

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

[0036] The present application is a kind of unfolding type surgical instrument for minimally invasive surgery robot, mainly comprising a plurality of end execution mechanisms, a plurality of unfolding mechanisms, a rod body, a plurality of driving wires, a transmission box and a driving box, wherein the end execution mechanism is connected with the unfolding operation arm in the unfolding mechanism through pin connection, and the end execution mechanism is connected with the driving box and the transmission box through the driving wire, and the opening and closing and swinging thereof are controlled; the unfolding mechanism is connected with the rod body to ensure the positional relationship and relative movement therebetween; the rod body is connected with the transmission box through screw thread, and the transmission box is connected with the driving box through transmission shaft; at the same time, an electric push rod is placed in the transmission box to control the unfolding movement of the unfolding mechanism.

[0037] Compared with the prior art, the present application has the advantages of:

[0038] 1. Opening and closing and swinging functions: the micro driving motor in the driving box drives the winding wheel in the transmission box to rotate, thereby tightening or loosening the opening and closing driving wire / swinging driving wire, so as to realize the opening and closing movement and swinging movement of the end execution mechanism. Compared with the existing ordinary rigid surgical instrument, the present application has more flexible operability, and is more conducive to the efficient performance of minimally invasive surgery.

[0039] 2. Unfolding function: the electric push rod in the transmission box pushes the unfolding center rod forward, and the long branch rod, the short branch rod and the fixed branch rod unfold the unfolding operation arm under the action of the supporting force, and vice versa. Compared with the existing ordinary rigid surgical instrument, the present application has more flexible operability, and is more conducive to the efficient performance of minimally invasive surgery.

[0040] 3. Flexible and stable driving with multiple degrees of freedom: the present application has multiple degrees of freedom (opening and closing, swinging and unfolding), which ensures the flexibility of minimally invasive surgery movement, and the driving part of the instrument has high integration, which ensures the stable operation of the driving.

[0041] 4. Miniaturization and light weight: the operation arm of the unfolded surgical instrument for minimally invasive surgery robot of the present application innovatively adopts a form similar to spacecraft unfolding mechanism, while ensuring small size before entering the body and the doctor's operation triangle area after entering the body, realizing the miniaturization and light weight of the minimally invasive surgery end instrument.

[0042] 5. Easy disassembly: the unfolded surgical instrument for minimally invasive surgery robot of the present application has flexible installation and connection mode between parts, reasonable layout, strong disassembly, and convenient disassembly and maintenance. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 The structure schematic diagram of the unfolded surgical instrument for minimally invasive surgery robot provided by the present application is shown.

[0044] Figure 2 The structure schematic diagram of the unfolded surgical instrument for minimally invasive surgery robot provided by the present application is shown.

[0045] Figure 3 The structure schematic diagram of the unfolded surgical instrument for minimally invasive surgery robot provided by the present application is shown. Figure 1 The local enlarged view.

[0046] Figure 4 The exploded view of the end execution mechanism.

[0047] Figure 5 The overall assembly structure schematic diagram of the unfolding mechanism.

[0048] Figure 6 The exploded view of the unfolding mechanism.

[0049] Figure 7 The structure schematic diagram of the long supporting rod.

[0050] Figure 8 The structure schematic diagram of the short supporting rod.

[0051] Figure 9 The structure schematic diagram of the fixed supporting rod.

[0052] Figure 10 The structure schematic diagram of the rod body.

[0053] Figure 11 The structure schematic diagram of the transmission box.

[0054] Figure 12 The position relationship schematic diagram of the winding wheel and the winding wheel shaft.

[0055] Figure 13 The position relationship schematic diagram of the transmission box guide wheel and the guide wheel shaft.

[0056] Figure 14 The structure schematic diagram of the drive box.

[0057] Figure: end effector 1, end effector left claw 101, left claw hole 101-1, first groove 101-2, first drive wire fixing hole 101-3, end effector 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 transmission wire groove 103-4, wrist joint guide wheel 104;

[0058] Unfolding mechanism 2, long branch rod 201, first combined pin shaft hole 201-1, second combined pin shaft hole 201-2, first connecting pin shaft hole 201-3, second connecting pin shaft hole 201-4, short branch rod 202, third combined pin shaft hole 202-1, fourth combined pin shaft hole 202-2, third connecting pin shaft hole 202-3, fourth connecting pin shaft hole 202-4, fixed branch rod 203, fifth combined pin shaft hole 203-1, sixth combined pin shaft hole 203-2, fifth connecting pin shaft hole 203-3, sixth connecting pin shaft hole 203-4, third transmission wire groove 203-5, pin shaft seat 204, unfolding operation arm 205, third groove 205-1, second transmission wire groove 205-2, anti-interference groove 205-3, seventh connecting pin shaft hole 205-4, eighth connecting pin shaft hole 205-5, unfolding center rod 206, branch rod groove 206-1, ninth connecting pin shaft hole 206-2, fourth transmission wire groove 206-3;

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

[0060] Drive box 4, drive box cover 401, second connecting hole 401-1, drive box body 402, stand 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 one 509, ear plate two 510. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application will be described in detail below in combination with the drawings and specific embodiments.

[0063] As Figures 1 to 14As shown, the present application provides a kind of unfolded surgical instrument for minimally invasive surgery robot, mainly includes the following components: multiple end execution mechanism 1, multiple unfolding mechanism 2, rod body 3, multiple drive wires, transmission box 5 and drive box 4, wherein, the number of end execution mechanism 1 and unfolding mechanism 2 is same, one end execution mechanism 1 is connected with one unfolding mechanism 2 by pin coupling, multiple unfolding mechanism 2 is connected with one end of rod body 3, the other end of rod body 3 is connected with transmission box 5 by screw connection, transmission box 5 and drive box 4 are connected, simultaneously multiple unfolding mechanism 2 is also connected with transmission box 5.In addition, each end execution mechanism 1 is connected with transmission box 5 and drive box 4 by three drive wires (two of which are opening and closing drive wires, and one is swing drive wire), and the opening and closing movement and swing movement of each end execution mechanism 1 can be controlled by the synergistic effect of three drive wires, transmission box 5 and drive box 4; the unfolding and closing movement of each unfolding mechanism 2 driving corresponding end execution mechanism 1 can also be controlled by the action of drive box 4.

[0064] As shown in Figure 3 and Figure 4 end execution mechanism 1 mainly includes: end left claw 101, end right claw 102, wrist joint swing part 103 and wrist joint guide wheel 104;Wherein, end left claw 101, end right claw 102 and wrist joint swing part 103 are connected and fixed by the same pin shaft;The number of wrist joint guide wheel 104 is two, two wrist joint guide wheels 104 are placed on the left and right sides of the front end of wrist joint swing part 103 respectively, and two wrist joint guide wheels 104 and wrist joint swing part 103 are connected to unfolding mechanism 2 by the same pin shaft, wrist joint guide wheel 104 is convenient for opening and closing drive wire to wire backward;The end of two opening and closing drive wires is fixed in end left claw 101 and end right claw 102 respectively and is wound around end left claw 101 and end right claw 102 respectively, then two opening and closing drive wires are wound around two wrist joint guide wheels 104 respectively, after the transmission effect of two wrist joint guide wheels 104, two opening and closing drive wires are connected with transmission box 5 in turn after passing through unfolding mechanism 2 and rod body 3.One end of swing drive wire is fixed in wrist joint swing part 103 and is wound around wrist joint swing part 103, and then passes through unfolding mechanism 2 and rod body 3 and is connected with transmission box 5.

[0065] Specifically, the end left claw 101 is provided with a left claw hole 101-1 at the center of the front end, a first recess 101-2 at the front end, and a first drive wire fixing hole 101-3 on the side wall of the front end; the end right claw 102 is provided with a right claw hole 102-1 at the center of the front end, a second recess 102-2 at the front end, and a second drive wire fixing hole (not shown in the figure, refer to the position of the first drive wire fixing hole 101-3) on the side wall of the front end; the wrist joint swing part 103 is provided with a small claw connecting hole 103-1 above and below the rear end, a drive wire through hole 103-2 above and below the front end, a first connecting hole 103-3 at the center of the front end, and a first transmission slot 103-4 at the front end. The left claw hole 101-1 at the front end of the end left claw 101, the right claw hole 102-1 at the front end of the end 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 by the same pin shaft, and the cooperation and relative rotation are ensured by shaft connection; 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 by the same pin shaft.

[0066] Specifically, the ends of the two opening and closing drive wires are fixed in the first drive wire fixing hole 101-3 of the end left claw 101 and the second drive wire fixing hole of the end right claw 102 respectively and are wound around the first recess 101-2 of the end left claw 101 and the second recess 102-2 of the end right claw 102 respectively, then the two opening and closing drive wires are wound around the two wrist joint guide wheels 104, and through the transmission effect 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 and are connected to the transmission box 5. When running, the winding wheel 503 in the transmission box 5 is driven to rotate by the drive box 4, the opening and closing drive wires are tightened or loosened, and finally the end execution mechanism 1 is driven to perform opening and closing movement.

[0067] Specifically, the end of the swing drive wire is fixed in the drive wire through hole 103-2 of the wrist joint swing part 103, then wound around the first transmission slot 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. When running, the winding wheel 503 in the transmission box 5 is driven to rotate by the drive box 4, the swing drive wire is tightened or loosened, and finally the end execution mechanism 1 is driven to perform swing movement.

[0068] As Figures 5 to 9As shown, the unfolding mechanism 2 mainly comprises: long supporting rods 201, short supporting rods 202, fixed supporting rods 203, pin shaft seats 204, unfolding operation arms 205 and unfolding center rods 206. One end of each of the long supporting rods 201 and the short supporting rods 202 is fixed on the unfolding operation arm 205 through a pin shaft seat 204, and the other end of each of the long supporting rods 201 and the short supporting rods 202 is fixed on the unfolding center rod 206, so as to provide support force for unfolding operation; one end of the fixed supporting rod 203 is fixed on the unfolding operation arm 205, and the other end of the fixed supporting rod 203 is fixed on the rod body 3, so as to provide support force while limiting unfolding.

[0069] Specifically, the number of the long supporting rods 201 is two, and two combined pin shaft holes, i.e., first combined pin shaft holes 201-1 and second combined pin shaft holes 201-2, are arranged in the middle of each long supporting rod 201, and first connecting pin shaft holes 201-3 and second connecting pin shaft holes 201-4 are further arranged at two ends of each long supporting rod 201, so as to ensure the cooperation relationship between the long supporting rods 201 and other parts.

[0070] Specifically, the number of the short supporting rods 202 is two, and two combined pin shaft holes, i.e., third combined pin shaft holes 202-1 and fourth combined pin shaft holes 202-2, are arranged in the middle of each short supporting rod 202, and third connecting pin shaft holes 202-3 and fourth connecting pin shaft holes 202-4 are further arranged at two ends of each short supporting rod 202, so as to ensure the cooperation relationship between the short supporting rods 202 and other parts.

[0071] Specifically, the number of the fixed supporting rods 203 is two, and a third transmission slot 203-5 is arranged in the middle of each fixed supporting rod 203, the third transmission slot 203-5 is mainly used for accommodating opening and closing driving wires and swinging driving wires, fifth combined pin shaft holes 203-1 and sixth combined pin shaft holes 203-2 are arranged at two sides of the third transmission slot 203-5, and fifth connecting pin shaft holes 203-3 and sixth connecting pin shaft holes 203-4 are further arranged at two ends of each fixed supporting rod 203, so as to ensure the cooperation relationship between the fixed supporting rods 203 and other parts.

[0072] Specifically, the number of the pin shaft seats 204 is two, and pin shaft holes are arranged on the pin shaft seats 204.

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

[0074] The wrist joint swing part 103 in the end effector 1 and the two wrist joint guide wheels 104 are connected in the eighth connecting pin hole 205-5 of the unfolding operation arm 205 through the same pin shaft. Two pin shaft seats 204 are fixed in the two third grooves 205-1 on the unfolding operation arm 205, one of which is connected with the second connecting pin hole 201-4 on the two long supporting rods 201 through a pin shaft, and the other is connected with the fourth connecting pin hole 202-4 on the two short supporting rods 202 through a pin shaft; at the same time, the seventh connecting pin hole 205-4 at the lower end of the unfolding operation arm 205 is connected with the fifth connecting pin hole 203-3 on the two fixed supporting rods 203 through a pin shaft.

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

[0076] As shown in the figure, Figure 10 A center rod hole 3-1 is opened on the rod body 3, which is mainly used for accommodating the unfolding center rod 206 in the unfolding mechanism 2, and the rear end of the unfolding center rod 206 is connected with the electric push rod 507 in the transmission box 5; a tenth connecting pin hole 3-2 is opened on the side wall of the rod body 3, and the tenth connecting pin hole 3-2 on the rod body 3 is connected with the sixth connecting pin hole 203-4 on the fixed supporting rod 203 through a pin shaft. When moving, the unfolding center rod 206 moves forward under the pushing of the electric push rod 507 in the transmission box 5, and the long supporting rod 201, the short supporting rod 202 and the fixed supporting rod 203 unfold the unfolding operation arm 205 under the supporting force, and vice versa, so as to fold the unfolding operation arm 205. At the same time, four light holes 3-3 are arranged at the tail of the rod body, which facilitates the connection of the rod body and the transmission box.

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

[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 is wound around the first wire transmission groove 103-4 of the wrist joint swing part 103, and then is transmitted to the transmission box 5 in turn through the second wire transmission groove 205-2 of the unfolding operation arm 205, the third wire transmission groove 203-5 of the fixing support 203, and the fourth wire transmission groove 206-3 of the unfolding center rod 206 in the unfolding mechanism 2.

[0079] As Figures 11 to 13As shown, the transmission box 5 mainly comprises: 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 one 509, and an ear plate two 510. The number of winding wheels 503, winding wheel shafts 504, transmission box guide wheels 505, and guide wheel shafts 506 is 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 with the unfolding center rod 206 in the unfolding mechanism 2 to provide power for the unfolding movement of the unfolding mechanism 2. The bottom plate 501 and the box cover 502 are connected, specifically, the lower ends of the rod body connecting seat 508, the ear plate one 509, and the ear plate two 510 are installed on the bottom plate 501, and the upper ends of the rod body connecting seat 508, the ear plate one 509, and the ear plate two 510 are connected with the box cover 502, wherein the rod body connecting seat 508 is arranged at the edge of the bottom plate 501, and a countersunk hole is formed in the rod body connecting seat 508; the ear plate two 510 is arranged at the middle position of the bottom plate 501, and a countersunk hole is formed in the ear plate two 510; the ear plate one 509 is arranged at the edge of the bottom plate 501 which is symmetric to the position of the rod body connecting seat 508, and a countersunk hole is formed in the ear plate one 509; meanwhile, three connecting countersunk holes 502-1 are formed in 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 one 509, and the ear plate two 510 respectively, and the countersunk holes of the rod body connecting seat 508, the ear plate one 509, and the ear plate two 510 are connected with the three connecting countersunk holes 502-1 in the box cover 502 through screws, so as to realize the connection between the bottom plate 501 and the box cover 502. The rod body connecting seat 508 is also used for connecting with the rear end of the rod body 3, and the end of the electric push rod 507 is connected and fixed with the unfolding center rod 206 after penetrating through the rod body connecting seat 508.

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

[0081] Specifically, a winding groove 503-1 is formed in the winding wheel 503 for winding the driving wire, and a fixing hole 503-2 is also formed in the winding wheel 503 for fixing the driving wire.

[0082] Specifically, the bottom plate 501 is provided with guide holes 501-2, 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 the same; the guide wheel shafts 506 are fixed in the guide holes 501-2.

[0083] Specifically, the transmission box guide wheels 505 are provided with guide grooves 505-1, which are used to guide the driving wires to different winding wheels 503.

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

[0085] The connection mode of one opening and closing driving wire, two winding wheels 503, two transmission box guide wheels 505, and two micro drive motors is described below. Specifically, one opening and closing driving wire is first wound around one winding wheel 503 and fixed in the fixed hole 503-2, then transmitted to the unfolding center rod 206 through the transmission box guide wheel 505, and then sequentially passes through the second wire transmission groove 205-2 of the unfolding operation arm 205, 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 the unfolding mechanism 2, and then guided by the wrist joint guide wheel 104 to the left end claw 101, wound around the first groove 101-2 of the left end claw 101, and fixed in the first driving wire fixing hole 101-3, then passes around the first groove 101-2 of the left end claw 101, is guided by another wrist joint guide wheel 104, and then sequentially passes through the second wire transmission groove 205-2 of the unfolding operation arm 205, 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 the unfolding mechanism 2, and then transmitted to the unfolding center rod 206, and then transmitted to another winding wheel 503 through another transmission box guide wheel 505 and fixed in the fixed hole 503-2, thereby completing the transmission and fixation of one opening and closing driving wire; one of the micro drive motors is started, the first winding wheel 503 rotates, the opening and closing driving wire is tightened, the other micro drive motor is started, the second winding wheel 503 rotates, the opening and closing driving wire is loosened, and finally the end execution mechanism 1 is driven to perform opening and closing movement.

[0086] As Figure 14As shown, the drive box 4 mainly comprises a drive box cover 401, a drive box body 402, a plurality of stand 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 connecting holes 401-1 are formed in the drive box cover 401, the number of the second connecting holes 401-1 in 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 connecting hole 401-1 corresponds to a transmission hole 501-1 on the bottom plate 501 in the transmission box 5 respectively; the number of the stand columns 403 is three, the drive box cover 401 is fixedly connected with the drive box body 402 through three screws in the middle of the three stand columns 403; four screw holes are arranged in the middle of the drive box cover 401, and the drive box body 402 is fixedly connected with the bottom plate 501 in the transmission box 5 through four screws. The plurality of micro drive motors are fixed in the drive box body 402, and the output shaft of the micro drive motor is connected with the winding wheel shaft 504 in the transmission box 5.

[0087] In the present application, each end executing mechanism 1 is connected with the transmission box 5 and the drive box 4 through three drive wires (two of which are opening and closing drive wires, and one is a swing drive wire), wherein the specific wiring of the two opening and closing drive wires is as follows:

[0088] The end of one of the opening and closing drive wires is fixed in the first drive wire fixing hole 101-3 of the left end claw 101 and winds around the first groove 101-2 of the left end claw 101; the end of the other opening and closing drive wire is fixed in the second drive wire fixing hole of the right end claw 102 and winds around the second groove 102-2 of the right end claw 102; the two opening and closing drive wires then wind around the two wrist joint guide wheels 104 respectively, and then pass through the second wire transmission groove 205-2 of the unfolding operation arm 205, 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 the unfolding mechanism 2 in turn, and then continue to pass backward to the unfolding center rod 206, and then pass through the transmission box 5, wind around one winding wheel 503 in the transmission box 5, and are fixed in the fixing hole 503-2.

[0089] In the present application, each end executing mechanism 1 is connected with the transmission box 5 and the drive box 4 through three drive wires (two of which are opening and closing drive wires, and one is a swing drive wire), wherein the specific wiring of the two opening and closing drive wires 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 swing part 103, then winds around the first wire passing groove 103-4 of the wrist joint swing part 103, then passes through the second wire passing groove 205-2 of the unfolding operation arm 205, the third wire passing groove 203-5 of the fixed support rod 203, the fourth wire passing groove 206-3 of the unfolding center rod 206 in the unfolding mechanism 2 in sequence, and then continues to pass backward to the unfolding center rod 206, passes through the unfolding center rod 206, and then passes to the transmission box 5; is conducted through the transmission box guide wheel 505 in the transmission box 5, is wound on a winding wheel 503 in the transmission box 5, and is fixed in the fixed hole 503-2.

[0091] The above merely illustrates the embodiments of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present application is included in the protection scope of the present application.

Claims

1. An unfolded surgical instrument for minimally invasive surgery robot, characterized by, Comprise: End effector; Unfolding mechanism connected with end effector; Rod connected with unfolding mechanism; Transmission box connected with rod; Drive box connected with transmission box; The end effector is connected with transmission box and drive box through two opening and closing drive wires and one swing drive wire, and the end effector is controlled to open and close and swing through three drive wires, transmission box and drive box; The drive box controls each unfolding mechanism to drive the end effector to unfold and close; The number of end effector and unfolding mechanism is the same, one end effector is connected with one unfolding mechanism through pin connection, and multiple unfolding mechanisms are connected with one end of rod; Each end effector is connected with transmission box and drive box through three drive wires; The unfolding mechanism comprises: unfolding operation arm connected with end effector; Two ends of fixed branch connected with rod and unfolding operation arm respectively; Long branch and short branch fixed on unfolding operation arm through pin shaft seat; Unfolding center rod connected with other end of long branch and short branch, the unfolding center rod is installed in the rod, the unfolding center rod is connected with the transmission box, and the unfolding operation arm is unfolded and folded through the common action of transmission box, long branch, short branch, fixed branch and unfolding center rod; The number of long branch is two, two long branches are connected and fixed through connecting pin shaft; The number of short branch is two, two short branches are connected and fixed through connecting pin shaft; One end of long branch and short branch is fixed on unfolding operation arm through a pin shaft seat, and the other end of long branch and short branch is fixed on unfolding center rod, which provides support force for unfolding operation through long branch and short branch; The number of fixed branch is two, two fixed branches are connected and fixed through connecting pin shaft; One end of fixed branch is fixed on unfolding operation arm, and the other end of fixed branch is fixed on rod, which provides support force while limiting unfolding through fixed branch; Two third grooves are opened in the middle of unfolding operation arm; Wrist joint swing part and two wrist joint guide wheels in end effector are connected on the upper end of unfolding operation arm through the same pin shaft; Two pin shaft seats are fixed in the two third grooves on the unfolding operation arm, one of which is connected with two long branches through pin shaft, and the other is connected with two short branches through pin shaft; The lower end of unfolding operation arm is connected with two fixed branches through pin shaft; The unfolding center rod is provided with branch grooves in multiple directions, the number of branch grooves is the same as that of unfolding operation arm, and the unfolding center rod is connected with long branch and short branch through pin shaft through branch grooves.

2. The deployable surgical instrument for use with a minimally invasive surgical robot of claim 1, wherein, The end effector comprises 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 arranged on the two sides of the wrist joint swing part and are jointly connected to the unfolding mechanism; the ends of two opening and closing drive wires are respectively fixed in the end left claw and the end right claw, are respectively wound around the end left claw and the end right claw, are respectively wound around the two wrist joint guide wheels, pass through the unfolding mechanism and the rod body in sequence and are connected to the transmission box; the end of a swing drive wire is fixed in the wrist joint swing part, is wound around the wrist joint swing part, passes through the unfolding mechanism and the rod body in sequence and is connected to the transmission box.

3. A minimally invasive surgical robotically deployed surgical instrument according to claim 2, wherein, The end left claw is provided with a left claw hole, a first recess and a first drive wire fixing hole; the end right claw is provided with a right claw hole, a second recess and a second drive wire fixing hole; the ends of the two opening and closing drive wires are respectively fixed in the first drive wire fixing hole and the second drive wire fixing hole, are respectively wound around the first recess and the second recess and are respectively wound around the two wrist joint guide wheels.

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

5. The minimally invasive surgical robotically deployed surgical instrument of claim 1, wherein, The unfolding operation arm is provided with two third recesses, a second wire transmission groove and an anti-interference groove; the pin shaft seat is fixed in the third recess; the unfolding center rod is provided with a plurality of support rod grooves in multiple directions, and the number of the support rod grooves is the same as the number of the unfolding operation 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 used for transmitting the drive wire.

6. The minimally invasive surgical robotically deployed surgical instrument of claim 1, wherein, The transmission box comprises: a bottom plate; an electric push rod fixed on the bottom plate, connected with the unfolding mechanism; a plurality of wire winding wheel shafts and a plurality of guide wheel shafts arranged uniformly on the bottom plate, and the lower ends of the plurality of guide wheel shafts are connected with the drive box; a wire winding wheel is installed on each wire winding wheel shaft; a transmission box guide wheel is installed on each guide wheel shaft; a box cover connected with the bottom plate.

7. The micro-invasive surgical instrument for a robot according to claim 6, characterized in that The transmission box further comprises a rod body connecting seat, an ear plate one and an ear plate two; the bottom plate and the box cover are connected through the rod body connecting seat, the ear plate one and the ear plate two, and the rod body connecting seat is connected with the rod body.

8. The micro-invasive surgical instrument for a robot according to claim 6, characterized in that The bottom plate is provided with a plurality of transmission holes and guide holes; the wire winding wheel shaft is connected with the drive box after being inserted into the transmission hole; the guide wheel shaft is fixed in the guide hole; the wire winding wheel is provided with a wire winding groove for winding the drive wire; the wire 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 wire winding wheels.

9. The minimally invasive surgical robotically deployed surgical instrument of claim 6, wherein, The drive box comprises: a drive box body connected with the bottom plate; a drive box cover connected with the drive box body; a plurality of micro drive motors fixed in the drive box body; the output shaft of the micro drive motor is connected with the wire winding wheel shaft in the transmission box.

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