Transmission device, transmission system and surgical robot

Abstract

The invention belongs to the technical field of medical instruments, and discloses a transmission device, a transmission system and a surgical robot. The transmission device comprises a guide assembly, a transmission wire and a pulley block. The guide assembly is slidably connected with the handle support and can slide back and forth in the linear transmission direction, the two ends of the guide assembly in the linear transmission direction are a driving end and a transmission end respectively, and the driving end is connected with the driving system; one end of the transmission wire is connected with a surgical instrument; the other end of the transmission wire bypasses the pulley block, extends in the linear transmission direction and is fixedly connected with the transmission end. When the transmission device is used, the guide assembly is only stressed in the linear transmission direction in the whole transmission process, the requirement for the whole guide assembly can be lowered, and therefore stable transmission of power can be achieved even if the transmission device is provided with components with lower manufacturing cost to form the guide assembly. Therefore, the transmission device is lower in manufacturing cost and higher in transmission stability.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a transmission device, a transmission system and a surgical robot. Background Art

[0002] A surgical robot is a comprehensive robot that integrates high-definition imaging, robotic arms and other technologies. Doctors can control the main controller to guide surgical instruments to perform precise movements to perform corresponding surgical operations.

[0003] In the prior art, the driving system of the surgical instrument is equipped with a linear motor as the driving source, and cooperates with multiple transmission shafts to realize power transmission. During the movement of the transmission shaft, a linear motion pair is set to play a guiding role, thereby ensuring that each transmission shaft can move in a specified direction.

[0004] However, when there is a distance between the load borne by the linear motion pair and the guide center, eccentricity will be generated during the movement. The eccentricity will cause the force condition of the linear motion pair to become more complicated. In order to ensure the stability of the motion state, the entire transmission structure needs to be equipped with more expensive components and a more complex layout to achieve guidance, resulting in a higher cost for the entire transmission structure and even the surgical robot. Summary of the invention

[0005] The purpose of the present invention is to provide a transmission device, a transmission system and a surgical robot, which solves the problem in the prior art that the transmission structure is subjected to complex force conditions during the transmission process, and requires a complex layout of more expensive components to achieve stable transmission, resulting in the transmission structure and the robot containing the transmission structure being difficult to achieve both stable transmission and lower cost at the same time.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present application provides a transmission device, which comprises:

[0008] A guide assembly is slidably connected to the handle bracket and can slide back and forth along the linear transmission direction, wherein two ends of the guide assembly along the linear transmission direction are respectively a driving end and a transmission end, and the driving end is connected to the driving system;

[0009] A transmission wire, one end of which is connected to the surgical instrument;

[0010] A pulley block, the other end of the transmission wire passes around the pulley block and extends along the linear transmission direction and is fixedly connected to the transmission end.

[0011] Optionally, a first stress point is formed at a connection between the transmission wire and the transmission end, a second stress point is formed at a connection between the drive end and the drive system, and a line connecting the first stress point and the second stress point is parallel to the linear transmission direction.

[0012] Optionally, the guide assembly comprises:

[0013] A bushing fixed to the handle bracket;

[0014] A guide column is slidably connected to the bushing along the linear transmission direction, and two ends of the guide column are respectively the driving end and the transmission end.

[0015] Optionally, a plurality of guide posts are arranged at intervals, and the guide assembly further comprises:

[0016] A driving plate, disposed at the driving end and fixedly connected to the plurality of guide pillars;

[0017] A transmission plate is arranged at the transmission end and fixedly connected to the plurality of guide pillars, and the transmission wire is fixedly connected to the transmission plate.

[0018] Optionally, the transmission device further comprises:

[0019] An adjusting component is arranged at the transmission end, and the transmission wire is passed through the adjusting component. The adjusting component has a locking state and an adjusting state. In the locking state, the adjusting component is locked with the transmission wire, and in the adjusting state, the transmission wire can slide relative to the adjusting component.

[0020] Optionally, the adjustment component includes:

[0021] An adjusting sleeve, arranged at the transmission end, and the transmission wire is passed through the adjusting sleeve;

[0022] The fixing part is detachably connected to the transmission wire and can be snap-fitted with the adjusting sleeve.

[0023] Optionally, the adjustment sleeve has a step hole, and the fixing portion is slidably connected in the step hole and can abut against a step surface of the step hole.

[0024] Optionally, the fixing portion includes:

[0025] A fixed block, pressed on the transmission wire;

[0026] A support block is slidably connected in the step hole and has an adjustment hole for the transmission wire to pass through. One side of the support block abuts against the step surface of the step hole, and the other side abuts against the side surface of the fixed block.

[0027] Optionally, the pulley block comprises:

[0028] First pulley;

[0029] The second pulley is spaced apart from the first pulley along the linear transmission direction, and the diameter of the first pulley is larger than the diameter of the second pulley. The transmission wire is wound around the first pulley and the second pulley.

[0030] In a second aspect, the present application provides a transmission system, which includes:

[0031] A handle bracket, one end of which is connected to the surgical instrument, and the other end of which is connected to the drive system;

[0032] A plurality of transmission devices according to any one of the first aspects are distributed at intervals on the handle bracket and arranged opposite to each other in pairs.

[0033] Optionally, the guide assembly is slidably connected to the handle bracket via a linear bearing, and the transmission system further comprises:

[0034] A pressure cover is arranged on the handle bracket and abuts against the outer ring of the linear bearing.

[0035] In a third aspect, the present application provides a surgical robot, which includes:

[0036] Drive system;

[0037] The transmission system as described in the second aspect is connected to the drive system;

[0038] A surgical instrument is connected to the transmission system.

[0039] Beneficial effects of the present invention:

[0040] In the first aspect, by setting the guide assembly to slide back and forth only along the linear transmission direction, when the driving end slides due to the driving force of the driving system, the driving end can pull the transmission wire to move, and the transmission wire then drives the surgical instrument to move, and after the transmission wire is wound with the pulley group, the pushing driving force received by the guide assembly can be converted into the pulling driving force of the transmission wire pulling the surgical instrument. At the same time, a section of the transmission wire close to the transmission end can extend along the linear transmission direction, so that the force between the transmission wire and the guide assembly can be generated along the linear transmission direction, and the driving force can also be generated along the linear transmission direction, and the guide assembly as a whole is only subjected to force in the linear transmission direction. In this way, when the transmission device is in use, the guide assembly transmits power through the cooperation of the transmission wire and the pulley group, so that the guide assembly is only subjected to force in the linear transmission direction during the entire transmission process, thereby effectively simplifying the force situation of the guide assembly, and can reduce the load of the guide assembly, so that the requirements for the guide assembly as a whole can be reduced, so that even if the transmission device is configured with lower cost components to constitute the guide assembly, it can still achieve stable power transmission, so that the transmission device can take into account lower cost and higher transmission stability.

[0041] Secondly, when the transmission system is in use, on the one hand, the transmission device can realize stable power transmission, and when multiple transmission devices are distributed at intervals, such as 6 or 8 equal-angle intervals, the surgical instrument can be stably and efficiently moved in multiple different directions. On the other hand, the lower manufacturing cost of the transmission device can make the cost of the transmission system of multiple transmission devices lower, effectively reducing the manufacturing cost of the transmission system. Moreover, multiple transmission devices are arranged opposite to each other in pairs. In two opposite transmission devices, when the transmission wire of one transmission device is stretched, the transmission wire of the other transmission device is retracted to ensure that the movement process of the surgical instrument in any direction is stably completed.

[0042] Thirdly, when the surgical robot is in use, it can use a lower-cost transmission system to stably transmit the power generated by the drive system so that the surgical instrument can produce corresponding movements. Since the transmission wire will inevitably wear out during the transmission process, the general number of times a surgical instrument is used is within 20 times. By controlling the manufacturing cost of the transmission system, the cost of a single use of the surgical instrument can be effectively reduced, thereby effectively reducing the cost of a single use of the surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a structural cross-sectional view of a transmission system in an embodiment of the present invention;

[0044] Figure 2 is a schematic structural diagram of a transmission device in an embodiment of the present invention;

[0045] Figure 3is a schematic structural diagram of a guide assembly of a transmission device in an embodiment of the present invention;

[0046] Figure 4 is a structural sectional view of a guide assembly of a transmission device in an embodiment of the present invention;

[0047] Figure 5 is a schematic structural diagram of a transmission plate of a transmission device in an embodiment of the present invention;

[0048] Figure 6 is a structural cross-sectional view of an adjustment assembly and a guide assembly of a transmission device in an embodiment of the present invention;

[0049] Figure 7 is a structural cross-sectional view of a guide adjustment assembly of a transmission device in an embodiment of the present invention;

[0050] Figure 8 is a structural cross-sectional view of an adjustment sleeve of a transmission device in an embodiment of the present invention;

[0051] Fig. 9 is a schematic structural diagram of a support block of a transmission device in an embodiment of the present invention;

[0052] Fig.10 is a schematic structural diagram of a pulley block and an adjusting unit of a transmission device in an embodiment of the present invention;

[0053] Fig.11 is a schematic structural diagram of a driving system of a surgical robot in an embodiment of the present invention;

[0054] Fig.12 It is a schematic structural diagram of a handle support and surgical instruments of a surgical robot in an embodiment of the present invention.

[0055] In the figure:

[0056] 1. Guide assembly; 11. Drive end; 111. Second force point; 12. Transmission end; 121. First force point; 13. Bushing; 14. Guide column; 15. Drive plate; 16. Transmission plate;

[0057] 2. Transmission wire;

[0058] 3. Adjustment assembly; 31. Adjustment sleeve; 311. Step hole; 32. Fixing block; 33. Support block; 331. Adjustment hole;

[0059] 4. First pulley;

[0060] 5. Second pulley;

[0061] 6. Handle bracket;

[0062] 7. Covering;

[0063] 8. Drive system;

[0064] 9. Surgical instruments. DETAILED DESCRIPTION

[0065] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0066] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0067] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0068] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0069] The embodiments of the present application disclose a transmission device, a transmission system and a surgical robot.

[0070] Reference Figure 1 and Figure 2The transmission device includes a guide assembly 1 and a transmission wire 2. The guide assembly 1 is slidably connected to the handle bracket 6 and can slide back and forth along the linear transmission direction. The two ends of the guide assembly 1 along the linear transmission direction are respectively a driving end 11 and a transmission end 12, and the driving end 11 is connected to the driving system; one end of the transmission wire 2 is connected to the surgical instrument, and the other end is connected to the guide assembly 1; the edge of the pulley block is tangent to the linear transmission direction extending from the connection between the transmission wire 2 and the guide assembly 1, and the transmission wire 2 bypasses the pulley block so that the section where the transmission wire 2 is connected to the guide assembly 1 extends along the linear transmission direction.

[0071] Specifically, the driving end 11 of the guide assembly 1 can be connected to the driving system to transmit the driving force generated by the driving system in the linear transmission direction, and the driving force can make the guide assembly 1 slide in the linear transmission direction. One end of the transmission wire 2 is connected to the surgical instrument, and the other end thereof extends from the surgical instrument and is fixedly connected to the guide and transmission end 12 through the pulley block. The fixed connection can be a non-detachable method such as bonding or welding, or a detachable connection method such as snap-on. A section of the transmission wire 2 close to the transmission end 12 can also extend in the linear transmission direction. The transmission wire 2 can be made of a material with a certain flexibility such as steel wire or tungsten wire, or it can be made of other materials that can achieve power transmission. The pulley block can be a plurality of pulleys spaced apart in the linear transmission direction. The specific number of pulleys can be designed according to the actual installation space, and this application does not limit this.

[0072] By setting the guide assembly 1 to slide back and forth only in the linear transmission direction, when the driving end 11 slides due to the driving force of the driving system, the transmission end 12 can pull the transmission wire 2 to move, and the transmission wire 2 then drives the surgical instrument to move. After the transmission wire 2 is wound around the pulley group, it can convert the pushing driving force received by the guide assembly 1 into the pulling driving force that pulls the surgical instrument to move. At the same time, a section of the transmission wire 2 close to the transmission end 12 can extend along the linear transmission direction, so that the force between the transmission wire 2 and the guide assembly 1 can be generated along the linear transmission direction, and the driving force can also be generated along the linear transmission direction, so that the guide assembly 1 as a whole is only subjected to force in the linear transmission direction. In this way, when the transmission device is in use, the guide component 1 transmits power through the cooperation of the transmission wire 2 and the pulley group, so that during the entire transmission process, the guide component 1 is only subjected to force in the linear transmission direction, thereby effectively simplifying the force situation of the guide component 1 and reducing the load of the guide component 1. The overall requirements for the guide component 1 can be reduced, so that even if the transmission device is equipped with lower cost components to constitute the guide component 1, it can still achieve stable power transmission, so that the transmission device can take into account both lower cost and higher transmission stability.

[0073] Reference Figure 2 and Figure 3Optionally, the connection between the transmission wire 2 and the transmission end 12 forms a first force point 121, and the connection between the driving end 11 and the driving system forms a second force point 111, and the line connecting the first force point 121 and the second force point 111 is parallel to the linear transmission direction.

[0074] Specifically, the transmission wire 2 is fixedly connected to the guide assembly 1. As the guide assembly 1 moves, the transmission wire 2 can be driven to move synchronously. Therefore, force will be generated at the connection between the transmission wire 2 and the guide assembly 1, so the connection between the two serves as the first force point 121. The driving end 11 of the guide assembly 1 forms a surface contact with the driving system, that is, the entire surface of the driving end 11 will be subject to the driving force, and the central part of the driving end 11 can be used as the second force point 111. It should be understood that the driving end 11 of the guide assembly 1 can also form a symmetrical contact with the driving system. For example, the driving end 11 is in the shape of a long strip, and the driving system can abut against both ends of the driving end 11 in the length direction. At this time, the driving system can symmetrically apply the driving force to the driving end 11, and the central part of the driving end 11 can also be used as the second force point 111.

[0075] By making the line connecting the first force point 121 and the second force point 111 parallel to the linear transmission direction, the driving force received by the driving end 11 and the tension received by the transmission wire 2 are completely overlapped in direction. Then, when the driving force is applied to the driving end 11 of the guide component 1, the guide component 1 can apply tension to the transmission wire 2 in exactly the same direction, thereby minimizing the transmission loss between the driving force and the tension, thereby effectively improving the transmission accuracy of the transmission device.

[0076] Reference Figure 3 and Figure 4 Optionally, the guide assembly 1 includes a bushing 13 and a guide post 14. The bushing 13 is fixed to the handle bracket 6; the guide post 14 is slidably connected to the bushing 13 along the linear transmission direction, and the two ends of the guide post 14 are the driving end 11 and the transmission end 12 respectively.

[0077] Specifically, the bushing 13 is fixed in the fixing hole of the handle bracket 6, and the fixing direction can be welding or bolt connection. The guide column 14 extends along the linear transmission direction and is inserted into the bushing 13. The guide column 14 and the bushing 13 are slidably connected, and a lubricating film or other structure can be provided between the two to ensure that the friction between the two is low. The upper end of the guide column 14 serves as the driving end 11 and can be connected to the driving system, while the lower end of the guide column 14 serves as the transmission end 12, which can be fixedly connected to the transmission wire 2.

[0078] By setting the guide column 14 and the bushing 13, during the transmission process, the bushing 13 is fixed on the handle bracket 6 and will not move. When the driving force is applied to the driving end 11, the guide column 14 can only slide along the linear transmission direction under the guiding and limiting action of the bushing 13, thereby smoothly driving the driving end 12 to slide, so as to smoothly pull the transmission wire 2 to move.

[0079] Optionally, a plurality of guide posts 14 are arranged at intervals, and the guide assembly 1 further comprises a drive plate 15 and a transmission plate 16. The drive plate 15 is arranged at the drive end 11 and fixedly connected to the plurality of guide posts 14; the transmission plate 16 is arranged at the drive end 12 and fixedly connected to the plurality of guide posts 14, and the transmission wire 2 is fixedly connected to the transmission plate 16.

[0080] Specifically, each guide post 14 is correspondingly configured with a bushing 13. In the present embodiment, two guide posts 14 are arranged at intervals. Two mounting holes are correspondingly arranged on the drive plate 15, and each mounting hole is correspondingly fixedly connected to a guide post 14, and the position of the guide post 14 in the mounting hole can be fine-tuned to ensure that the parallelism of the two guide posts 14 meets the requirements. The transmission plate 16 has the same structure as the drive plate 15, and the present application will not elaborate on it here. Moreover, the central part of the drive plate 15 serves as the second force point 111, and the central part of the transmission plate 16 is fixedly connected with the transmission wire 2 and serves as the first force point 121. Since the structure and size of the transmission plate 16 and the drive plate 15 are the same, the first force point 111 and the second force point 121 can be easily determined to further reduce the overall production difficulty.

[0081] The overall guiding effect can be improved by providing a plurality of guide posts 14. The plurality of guide posts 14 are connected together by providing a driving plate 15 and a transmission plate 16, so that the plurality of guide posts 14 can achieve synchronous motion, and the contact area between the guide posts 14 and the driving system can be increased, and a more suitable position can be provided for fixing the transmission wire 2.

[0082] Reference Figure 5 and Figure 6 Optionally, the transmission device further includes an adjustment component 3. The adjustment component 3 is arranged at the transmission end 12, and the transmission wire 2 is passed through the adjustment component 3. The adjustment component 3 has a locking state and an adjustment state. In the locking state, the adjustment component 3 is locked with the transmission wire 2, and in the adjustment state, the transmission wire 2 can slide relative to the adjustment component 3.

[0083] Specifically, the adjustment component 3 can be fixed on the transmission plate 16, and the fixing method can be a non-detachable method such as welding or bonding, or a detachable method such as screw connection or clamping. In this embodiment, two guide posts 14 are provided, and the adjustment component 3 is fixed just at the middle position of the two guide posts 14. In the locked state, the transmission wire 2 and the adjustment component 3 are relatively fixed, and the two can move synchronously to realize the transmission of power. In the adjustment state, the transmission wire 2 can slide alone. When the transmission wire 2 slides, the length of the transmission wire 2 located between the adjustment component 3 and the surgical instrument will change. Then, under the same power transmission, the action state of the surgical instrument will change, such as increasing or decreasing the rotation angle, etc. The specific adjustment range can be set according to the actual action requirements of the surgical instrument, and this application does not limit this.

[0084] By setting the adjustment component 3 to connect the transmission wire 2, when the transmission is in progress, the adjustment component 3 is locked with the transmission wire 2, and the transmission end 12 can drive the adjustment component 3 to move when it moves, and the adjustment component 3 can pull the transmission wire 2 to move, thereby realizing power transmission. When the length of the transmission wire 2 needs to be adjusted, the adjustment component 3 and the transmission wire 2 can be unlocked to enter the adjustment state, and the transmission wire 2 can slide relative to the adjustment component 3, and the adjustment component 3 and the transmission wire 2 are locked at a specified position, so that the length of the transmission wire 2 can be adjusted.

[0085] Reference Figures 7 to 9 Optionally, the adjustment assembly 3 includes an adjustment sleeve 31 and a fixing portion. The adjustment sleeve 31 is arranged on the transmission end 12, and the transmission wire 2 is passed through the adjustment sleeve 31; the fixing portion is detachably connected to the transmission wire 2 and can be clamped with the adjustment sleeve 31.

[0086] Specifically, a threaded hole is provided in the middle of the transmission plate 16, and the adjustment sleeve 31 is passed through the threaded hole and is threadedly connected with the threaded hole. The adjustment sleeve 31 extends along the linear transmission direction, and a through hole for the transmission wire 2 to pass through is provided in the adjustment sleeve 31 along the linear transmission direction. A fixing part is provided at one end through which the transmission wire 2 passes, and the fixing part can be clamped on the transmission wire 2, and the outer diameter of at least part of the fixing part is larger than the aperture of the through hole, so that the fixing part can be clamped with the adjustment sleeve 31.

[0087] When locking the transmission wire 2, the fixing part is clamped at one end of the transmission wire 2 passing through the through hole, and the fixing part is engaged with the adjustment sleeve 31, so that the adjustment assembly 3 and the transmission wire 2 can be locked. When the length of the transmission wire 2 needs to be adjusted, the fixing part is clamped at other parts of the transmission wire 2, and when the fixing part is engaged with the adjustment assembly 3 again, the length of the transmission wire 2 between the adjustment assembly 3 and the surgical instrument can be flexibly adjusted.

[0088] Optionally, the adjustment sleeve 31 has a step hole 311 , and the fixing portion is slidably connected in the step hole 311 and can abut against a step surface of the step hole 311 .

[0089] Specifically, a step hole 311 is provided inside the lower end of the adjustment sleeve 31. The step hole 311 is coaxially opened with the above-mentioned through hole. The height of the fixing portion is less than or equal to the depth of the step hole 311, so that the fixing portion can be completely accommodated in the step hole 311, and the fixing portion can at least partially abut against the step surface of the step hole 311.

[0090] By opening a step hole 311 on the adjusting sleeve 31 and accommodating the fixing part in the step hole 311, the step hole 311 can limit the fixing part, ensuring that the step hole 311 is located in the linear transmission direction, avoiding the possibility of misalignment between the step hole 311 and the adjusting sleeve 31, thereby ensuring that the transmission wire 2 can transmit power along the linear transmission direction.

[0091] Optionally, the fixing portion includes a fixing block 32 and a supporting block 33. The fixing block 32 is pressed on the transmission wire 2; the supporting block 33 is slidably connected in the step hole 311 and has an adjustment hole 331 for the transmission wire 2 to pass through, one side of the supporting block 33 abuts against the step surface of the step hole 311, and the other side abuts against the side surface of the fixing block 32.

[0092] Specifically, the fixed block 32 can generate an extrusion force on the transmission wire 2 so that the two remain locked. The extrusion force can be generated by a spring or a torsion spring, or by the two block structures being connected to each other, which is not limited in this application. A support block 33 is provided on one side of the fixed block 32 close to the adjustment sleeve 31. The support block 33 is penetrated by an adjustment hole 331, and the adjustment hole 331 is provided for the transmission wire 2 to pass through. The aperture of the adjustment hole 331 is larger than the space of the transmission wire 2, but the aperture of the adjustment hole 331 is smaller than the outer diameter of the fixed block 32. The outer diameter of the support block 33 is smaller than the outer diameter of the step hole 311, so that the support block 33 can be accommodated in the step hole 311. In order to further facilitate adjustment, a notch is provided on the support block 33, and the notch is connected to the adjustment hole 331, that is, the adjustment hole 331 and the notch can present a U-shaped groove, so that the support block 33 can be removed from the transmission wire 2.

[0093] By setting the fixed block 32 and the support block 33, when both the fixed block 32 and the support block 33 are located in the step hole 311, the support block 33 will be pressed against the step surface, and the fixed block 32 will be pressed against the support block 33, and the fixed block 32 will clamp the transmission wire 2 at this time, then when the transmission plate 16 drives the adjustment sleeve 31 to move, the support block 33 and the fixed block 32 will synchronously drive the transmission wire 2 to move to achieve power transmission. When the fixed block 32 and the support block 33 are taken out from the step surface, the support block 33 can be taken off, and the fixed block 32 can be clamped at other designated positions of the transmission wire 2, and then the support block 33 can be put back, so that the length of the transmission wire 2 can be adjusted.

[0094] Reference Fig.10 Optionally, the pulley block includes a first pulley 4 and a second pulley 5. The second pulley 5 is spaced apart from the first pulley 4 along the linear transmission direction, and the diameter of the first pulley 4 is larger than the diameter of the second pulley 5, and the transmission wire 2 is wound around the first pulley 4 and the second pulley 5.

[0095] Specifically, the first pulley 4 and the second pulley 5 can be spaced apart between the transmission plate 16 and the surgical instrument, and each pulley is provided with a groove for accommodating the transmission wire 2 to ensure that the transmission wire 2 is stably connected to the pulley. In this embodiment, the diameter of the first pulley 4 is greater than the diameter of the second pulley 5, and one first pulley 4 and one second pulley 5 are provided. In other embodiments, the diameter and number of the first pulley 4 and the second pulley 5 can be designed according to the actual installation space and the transmission power direction of the transmission wire 2, and this application does not make specific restrictions on this.

[0096] Reference Figure 1 The transmission system includes a handle bracket 6 and a plurality of transmission devices in the above-mentioned embodiments. One end of the handle bracket 6 is connected to the surgical instrument and the other end is connected to the drive system; the plurality of transmission devices are distributed in the handle bracket 6 at intervals and are arranged opposite to each other.

[0097] When the transmission system is in use, on the one hand, the transmission device can realize stable power transmission, and when multiple transmission devices are distributed at intervals, such as 6 or 8 equal-angle intervals, the surgical instrument can be stably and efficiently moved in multiple different directions. On the other hand, the lower manufacturing cost of the transmission device can make the cost of the transmission system of multiple transmission devices lower, effectively reducing the manufacturing cost of the transmission system. Moreover, multiple transmission devices are arranged opposite to each other in pairs. In two opposite transmission devices, when the transmission wire 2 of one transmission device is stretched, the transmission wire 2 of the other transmission device is retracted to ensure that the movement process of the surgical instrument in any direction is stably completed.

[0098] Optionally, the guide assembly 1 of the transmission device is slidably connected to the handle bracket 6 via a linear bearing, and the transmission system further comprises a pressure cover 7. The pressure cover 7 is arranged on the handle bracket 6 and abuts against the outer ring of the linear bearing.

[0099] Specifically, a plurality of mounting holes are provided on the handle bracket 6, and the mounting holes extend through the handle bracket 6 in the linear transmission direction. The plurality of mounting holes are spaced apart around the circumference of the handle bracket 6 and are arranged opposite to each other in pairs. A guide column 14 of a transmission device is slidably connected in each mounting hole, and a linear bearing is also provided in the mounting hole to ensure that the friction between the mounting hole and the guide column 14 is sufficiently small.

[0100] A pressure cap 7 is provided on the end surface of the handle bracket 6 where the mounting hole is provided. The pressure cap 7 may be annular and may cover multiple mounting holes at the same time. A through hole is provided at the position corresponding to the mounting hole. The diameter of the through hole is larger than the diameter of the guide column 14 but smaller than the diameter of the mounting hole, so that a gap is maintained between the guide column 14 and the through hole to ensure that the guide column 14 can slide smoothly. At the same time, the pressure cap 7 can be pressed against the outer ring of the linear bearing to form a hard limit for the linear bearing. The pressure cap 7 and the handle bracket 6 may be fixed by bolt connection or clamping, or by welding or bonding.

[0101] Reference Fig.11 and Fig.12 The surgical robot comprises a drive system 8, the transmission system in the above embodiment and a surgical instrument 9. The transmission system is connected to the drive system 8; the surgical instrument 9 is connected to the transmission system.

[0102] When the surgical robot is in use, it can use a transmission system with a lower cost to stably transmit the power generated by the drive system 8 so that the surgical instrument 9 can produce corresponding actions. Since the transmission wire 2 will inevitably wear out during the transmission process, the general number of times the surgical instrument 9 is used is within 20 times. By controlling the manufacturing cost of the transmission system, the cost of a single use of the surgical instrument 9 can be effectively reduced, thereby effectively reducing the cost of a single use of the surgical robot.

[0103] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A transmission device, characterized in that: include: A guide assembly (1) is slidably connected to the handle bracket (6) and can slide back and forth along a linear transmission direction, wherein two ends of the guide assembly (1) along the linear transmission direction are a driving end (11) and a transmission end (12), respectively, and the driving end (11) is connected to a driving system (8); A transmission wire (2), one end of which is connected to the surgical instrument (9), and the other end of which is connected to the guide assembly (1); A pulley block, wherein the edge of the pulley block is tangent to the linear transmission direction extending from the connection between the transmission wire (2) and the guide assembly (1), and the transmission wire (2) passes around the pulley block so that a section of the transmission wire (2) connected to the guide assembly (1) extends along the linear transmission direction.

2. The transmission device according to claim 1, characterized in that: The connection between the transmission wire (2) and the transmission end (12) forms a first force point (121), and the connection between the drive end (11) and the drive system (8) forms a second force point (111), and a line connecting the first force point (121) and the second force point (111) is parallel to the linear transmission direction.

3. The transmission device according to claim 1, characterized in that: The guide assembly (1) comprises: A bushing (13) fixed to the handle bracket (6); A guide column (14) is slidably connected to the bushing (13) along the linear transmission direction, and two ends of the guide column (14) are respectively the driving end (11) and the transmission end (12).

4. The transmission device according to claim 3, characterized in that: A plurality of guide posts (14) are arranged at intervals, and the guide assembly (1) further comprises: A driving plate (15), arranged at the driving end (11) and fixedly connected to the plurality of guide pillars (14); A transmission plate (16) is arranged at the transmission end (12) and is fixedly connected to the plurality of guide pillars (14); and the transmission wire (2) is fixedly connected to the transmission plate (16).

5. The transmission device according to claim 1, characterized in that: The transmission device also includes: An adjusting component (3) is arranged at the transmission end (12), and the transmission wire (2) is passed through the adjusting component (3). The adjusting component (3) has a locking state and an adjusting state. In the locking state, the adjusting component (3) is locked with the transmission wire (2), and in the adjusting state, the transmission wire (2) can slide relative to the adjusting component (3).

6. The transmission device according to claim 5, characterized in that: The regulating component (3) comprises: An adjusting sleeve (31) is arranged on the transmission end (12), and the transmission wire (2) is passed through the adjusting sleeve (31); The fixing portion is detachably connected to the transmission wire (2) and can be snap-fitted to the adjustment sleeve (31).

7. The transmission device according to claim 6, characterized in that: The adjustment sleeve (31) has a step hole (311), and the fixing portion is slidably connected in the step hole (311) and can abut against a step surface of the step hole (311).

8. The transmission device according to claim 7, characterized in that: The fixing portion comprises: A fixed block (32) is pressed on the transmission wire (2); A support block (33) is slidably connected in the step hole (311) and has an adjustment hole (331) for the transmission wire (2) to pass through. One side of the support block (33) abuts against the step surface of the step hole (311), and the other side abuts against the side surface of the fixed block (32).

9. The transmission device according to any one of claims 1 to 8, characterized in that: The pulley block comprises: A first pulley (4); The second pulley (5) is spaced apart from the first pulley (4) along the linear transmission direction, and the diameter of the first pulley (4) is larger than the diameter of the second pulley (5). The transmission wire (2) is wound around the first pulley (4) and the second pulley (5).

10. A transmission system, characterized in that: include: A handle bracket (6), one end of which is connected to the surgical instrument (9) and the other end of which is connected to the drive system; A plurality of transmission devices according to any one of claims 1 to 9 are distributed at intervals on the handle bracket (6) and arranged opposite to each other in pairs.

11. The transmission system according to claim 10, characterized in that: The guide assembly (1) is slidably connected to the handle bracket (6) via a linear bearing, and the transmission system further comprises: A pressure cover (7) is arranged on the handle bracket (6) and abuts against the outer ring of the linear bearing.

12. A surgical robot, characterized in that: include: Drive system (8); The transmission system according to claim 10 or 11, connected to the drive system (8); A surgical instrument (9) is connected to the transmission system.

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