Transmission devices, transmission systems, and surgical robots

Abstract

This invention belongs to the field of medical device technology and discloses a transmission device, a transmission system, and a surgical robot. The transmission device includes a guide assembly, a transmission wire, and a pulley system. The guide assembly is slidably connected to the handle support and can reciprocate along the linear transmission direction. The two ends of the guide assembly along the linear transmission direction are a drive end and a transmission end, respectively. The drive end is connected to the drive system. One end of the transmission wire is connected to the surgical instrument; the other end of the transmission wire passes around the pulley system and extends along the linear transmission direction and is fixedly connected to the transmission end. Therefore, during use, the guide assembly is only subjected to force in the linear transmission direction throughout the entire transmission process, thus reducing the overall requirements for the guide assembly. This allows the transmission device to achieve stable power transmission even when using lower-cost components to construct the guide assembly, enabling the transmission device to achieve both lower cost and higher transmission stability.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to transmission devices, transmission systems, and surgical robots. Background Technology

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

[0003] In the prior art, the drive system of surgical instruments uses a linear motor as the drive source and works with multiple drive shafts to transmit power. During the movement of the drive shafts, linear kinematic pairs are set up to guide the movement, thereby ensuring that each drive shaft can move in a specified direction.

[0004] However, when there is a gap between the load borne by the linear motion pair and the guide center, an eccentricity will be generated during the movement. The eccentricity will make the force situation of the linear motion pair more complex. In order to ensure the stability of the movement, the entire transmission structure needs to be equipped with more expensive components and a more complex layout to achieve guidance, which leads to a higher cost of the entire transmission structure and even the surgical robot. Summary of the Invention

[0005] The purpose of this invention is to provide a transmission device, transmission system, and surgical robot, which solves the problem that in the prior art, the transmission structure is subject to complex forces during transmission, requiring more expensive components and complex layouts to achieve stable transmission, making it difficult for the transmission structure and the robot containing the transmission structure to simultaneously achieve stable transmission and lower cost.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] In a first aspect, this application provides a transmission device, which includes:

[0008] A guide assembly is slidably connected to a handle bracket and can reciprocate along the linear transmission direction. The two ends of the guide assembly along the linear transmission direction are a drive end and a transmission end, respectively, and the drive end is connected to a drive system.

[0009] The drive wire is connected to the surgical instrument at one end.

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

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

[0012] Optionally, the guide component includes:

[0013] Bushing, fixed to the handle bracket;

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

[0015] Optionally, multiple guide posts are spaced apart, and the guide assembly further includes:

[0016] A drive board is disposed at the drive end and fixedly connected to the plurality of guide posts;

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

[0018] Optionally, the transmission device further includes:

[0019] An adjustment component is disposed at the transmission end, and the transmission wire passes through the adjustment component. The adjustment component has a locked state and an adjustment state. In the locked state, the adjustment component is locked to the transmission wire. In the adjustment state, the transmission wire can slide relative to the adjustment component.

[0020] Optionally, the adjustment component includes:

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

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

[0023] Optionally, the adjusting sleeve has a stepped hole, and the fixing part is slidably connected in the stepped hole and can abut against the stepped surface of the stepped hole.

[0024] Optionally, the fixing part includes:

[0025] A fixing block is pressed onto the transmission wire;

[0026] A support block is slidably connected within the stepped hole and has an adjustment hole through which the transmission wire passes. One side of the support block abuts against the stepped surface of the stepped hole, and the other side abuts against the side of the fixed block.

[0027] Optionally, the pulley block includes:

[0028] First pulley;

[0029] The second pulley is distributed at intervals 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] Secondly, this application provides a transmission system comprising:

[0031] The handle support is connected to the surgical instrument at one end and to the drive system at the other end.

[0032] The transmission devices described in any one of the first aspects are spaced apart 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 includes:

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

[0035] Thirdly, this 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] Surgical instruments are connected to the transmission system.

[0039] The beneficial effects of this invention are:

[0040] Firstly, by configuring the guide component to slide reciprocally only along the linear transmission direction, when the drive end slides under the driving force of the drive system, the transmission end can pull the transmission wire to move. The transmission wire then drives the surgical instrument. After the transmission wire is wound around the pulley system, the pushing driving force on the guide component can be converted into the pulling driving force that drives the surgical instrument. At the same time, a section of the transmission wire near the transmission end can extend along the linear transmission direction, so that the force between the transmission wire and the guide component can be generated along the linear transmission direction, and the driving force can also be generated along the linear transmission direction. Thus, the guide component as a whole is only subjected to force in the linear transmission direction. In use, the guide component transmits power through the cooperation of the transmission wire and the pulley system, so that the guide component is only subjected to force in the linear transmission direction throughout the entire transmission process. This effectively simplifies the force situation of the guide component and reduces the load on the guide component, thereby reducing the requirements on the guide component as a whole. This allows the transmission device to achieve stable power transmission even if it is equipped with lower-cost components to construct the guide component, so that the transmission device can achieve both lower cost and higher transmission stability.

[0041] Secondly, in use, this transmission system achieves stable power transmission through its transmission device. The spacing of multiple transmission devices, such as six or eight at equal angles, allows surgical instruments to move stably and efficiently in multiple directions. Furthermore, the low manufacturing cost of this transmission device reduces the overall cost of the transmission system, effectively lowering production costs. Moreover, the multiple transmission devices are arranged in pairs facing each other. When the transmission wire of one transmission device is stretched, the transmission wire of the other retracts, ensuring stable movement of the surgical instrument in any direction.

[0042] Thirdly, during use, this surgical robot can utilize a lower-cost transmission system to stably transmit the power generated by the drive system, enabling the surgical instruments to perform corresponding movements. Since wear is inevitable during transmission, surgical instruments are typically used less than 20 times. By controlling the manufacturing cost of the transmission system, the cost per use of surgical instruments can be effectively reduced, thereby significantly lowering the cost per use of the surgical robot. Attached Figure Description

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

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

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

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

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

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

[0049] Figure 7 This is a cross-sectional view of the guiding and adjusting assembly of the transmission device in an embodiment of the present invention;

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

[0051] Figure 9 This is a schematic diagram of the structure of the support block of the transmission device in an embodiment of the present invention;

[0052] Figure 10 This is a schematic diagram of the pulley block and adjustment unit of the transmission device in an embodiment of the present invention;

[0053] Figure 11 This is a schematic diagram of the drive system of the surgical robot in an embodiment of the present invention;

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

[0055] In the picture:

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

[0057] 2. Transmission wire;

[0058] 3. Adjustment component; 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 stand;

[0062] 7. Capping;

[0063] 8. Drive system;

[0064] 9. Surgical instruments. Detailed Implementation

[0065] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0066] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0067] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0068] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0069] This application discloses 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 support 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 a drive end 11 and a transmission end 12, respectively. The drive end 11 is connected to the drive 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 group is tangent to the linear transmission direction extending from the connection between the transmission wire 2 and the guide assembly 1. The transmission wire 2 passes around the pulley group so that the section of the transmission wire 2 connected to the guide assembly 1 extends along the linear transmission direction.

[0071] Specifically, the drive end 11 of the guide assembly 1 can be connected to the drive system to transmit the driving force generated by the drive system along the linear transmission direction, which enables the guide assembly 1 to slide along the linear transmission direction. One end of the transmission wire 2 is connected to the surgical instrument, and the other end extends from inside the surgical instrument and is fixedly connected to the transmission end 12 after being guided by the pulley group. The fixed connection can be a non-removable method such as bonding or welding, or a detachable connection method such as snap-fit. A section of the transmission wire 2 near the transmission end 12 can also extend along the linear transmission direction. The transmission wire 2 can be made of a flexible material such as steel wire or tungsten wire, or other materials, as long as it can achieve power transmission. The pulley group can be multiple pulleys spaced apart along 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 configuring the guide assembly 1 to slide back and forth only along the linear transmission direction, when the drive end 11 slides under the driving force of the drive system, the transmission end 12 can pull the transmission wire 2 to move. The transmission wire 2 then drives the surgical instrument to move. After being wound around the pulley system, the transmission wire 2 can convert the pushing driving force on the guide assembly 1 into the pulling driving force that moves the surgical instrument. At the same time, a section of the transmission wire 2 near 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. Thus, the guide assembly 1 as a whole is only subjected to force in the linear transmission direction. In this transmission device, the guide component 1 transmits power through the cooperation of the transmission wire 2 and the pulley system, so that the guide component 1 is only subjected to force in the linear transmission direction throughout the entire transmission process. This effectively simplifies the force situation of the guide component 1 and reduces the load on the guide component 1. As a result, the requirements for the guide component 1 as a whole can be reduced. This allows the transmission device to achieve stable power transmission even if it is equipped with lower-cost components to form the guide component 1, so that the transmission device can achieve 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 drive end 11 and the drive system forms a second force point 111. 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, it drives the transmission wire 2 to move synchronously. Therefore, the connection point between the transmission wire 2 and the guide assembly 1 will be subjected to force, and thus the connection point is designated as the first force point 121. The driving end 11 of the guide assembly 1 forms a surface contact with the drive system, meaning the entire surface of the driving end 11 is subjected to driving force. Therefore, the center of the driving end 11 can be designated 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 drive system. For example, if the driving end 11 is elongated, the drive system can abut against both ends of the driving end 11 along its length. In this case, the drive system can apply driving force symmetrically to the driving end 11, and the center of the driving end 11 can also be designated 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 on the driving end 11 and the tension on the transmission wire 2 are completely coincident in direction. When the driving force is applied to the driving end 11 of the guide assembly 1, the guide assembly 1 can apply tension to the transmission wire 2 in the exact same direction, thereby minimizing the transmission loss between the driving force and the tension, and 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 a drive end 11 and a 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, etc. The guide post 14 extends along the linear transmission direction and passes through the bushing 13. The guide post 14 and the bushing 13 are slidably connected, and a lubricating film or other structure can be provided between them to ensure low friction. The upper end of the guide post 14 serves as the drive end 11 and can be connected to the drive system, while the lower end of the guide post 14 serves as the transmission end 12, which can be fixedly connected to the transmission wire 2.

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

[0079] Optionally, multiple guide posts 14 are spaced apart, and the guide assembly 1 also includes a drive plate 15 and a transmission plate 16. The drive plate 15 is disposed at the drive end 11 and fixedly connected to the multiple guide posts 14; the transmission plate 16 is disposed at the transmission end 12 and fixedly connected to the multiple guide posts 14, and the transmission wire 2 is fixedly connected to the transmission plate 16.

[0080] Specifically, each guide post 14 is configured with a corresponding bushing 13. In this embodiment, two guide posts 14 are spaced apart. Two mounting holes are provided on the drive plate 15, each corresponding to a guide post 14 for fixed connection. The position of the guide post 14 within the mounting hole can be finely adjusted to ensure 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 will not be described in detail here. Furthermore, the center of the drive plate 15 serves as the second force point 111, while the center of the transmission plate 16 is fixedly connected to the transmission wire 2 and serves as the first force point 121. Since the transmission plate 16 and the drive plate 15 have the same structure and dimensions, the first force point 111 and the second force point 121 can be easily determined, further reducing the overall production difficulty.

[0081] By setting multiple guide posts 14, the overall guiding effect can be improved. By setting the drive plate 15 and the transmission plate 16, the multiple guide posts 14 are connected together, enabling the multiple guide posts 14 to move synchronously. At the same time, the contact area between the guide posts 14 and the drive 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 disposed at the transmission end 12, and the transmission wire 2 passes through the adjustment component 3. The adjustment component 3 has a locked state and an adjustment state. In the locked state, the adjustment component 3 is locked with the transmission wire 2. In the adjustment state, the transmission wire 2 can slide relative to the adjustment component 3.

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

[0084] By connecting the transmission wire 2 to the adjusting component 3, during transmission, the adjusting component 3 is locked to the transmission wire 2. When the transmission end 12 moves, it drives the adjusting component 3 to move, which in turn pulls the transmission wire 2, thus achieving power transmission. When it is necessary to adjust the length of the transmission wire 2, the adjusting component 3 and the transmission wire 2 can be unlocked to enter the adjustment state. The transmission wire 2 can then slide relative to the adjusting component 3, and the adjusting component 3 and the transmission wire 2 can be locked at a designated position, thereby allowing the length of the transmission wire 2 to be adjusted.

[0085] Reference Figures 7 to 9 Optionally, the adjusting assembly 3 includes an adjusting sleeve 31 and a fixing part. The adjusting sleeve 31 is disposed at the transmission end 12, and the transmission wire 2 passes through the adjusting sleeve 31; the fixing part is detachably connected to the transmission wire 2 and can be engaged with the adjusting sleeve 31.

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

[0087] When locking the transmission wire 2, the fixing part is clamped at one end of the transmission wire 2 that protrudes from the through hole, and the fixing part and the adjusting sleeve 31 are engaged, thereby locking the adjusting component 3 and the transmission wire 2. When it is necessary to adjust the length of the transmission wire 2, the fixing part is clamped at other parts of the transmission wire 2, and when the fixing part is engaged and fixed with the adjusting component 3 again, the length of the transmission wire 2 between the adjusting component 3 and the surgical instrument can be flexibly adjusted.

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

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

[0090] By opening a stepped hole 311 on the adjusting sleeve 31, the fixing part is housed in the stepped hole 311. The stepped hole 311 can limit the fixing part, ensuring that the stepped hole 311 is located in the linear transmission direction, avoiding the possibility of misalignment between the stepped 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 part includes a fixing block 32 and a support block 33. The fixing block 32 is pressed against the transmission wire 2; the support block 33 is slidably connected in the stepped hole 311 and has an adjustment hole 331 through which the transmission wire 2 passes. One side of the support block 33 abuts against the stepped surface of the stepped hole 311, and the other side abuts against the side of the fixing block 32.

[0092] Specifically, the fixing block 32 can generate a compressive force on the transmission wire 2 to keep them locked together. The compressive force can be generated by a spring or a torsion spring, or by the interlocking of two block-shaped structures; this application does not limit this. A support block 33 is provided on the side of the fixing block 32 near the adjusting sleeve 31. The support block 33 has an adjusting hole 331 through it, through which the transmission wire 2 passes. The diameter of the adjusting hole 331 is larger than the space of the transmission wire 2, but smaller than the outer diameter of the fixing block 32. The outer diameter of the support block 33 is smaller than the outer diameter of the stepped hole 311, so that the support block 33 can be accommodated in the stepped hole 311. To further facilitate adjustment, a notch is provided on the support block 33, which communicates with the adjusting hole 331. That is, the adjusting hole 331 and the notch can form a U-shaped groove, so as to facilitate the removal of the support block 33 from the transmission wire 2.

[0093] By setting a fixing block 32 and a support block 33, when both the fixing block 32 and the support block 33 are located within the stepped hole 311, the support block 33 will abut against the stepped surface, and the fixing block 32 will abut against the support block 33. At this time, the fixing block 32 will clamp the transmission wire 2. When the transmission plate 16 moves the adjusting sleeve 31, the support block 33 and the fixing block 32 will synchronously move the transmission wire 2 to achieve power transmission. When the fixing block 32 and the support block 33 are removed from the stepped surface, the support block 33 can be removed, and the fixing block 32 can be clamped at other designated positions of the transmission wire 2. Then, the support block 33 can be put back, thereby completing the adjustment of the length of the transmission wire 2.

[0094] Reference Figure 10 Optionally, the pulley block includes a first pulley 4 and a second pulley 5. The second pulley 5 and the first pulley 4 are spaced apart 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.

[0095] Specifically, a first pulley 4 and a second pulley 5 can be spaced apart between the transmission plate 16 and the surgical instruments. Each pulley has a groove to accommodate the transmission wire 2, ensuring a stable connection between the transmission wire 2 and the pulley. In this embodiment, the diameter of the first pulley 4 is larger than the diameter of the second pulley 5, and one of each type is 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 direction of power transmission of the transmission wire 2; this application does not impose specific limitations on this.

[0096] Reference Figure 1 The transmission system includes a handle support 6 and multiple transmission devices as described in the above embodiments. One end of the handle support 6 is connected to the surgical instrument, and the other end is connected to the drive system; multiple transmission devices are spaced apart on the handle support 6 and arranged opposite each other in pairs.

[0097] In use, this transmission system achieves stable power transmission through multiple transmission devices, such as six or eight equally spaced devices, enabling surgical instruments to move stably and efficiently in multiple directions. Furthermore, the low manufacturing cost of these transmission devices reduces the overall cost of the transmission system, effectively lowering production costs. Moreover, the multiple transmission devices are arranged in pairs facing each other; when the transmission wire 2 of one transmission device is stretched, the transmission wire 2 of the other retracts, ensuring stable movement of the surgical instruments in any direction.

[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 also includes a pressure cap 7. The pressure cap 7 is disposed on the handle bracket 6 and abuts against the outer ring of the linear bearing.

[0099] Specifically, multiple mounting holes are provided on the handle bracket 6. The mounting holes extend through the linear transmission direction. The multiple mounting holes are distributed circumferentially around the handle bracket 6 and are arranged opposite each other in pairs. A guide post 14 of the transmission device is slidably connected in each mounting hole. A linear bearing is also provided in the mounting hole to ensure that the friction between the mounting hole and the guide post 14 is small enough.

[0100] A pressure cap 7 is provided on the end face of the handle bracket 6 where the mounting holes are formed. The pressure cap 7 can be annular and can cover multiple mounting holes simultaneously. 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 post 14 but smaller than the diameter of the mounting hole, so as to maintain a gap between the guide post 14 and the through hole to ensure that the guide post 14 can slide smoothly. At the same time, the pressure cap 7 can press against the outer ring of the linear bearing to form a hard limit on the linear bearing. The pressure cap 7 and the handle bracket 6 can be fixed by bolt connection, snap-fit, welding or adhesive.

[0101] Reference Figure 11 and Figure 12 The surgical robot includes a drive system 8, a transmission system as described in the above embodiment, and surgical instruments 9. The transmission system is connected to the drive system 8; the surgical instruments 9 are connected to the transmission system.

[0102] When in use, this surgical robot can utilize a lower-cost transmission system to stably transmit the power generated by the drive system 8, enabling the surgical instruments 9 to perform corresponding actions. Since the transmission wire 2 inevitably wears down during transmission, the surgical instruments 9 are typically used less than 20 times. By controlling the manufacturing cost of the transmission system, the cost per use of the surgical instruments 9 can be effectively reduced, thereby effectively reducing the cost per 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 implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. Transmission, characterized in that The utility model relates to a surgical instrument transmission device, including: Guide assembly (1) with handle support (6) sliding connection and can reciprocate sliding along linear transmission direction, drive end (11) and transmission end (12) respectively along the linear transmission direction of guide assembly (1) both ends, drive end (11) is connected with drive system (8); Transmission wire (2), one end is connected with surgical instrument (9), the other end is connected with guide assembly (1); Pulley block, the edge of pulley block is tangent with the linear transmission direction that extends out from the connection place of transmission wire (2) and guide assembly (1), and transmission wire (2) passes through pulley block so that the segment of transmission wire (2) is connected with guide assembly (1) along the linear transmission direction extends; The connection place of transmission wire (2) and transmission end (12) forms first stress point (121), and the connection place of drive end (11) and drive system (8) forms second stress point (111), and the line of first stress point (121) and second stress point (111) is parallel to the linear transmission direction.

2. The transmission of claim 1, wherein The utility model relates to a surgical instrument transmission device, including: Bushing (13) is fixed in handle support (6); Guide pillar (14) is slidably connected to bushing (13) along the linear transmission direction, and the both ends of guide pillar (14) are drive end (11) and transmission end (12) respectively.

3. The transmission of claim 2, wherein, Multiple guide pillars (14) are spaced apart, and the guide assembly (1) further includes: Drive plate (15) is arranged at drive end (11) and is fixedly connected with multiple guide pillars (14); Transmission plate (16) is arranged at transmission end (12) and is fixedly connected with multiple guide pillars (14), and transmission wire (2) is fixedly connected with transmission plate (16).

4. The transmission of claim 1, wherein The transmission device further includes: Adjusting assembly (3) is arranged at transmission end (12), transmission wire (2) passes through adjusting assembly (3), adjusting assembly (3) has locking state and adjusting state, in the locking state, adjusting assembly (3) is locked with transmission wire (2), in the adjusting state, transmission wire (2) can slide relative to adjusting assembly (3).

5. The transmission of claim 4, wherein The utility model relates to a surgical instrument transmission device, including: Adjusting sleeve (31) is arranged at transmission end (12), and transmission wire (2) passes through adjusting sleeve (31); Fixed part is detachably connected with transmission wire (2) and can be clamped with adjusting sleeve (31).

6. The transmission of claim 5, wherein Adjusting sleeve (31) has stepped hole (311), and fixed part is slidably connected in stepped hole (311) and can abut against the step surface of stepped hole (311).

7. The transmission of claim 6, wherein The utility model relates to a surgical instrument transmission device, including: Fixed block (32) is pressed in transmission wire (2); Supporting block (33) is slidably connected in stepped hole (311) and has adjusting hole (331) for transmission wire (2) to pass through, one side of supporting block (33) abuts against the step surface of stepped hole (311), and the other side abuts against the side surface of fixed block (32).

8. The transmission of any one of claims 1 to 7, wherein, The utility model relates to a surgical instrument transmission device, including: First pulley (4); A 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 greater than the diameter of the second pulley (5), and the transmission wire (2) is arranged around the first pulley (4) and the second pulley (5).

9. Transmission system, characterized in that Comprising: A handle support (6) is connected to a surgical instrument (9) at one end and connected to a driving system at the other end; A plurality of transmission devices as claimed in any one of claims 1 to 8 are spaced apart on the handle support (6) and arranged opposite to each other.

10. The transmission system of claim 9, wherein, The guide assembly (1) is slidably connected to the handle support (6) through a linear bearing, and the transmission system further comprises: A gland (7) is arranged on the handle support (6) and abuts against the outer ring of the linear bearing.

11. A surgical robot, characterised in that, Comprising: A driving system (8); The transmission system as claimed in claim 9 or 10 is connected to the driving system (8); A surgical instrument (9) is connected to the transmission system.

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