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 transmission assembly, a transmission wire and a steering assembly. The transmission assembly is connected with the driving system and can slide in the linear transmission direction. The transmission wire is provided with a connecting section and a transmission section, the connecting section is connected with the surgical instrument, and the transmission section is connected with the transmission assembly; the steering assembly is rotationally connected to the transmission assembly and connected with the connecting section and the transmission section so that the connecting section and the transmission section can both extend in the linear transmission direction. When the transmission device is used, the transmission assembly slides in the linear direction, the transmission wire is matched with the steering assembly to achieve equal-proportion movement of the surgical instrument and the transmission assembly, high-precision transmission can be achieved through simple structure combination, and wire transmission can ensure that losses of all structures are small. Therefore, the overall manufacturing cost is reduced, meanwhile, the transmission error can be reduced, and the transmission precision is improved.

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] Surgical robots have obvious advantages in terms of effectively improving surgical precision and reducing patient trauma. Especially in natural orifice surgery, they can not only provide the operating surgeon with a clear field of vision, but also provide rapid feedback on the surgeon's actions.

[0003] In the prior art, a transmission structure is arranged between the surgical instrument and the driving system of the surgical robot. The transmission structure includes a driving rope, a driving screw, etc. The driving screw is connected to the driving rope. The driving system can drive the driving screw to rotate. The driving screw can move along the axis during the rotation process, thereby pulling or releasing the driving rope, and the driving rope can drive the surgical instrument to move.

[0004] However, as the transmission screw rotates, the transmission screw is not only affected by the driving force of the motor, but also by the force of the transmission rope. The overall force direction of the transmission screw is not unique, which leads to complex force conditions for the transmission screw. As a result, the transmission screw suffers large wear and tear during use and requires frequent replacement, which increases the cost of the overall surgical robot. In addition, the transmission accuracy will also be reduced due to the complex force conditions. 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 of the surgical robot is subjected to complex stress conditions, resulting in large wear and tear of the transmission structure during use, requiring frequent replacement, resulting in increased costs, and also reducing transmission accuracy.

[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 transmission assembly, connected to the drive system and capable of sliding along the linear transmission direction;

[0009] A transmission wire, comprising a connecting section and a transmission section, wherein the connecting section is connected to the surgical instrument, and the transmission section is connected to the transmission assembly;

[0010] The steering assembly is rotatably connected to the transmission assembly and is respectively connected to the connecting section and the transmission section so that the connecting section and the transmission section both extend along the linear transmission direction.

[0011] Optionally, a first stress point is formed at a connection between the transmission section and the transmission assembly, a second stress point is formed at a connection between the transmission assembly 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 transmission wire further includes an intermediate section between the connecting section and the transmission section, and the steering assembly includes:

[0013] a first pulley, on which a connection between the connecting section and the middle section is wound;

[0014] A second pulley is spaced apart from the first pulley along the linear transmission direction, and a connection between the middle section and the transmission section is wound around the second pulley;

[0015] Wherein, the opposite side edges of the first pulley and the second pulley are tangent to the linear transmission direction so that the connecting section and the transmission section extend along the linear transmission direction.

[0016] Optionally, the transmission wire further includes an intermediate section between the connecting section and the transmission section, and the steering assembly includes:

[0017] A third pulley, the middle section is wound around the third pulley, and the opposite side edges of the third pulley are tangent to the linear transmission direction so that the connecting section and the transmission section extend along the linear transmission direction.

[0018] Optionally, the steering assembly comprises:

[0019] A steering lever is rotatably connected to the transmission assembly, and both ends of the steering lever are slidably connected with telescopic links. Among the two opposite ends of the two telescopic links, one end is connected to the connecting section, and the line connecting the connection between the instrument handle and the connecting section is parallel to the linear transmission direction, and the other end is connected to the transmission section, and the line connecting the connection between the transmission assembly and the transmission section is parallel to the linear transmission direction.

[0020] Optionally, the telescopic connecting rod is sleeved on the outside of the steering lever, and each of the telescopic connecting rods has a slideway, a locking screw is passed through the slideway, and the locking screw is inserted into the steering lever.

[0021] Optionally, the telescopic connecting rod is slidably connected to the inside of the steering lever, locking screws are inserted at both ends of the steering lever, and each of the telescopic connecting rods is provided with a slideway for the locking screw to slide.

[0022] Optionally, the transmission assembly includes:

[0023] A transmission sleeve, fixed to the instrument handle and capable of extending along the linear transmission direction;

[0024] A transmission rod is slidably connected to the transmission sleeve, one end of the transmission rod is connected to the drive system, and the other end of the transmission rod is connected to the transmission section.

[0025] Optionally, the transmission assembly further includes:

[0026] A housing, sleeved on the transmission sleeve, the housing having an observation slot extending along the linear transmission direction;

[0027] The limiting part is slidably connected to the observation slot and connected to the transmission rod to limit the rotation of the transmission rod.

[0028] In a second aspect, the present application also provides a transmission system, which includes:

[0029] Instrument handles;

[0030] A plurality of transmission devices as described in any one of the first aspects, wherein the plurality of transmission devices are distributed at intervals around the circumference of the instrument handle and are arranged opposite to each other in pairs.

[0031] In a third aspect, the present application also provides a surgical robot, which includes:

[0032] Drive system;

[0033] Instrument handles, used to mount surgical instruments;

[0034] The transmission system as described in the second aspect is connected to the drive system and the surgical instrument respectively.

[0035] Beneficial effects of the present invention:

[0036] In the first aspect, the transmission assembly is driven to move along the linear transmission direction by the driving system, and the transmission assembly can synchronously pull the transmission section to move, and the transmission section pulls the connecting section to slide through the steering assembly, so that the pushing driving force received by the transmission assembly is converted into the pulling driving force applied to the surgical instrument by the connecting section, and at the same time, the steering assembly can ensure that the connecting section and the transmission section extend along the linear transmission direction, so that the connecting section and the transmission section can move in proportion to the transmission assembly synchronously, and as the connecting section slides, the surgical instrument can be pulled to produce a corresponding action to complete the transmission. In this way, when the transmission device is used, the transmission assembly slides in the linear direction, and the transmission wire cooperates with the steering assembly to achieve the proportional action of the surgical instrument and the transmission assembly, so that high-precision transmission can be achieved through a simple structural combination, and the wire transmission can also ensure that the loss of each structure is small, which is conducive to reducing the overall manufacturing cost, and can also reduce the transmission error and improve the transmission accuracy.

[0037] Secondly, when the transmission system is in use, the transmission device can realize 1:1 transmission in any direction, and the overall transmission structure is simple, so that the cost of the transmission system is lower, which is conducive to the transmission system being able to take into account both low cost and high transmission accuracy when applied. In addition, multiple transmission devices are arranged opposite to each other, and 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, so as to ensure that the movement process of the surgical instrument in any direction is stably completed.

[0038] Thirdly, when in use, the surgical robot can adopt a low-cost transmission system to transmit the power of the drive system, and proportionally transmit the movement amplitude of the transmission system to the surgical instrument, thereby controlling the precise movement of the surgical instrument. This makes the surgical robot not only lower in cost but also higher in control accuracy when used, which is conducive to the application of the surgical robot in more scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a schematic structural diagram of a transmission device in Embodiment 1 of the present invention;

[0040] Figure 2 is a schematic structural diagram of a transmission system in Embodiment 1 of the present invention;

[0041] Figure 3 is a schematic diagram of the structure of the driving system and instrument handle of the surgical robot in the first embodiment of the present invention;

[0042] Figure 4 is a schematic structural diagram of a housing and an observation slot of a transmission device in Embodiment 1 of the present invention;

[0043] Figure 5 is a schematic diagram of the drive system and instrument handle structure of the surgical robot in the first embodiment of the present invention;

[0044] Figure 6 is a schematic structural diagram of a transmission device in Embodiment 2 of the present invention;

[0045] Figure 7 is a schematic diagram of the structure of the transmission system in the second embodiment of the present invention;

[0046] Figure 8 is a schematic structural diagram of a transmission device in Embodiment 3 of the present invention;

[0047] Fig. 9 It is a structural schematic diagram of the transmission system in the third embodiment of the present invention.

[0048] In the figure:

[0049] 1. Transmission assembly; 11. Transmission sleeve; 12. Transmission rod; 121. First force point; 122. Second force point; 13. Locking bolt; 14. Housing; 141. Observation slot; 142. Connecting slot; 15. Limiting part; 2. Transmission wire; 21. Connecting section; 22. Transmission section; 23. Middle section; 3. Steering assembly; 31. First pulley; 32. Second pulley; 33. Third pulley; 34. Steering lever; 35. Telescopic connecting rod; 36. Locking screw; 4. Driving system; 5. Instrument handle. DETAILED DESCRIPTION

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] The embodiments of the present application disclose a transmission device, a transmission system and a surgical robot.

[0055] Embodiment 1

[0056] Reference Figures 1 to 5 The transmission device comprises a transmission assembly 1, a transmission wire 2 and a steering assembly 3. The transmission assembly 1 is connected to a driving system 4 and can slide along a linear transmission direction; the transmission wire 2 has a connecting section 21 and a transmission section 22, the connecting section 21 is connected to a surgical instrument, and the transmission section 22 is connected to the transmission assembly 1; the steering assembly 3 is rotatably connected to the transmission assembly 1, and is respectively connected to the connecting section 21 and the transmission section 22 so that the connecting section 21 and the transmission section 22 both extend along the linear transmission direction.

[0057] Specifically, the transmission component 1 can be in the form of a long strip, one end of which can be connected to the drive system 4, and the other end can be connected to the transmission section 22, and the connection method can be a detachable connection or a non-detachable connection. The steering component 3 is located between the connecting section 21 and the transmission section 22, and one of the two opposite edges of the steering component 3 can be tangent to the linear transmission direction extending from the connection position between the surgical instrument and the connecting section 21, and the other side edge is tangent to the linear transmission direction extending from the position where the transmission component 1 connects the transmission section 22, so that both the connecting section 21 and the transmission section 22 can extend along the linear transmission direction, and when the transmission component 1 moves along the linear transmission direction, the connecting section 21 and the transmission section 22 can both act synchronously in a 1:1 manner. The connection between the connecting section 21 and the transmission section 22 and the steering assembly 3 can be fixedly connected. At this time, the steering assembly 3 produces a certain deformation during the action, so as to ensure that the connecting section 21 and the transmission section 22 maintain a straight transmission direction. The transmission wire 2 can also be wound around the steering assembly 3 so that the connecting section 21 and the transmission section 22 can be transformed into each other. The specific connection form can be designed according to the actual installation space, and this application does not limit this.

[0058] The transmission assembly 1 is driven to move along the linear transmission direction by the driving system 4, and the transmission assembly 1 can synchronously pull the transmission section 22 to move, and the transmission section 22 pulls the connecting section 21 to slide through the steering assembly 3, so that the pushing driving force received by the transmission assembly 1 is converted into the pulling driving force applied to the surgical instrument by the connecting section 21, and at the same time, the steering assembly 3 can ensure that the connecting section 21 and the transmission section 22 are extended along the linear transmission direction, so that the connecting section 21 and the transmission section 22 can be synchronized with the transmission assembly 1 Proportional action, and as the connecting section 21 slides, it can pull the surgical instrument to produce a corresponding action to complete the transmission. In this way, when the transmission device is used, the transmission assembly 1 slides along the linear direction, and the transmission wire 2 cooperates with the steering assembly 3 to achieve the proportional action of the surgical instrument and the transmission assembly 1, so that high-precision transmission can be achieved through a simple structural combination, and the wire transmission can also ensure that the loss of each structure is small, which is conducive to reducing the overall manufacturing cost, and can also reduce the transmission error and improve the transmission accuracy.

[0059] Optionally, the connection between the transmission section 22 and the transmission assembly 1 forms a first force point 121, and the connection between the transmission assembly 1 and the drive system 4 forms a second force point 122, and the line connecting the first force point 121 and the second force point 122 is parallel to the linear transmission direction.

[0060] Specifically, the steering component 3 can partially extend into the transmission component 1, so that the transmission section 22 is extended along the linear transmission direction after being turned by the steering component 3 and is connected to the transmission component 1, and the connection is located in the middle position of the transmission component 1 to form a first force point 121 in the middle of the transmission component 1, and the connection between the transmission component 1 and the drive system 4 can be a plug-in fit or a surface fit, etc., and a second force point 122 is formed in the middle position of the connection between the transmission component 1 and the drive system 4, and the transmission component 1 as a whole is in a left-right symmetrical shape, so the connecting line formed by the first force point 121 and the second force point 122 can be parallel to the linear transmission direction.

[0061] By making the line connecting the first force point 121 and the second force point 122 parallel to the linear transmission direction, the driving force applied to the transmission component 1 and the pulling force applied to the transmission section 22 are completely overlapped in direction. Then, when the driving force is applied to the transmission component 1, the transmission component 1 can apply a pulling force to the transmission section 22 in exactly the same direction, thereby minimizing the transmission loss between the driving force and the pulling force, thereby effectively improving the transmission accuracy of the transmission device.

[0062] Optionally, the transmission wire 2 further includes an intermediate section 23 between the connecting section 21 and the transmission section 22, and the steering assembly 3 includes a first pulley 31 and a second pulley 32. The connection between the connecting section 21 and the intermediate section 23 is wound around the first pulley 31; the second pulley 32 is spaced apart from the first pulley 31 along the linear transmission direction, and the connection between the intermediate section 23 and the transmission section 22 is wound around the second pulley 32; wherein the opposite side edges of the first pulley 31 and the second pulley 32 are tangent to the linear transmission direction so that the connecting section 21 and the transmission section 22 both extend along the linear transmission direction.

[0063] Specifically, the first pulley 31 is arranged close to the surgical instrument, and the edge of the first pulley 31 is tangent to the linear transmission direction extending from the connection between the surgical instrument and the connecting section 21, so that the connecting section 21 extends along the linear transmission direction between the surgical instrument and the first pulley 31, and the second pulley 32 is arranged close to the transmission assembly 1, and similarly, the edge of the second pulley 32 is tangent to the linear transmission direction extending from the connection between the transmission assembly 1 and the transmission section 22, so that the transmission section 22 extends along the linear transmission direction. In this embodiment, the connecting section 21, the middle section 23 and the transmission section 22 can be integrated, that is, the transmission wire 2 is a complete wire structure at this time, and in other embodiments, the above three can also be made of different materials according to the actual transmission force conditions, and then fixedly connected together.

[0064] By setting the first pulley 31 and the second pulley 32, the transmission direction of the transmission wire 2 can be adjusted, and the number and diameter of the first pulley 31 and the second pulley 32 can be arranged according to the actual installation space, so that through a simple structural combination, it can be ensured that the connecting section 21 and the transmission section 22 can be maintained in the linear transmission direction, so that the movement amplitude of the transmission component 1 can be effectively transmitted to the surgical instrument in proportion.

[0065] Optionally, the transmission assembly 1 includes a transmission sleeve 11 and a transmission rod 12. The transmission sleeve 11 is fixed to the instrument handle 5 and can extend along the linear transmission direction; the transmission rod 12 is slidably connected to the transmission sleeve 11, one end of the transmission rod 12 is connected to the drive system 4, and the other end of the transmission rod 12 is connected to the transmission section 22.

[0066] Specifically, the transmission sleeve 11 is annular, and can be fixed on the instrument handle 5 by non-detachable means such as bonding or welding, or by detachable means such as plugging, clamping or bolting. The transmission rod 12 is inserted into the transmission sleeve 11, and one end of the transmission rod 12 is provided with a connection structure, which can be connected to the driving end of the driving system 4. The connection method can be plugging, clamping, screwing, bonding or welding, etc. Different shapes of connection structures can be set according to different connection methods to ensure that transmission can be achieved.

[0067] The other end of the transmission rod 12 may be threadedly connected to a locking bolt 13, and the transmission section 22 is inserted into the locking bolt 13. A pre-tightening structure is provided at one end of the transmission section 22 that passes through the locking bolt 13 to lock the transmission section 22 in the locking bolt 13. The pre-tightening structure may be a spring clip clamped on the transmission section 22, and the spring clip may be clamped with the end surface of the locking bolt 13. In other embodiments, the transmission section 22 may also be directly bonded or embedded in the transmission rod 12 to further simplify the installation difficulty.

[0068] When the driving system 4 drives the transmission rod 12 to move, the transmission rod 12 can slide relative to the transmission sleeve 11, thereby driving the locking bolt 13 and the transmission section 22 to move synchronously. When the length of the transmission section 22 needs to be adjusted, the pre-tightening structure can be loosened, and the transmission section 22 can be pulled to slide relative to the locking bolt 13. After sliding a specified length, the pre-tightening structure can be fixed, and the length adjustment of the transmission section 22 can be quickly completed.

[0069] The middle part of the connection structure provided on the transmission rod 12 serves as the first force point 121, and the first force point 121 is located on the axis of the transmission rod 12. The threaded hole threadedly connected to the locking bolt 13 is coaxially opened with the transmission rod 12, and the transmission section 22 is passed along the axis of the locking bolt 13, that is, the transmission section 22 is colinear with the axis of the transmission rod 12, so that the first force point 121 can be formed at the connection between the transmission rod 12 and the locking bolt 13. At this time, the first force point 121 is on the axis of the transmission rod 12, and the connecting line of the first force point 121 and the second force point 122 is colinear with the axis of the transmission rod 12.

[0070] Optionally, the transmission assembly 1 further includes a housing 14 and a limiting portion 15. The housing 14 is sleeved on the transmission sleeve 11, and has an observation slot 141 extending along the linear transmission direction; the limiting portion 15 is slidably connected to the observation slot 141 and connected to the transmission rod 12 to limit the self-rotation of the transmission rod 12.

[0071] Specifically, the housing 14 is sleeved on the outer side of the transmission sleeve 11, and an observation slot 141 is formed through the side wall of the housing 14. A limit portion 15 is provided on the outer side wall of the transmission rod 12, and the limit portion 15 is slidably connected to the observation slot 141. A connecting slot 142 is also formed through the side wall of the housing 14, and the connecting slot 142 is arranged opposite to the observation slot 141. A through slot corresponding to the connecting slot 142 is formed on the transmission rod 12, and the edge of the second pulley 32 can pass through the connecting slot 142 and the through slot, so that the edge of the second pulley 32 is tangent to the axis of the transmission rod 12, and the axis of the transmission rod 12 is colinear with the connecting section 21, so as to ensure that the connecting section 21 extends along the linear transmission direction.

[0072] By providing the observation slot 141, it is convenient to observe the installation of the transmission rod 12 and the transmission wire 2, effectively reducing the difficulty of installation and ensuring that the installation position of the transmission wire 2 is accurate. At the same time, by providing the limiter 15, the rotation of the transmission rod 12 can be limited to ensure that the transmission rod 12 can only slide along the linear transmission direction. The connection slot 142 and the through slot are provided so that the second pulley 32 can be tangent to the axis of the transmission rod 12 during installation, thereby facilitating the positioning of the installation position of the second pulley 32 to further ensure the installation accuracy.

[0073] The transmission system comprises an instrument handle 5 and a plurality of transmission devices as in the above-mentioned embodiment. The plurality of transmission devices are distributed around the circumference of the instrument handle 5 at intervals.

[0074] Multiple transmission devices are arranged in pairs, and when the transmission wire 2 of one transmission device is pulled up, the transmission wire 2 of another transmission device will retract. In this embodiment, 8 transmission devices are distributed at intervals and arranged in a ring. In other embodiments, the number of transmission devices can be 2, 4, etc., which can be determined according to the number of joints that need to be controlled.

[0075] When the transmission system is in use, the transmission device can realize 1:1 transmission in any direction, and the overall transmission structure is simple, so that the cost of the transmission system is lower, which is conducive to the transmission system being able to take into account both low cost and high transmission accuracy when applied. In addition, multiple transmission devices are arranged opposite to each other in pairs, and 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, so as to ensure that the movement process of the surgical instrument in any direction is stably completed.

[0076] The surgical robot comprises a drive system 4, an instrument handle 5 and a transmission system as in the above-mentioned embodiment. The instrument handle 5 is used to install the surgical instrument. The transmission system is connected to the drive system 4 and the surgical instrument respectively.

[0077] When in use, the surgical robot can adopt a low-cost transmission system to transmit the power of the drive system 4, and proportionally transmit the movement amplitude of the transmission system to the surgical instrument, thereby controlling the precise movement of the surgical instrument, making the surgical robot not only lower in cost but also higher in control accuracy when used, which is conducive to the application of the surgical robot in more scenarios.

[0078] Embodiment 2

[0079] On the basis of the first embodiment, the difference between this embodiment and the first embodiment lies in the structure of the steering assembly 3 .

[0080] Reference Figure 6 and Figure 7Optionally, the transmission wire 2 further includes an intermediate section 23 between the connecting section 21 and the transmission section 22, and the steering assembly 3 includes a third pulley 33. The intermediate section 23 is wound around the third pulley 33, and the opposite side edges of the third pulley 33 are tangent to the linear transmission direction so that the connecting section 21 and the transmission section 22 both extend along the linear transmission direction.

[0081] Specifically, the steering assembly 3 is only provided with one third pulley 33, the third pulley 33 serves as a fixed pulley, the middle section 23 is wound around the third pulley 33, and the opposite side edges of the third pulley 33 are tangent to the linear transmission direction. Then, the transmission wire 2 between the third pulley 33 and the instrument handle 5 is the connecting section 21, and the transmission wire 2 between the third pulley 33 and the transmission assembly 1 is the transmission section 22.

[0082] By providing a third pulley 33, it is possible to ensure that the transmission wire 2 completes proportional transmission, so that the installation process of the steering assembly 3 is simple and the manufacturing cost is low, which is conducive to reducing the overall installation difficulty and manufacturing cost of the transmission device.

[0083] Embodiment 3

[0084] On the basis of the first embodiment, the difference between this embodiment and the first embodiment lies in the structure of the steering assembly 3 .

[0085] Reference Figure 8 and Fig. 9 Optionally, the steering assembly 3 includes a steering lever 34. The steering lever 34 is rotatably connected to the transmission assembly 1, and both ends of the steering lever 34 are slidably connected with telescopic links 35. Of the two opposite ends of the two telescopic links 35, one end is connected to the connecting section 21, and the line connecting the connection between the instrument handle 5 and the connecting section 21 is parallel to the linear transmission direction, and the other end is connected to the transmission section 22, and the line connecting the connection between the transmission assembly 1 and the transmission section 22 is parallel to the linear transmission direction.

[0086] Specifically, the steering lever 34 is in the shape of an elongated strip, and is hollow inside. The two ends are slidably connected to the telescopic link 35. The end wall of the telescopic link 35 extends out of the steering lever 34. A block or other structure can be provided at one end of the telescopic link 35 located inside the steering lever 34 to ensure that the telescopic link 35 will not be separated from the steering lever 34. A hinge is provided at one end of the telescopic link 35 extending out of the steering lever 34, and the hinge is connected to the connecting section 21 or the transmission section 22. The sliding amplitude of the telescopic link 35 can be adapted to the transmission amplitude, ensuring that the line connecting the end of the telescopic link 35 where the hinge is provided and the instrument handle 5 or the transmission assembly 1 can remain parallel to the linear transmission direction, thereby ensuring that the connecting section 21 and the transmission section 22 remain in a direction parallel to the linear transmission direction.

[0087] By setting the steering lever 34 and the telescopic link 35, when the transmission assembly 1 slides in a straight direction to drive the transmission section 22 to move, the telescopic link 35 connected to the transmission section 22 will slide relative to the steering lever 34, and the steering lever 34 itself will also rotate, then the other telescopic link 35 will produce a corresponding action, thereby driving the connecting section 21 to produce proportional movement to realize transmission.

[0088] In one embodiment, optionally, the telescopic link 35 is sleeved on the outside of the steering lever 34 , and each telescopic link 35 has a slideway, a locking screw 36 is passed through the slideway, and the locking screw 36 is inserted into the steering lever 34 .

[0089] Specifically, the interior of the telescopic link 35 is hollow to form a sleeve connection with the steering lever 34, and the inner wall of the telescopic link 35 is slidably fitted with the outer wall of the steering lever 34, and a smooth film can be provided between the two to reduce friction. A slideway extending along the length direction of the telescopic link 35 is provided on the side wall of the telescopic link 35, and a screw hole is provided at the end of the steering lever 34, the screw hole is correspondingly connected to the slideway, and a locking screw 36 provided in the slideway is threadedly connected in the screw hole. The above-mentioned hinge is provided on the end surface of the telescopic link 35 to form a connection with the connecting section 21 or the transmission section 22.

[0090] In another embodiment, the telescopic link 35 is slidably connected to the inside of the steering lever 34, and locking screws 36 are inserted at both ends of the steering lever 34. Each telescopic link 35 is provided with a slideway for the locking screw 36 to slide.

[0091] Specifically, the inner sides of both ends of the steering lever 34 are hollow, the telescopic screw is slidably connected in the steering lever 34, the outer wall of the telescopic connecting rod 35 is slidably fitted with the inner wall of the steering lever 34, and a smooth film can be provided between the two to reduce friction. The arrangement of the locking screw 36 is the same as that of the above embodiment, and will not be repeated here.

[0092] By setting the locking screw 36, the sliding direction of the telescopic link 35 during the sliding process can be limited to ensure that the telescopic link 35 does not rotate and the direction of the telescopic link 35 does not change during the sliding process. It should be understood that the telescopic link 35 and the steering lever 34 can both be square rods. In this case, the locking screw 36 is no longer required to limit the rotation. The restriction can be achieved by the surface contact between the telescopic link 35 and the steering lever 34. The specific design can be based on the actual installation space.

[0093] 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 transmission assembly (1) connected to a drive system (4) and capable of sliding along a linear transmission direction; A transmission wire (2) comprising a connecting section (21) and a transmission section (22), wherein the connecting section (21) is connected to the surgical instrument, and the transmission section (22) is connected to the transmission assembly (1); A steering assembly (3) is rotatably connected to the transmission assembly (1), and is respectively connected to the connecting section (21) and the transmission section (22) so that the connecting section (21) and the transmission section (22) both extend along the linear transmission direction.

2. The transmission device according to claim 1, characterized in that: A first force point (121) is formed at a connection between the transmission section (22) and the transmission assembly (1), and a second force point (122) is formed at a connection between the transmission assembly (1) and the drive system (4), wherein a line connecting the first force point (121) and the second force point (122) is parallel to the linear transmission direction.

3. The transmission device according to claim 1, characterized in that: The transmission wire (2) further comprises an intermediate section (23) located between the connecting section (21) and the transmission section (22), and the steering assembly (3) comprises: a first pulley (31), on which the connection portion between the connecting section (21) and the middle section (23) is wound; A second pulley (32) is spaced apart from the first pulley (31) along the linear transmission direction, and a connection between the middle section (23) and the transmission section (22) is wound around the second pulley (32); Wherein, the opposite side edges of the first pulley (31) and the second pulley (32) are tangent to the linear transmission direction so that the connecting section (21) and the transmission section (22) extend along the linear transmission direction.

4. The transmission device according to claim 1, characterized in that: The transmission wire (2) further comprises an intermediate section (23) located between the connecting section (21) and the transmission section (22), and the steering assembly (3) comprises: A third pulley (33), the middle section (23) is wound around the third pulley (33), and the opposite side edges of the third pulley (33) are tangent to the linear transmission direction so that the connecting section (21) and the transmission section (22) extend along the linear transmission direction.

5. The transmission device according to claim 1, characterized in that: The steering assembly (3) comprises: A steering lever (34) is rotatably connected to the transmission assembly (1), and both ends of the steering lever (34) are slidably connected to telescopic links (35). Of the two opposite ends of the telescopic links (35), one end is connected to the connecting section (21), and the line connecting the connection between the instrument handle and the connecting section (21) is parallel to the linear transmission direction, and the other end is connected to the transmission section (22), and the line connecting the connection between the transmission assembly (1) and the transmission section (22) is parallel to the linear transmission direction.

6. The transmission device according to claim 5, characterized in that: The telescopic connecting rod (35) is sleeved on the outside of the steering lever (34), and each telescopic connecting rod (35) has a slideway, a locking screw (36) is inserted into the slideway, and the locking screw (36) is inserted into the steering lever (34).

7. The transmission device according to claim 5, characterized in that: The telescopic connecting rod (35) is slidably connected to the inside of the steering lever (34), locking screws (36) are inserted at both ends of the steering lever (34), and each of the telescopic connecting rods (35) is provided with a slideway for the locking screw (36) to slide.

8. The transmission device according to claim 1, characterized in that: The transmission assembly (1) comprises: A transmission sleeve (11) is fixed to the instrument handle (5) and can extend along the linear transmission direction; A transmission rod (12), wherein the transmission rod (12) is slidably connected to the transmission sleeve (11), one end of the transmission rod (12) is connected to the drive system (4), and the other end of the transmission rod (12) is connected to the transmission section (22).

9. The transmission device according to claim 8, characterized in that: The transmission assembly (1) further comprises: A housing (14) is sleeved on the transmission sleeve (11), and the housing (14) has an observation slot (141) extending along the linear transmission direction; A limiting portion (15) is slidably connected to the observation slot (141) and is connected to the transmission rod (12) to limit the rotation of the transmission rod (12).

10. A transmission system, characterized in that: include: Instrument handle (5); A plurality of transmission devices according to any one of claims 1 to 9, wherein the plurality of transmission devices are distributed at intervals around the circumference of the instrument handle (5) and are arranged opposite to each other in pairs.

11. A surgical robot, characterized in that: include: Drive system (4); An instrument handle (5) for mounting surgical instruments; The transmission system according to claim 10 is connected to the drive system (4) and the surgical instrument respectively.

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