Transmission, transmission system, and surgical robot
Patent Information
- Application Number
- CN202411621151.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-13
- Publication Date
- 2026-10-20
- Estimated Expiration
- 2044-11-13
Smart Images
Figure CN119279787B_ABST
Abstract
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] Surgical robots have significant advantages in improving surgical precision and reducing patient trauma, especially in natural orifice surgeries. They not only provide surgeons with a clear field of vision but also provide rapid feedback on their actions.
[0003] In the prior art, a transmission structure is set between the surgical instruments and the drive system of the surgical robot. The transmission structure includes a drive rope, a transmission screw, etc. The transmission screw is connected to the drive rope. The drive system can drive the transmission screw to rotate. During the rotation, the transmission screw can move along the axis, thereby pulling or releasing the drive rope, which in turn drives the surgical instruments to move.
[0004] However, as the lead screw rotates, it is subjected not only to the driving force of the motor but also to the force of the transmission rope. As a result, the overall force direction of the lead screw is not unique, leading to a complex force situation. This causes the lead screw to wear out significantly during use and requires frequent replacement, increasing the overall cost of the surgical robot. Furthermore, the transmission accuracy is reduced due to the complex force situation. Summary of the Invention
[0005] The purpose of this invention is to provide a transmission device, a transmission system, and a surgical robot, which solves the problems in the prior art where the transmission structure of the surgical robot is subjected to complex forces, resulting in large wear and tear during use, frequent replacement leading to increased costs, and reduced transmission accuracy.
[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] The transmission component is connected to the drive system and can slide along the linear transmission direction;
[0009] A transmission wire has a connecting section and a transmission section, the connecting section being connected to a surgical instrument, and the transmission section being connected to the transmission assembly;
[0010] A steering assembly is rotatably connected to the transmission assembly and is connected to the connecting segment and the transmission segment respectively, such that both the connecting segment and the transmission segment extend along the linear transmission direction.
[0011] Optionally, the connection between the transmission segment and the transmission assembly forms a first force point, and the connection between the transmission assembly 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 transmission wire further includes an intermediate section located between the connecting section and the transmission section, and the steering assembly includes:
[0013] The first pulley is provided at the connection point between the connecting section and the intermediate section;
[0014] The second pulley is distributed at intervals from the first pulley along the linear transmission direction, and the connection between the middle section and the transmission section is wound around the second pulley;
[0015] Wherein, the opposite sides of the first pulley and the second pulley are tangent to the linear transmission direction so that the connecting section and the transmission section both extend along the linear transmission direction.
[0016] Optionally, the transmission wire further includes an intermediate section located between the connecting section and the transmission section, and the steering assembly includes:
[0017] The third pulley, the middle section is wound around the third pulley, and the opposite two sides of the third pulley are tangent to the linear transmission direction so that the connecting section and the transmission section both extend along the linear transmission direction.
[0018] Optionally, the steering component includes:
[0019] A steering lever is rotatably connected to the transmission assembly. Both ends of the steering lever are slidably connected to telescopic links. Of the two opposing ends of the two telescopic links, one end is connected to the connecting section, and the line connecting the instrument handle and the connecting section is parallel to the linear transmission direction. The other end is connected to the transmission section, and the line connecting the transmission assembly and the transmission section is parallel to the linear transmission direction.
[0020] Optionally, the telescopic link is sleeved outside the steering lever, and each telescopic link has a slide rail with a locking screw inserted into the slide rail and the locking screw is inserted into the steering lever.
[0021] Optionally, the telescopic link is slidably connected to the inside of the steering lever, and locking screws are inserted into both ends of the steering lever. Each telescopic link is provided with a slide for the locking screws to slide.
[0022] Optionally, the transmission assembly includes:
[0023] A transmission sleeve is fixed to the instrument handle and can extend 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] The outer casing is fitted onto the transmission sleeve, and the outer casing has an observation groove 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] Secondly, this application also provides a transmission system, which includes:
[0029] Instrument handle;
[0030] A plurality of transmission devices as described in any one of the first aspects, wherein the plurality of transmission devices are circumferentially spaced around the handle of the instrument and arranged opposite to each other in pairs.
[0031] Thirdly, this application also provides a surgical robot, which includes:
[0032] Drive system;
[0033] Instrument handles are used to attach surgical instruments;
[0034] The transmission system as described in the second aspect is connected to the drive system and the surgical instruments, respectively.
[0035] The beneficial effects of this invention are:
[0036] Firstly, by driving the transmission component along the linear transmission direction through the drive system, the transmission component synchronously pulls the transmission segment, which in turn pulls the connecting segment to slide via a steering component. This converts the pushing force on the transmission component into a pulling force applied to the surgical instrument by the connecting segment. Simultaneously, the steering component ensures that both the connecting segment and the transmission segment extend along the linear transmission direction, allowing them to move synchronously and proportionally with the transmission component. As the connecting segment slides, it pulls the surgical instrument to produce a corresponding movement, thus completing the transmission. In use, this transmission device achieves proportional movement between the surgical instrument and the transmission component through the sliding of the transmission component along a linear direction and the use of a transmission wire in conjunction with the steering component. This simple structural combination enables high-precision transmission, and the wire drive ensures minimal wear on each component, reducing overall manufacturing costs, minimizing transmission errors, and improving transmission accuracy.
[0037] Secondly, in use, this transmission system can achieve 1:1 transmission in any direction using the transmission device, and the overall transmission structure is simple, resulting in lower cost. This allows the system to balance low cost and high transmission accuracy in application. Furthermore, multiple transmission devices are arranged in pairs, and when the transmission wire of one device is stretched, the transmission wire of the other device retracts, ensuring stable movement of the surgical instruments in any direction.
[0038] Thirdly, when in use, the surgical robot can use a low-cost transmission system to transmit the power of the drive system and proportionally transmit the amplitude of the transmission system's movement to the surgical instruments, thereby controlling the precise movements of the surgical instruments. This makes the surgical robot not only cheaper but also more precise in its application, which is conducive to its application in more scenarios. Attached Figure Description
[0039] Figure 1 This is a schematic diagram of the transmission device in Embodiment 1 of the present invention;
[0040] Figure 2 This is a schematic diagram of the transmission system in Embodiment 1 of the present invention;
[0041] Figure 3 This is a schematic diagram of the internal structure of the drive system and the instrument handle of the surgical robot in Embodiment 1 of the present invention;
[0042] Figure 4 This is a schematic diagram of the structure of the housing and observation slot of the transmission device in Embodiment 1 of the present invention;
[0043] Figure 5 This is a schematic diagram of the drive system and instrument handle structure of the surgical robot in Embodiment 1 of the present invention;
[0044] Figure 6 This is a schematic diagram of the transmission device in Embodiment 2 of the present invention;
[0045] Figure 7 This is a schematic diagram of the transmission system in Embodiment 2 of the present invention;
[0046] Figure 8 This is a schematic diagram of the transmission device in Embodiment 3 of the present invention;
[0047] Figure 9 This is a schematic diagram of the transmission system in Embodiment 3 of the present invention.
[0048] In the picture:
[0049] 1. Transmission assembly; 11. Transmission sleeve; 12. Transmission rod; 121. First force-bearing point; 122. Second force-bearing 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. Intermediate section; 3. Steering assembly; 31. First pulley; 32. Second pulley; 33. Third pulley; 34. Steering lever; 35. Telescopic connecting rod; 36. Locking screw; 4. Drive system; 5. Instrument handle. Detailed Implementation
[0050] 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.
[0051] 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.
[0052] 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.
[0053] 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.
[0054] This application discloses a transmission device, a transmission system, and a surgical robot.
[0055] Example 1
[0056] Reference Figures 1 to 5 The transmission device includes a transmission assembly 1, a transmission wire 2, and a steering assembly 3. The transmission assembly 1 is connected to the drive system 4 and can slide along the linear transmission direction; the transmission wire 2 has a connecting section 21 and a transmission section 22, the connecting section 21 is connected to the 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 connected to the connecting section 21 and the transmission section 22 respectively, so that both the connecting section 21 and the transmission section 22 extend along the linear transmission direction.
[0057] Specifically, the transmission component 1 can be a long strip structure, with one end connected to the drive system 4 and the other end connected to the transmission section 22. The connection method can be detachable or non-detachable. The steering component 3 is located between the connecting section 21 and the transmission section 22. One edge of the opposing sides of the steering component 3 is tangent to the linear transmission direction extending from the connection point of the surgical instrument and the connecting section 21, while the other edge is tangent to the linear transmission direction extending from the connection point of the transmission component 1 to the transmission section 22. This allows both the connecting section 21 and the transmission section 22 to extend along the linear transmission direction. Therefore, when the transmission component 1 moves along the linear transmission direction, the connecting section 21 and the transmission section 22 can move synchronously in a 1:1 ratio. The connection between the connecting section 21 and the transmission section 22 and the steering assembly 3 can be fixed. In this case, the steering assembly 3 will undergo a certain deformation during operation, thereby ensuring that the connecting section 21 and the transmission section 22 maintain a linear 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 converted into each other. The specific connection form can be designed according to the actual installation space, and this application does not limit it.
[0058] The drive system 4 drives the transmission component 1 to move along the linear transmission direction. The transmission component 1 synchronously pulls the transmission section 22 to move. The transmission section 22, in turn, pulls the connecting section 21 to slide through the steering component 3. This converts the pushing force on the transmission component 1 into a pulling force applied to the surgical instrument by the connecting section 21. Simultaneously, the steering component 3 ensures that both the connecting section 21 and the transmission section 22 extend along the linear transmission direction, allowing them to move synchronously and proportionally with the transmission component 1. As the connecting section 21 slides, it pulls the surgical instrument to produce a corresponding movement, thus completing the transmission. In this transmission device, the transmission component 1 slides in a linear direction, and the transmission wire 2, in conjunction with the steering component 3, achieves proportional movement between the surgical instrument and the transmission component 1. High-precision transmission can be achieved through a simple structural combination. Furthermore, the wire drive ensures minimal wear on each component, thereby reducing overall manufacturing costs, minimizing transmission errors, and improving transmission accuracy.
[0059] Optionally, the connection between the transmission segment 22 and the transmission component 1 forms a first force point 121, and the connection between the transmission component 1 and the drive system 4 forms a second force point 122. 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 assembly 3 can partially extend into the transmission assembly 1, so that the transmission segment 22 extends along the linear transmission direction after being turned by the steering assembly 3 and connects with the transmission assembly 1. The connection point is located in the middle of the transmission assembly 1, so that a first force point 121 is formed in the middle of the transmission assembly 1. The connection between the transmission assembly 1 and the drive system 4 can be a plug-in fit or a surface fit, etc. A second force point 122 is formed in the middle of the connection between the transmission assembly 1 and the drive system 4. Since the transmission assembly 1 is symmetrical in shape, the 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 on the transmission component 1 and the tension on the transmission segment 22 are completely coincident in direction. When the driving force is applied to the transmission component 1, the transmission component 1 can apply tension to the transmission segment 22 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.
[0062] Optionally, the transmission wire 2 further includes an intermediate section 23 located 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 and the first pulley 31 are spaced apart 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 both the connecting section 21 and the transmission section 22 extend along the linear transmission direction.
[0063] Specifically, the first pulley 31 is positioned close to the surgical instrument, and its edge is tangent to the linear transmission direction extending from the connection point between the surgical instrument and the connecting section 21. This allows the connecting section 21 to extend along the linear transmission direction between the surgical instrument and the first pulley 31. The second pulley 32 is positioned close to the transmission assembly 1, and similarly, its edge is tangent to the linear transmission direction extending from the connection point between the transmission assembly 1 and the transmission section 22. This allows the transmission section 22 to extend along the linear transmission direction. In this embodiment, the connecting section 21, the intermediate section 23, and the transmission section 22 can be integrated, meaning the transmission wire 2 is a single, complete wire structure. In other embodiments, these three components can be made of different materials depending on the actual transmission force conditions and then fixedly connected together.
[0064] By setting the first pulley 31 and the second pulley 32, the orientation of the transmission direction of the transmission wire 2 can be adjusted. Moreover, the number and diameter of the first pulley 31 and the second pulley 32 can be arranged according to the actual installation space. Thus, 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, thereby effectively transmitting the movement amplitude of the transmission component 1 to the surgical instrument in a proportional manner.
[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 to the instrument handle 5 by non-removable means such as bonding or welding, or by detachable means such as insertion, snap-fit, or bolt connection. The transmission rod 12 is inserted into the transmission sleeve 11, and one end of the transmission rod 12 is provided with a connecting structure that can connect to the drive end of the drive system 4. The connection method can be insertion, snap-fit, screw connection, bonding, or welding, etc. Different shapes of connecting structures can be set according to different connection methods to ensure that transmission is possible.
[0067] The other end of the transmission rod 12 can be threadedly connected to a locking bolt 13. The transmission section 22 passes through the locking bolt 13. A pre-tightening structure is provided at the end of the transmission section 22 extending out of the locking bolt 13 to lock the transmission section 22 within the locking bolt 13. The pre-tightening structure can be a spring clip held on the transmission section 22, which can engage with the end face of the locking bolt 13. In other embodiments, the transmission section 22 can also be directly glued or embedded within the transmission rod 12 to further simplify installation.
[0068] When the drive 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 it is necessary to adjust the length of the transmission section 22, the pre-tightening structure can be loosened, the transmission section 22 can be pulled to slide relative to the locking bolt 13, and after sliding to the specified length, the pre-tightening structure can be fixed, thus quickly completing the length adjustment of the transmission section 22.
[0069] The middle part of the connecting structure on the transmission rod 12 serves as the first force-bearing point 121, which is located on the axis of the transmission rod 12. The threaded hole connected to the locking bolt 13 is coaxial with the transmission rod 12, and the transmission section 22 passes along the axis of the locking bolt 13, meaning the transmission section 22 is collinear with the axis of the transmission rod 12. Thus, the first force-bearing point 121 is formed at the connection between the transmission rod 12 and the locking bolt 13. Since the first force-bearing point 121 is on the axis of the transmission rod 12, the line connecting the first force-bearing point 121 and the second force-bearing point 122 is collinear with the axis of the transmission rod 12.
[0070] Optionally, the transmission assembly 1 further includes a housing 14 and a limiting part 15. The housing 14 is sleeved on the transmission sleeve 11 and has an observation groove 141 extending along the linear transmission direction; the limiting part 15 is slidably connected to the observation groove 141 and connected to the transmission rod 12 to limit the rotation of the transmission rod 12.
[0071] Specifically, the outer casing 14 is fitted onto the outside of the transmission sleeve 11. An observation groove 141 is formed through the side wall of the outer casing 14. A limiting part 15 is provided on the outer side wall of the transmission rod 12, and the limiting part 15 is slidably connected to the observation groove 141. A connecting groove 142 is also formed through the side wall of the outer casing 14, and the connecting groove 142 is arranged opposite to the observation groove 141. A through groove corresponding to the connecting groove 142 is formed on the transmission rod 12. The edge of the second pulley 32 can pass through the connecting groove 142 and the through groove, so that the edge of the second pulley 32 is tangent to the axis of the transmission rod 12. The axis of the transmission rod 12 is collinear with the connecting section 21 to ensure that the connecting section 21 extends along the linear transmission direction.
[0072] By providing the observation slot 141, the installation status of the transmission rod 12 and the transmission wire 2 can be easily observed, effectively reducing installation difficulty and ensuring the accurate installation position of the transmission wire 2. Simultaneously, the limiting part 15 restricts the rotation of the transmission rod 12, ensuring that the transmission rod 12 can only slide along the linear transmission direction. The connecting slot 142 and the through slot allow the second pulley 32 to be tangent to the axis of the transmission rod 12 during installation, facilitating the positioning of the second pulley 32 and further ensuring installation accuracy.
[0073] The transmission system includes an instrument handle 5 and multiple transmission devices as described in the above embodiments. The multiple transmission devices are distributed circumferentially around the instrument handle 5.
[0074] Multiple transmission devices are arranged in pairs, such that when the transmission wire 2 of one transmission device is pulled up, the transmission wire 2 of the other transmission device retracts. In this embodiment, eight transmission devices are spaced apart and arranged in a ring. In other embodiments, the number of transmission devices can be two, four, etc., depending on the number of joints that need to be controlled.
[0075] In use, this transmission system can achieve 1:1 transmission in any direction, and its simple overall structure reduces its cost, allowing it to balance low cost and high transmission accuracy. Furthermore, multiple transmission devices are arranged in pairs, and when the transmission wire 2 of one device is stretched, the transmission wire 2 of the other device retracts, ensuring stable movement of the surgical instruments in any direction.
[0076] The surgical robot includes a drive system 4, an instrument handle 5, and a transmission system as described in the above embodiment. The instrument handle 5 is used to mount surgical instruments. The transmission system is connected to the drive system 4 and the surgical instruments respectively.
[0077] When in use, this surgical robot can use a low-cost transmission system to transmit power to the drive system 4 and proportionally transmit the movement amplitude of the transmission system to the surgical instruments, thereby controlling the precise movement of the surgical instruments. This makes the surgical robot not only more cost-effective but also more precise in its application, which is conducive to its application in more scenarios.
[0078] Example 2
[0079] Based on Embodiment 1, the difference between this embodiment and Embodiment 1 lies in the different composition of the steering component 3.
[0080] Reference Figure 6 and Figure 7Optionally, the transmission wire 2 further includes an intermediate section 23 located 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 two sides of the third pulley 33 are tangent to the linear transmission direction so that both the connecting section 21 and the transmission section 22 extend in the linear transmission direction.
[0081] Specifically, the steering assembly 3 is provided with only one third pulley 33. The third pulley 33 is a fixed pulley. The middle section 23 is wound around the third pulley 33. The opposite sides of the third pulley 33 are tangent to the linear transmission direction. 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 setting a third pulley 33, the transmission wire 2 can be ensured to complete proportional transmission, which simplifies the installation process of the steering component 3, reduces manufacturing costs, and helps to reduce the overall installation difficulty and manufacturing cost of the transmission device.
[0083] Example 3
[0084] Based on Embodiment 1, the difference between this embodiment and Embodiment 1 lies in the different composition of the steering component 3.
[0085] Reference Figure 8 and Figure 9 Optionally, the steering assembly 3 includes a steering lever 34. The steering lever 34 is rotatably connected to the transmission assembly 1. Both ends of the steering lever 34 are slidably connected to telescopic links 35. Of the two opposing ends of the telescopic links 35, one end is connected to the connecting section 21, and the line connecting the instrument handle 5 and the connecting section 21 is parallel to the linear transmission direction. The other end is connected to the transmission section 22, and the line connecting the connecting section of the transmission assembly 1 and the transmission section 22 is parallel to the linear transmission direction.
[0086] Specifically, the steering lever 34 is elongated and hollow inside, with telescopic connecting rods 35 slidably connected at both ends. The end wall of the telescopic connecting rod 35 extends out of the steering lever 34. A locking block or similar structure can be provided at the end of the telescopic connecting rod 35 inside the steering lever 34 to ensure that the telescopic connecting rod 35 does not detach from the steering lever 34. A hinge is provided at the end of the telescopic connecting rod 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 range of the telescopic connecting rod 35 can be adapted to the transmission range, ensuring that the line connecting the hinged end of the telescopic connecting rod 35 to the instrument handle 5 or the transmission assembly 1 remains parallel to the linear transmission direction, thereby ensuring that the connecting section 21 and the transmission section 22 move in a direction parallel to the linear transmission direction.
[0087] By setting up a steering lever 34 and a telescopic link 35, when the transmission assembly 1 slides in a straight line and drives the transmission section 22 to move, the telescopic link 35 connected to the transmission section 22 will slide relative to the steering lever 34. At the same time, the steering lever 34 itself will also rotate, and then the other telescopic link 35 will produce a corresponding action, thereby driving the connecting section 21 to move proportionally to achieve 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 slide, in which a locking screw 36 passes, and the locking screw 36 is inserted into the steering lever 34.
[0089] Specifically, the telescopic link 35 is hollow inside to form a sleeve with the steering lever 34. The inner wall of the telescopic link 35 slides against the outer wall of the steering lever 34, and a smooth membrane can be provided between them to reduce friction. A slide rail extending along the length of the telescopic link 35 is formed on the side wall, and a screw hole is formed at the end of the steering lever 34. The screw hole corresponds to and communicates with the slide rail, and a locking screw 36 is threaded into the screw hole and inserted into the slide rail. The aforementioned hinge is provided on the end face of the telescopic link 35 to connect 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 both ends of the steering lever 34 are fitted with locking screws 36. Each telescopic link 35 is provided with a slide for the locking screws 36 to slide.
[0091] Specifically, the inner sides of both ends of the steering lever 34 are hollow, and the telescopic screw is slidably connected inside 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 locking screw 36 is positioned the same as in the above embodiment, and will not be described again here.
[0092] By setting the locking screw 36, the sliding direction of the telescopic link 35 during the sliding process can be restricted, ensuring that the telescopic link 35 will not rotate and that its direction will not change during the sliding process. It should be understood that both the telescopic link 35 and the steering lever 34 can be made of square rods. In this case, it is not necessary to set the locking screw 36 to restrict their 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 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. A transmission device, characterized in that, include: The transmission component (1) is connected to the drive system (4) and can slide along the linear transmission direction; The transmission wire (2) has a connecting section (21) and a transmission section (22), the connecting section (21) being connected to a surgical instrument and the transmission section (22) being connected to the transmission assembly (1); Steering assembly (3) is rotatably connected to the transmission assembly (1) and is connected to the connecting section (21) and the transmission section (22) respectively, such that the connecting section (21) and the transmission section (22) both extend along the linear transmission direction; The connection between the transmission segment (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). The line connecting the first force point (121) and the second force point (122) is parallel to the linear transmission direction. The steering component (3) includes: A steering lever (34) is rotatably connected to the transmission assembly (1). Both ends of the steering lever (34) are slidably connected to telescopic connecting rods (35). One end of the two telescopic connecting rods (35) is connected to the connecting section (21), and the line connecting the instrument handle and the connecting section (21) is parallel to the linear transmission direction. The other end is connected to the transmission section (22), and the line connecting the transmission assembly (1) and the transmission section (22) is parallel to the linear transmission direction.
2. The transmission device according to claim 1, characterized in that, The telescopic link (35) is sleeved on the outside of the steering lever (34), and each telescopic link (35) has a slide, in which a locking screw (36) passes, and the locking screw (36) is inserted into the steering lever (34).
3. The transmission device according to claim 1, characterized in that, The telescopic link (35) is slidably connected inside the steering lever (34). Both ends of the steering lever (34) are fitted with locking screws (36). Each telescopic link (35) is provided with a slide for the locking screws (36) to slide.
4. The transmission device according to claim 1, characterized in that, The transmission assembly (1) includes: The transmission sleeve (11) is fixed to the instrument handle (5) and can extend along the linear transmission direction; A 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).
5. The transmission device according to claim 4, characterized in that, The transmission assembly (1) further includes: The outer casing (14) is fitted onto the transmission sleeve (11), and the outer casing (14) has an observation groove (141) extending along the linear transmission direction; The limiting part (15) is slidably connected to the observation groove (141) and connected to the transmission rod (12) to limit the rotation of the transmission rod (12).
6. A transmission system, characterized in that, include: Instrument handle (5), used for mounting surgical instruments; A plurality of transmission devices as described in any one of claims 1 to 5, wherein the plurality of transmission devices are circumferentially spaced around the instrument handle (5) and arranged opposite to each other in pairs.
7. A surgical robot, characterized in that, include: Drive system (4); The transmission system as described in claim 6 is connected to the drive system (4) and the surgical instrument, respectively.
Citation Information
Patent Citations
End effector unit, surgical device, arm device and manipulator system
CN118742272A