Actuating mechanism and surgical robot

Abstract

The invention provides an executing mechanism and a surgical robot, and belongs to the technical field of medical instruments. The executing mechanism comprises a transmission box, a driving steel wire and an executing joint; the transmission box comprises a box body, a driving shaft and a transmission part; at least part of the transmission part is connected with the first end of the driving steel wire, the second end of the driving steel wire is connected with the executing joint, the driving steel wire drives the executing joint to move, and the transmission part drives the executing joint to move. A driving rope is wound around the driving shaft, the first part of the driving rope is connected with the first end of the transmission piece, the second part of the driving rope is connected with the second end of the transmission piece, and the driving shaft can drive the transmission piece to rotate through the driving rope. Through the combination of the driving rope and the transmission part, the stability and the accuracy of the transmission process are improved; due to the double-end connection design of the driving rope, the stable rotation of the transmission part is ensured; the design of the transmission part enables the connection between the transmission box and the execution joint to be simpler and more convenient, and reduces the assembly difficulty and time.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an actuator and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes, thoracoscopes and related equipment to perform surgery inside the human body's cavity.

[0003] The actuator is an important part of the surgical robot, and includes multiple joints and drive ropes for driving the joints. For example, the actuator can be set as a needle holder, and the drive rope can be used to drive the blades of the needle holder to move, thereby realizing the opening and closing process of the needle holder.

[0004] However, the assembly process of the drive rope and the actuator joint is cumbersome, and the movement process of the actuator joint driven by the drive rope has poor stability. Summary of the invention

[0005] The actuator and surgical robot provided in the embodiments of the present application are used to solve the problem of complicated assembly process of the drive rope and the actuator joint, and poor stability of the movement process of the actuator joint driven by the drive rope.

[0006] In a first aspect, an embodiment of the present application provides an actuator,

[0007] It includes a transmission box, a driving wire and an actuator joint;

[0008] The transmission box comprises a box body, a driving shaft rotatably disposed in the box body, and a transmission member rotatably disposed in the box body;

[0009] At least part of the transmission member is connected to the first end of the driving wire, and the second end of the driving wire is connected to the execution joint, and the execution joint is driven by the driving wire, and the transmission member drives the execution joint to move;

[0010] The drive shaft is wound with a drive rope, the first part of the drive rope is connected to the first end of the transmission member, the second part of the drive rope is connected to the second end of the transmission member, and the drive shaft can drive the transmission member to rotate through the drive rope. The transmission member forms a lever structure through the double-end connection design of the drive rope, which ensures the smooth rotation of the transmission member, thereby improving the accuracy of the drive wire driving the execution joint operation; the design of the transmission member can realize the drive of the execution joint through a drive rope, reducing the dependence on complex assembly processes, making the connection between the transmission box and the execution joint easier, and reducing the difficulty and time of assembly; by optimizing the transmission path and reducing friction, the service life of the system is extended, and the safety and reliability of surgical operations are improved.

[0011] In a possible implementation, a rotatable guide wheel is provided between the drive shaft and the transmission member, and the guide wheel abuts against the drive rope;

[0012] The transmission member has an arc-shaped abutment groove, and the arc-shaped abutment groove is in rolling contact with the guide wheel.

[0013] The abutment and rolling contact design between the guide wheel and the drive rope reduces friction and wear, thereby improving the smoothness and stability of the transmission process; reducing friction and wear not only improves the stability of the transmission, but also extends the service life of the equipment and reduces maintenance costs; the design of the guide wheel and the arc-shaped abutment groove simplifies the path guidance of the drive rope and reduces the complexity and potential errors in the assembly process.

[0014] In a possible implementation manner, the first portion of the drive rope and the second portion of the drive rope are arranged to cross each other;

[0015] The first portion of the drive rope abuts against the arc-shaped abutment groove, and the second portion of the drive rope abuts against the arc-shaped abutment groove.

[0016] The cross setting of the drive rope and the abutment design with the arc-shaped abutment groove provide better guidance and support for the drive rope, reduce the sliding and deviation of the drive rope during movement, and improve the stability of the transmission; the cross setting of the drive rope realizes more complex motion control in a limited space, optimizes space utilization, and makes the design more compact.

[0017] In a possible implementation, the transmission member is provided with a first fixing groove and a second fixing groove;

[0018] The first part of the driving rope extends from the arc-shaped abutment groove to the first fixed groove, and the second part of the driving rope extends from the arc-shaped abutment groove to the second fixed groove. Through the design of the first fixed groove and the second fixed groove, the driving rope is more firmly fixed on the transmission member, which reduces sliding and deviation and improves the stability of transmission.

[0019] In a possible implementation, the drive shaft is provided with a first rotating wheel and a second rotating wheel which are coaxially arranged;

[0020] The first rotating wheel is connected to the first portion of the driving rope, and the second rotating wheel is connected to the second portion of the driving rope;

[0021] When the driving shaft rotates, one of the first rotating wheel and the second rotating wheel winds up the driving rope, and the other of the first rotating wheel and the second rotating wheel releases the driving rope.

[0022] The design of the coaxial first and second wheels makes the retraction and release process of the drive rope more precise, ensuring the accuracy of the movement of the drive wire driven by the transmission member, thereby improving the stability of the movement process of the actuator joint driven by the drive wire; the design of alternately winding and releasing the drive rope optimizes the transmission efficiency, reduces energy loss, and improves the overall performance of the system.

[0023] In a possible implementation, the transmission member is provided with a connecting portion, and the connecting portion is provided with a receiving groove; the first end of the driving wire is provided with a movable portion, and the movable portion can be movably arranged in the receiving groove;

[0024] The movable portion is provided with a spherical contact surface, and the movable portion is in rolling contact with the bottom surface of the accommodating groove through the spherical contact surface.

[0025] Through the design of the spherical contact surface, the movable part can roll smoothly in the receiving groove, reducing friction and jamming and improving the stability of the transmission; the spherical contact surface allows the movable part to roll and rotate freely in multiple directions, providing greater flexibility of movement and being able to adapt to complex surgical operation requirements.

[0026] In one possible implementation, the actuator further includes an instrument rod, the instrument rod is provided with a receiving cavity, and the receiving cavity is at least used to accommodate the drive wire.

[0027] By providing a receiving cavity inside the instrument rod, the drive wire is well supported and protected during movement, external interference and friction are reduced, and the stability of transmission is improved; the receiving cavity provides a fixed path, making the movement of the drive wire more controllable and precise; the receiving cavity provides physical protection for the drive wire, reduces the impact of external environmental factors (such as dust, liquid, etc.) on the drive wire, and extends the service life of the equipment.

[0028] In a possible implementation, the instrument rod includes a linkage joint, and the linkage joint is at least used to drive the execution joint to move;

[0029] The driving steel wire is provided with a buffer sleeve, the buffer sleeve is sleeved on the driving steel wire, and the outer surface of the buffer sleeve is at least used to contact with the inner wall of the linkage joint.

[0030] By setting up the buffer sleeve, it is ensured that the driving wire can still efficiently transmit thrust in a bent state, reducing friction and jamming, and improving the stability of the transmission of the driven execution joint; the buffer sleeve ensures sufficient tension at the end of the driving wire, thereby improving the accuracy and reliability of the driven execution joint operation.

[0031] In a possible implementation, the instrument rod includes a guide portion, and the guide portion is fixedly connected to the transmission box;

[0032] The driving steel wire is provided with a guide sleeve, the guide sleeve is sleeved on the driving steel wire, and the guide sleeve is arranged opposite to the guide part.

[0033] The application of the guide sleeve ensures that the drive wire remains on the predetermined path during movement, reduces deviation and friction, and improves the stability of the transmission; through the cooperation of the guide sleeve and the guide part, the movement path of the drive wire is more controllable and precise.

[0034] In a second aspect, an embodiment of the present application also provides a surgical robot, comprising the above-mentioned actuator.

[0035] The actuator and surgical robot provided in the embodiments of the present application have a transmission member with a double-end connection design of a driving rope to form a lever structure, which ensures smooth rotation of the transmission member, thereby improving the accuracy of the operation of the actuator joint driven by the driving steel wire; the design of the transmission member can drive the actuator joint through a driving rope, reducing the dependence on complex assembly processes, making the connection between the transmission box and the actuator joint simpler, and reducing the difficulty and time of assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0037] Figure 1 for Figure 1 A schematic diagram of an actuator and a surgical robot is provided for an embodiment of the present application;

[0038] Figure 2 A schematic diagram of the internal structure of a box body in an actuator is provided for an embodiment of the present application;

[0039] Figure 3 A schematic diagram of the connection between the transmission shaft and the drive rope in the actuator is provided for the embodiment of the present application;

[0040] Figure 4 A schematic diagram of the structure of a transmission member in an actuator is provided for an embodiment of the present application;

[0041] Figure 5 A schematic diagram of the structure of a guide wheel in an actuator is provided for an embodiment of the present application;

[0042] Figure 6 A cross-sectional view of a local structure of a transmission member in an actuator is provided for an embodiment of the present application;

[0043] Figure 7 Another cross-sectional view of the local structure of the transmission member in the actuator is provided for the embodiment of the present application;

[0044] Figure 8 A cross-sectional view of a drive assembly, a connecting member, and a steel wire connected in an actuator provided in an embodiment of the present application;

[0045] Description of reference numerals:

[0046] 100, transmission box; 110, box body; 120, driving shaft; 121, first rotating wheel; 122, second rotating wheel; 130, transmission member; 131, first fixing groove; 132, second fixing groove; 133, first abutting groove; 134, second abutting groove; 140, driving rope; 150, connecting part; 151, containing groove; 1511, sliding groove; 1512, avoiding groove; 160, guide wheel; 161, first guide wheel; 162, second guide wheel; 170, transition shaft; 171, first transition wheel; 172, second transition wheel;

[0047] 200, driving wire; 210, movable part; 220, buffer sleeve;

[0048] 300, Execution joints;

[0049] 400, instrument bar;

[0050] 410, linkage joint; 420, guide part;

[0051] 500. Guide sleeve.

[0052] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0053] The driving rope is used to drive the joint movement. In the prior art, at least two driving ropes are required to drive the related linkage mechanism to drive the actuator joint mechanism. During the assembly process, it is necessary not only to ensure the correct path, tension and connection of each driving rope, but also to avoid the crossing and interference of multiple driving ropes in a small space. Otherwise, it will lead to unstable operation of the actuator joint mechanism or wear of the driving rope.

[0054] In view of this, the transmission member of the embodiment of the present application forms a lever structure through the double-end connection design of the driving rope, which ensures the smooth rotation of the transmission member, thereby improving the accuracy of the operation of the actuator joint driven by the driving steel wire; the design of the transmission member can realize the driving of the actuator joint through a driving rope, reducing the dependence on complex assembly processes, making the connection between the transmission box and the actuator joint simpler, and reducing the difficulty and time of assembly.

[0055] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0056] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0057] refer to Figure 1-Figure 3 , the embodiment of the present application provides an actuator,

[0058] It includes a transmission box 100, a driving wire 200 and an execution joint 300;

[0059] The transmission box 100 includes a box body 110, a driving shaft 120 rotatably disposed in the box body 110, and a transmission member 130 rotatably disposed in the box body 110;

[0060] At least part of the transmission member 130 is connected to the first end of the driving wire 200, and the second end of the driving wire 200 is connected to the execution joint 300. The execution joint 300 is driven to move by the driving wire 200, and the transmission member 130 drives the execution joint 300 to move;

[0061] The driving shaft 120 is wound with a driving rope 140 , a first portion of the driving rope 140 is connected to a first end of the transmission member 130 , and a second portion of the driving rope 140 is connected to a second end of the transmission member 130 . The driving shaft 120 can drive the transmission member 130 to rotate through the driving rope 140 .

[0062] It can be known that the first end of the drive wire 200 is connected to the transmission member 130, and the second end of the drive wire 200 is connected to the actuator joint 300. This double-end connection is similar to the way in which force is applied at both ends of a lever, forming a lever-like structure, so that the transmission member 130 rotates on its fulcrum (i.e., the axis of the rotatable setting). The transmission member 130 uses this structure to reduce the imbalance and vibration that may be caused by single-point force application, thereby achieving smooth rotation of the transmission member 130; due to the uniform distribution of force, the transmission member 130 is subject to less friction when rotating, reducing friction and instability, and improving the stability and accuracy of the transmission process; the design of the lever structure enables the transmission member 130 to effectively transmit the rotational motion of the drive shaft 120 to the drive wire.

[0063] The transmission member 130 forms a lever structure through the double-end connection design of the driving rope 140, which ensures the smooth rotation of the transmission member 130, thereby improving the accuracy of the operation of the actuator 300 driven by the driving wire 200; the design of the transmission member 130 can drive the actuator joint through a driving rope 140, reducing the dependence on complex assembly processes, making the connection between the transmission box 100 and the actuator joint 300 simpler, and reducing the difficulty and time of assembly; by optimizing the transmission path and reducing friction, the service life of the system is extended, and the safety and reliability of surgical operations are improved.

[0064] refer to Figure 3-Figure 5 In some embodiments, a rotatable guide wheel 160 is provided between the driving shaft 120 and the transmission member 130 , and the guide wheel 160 abuts against the driving rope 140 .

[0065] The transmission member 130 has an arc-shaped abutting groove, and the arc-shaped abutting groove is in rolling contact with the guide wheel 160 .

[0066] The guide wheel 160 abuts against the drive rope 140, which means that the guide wheel 160 can be driven to rotate under the action of the drive rope 140; the arc-shaped abutment groove is in rolling contact with the guide wheel 160. In rolling contact, the contact point is usually a line or a point, rather than contact between surfaces like sliding contact, which can eliminate friction because the friction is proportional to the contact area.

[0067] The abutment and rolling contact design between the guide wheel 160 and the drive rope 140 reduces friction and wear, thereby improving the smoothness and stability of the transmission process; reducing friction and wear not only improves the stability of the transmission, but also extends the service life of the equipment and reduces maintenance costs; the design of the guide wheel 160 and the arc-shaped abutment groove simplifies the path guidance of the drive rope 140, reducing the complexity and potential errors in the assembly process.

[0068] In some embodiments, the first portion of the drive rope 140 is arranged to cross the second portion of the drive rope 140.

[0069] The first portion of the drive rope 140 abuts against the arc-shaped abutment groove, and the second portion of the drive rope 140 abuts against the arc-shaped abutment groove.

[0070] It can be known that the cross-setting of the first part and the second part of the driving rope 140 can realize the rotation of the transmission member 130 around the axis within a limited space, that is, the motion control of swinging up and down with the axis as the fulcrum; the first part and the second part of the driving rope 140 abut against the arc-shaped abutment groove, ensuring that the driving rope 140 always maintains contact with the arc-shaped groove during the transmission process.

[0071] The cross setting of the drive rope 140 and the abutment design with the arc-shaped abutment groove provide better guidance and support for the drive rope 140, reduce the sliding and deviation of the drive rope 140 during movement, and improve the stability of the transmission; the cross setting of the drive rope 140 realizes more complex motion control in a limited space, optimizes space utilization, and makes the design more compact.

[0072] refer to Figure 4 In some embodiments, the transmission member 130 is provided with a first fixing groove 131 and a second fixing groove 132 .

[0073] The first portion of the driving rope 140 extends from the arc-shaped abutting groove to the first fixing groove 131 , and the second portion of the driving rope 140 extends from the arc-shaped abutting groove to the second fixing groove 132 .

[0074] refer to Figure 3 In some embodiments, the driving shaft 120 is provided with a first rotating wheel 121 and a second rotating wheel 122 which are coaxially arranged.

[0075] The first rotating wheel 121 is connected to a first portion of the driving rope 140 , and the second rotating wheel 122 is connected to a second portion of the driving rope 140 .

[0076] When the driving shaft 120 rotates, one of the first rotating wheel 121 and the second rotating wheel 122 winds up the driving rope 140 , and the other of the first rotating wheel 121 and the second rotating wheel 122 releases the driving rope 140 .

[0077] Specifically, the winding directions of the first end of the driving rope 142 and the second end of the driving rope 142 on the first rotating wheel 121 and the second rotating wheel 122 on the driving shaft 120 are opposite, for example, the first end of the driving rope 142 is wound around the first rotating wheel 121 in a clockwise manner, and the second end of the driving rope 142 is wound around the second rotating wheel 122 in a counterclockwise manner. In this way, when the driving shaft 120 rotates clockwise, the first end of the driving rope 142 gradually separates from the first rotating wheel 121, while the second end of the driving rope 142 continues to be wound around the second rotating wheel 122 in a counterclockwise manner. At this time, the driving shaft 120 loosens the first end of the driving rope 142 and pulls the second end of the driving rope 142; when the driving shaft 120 rotates counterclockwise, the second end of the driving rope 142 gradually separates from the second rotating wheel 122, while the first end of the driving rope 142 continues to be wound around the first rotating wheel 121 in a clockwise manner. At this time, the driving shaft 120 loosens the second end of the driving rope 142 and pulls the first end of the driving rope 142.

[0078] It should be noted that clockwise and counterclockwise are relative rotation directions, and the clockwise and counterclockwise directions will also change at different viewing angles. In this application, it is only necessary to ensure that the winding directions of the first end of the drive rope 142 and the second end of the drive rope 142 on the drive shaft 120 are opposite.

[0079] In the embodiment of the present application, the guide wheel 160 provides a guiding function, which can limit the moving paths of the first end of the drive rope 142 and the second end of the drive rope 142, so that the parts of the first end of the drive rope 142 and the second end of the drive rope 142 located between the guide wheel 160 and the drive shaft 120 can move along a predetermined trajectory.

[0080] The ends of the first end of the driving rope 142 and the second end of the driving rope 142 away from the driving shaft 120 pass through the guide wheel 160 and deflect in different directions within the rotation plane of the transmission member 130. After the ends of the first end of the driving rope 142 and the second end of the driving rope 142 deflect by a predetermined angle, they are fixedly connected to the transmission member 130. When the two transmission ropes are pulled, the driving part 21 can be pulled to rotate in different directions respectively.

[0081] It can be known that the setting of the first fixed groove 131 and the second fixed groove 132 of the drive rope 140 and the transmission member 130 ensures the fixation and guidance of the drive rope 140 on the transmission member; when the drive shaft 120 rotates, one of the first rotating wheel 121 and the second rotating wheel 122 winds up the drive rope 140, and the other releases the drive rope 140. This design realizes the alternating retraction and release of the drive rope 140, thereby driving the swing of the other part of the transmission member 130 that fixes the drive rope 140.

[0082] Through the design of the first fixing groove 131 and the second fixing groove 132, the drive rope 140 is more firmly fixed on the transmission member, which reduces sliding and deviation and improves the stability of the transmission; the design of the coaxial first rotating wheel 121 and the second rotating wheel 122 makes the retraction and release process of the drive rope 140 more precise, ensuring the movement accuracy of the drive wire 200 driven by the transmission member 130, thereby improving the stability of the movement process of the actuator joint 300 driven by the drive wire 200; the design of alternately winding and releasing the drive rope 140 optimizes the transmission efficiency, reduces energy loss, and improves the overall performance of the system.

[0083] The transmission box 100 may be provided with a transition shaft 170 , and the transition shaft is provided with a first transition wheel 171 and a second transition wheel 172 . The first part of the driving rope 140 abuts against the first transition wheel 171 , and the second part of the moving rope 140 abuts against the second transition wheel 172 .

[0084] In some embodiments, the arc-shaped abutting groove includes a first abutting groove 133 and a second abutting groove 134 , and the first abutting groove 133 and the second abutting groove 134 are located at corresponding positions on the transmission member 130 .

[0085] The guide wheel 160 includes a first guide wheel 161 and a second guide wheel 162 which are coaxial with each other. The first guide wheel 161 and the second guide wheel 162 are provided with wheel grooves.

[0086] refer to Figure 3-Figure 7When arranging the first part of the drive rope 140, the first part of the drive rope 140 can be passed into the first fixed groove 131 from the lower end of the first fixed groove 131, and passed out from the upper end of the first fixed groove 131. After passing out, it can be received in the first abutment groove 133 from the top of the first abutment groove 133. The first part of the drive rope 140 extends toward the bottom end of the first rotating wheel 121 and at least one section of the first part of the drive rope 140 is passed through the wheel groove of the first guide wheel 161, and then the first part of the drive rope 140 passes through the first transition wheel 171 and is wound around the first rotating wheel 121.

[0087] When arranging the second part of the drive rope 140, the second part of the drive rope 140 is passed through the second fixed groove 132 from the upper end of the second fixed groove 132 and passed out from the lower end of the second fixed groove 132. After passing out, it can be received in the second abutment groove 134 from the lower end of the second abutment groove 134, and the second part of the drive rope 140 extends toward the top end of the second guide wheel 162, so that the second part of the drive rope 140 is partially passed through the wheel groove of the second guide wheel 162, and then the second part of the drive rope 140 passes through the wheel groove of the second guide wheel 162 and is wound around the second rotating wheel 122.

[0088] It is worth mentioning that the lower end and the top end in the above text are explained by taking the orientations shown in the figures and the drawings as examples. The relatively upper position is the top end, and the relatively lower position is the lower end.

[0089] In some embodiments, the transmission member 130 is provided with a connecting portion 150 , and the connecting portion 150 is provided with a receiving groove 151 .

[0090] A movable portion 210 is disposed at the first end of the driving wire 200 , and the movable portion 210 can be movably disposed in the receiving groove 151 .

[0091] The movable portion 210 is provided with a spherical contact surface, and the movable portion 210 is in rolling contact with the bottom surface of the receiving groove 151 through the spherical contact surface.

[0092] It can be known that the spherical contact surface allows the movable part 210 to roll and contact on the bottom surface of the receiving groove 151 , and the spherical contact surface design enables the movable part 210 to roll and rotate freely in multiple directions.

[0093] Through the design of the spherical contact surface, the movable part 210 can roll smoothly in the receiving groove 151, reducing friction and jamming and improving the stability of the transmission; the spherical contact surface allows the movable part 210 to roll and rotate freely in multiple directions, providing greater flexibility of movement and being able to adapt to complex surgical operation requirements.

[0094] refer to Figure 8In some achievable ways, the accommodating groove 151 includes a sliding groove 1511 and an avoidance groove 1512 which are interconnected. One end of the avoidance groove 1512 is connected to the sliding groove 1511, and the other end of the avoidance groove 1512 is connected to the external environment, so that the sliding groove 1511 is connected to the outside world. The spherical contact surface of the movable part 210 can be located in the sliding groove 1511, and the end of the movable part 210 away from the spherical contact surface can be inserted into the avoidance groove 1512. The end of the movable part 210 away from the spherical contact surface is used to connect the steel wire 11. The sliding groove 1511 is used to provide a horizontal compensation space for the movable part 210, and the avoidance groove 1512 is used to make way for the movable part 210 when it rotates relative to the connecting part 150.

[0095] Exemplarily, in order to enable the spherical contact surface of the movable part 210 to move smoothly along the path of the sliding groove 1511 when the connecting part 150 rotates, the opening path of the sliding groove 1511 is set to be perpendicular to the rotation axis of the connecting part 150, and the opening path of the avoidance groove 1512 is parallel to the opening path of the sliding groove 1511.

[0096] refer to Figure 8 For example, the sliding groove 1511 is opened from a position of the connecting portion 150 close to the movable portion 210 and facing away from the movable portion 210, and an extension line of the opening path of the sliding groove 1511 intersects with the axis of the rotating shaft of the connecting portion 150. When the driving wire 200 and the connecting portion 150 are in an initial state, the opening path of the sliding groove 1511 is parallel to the horizontal direction.

[0097] In some embodiments, the actuator further includes an instrument rod 400 , and the instrument rod 400 is provided with a receiving cavity, and the receiving cavity is at least used to accommodate the driving wire 200 .

[0098] It can be known that the instrument rod 400 is a part of the actuator, which is designed to support and protect the internal transmission components. The drive wire 200 can be protected and guided inside the instrument rod 400; the accommodating cavity provides a dedicated channel for the drive wire, ensuring that the drive wire 200 is not disturbed by the external environment during movement.

[0099] By providing a receiving chamber in the instrument rod 400, the drive wire 200 is well supported and protected during movement, external interference and friction are reduced, and the stability of transmission is improved; the receiving chamber provides a fixed path, making the movement of the drive wire 200 more controllable and precise; the receiving chamber provides physical protection for the drive wire 200, reduces the impact of external environmental factors (such as dust, liquid, etc.) on the drive wire 200, and extends the service life of the equipment.

[0100] In some embodiments, the instrument rod 400 includes a linkage joint 410 , and the linkage joint 410 is at least used to drive the actuator joint 300 to move.

[0101] The driving wire 200 is provided with a buffer sleeve 220 . The buffer sleeve 220 is sleeved on the driving wire 200 . The outer surface of the buffer sleeve 220 is at least used to contact with the inner wall of the linkage joint 410 .

[0102] When the drive wire 200 is excessively bent, stress concentration will occur in the bending area, causing the material of the drive wire 200 to bear a greater load in this area, increasing the risk of breakage or permanent deformation of the drive wire 200; excessive bending will cause increased friction between the drive wire 200 and the instrument rod 400, and the increase in friction will consume a portion of the transmitted thrust, thereby reducing the effective thrust reaching the end; bending will cause uneven tension distribution in the drive wire 200, and the tension in the bent part may be lower than that in the straight part. This uneven tension distribution will lead to insufficient tension at the end, affecting the precise control of the actuator joint 300.

[0103] Therefore, it can be seen from the above embodiments that the design of the buffer sleeve 220 ensures that the drive wire slides smoothly inside it, while limiting excessive bending of the drive wire 200, ensuring that the thrust can still be efficiently transmitted when the drive wire 200 is in a bent state, ensuring sufficient tension at the end.

[0104] By providing the buffer sleeve 220, it is ensured that the driving wire 200 can still efficiently transmit thrust in a bent state, reducing friction and jamming, and improving the stability of the transmission of the driving execution joint 300; the buffer sleeve ensures sufficient tension at the end of the driving wire 200, thereby improving the accuracy and reliability of the operation of the driving execution joint 300.

[0105] In some embodiments, the instrument rod 400 includes a guide portion 420 , and the guide portion 420 is fixedly connected to the transmission box 100 .

[0106] The driving wire 200 is provided with a guide sleeve 500 . The guide sleeve 500 is sleeved on the driving wire 200 . The guide sleeve 500 is arranged opposite to the guide portion 420 .

[0107] It can be known that the guide portion 420 plays a role of fixing and supporting in the transmission system.

[0108] Exemplarily, the guide sleeve 500 is made of a rigid material and is disposed at a non-bending section of the drive wire 200 to enhance its rigidity and prevent bending deformation when subjected to thrust.

[0109] The use of the guide sleeve 500 ensures that the drive wire 200 remains on a predetermined path during movement, reduces deviation and friction, and improves the stability of the transmission; through the cooperation of the guide sleeve 500 and the guide part 420, the movement path of the drive wire 200 is more controllable and precise.

[0110] An embodiment of the present application provides a surgical robot comprising the above-mentioned actuator.

[0111] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0112] In the description of the present invention, it should be understood that the terms "including" and "having" and any variations thereof used herein are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0113] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense, for example, it can be fixedly connected, detachably connected, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, and it can make 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. In addition, the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An actuator, characterized in that: It comprises a transmission box (100), a driving wire (200) and an execution joint (300); The transmission box (100) comprises a box body (110), a driving shaft (120) rotatably disposed in the box body (110), and a transmission member (130) rotatably disposed in the box body (110); At least part of the transmission member (130) is connected to the first end of the driving wire (200), and the second end of the driving wire (200) is connected to the execution joint (300), and the execution joint (300) is driven to move by the driving wire (200), and the transmission member (130) drives the execution joint (300) to move; The driving shaft (120) is wound with a driving rope (140), a first portion of the driving rope (140) is connected to a first end of the transmission member (130), a second portion of the driving rope (140) is connected to a second end of the transmission member (130), and the driving shaft (120) can drive the transmission member (130) to rotate via the driving rope (140).

2. The actuator according to claim 1, characterized in that: A rotatable guide wheel (160) is provided between the driving shaft (120) and the transmission member (130), and the guide wheel (160) is in contact with the driving rope (140); The transmission member (130) has an arc-shaped abutment groove, and the arc-shaped abutment groove is in rolling contact with the guide wheel (160).

3. The actuator according to claim 2, characterized in that: The first portion of the driving rope (140) and the second portion of the driving rope (140) are arranged to cross each other; The first portion of the drive rope (140) abuts against the arc-shaped abutment groove, and the second portion of the drive rope (140) abuts against the arc-shaped abutment groove.

4. The actuator according to claim 3, characterized in that: The transmission member (130) is provided with a first fixing groove (131) and a second fixing groove (132); The first portion of the driving rope (140) extends from the arc-shaped abutment groove into the first fixing groove (131), and the second portion of the driving rope (140) extends from the arc-shaped abutment groove into the second fixing groove (132).

5. The actuator according to claim 1, characterized in that: The driving shaft (120) is provided with a first rotating wheel (121) and a second rotating wheel (122) which are coaxially arranged; The first rotating wheel (121) is connected to a first portion of the driving rope (140), and the second rotating wheel (122) is connected to a second portion of the driving rope (140); When the driving shaft (120) rotates, one of the first rotating wheel (121) and the second rotating wheel (122) winds up the driving rope (140), and the other of the first rotating wheel (121) and the second rotating wheel (122) releases the driving rope (140).

6. The actuator according to claim 1, characterized in that: The transmission member (130) is provided with a connecting portion (150), and the connecting portion (150) is provided with a receiving groove (151); the first end of the driving wire (200) is provided with a movable portion (210), and the movable portion (210) can be movably arranged in the receiving groove (151); The movable portion (210) is provided with a spherical contact surface, and the movable portion (210) is in rolling contact with the bottom surface of the accommodating groove (151) via the spherical contact surface.

7. The actuator according to any one of claims 1 to 6, characterized in that: The actuator also includes an instrument rod (400), wherein the instrument rod (400) is provided with a receiving cavity, and the receiving cavity is at least used to receive the driving wire (200).

8. The actuator according to claim 7, characterized in that: The instrument rod (400) comprises a linkage joint (410), and the linkage joint (410) is at least used to drive the execution joint (300) to move; The driving steel wire (200) is provided with a buffer sleeve (220), the buffer sleeve (220) is sleeved on the driving steel wire (200), and the outer surface of the buffer sleeve (220) is at least used to contact the inner wall of the linkage joint (410).

9. The actuator according to claim 7, characterized in that: The instrument rod (400) comprises a guide portion (420), and the guide portion (420) is fixedly connected to the transmission box (100); The driving steel wire (200) is provided with a guide sleeve (500), the guide sleeve (500) is sleeved on the driving steel wire (200), and the guide sleeve (500) is arranged opposite to the guide portion (420).

10. A surgical robot, characterized in that: Comprising an actuator as described in any one of claims 1-9.

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