Steel wire driving device and surgical robot

Abstract

The embodiment of the invention provides a steel wire driving device and a surgical robot. The steel wire driving device comprises a support, a power assembly, a driving assembly, a connecting piece and a connecting pin. The power assembly is arranged on the support and used for providing driving force. The driving assembly is rotationally arranged on the support and connected to the power assembly, so that the driving assembly can rotate clockwise and anticlockwise around the rotating shaft under the action of the driving force of the power assembly. One end of the connecting piece is used for being connected with a steel wire, the other end of the connecting piece is rotationally connected to the driving assembly, the connecting piece has a first rotating state and a second rotating state relative to the driving assembly, a rotating shaft of the connecting piece in the first rotating state is parallel to a rotating shaft of the driving assembly, and the connecting piece rotates in the circumferential direction in the second rotating state. According to the steel wire driving device, torsional deformation of the steel wire is avoided, the movement resistance of the driving assembly can be reduced, and then the accuracy of controlling the surgical instrument is improved.

Description

Technical Field

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

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. With the development of robotic technology, a new technology in the field of minimally invasive medicine that can overcome shortcomings and inherit advantages has emerged - minimally invasive surgical robot technology.

[0003] The surgical instrument is integrated at the end of the minimally invasive surgical robot. The surgical instrument is usually a slender structure. The end of the instrument usually needs to move freely, so it is essential to have a driving component. The driving component is generally a wire transmission system. The wire transmission system mainly includes a wire for driving the surgical instrument and a driving structure. One end of the wire is connected to the surgical instrument, and the other end is connected to the driving structure. The driving end of the driving structure rotates to drive the wire to move, thereby driving the surgical instrument.

[0004] However, when the driving structure in the related art drives the steel wire to move, the steel wire is easily bent or twisted, resulting in an increase in the movement resistance of the driving component, which is not conducive to controlling the accuracy of the movement of the surgical instrument. Summary of the invention

[0005] The embodiments of the present application provide a wire drive device and a surgical robot. The wire is not prone to bending or twisting deformation during movement, which is beneficial for reducing the movement resistance of the drive component and thereby increasing the accuracy of controlling the surgical instrument.

[0006] In a first aspect, an embodiment of the present application provides a wire drive device, comprising a bracket, a power assembly, a drive assembly, and a connector. The power assembly is disposed on the bracket, and the power assembly is used to provide a driving force. The drive assembly is rotatably disposed on the bracket, and the drive assembly is connected to the power assembly, so that the drive assembly can rotate clockwise and counterclockwise around the rotation axis under the driving force of the power assembly. One end of the connector is used to connect the steel wire, and the other end of the connector is rotatably connected to the drive assembly, so that the connector has a first rotation state and a second rotation state relative to the drive assembly, the rotation axis of the first rotation state of the connector is parallel to the rotation axis of the drive assembly, and the second rotation state of the connector is a rotation along its circumference.

[0007] The wire drive device of the embodiment of the present application can connect the wire to the drive assembly by setting a connector, so that the drive assembly drives the wire to move. The connector of the present application is rotatably connected to the drive assembly, so that the connector not only has a motion state that moves with the drive assembly, but the connector is also set to have two motion states relative to the drive assembly. In this way, when the drive assembly rotates, the connector can rotate relative to the drive assembly in a direction parallel to the rotating shaft of the drive assembly, which can reduce the bending degree of the wire caused by the rotation of the drive assembly, and the connector can also rotate relative to the drive assembly along its circumference, so that the torsional force generated by the rotation of the wire itself can be eliminated, and the torsional deformation of the wire under its own rotation can be avoided, which is conducive to reducing the motion resistance of the drive assembly, thereby increasing the accuracy of controlling the surgical instrument.

[0008] In one possible implementation, it also includes a connecting pin, and the driving assembly includes a driving part, an adapter part and a receiving part connected together, the adapter part is rotatably connected to the bracket through an adapter shaft, the connecting pin is rotatably connected to the driving assembly, the rotating axis of the connecting pin is parallel to the rotating axis of the driving assembly, the end of the connecting member away from the steel wire is rotatably connected to the connecting pin, the axial direction of the steel wire is perpendicular to the rotating axis of the connecting pin, and the rotating axis of the connecting member coincides with the axial direction of the steel wire.

[0009] In the embodiment of the present application, by setting a connecting pin to rotate on the driving assembly, and the connecting member is connected to the connecting pin, it is possible to achieve a first rotational state of the connecting member relative to the driving assembly, and by rotating the connecting member to the connecting pin, the connecting member can have a second rotational state relative to the driving assembly.

[0010] In one possible implementation, the connecting pin includes a plug-in portion and a blocking portion connected together, a plug-in groove is provided on the driving portion in a direction parallel to the rotating axis of the driving assembly, the plug-in portion is plugged into the plug-in groove, the plug-in portion has a connecting groove along a direction perpendicular to the rotating axis of the connecting pin, and the connecting member is rotatably connected in the connecting groove.

[0011] In an embodiment of the present application, the connecting pin can be connected to the driving assembly through the cooperation and rotation of the plug-in portion and the plug-in slot. By providing a connecting slot on the plug-in portion, the connecting piece can be inserted into the connecting slot to achieve a rotational connection between the connecting piece and the plug-in portion.

[0012] In one possible implementation, the connecting member includes a connecting head and a sleeve connected together, the connecting head includes a first limiting portion, a second limiting portion, and a connecting portion connected between the first limiting portion and the second limiting portion, the connecting portion is inserted into the connecting groove, and the plug-in portion is located between the first limiting portion and the second limiting portion.

[0013] In the embodiment of the present application, the connecting part can be transmitted in the connecting groove, and by providing the first limiting part and the second limiting part, the position of the connecting part can be limited so that the connecting part is not easily separated from the connecting groove.

[0014] In a possible implementation, a plurality of plug-in parts are provided, and at least two plug-in parts are spaced apart from each other, and a gap between two spaced plug-in parts forms a connecting groove.

[0015] In the embodiment of the present application, the connecting groove can be directly opened on the plug-in part, and can also be formed between the spaced plug-in parts. When the connecting groove is formed by the spaced plug-in parts, the connecting part can be placed in the assembly position of the driving component first, and then the plug-in part can be directly plugged into the plug-in groove. During the process of plugging the plug-in part into the plug-in groove, the connecting part can be plugged into the connecting groove, thereby realizing the connection between the connecting part and the plug-in part, making installation more convenient.

[0016] In one possible implementation, an assembly groove and an avoidance groove are provided on the driving part, the assembly groove and the avoidance groove are connected, the assembly groove and the avoidance groove penetrate the driving part in a direction perpendicular to the rotating axis of the adapter part, the plug-in groove is connected to the assembly groove, and part of the structure of the plug-in part is passed through the assembly groove, so that the position where the connecting part is connected to the plug-in part is located in the assembly groove, and the position of the connecting part away from the plug-in part is passed through the avoidance groove.

[0017] In the embodiment of the present application, by providing an assembly groove, the connecting head can be provided inside the driving part, and with the positioning function of the connecting pin, one end of the connecting member can be limited inside the driving part, so that the connecting member can rotate inside the driving part. By providing an avoidance groove, a clearance space is provided for the rotation of the other end of the connecting member, thereby preventing the driving part from interfering with the rotation of the connecting member.

[0018] In one possible implementation, the power assembly includes a power source and a transmission assembly, the power source includes a winding shaft rotatably connected to the bracket, the transmission assembly includes a guide structure, a transition structure, a first transmission rope and a second transmission rope, one end of the first transmission rope and the second transmission rope are respectively wound around the winding shaft in opposite directions, the middle parts of the first transmission rope and the second transmission rope are movably connected to the guide structure, the transition structure includes a plurality of transition wheels, and the other ends of the first transmission rope and the second transmission rope are wound around the transition wheel and fixedly connected to the receiving part at a predetermined angle.

[0019] In an embodiment of the present application, by providing a winding shaft, a first transmission rope and a second transmission rope, the winding shaft can drive the first transmission rope and the second transmission rope to move when it rotates, and then can drive the driving part to rotate clockwise or counterclockwise. The structure is simple, the operation is convenient, it occupies a small space, and the manufacturing cost is low.

[0020] In one possible implementation, a first receiving groove and a second receiving groove are provided on the end surface of the receiving portion facing the guide structure around the rotating shaft of the driving assembly. The first receiving groove and the second receiving groove are spaced apart, the first receiving groove is used to accommodate the first transmission rope, and the second receiving groove is used to accommodate the second transmission rope.

[0021] In an embodiment of the present application, by providing a first receiving groove and a second receiving groove, partial structures of the first transmission rope and the second transmission rope can be received in the receiving grooves, and the receiving grooves can limit the position of the transmission rope to prevent the transmission rope from being displaced when the receiving part rotates back and forth.

[0022] In one possible implementation, the receiving part is also provided with a first fixing groove and a second fixing groove, the first fixing groove and the second fixing groove are respectively connected to the first storage groove and the second storage groove, the first fixing groove is used to fix the end of the first transmission rope, and the second fixing groove is used to fix the end of the second transmission rope.

[0023] In the embodiment of the present application, by providing the first fixing groove and the second fixing groove, the ends of the first transmission rope and the second transmission rope can be fixed, so that the receiving part can be driven to rotate when the first transmission rope and the second transmission rope are pulled.

[0024] In a second aspect, an embodiment of the present application further provides a surgical robot, comprising the above-mentioned wire drive device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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.

[0026] Figure 1 It is a structural schematic diagram of the connection between the wire drive structure and the surgical instrument in the related art;

[0027] Figure 2 It is a schematic diagram of the position change of the steel wire when the steel wire is driven to move in the related art;

[0028] Figure 3 An exploded view of the wire drive device provided for this application;

[0029] Figure 4 A cross-sectional view of the drive assembly, connector, connecting pin and wire connection structure provided in the present application;

[0030] Figure 5 A schematic diagram of the structure of the drive assembly, connector, connecting pin and steel wire connection structure provided in this application;

[0031] Figure 6 A schematic diagram of the structure of the drive assembly provided for this application;

[0032] Figure 7 A schematic diagram of the structure of the power source provided for this application;

[0033] Figure 8 A schematic diagram of the structure of the guide structure provided for this application;

[0034] Fig. 9 A cross-sectional view of a partial structure of the wire drive device provided in the present application;

[0035] Fig.10 Another cross-sectional view of the local structure of the wire drive device provided in the present application.

[0036] Description of reference numerals:

[0037] 10. Bracket; 11. Steel wire;

[0038] 20. driving assembly; 21. driving part; 211. assembly slot; 212. plug-in slot; 213. avoidance slot; 22. adapter; 221. adapter shaft; 23. receiving part; 231. positioning hole; 232. first receiving slot; 233. second receiving slot; 234. first fixing slot; 235. second fixing slot;

[0039] 30. Connecting piece; 31. Connecting head; 311. First limiting portion; 312. Second limiting portion; 313. Connecting portion; 32. Jacket;

[0040] 40. Power assembly; 41. Power source; 411. Winding shaft; 4111. Second sleeve; 412. First winding wheel; 4121. First fixing part; 4122. First locking part; 4123. First winding part; 413. Second winding wheel; 4131. Second fixing part; 4132. Second locking part; 4133. Second winding part; 414. Screwing part; 42. Transmission assembly; 421. Guide structure; 4211. Guide shaft; 4212. First guide wheel; 42121. First wheel groove; 4213. Second guide wheel; 42131. Second wheel groove; 422. First transmission rope; 423. Second transmission rope; 424. Transition structure; 4241. Transition shaft; 4242. First transition wheel; 4243. Second transition wheel; 4244. First sleeve;

[0041] 50, connecting pin; 51, plug-in portion; 511, connecting groove; 52, blocking portion;

[0042] X, first direction; Y, second direction; Z, third direction. DETAILED DESCRIPTION

[0043] Figure 1 It is a schematic diagram of the structure of the connection between the wire drive structure and the surgical instrument in the related art. Figure 2 It is a schematic diagram of the position change of the steel wire 11 when the driving steel wire 11 moves in the related art.

[0044] Depend on Figure 1It can be seen that the surgical instrument end B is connected to the bracket 10 of the wire drive structure through the connecting rod A, the wire 11 is inserted into the connecting rod A, one end of the wire 11 is connected to the end of the surgical instrument end B, and the other end of the wire 11 is connected to the drive structure through the connecting structure. For ease of description, please refer to Figure 1 , define the Y direction as the horizontal direction and the Z direction as the vertical direction.

[0045] Figure 1 The steel wire 11 shown is in an initial state, see Figure 1 It can be seen that the steel wire 11 extends in the vertical direction. The driving structure D can rotate around an axis. When the driving structure D rotates around the axis, it can drive the connecting structure C to move horizontally and vertically in space. When the connecting structure moves in the vertical direction, the steel wire 11 will also move in the vertical direction. The vertical movement of the steel wire 11 can drive the end of the surgical instrument end B to move. When the connecting structure C moves in the horizontal direction, the steel wire 11 will also move in the horizontal direction.

[0046] See also Figure 2 As shown, Figure 2 The solid line in the middle shows the state of the driving structure D and the steel wire 11 in the initial position. Figure 2 The middle dotted line shows the position of the steel wire 11 driven by the driving structure D to move counterclockwise. It can be understood that the position of the steel wire 11 in the vertical direction changes from the initial position to the final position, and the position of the steel wire 11 in the horizontal direction also changes, but the position of the connecting rod A in the vertical direction and the horizontal direction does not change. As a result, the displacement of the steel wire 11 in the horizontal direction causes the steel wire 11 to bend. After the steel wire 11 bends, the direction of the force applied changes, which is not conducive to controlling the end B of the surgical instrument.

[0047] Moreover, the steel wire 11 will rotate around its axis during operation, and the rotation range is ±220°, but the connection position between the steel wire 11 and the connecting structure C is fixed and cannot rotate. When the rotation angle of the steel wire 11 is too large, its own torsional force is very large, causing the steel wire 11 to bend and deform, and it will also increase the movement resistance of the driving structure D, affecting the control accuracy of the end B of the surgical instrument.

[0048] In combination with the above scenario, it can be seen that in the prior art, the driving structure can easily cause the steel wire 11 to bend and deform during the process of driving the steel wire 11 to move, and the steel wire 11 itself can easily be twisted and deformed, which increases the movement resistance of the driving structure D, and is not conducive to controlling the end B of the surgical instrument.

[0049] The wire driving structure provided by the present application is arranged to rotate relative to the driving structure 20, so that when the driving structure 20 rotates, the connecting member 30 can rotate relative to the driving structure 20 to reduce the bending degree of the wire 11. In addition, the wire 11 in the present application can also rotate around its axial direction, eliminating the torsional force generated by its own rotation, avoiding the increase of the movement resistance of the driving structure due to torsional bending, and increasing the control accuracy of the surgical instrument B.

[0050] 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.

[0051] Figure 3 An exploded view of the wire drive device provided for this application; Figure 4 A cross-sectional view of the drive assembly, connector and wire connection structure provided in this application, Figure 5 A schematic structural diagram of the drive assembly, connector, connecting pin and wire connection structure provided in this application.

[0052] See also Figure 3 , Figure 4 and Figure 5 As shown, the first aspect of the present application provides a wire drive device, which is applied to a surgical robot and used to provide driving force for a wire 11 that drives the end of a surgical instrument in the surgical robot. The wire drive device of the present application includes a bracket 10, a power assembly 40, a drive assembly 20, and a connector 30. The bracket 10 is the main structure of the wire drive device, and can provide support and an installation environment for the components of the wire drive device.

[0053] The power assembly 40 is disposed on the bracket 10 and is used to provide driving force. The driving assembly 20 is rotatably disposed on the bracket 10 and is connected to the power assembly 40 so that the driving assembly 20 can rotate clockwise and counterclockwise around the rotating shaft under the driving force of the power assembly 40.

[0054] One end of the connecting member 30 is used to connect the steel wire 11 . The steel wire 11 can be connected to the driving assembly 20 through the connecting member 30 , so that the driving assembly 20 can drive the steel wire 11 to move.

[0055] For ease of understanding, in the implementation of this application, please refer to Figure 3, it is defined that the first direction is parallel to the direction indicated by the X-axis, the second direction is parallel to the direction indicated by the Y-axis, the third direction is parallel to the direction indicated by the Z-axis, and the first direction, the second direction and the third direction are perpendicular to each other. It can be understood that the first direction is a horizontal direction and the third direction is a vertical direction.

[0056] It should be noted that the rotating shaft of the driving assembly 20 is parallel to the first direction. When the driving assembly 20 is in an initial state, the axial direction of the steel wire 11 is parallel to the third direction, and the axial direction of the steel wire 11 is the length direction of the steel wire 11 .

[0057] The end of the connector 30 of the present application away from the steel wire 11 is rotatably connected to the drive assembly 20, so that the connector 30 can not only move with the drive assembly 20, but also the connector 30 itself can move relative to the drive assembly 20 when moving with the drive assembly 20. The connector 30 in the present application is configured to have a first rotation state and a second rotation state relative to the drive assembly 20. It can be understood that the movement of the connector 30 itself relative to the drive assembly 20 is rotation. Specifically, the axis of rotation of the first rotation state of the connector 30 is parallel to the axis of rotation of the drive assembly 20, and the second rotation state of the connector 30 is rotation along its circumferential direction. It should be noted here that the circumferential direction of the connector 30 is the direction relative to its axial direction, which refers to the opposite direction of the movement of the peripheral wall when the connector 30 rotates around its axial direction. It can be understood that the path swept by the circumferential movement of the connector 30 is perpendicular to the axial direction of the connector 30.

[0058] The wire drive device of the embodiment of the present application can connect the wire 11 to the drive assembly 20 by setting the connecting member 30, so that the drive assembly 20 drives the wire 11 to move. The connecting member 30 of the present application is rotatably connected to the drive assembly 20, so that the connecting member 30 not only has a motion state that moves with the drive assembly 20, but the connecting member 30 is also set to have two motion states relative to the drive assembly 20. In this way, when the drive assembly 20 rotates, the connecting member 30 can rotate relative to the drive assembly 20 in a direction parallel to the rotation axis of the drive assembly 20, which can reduce the bending degree of the wire 11 caused by the rotation of the drive assembly 20, and the connecting member 30 can also rotate relative to the drive assembly 20 along its circumferential direction, so that the torsional force generated by the rotation of the wire 11 itself can be eliminated, and the torsional deformation of the wire 11 under its own rotation can be avoided, which is conducive to reducing the motion resistance of the drive assembly 20, thereby increasing the accuracy of controlling the surgical instrument.

[0059] It is worth mentioning that when the drive assembly 20 rotates, the connector 30 and the steel wire 11 move together with the drive assembly 20. At this time, the movement of the steel wire 11 in space is mainly composed of two directions of movement, namely, movement along the second direction and movement along the third direction. The connector 30 rotates relative to the drive assembly 20, which can relatively reduce the movement of the steel wire 11 in the second direction, thereby greatly reducing the bending degree of the steel wire 11. When the steel wire 11 rotates with the drive assembly 20, it will be slightly bent. At this time, there is a certain angle between the axial direction of the steel wire 11 and the third direction, but the steel wire 11 can still rotate around its axial direction.

[0060] Exemplarily, the rotating portion of the driving assembly 20 is located in the middle of the driving assembly 20 , and the connecting member 30 and the power assembly 40 are connected to two ends of the driving assembly 20 , respectively.

[0061] In some achievable embodiments, the steel wire drive device further includes a connecting pin 50, which is used to stabilize the position of the connecting member 30, and the connecting member 30 can be connected to the driving assembly 20 through the connecting pin 50. Specifically, the connecting pin 50 is rotatably connected to one end of the driving assembly 20, and the rotating shaft of the connecting pin 50 is parallel to the rotating shaft of the driving assembly 20. The end of the connecting member 30 away from the steel wire 11 is rotatably connected to the connecting pin 50, the axial direction of the steel wire 11 is perpendicular to the rotating shaft of the connecting pin 50, the second direction and the third direction are in the same plane, and the steel wire 11 and the connecting member 30 can move together in the plane where the second direction and the third direction are located. The rotating shaft of the connecting member 30 coincides with the axial direction of the steel wire 11, so that the steel wire 11 can rotate relative to the connecting pin 50 around its axial direction.

[0062] The driving assembly 20 includes a driving part 21, an adapter part 22 and a receiving part 23 connected together. The receiving part 23 is used to connect with the power assembly 40 to receive the driving force from the power assembly 40. The adapter part 22 is used to be rotatably connected to the bracket 10 so that the driving assembly 20 can rotate relative to the bracket 10. The driving part 21 is used to be movably connected with the connecting member 30. In this way, the receiving part 23 receives the driving force from the power assembly 40, which can drive the driving part 21 to rotate around the rotating shaft. When the driving part 21 rotates, it can drive the connecting member 30 to move.

[0063] The driving part 21 is provided with an inserting slot 212 in a direction parallel to the rotation axis of the adapter part 22 . The connecting pin 50 is inserted into the inserting slot 212 . The connecting pin 50 is rotatably connected to the driving part 22 by being inserted into the inserting slot 212 .

[0064] Exemplarily, the connection method between the adapter part 22 and the bracket 10 can be specifically that an adapter shaft 221 is set on the adapter part 22, the middle part of the adapter shaft 221 is passed through the adapter part 22, and the two ends of the adapter shaft 221 are respectively protruded from the opposite sides of the adapter part 22, and the adapter shaft 221 is connected to the bracket 10 through a bearing.

[0065] Exemplarily, the driving part 21, the receiving part 23 and the adapter part 22 are integrally formed, and the driving part 21 and the receiving part 23 are located at opposite ends of the adapter part 22, and the adapter shaft 221 is located between the driving part 21 and the receiving part 23, so that a lever structure is formed between the driving part 21, the adapter part 22 and the receiving part 23, and the adapter shaft 221 is the fulcrum of the lever structure.

[0066] Exemplarily, a positioning hole 231 is also passed through the receiving portion 23, and a hole structure is opened on the bracket 10 at a position corresponding to the positioning hole 231. By inserting a pin into the positioning hole 231 and the hole structure of the bracket 10, the position of the receiving portion 23 relative to the bracket 10 can be fixed.

[0067] In some achievable embodiments, the connecting pin 50 includes a plug-in portion 51 and a blocking portion 52 connected together, the plug-in portion 51 is used to be plugged into the plug-in slot 212 so that the connecting pin 50 is rotatably connected to the driving portion 21, and the blocking portion 52 is used to limit the position of the plug-in portion 51 to prevent the plug-in portion 51 from being separated from the plug-in slot 212.

[0068] Specifically, the plug-in slot 212 on the driving part 21 can be arranged along the rotation axis direction of the adapter part 22 and penetrate the driving part 21, the plug-in part 51 can be arranged in the plug-in slot 212, and the size of the plug-in part 51 is adapted to the size of the plug-in slot 212. The plug-in part 51 can be inserted into the plug-in slot 212 along its length direction, and the blocking part 52 can be arranged at both ends of the plug-in part 51 in the length direction, and the peripheral wall of the blocking part 52 protrudes from the peripheral wall of the plug-in part 51, so that when the plug-in part 51 inserted in the plug-in slot 212 moves along the plug-in slot 212, the blocking part 52 can limit the axial movement of the plug-in part 51.

[0069] It should be noted that at least one of the blocking parts 52 is detachably connected to the plug-in part 51. For example, the blocking part 52 can be a snap-on structure that runs through the plug-in part 51. When the plug-in part 51 needs to be plugged into the plug-in slot 212, the detachable blocking part 52 is removed, and the plug-in part 51 can be plugged into the plug-in slot 212 from the end without the blocking part 52. When the plug-in part 51 is plugged into the plug-in slot 212, the blocking part 52 is installed on the plug-in part 51. At this time, the driving part 21 is clamped between the two blocking parts 52.

[0070] Exemplarily, the blocking portion 52 may also be a trumpet-shaped structure that expands the end of the plug-in portion 51 after the plug-in portion 51 is inserted into the plug-in slot 212 .

[0071] Please combine Figure 5In the implementation of the present application, a connecting groove 511 is provided on the plug-in portion 51, and the connecting groove 511 can penetrate the plug-in portion 51 along a direction perpendicular to the rotation axis of the connecting pin 50, and the connecting member 30 is inserted into the connecting groove 511 to realize the rotational connection between the connecting member 30 and the connecting pin 50.

[0072] Exemplarily, the connection groove 511 can be formed by a through groove directly opened on the plug-in portion 51. In the implementation of the present application, the connection groove 511 is formed by the structure of the plug-in portion 51 itself. For example, two plug-in portions 51 of the connecting pin 50 are provided, and the two plug-in portions 51 are spaced apart. The gap between the two spaced plug-in portions 51 forms the connection groove 51. The connection groove 511 is opened along a rotating axis perpendicular to the connecting portion 313. One end of the two plug-in portions 51 is fixedly connected to a blocking portion 52, and the connecting member 30 can be directly plugged between the two plug-in portions 51.

[0073] The connector 30 includes a connector head 31 and a jacket 32 ​​connected together, and the jacket 32 ​​is used to connect the steel wire 11. The connector head 31 includes a first limiting portion 311, a second limiting portion 312, and a connecting portion 313 connected between the first limiting portion 311 and the second limiting portion 312. One end of the jacket 32 ​​away from the steel wire 11 is connected to the second limiting portion 312. The connecting portion 313 is used to be inserted into the connecting groove 511. The size of the first limiting portion 311 and the second limiting portion 312 is larger than the size of the connecting groove 511, so that when the connecting portion 313 is located in the connecting groove 511, the two limiting portions are respectively abutted against the two plug-in portions 51 forming the connecting groove 511 to prevent the connecting portion 313 from being separated from the connecting groove 511.

[0074] Exemplarily, the connecting groove 511 formed by the gap between the two plug-in parts 51 is a straight groove. In another embodiment, the two plug-in parts 51 are arranged at intervals, and the end faces opposite the middle positions of the two plug-in parts 51 are also provided with grooves. The shape and size of the grooves are adapted to the outer dimensions of the connecting part 313. The grooves and the gap between the plug-in parts 51 jointly form a connecting groove 511 for plugging the connecting part 313. When the connecting part 313 is located in the connecting groove 511, the grooves can also limit the position of the connecting part 313, making it difficult to move along the axis of the connecting pin 50.

[0075] In some achievable embodiments, part of the structure of the connecting member 30 is located inside the driving part 21, and the connecting pin 50 can stabilize the connecting member 30 inside the driving part 21. To this end, the driving part 21 is further provided with an assembly groove 211 and an avoidance groove 213, the assembly groove 211 and the avoidance groove 213 are connected, the assembly groove 211 and the avoidance groove 213 cooperate to penetrate the driving part 21 along a direction perpendicular to the rotation axis of the adapter 22, and the avoidance groove 213 and the assembly groove 211 are both provided with a certain length in the second direction.

[0076] When the plug-in slot 212 penetrates the driving part 21, it also passes through the assembly slot 211, so the middle position of the plug-in slot 212 is connected to the assembly slot 211. When the plug-in part 51 is plugged into the plug-in slot 212, the middle structure of the plug-in part 51 is inserted into the assembly slot 211, so that the connector 31 is located in the assembly slot 211, and the position of the jacket 32 ​​close to the connector 31 is inserted into the avoidance slot 213. When the connecting pin 50 rotates relative to the driving part 21, it can drive the connector 31 to rotate in the assembly slot 211, and also drive the jacket 32 ​​to rotate in the avoidance slot 213. The avoidance slot 213 can provide an avoidance space for the rotation of the jacket 32, so that the jacket 32 ​​will not interfere with the rotation of the connector 31.

[0077] During installation, the sleeve 32 can be first inserted into the assembly groove 211 and moved toward the avoidance groove 213 until it is inserted into the avoidance groove 213. At this time, the connector 31 is located in the assembly groove 211, and the connecting portion 313 of the connector 31 is arranged opposite to the plug-in groove 212. The plug-in portion 51 is plugged into the plug-in groove 212, and in the process of the plug-in portion 51 being plugged into the plug-in groove 212, the connecting groove 511 between the plug-in portions 51 is arranged opposite to the connecting portion 313, so that after the plug-in portion 51 is plugged into the plug-in groove 212, the connecting portion 313 is located exactly in the connecting groove 511.

[0078] Exemplarily, the size of the assembly groove 211 is larger than the size of the jacket 32 ​​, and the size of the avoidance groove 213 is smaller than the size of the connector 31 .

[0079] Figure 7 A schematic diagram of the structure of the power source provided for this application, Figure 8 A schematic diagram of the structure of the guide structure provided in this application.

[0080] See also Figure 3 , Figure 7 and Figure 8 As shown, in some achievable ways, the power assembly 40 includes a power source 41 and a transmission assembly 42, the power source 41 is used to provide driving force, and the transmission assembly 42 is used to transmit the driving force to the driving assembly 20 to drive the driving assembly 20 to move. Specifically, the power source 41 includes a winding shaft 411 rotatably connected to the bracket 10, and the transmission assembly 42 includes a guide structure 421, a first transmission rope 422 and a second transmission rope 423, one end of the first transmission rope 422 and the second transmission rope 423 are both wound around the winding shaft 411, the middle parts of the first transmission rope 422 and the second transmission rope 423 are movably connected to the guide structure 421, and the other ends of the first transmission rope 422 and the second transmission rope 423 are fixedly connected to the receiving portion 23.

[0081] Specifically, the winding directions of the first transmission rope 422 and the second transmission rope 423 on the winding shaft 411 are opposite, for example, the first transmission rope 422 is wound on the winding shaft 411 in a clockwise direction, and the second transmission rope 423 is wound on the winding shaft 411 in a counterclockwise direction. In this way, when the winding shaft 411 rotates clockwise, the first transmission rope 422 gradually separates from the winding shaft 411, while the second transmission rope 423 continues to be wound on the winding shaft 411 in a counterclockwise manner. At this time, the winding shaft 411 relaxes the first transmission rope 422 and pulls the second transmission rope 423; when the winding shaft 411 rotates counterclockwise, the second transmission rope 423 gradually separates from the winding shaft 411, while the first transmission rope 422 continues to be wound on the winding shaft 411 in a clockwise manner. At this time, the winding shaft 411 relaxes the second transmission rope 423 and pulls the first transmission rope 422.

[0082] 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 transmission rope 422 and the second transmission rope 423 on the winding shaft 411 are opposite.

[0083] In the embodiment of the present application, the guide structure 421 provides a guiding function, which can limit the moving path of the first transmission rope 422 and the second transmission rope 423, so that the parts of the first transmission rope 422 and the second transmission rope 423 located between the guide structure 421 and the winding shaft 411 can move along a predetermined trajectory.

[0084] The ends of the first transmission rope 422 and the second transmission rope 423 away from the winding shaft 411 pass through the guide structure 421 and deflect in different directions within the rotation plane of the receiving portion 23. After the ends of the first transmission rope 422 and the second transmission rope 423 deflect by a predetermined angle, they are fixedly connected to the receiving portion 23. When the two transmission ropes are pulled, the driving portion 21 can be pulled to rotate in different directions.

[0085] In some achievable embodiments, the power source 41 further includes a first winding wheel 412 and a second winding wheel 413 disposed on the winding shaft 411, and the guide structure 421 includes a first guide wheel 4212 and a second guide wheel 4213, and the first guide wheel 4212 and the second guide wheel 4213 are rotatably connected to the bracket 10 through the guide shaft 4211. The rotation axes of the first guide wheel 4212 and the second guide wheel 4213 are parallel to the rotation axis of the driving assembly 20, and one end of the first transmission rope 422 and the second transmission rope 423 are respectively wound around the first winding wheel 412 and the second winding wheel 413, and the ends of the first transmission rope 422 and the second transmission rope 423 are respectively fixed to the first winding wheel 412 and the second winding wheel 413 through the jacket 32. The other ends of the first transmission rope 422 and the second transmission rope 423 are respectively wound around the first guide wheel 4212 and the second guide wheel 4213.

[0086] Specifically, the first winding wheel 412 has a first fixing portion 4121 and a first locking portion 4122. A sleeve hole is arranged between the first fixing portion 4121 and the first locking portion 4122. The winding shaft 411 is inserted into the sleeve hole. One end of the first locking portion 4122 is integrally formed with the first fixing portion 4121, and a gap is arranged between the other end and the first fixing portion 4121. The first locking portion 4122 is elastically arranged, and threaded holes are arranged at corresponding positions on the first locking portion 4122 and the first fixing portion 4121. When the winding shaft 411 is inserted into the sleeve hole between the first fixing portion 4121 and the first locking portion 4122, the spacing between the first locking portion 4122 and the first fixing portion 4121 can be tightened by screws connected to the two screw holes, so that the first winding wheel 412 can be fixedly connected to the winding shaft 411.

[0087] The first winding wheel 412 also includes a first winding portion 4123, which is fixedly connected to the first fixing portion 4121 and the first locking portion 4122. The first winding portion 4123 is penetrated by a through hole connected to the sleeve hole, and the winding shaft 411 can be inserted into the through hole. The outer surface of the first winding portion 4123 is provided with a winding groove, which is spirally wound on the outer surface of the first winding portion 4123, and the first transmission rope 422 can be wound in the winding groove along the path of the winding groove.

[0088] The second winding wheel 413 has a second fixing portion 4131 and a second locking portion 4132. A sleeve hole is arranged between the second fixing portion 4131 and the second locking portion 4132. The winding shaft 411 is inserted into the sleeve hole. The two ends of the second locking portion 4132 are formed as two parts with the second fixing portion 4131, and a gap is arranged between the other end and the second fixing portion 4131. The second locking portion 4132 is elastically arranged. The second locking portion 4132 and the second fixing portion 4131 are both provided with threaded holes. When the winding shaft 411 is inserted into the sleeve hole between the second fixing portion 4131 and the second locking portion 4132, the spacing between the second locking portion 4132 and the second fixing portion 4131 can be tightened by screw connection in the two screw holes, so that the second winding wheel 413 can be fixedly connected to the winding shaft 411.

[0089] The second winding wheel 413 also includes a second winding portion 4133, which is fixedly connected to the second fixing portion 4131 and the second locking portion 4132. The second winding portion 4133 is penetrated by a through hole connected to the sleeve hole, and the winding shaft 411 can be inserted into the through hole. The outer surface of the second winding portion 4133 is provided with a winding groove, which is spirally wound on the outer surface of the second winding portion 4133, and the second transmission rope 423 can be wound in the winding groove along the path of the winding groove.

[0090] It should be noted that the spiral direction of the winding groove on the first winding portion 4123 is the same as the spiral direction of the winding groove on the second winding portion 4133 .

[0091] In the implementation of the present application, a first wheel groove 42121 is opened on the peripheral wall of the first guide wheel 4212 around its rotating axis, and a second wheel groove 42131 is opened on the peripheral wall of the second guide wheel 4213 around its rotating axis. The first transmission rope 422 can be wound around the first wheel groove 42121, and the second transmission rope 423 can be wound around the second wheel groove 42131.

[0092] In some other achievable embodiments, the guide structure 421 may further include a guide block having two guide channels extending through the guide block along the first direction, and the first transmission rope 422 and the second transmission rope 423 may be respectively inserted into the two guide channels.

[0093] Exemplarily, the axis of the winding shaft 411 may be arranged along a third direction so that the winding shaft 411 is perpendicular to the adapter shaft 221 .

[0094] Exemplarily, the winding shaft 411 is rotatably connected to the bracket 10 via a bearing, and a screwing portion 414 is further provided at one end of the winding shaft 411 , and the winding shaft 411 can be driven to rotate by twisting the screwing portion 414 .

[0095] Exemplarily, the two winding wheels are spaced apart along the axis of the winding shaft 411 , and a second sleeve 4111 is sleeved on the winding shaft 411 between the two winding wheels.

[0096] Figure 6 A schematic diagram of the structure of the drive assembly provided in this application.

[0097] See also Figure 6 In some achievable embodiments, the receiving portion 23 is arranged in a fan-shaped structure, the fan-shaped circle center of the receiving portion 23 coincides with the axis center of the transfer shaft 221, one end of the receiving portion 23 is integrally formed with the connecting portion, and the other end is arranged toward the first guide wheel 4212 and the second guide wheel 4213. The end surface of the receiving portion 23 facing the guide structure 421 is provided with a first receiving groove 232 and a second receiving groove 233 around the transfer shaft 221. The first receiving groove 232 and the second receiving groove 233 are arc-shaped grooves, and the first receiving groove 232 and the second receiving groove 233 are arranged at intervals. The first receiving groove 232 is used to accommodate the first transmission rope 422, and the second receiving groove 233 is used to accommodate the second transmission rope 423.

[0098] The first receiving groove 232 and the second receiving groove 233 are respectively arranged opposite to the first wheel groove 42121 and the second wheel groove 42131. The first transmission rope 422 can be wound in the first receiving groove 232 after passing through the first guide wheel 4212, and the end of the first transmission rope 422 can be fixedly connected to the end of the receiving portion 23. The second transmission rope 423 can be wound in the second receiving groove 233 after passing through the second guide wheel 4213, and the end of the second transmission rope 423 is fixedly connected to the other end of the receiving portion 23.

[0099] Fig. 9 A cross-sectional view of a partial structure of the wire drive device provided in this application, Fig.10 Another cross-sectional view of the local structure of the wire drive device provided in the present application.

[0100] See also Fig. 9 and Fig.10 As shown, in some feasible embodiments, the receiving portion 23 is further provided with a first fixing groove 234 and a second fixing groove 235, and the first fixing groove 234 and the second fixing groove 235 are respectively connected to the first receiving groove 232 and the second receiving groove 233, and the first fixing groove 234 is used to fix the end of the first transmission rope 422, and the second fixing groove 235 is used to fix the end of the second transmission rope 423.

[0101] Exemplarily, both the first fixing groove 234 and the second fixing groove 235 penetrate the receiving portion 23. For example, the first fixing groove 234 is opened from one end of the receiving portion 23 close to the first receiving groove 232 toward the other end of the first receiving groove 232. The opening manner of the second fixing groove 235 is similar to the opening manner of the first fixing groove 234. The difference is that the top end of the first fixing groove 234 is connected to the top end of the first receiving groove 232, and the bottom end of the second fixing groove 235 is connected to the bottom end of the second receiving groove 233.

[0102] According to the above arrangement, when the first transmission rope 422 is arranged, the first transmission rope 422 can be arranged from

[0103] The lower end of the first fixing groove 234 passes through the first fixing groove 234 and passes through the upper end of the first fixing groove 234. After passing through, it can be received in the first receiving groove 232 from the top of the first receiving groove 232. The first transmission rope 422 extends toward the bottom end of the first guide wheel 4212 and a part of the first transmission rope 422 is passed through the first wheel groove 42121. Then, the first transmission rope 422 passes through the first transition wheel 4242 and is wound around the first winding wheel 412. When the second transmission rope 423 is arranged , pass the second transmission rope 423 into the second fixed groove 235 from the upper end of the second fixed groove 235, and pass it out from the lower end of the second fixed groove 235. After passing through, it can be received in the second receiving groove 233 from the lower end of the second receiving groove 233, and the second transmission rope 423 extends toward the top end of the second guide wheel 4213, so that part of the second transmission rope 423 is passed through the second wheel groove 42131, and then the second transmission rope 423 passes through the second transition wheel 4243 and is wound around the second winding wheel 413.

[0104] It is worth mentioning that the bottom and top in the above text are based on Fig. 9 and Fig.10 The orientation shown is used as an example for explanation, the relatively upper position is the top end, and the relatively lower position is the bottom end.

[0105] It should be noted that rope loops are provided at the ends of the first transmission rope 422 and the second transmission rope 423, and step structures are provided in the middle positions of the first fixing groove 234 and the second fixing groove 235, and the rope loops can be snapped onto the step structures.

[0106] Exemplarily, the first fixing groove 234 can also be opened from a position close to the top of the first receiving groove 232 toward the top of the first receiving groove 232, and the first fixing groove 234 can be opened from the bottom of the first receiving groove 232 in the receiving portion 23, and the other end of the first fixing groove 234 extends to connect with the top of the first receiving groove 232, so that the slot length of the first fixing groove 234 can be reduced.

[0107] The second fixing groove 235 can also be opened from a position close to the bottom end of the second receiving groove 233 toward the bottom end of the second receiving groove 233. The second fixing groove 235 can be opened in the receiving portion 23 from the bottom of the second receiving groove 233, and the other end of the second fixing groove 235 extends to communicate with the bottom of the second receiving groove 233. In this way, the opening length of the second fixing groove 235 can be reduced.

[0108] Exemplarily, a screw structure may be directly provided at the end of the rope loop, and the ends of the first transmission rope 422 and the second transmission rope 423 may be connected to the receiving portion 23 via the screw structure.

[0109] See also Figure 3As shown, in some achievable embodiments, the transmission assembly 42 further includes a transition structure 424, the transition structure 424 is disposed between the guide structure 421 and the power source 41, the transition structure 424 includes a first transition wheel 4242 and a second transition wheel 4243, the first transition wheel 4242 and the second transition wheel 4243 are coaxially connected to a transition shaft 4241, and the transition shaft 4241 is rotatably connected to the bracket 10. The first transmission rope 422 and the second transmission rope 423 can pass through the first transition wheel 4242 and the second transition wheel 4243 respectively during the extension process.

[0110] Specifically, a first transition groove is formed on the peripheral wall of the first transition wheel 4242 around its rotation axis, and a second transition groove is formed on the peripheral wall of the second transition wheel 4243 around its rotation axis. The first transmission rope 422 and the second transmission rope 423 can be respectively passed through the first transition groove and the second transition groove during the extension process.

[0111] Exemplarily, the rotation axes of the first transition wheel 4242 and the second transition wheel 4243 are parallel to the rotation axis of the winding shaft 411 .

[0112] Exemplarily, the radial dimension of the first transition wheel 4242 is smaller than the radial dimension of the second transition wheel 4243 .

[0113] Exemplarily, the first transition wheel 4242 and the second transition wheel 4243 are spaced apart in the third direction, and a first sleeve 4244 is sleeved on the transition shaft 4241 , and the first sleeve 4244 is located between the first transition wheel 4242 and the second transition wheel 4243 .

[0114] It should be noted that the radial size of the first guide wheel 4212 is equal to the radial size of the second guide wheel 4213, and the first guide wheel 4212 and the second guide wheel 4213 are arranged along the first direction. The radial size of the first winding wheel 412 and the second winding wheel 413 is equal, and the first winding wheel 412 and the second winding wheel 413 are arranged along the third direction. When the first transmission rope 422 and the second transmission rope 423 are respectively connected to the first guide wheel 4212 and the second guide wheel 4213, due to the deviation of the position of the guide wheel in the second direction, the first transmission rope 422 and the second transmission rope 423 will also tilt in the second direction. In the embodiment of the present application, a first transition wheel 4242 and a second transition wheel 4243 are arranged. The first transmission rope 422 is wound around the first guide wheel 4212 after passing through the first transition wheel 4242, and the second transmission rope 423 is wound around the second guide wheel 4213 after passing through the second transition wheel 4243. The difference in radial dimensions of the first transition wheel 4242 and the second transition wheel 4243 can compensate for the deviation of the first transmission rope 422 and the second transmission rope 423 in the second direction, thereby ensuring that the transmission rope between the guide wheel and the transition wheel is perpendicular to the second direction.

[0115] A second aspect of the present application provides a surgical robot comprising the above-mentioned wire drive device.

[0116] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A wire driving device, characterized in that: include: Bracket; A power assembly is arranged on the bracket, and the power assembly is used to provide driving force; A driving assembly is rotatably disposed on the bracket, and the driving assembly is connected to the power assembly so that the driving assembly can rotate clockwise and counterclockwise around the rotating shaft under the driving force of the power assembly; A connecting member, one end of which is used to connect a steel wire, and the other end of which is rotatably connected to the driving assembly, so that the connecting member has a first rotation state and a second rotation state relative to the driving assembly, the rotating axis of the connecting member in the first rotation state is parallel to the rotating axis of the driving assembly, and the second rotation state of the connecting member is a rotation along its circumference.

2. The wire driving device according to claim 1, characterized in that: It also includes a connecting pin, and the driving assembly includes a driving part, a connecting part and a receiving part connected together, the connecting part is rotatably connected to the bracket through an connecting shaft, the connecting pin is rotatably connected to the driving assembly, the rotating shaft of the connecting pin is parallel to the rotating shaft of the driving assembly, the end of the connecting member away from the steel wire is rotatably connected to the connecting pin, the axial direction of the steel wire is perpendicular to the rotating shaft of the connecting pin, and the rotating shaft of the connecting member coincides with the axial direction of the steel wire.

3. The wire driving device according to claim 2, characterized in that: The connecting pin includes a plug-in portion and a blocking portion connected together. The driving portion is provided with a plug-in groove in a direction parallel to the rotating axis of the driving component. The plug-in portion is plugged into the plug-in groove. The plug-in portion is provided with a connecting groove in a direction perpendicular to the rotating axis of the connecting pin. The connecting member is rotatably connected in the connecting groove.

4. The wire driving device according to claim 3, characterized in that: The connecting member includes a connecting head and a sleeve connected together, the connecting head includes a first limiting portion, a second limiting portion and a connecting portion connected between the first limiting portion and the second limiting portion, the connecting portion is inserted into the connecting groove, and the plug-in portion is located between the first limiting portion and the second limiting portion.

5. The wire driving device according to claim 3, characterized in that: There are multiple plug-in parts, at least two of which are spaced apart, and the gap between the two spaced plug-in parts forms the connecting groove.

6. The wire driving device according to claim 3, characterized in that: The driving part is provided with an assembly groove and an avoidance groove, the assembly groove and the avoidance groove are connected, the assembly groove and the avoidance groove penetrate the driving part along a direction perpendicular to the rotating axis of the adapter part, the plug-in groove is connected to the assembly groove, and part of the structure of the plug-in part is penetrated through the assembly groove, so that the position where the connecting part is connected to the plug-in part is located in the assembly groove, and the part of the connecting part away from the plug-in part is penetrated through the avoidance groove.

7. The wire driving device according to claim 2, characterized in that: The power assembly includes a power source and a transmission assembly, the power source includes a winding shaft rotatably connected to the bracket, the transmission assembly includes a guide structure, a transition structure, a first transmission rope and a second transmission rope, one end of the first transmission rope and the second transmission rope are respectively wound around the winding shaft in opposite directions, the middle parts of the first transmission rope and the second transmission rope are movably connected to the guide structure, the transition structure includes a plurality of transition wheels, the other ends of the first transmission rope and the second transmission rope are wound around the transition wheels and fixedly connected to the receiving part at a predetermined angle.

8. The wire driving device according to claim 7, characterized in that: The receiving portion is provided with a first receiving groove and a second receiving groove around the rotating shaft of the driving assembly on the end surface facing the guide structure, the first receiving groove and the second receiving groove are arranged at an interval, the first receiving groove is used to accommodate the first transmission rope, and the second receiving groove is used to accommodate the second transmission rope.

9. The wire driving device according to claim 8, characterized in that: The receiving portion is also provided with a first fixing groove and a second fixing groove, the first fixing groove and the second fixing groove are respectively connected to the first receiving groove and the second receiving groove, the first fixing groove is used to fix the end of the first transmission rope, and the second fixing groove is used to fix the end of the second transmission rope.

10. A surgical robot, characterized in that: It comprises a wire drive device as described in any one of claims 1 to 9.

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