Surgical instrument and surgical robot

Abstract

The invention provides a surgical instrument and a surgical robot, and relates to the technical field of medical instruments. The surgical robot includes a surgical instrument. The surgical instrument comprises a transmission box which comprises a box body and a winding seat, and the winding seat is rotatably arranged in the box body; the instrument rod is rotatably arranged in the box body, the instrument rod and the winding seat are arranged at an interval, and a rotating shaft of the instrument rod is parallel to a rotating shaft of the winding seat; the driving rope is wound on the winding seat and the instrument rod, and the winding seat drives the instrument rod to rotate through the driving rope. The transmission precision of the transmission box and the instrument rod can be improved, the rotation error of the instrument rod is reduced, and the reliability of the surgical instrument is improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical instruments, and in particular to a surgical instrument 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] Surgical instruments are an important part of surgical robots. Surgical instruments include a transmission box, an instrument rod and an execution joint. The input end of the instrument rod is connected to the transmission box, and the output end of the instrument rod is connected to the execution joint so that the transmission box can drive the execution joint to move through the instrument rod.

[0004] The transmission box can drive the instrument rod to rotate around the axis of the instrument rod to adjust the angle of the actuator joint. However, the transmission accuracy between the transmission box and the instrument rod is poor, and the reliability of the surgical instrument is poor. Summary of the invention

[0005] The surgical instrument and surgical robot provided in the embodiments of the present application are used to solve the problems of poor transmission accuracy between the transmission box and the instrument rod and poor reliability of the surgical instrument.

[0006] In a first aspect, an embodiment of the present application provides a surgical instrument, comprising:

[0007] The transmission box comprises a box body and a winding seat, wherein the winding seat is rotatably arranged on the box body;

[0008] An instrument rod, the instrument rod can be rotatably arranged on the box body, the instrument rod and the wire winding seat are arranged at a distance, and the rotation axis of the instrument rod is parallel to the rotation axis of the wire winding seat;

[0009] The driving rope is wound around the winding seat and the instrument rod, and the winding seat drives the instrument rod to rotate through the driving rope.

[0010] The winding and releasing of the drive rope drives the instrument rod to rotate, drives the actuator joint to rotate, and adjusts the angle of the actuator joint to meet surgical needs. Transmitting power through the drive rope can avoid gaps and errors in gear transmission, improve the transmission accuracy between the winding seat and the instrument rod, thereby improving the transmission accuracy between the transmission box and the instrument rod, reducing the rotation error of the instrument rod, and improving the reliability of surgical instruments.

[0011] In some embodiments of the present application, the winding seat is provided with a first receiving groove and a second receiving groove, and the first receiving groove and the second receiving groove both extend along the circumference of the winding seat;

[0012] The first end of the driving rope is fixedly disposed in the first receiving groove, and the second end of the driving rope is fixedly disposed in the second receiving groove;

[0013] When the winding seat rotates, one of the first receiving groove and the second receiving groove winds up the partial driving rope, and the other of the first receiving groove and the second receiving groove releases the partial driving rope.

[0014] This ensures the stability of the drive rope on the winding seat and prevents the drive rope from loosening or falling off when the winding seat rotates, which affects the transmission efficiency. The alternating winding and releasing of the drive rope can ensure the stability of the tension of the drive rope to accurately control the rotation of the instrument rod.

[0015] In some embodiments of the present application, the first receiving groove and the second receiving groove are arranged at intervals along the axial direction of the winding seat;

[0016] The instrument rod is provided with a rotating seat, and the rotating seat is provided with a receiving groove which is spirally arranged along the axial direction of the rotating seat, and the receiving groove accommodates multiple turns of the driving rope;

[0017] The portion of the driving rope extending from the first receiving groove to the accommodating groove is arranged in a plane perpendicular to the rotation axis of the winding seat;

[0018] The portion of the driving rope extending from the second receiving groove to the accommodating groove is arranged in a plane perpendicular to the rotation axis of the winding seat.

[0019] The first receiving groove and the second receiving groove are arranged at intervals along the axial direction of the winding seat to prevent the drive ropes in the two receiving grooves from overlapping or tangling during the winding process, thereby ensuring the path stability and transmission efficiency of the drive rope. The receiving groove can ensure that the drive rope maintains uniform tension and path stability during movement, which helps to reduce the wear and tangling of the drive rope, and improve the durability and transmission accuracy of the surgical instrument. In addition, this can ensure that the drive rope has no bending deformation, ensure the transmission accuracy between the winding seat and the instrument rod, and improve the reliability of the surgical instrument.

[0020] In some embodiments of the present application, the first receiving groove is provided with a first fixing member, and the winding seat fixes the first end of the driving rope through the first fixing member;

[0021] And / or, the second receiving groove is provided with a second fixing piece, and the winding seat fixes the second end of the driving rope through the second fixing piece.

[0022] Such an arrangement can prevent the drive rope from loosening or falling off, so as to maintain the initial tension and position of the drive rope, avoid the length change of the drive rope due to sliding or position change of the drive rope, and thus ensure the accuracy of transmission.

[0023] In some embodiments of the present application, the winding diameter of the winding seat is larger than the winding diameter of the instrument rod.

[0024] By adjusting the value of the winding diameter, the transmission ratio of the surgical instrument can be adjusted.

[0025] In some embodiments of the present application, the rotation angle of the instrument rod is greater than or equal to 360 degrees, and the rotation angle of the winding seat is less than 360 degrees.

[0026] By making the rotation angle of the instrument rod greater than or equal to 360 degrees, the rotation angle of the execution joint of the surgical instrument can be generally greater than 360 degrees to adapt to the surgical operation.

[0027] In some embodiments of the present application, the transmission box is provided with a limit member, and the limit member is used to limit the rotation angle of the winding seat.

[0028] This can limit the rotation angle of the instrument rod and prevent the execution joint of the surgical instrument from exceeding the rotation range during the operation and damaging the tissue body.

[0029] In some embodiments of the present application, a surgical instrument is provided with a driving rod and an execution joint;

[0030] The first end of the driving rod is drivingly connected to the transmission box, the second end of the driving rod is drivingly connected to the execution joint, and the transmission box drives the execution joint to move through the driving rod.

[0031] The output power of the transmission box can be directly transmitted to the driving rod, reducing the complex structure and error accumulation of the intermediate transmission link. Through this connection method, the transmission efficiency and accuracy of the surgical instrument can be improved.

[0032] In some embodiments of the present application, the instrument rod is provided with a receiving cavity, and the receiving cavity is at least partially used to accommodate the driving rod.

[0033] The receiving cavity can protect the driving rod and help improve the reliability and durability of the surgical instrument.

[0034] In a second aspect, an embodiment of the present application provides a surgical robot comprising the surgical instrument as described above.

[0035] The surgical instrument and surgical robot provided in the embodiment of the present application drive the instrument rod to rotate by winding and releasing the drive rope, drive the actuator joint to rotate, adjust the angle of the actuator joint, and meet the surgical needs. The transmission of power through the drive rope can avoid the gap and error in the gear transmission, and can improve the transmission accuracy between the winding seat and the instrument rod, thereby improving the transmission accuracy between the transmission box and the instrument rod, and improving the reliability of the surgical instrument. 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 A schematic diagram of the structure of a surgical instrument provided in an embodiment of the present application;

[0038] Figure 2 A schematic diagram of the structure of a driving rod and an actuator joint provided in an embodiment of the present application;

[0039] Figure 3 A full cross-sectional view of the transmission box provided in an embodiment of the present application;

[0040] Figure 4 A schematic diagram of the structure of a winding base provided in an embodiment of the present application;

[0041] Figure 5 A schematic diagram of the structure of the connection between the winding seat and the instrument rod provided in an embodiment of the present application;

[0042] Figure 6 A schematic diagram of the structure of the limiter provided in the embodiment of the present application;

[0043] Figure 7 A schematic diagram of the structure of the connection between the drive shaft and the transmission member provided in the embodiment of the present application;

[0044] Figure 8 A full cross-sectional view of the transmission component provided in an embodiment of the present application.

[0045] Description of reference numerals:

[0046] 10- transmission box;

[0047] 110-box body;

[0048] 120 - winding seat; 121 - first storage slot; 122 - second storage slot; 125 - rotating rod;

[0049] 130-limiting member; 131-first limiting member; 132-second limiting member; 133-third limiting member;

[0050] 140-drive shaft;

[0051] 150-transmission member; 151-rotation slot;

[0052] 160- transmission driving rope;

[0053] 20- Equipment bar;

[0054] 210-accommodation chamber;

[0055] 220-rotating seat; 221-accommodating groove;

[0056] 230-thrust ball bearing;

[0057] 30-driving rope;

[0058] 40-driving rod;

[0059] 410-Activities Department;

[0060] 50-Execution joints;

[0061] 60-linked joints;

[0062] d1-the winding diameter of the winding seat; d2-the winding diameter of the instrument rod.

[0063] 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

[0064] In the related art, surgical instruments are an important part of surgical robots. The surgical instruments include a transmission box, an instrument rod and an execution joint. The transmission box is connected to a drive box, which provides a drive box for the transmission box to rotate the parts in the transmission box. The transmission box is connected to the input end of the instrument rod, and the output end of the instrument rod is connected to the execution joint. The instrument rod drives the execution joint to move through the transmission box, thereby completing the surgical operation.

[0065] The transmission box is provided with multiple gears, which mesh with each other to drive the instrument rod to rotate around the axis of the instrument rod to adjust the angle of the actuator joint. However, there is a transmission gap between the gears in the transmission box, which will cause transmission jamming or inaccuracy, resulting in poor transmission accuracy between the transmission box and the instrument rod and large rotation error of the instrument rod.

[0066] In view of this, an embodiment of the present application provides a surgical robot, which may include a surgical instrument. The surgical instrument includes a transmission box, an instrument rod and a drive rope. Among them, the transmission box includes a box body and a winding seat, the winding seat can be rotatably arranged on the box body, and the instrument rod can be rotatably arranged on the box body. The instrument rod and the winding seat are arranged at intervals, and the rotation axis of the instrument rod is parallel to the rotation axis of the winding seat. The drive rope is wound around the winding seat and the instrument rod, and the rotation of the winding seat causes the winding and release of the drive rope. The winding and release of the drive rope drives the instrument rod to rotate, thereby driving the execution joint to rotate, adjusting the angle of the execution joint, and meeting the surgical needs. Transmitting power through the drive rope can avoid the gap and error in the gear transmission, and can improve the transmission accuracy of the winding seat and the instrument rod, thereby improving the transmission accuracy of the transmission box and the instrument rod, reducing the rotation error of the instrument rod, and improving the reliability of the surgical instrument.

[0067] 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.

[0068] 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.

[0069] The embodiment of the present application provides a surgical instrument. The surgical instrument can perform surgical operations during surgery to reduce surgical time. For example, the surgical instrument can be set as a single-hole surgical instrument, which can achieve rotation with multiple degrees of freedom.

[0070] Reference Figure 1 As shown, the surgical instrument includes a transmission box 10 and an instrument rod 20. The transmission box 10 can transmit the power provided by the drive box to the instrument rod 20, so that the instrument rod 20 rotates. The transmission box 10 can convert the input rotational motion into the output motion required by other parts, thereby driving other parts to move.

[0071] Combination Figure 1 and Figure 2 As shown, the surgical instrument is provided with an execution joint 50. The execution joint 50 is connected to the instrument rod 20. The rotation of the instrument rod 20 can drive the execution joint 50 to rotate, so as to adjust the circumferential direction of the execution joint 50. For example, the execution joint 50 can be set as a needle holding forceps, and the surgical operation is realized by opening and closing the forceps of the needle holding forceps.

[0072] In addition to being able to rotate in the circumferential direction, the execution joint 50 can also swing to improve the flexibility of the surgical instrument. For example, the instrument rod 20 is connected to the execution joint 50 through a linkage joint 60. The linkage joint 60 can achieve multi-degree-of-freedom swinging and can drive the execution joint 50 to swing.

[0073] The surgical instrument is also provided with a driving rod 40. The first end of the driving rod 40 is connected to the transmission box 10 in transmission connection, and the second end of the driving rod 40 is connected to the execution joint 50 in transmission connection. The transmission box 10 drives the execution joint 50 to move through the driving rod 40. The driving rod 40 transmits the power of the transmission box 10 to the execution joint 50, so that the execution joint 50 moves to complete the surgical operation. The output power of the transmission box 10 can be directly transmitted to the driving rod 40, reducing the complex structure and error accumulation of the intermediate transmission link. Through this connection method, the transmission efficiency and accuracy of the surgical instrument can be improved.

[0074] Exemplarily, the driving rod 40 may be configured as a flexible rod to meet the requirements of the surgical instrument to achieve multiple degrees of freedom.

[0075] The instrument rod 20 is provided with a receiving cavity 210, and part or all of the receiving cavity 210 is used to receive the driving rod 40. The receiving cavity 210 can protect the driving rod 40 and reduce the interference of the external environment (such as friction, collision, etc.) on its movement. This helps to improve the reliability and durability of the surgical instrument.

[0076] Reference Figure 3 As shown, the transmission box 10 includes a box body 110 and a winding seat 120. The box body 110 provides support and protection for the winding seat 120 or other parts. The winding seat 120 can be rotatably arranged on the box body 110. The winding seat 120 includes a rotating rod 125, and the rotating rod 125 is rotated to drive the winding seat 120 thereon to rotate. The rotation axis of the winding seat 120 is parallel to the rotation axis of the instrument rod 20, and the transmission path is relatively simple, which reduces the complex mechanical problems and transmission errors caused by non-parallel axes, making the motion transmission more efficient.

[0077] In some embodiments, the transmission box 10 includes a support frame. The support frame can be connected to the rotating rod 125 through a bearing to support the rotation of the rotating rod 125. The support frame can be used to support other rotating rods to ensure the reliability of the surgical instrument.

[0078] The winding seat 120 and the instrument rod 20 are spaced apart so that the instrument rod 20 and the winding seat 120 will not interfere with each other during movement, thereby preventing friction and wear between the two, thereby improving the reliability and life of the surgical instrument.

[0079] The instrument rod 20 can be rotatably arranged on the box body 110 to drive the execution joint 50 to rotate, so as to adjust the angle of the execution joint 50 to meet the surgical requirements. For example, the instrument rod 20 is provided with a bearing, the inner ring of the bearing is connected to the instrument rod 20, and the outer ring of the bearing is connected to the box body 110. The bearing enables the instrument rod 20 to rotate smoothly, thereby improving the stability of the surgical instrument. For another example, the instrument rod 20 is provided with a thrust ball bearing 230, the upper race of the thrust ball bearing 230 is connected to the instrument rod 20, and the lower race of the thrust ball bearing 230 is connected to the box body 110. The thrust ball bearing 230 can withstand a large axial load, ensuring a stable connection between the instrument rod and the box body, so that the instrument rod 20 can rotate smoothly.

[0080] In order to make the instrument rod 20 realize circumferential rotation, the surgical instrument also includes a driving rope 30. The driving rope 30 is wound around the winding seat 120 and the instrument rod 20, and the winding seat 120 drives the instrument rod 20 to rotate through the driving rope 30. In other words, the rotation of the winding seat 120 drives the driving rope 30 to be wound and released on the winding seat 120 to rotate the instrument rod 20. The transmission of power through the driving rope 30 can avoid the gap and error in the gear transmission, and can improve the transmission accuracy between the winding seat 120 and the instrument rod 20, thereby improving the transmission accuracy between the transmission box 10 and the instrument rod 20, reducing the rotation error of the instrument rod 20, and improving the reliability of the surgical instrument.

[0081] In addition, the rotation of the instrument rod 20 is achieved by winding and releasing the driving rope 30, avoiding the need for a complex transmission mechanism, and having a simple structure, which can reduce the weight of the surgical instrument and improve the comfort of holding the surgical instrument. Such a configuration can also reduce the overall size of the surgical instrument, making it easier to operate in a narrow surgical space or to place multiple surgical instruments in the same operating space, thereby improving the applicability of the surgical instrument.

[0082] For example, the drive rope 30 can be configured as a steel wire rope. Using a steel wire rope can reduce the use cost of the drive rope 30.

[0083] The specific structure of the winding seat 120 is described in detail below.

[0084] Combination Figure 4 and Figure 5 As shown, the winding seat 120 is provided with a first receiving groove 121 and a second receiving groove 122. The first receiving groove 121 and the second receiving groove 122 are used to accommodate the drive rope 30 to prevent the drive rope 30 from moving during the winding or releasing process, resulting in a decrease in transmission accuracy. The first receiving groove 121 and the second receiving groove 122 both extend along the circumference of the winding seat 120, so that the drive rope 30 is wound around the circumference of the winding seat 120, thereby driving the instrument rod 20 to rotate circumferentially.

[0085] The first end of the driving rope 30 is fixedly disposed in the first receiving groove 121, and the second end of the driving rope 30 is fixedly disposed in the second receiving groove 122. In this way, the stability of the driving rope 30 on the winding seat 120 can be ensured, and the driving rope 30 can be prevented from loosening or falling off when the winding seat 120 rotates, thereby affecting the transmission efficiency.

[0086] The first end of the driving rope 30 is fixed at a position symmetrical to the second end of the driving rope 30 about the winding seat 120. Therefore, when the winding seat 120 rotates, the first receiving groove 121 winds up part of the driving rope 30, and the second receiving groove 122 releases part of the driving rope 30.

[0087] Alternatively, when the winding seat 120 rotates, the second receiving groove 122 winds up part of the driving rope 30, and the first receiving groove 121 releases part of the driving rope 30. The alternating winding and releasing of the driving rope 30 can ensure that the tension of the driving rope 30 is stable to accurately control the rotation of the instrument rod 20.

[0088] The first receiving groove 121 and the second receiving groove 122 are arranged at intervals along the axial direction of the winding seat 120. Such arrangement can prevent the drive rope 30 located in the two receiving grooves from overlapping or tangling during the winding process, so that the drive rope 30 can be wound and released in an orderly manner in the circumferential direction of the winding seat 120, thereby ensuring the path stability and transmission efficiency of the drive rope 30.

[0089] Reference Figure 5 As shown, the instrument rod 20 is provided with a rotating seat 220, and a partial area of ​​the rotating seat 220 is provided with a receiving groove 221 which is spirally arranged along the axial direction of the rotating seat 220, and the receiving groove 221 can accommodate multiple turns of the driving rope 30. The receiving groove 221 can ensure that the driving rope 30 maintains uniform tension and a stable path during movement, which helps to reduce the wear and tangling of the driving rope 30 and improve the durability and transmission accuracy of the surgical instrument. In addition, the spiral receiving groove 221 allows the driving rope 30 to be wound on the rotating seat 220 in multiple turns, which can increase the length of the driving rope 30 and increase the range of rotation of the instrument rod 20.

[0090] The first end of the driving rope 30 is fixed in the first receiving groove 121. The portion of the driving rope extending from the first end of the driving rope 30 in the first receiving groove 121 to the receiving groove 221 is arranged in a plane perpendicular to the rotation axis of the winding seat 120. In this way, it can be ensured that the driving rope 30 has no bending deformation, the transmission accuracy between the winding seat 120 and the instrument rod 20 is guaranteed, and the reliability of the surgical instrument is improved.

[0091] Similarly, the second end of the driving rope 30 is fixed in the second receiving groove 122. The portion of the driving rope extending from the second end of the driving rope 30 in the second receiving groove 122 to the receiving groove 221 is arranged in a plane perpendicular to the rotation axis of the winding seat 120. In this way, it can be ensured that the driving rope 30 has no bending deformation, the transmission accuracy between the winding seat 120 and the instrument rod 20 is guaranteed, and the reliability of the surgical instrument is improved.

[0092] In some embodiments, the first receiving groove 121 is provided with a first fixing member (not shown in the figure), and the winding seat 120 fixes the first end of the driving rope 30 through the first fixing member. The first end of the driving rope 30 is fixed by the first fixing member to prevent the driving rope 30 from loosening or falling off, so as to maintain the initial tension and position of the driving rope 30, and avoid the length change of the driving rope 30 caused by the sliding or position change of the driving rope 30, thereby ensuring the accuracy of the transmission. For example, the first fixing member can be set as a jacket. The first end of the driving rope 30 is passed through the jacket, and the driving rope 30 is fixed in an appropriate position by clamping the first end of the driving rope 30 through deformation of the jacket.

[0093] In some embodiments, the second receiving groove 122 is provided with a second fixing member (not shown in the figure), and the winding seat 120 fixes the second end of the driving rope 30 through the second fixing member. Similarly, the second end of the driving rope 30 is fixed by the second fixing member to prevent the driving rope 30 from loosening or falling off, so as to maintain the initial tension and position of the driving rope 30, and avoid the length change of the driving rope 30 caused by the sliding or position change of the driving rope 30, thereby ensuring the accuracy of the transmission. For example, the second fixing member can be set as a jacket. The second end of the driving rope 30 is passed through the jacket, and the second end of the driving rope 30 is clamped by the deformation of the jacket to fix the driving rope 30 in an appropriate position.

[0094] The transmission ratio of the surgical instrument can be adjusted by setting the winding diameter d1 of the winding seat and the winding diameter d2 of the instrument rod. The winding diameter d1 of the winding seat is larger than the winding diameter d2 of the instrument rod, so that the winding seat 120 can rotate a small angle and the instrument rod 20 can rotate a large angle. For example, the winding diameter d1 of the winding seat is twice the winding diameter d2 of the instrument rod. The winding seat 120 can rotate 180 degrees clockwise and 180 degrees counterclockwise, and the instrument rod 20 can rotate 360 ​​degrees clockwise and 360 degrees counterclockwise.

[0095] In the actual application of surgical instruments, the rotation angle of the execution joint 50 of the surgical instrument is usually greater than 360 degrees to adapt to surgical operations. That is, the instrument rod 20 connected to the execution joint 50 needs to rotate more than 180 degrees clockwise along the circumference, and needs to rotate more than 180 degrees counterclockwise along the circumference. Therefore, the rotation angle of the instrument rod 20 is greater than or equal to 360 degrees. In order to prevent the drive rope 30 from getting tangled, the rotation angle of the winding seat 120 is less than 360 degrees.

[0096] Reference Figure 6 As shown, in order to limit the rotation angle of the instrument rod 20 and prevent the execution joint 50 of the surgical instrument from exceeding the rotation range during the operation, causing the surgical operation to damage the tissue body, the transmission box 10 is provided with a limiter 130, which can limit the rotation angle of the instrument rod 20 by limiting the rotation angle of the winding seat 120.

[0097] Specifically, the limiting member 130 includes a first limiting member 131, a second limiting member 132, and a third limiting member 133. The first limiting member 131 is arranged on the winding seat 120, and the second limiting member 132 and the third limiting member 133 are arranged on both sides of the winding seat 120. The first limiting member 131 is driven to rotate around the rotating axis of the winding seat 120 by the rotation of the winding seat 120, and the first limiting member 131 can abut against the second limiting member 132 or the third limiting member 133, thereby limiting the rotation angle of the winding seat 120. Such an arrangement improves the safety and reliability of the surgical instrument. In addition, the limiting member 130 has a simple structure, which can reduce the manufacturing and maintenance costs of the surgical instrument. For example, the first limiting member 131, the second limiting member 132, and the third limiting member 133 can be set as a columnar body, which is convenient for the processing and manufacturing of each limiting member.

[0098] An embodiment of the present application also provides a surgical robot including the surgical instrument as described above.

[0099] In some embodiments, the surgical robot includes a drive box, through which power is provided to the surgical instrument.

[0100] The surgical robot may include a main operating robot and a slave executing robot. The main operating robot may be operated to control the slave executing robot to perform surgery, wherein both the main operating robot and the slave executing robot may be movable on the ground.

[0101] Among them, the main operating robot can be provided with an operating platform and a display device, and the medical operator can control the slave execution robot through the operating platform, and can observe the end effector of the slave execution robot through the display device and display the operation screen.

[0102] It should be noted that the surgical robot provided in the embodiment of the present application may include all the technical solutions and technical effects of the surgical instruments described above, which will not be repeated here.

[0103] Reference Figure 7 As shown, in some embodiments, the surgical instrument includes a drive shaft 140 and a transmission member 150 .

[0104] The driving shaft 140 is rotatably disposed in the box body 110 , and the transmission member 150 is rotatably disposed in the box body 110 .

[0105] At least part of the transmission member 150 is connected to the first end of the driving rod 40, and the second end of the driving rod 40 is connected to the execution joint 50. The driving rod 40 drives the execution joint 50 to move, and the transmission member 150 drives the execution joint 50 to move. For example, the execution joint 50 can be set as a needle holding forceps, and the transmission member 150 drives the needle holding forceps to move, so that the forceps blades of the needle holding forceps are opened and closed to realize the surgical operation.

[0106] The driving shaft 140 is wound with a transmission driving rope 160, the first part of the transmission driving rope 160 is connected to the first end of the transmission member 150, and the second part of the transmission driving rope 160 is connected to the second end of the transmission member 150. The driving shaft 140 can drive the transmission member 150 to rotate through the transmission driving rope 160.

[0107] It can be known that the first end of the driving rod 40 is connected to the transmission member 150, and the second end of the driving rod 40 is connected to the execution joint 50. 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 150 rotates on its fulcrum (that is, the axis of the rotatable setting). The transmission member 150 uses this structure to reduce the imbalance and vibration that may be caused by single-point force, thereby achieving smooth rotation of the transmission member 150; due to the uniform distribution of force, the transmission member 150 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 150 to effectively transmit the rotational motion of the drive shaft 140 to the drive wire.

[0108] The transmission member 150 forms a lever structure through the double-end connection design of the transmission drive rope 160, which ensures the smooth rotation of the transmission member 150, thereby improving the accuracy of the operation of the execution joint 50 driven by the drive rod 40; the design of the transmission member 150 can realize the drive of the execution joint through a transmission drive rope 160, reducing the dependence on complex assembly processes, making the connection between the transmission box 10 and the execution joint 50 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.

[0109] Reference Figure 8 As shown, in some embodiments, the transmission member 150 is provided with a rotation groove 151 .

[0110] The first end of the driving rod 40 is provided with a movable part 410, and the movable part 410 can be movably arranged in the rotating groove 151. The movable part 410 is provided with a spherical contact surface, and the movable part 410 is in rolling contact with the bottom surface of the rotating groove 151 through the spherical contact surface. With such a configuration, the driving shaft 140 drives the transmission member 150 to rotate through the transmission driving rope 160, and the transmission member 150 drives the execution joint 50 to move. At this time, the rotation of the winding seat 120 can drive the instrument rod 20 to rotate, thereby driving the execution joint 50 to rotate. Through the rolling contact between the spherical contact surface and the bottom surface of the rotating groove 151, the movement and rotation of the execution joint 50 can be realized, so that the movement and rotation of the execution joint 50 are decoupled, thereby improving the functionality of the surgical instrument.

[0111] In the description of the present application, 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 application and simplifying the description, and do not indicate or imply 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 a limitation on the present application.

[0112] In the description of the present application, 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 a fixed connection, it can also be a detachable connection, or it can be integrated; it can be directly connected, or it can be indirectly connected through an intermediate medium, 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 this application can be understood according to the 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 application, rather than to limit it. Although the present application 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 application.

Claims

1. A surgical instrument, characterized in that: include: A transmission box (10) comprises a box body (110) and a winding seat (120), wherein the winding seat (120) is rotatably disposed on the box body (110); An instrument rod (20), the instrument rod (20) being rotatably disposed on the box body (110), the instrument rod (20) being spaced apart from the wire winding seat (120), and the rotation axis of the instrument rod (20) being parallel to the rotation axis of the wire winding seat (120); A driving rope (30), wherein the driving rope (30) is wound around the winding seat (120) and the instrument rod (20), and the winding seat (120) drives the instrument rod (20) to rotate through the driving rope (30).

2. The surgical instrument according to claim 1, characterized in that: The winding seat (120) is provided with a first receiving groove (121) and a second receiving groove (122), and the first receiving groove (121) and the second receiving groove (122) both extend along the circumference of the winding seat (120); The first end of the driving rope (30) is fixedly disposed in the first receiving groove (121), and the second end of the driving rope (30) is fixedly disposed in the second receiving groove (122); When the winding seat (120) rotates, one of the first receiving groove (121) and the second receiving groove (122) winds up a portion of the driving rope (30), and the other of the first receiving groove (121) and the second receiving groove (122) releases a portion of the driving rope (30).

3. The surgical instrument according to claim 2, characterized in that: The first receiving groove (121) and the second receiving groove (122) are arranged at intervals along the axial direction of the winding seat (120); The instrument rod (20) is provided with a rotating seat (220), and the rotating seat (220) is provided with a receiving groove (221) spirally arranged along the axial direction of the rotating seat (220), and the receiving groove (221) accommodates a plurality of turns of the driving rope (30); The portion of the driving rope (30) extending from the first receiving groove (121) to the containing groove (221) is arranged in a plane perpendicular to the rotation axis of the winding seat (120); The portion of the driving rope (30) extending along the second receiving groove (122) to the accommodating groove (221) is arranged in a plane perpendicular to the rotation axis of the winding seat (120).

4. The surgical instrument according to claim 2, characterized in that: The first receiving groove (121) is provided with a first fixing member, and the winding seat (120) fixes the first end of the driving rope (30) through the first fixing member; And / or, the second receiving groove (122) is provided with a second fixing member, and the winding seat (120) fixes the second end of the driving rope (30) via the second fixing member.

5. The surgical instrument according to claim 1, characterized in that: The wire winding diameter of the wire winding seat (120) is greater than the wire winding diameter of the instrument rod (20).

6. The surgical instrument according to claim 5, characterized in that: The rotation angle of the instrument rod (20) is greater than or equal to 360 degrees, and the rotation angle of the winding seat (120) is less than 360 degrees.

7. The surgical instrument according to claim 6, characterized in that: The transmission box (10) is provided with a limiting member (130), and the limiting member (130) is used to limit the rotation angle of the winding seat (120).

8. The surgical instrument according to any one of claims 1 to 7, characterized in that: The surgical instrument is provided with a driving rod (40) and an execution joint (50); The first end of the driving rod (40) is drivingly connected to the transmission box (10), and the second end of the driving rod (40) is drivingly connected to the execution joint (50), and the transmission box (10) drives the execution joint (50) to move through the driving rod (40).

9. The surgical instrument according to claim 8, characterized in that: The instrument rod (20) is provided with a receiving cavity (210), and the receiving cavity (210) is at least partially used to receive the driving rod (40).

10. A surgical robot, characterized in that: A surgical instrument comprising any one of claims 1-9.

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