A modular quick-change transmission device and minimally invasive surgical instrument

Abstract

The present invention discloses a modular quick-change transmission device and a minimally invasive surgical instrument, comprising a first transmission assembly, a second transmission assembly and a connecting part detachably connected between the first transmission assembly and the second transmission assembly, wherein the first transmission assembly, the connecting part and the second transmission assembly all comprise a bracket, a gear shaft mounted on the bracket, at least one gear rotatable around the gear shaft and a positioning device, wherein the positioning devices of the first transmission assembly and the second transmission assembly comprise a positioning rod, the positioning rod passes through the bracket and is provided with a movable range for resetting and locking the gear during installation or unlocking the gear during transmission, and the positioning device of the connecting part comprises a positioning shaft, the positioning shaft passes through the bracket and the gear and can be movably withdrawn; the positioning rod and the positioning shaft enable each gear to quickly mesh with each other when the first transmission assembly, the second transmission assembly and the connecting part are installed, thereby forming a detachable transmission mechanism. The present invention realizes the rapid disassembly and assembly of the detachable transmission mechanism and the motion transmission of the modular device.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a modular quick-change transmission device and a minimally invasive surgical instrument. Background Art

[0002] Minimally invasive surgical instruments such as endoscopes can assist doctors in performing minimally invasive surgeries more smoothly. Most minimally invasive surgical instruments include a controller, a wiring structure, and an actuator. The controller controls the actuator through the wiring structure to complete the actuator action. The actuator can be any one of a clamp-type structure, a scissor-type structure, or a claw-type structure. In order to ensure the cleanliness during the operation, the above-mentioned minimally invasive surgical instruments are usually used as disposable products, or the whole is disinfected and reused. Therefore, on the one hand, using it as a disposable product will result in high cost of use; on the other hand, due to the large number of parts in this type of minimally invasive medical surgical instruments, the disinfection process is time-consuming and difficult. In order to save costs and avoid long disinfection time, the actuator is considered as a replaceable component, but the surgical robot in the prior art is large in size and weight, which is not conducive to disassembly and assembly, and the operating space is large, resulting in relatively low operational flexibility and cannot be flexibly used in actual surgical operations; and the operation is complicated, requiring doctors to have high experience and technical level; the switching speed adjustment time and response time between different mechanisms are long, which is not suitable for actual surgery, and there is still room for improvement. Chinese patent CN118370607A discloses a modular quick-change composite continuum surgical robot and a control method thereof. The surgical robot adopts a modular design so that various surgical tools and equipment can be flexibly combined to meet the needs of different surgical scenarios. However, the surgical robot and the device introduced in the present invention belong to different inventive concepts. Summary of the invention

[0003] The embodiments of the present invention provide a modular quick-change transmission device and a minimally invasive surgical instrument, aiming to solve the problems existing in existing surgical instruments such as complex device operation, long switching speed adjustment time and long response time between different mechanisms.

[0004] According to a first aspect of the present invention, there is provided a modular quick-change transmission device, comprising a first transmission assembly, a second transmission assembly and a connecting portion detachably connected between the first transmission assembly and the second transmission assembly, wherein the first transmission assembly, the connecting portion and the second transmission assembly all comprise a bracket, a gear shaft mounted on the bracket, at least one gear rotatable around the gear shaft and a positioning device, wherein the positioning device of the first transmission assembly and / or the second transmission assembly comprises a positioning rod, wherein the positioning rod passes through the bracket and is provided with a movable range for resetting and locking the gear during installation or unlocking the gear during transmission, and wherein the positioning device of the connecting portion comprises a positioning shaft, wherein the positioning shaft passes through the bracket and the gear and can be moved and withdrawn;

[0005] The positioning pull rod and the positioning shaft enable the gears to mesh quickly when the first transmission assembly, the second transmission assembly and the connecting part are installed, thereby forming a detachable transmission mechanism.

[0006] In one embodiment, the positioning device of the first transmission assembly and / or the second transmission assembly further includes a spring shaft and a return spring. The spring shaft is mounted on a bracket, and two ends of the return spring are respectively mounted on the spring shaft and the gear to assist the gear in resetting when it is stationary.

[0007] In one embodiment, the first transmission assembly and / or the second transmission assembly further includes a pulley shaft and at least one pulley rotatable around the pulley shaft, one end of the drive guide wire is fixedly wound around the gear, and the other end contacts the pulley and extends to the distal end of the first transmission assembly or the second transmission assembly.

[0008] In one embodiment, the first transmission assembly and / or the second transmission assembly further includes a limiting center axis, a connector, a button, a spring, and a quick-connect base for fixing the mounting bracket; the limiting center axis passes through the connector and is installed on the quick-connect base, the connector can rotate around the limiting center axis, buttons and springs are respectively installed at both ends of the connector, and the other end of the spring is installed on the raised portion of the quick-connect base. The spring is compressed or released by manually pressing a button to drive the connector to rotate, thereby completing the connection or disconnection between the connecting bracket and the connector.

[0009] In one embodiment, the gears of the first transmission assembly and the second transmission assembly are bevel gears, and the gear of the connecting portion is a double bevel gear.

[0010] A second aspect of the present invention provides a minimally invasive surgical instrument, comprising the above-mentioned modular quick-change transmission device, an end effector disposed at the distal end of the first transmission component, and a control unit disposed at the distal end of the second transmission component, wherein the control unit controls the movement of the end effector by driving a guide wire.

[0011] In one embodiment, the further structure of the first transmission assembly, the connecting part, and the second transmission assembly includes:

[0012] Three gears are installed on the gear shafts of the first transmission assembly, the second transmission assembly and the connecting part. When assembled, the three groups of gears mesh with each other for transmission. Two of the gears of the first transmission assembly and the second transmission assembly are respectively fixedly wound with one end of two groups of deflection drive guide wires, and the other end of the deflection drive guide wires extends to the control part or the end actuator. One end of a group of pitch drive guide wires is respectively fixedly wound around the third gear of the first transmission assembly and the second transmission assembly, and the other end of the pitch drive guide wires extends to the control part or the end actuator.

[0013] In one of the embodiments, in the initial state, the positioning shaft of the connecting part passes through three gears for locking.

[0014] In one embodiment, the structure of the control unit includes:

[0015] An operating shaft A, and a finger sleeve A and a winding wheel A fixedly mounted on the operating shaft A;

[0016] An operating shaft B, and a finger sleeve B and a winding wheel B fixedly mounted on the operating shaft B;

[0017] A central axis of deflection of the control unit; and

[0018] Pulley A and pulley B rotatably mounted on the deflection center axis of the control unit;

[0019] Two deflection drive guide wires are sequentially wound around the winding wheel A and pulley A and then extend to the distal end of the control unit, and another two deflection drive guide wires are sequentially wound around the winding wheel B and pulley B and then extend to the second transmission assembly.

[0020] In one embodiment, the structure of the end effector includes:

[0021] Immobilize joints;

[0022] A terminal pitch center axis and a terminal pulley axis mounted on the fixed joint;

[0023] A first end pulley rotatably mounted on the end pulley shaft;

[0024] A second end pulley and a pitch joint rotatably mounted on the end pitch central axis;

[0025] A terminal deflection center axis mounted on the pitch joint; and

[0026] Clamp A and clamp B rotatably mounted on the end deflection center axis;

[0027] After the first transmission assembly extends four deflection drive guide wires that contact the first end pulley and the second end pulley in sequence, two deflection drive guide wires are wound around the clamp A and fixed, and the other two deflection drive guide wires are wound around the clamp B and fixed.

[0028] A modular quick-change transmission device and a minimally invasive surgical instrument of the present invention are suitable for the field of medical instruments. The modular quick-change transmission device includes a first transmission assembly, a second transmission assembly, and a connecting portion detachably connected between the first transmission assembly and the second transmission assembly. By providing a positioning device on the first transmission assembly and / or the second transmission assembly, it is possible to achieve a quick reset lock of the gears during installation or a quick unlocking of the gears during transmission. The positioning shaft of the connecting portion is used to enable the first transmission assembly, the second transmission assembly, and the connecting portion to be installed so that each gear quickly meshes with each other to form a detachable transmission mechanism. The modular quick-change transmission device can achieve quick disassembly and assembly of the detachable transmission mechanism and motion transmission of the modular device. The minimally invasive surgical instrument of the present invention includes a modular quick-change transmission device, which can meet the demand for quick disassembly and replacement of the actuator end during surgery, and solves the problems of complex device operation, long switching speed adjustment time and response time between different mechanisms in existing surgical instruments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 A schematic structural diagram of a modular quick-change transmission device with a single gear set provided by an embodiment of the present invention;

[0031] Figure 2 A schematic structural diagram of a modular quick-change transmission device with multiple gear sets provided in one embodiment of the present invention;

[0032] Figure 3 A transmission principle diagram of a modular quick-change transmission device provided in one embodiment of the present invention;

[0033] Figure 4 A schematic diagram of a transmission structure in a modular quick-change transmission device provided in one embodiment of the present invention;

[0034] Figure 5 A working principle diagram of a positioning pull rod in a modular quick-change transmission device provided in one embodiment of the present invention;

[0035] Figure 6 A schematic diagram of a module disassembly structure in a modular quick-change transmission device provided in one embodiment of the present invention;

[0036] Figure 7 A schematic diagram of a plug-in structure in a modular quick-change transmission device provided in one embodiment of the present invention;

[0037] Figure 8 A cross-sectional view of a plug-in structure in a modular quick-change transmission device provided in one embodiment of the present invention;

[0038] Fig. 9 A schematic structural diagram of a modular quick-change transmission device provided in another embodiment of the present invention;

[0039] Fig.10 for Fig. 9 Transmission schematic diagram of the medium modular quick-change transmission device;

[0040] Fig.11 A schematic diagram of the structure of a minimally invasive surgical instrument provided by one embodiment of the present invention;

[0041] Fig.12 This is a schematic diagram of the structure of a control unit in a minimally invasive surgical instrument according to an embodiment of the present invention;

[0042] Fig.13 The figure is a schematic diagram of the structure of the end effector in a minimally invasive surgical instrument according to an embodiment of the present invention.

[0043] Description of reference numerals:

[0044] 100, first transmission assembly, 101, first bracket, 102, first gear shaft, 103, first gear A, 104, first positioning rod, 105, first spring shaft, 106, first return spring, 107, first pulley shaft, 108, first pulley, 109, second gear A, 110, third gear A, 113, first limit center shaft, 114, first connector, 115, first button, 116, first spring, 117, first quick-connect base;

[0045] 200, second transmission assembly, 201, second bracket, 202, second gear shaft, 203, first gear B, 204, second positioning rod, 205, second spring shaft, 206, second return spring, 207, second pulley shaft, 208, second pulley, 209, second gear B, 210, third gear B, 211, initial position notch, 212, unlocking position notch, 213, second limiting center axis, 214, second connector, 215, second button, 216, second spring, 217, second quick-connect base, 218, upper guide surface, 219, lower guide surface;

[0046] 300, connecting portion, 301, third bracket, 302, third gear shaft, 303, first gear C, 304, positioning shaft, 309, second gear C, 310, third gear C, 311, third housing;

[0047] 401, first driving guide wire A, 402, second driving guide wire A, 403, first driving guide wire B, 404, second driving guide wire B, 405, third driving guide wire A, 406, fourth driving guide wire A, 407, third driving guide wire B, 408, fourth driving guide wire B, 409, first pitch guide wire A, 410, second pitch guide wire A, 411, first pitch guide wire B, 412, second pitch guide wire B;

[0048] 501, first bevel gear A, 502, second bevel gear A, 503, third bevel gear A, 504, first double bevel gear, 505, second double bevel gear, 506, third double bevel gear, 507, first bevel gear shaft, 508, double bevel gear support, 509, first bevel gear B, 510, second bevel gear B, 511, third bevel gear B, 512, second bevel gear shaft, 513, first rotation center, 514, second rotation center, 515, third rotation center;

[0049] 600, end effector, 601, fixed joint, 602, end pitch center axis, 603, end pulley axis, 604, first end pulley, 605, second end pulley, 606, pitch joint, 607, end deflection center axis, 608, clamp A, 609, clamp B;

[0050] 700. Control unit. 701. Operating shaft A. 702. Operating shaft B. 703. Finger sleeve A. 704. Finger sleeve B. 705. Winding wheel A. 706. Winding wheel B. 707. Deflection center axis of control unit. 708. Pulley A. 709. Pulley B. 710. Upper mounting part. 711. Lower mounting part. 712. Rotating upper fixing part. 713. Rotating lower fixing part. DETAILED DESCRIPTION

[0051] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0052] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, 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 limiting the present invention.

[0053] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance, or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0054] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0056] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0057] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0058] A modular quick-change transmission device provided by an embodiment of the present invention is as follows: Figure 1 As shown, it includes a first transmission assembly 100, a second transmission assembly 200 and a connecting portion 300 detachably connected between the first transmission assembly 100 and the second transmission assembly 200. The first transmission assembly 100, the connecting portion 300 and the second transmission assembly 200 all include brackets, namely, a first bracket 101 of the first transmission assembly 100, a second bracket 201 of the second transmission assembly 200, and a third bracket 301 of the connecting portion 300, gear shafts installed on the brackets, namely, a first gear shaft 102 of the first transmission assembly 100, a second gear shaft 202 of the second transmission assembly 200, and a third gear shaft 302 of the connecting portion 300, at least one gear rotatable around the gear shafts, and a positioning device, namely, a first gear A103 corresponding to the first gear shaft 102, a first gear B203 corresponding to the second gear shaft 202, and a first gear C corresponding to the third gear shaft 302 303, the positioning device of the first transmission component 100 and the second transmission component 200 includes a positioning rod, that is, the first positioning rod 104 of the first transmission component 100 and the second positioning rod 204 of the second transmission component 200, the first positioning rod 104 passes through the first bracket 101 and is provided with a movable range for resetting and locking the first gear A103 during installation or unlocking the first gear A103 during transmission, the second positioning rod 204 passes through the second bracket 201 and is provided with a movable range for resetting and locking the first gear B203 during installation or unlocking the first gear B203 during transmission, the positioning device of the connecting part 300 includes a positioning shaft 304, the positioning shaft 304 passes through the third bracket 301 and the first gear C303 and can be moved and pulled out; the positioning rod and the positioning shaft enable the gears of the first transmission component and the second transmission component to quickly mesh with each other when the connecting part is installed, so as to form a detachable transmission mechanism.

[0059] When the first transmission assembly 100 is installed on the connecting part 300, the first positioning rod 104 is in the starting position, and the first gear A103 is in the initial position and cannot rotate; the second positioning rod 204 moves to the starting position, driving the first gear B203 and the first gear C303 to the starting position and cannot rotate. At this time, the three sets of gear parts, the first gear A103, the first gear B203 and the first gear C303, can be accurately docked and meshed and installed.

[0060] When the connecting part 300 is installed in the second transmission assembly 200, the second positioning rod 204 moves to the starting position, and the first gear B203 cannot rotate. The positioning shaft 304 fixes the first gear C303 at the starting position, and the first gear C303 cannot rotate. At this time, the first gear B203 and the first gear C303 can be precisely docked and meshed for installation.

[0061] like Figure 1 As shown, the positioning device of the first transmission assembly 100 also includes a first spring shaft 105 and a first return spring 106. The first spring shaft 105 is installed on the first bracket 101, and the two ends of the first return spring 106 are respectively installed on the first spring shaft 105 and the first gear A103, which is used to assist the first gear A103 to reset in a stationary state.

[0062] like Figure 1 As shown, the positioning device of the second transmission assembly 200 also includes a second spring shaft 205 and a second return spring 206. The second spring shaft 205 is installed on the bracket, and the two ends of the second return spring 206 are respectively installed on the second spring shaft 205 and the first gear B203, which is used to assist the first gear B203 to reset in a stationary state.

[0063] like Figure 1 As shown, the first transmission assembly 100 also includes a first pulley shaft 107 and at least one first pulley 108 that can rotate around the first pulley shaft 107. One end of the first drive guide wire B403 and the second drive guide wire B404 are fixedly wound around the first gear A103, and the other end contacts the first pulley 108 and extends to the far end of the first transmission assembly 100.

[0064] like Figure 1 As shown, the second transmission assembly 200 also includes a second pulley shaft 207 and at least one second pulley 208 that can rotate around the second pulley shaft 207. One end of the first drive guide wire A401 and the second drive guide wire A402 is fixedly wound around the first gear B203, and the other end contacts the second pulley 208 and extends to the far end of the second transmission assembly 200.

[0065] In other embodiments, the number of gears in the first transmission assembly 100, the second transmission assembly 200, and the connecting portion 300 is not limited to one group, and may be two or more groups, such as Figure 2As shown, the first transmission assembly 100, the second transmission assembly 200 and the connecting portion 300 include three sets of gears.

[0066] like Figure 2 As shown, the first gear B203 is mounted on the second gear shaft 202 and can rotate around the axis of the second gear shaft 202. The first drive guide wire A401 and the second drive guide wire A402 are wound around the first gear B203 and can drive the first gear B203 to rotate around the axis of the second gear shaft 202. The first gear C303 is mounted on the third gear shaft 302 and can rotate around the third gear shaft 302; the first gear A103 is mounted on the first gear shaft 102 and can rotate around the first gear shaft 102. The first drive guide wire B403 and the second drive guide wire B404 are wound around the first gear A103 and move with the rotation of the first gear A103; the first gear A103, the first gear B203, and the first gear C303 are meshed and driven with each other.

[0067] like Figure 2 As shown, the second gear B209 is mounted on the second gear shaft 202 and can rotate around the axis of the second gear shaft 202. The first pitch guide wire A409 and the second pitch guide wire A410 are wound around the second gear B209 and can drive the second gear B209 to rotate around the axis of the second gear shaft 202. The second gear C309 is mounted on the third gear shaft 302 and can rotate around the third gear shaft 302; the second gear A109 is mounted on the first gear shaft 102 and can rotate around the first gear shaft 102. The first pitch guide wire B411 and the second pitch guide wire B412 are wound around the second gear A109 and move with the rotation of the second gear A109; the second gear B209, the second gear C309, and the second gear A109 are meshed and transmitted with each other.

[0068] like Figure 2 As shown, the third gear B210 is mounted on the second gear shaft 202 and can rotate around the axis of the second gear shaft 202. The third drive guide wire A405 and the fourth drive guide wire A406 are wound around the third gear B210 and can drive the third gear B210 to rotate around the axis of the second gear shaft 202. The third gear C310 is mounted on the third gear shaft 302 and can rotate around the third gear shaft 302; the third gear A110 is mounted on the first gear shaft 102 and can rotate around the first gear shaft 102. The third drive guide wire B407 and the fourth drive guide wire B408 are wound around the third gear A110 and move with the rotation of the third gear A110; the third gear B210, the third gear C310, and the third gear A110 are meshed and transmitted with each other.

[0069] like Figure 2As shown, six second pulleys 208 are mounted on the second pulley shaft 207, the second pulley shaft 207 is mounted on the second bracket 201, and the two ends of the six second return springs 206 are respectively mounted on the first gear B203, the second gear B209, the third gear B210 and the second spring shaft 205.

[0070] like Figure 1 , Figure 2 As shown, the third gear shaft 302 is mounted on the third bracket 301. The positioning shaft 304 passes through the third bracket 301, the first gear C303, the second gear C309, and the third gear C310 in sequence.

[0071] like Figure 1 , Figure 2 As shown, six first pulleys 108 are mounted on the first pulley shaft 107, the first pulley shaft 107 is mounted on the first bracket 101, and two ends of the six first return springs 106 are respectively mounted on the first gear A103, the second gear A109, the third gear A110 and the first spring shaft 105.

[0072] like Figure 1 , Figure 2 As shown, the second positioning rod 204 moves to contact the first gear B203, the second gear B209 and the third gear B210, and the first gear B203, the second gear B209 and the third gear B210 are in the initial position and cannot rotate; because the third gear shaft 302 passes through the first gear C303, the second gear C309 and the third gear C310, the first gear C303, the second gear C309 and the third gear C310 are in the initial position and cannot rotate; the first positioning rod 104 moves to contact the first gear A103, the second gear A109 and the third gear A110 are in the initial position and cannot rotate; at this time, the three groups of gear parts can be precisely docked and meshed.

[0073] During the implementation process, after docking, the second positioning rod 204 is pulled outward and moved to the right, the positioning shaft 304 is pulled out, and the first positioning rod 104 is pulled outward and moved to the left. At this time, the three sets of gears can realize rotation transmission.

[0074] During implementation, Figure 3As shown, when the first driving guide wire A401 moves to the right and the second driving guide wire A402 moves to the left, the first gear B203 is driven to rotate clockwise along the axis A, and the first gear C303 is further driven to rotate counterclockwise along the axis B, and the first gear A103 is further driven to rotate clockwise along the axis C, and the first driving guide wire B403 is further driven to move to the right and the second driving guide wire B404 is moved to the left. The first driving guide wire A401 and the first driving guide wire B403 move in the same direction, and the second driving guide wire A402 and the second driving guide wire B404 move in the same direction.

[0075] like Figure 4 , Figure 5 As shown, the first positioning rod 104 is in contact with the side of the first gear A103, and the first gear A103 is in the initial position and cannot rotate; the second positioning rod 204 is in contact with the side of the first gear B203, and the second positioning rod 204 is located in the initial position notch 211, and the first gear B203 is in the initial position and cannot rotate; the positioning shaft 304 and the third gear shaft 302 pass through the first gear C303 at the same time, and the first gear C303 is in the initial position and cannot rotate.

[0076] When the second positioning rod 204 is pulled outward and moved rightward to the unlocking position notch 212, the positioning shaft 304 is pulled out, and the first positioning rod 104 is pulled outward and moved leftward to the unlocking position notch (not shown), the transmission mechanism shown in the figure can realize rotation transmission.

[0077] After the transmission device is activated, the device is not in the initial position. The two first return springs 106 balance the first gear A103, so that the first gear A103 approaches the initial position. The two second return springs 206 balance the first gear B203, so that the first gear B203 approaches the initial position. The first positioning rod 104 is further pulled outward and moved to the right to the initial position gap, or the second positioning rod 204 is pulled outward and moved to the left to the initial position gap 211. The first gear C303 is reset along with the first gear A103 and the first gear B203. At this time, the device returns to the initial position. When it is necessary to disassemble or replace the end effector, the above-mentioned operation can also be performed. Since the first gear C303 and the first gear B203 have been reset, the first transmission assembly 100 can be disassembled and changed.

[0078] like Figure 6 , Figure 7 , Figure 8As shown, the first transmission assembly 100 further includes a first limiting center axis 113, a first connector 114, a first button 115, a first spring 116 and a first quick-connect base 117 for fixing the mounting bracket; the first limiting center axis 113 passes through the first connector 114 and is installed on the first quick-connect base 117, the first connector 114 can rotate around the first limiting center axis 113, and the first button 115 and the first spring 116 are respectively installed at both ends of the first connector 114, and the other end of the first spring 116 is installed on the raised portion of the first quick-connect base 117. The first button 115 is manually pressed to compress or release the first spring 116, driving the first connector 114 to rotate, thereby completing the connection or disconnection between the third bracket 301 of the connecting part 300 and the first connector 114.

[0079] like Figure 6 , Figure 7 , Figure 8 As shown, the second transmission assembly 200 further includes a second limiting center axis 213, a second connector 214, a second button 215, a second spring 216 and a second quick-connect base 217 for fixing the mounting bracket; the second limiting center axis 213 passes through the second connector 214 and is installed on the second quick-connect base 217, the second connector 214 can rotate around the second limiting center axis 213, and the second button 215 and the second spring 216 are respectively installed at both ends of the second connector 214, and the other end of the second spring 216 is installed on the raised portion of the second quick-connect base 217. The second spring 216 is compressed or released by manually pressing the second button 215, driving the second connector 214 to rotate, thereby completing the connection or disconnection between the third bracket 301 of the connecting part 300 and the second connector 214.

[0080] like Figure 6 , Figure 7 , Figure 8 As shown, the second bracket 201 is fixedly mounted on the second quick-connect base 217, the second limiting center axis 213 passes through the second connector 214 and is mounted on the second quick-connect base 217, the second connector 214 can rotate around the second limiting center axis 213, the second button 215 is mounted on the second connector 214, and the second spring 216 is mounted on the second connector 214 and the second quick-connect base 217, so that the second button 215 is pressed and the second spring 216 is compressed, and the second connector 214 can rotate counterclockwise around the second limiting center axis 213; when the pressure is released, the second spring 216 is released and the second connector 214 is pushed to rotate clockwise around the second limiting center axis 213.

[0081] like Figure 6 , Figure 7 , Figure 8 As shown, the third bracket 301 is fixedly mounted on the third housing 311 .

[0082] like Figure 6 , Figure 7 , Figure 8 As shown, the first bracket 101 is fixedly mounted on the first quick-connect base 117, the first limiting center axis 113 passes through the first plug-in connector 114 and is mounted on the first quick-connect base 117, the first plug-in connector 114 can rotate around the first limiting center axis 113, the first button 115 is mounted on the first plug-in connector 114, and the first spring 116 is mounted on the first plug-in connector 114 and the first quick-connect base 117, so that by pressing the first button 115 and compressing the first spring 116, the first plug-in connector 114 can rotate clockwise around the first limiting center axis 113; when the pressure is released, the first spring 116 is released and pushes the first plug-in connector 114 to rotate counterclockwise around the first limiting center axis 113.

[0083] like Figure 6 , Figure 7 , Figure 8 As shown, when the connecting part 300 and the second transmission assembly 200 are plugged in, the second spring 216 is compressed. When plugged in place, the second spring 216 is automatically released, and the second connector 214 and the second bracket 201 are hung and fixed; when the connecting part 300 and the first transmission assembly 100 are plugged in, the first spring 116 is compressed. When plugged in place, the first spring 116 is automatically released, and the first connector 114 and the first bracket 101 are hung and fixed.

[0084] like Figure 6 , Figure 7 , Figure 8 As shown, when replacing the connecting part 300 and the second transmission component 200, press the second buttons 215 on both sides, the second connector 214 and the second bracket 201 are disengaged, and the connecting part 300 can be pulled out; when replacing the connecting part 300 and the first transmission component 100, compress the first spring 116. When the connection is in place, the first spring 116 is automatically released, and the first connector 114 and the support are connected, press the first buttons 115 on both sides, the first connector 114 and the first bracket 101 are disengaged, and the first transmission component 100 can be pulled out.

[0085] like Figure 6 , Figure 7 , Figure 8 As shown, when the third bracket 301 is plugged into the second connector 214, the upper guide surface 218 and the lower guide surface 219 of the second bracket 201 guide the third bracket 301 to move along the expected position, thereby achieving precise position plugging.

[0086] like Fig. 9As shown, in another embodiment, the gears of the first transmission assembly 100 and the second transmission assembly 200 are bevel gears, and the gear of the connecting portion 300 is a double bevel gear. In addition, in addition to bevel gears and double bevel gears, the gear transmission structure can also be replaced by other structures with similar transmission functions.

[0087] like Fig. 9 As shown, the first bevel gear A501 is mounted on the first bevel gear shaft 507 and can rotate around the axis of the first bevel gear shaft 507. The first drive guide wire A401 and the second drive guide wire A402 are wound around the first bevel gear A501 and can drive the first bevel gear A501 to rotate around the axis of the first bevel gear shaft 507. The first double bevel gear 504 is mounted on the double bevel gear support 508 and can rotate around the first rotation center 513. The first bevel gear B509 is mounted on the second bevel gear shaft 512 and can rotate around the axis of the second bevel gear shaft 512. The first drive guide wire B403 and the second drive guide wire B404 are wound around the first bevel gear B509 and can drive the first bevel gear B509 to rotate around the axis of the second bevel gear shaft 512. The first bevel gear A501 is meshed with the first double bevel gear 504, and the first bevel gear B509 is meshed with the first double bevel gear 504.

[0088] The second bevel gear A502 is mounted on the first bevel gear shaft 507 and can rotate around the axis of the first bevel gear shaft 507. The first pitch guide wire A409 and the second pitch guide wire A410 are wound around the second bevel gear A502 and can drive the second bevel gear A502 to rotate around the axis of the first bevel gear shaft 507. The second double bevel gear 505 is mounted on the double bevel gear support 508 and can rotate around the second rotation center 514. The second bevel gear B510 is mounted on the second bevel gear shaft 512 and can rotate around the axis of the second bevel gear shaft 512. The first pitch guide wire B411 and the second pitch guide wire B412 are wound around the second bevel gear B510 and can drive the second bevel gear B510 to rotate around the axis of the second bevel gear shaft 512. The second bevel gear A502 is meshed with the second double bevel gear 505, and the second bevel gear B510 is meshed with the second double bevel gear 505.

[0089] The third bevel gear A503 is mounted on the first bevel gear shaft 507 and can rotate around the axis of the first bevel gear shaft 507. The third drive guide wire A405 and the fourth drive guide wire A406 are wound around the third bevel gear A503 and can drive the third bevel gear A503 to rotate around the axis of the first bevel gear shaft 507. The third double bevel gear 506 is mounted on the double bevel gear support 508 and can rotate around the third rotation center 515. The third bevel gear A503 is mounted on the second bevel gear shaft 512 and can rotate around the axis of the second bevel gear shaft 512. The third drive guide wire B407 and the fourth drive guide wire B408 are wound around the third bevel gear B511 and can drive the third bevel gear B511 to rotate around the axis of the second bevel gear shaft 512. The third bevel gear A503 is meshed with the third double bevel gear 506, and the third bevel gear B511 is meshed with the third double bevel gear 506.

[0090] like Fig. 9 As shown, there are also positioning shafts 304, first positioning rods 104, and second positioning rods 204 for precise docking and meshing during disassembly. Compared with simple wire transmission, the bevel gear transmission has high transmission efficiency, stability, reliability, and high precision; it is particularly suitable for replacing wire transmission, where high precision requirements, high tension, and wire and pulleys are prone to slippage. The transmission ratio can be changed by changing the number of bevel gear teeth as required, greatly improving the control and use performance, and the application range is very wide.

[0091] like Fig.10 As shown, when the first driving guide wire A401 moves downward and the second driving guide wire A402 moves upward, the first bevel gear A501 is driven to rotate counterclockwise along the axis A, and the first double bevel gear 504 is further driven to rotate counterclockwise along the axis C, and the first bevel gear B509 is further driven to rotate clockwise along the axis B, and the first driving guide wire B403 is further driven to move downward and the second driving guide wire B404 is moved upward. The first driving guide wire A401 and the first driving guide wire B403 move in the same direction, and the second driving guide wire A402 and the second driving guide wire B404 move in the same direction.

[0092] The modular quick-change transmission device described in the above embodiment can be applied to various minimally invasive surgical instruments in various occasions where minimally invasive surgery is required. In one specific embodiment, Fig.11 As shown, a scenario in which a modular quick-change transmission device is applied to a minimally invasive surgical instrument includes an end effector 600 disposed at the distal end of a first transmission assembly 100, and a control unit 700 disposed at the distal end of a second transmission assembly 200. The control unit 700 controls the movement of the end effector 600 by driving a guide wire.

[0093] like Figures 2 to 10As shown, as an embodiment of a minimally invasive surgical instrument, three gears are installed on the gear shafts of the first transmission assembly 100, the second transmission assembly 200 and the connecting part 300. In the assembled state, the three sets of gears are meshed and transmitted with each other. Two ends of two sets of deflection drive guide wires are fixedly wound on two of the gears of the first transmission assembly 100 and the second transmission assembly 200, and the other ends of the deflection drive guide wires extend to the control part 700 or the end effector 600. One end of a set of pitch drive guide wires is fixedly wound on the third gear of the first transmission assembly 100 and the second transmission assembly 200, and the other ends of the pitch drive guide wires extend to the control part 700 or the end effector 600. In the initial state, the positioning shaft 304 of the connecting part 300 passes through the three gears for locking.

[0094] like Fig.12 As shown, the structure of the control part 700 includes: an operating shaft A701 and a finger sleeve A703 and a winding wheel A705 fixedly installed on the operating shaft A701; an operating shaft B702 and a finger sleeve B704 and a winding wheel B706 fixedly installed on the operating shaft B702; a control part deflection center axis 707; and a pulley A708 and a pulley B709 rotatably installed on the control part deflection center axis 707; two deflection drive guide wires, the first drive guide wire A401 and the second drive guide wire A402, are sequentially wound around the winding wheel A and the pulley A and then extend to the distal end of the control part, and the other two deflection drive guide wires, the third drive guide wire A405 and the fourth drive guide wire A406 are sequentially wound around the winding wheel B and the pulley B and then extend to the second transmission assembly 200.

[0095] like Fig.13 As shown, the structure of the end effector 600 includes: a fixed joint 601; an end pitch center axis 602 and an end pulley axis 603 mounted on the fixed joint 601; a first end pulley 604 rotatably mounted on the end pulley axis 603; a second end pulley 605 and a pitch joint 606 rotatably mounted on the end pitch center axis 602; an end deflection center axis 607 mounted on the pitch joint 606; and a clamp A 608 and a clamp B 609 rotatably mounted on the end deflection center axis 607;

[0096] After the first transmission assembly 100 extends four deflection drive guide wires, the first drive guide wire B403, the second drive guide wire B404, the third drive guide wire B407, and the fourth drive guide wire B408, which contact the first end pulley 604 and the second end pulley 605 in sequence, two deflection drive guide wires, the first drive guide wire B403 and the second drive guide wire B404, are wound around the clamp A608 and fixed, and the other two deflection drive guide wires, the third drive guide wire B407 and the fourth drive guide wire B408, are wound around the clamp B609 and fixed.

[0097] like Fig.12 , Fig.13 As shown, the first driving guide wire B403 and the second driving guide wire B404 are wound and fixed on the clamp A608, the third driving guide wire B407 and the fourth driving guide wire B408 are wound and fixed on the clamp B609, and the clamp A608 and the clamp B609 are installed on the pitch joint 606 through the terminal deflection center axis 607, and can rotate around the center of the terminal deflection center axis 607. The pitch joint 606 is installed on the fixed joint 601 through the terminal pitch center axis 602, and the pitch joint 606 can rotate around the terminal pitch center axis 602. Multiple first terminal pulleys 604 are respectively installed on the fixed joint 601 through the terminal pitch center axis 602 and the terminal pulley axis 603, and each first terminal pulley 604 can rotate independently. The first driving guide wire B403, the second driving guide wire B404, the third driving guide wire B407, and the fourth driving guide wire B408 pass through the pitch joint 606, the first end pulley 604, and the fixed joint 601 in sequence as shown in the figure. The first pitch guide wire B411, the second pitch guide wire B412 ( Fig.13 (not shown) is fixed to the pitch joint 606.

[0098] like Fig.12 As shown, the pulley A708 is installed on the upper mounting member 710 and the lower mounting member 711 through the deflection center axis 707 of the control unit, and the pulley A708 can rotate independently. The finger sleeve A703 and the winding wheel A705 are fixedly installed with the operating shaft A701, and are integrally installed between the rotating upper fixing member 712 and the rotating lower fixing member 713, and can rotate. The finger sleeve B704 and the winding wheel B706 are fixedly installed with the operating shaft B702, and are integrally installed between the rotating upper fixing member 712 and the rotating lower fixing member 713, and can rotate. The first drive guide wire A401 and the second drive guide wire A402 pass through the pulley A708 in sequence as shown in the figure and are fixed to the winding wheel A705. The third drive guide wire A405 and the fourth drive guide wire A406 pass through the pulley B709 in sequence as shown in the figure and are fixed to the winding wheel B706.

[0099] like Fig.12 , Fig.13 As shown, when the control unit 700 rotates clockwise as a whole, the third drive guide wire A405 and the second drive guide wire A402 are applied with tension, the fourth drive guide wire A406 and the first drive guide wire A401 are reduced in tension, the clamps A608 and the clamps B609 are simultaneously subjected to clockwise tension, and the whole rotates clockwise around the center of the terminal deflection center axis 607. When the control unit 700 rotates counterclockwise as a whole, the fourth drive guide wire A406 and the first drive guide wire A401 are applied with tension, the third drive guide wire A405 and the second drive guide wire A402 are reduced in tension, the clamps A608 and the clamps B609 are simultaneously subjected to counterclockwise tension, and the whole rotates counterclockwise around the center of the terminal deflection center axis 607.

[0100] When the finger sleeve B704 rotates clockwise around the center of the operating shaft B702, the third driving guide wire A405 is exerted with tension, the fourth driving guide wire A406 is reduced in tension, and the clamp A608 rotates clockwise around the center of the terminal deflection center axis 607. When the finger sleeve B704 rotates counterclockwise around the center of the operating shaft B702, the second driving guide wire B404 is exerted with tension, the first driving guide wire B403 is reduced in tension, and the clamp A608 rotates counterclockwise around the center of the terminal deflection center axis 607.

[0101] When the finger sleeve A703 rotates clockwise around the center of the operating axis A701, a tension is applied to the first drive guide wire A401, the tension of the second drive guide wire A402 is reduced, and the clamp B609 rotates clockwise around the center of the terminal deflection center axis 607. When the finger sleeve A703 rotates counterclockwise around the center of the operating axis A701, a tension is applied to the second drive guide wire A402, the tension of the first drive guide wire A401 is reduced, and the clamp B609 rotates counterclockwise around the center of the terminal deflection center axis 607.

[0102] When the finger sleeve A703 and the finger sleeve B704 are moved away from each other to open, the clamps A608 and the clamps B609 perform the opening action; when the finger sleeve A703 and the finger sleeve B704 are moved closer to each other to close, the clamps A608 and the clamps B609 perform the closing action.

[0103] It should be noted that in all possible embodiments, the number of transmission gear pairs can be increased or decreased according to the actual number of transmission wires to meet various surgical requirements.

[0104] A modular quick-change transmission device and a minimally invasive surgical instrument of the present invention are suitable for the field of medical instruments. The modular quick-change transmission device includes a first transmission assembly, a second transmission assembly, and a connecting portion detachably connected between the first transmission assembly and the second transmission assembly. By providing a positioning device on the first transmission assembly and / or the second transmission assembly, it is possible to achieve a quick reset lock of the gears during installation or a quick unlocking of the gears during transmission. The positioning shaft of the connecting portion is used to enable the first transmission assembly, the second transmission assembly, and the connecting portion to be installed so that each gear quickly meshes with each other to form a detachable transmission mechanism. The modular quick-change transmission device can achieve quick disassembly and assembly of the detachable transmission mechanism and motion transmission of the modular device. The minimally invasive surgical instrument of the present invention includes a modular quick-change transmission device, which can meet the demand for quick disassembly and replacement of the actuator end during surgery, and solves the problems of complex device operation, long switching speed adjustment time and response time between different mechanisms in existing surgical instruments.

[0105] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A modular quick-change transmission device, characterized in that: The invention comprises a first transmission assembly, a second transmission assembly and a connecting part detachably connected between the first transmission assembly and the second transmission assembly, wherein the first transmission assembly, the connecting part and the second transmission assembly all comprise a bracket, a gear shaft mounted on the bracket, at least one gear mounted on the gear shaft and rotatable around the gear shaft and a positioning device, wherein the positioning device of the first transmission assembly and / or the second transmission assembly comprises a positioning rod, wherein the positioning rod passes through the bracket and is provided with a movable range, wherein the positioning rod resets and locks the gears of the first transmission assembly and the second transmission assembly when they are installed or unlocks the gears during transmission, and the positioning device of the connecting part comprises a positioning shaft, wherein the positioning shaft passes through the bracket and the gear of the connecting part and can be moved and withdrawn; The positioning rod and the positioning shaft enable the gears of the first transmission assembly and the second transmission assembly to mesh quickly when being installed with the connecting part, thereby forming a detachable transmission mechanism; The positioning device of the first transmission assembly and / or the second transmission assembly further comprises a spring shaft and a reset spring, wherein the spring shaft is mounted on a bracket, and two ends of the reset spring are respectively mounted on the spring shaft and a gear to assist the gear in resetting when in a stationary state.

2. The modular quick-change transmission device according to claim 1, characterized in that: The first transmission assembly and / or the second transmission assembly also includes a pulley shaft and at least one pulley rotatable around the pulley shaft. One end of the drive guide wire is fixedly wound around the gear, and the other end contacts the pulley and extends to the distal end of the first transmission assembly or the distal end of the second transmission assembly.

3. The modular quick-change transmission device according to claim 1, characterized in that: The first transmission assembly and / or the second transmission assembly further includes a limiting center axis, a connector, a button, a spring and a quick-connect base for fixing the mounting bracket; the limiting center axis passes through the connector and is installed on the quick-connect base, the connector can rotate around the limiting center axis, a button and one end of a spring are respectively installed at both ends of the connector, and the other end of the spring is installed on the raised part of the quick-connect base. The spring is compressed or released by manually pressing a button to drive the connector to rotate, thereby completing the connection or disconnection between the connecting part bracket and the connector.

4. The modular quick-change transmission device according to claim 1, characterized in that: The gears of the first transmission assembly and the second transmission assembly are bevel gears, and the gear of the connecting portion is a double bevel gear.

5. A minimally invasive surgical instrument, characterized in that: It comprises a modular quick-change transmission device as described in any one of claims 1 to 4, an end effector arranged at the distal end of the first transmission component, and a control unit arranged at the distal end of the second transmission component, wherein the control unit controls the movement of the end effector by driving a guide wire.

6. The minimally invasive surgical instrument according to claim 5, characterized in that: Three gears are installed on the gear shafts of the first transmission assembly, the second transmission assembly and the connecting part. When assembled, the three groups of gears mesh with each other for transmission. Two of the gears of the first transmission assembly and the second transmission assembly are respectively fixedly wound with one end of two groups of deflection drive guide wires, and the other end of the deflection drive guide wires extends to the control part or the end actuator. One end of a group of pitch drive guide wires is respectively fixedly wound around the third gear of the first transmission assembly and the second transmission assembly, and the other end of the pitch drive guide wires extends to the control part or the end actuator.

7. The minimally invasive surgical instrument according to claim 6, characterized in that: In the initial state, the positioning shaft of the connecting part passes through three gears for locking.

8. The minimally invasive surgical instrument according to claim 6, characterized in that: The structure of the control part includes: an operating shaft A, a finger sleeve A and a winding wheel A fixedly mounted on the operating shaft A; an operating shaft B, a finger sleeve B and a winding wheel B fixedly mounted on the operating shaft B; a deflection center axis of the control part; and pulleys A and B rotatably mounted on the deflection center axis of the control part; Two deflection drive guide wires are sequentially wound around the winding wheel A and pulley A and then extend to the distal end of the control unit, and another two deflection drive guide wires are sequentially wound around the winding wheel B and pulley B and then extend to the second transmission assembly.

9. The minimally invasive surgical instrument according to claim 6, characterized in that: The structure of the end effector comprises: a fixed joint; an end pitch center axis and an end pulley axis mounted on the fixed joint; a first end pulley rotatably mounted on the end pulley axis; a second end pulley and a pitch joint rotatably mounted on the end pitch center axis; an end deflection center axis mounted on the pitch joint; and clamps A and B rotatably mounted on the end deflection center axis; After the first transmission assembly extends four deflection drive guide wires that contact the first end pulley and the second end pulley in sequence, two deflection drive guide wires are wound around the clamp A and fixed, and the other two deflection drive guide wires are wound around the clamp B and fixed.

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