Driving device of surgical instrument

Abstract

The invention discloses a driving device of a surgical instrument, and relates to the technical field of medical instruments. The driving device of the surgical instrument comprises a translation mechanism and a rotating mechanism, a mounting seat is arranged on the translation mechanism, and an output shaft is arranged on the mounting seat. The rotating mechanism comprises a first motor and a first transmission assembly, one end of the first transmission assembly is connected with the first motor, the other end of the first transmission assembly is connected with the output shaft, and the first motor is fixed to the mounting base or arranged away from the mounting base. When high-temperature sterilization is carried out on the surgical instrument and components nearby the surgical instrument before an operation, the components nearby the surgical instrument are light in weight and convenient to disassemble and assemble, and high-temperature sterilization does not need to be carried out on the first motor, so that the performance of the first motor is prevented from being influenced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a driving device for a surgical instrument. Background Art

[0002] Traditional passive minimally invasive surgical instruments require manual operation by doctors during use. In order to reduce the difficulty of surgical operations, improve the stability of surgical operations, and avoid unexpected risks caused by doctor's hand tremors. Existing minimally invasive surgical instruments drive surgical instruments through drive devices, and the surgical instruments are directly connected to the drive motor. Since the drive motor is too close to the surgical instrument, in order to ensure the safety of the operation, the surgical instrument and the motor need to be disassembled and sterilized at high temperature before the operation. Since the motor is heavy, it is not easy to disassemble and assemble, and high-temperature sterilization of the motor may affect the performance of the motor. Summary of the invention

[0003] The object of the present invention is to provide a driving device for a surgical instrument, so as to facilitate the disassembly and assembly of components near the surgical instrument, while avoiding high-temperature sterilization of the motor and ensuring the performance of the motor.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] A driving device for a surgical instrument, comprising:

[0006] Two or more translation mechanisms, each translation mechanism is provided with a mounting seat, and each mounting seat is provided with an output shaft;

[0007] The rotating mechanism comprises a first motor and a first transmission assembly, one end of the first transmission assembly is connected to the first motor, and the other end is connected to the output shaft; the first motor is fixed on the mounting seat or is arranged away from the mounting seat.

[0008] As an optional solution of the driving device of the surgical instrument, the translation mechanism includes a first translation mechanism and a second translation mechanism that move in relative parallel, the first translation mechanism includes a first translation mounting plate, a first guide rail is arranged on the base, and the first translation mounting plate is slidably arranged on the first guide rail; the second translation mechanism includes a second translation mounting plate, a second guide rail is arranged on the first translation mounting plate, and the second translation mounting plate is slidably arranged on the second guide rail;

[0009] The mounting seat is arranged on the second translation mounting plate. When the first motor is arranged away from the mounting seat, the first motor is installed on the first translation mounting plate, and the first transmission assembly is telescopically arranged.

[0010] As an optional solution for the driving device of the surgical instrument, the first transmission assembly includes a telescopic component, the telescopic component includes a sleeve and a connecting shaft, one end of the sleeve is connected to the first motor, and the other end is provided with a matching hole along the axial direction of the sleeve, the connecting shaft is slidably arranged in the matching hole, and the matching hole can limit the rotation of the connecting shaft relative to the sleeve, and the output shaft is connected to the connecting shaft.

[0011] As an optional solution for the driving device of the surgical instrument, the sleeve includes a rotating shaft and a sleeve, the rotating shaft is connected to the first motor, the sleeve is connected to the end of the rotating shaft away from the first motor, the matching hole includes a sliding hole and a limiting hole, the sliding hole is arranged in the rotating shaft, the limiting hole is arranged in the sleeve, and the limiting hole is used to limit the rotation of the connecting shaft relative to the sleeve.

[0012] As an optional solution for the driving device of the surgical instrument, the cross section of the limiting hole is a polygon or a combination of straight lines and arc lines.

[0013] As an optional solution of the driving device of the surgical instrument, the axis of the main shaft of the first motor is perpendicular to the axis of the output shaft, and the first transmission assembly further includes a steering component, which is arranged between the first motor and the sleeve or between the connecting shaft and the output shaft;

[0014] The steering component includes a first bevel gear and a second bevel gear, the first bevel gear is meshed with the second bevel gear for transmission, and the axis of the first bevel gear is perpendicular to the axis of the second bevel gear.

[0015] As an optional solution for the driving device of the surgical instrument, the first transmission assembly includes a transmission member, a driving wheel and a driven wheel, the first motor is connected to the driving wheel, the driven wheel is connected to the output shaft, and the driven wheel can move with the mounting seat, the transmission member is arranged between the driving wheel and the driven wheel, and the tension of the transmission member is adjustable.

[0016] As an optional solution for the driving device of the surgical instrument, the first transmission assembly also includes a tensioning compensation wheel, a first connecting rod and a limiting groove. The tensioning compensation wheel is arranged between the driving wheel and the driven wheel and cooperates with the transmission member. The tensioning compensation wheel and the driven wheel are connected by the first connecting rod. The tensioning compensation wheel is movably arranged in the limiting groove, and the limiting groove is used to limit the movement trajectory of the tensioning compensation wheel.

[0017] As an optional solution for the driving device of the surgical instrument, two of the tensioning compensation wheels and two of the first connecting rods are provided, the two tensioning compensation wheels and the two first connecting rods are connected one-to-one, and the center line of the two tensioning compensation wheels is perpendicular to the center line of the driving wheel and the driven wheel, the two tensioning compensation wheels are both arranged in the limiting groove, and the driven wheel moves with the mounting seat to drive the two tensioning compensation wheels to move towards or away from each other.

[0018] As an optional solution for the driving device of the surgical instrument, the translation mechanism includes a second motor, a second transmission assembly and a translation mounting plate, one end of the second transmission assembly is connected to the second motor, and the other end is connected to the translation mounting plate, and the second transmission assembly is a screw nut transmission assembly, a synchronous belt pulley transmission assembly, a gear rack transmission assembly or a crank slider transmission assembly.

[0019] Beneficial effects of the present invention:

[0020] The driving device of the surgical instrument provided by the present invention has a mounting seat on the translation mechanism, and the output shaft connected to the surgical instrument is arranged on the mounting seat. Two or more translation mechanisms can drive the surgical instrument to move in any one direction, two directions or three directions among the three directions of the X-axis, the Y-axis and the Z-axis. The rotating mechanism that drives the output shaft to rotate includes a first motor and a first transmission assembly. When the first motor is fixed on the mounting seat, the first motor is connected to the output shaft through the first transmission assembly; before the operation, there is no need to disassemble the first motor, and only the first transmission assembly and the output shaft need to be disassembled and sterilized at high temperature. When the first motor is set away from the mounting seat, since the first motor is far away from the output shaft, there is no need to disassemble the first motor for high-temperature sterilization. When the driving device of the surgical instrument is subjected to high-temperature sterilization of the surgical instrument and its nearby components before the operation, the weight of the components near the surgical instrument is small, which is convenient for disassembly and assembly, and there is no need to perform high-temperature sterilization on the first motor to avoid affecting the performance of the first motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic structural diagram of a driving device for a surgical instrument provided by an embodiment of the present invention, in which two translation mechanisms move relatively parallel to each other and a first motor is fixed on a mounting seat;

[0022] Figure 2 is a schematic diagram of the structure of two translation mechanisms moving vertically relative to each other provided by an embodiment of the present invention;

[0023] Figure 3 is a structural schematic diagram of a second transmission assembly provided by an embodiment of the present invention being a synchronous belt pulley transmission assembly;

[0024] Figure 4is a structural schematic diagram of a second transmission assembly provided by an embodiment of the present invention, which is a gear rack meshing transmission assembly;

[0025] Figure 5 is a structural schematic diagram of a second transmission assembly provided by an embodiment of the present invention being a crank slider transmission assembly;

[0026] Figure 6 It is a schematic structural diagram of a driving device for a surgical instrument provided by an embodiment of the present invention, in which two translation mechanisms move in parallel relative to each other and a first motor is arranged away from a mounting seat;

[0027] Figure 7 It is a structural schematic diagram of a first transmission assembly and an output shaft connected to a hidden mounting seat provided by an embodiment of the present invention;

[0028] Figure 8 is a schematic diagram of the structure of a telescopic component provided by an embodiment of the present invention;

[0029] Fig. 9 is a schematic structural diagram of a first sleeve provided by an embodiment of the present invention;

[0030] Fig.10 is a schematic structural diagram of a second sleeve provided by an embodiment of the present invention;

[0031] Fig.11 is a schematic structural diagram of a third sleeve provided by an embodiment of the present invention;

[0032] Fig.12 is a structural schematic diagram of a second first transmission assembly provided by an embodiment of the present invention;

[0033] Fig.13 is a top view of a second first transmission assembly provided by an embodiment of the present invention;

[0034] Fig.14 is a schematic diagram of a second first transmission assembly in an initial state provided by an embodiment of the present invention;

[0035] Fig.15 It is a schematic diagram of the second first transmission component provided by an embodiment of the present invention after moving with the output shaft.

[0036] In the figure:

[0037] 1. Translation mechanism; 101. First translation mechanism; 1011. First translation mounting plate; 1012. First lead screw; 1013. First nut; 1014. First slider; 1015. First guide rail; 102. Second translation mechanism; 1021. Second translation mounting plate; 1022. Second lead screw; 1023. Second nut; 1024. Second slider; 1025. Second guide rail;

[0038] 11. second motor; 12. second transmission assembly; 1211. synchronous belt; 1212. driving wheel; 1213. tensioning wheel; 1214. steering wheel; 1215. supporting wheel; 1221. driving gear; 1222. rack; 1231. crank; 1232. second connecting rod; 13. translation mounting plate;

[0039] 2. Rotating mechanism;

[0040] 21. first motor; 22. first transmission assembly; 221. rotating shaft; 222. sleeve; 2221. limiting hole; 223. connecting shaft; 224. first bevel gear; 225. second bevel gear; 226. transmission member; 227. driving wheel; 228. driven wheel; 229. tensioning compensation wheel; 2291. first connecting rod; 2292. limiting groove;

[0041] 3. Mounting seat;

[0042] 4. Output shaft;

[0043] 5. Support plate. DETAILED DESCRIPTION

[0044] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0045] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0046] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection or a detachable 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] Unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0048] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0049] like Figure 1-Figure 5 As shown, this embodiment provides a driving device for a surgical instrument, including a rotating mechanism 2 and two or more translation mechanisms 1, a mounting seat 3 is provided on the translation mechanism 1, an output shaft 4 is provided on the mounting seat 3, the output shaft 4 is connected to the surgical instrument, the rotating mechanism 2 is connected to the output shaft 4, and is used to drive the output shaft 4 to rotate, and the output shaft 4 drives the surgical instrument to rotate. The output shaft 4 can be directly connected to the surgical instrument, and can also be connected to the surgical instrument through components such as a transmission line.

[0050] Two or more translation mechanisms 1 can drive the surgical instrument to move in one, two or three directions of the three directions of the X-axis, Y-axis and Z-axis to achieve translational movement of the surgical instrument. The X-axis is perpendicular to the Y-axis, and the Z-axis is perpendicular to the plane where the X-axis and the Y-axis are located. By setting the translation mechanism 1 and the rotation mechanism 2, the surgical instrument can be fed, retreated and rotated, reducing the difficulty of surgical operation, improving the stability of surgical operation, and avoiding the accidental risks caused by the doctor's manual operation.

[0051] Furthermore, the two or more translation mechanisms 1 are configured to move in parallel and / or vertically relative to each other. The two or more translation mechanisms 1 move in parallel relative to each other, which can increase the range of movement of the surgical instrument in the same direction. The two or more translation mechanisms 1 move vertically relative to each other, which can drive the surgical instrument to move in three different directions: the X-axis, the Y-axis, and the Z-axis.

[0052] Exemplarily, two translation mechanisms 1 are provided, namely a first translation mechanism 101 and a second translation mechanism 102. Figure 1As shown, the first translation mechanism 101 and the second translation mechanism 102 move in parallel with each other. The first translation mechanism 101 includes a first lead screw 1012, a first nut 1013, a first slider 1014, a first guide rail 1015 and a first translation mounting plate 1011. The second motor 11 in the first translation mechanism 101 is connected to the first lead screw 1012 through a first coupling, the first nut 1013 is in transmission connection with the first lead screw 1012, the first translation mounting plate 1011 is fixed on the first nut 1013, a first guide rail 1015 is provided on the base, the first translation mounting plate 1011 is slidably disposed on the first guide rail 1015 through the first slider 1014, the second motor 11 of the first translation mechanism 101 drives the first lead screw 1012 to rotate, and the first lead screw 1012 drives the first translation mounting plate 1011 to move along the first guide rail 1015 through the first nut 1013. The second translation mechanism 102 includes a second translation mounting plate 1021, a second lead screw 1022, a second nut 1023, a second slider 1024 and a second guide rail 1025. The second motor 11 of the second translation mechanism 102 is connected to the second lead screw 1022 through a second coupling, the second nut 1023 is transmission-connected to the second lead screw 1022, the second translation mounting plate 1021 is fixed on the second nut 1023, the second guide rail 1025 is arranged on the first translation mounting plate 1011, the second translation mounting plate 1021 is slidably arranged on the second guide rail 1025, the second translation mounting plate 1021 cooperates with the second guide rail 1025 through the second slider 1024, the second motor 11 of the second translation mechanism 102 drives the second lead screw 1022 to rotate, and the second lead screw 1022 drives the second translation mounting plate 1021 to move along the second guide rail 1025 through the second nut 1023. The second guide rail 1025 and the first guide rail 1015 are arranged in parallel, and can be arranged along the X-axis direction, or along the Y-axis direction or the Z-axis direction. In this way, the two translation mechanisms 1 can drive the surgical instrument to move along the X-axis direction, or along the Y-axis direction, or along the Z-axis direction.

[0053] Optionally, a mounting seat 3 is provided on the first translation mounting plate 1011 and / or the second translation mounting plate 1021. The mounting seat 3 is provided with at least one output shaft 4.

[0054] In this embodiment, the first translation mounting plate 1011 and the second translation mounting plate 1021 are both provided with mounting seats 3, the mounting seats 3 on the first translation mounting plate 1011 are provided with two output shafts 4, and the mounting seats 3 on the second translation mounting plate 1021 are provided with five output shafts 4. The surgical instrument is connected to any output shaft 4 according to actual conditions.

[0055] Of course, in other embodiments, the mounting seat 3 may be set only on the first translation mounting plate 1011, or only on the second translation mounting plate 1021. The specific number of output shafts 4 on each mounting seat 3 can be set according to actual needs and is not specifically limited here.

[0056] like Figure 2 As shown, the first translation mechanism 101 and the second translation mechanism 102 move vertically relative to each other. The first guide rail 1015 is arranged along the X-axis direction, and the second guide rail 1025 is arranged along the Y-axis direction. In this way, the two translation mechanisms 1 can drive the surgical instrument to move in both the X-axis and Y-axis directions.

[0057] Of course, in other embodiments, three translation mechanisms 1 may also be provided, including a third translation mechanism, and the guide rails of the third translation mechanism may be arranged along the Z-axis direction, so that the three translation mechanisms 1 can drive the surgical instruments located on the third translation mechanism to move in the X-axis, Y-axis and Z-axis directions.

[0058] Specifically, Figure 3-Figure 5 As shown, the translation mechanism 1 includes a second motor 11, a second transmission assembly 12 and a translation mounting plate 13. One end of the second transmission assembly 12 is connected to the second motor 11, and the other end is connected to the translation mounting plate 13. The second motor 11 drives the translation mounting plate 13 to move along the X-axis, Y-axis or Z-axis direction through the second transmission assembly 12, and the mounting seat 3 is fixed on the translation mounting plate 13.

[0059] Optionally, the second transmission assembly 12 is a screw-nut transmission assembly, a synchronous pulley transmission assembly, a gear rack transmission assembly or a crank slider transmission assembly.

[0060] like Figure 1 and Figure 2 As shown, the second transmission assembly 12 is a screw nut transmission assembly.

[0061] Exemplarily, in another embodiment of the present invention, Figure 3As shown, the second transmission assembly 12 is a synchronous belt pulley transmission assembly, which includes a synchronous belt 1211, a driving wheel 1212, a tensioning wheel 1213, a steering wheel 1214 and a supporting wheel 1215. The driving wheel 1212 is connected to the second motor 11, and two tensioning wheels 1213, steering wheels 1214 and supporting wheels 1215 are provided. The two steering wheels 1214 are respectively provided on both sides of the driving wheel 1212, and the tensioning wheel 1213 is provided between the driving wheel 1212 and the steering wheel. 1214, two supporting wheels 1215 are arranged above the driving wheel 1212, the synchronous belt 1211 is sequentially wound around the driving wheel 1212, the tensioning wheel 1213, the steering wheel 1214 and the supporting wheel 1215, the translation mounting plate 13 is fixed on the synchronous belt 1211 between the two supporting wheels 1215, the driving wheel 1212 rotates, and the synchronous belt 1211 is driven to move through the steering wheel 1214 and the supporting wheel 1215, and the synchronous belt 1211 drives the translation mounting plate 13 to move.

[0062] Exemplarily, in another embodiment of the present invention, Figure 4 As shown, the second transmission assembly 12 is a gear rack meshing transmission assembly, which includes a driving gear 1221 and a rack 1222. The second motor 11 is connected to the driving gear 1221, and the driving gear 1221 is meshed with the rack 1222. The translation mounting plate 13 is fixed on the rack 1222. The driving gear 1221 rotates to drive the rack 1222 to move, and the rack 1222 drives the translation mounting plate 13 to move.

[0063] Exemplarily, in another embodiment of the present invention, Figure 5 As shown, the second transmission assembly 12 is a crank slider transmission assembly, which includes a crank 1231 and a second connecting rod 1232. The second motor 11 is connected to the crank 1231, one end of the second connecting rod 1232 is hinged to the crank 1231, and the other end is hinged to the translation mounting plate 13. The second motor 11 drives the crank 1231 to rotate, and the crank 1231 drives the translation mounting plate 13 to move through the second connecting rod 1232.

[0064] Before performing an operation, it is necessary to perform high-temperature sterilization on the surgical instrument and the parts of the driving device close to the surgical instrument. The parts close to the surgical instrument include an output shaft 4 and a rotating mechanism 2 that drives the output shaft 4 to rotate. In the prior art, the output shaft 4 is driven to rotate by a first motor 21 of the rotating mechanism 2. The first motor 21 is directly connected to the surgical instrument. During high-temperature sterilization, the surgical instrument needs to be disassembled together with the first motor 21 for high-temperature sterilization. Since the first motor 21 is heavy, the operator is prone to fatigue during manual disassembly, which is inconvenient to operate. Moreover, the first motor 21 will be affected by the high temperature during high-temperature sterilization, and the performance of the first motor 21 cannot be guaranteed.

[0065] In order to solve the above technical problems, the rotating mechanism 2 includes a first motor 21 and a first transmission assembly 22. One end of the first transmission assembly 22 is connected to the first motor 21, and the other end is connected to the output shaft 4. The first motor 21 is fixed on the mounting seat 3 or is arranged away from the mounting seat 3.

[0066] Specifically, Figure 1 The first embodiment of the present invention is shown in FIG. 2 , in which the first motor 21 is fixed on the mounting base 3. Figure 1 The first motor 21 shown is mounted on the side plate of the mounting seat 3, the main shaft of the first motor 21 is horizontally arranged, extending into the mounting seat 3 and connected to the first transmission assembly 22, the first transmission assembly 22 includes two bevel gears with vertically arranged axes, one of which is connected to the main shaft of the first motor 21, and the other is connected to the output shaft 4 with the axis arranged in the vertical direction, the two bevel gears are meshed and transmitted, and the transmission direction of the force of the first motor 21 is changed, so that the transmission force of the first motor 21 is transmitted to the output shaft 4 through the two bevel gears, and the output shaft 4 drives the surgical instrument to rotate. With such a setting, before the operation, only the two bevel gears, the output shaft and the surgical instrument need to be disassembled for high temperature sterilization, without disassembling the heavy first motor 21.

[0067] Figure 6 and Fig.12 Another embodiment provided by the present invention is shown, in which the first motor 21 is arranged away from the mounting seat 3. In the first translation mechanism 101 and the second translation mechanism 102 that move in relative parallel, the mounting seat 3 is arranged on the second translation mounting plate 1021. When the first motor 21 is arranged away from the mounting seat 3, the first motor 21 is installed on the first translation mounting plate 1011, and the first transmission assembly 22 is arranged to be telescopic. In such a setting, before surgery, there is no need to disassemble the first motor 21 for high-temperature sterilization. However, since the mounting seat 3 translates with the second translation mounting plate 1021, the spacing between the output shaft 4 and the first motor 21 installed on the first translation mounting plate 1011 will change. Therefore, in order to adapt to the change in the spacing between the output shaft 4 and the first motor 21, the first transmission assembly 22 is arranged to be telescopic, so that the length of the first transmission assembly 22 can change with the translation of the second translation mounting plate 1021.

[0068] In one embodiment of the present invention, Figure 6-Figure 8As shown, the first transmission assembly 22 includes a telescopic component, the telescopic component includes a sleeve and a connecting shaft 223, one end of the sleeve is connected to the first motor 21, and the other end is provided with a matching hole along the axis direction of the sleeve, the connecting shaft 223 is slidably arranged in the matching hole, the matching hole can limit the rotation of the connecting shaft 223 relative to the sleeve, and the output shaft 4 is connected to the connecting shaft 223. By setting the telescopic component, when the rotational force of the first motor 21 is transmitted, the connecting shaft 223 is limited to rotate through the matching hole, so that the rotational force can be transmitted to the output shaft 4 through the sleeve and the connecting shaft 223, driving the surgical instrument to rotate. Specifically, the sleeve includes a rotating shaft 221 and a sleeve 222, the rotating shaft 221 is connected to the first motor 21, the sleeve 222 is connected to one end of the rotating shaft 221 away from the first motor 21, the matching hole includes a sliding hole and a limiting hole 2221, the sliding hole is arranged in the rotating shaft 221, the limiting hole 2221 is arranged in the sleeve 222, and the limiting hole 2221 is used to limit the rotation of the connecting shaft 223 relative to the sleeve. The connecting shaft 223 is configured to be compatible with the limiting hole 2221. In order to increase the distance between the first motor 21 and the output shaft 4 and avoid high-temperature sterilization of the first motor 21, the length of the sleeve is relatively long. If the limiting hole 2221 is directly processed in the sleeve, the processing difficulty is relatively large. By configuring the sleeve as a rotating shaft 221 with a relatively long length and a sleeve 222 with a relatively short length, only the limiting hole 2221 is processed in the sleeve 222, and the sliding hole is processed in the rotating shaft 221. The sliding hole is a round hole, which is easier to process than the limiting hole 2221, thereby reducing the processing difficulty. The rotating shaft 221 and the sleeve 222 can be connected by hole-shaft interference fit, screws or welding.

[0069] Specifically, the cross section of the limiting hole 2221 is a polygon or a combination of a straight line and an arc line. The function of the limiting hole 2221 is to enable the connecting shaft 223 to move along the axial direction and to limit the rotation of the connecting shaft 223.

[0070] like Fig. 9 As shown, the cross section of the limiting hole 2221 is D-shaped, that is, a combination of a straight line and a semicircular arc line.

[0071] like Fig.10 As shown, the cross section of the limiting hole 2221 is a regular hexagon. Of course, in other embodiments, the cross section of the limiting hole 2221 may also be a polygon such as a triangle or a quadrilateral.

[0072] like Fig.11 As shown, the cross section of the limiting hole 2221 is a figure composed of two straight lines and two arc lines.

[0073] When the axis of the main shaft of the first motor 21 and the axis of the output shaft 4 are located in the same straight line, the first transmission assembly 22 only needs a telescopic component.

[0074] When the axis of the main shaft of the first motor 21 is perpendicular to the axis of the output shaft 4, the first transmission assembly 22 further includes a steering component, which is arranged between the first motor 21 and the sleeve or between the connecting shaft 223 and the output shaft 4. The direction of the force is changed by the steering component.

[0075] In this embodiment, the steering component is arranged between the connecting shaft 223 and the output shaft 4, and the steering component includes a first bevel gear 224 and a second bevel gear 225. The first bevel gear 224 and the second bevel gear 225 are meshed and transmitted, and the axis of the first bevel gear 224 is perpendicular to the axis of the second bevel gear 225. The first bevel gear 224 is connected to the connecting shaft 223, and the second bevel gear 225 is connected to the output shaft 4. During high-temperature sterilization, only the steering component and the output shaft 4 need to be disassembled for high-temperature sterilization, or the second bevel gear 225 and the output shaft 4 need to be disassembled for high-temperature sterilization together, and the disassembled components are light in weight and easy to operate.

[0076] In order to control the extension of the connecting shaft 223 relative to the shaft sleeve when the translation mechanism 1 drives the mounting seat 3 to move, the connecting shaft 223 is always matched with the limiting hole 2221 to prevent the connecting shaft 223 from being separated from the sleeve 222. Figure 6 As shown, the length L of the rotating shaft 221 is set to be greater than the extension ΔL of the connecting shaft 223 relative to the sleeve, that is, the length L of the rotating shaft 221 is greater than the translation distance of the translation mechanism 1.

[0077] In order to support and install the first motor 21 and the telescopic component, a plurality of support plates 5 perpendicular to the first translation mounting plate 1011 are also provided on the first translation mounting plate 1011, and the mounting seat 3 and the plurality of support plates 5 are arranged at intervals along the length direction of the first translation mounting plate 1011. In this embodiment, five support plates 5 are provided, and the first motor 21 is installed on the support plate 5 farthest from the mounting seat 3 among the five support plates 5, and the shaft sleeve is connected to the first motor 21 and passes through three support plates 5 in sequence and then connected to the connecting shaft 223, and the connecting shaft 223 passes through the last support plate 5 and the mounting seat 3 and enters the mounting seat 3 to be connected to the first bevel gear 224.

[0078] In another embodiment of the present invention, in combination with the present invention Figure 6 The embodiment shown, such as Figure 12-Figure 15As shown, the first transmission assembly 22 includes a transmission member 226, a driving wheel 227 and a driven wheel 228. The first motor 21 is connected to the driving wheel 227, and the driven wheel 228 is connected to the output shaft 4. The driven wheel 228 can move with the mounting seat 3. The transmission member 226 is wound between the driving wheel 227 and the driven wheel 228, and the tension of the transmission member 226 is adjustable. The first motor 21 drives the driving wheel 227 to rotate, and the driving wheel 227 drives the driven wheel 228 to rotate through the transmission member 226. The driven wheel 228 drives the surgical instrument to rotate. When the translation mechanism 1 drives the mounting seat 3 to move, the driven wheel 228 can move with the output shaft 4. After the driven wheel 228 moves, in order to ensure that the transmission member 226 is always matched with the driving wheel 227 and the driven wheel 228, the tension of the transmission member 226 is set to be adjustable.

[0079] Preferably, in order to ensure the moving direction of the driven wheel 228 when it moves from the mounting seat 3, a slide groove that limits the movement of the driven wheel 228 can be provided so that the driven wheel 228 moves along the slide groove.

[0080] In order to adjust the tension of the transmission member 226, the first transmission assembly 22 further includes a tension compensation wheel 229, a first connecting rod 2291 and a limiting groove 2292. The tension compensation wheel 229 is arranged between the driving wheel 227 and the driven wheel 228, and cooperates with the transmission member 226. The tension compensation wheel 229 and the driven wheel 228 are connected through the first connecting rod 2291. The tension compensation wheel 229 is movably arranged in the limiting groove 2292, and the limiting groove 2292 is used to limit the movement track of the tension compensation wheel 229. When the driven wheel 228 moves with the mounting seat 3, the first connecting rod 2291 drives the tension compensation wheel 229 to move along the limiting groove 2292 to tension the transmission member 226.

[0081] Furthermore, two tensioning and compensating wheels 229 and two first connecting rods 2291 are provided, and the two tensioning and compensating wheels 229 and the two first connecting rods 2291 are connected one by one, and the center line of the two tensioning and compensating wheels 229 is perpendicular to the center line of the driving wheel 227 and the driven wheel 228. The two tensioning and compensating wheels 229 are both arranged in the limiting groove 2292, and the driven wheel 228 moves with the mounting seat 3 to drive the two tensioning and compensating wheels 229 to move in the direction of approaching or moving away from each other. The motion trajectory of the tensioning and compensating wheels 229 is a parabola, the driven wheel 228 moves in the direction away from the driving wheel 227, and the two tensioning and compensating wheels 229 move to a position close to the center of the parabola. Through the limiting groove 2292 and two tensioning and compensating wheels 229 symmetrically arranged on both sides of the center line between the driving wheel 227 and the driven wheel 228, it is further ensured that the driven wheel 228 moves in a straight line when moving with the mounting base 3, and the transmission member 226 is always coordinated with the driving wheel 227, the driven wheel 228 and the tensioning and compensating wheel 229.

[0082] like Fig.14 and Fig.15 As shown, when the distance between the driving wheel 227 and the driven wheel 228 is L 1 Gradually increases to L 2 When the distance between the two tensioning compensation wheels 229 is L 3 Gradually decreases to L 4 When the driven wheel 228 moves with the output shaft 4, the distance between the two tension compensation wheels 229 changes accordingly to ensure that the transmission member 226 is always matched with the driving wheel 227 and the driven wheel 228.

[0083] Optionally, the transmission member 226 is a belt or a steel wire rope. The transmission member 226 can be a belt or a steel wire rope.

[0084] Of course, in other embodiments, the transmission member 226 may also be configured as a retractable belt with greater elasticity, and the elasticity of the retractable belt itself may be used to adjust the tension.

[0085] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The content of this specification should not be understood as limiting the present invention.

Claims

1. A driving device for a surgical instrument, characterized in that: include: Two or more translation mechanisms (1), each translation mechanism (1) being provided with a mounting seat (3), and each mounting seat (3) being provided with an output shaft (4); A rotating mechanism (2), the rotating mechanism (2) comprising a first motor (21) and a first transmission assembly (22), one end of the first transmission assembly (22) being connected to the first motor (21), and the other end being connected to the output shaft (4), the first motor (21) being fixed on the mounting seat (3) or being arranged away from the mounting seat (3).

2. The driving device of the surgical instrument according to claim 1, characterized in that: The translation mechanism (1) comprises a first translation mechanism (101) and a second translation mechanism (102) which move in relative parallel manner, the first translation mechanism (101) comprising a first translation mounting plate (1011), a first guide rail (1015) being arranged on a base, and the first translation mounting plate (1011) being slidably arranged on the first guide rail (1015); the second translation mechanism (102) comprising a second translation mounting plate (1021), a second guide rail (1025) being arranged on the first translation mounting plate (1011), and the second translation mounting plate (1021) being slidably arranged on the second guide rail (1025); The mounting seat (3) is arranged on the second translation mounting plate (1021); when the first motor (21) is arranged away from the mounting seat (3), the first motor (21) is installed on the first translation mounting plate (1021), and the first transmission assembly (22) is telescopically arranged.

3. The driving device of the surgical instrument according to claim 2, characterized in that: The first transmission assembly (22) comprises a telescopic component, the telescopic component comprises a shaft sleeve and a connecting shaft (223), one end of the shaft sleeve is connected to the first motor (21), and the other end is provided with a matching hole along the axial direction of the shaft sleeve, the connecting shaft (223) is slidably arranged in the matching hole, and the matching hole can limit the rotation of the connecting shaft (223) relative to the shaft sleeve, and the output shaft (4) is connected to the connecting shaft (223).

4. The driving device of the surgical instrument according to claim 3, characterized in that: The shaft sleeve comprises a rotating shaft (221) and a sleeve (222), wherein the rotating shaft (221) is connected to the first motor (21), and the sleeve (222) is connected to an end of the rotating shaft (221) away from the first motor (21), and the matching hole comprises a sliding hole and a limiting hole (2221), wherein the sliding hole is arranged in the rotating shaft (221), and the limiting hole (2221) is arranged in the sleeve (222), and the limiting hole (2221) is used to limit the rotation of the connecting shaft (223) relative to the shaft sleeve.

5. The driving device of the surgical instrument according to claim 4, characterized in that: The cross section of the limiting hole (2221) is a polygon or a combination of straight lines and arc lines.

6. The driving device of the surgical instrument according to claim 3, characterized in that: The axis of the main shaft of the first motor (21) is perpendicular to the axis of the output shaft (4), and the first transmission assembly (22) further comprises a steering component, which is arranged between the first motor (21) and the bushing or between the connecting shaft (223) and the output shaft (4); The steering component comprises a first bevel gear (224) and a second bevel gear (225); the first bevel gear (224) and the second bevel gear (225) are meshed and transmitted, and the axis of the first bevel gear (224) is perpendicular to the axis of the second bevel gear (225).

7. The driving device of the surgical instrument according to claim 2, characterized in that: The first transmission assembly (22) comprises a transmission member (226), a driving wheel (227) and a driven wheel (228); the first motor (21) is connected to the driving wheel (227); the driven wheel (228) is connected to the output shaft (4); and the driven wheel (228) can move with the mounting seat (3); the transmission member (226) is wound between the driving wheel (227) and the driven wheel (228); and the tension of the transmission member (226) is adjustable.

8. The driving device of the surgical instrument according to claim 7, characterized in that: The first transmission assembly (22) also includes a tensioning compensation wheel (229), a first connecting rod (2291) and a limiting groove (2292); the tensioning compensation wheel (229) is arranged between the driving wheel (227) and the driven wheel (228), and cooperates with the transmission member (226); the tensioning compensation wheel (229) and the driven wheel (228) are connected by the first connecting rod (2291); the tensioning compensation wheel (229) is movably arranged in the limiting groove (2292); and the limiting groove (2292) is used to limit the movement trajectory of the tensioning compensation wheel (229).

9. The driving device of the surgical instrument according to claim 8, characterized in that: Two of the tensioning and compensating wheels (229) and the first connecting rods (2291) are provided, the two tensioning and compensating wheels (229) and the two first connecting rods (2291) are connected one by one, and the center line of the two tensioning and compensating wheels (229) is perpendicular to the center line of the driving wheel (227) and the driven wheel (228), the two tensioning and compensating wheels (229) are both arranged in the limiting groove (2292), and the driven wheel (228) moves with the mounting seat (3) to drive the two tensioning and compensating wheels (229) to move in a direction close to or away from each other.

10. The driving device of the surgical instrument according to any one of claims 1 to 9, characterized in that: The translation mechanism (1) comprises a second motor (11), a second transmission assembly (12) and a translation mounting plate (13); one end of the second transmission assembly (12) is connected to the second motor (11), and the other end is connected to the translation mounting plate (13); the second transmission assembly (12) is a screw nut transmission assembly, a synchronous belt wheel transmission assembly, a gear rack transmission assembly or a crank slider transmission assembly.

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