Surgical instrument driving device and surgical robot

Abstract

The invention relates to a surgical instrument driving device and a surgical robot, and the surgical instrument driving device comprises a power mechanism which is used for outputting torque; the transmission assembly comprises a rotating part and a moving part, the rotating part is connected with the output end of the power mechanism, and the moving part is connected with the rotating part so as to convert rotating motion of the rotating part into linear motion; the traction assembly is connected with the moving part and linearly moves along with the moving part; the coupling assembly is connected with the traction assembly and used for being connected with the push button in a clamped mode. Through cooperative operation of the power mechanism, the transmission assembly, the traction assembly and the coupling assembly, a doctor can accurately drive and control a handle push button on a remote control console, the limitation that in a traditional operation, near operation needs to be conducted in an operating room is eliminated, the time for an operator to be exposed to rays is greatly shortened, and the operation efficiency is improved. The body health of an operator is effectively guaranteed.

Description

Technical Field

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

[0002] Traditional vascular interventional surgery requires the surgeon to operate instruments in the operating room for a long time to complete the interventional surgical treatment of the patient. Therefore, the surgeon will be exposed to radiation for a long time, causing harm to the surgeon's body. In addition, vascular interventional surgery relies heavily on the surgeon's experience, and usually has a long learning curve. It requires frequent and repeated delivery and adjustment of the instruments to achieve better treatment effects. However, this frequent and repeated instrument delivery and adjustment operation makes the surgeon very tired, and the accuracy of the surgical operation often fluctuates greatly. In addition, the operation is usually very long, which is not very beneficial to both the surgeon and the patient. In severe cases, it will cause many adverse events caused by instrument operation. Therefore, there is an urgent need for a vascular interventional robot based on remote control or even combined with AI (artificial intelligence) assistance to solve the above problems.

[0003] The vascular intervention robot usually includes a remote control console, a robotic arm, an active power transmission cabin, and several passive adapters that cooperate with the instrument to drive the remote operation of the instrument. Conventional vascular intervention surgery often involves pushing and pulling the handle and button to achieve certain functions of the instrument, such as pushing and pulling the push button to achieve stent size adjustment, stent release and recovery, catheter delivery and withdrawal, ablation catheter electrode ring diameter size adjustment, balloon catheter delivery and withdrawal, catheter head end bending adjustment, and other instrument functions that need to be met. Therefore, the vascular intervention robot drive device and method for instrument handle push button operation need to be solved, so that the vascular intervention robot can remotely control the instrument push button to complete certain surgical operations of the instrument. Summary of the invention

[0004] Based on this, the embodiments of the present application provide a surgical instrument drive device and a surgical robot, so that each component can quickly respond to instructions, accurately complete the button push action, reduce the instrument adjustment time, and significantly shorten the overall operation time.

[0005] The embodiment of the present application first provides a surgical instrument driving device, which is used to couple with a push button of a control handle to drive the push button to move; the surgical instrument driving device includes:

[0006] A power mechanism for outputting torque;

[0007] A transmission assembly, comprising a rotating member and a moving member, wherein the rotating member is connected to the output end of the power mechanism, and the moving member is connected to the rotating member to convert the rotational motion of the rotating member into linear motion;

[0008] A pulling assembly connected to the moving member and moving linearly with the moving member;

[0009] A coupling assembly is connected to the pulling assembly, and the coupling assembly is used to engage with the push button.

[0010] In one embodiment, the rotating member is driven by the power mechanism to rotate around a first direction to drive the moving member to move linearly along a second direction intersecting the first direction;

[0011] The moving member drives the pulling component to move linearly along the second direction. The coupling component is movably connected to the pulling component. The coupling component drives the push button to move along a predetermined trajectory under the drive of the pulling component.

[0012] In one embodiment, the surgical instrument driving device further comprises a supporting shell, the supporting shell is used to accommodate the control handle, and the push button is exposed outside the supporting shell;

[0013] The coupling assembly comprises a guide member and a coupling member which are connected to each other. The guide member is slidably connected to the support shell, and the coupling member is used for clamping with the push button.

[0014] In one of the embodiments, matching guide parts and limit parts are respectively provided on the matching surfaces of the support shell and the guide member, and the limit part is used to move in the guide part so that the coupling member drives the push button to move along the predetermined trajectory.

[0015] In one embodiment, the limiting portion includes a limiting block arranged on one side of the guide member, and the guiding portion includes a guiding groove formed on a side wall of the supporting shell;

[0016] Alternatively, the limiting portion includes a limiting groove formed on one side of the guide member, and the guiding portion includes a guiding block arranged on a side wall of the supporting shell.

[0017] In one embodiment, a curved slide groove is configured on one side of the control handle, and the push button is movably disposed in the curved slide groove;

[0018] When the guide portion is the guide groove, the guide track of the guide groove is the same as the guide track of the arc-shaped slide groove;

[0019] The predetermined trajectory is the guide trajectory of the arc-shaped slide groove.

[0020] In one embodiment, the side wall of the support shell is further configured with a positioning channel extending along the second direction, and a positioning pin is embedded in the positioning channel;

[0021] The guide member is configured with an avoidance groove, the avoidance groove having an avoidance space extending along a third direction, and a portion of the positioning pin is passed through the avoidance groove;

[0022] The pulling assembly is connected to the positioning pin to drive the guide member to move along the predetermined track when the positioning pin moves along the second direction; the third direction intersects with the second direction.

[0023] In one embodiment, the guide member includes a guide plate, and the guide plate is located at the side wall of the support shell and is arranged adjacent to the side wall of the support shell where the push button is located;

[0024] The avoidance groove is a notch constructed at one end of the guide plate away from the coupling member; and the third direction is perpendicular to the second direction.

[0025] In one embodiment, the coupling assembly further includes an elastic member, which connects the guide member and the coupling member so that the coupling member is continuously engaged with the push button.

[0026] In one embodiment, the coupling member includes a coupling block, a side of the coupling block for coupling with the push button is configured with a coupling groove, and the coupling groove is provided with coupling teeth meshing with the outer end surface of the push button.

[0027] In one embodiment, the pulling assembly includes a connecting component and a pulling rod, the connecting component is fixedly connected to the movable member, one end of the pulling rod is connected to the connecting component, and the other end is connected to the positioning pin, and the pulling rod is used to drive the positioning pin to move along the second direction.

[0028] In one of the embodiments, the connecting component is provided with a missing portion for avoiding the control handle.

[0029] In one embodiment, the connecting component includes a connecting plate and a rotating support plate, one end of the connecting plate is fixed to the moving member, and the other end is buckled with the rotating support plate, and the rotating support plate can rotate around the second direction relative to the connecting plate.

[0030] In one embodiment, the rotating member includes a driving gear, and the driving gear is fixedly connected to the output end of the power mechanism;

[0031] The moving member comprises a driven rack which is meshed with the driving gear.

[0032] The present application also provides a surgical robot, including:

[0033] A control handle, wherein a push button is provided on one side of the control handle;

[0034] In the surgical instrument driving device described in the above embodiment, the coupling assembly is used to engage with the push button and drive the push button to move under the drive of the power mechanism, the transmission assembly and the pulling assembly.

[0035] The above-mentioned surgical instrument driving device and surgical robot drive the rotating part to rotate through the power mechanism, and the moving part converts the rotational motion of the rotating part connected to it into linear motion. Subsequently, the pulling component moves linearly under the drive of the moving part, thereby driving the coupling component connected to the push button to move linearly, driving the push button to move, and realizing various functional operations of the instrument. This application relies on the coordinated operation of the power mechanism, transmission component, pulling component and coupling component, so that the doctor can accurately drive the control handle push button on the remote control console, get rid of the limitation of close operation in the operating room in traditional surgery, greatly reduce the time of the operator's exposure to radiation, and effectively protect the operator's health. In addition, each component in this application can respond to instructions quickly, accurately complete the push button action, reduce the instrument adjustment time, and significantly shorten the overall operation time. Moreover, this application allows doctors to operate remotely and comfortably without long-term high-intensity manual pushing and pulling of instruments, greatly reducing the operator's physical exertion and reducing the risk of operating errors caused by fatigue. This solution simplifies the instrument operation process through standardized and automated drive devices. Novice doctors only need to be familiar with the remote control console instructions to quickly master the operation of complex instrument functions, such as adjusting the diameter of the ablation catheter electrode ring. Compared with traditional methods, the learning time is greatly shortened, accelerating the training of professional talents. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the partial structure of a surgical robot provided according to some embodiments of the present application.

[0037] Figure 2 This is a schematic diagram of the structure of a push button on a control handle provided according to some embodiments of the present application.

[0038] Figure 3 This is a schematic diagram of the top view of the structure of a surgical instrument driving device provided according to some embodiments of the present application.

[0039] Figure 4 This is a schematic diagram of the three-dimensional structure of a surgical instrument driving device provided according to some embodiments of the present application.

[0040] Figure 5 It is a schematic side view of the structure of a support shell provided according to some embodiments of the present application.

[0041] Figure 6 This is a schematic diagram of the structure of a guide member provided according to some embodiments of the present application.

[0042] Figure 7It is a schematic diagram of the structure of a coupling member provided according to some embodiments of the present application.

[0043] Figure 8 This is a schematic diagram of the structure of the connecting components provided according to some embodiments of the present application.

[0044] Figure Number:

[0045] 10. Control handle; 11. Push button;

[0046] 210. Power mechanism;

[0047] 220, transmission assembly; 221, rotating member; 222, moving member;

[0048] 230, pulling assembly; 231, connecting component; 2311, connecting plate; 2312, rotating support plate; 2313, missing part; 232, pulling rod;

[0049] 240, coupling assembly; 241, guide member; 2411, limit portion; 2412, avoidance groove; 242, coupling member; 2421, coupling groove; 243, elastic member;

[0050] 250, supporting shell; 251, guiding part; 252, positioning channel;

[0051] 260. Locating pin. DETAILED DESCRIPTION

[0052] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application 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 application. However, the present application 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 application, so the present application is not limited by the specific embodiments disclosed below.

[0053] In the description of the present application, it should be understood that if 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", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply 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 a limitation on the present application.

[0054] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0055] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated 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 this application can be understood according to the specific circumstances.

[0056] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the 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. The first feature being "below", "below" and "below" the 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.

[0057] It should be noted that if 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. If 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. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0058] As described in the background technology section, traditional vascular interventional surgery includes pulsed field ablation (PFA, PulseFiled Ablation), which is a surgery based on mapping the cardiac electrophysiology to find the lesion, and then using a pulse ablation catheter to perform high-frequency discharge at the lesion, and then causing irreversible perforation of the lesion cells, so that the lesion cells die, and the patient's ECG characteristics return to normal. Conventional vascular interventional surgery often involves pushing and pulling the handle and button to achieve certain functions of the instrument, such as pushing and pulling the push button wheel to adjust the size of the stent, release and recover the stent, deliver and withdraw the catheter, adjust the diameter of the ablation catheter electrode ring, deliver and withdraw the balloon catheter, adjust the catheter head end, and other instrument functions that need to be met. Therefore, a vascular intervention robot drive device and method for the instrument handle push button operation needs to be solved, so that the vascular intervention robot can remotely control the instrument push button to complete certain surgical operations of the instrument.

[0059] Based on the above technical problems, the inventors have discovered that by rationally designing the structure of the surgical instrument drive device to couple it with the push button of the control handle, and by cooperating with the vascular intervention robot, the push button can be remotely driven to move, thereby enabling the vascular intervention robot to remotely and precisely control the movement of the push button to ensure the accuracy and stability of the surgical operation.

[0060] The adoption of the above technical solution can reduce the requirements for medical staff's experience in operating surgical instruments, reduce the physical exertion of medical staff, and reduce the impact of radiation from on-site operations on medical staff, which helps to realize the intelligent operation of minimally invasive surgical diagnosis and treatment. Medical staff use the above surgical instrument drive device to complete the operation, which can also ensure the stability and accuracy of the operation, improve the efficiency of the operation, and shorten the duration of the operation.

[0061] The above is the core idea of ​​this application. The technical solutions in the embodiments of this application will be described clearly and completely below in conjunction with the drawings in the embodiments of this application. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0062] See also Figures 1 to 4 , Figure 1 This is a schematic diagram of the partial structure of a surgical robot provided according to some embodiments of the present application. Figure 2 This is a schematic diagram of the structure of a push button on a control handle provided according to some embodiments of the present application. Figure 3 This is a schematic diagram of the top view of the structure of a surgical instrument driving device provided according to some embodiments of the present application. Figure 4The schematic diagram of the three-dimensional structure of the surgical instrument drive device provided according to some embodiments of the present application. The surgical instrument drive device provided in one embodiment of the present application is used to couple with the push button of the control handle to drive the push button to move, so as to realize the functions of the distal end of the instrument, such as stent size adjustment, stent release and recovery, catheter delivery and withdrawal, ablation catheter electrode ring diameter size adjustment, balloon catheter delivery and withdrawal, catheter head end bending adjustment, and other instrument functions that need to be met. The surgical instrument drive device may include a power mechanism 210, a transmission assembly 220, a pulling assembly 230 and a coupling assembly 240.

[0063] The power mechanism 210 is used to output torque; the transmission assembly 220 includes a rotating member 221 and a moving member 222, the rotating member 221 is connected to the output end of the power mechanism 210, and the moving member 222 is connected to the rotating member 221 to convert the rotational motion of the rotating member 221 into linear motion; the pulling assembly 230 is connected to the moving member 222 and performs linear motion with the moving member 222; the coupling assembly 240 is connected to the pulling assembly 230, and the coupling assembly 240 is used to engage with the push button 11.

[0064] It is understandable that in order to clearly describe the structure of the surgical instrument drive device in this example, the use scenario of the surgical instrument drive device is first introduced. Before using the surgical instrument drive device, the doctor needs to hold the control handle 10 to deliver instruments such as guide wires and catheters to the vicinity of the lesion of the human body, and then place the control handle 10 on an operating table near the human body (which may be the support shell 250 described below), and ensure that the components (push button 11, bending wheel, etc.) on the control handle 10 are coupled with the external drive device. Finally, the surgical instrument drive device is remotely controlled by the surgical robot, thereby realizing remote control of the push button 11.

[0065] More specifically, the surgical instrument drive device can be arranged on a transmission cabin supported by a mechanical arm, and a power cabin can be arranged at one end of the transmission cabin, which mainly provides power for the surgical instrument drive device to indirectly drive the push button 11 coupled thereto to move. Among them, a transmission assembly 220 for outputting torque can be arranged on the transmission cabin, for example, the transmission assembly 220 can be used as a power input coupling, and the power input coupling can receive the power provided by the power cabin through the transmission assembly 220 (such as a gear structure, a synchronous belt, a lead screw nut and a slide rail, a gear rack, etc.) in the transmission cabin, thereby providing rotational power for the rotating member 221 in the transmission assembly 220.

[0066] Since the setting of the entire surgical instrument drive device needs to consider the setting position of the transmission cabin (power output port) and the setting position of the control handle 10 (including the orientation of the push button 11, the bending wheel and other components thereon), in order to reduce the difficulty of adjusting the positions of the transmission cabin, the control handle 10 and other components, and reduce the probability of position conflicts between the components, this example provides a transmission assembly 220, a pulling assembly 230 and a coupling assembly 240, which can realize the effective transmission of power to the push button 11 while making the layout of the entire surgical instrument drive device more reasonable to save space.

[0067] The transmission assembly 220 can be arranged on one side of the support shell 250, and its main function is to convert the torque transmitted from the power compartment to the transmission assembly 220 into linear motion, and then drive the push button 11 to move. The specific process of driving the push button 11 to move can be that the transmission assembly 220 drives the rotating member 221 in the transmission assembly 220 to rotate, the rotating assembly drives the moving member 222 to move linearly, and the moving member 222 drives the pulling assembly 230 connected thereto to move linearly. At the same time, the coupling assembly 240 connected to the pulling assembly 230 is engaged with the push button 11 of the control handle 10, and will drive the push button 11 to move under the drive of the pulling assembly 230, so as to achieve the purpose of completing the function operation of the instrument by remotely controlling the push button 11.

[0068] The specific structure of the rotating member 221 and the moving member 222 can be, that is, the structure capable of converting torque into linear motion can be a roller screw mechanism, a common screw mechanism, a gear rack mechanism, a synchronous belt mechanism, a crank slider mechanism, etc. Take the ball screw mechanism as an example for illustration, the ball screw mainly includes a screw (screw), a nut and a ball. When the screw rotates, the ball rolls in the raceway between the screw and the nut, driving the nut to move linearly along the axis direction of the screw. In this example, the output torque of the transmission assembly 220 can be transmitted to the screw shaft of the ball screw, and the screw shaft rotates, so that the nut produces a linear displacement, thereby accurately controlling the linear reciprocating movement of the moving member 222. Of course, in order to make the nut move linearly, a guide rod can be set on one side of the nut, and the nut is inserted on the guide rod to limit the degree of freedom of the nut so that it can only move in a linear direction.

[0069] It should be noted that the transmission assembly 220 can also be used directly as a power source, for example, a high-precision brushless DC motor with stable speed and precise torque output can be selected, and the motor can quickly and accurately adjust the output speed according to external instructions, thereby accurately controlling the torque to meet the functional operation requirements of different devices. Of course, appropriate motor parameters can be selected according to the load size and movement speed requirements of the handle push button 11 that is actually driven to ensure that the push button 11 can be stably driven to move.

[0070] In addition, the pulling component 230 provided in this example can be a wire rope, a transmission belt or a push rod, etc. Of course, in order to ensure that the push button 11 can move back and forth, a push rod can be selected. One end of the push rod can be fixedly connected to the moving part 222, and the other end is connected to the coupling component 240. When the moving part 222 moves in a straight line, the pulling force or pushing force can be accurately transmitted to the coupling component 240.

[0071] In addition, the coupling component 240 can be designed as a claw structure with elasticity, and the shape and size of the claw can match the push button 11 of the control handle 10 so as to be tightly clamped on the push button 11. Specifically, the claw can be made of materials such as stainless steel or engineering plastics to have certain elasticity and wear resistance; a rubber pad or anti-skid pattern can be provided on the inner side of the claw to enhance the friction between it and the push button 11 to prevent slipping during the driving process. Of course, the structure of the coupling component 240 is not limited, and the specific understanding can be referred to the following examples.

[0072] The overall workflow of the surgical instrument driving device provided in this example can be that the doctor places the handheld control handle 10 on the support shell 250, and makes the coupling component 240 in the surgical instrument driving device located outside the support shell 250 snap on the push button 11 of the control handle 10, and locks the support shell 250 to prevent the control handle 10 from falling out of the support shell 250. Then, the doctor issues a command on the remote control console, the power cabin starts and transmits power to the transmission component 220 through the transmission cabin, the transmission component 220 drives the rotating member 221 of the transmission component 220 to rotate, the rotational motion of the rotating member 221 is converted into linear motion by the moving member 222, the moving member 222 drives the pulling component 230 to move, the pulling component 230 then pulls or pushes the coupling component 240, and the coupling component 240 drives the push button 11 of the control handle 10 to move, thereby realizing various functional operations of the instrument, such as stent size adjustment, stent release and recovery, catheter delivery and withdrawal, etc. Of course, during the whole process, the position and movement state of the push button 11 can be monitored in real time by sensors installed in the coupling component 240, and the information can be fed back to the remote control console. The doctor can adjust the operation instructions in time according to the feedback information to ensure the accurate operation of the operation.

[0073] In the present application, the rotating member 221 is driven to rotate by the power mechanism 210, and the moving member 222 converts the rotational motion of the rotating member 221 connected thereto into a linear motion. Subsequently, the pulling assembly 230 moves linearly under the drive of the moving member 222, thereby driving the coupling assembly 240 engaged with the push button 11 to move linearly, driving the push button 11 to move, and realizing various functional operations of the instrument. The present application relies on the coordinated operation of the power mechanism 210, the transmission assembly 220, the pulling assembly 230, and the coupling assembly 240, so that the doctor can accurately drive the control handle 10 push button 11 on the remote control console, getting rid of the limitation of close operation in the operating room in traditional surgery, greatly reducing the time the operator is exposed to radiation, and effectively protecting the operator's health. In addition, each component in the present application can respond to instructions quickly, accurately complete the action of the push button 11, reduce the instrument adjustment time, and significantly shorten the overall duration of the operation.

[0074] Moreover, this application allows doctors to operate remotely and comfortably without the need for long-term high-intensity manual pushing and pulling of instruments, which greatly reduces the operator's physical exertion and reduces the risk of operating errors caused by fatigue. This solution simplifies the instrument operation process through standardized and automated drive devices. Novice doctors only need to be familiar with the remote control console instructions to quickly get started with complex instrument function operations, such as adjusting the diameter of the ablation catheter electrode ring. Compared with traditional methods, the learning time is greatly shortened, accelerating the training of professional talents.

[0075] Next, we will combine the attached Figure 1 -Attached Figure 8 The specific structure of the surgical instrument driving device provided in the embodiment of the present application is introduced. Figure 5 It is a schematic side view of the structure of a support shell provided according to some embodiments of the present application. Figure 6 This is a schematic diagram of the structure of a guide member provided according to some embodiments of the present application. Figure 7 It is a schematic diagram of the structure of a coupling member provided according to some embodiments of the present application. Figure 8 This is a schematic diagram of the structure of the connecting components provided according to some embodiments of the present application.

[0076] like Figure 3 As shown, in some embodiments, the rotating member 221 rotates around a first direction under the drive of the power mechanism 210 to drive the moving member 222 to move linearly along a second direction intersecting the first direction; the moving member 222 drives the pulling component 230 to move linearly along the second direction, the coupling component 240 is movably connected to the pulling component 230, and the coupling component 240 drives the push button 11 to move along a predetermined trajectory under the drive of the pulling component 230.

[0077] It is understandable that, in order to facilitate the description of the relative positional relationship between the transmission assembly 220, the power cabin, and the push button 11 of the control handle 10, it is defined that the rotating member 221 rotates around the first direction under the drive of the power mechanism 210, that is, the power mechanism 210 (power output coupling) rotates around the first direction, and the moving member 222 is used to convert the rotational motion of the rotating member 221 into a linear motion along the second direction, and the second direction is also the direction in which the push button 11 of the control handle 10 moves. The moving member 222 will drive the pulling assembly 230 connected thereto to move linearly along the second direction until the driving coupling assembly 240 drives the push button 11 to move along a predetermined trajectory.

[0078] The movement of the push button 11 along the predetermined trajectory can be understood as follows: in order to facilitate the doctor to hold the control handle 10 for operation, the handle body of the control handle 10 is usually designed to be arc-shaped, that is, a style that tapers from the proximal end to the distal end of the handle body, and the sliding direction of the push button 11 embedded in the handle body needs to be consistent with the extension direction of the handle body. In other words, the general direction of movement of the push button 11 is the second direction, but has a trajectory that deviates from the direction perpendicular to the second direction. In order to be tightly engaged with the push button 11, the coupling component 240 also has a moving direction that coincides with the moving trajectory of the push button 11. Then, the coupling component 240 needs to be movably connected with the pulling component 230 to adaptively adjust the deviation.

[0079] This example ensures the accuracy of power transmission by precisely designing the conversion mechanism of rotation and movement direction, making the movement trajectory of the push button 11 highly controllable and improving the standardization of surgical operations.

[0080] like Figure 4 As shown, in some embodiments, the surgical instrument driving device also includes a support shell 250, which is used to accommodate the control handle 10, and the push button 11 is exposed on the support shell 250; the coupling assembly 240 includes a guide member 241 and a coupling member 242 that are interconnected, the guide member 241 is slidably connected to the support shell 250, and the coupling member 242 is used to engage with the push button 11.

[0081] Specifically, the support shell 250 can be understood as an ablation catheter supporter, and a receiving cavity adapted to the control handle 10 can be constructed inside the support shell 250 to accommodate the control handle 10 and drive the control handle 10 to rotate and perform other operations. The support shell 250 in this example can be a rectangular structure, and one side of the rectangular structure has an opening, and the opening is used for the control handle 10 to enter or take out of the support shell 250.

[0082] The push button 11 is located at a side of the support shell 250 having an opening, so as to be exposed to the outside and thus be engaged with the coupling assembly 240 outside the support shell 250 .

[0083] In order to make the coupling component 240 have a moving track consistent with the sliding track of the push button 11, this example uses the sliding cooperation between the support shell 250 and the guide member 241 to limit the sliding track of the guide member 241. Specifically, the guide member 241 can be set on one side of the support shell 250 (for example, the side adjacent to the opening), and the coupling member 242 is located at the opening of the support shell 250 for engaging with the push button 11. A guide groove adapted to the sliding track of the push button 11 can be provided on the side wall of the support shell 250, and the track of the coupling member 242 connected to the guide member 241 can be controlled by the adaptation and plugging of the guide member 241 with the guide groove, so as to make it highly overlap with the sliding track of the push button 11, thereby improving the stability of the engagement between the coupling member 242 and the push button 11 and the stability of movement.

[0084] In this example, the sliding fit between the guide member 241 and the support shell 250 can further preset the movement of the coupling member 242, ensuring that the push button 11 is evenly stressed and avoids skewing. For example, when adjusting the diameter of the electrode ring of the ablation catheter, the size of the electrode ring can be stably and accurately changed to improve the operating accuracy.

[0085] like Figure 4 , Figure 5 and Figure 6 As shown, in some embodiments, matching guide portions 251 and limiting portions 2411 are respectively provided on the mating surfaces of the support shell 250 and the guide member 241, and the limiting portion 2411 is used to move in the guide portion 251 so that the coupling member 242 drives the push button 11 to move along a predetermined trajectory.

[0086] Specifically, a guide portion 251 and a limit portion 2411 that can be plugged into each other are respectively provided on the side walls where the support shell 250 and the guide member 241 are in contact, wherein the direction of the guide portion 251 can be designed according to the actual movement trajectory of the push button 11 on the control handle 10, and the purpose of moving the guide member 241 along the predetermined trajectory can be achieved by the tight fit between the guide portion 251 and the limit portion 2411.

[0087] It should be noted that the smoothness between the guide portion 251 and the limit portion 2411 can be improved through process design and material selection, thereby reducing friction resistance. In this example, the cooperation between the guide portion 251 and the limit portion 2411 provides precise guidance for the coupling member 242 to drive the push button 11 to move.

[0088] In some embodiments, the limiting portion 2411 includes a limiting block disposed on one side of the guide member 241 , and the guiding portion 251 includes a guiding groove formed on a side wall of the supporting shell 250 .

[0089] Specifically, two limit blocks can be provided on the side of the guide member 241 facing the support shell 250, and the two limit blocks are spaced apart along the second direction to ensure the stability of the limit block sliding in the guide groove. The limit block can be a cylindrical structure, and the material is not limited here, as long as it is not easy to deform and has good self-lubricating properties. The guide groove of the side wall of the support shell 250 can be formed by wire cutting on the corresponding side wall, and the groove width can be slightly larger than the diameter of the limit block to ensure smooth sliding. In addition to the above-mentioned setting method, it can also be that, in one example, the limit portion 2411 includes a limit groove formed on one side of the guide member 241, and the guide portion 251 includes a guide block arranged on the side wall of the support shell 250.

[0090] Specifically, the guide block arranged on the side wall of the support shell 250 is in the shape of an elongated strip, and its direction is the same as the sliding track of the push button 11, while the limiting groove is opened on one side of the guide member 241, and can be adapted to fit with the guide block and slide along the direction of the guide block.

[0091] The above two limiting structures can effectively restrict the freedom of movement of the guide member 241, and the cooperation between the limiting block and the guide groove is simpler and more flexible, which can ensure that the push button 11 moves without deviation.

[0092] like Figure 5 As shown, in some embodiments, an arc-shaped slide groove is constructed on one side of the control handle 10, and the push button 11 is movably arranged in the arc-shaped slide groove; when the guide portion 251 is a guide groove, the guide trajectory of the guide groove is the same as the guide trajectory of the arc-shaped slide groove; the predetermined trajectory is the guide trajectory of the arc-shaped slide groove.

[0093] Specifically, according to the above description of the shape of the handle body of the control handle 10, the arc-shaped slide groove constructed thereon extends approximately along the second direction, that is, the activity trajectory of the push button 11 is approximately along the second direction, but has an offset in a direction perpendicular to the second direction. For example, the guide trajectory of the push button 11 is an arc-shaped trajectory.

[0094] According to the above-mentioned setting position of the control handle 10 in the support shell 250, the setting position of the guide member 241 outside the support shell 250, and the setting position of the guide portion 251 on the support shell 250, it can be concluded that the projection of the arc-shaped slide groove in the first direction is the same size and shape as the projection of the guide groove in the first direction, and is arranged in parallel. Therefore, the moving trajectory of the guide plate is limited by the guide groove, which limits the moving trajectory of the coupling member 242, so that the moving trajectory of the coupling member 242 is consistent with the moving trajectory of the push button 11, thereby ensuring that the coupling member 242 drives the push button 11 to move smoothly, thereby improving the accuracy of the push movement.

[0095] like Figure 4 and Figure 5As shown, in some embodiments, the side wall of the support shell 250 is also constructed with a positioning channel 252 extending along the second direction, and a positioning pin 260 is embedded in the positioning channel 252; the guide member 241 is constructed with an avoidance groove 2412, and the avoidance groove 2412 has an avoidance space extending along the third direction, and a portion of the positioning pin 260 is passed through the avoidance groove 2412; the pulling assembly 230 is connected to the positioning pin 260 to drive the guide member 241 to move along a predetermined trajectory when the positioning pin 260 moves along the second direction; the third direction intersects with the second direction.

[0096] It can be understood that due to the existence of the arc-shaped slide groove, the movement of the guide member 241 is not completely along the second direction, but also has an offset in the direction perpendicular to the second direction, and the movement direction of the pulling assembly 230 that drives the coupling assembly 240 to move is the second direction. In order to ensure the smooth sliding of the guide member 241 in the arc-shaped guide groove, this example is constructed with an avoidance groove 2412 on the guide member 241, and the avoidance groove 2412 has an avoidance space for the positioning pin 260 to offset.

[0097] The specific movement process of the guide member 241 can be that the pulling assembly 230 drives the positioning pin 260 to move along the second direction in the positioning channel 252, and the positioning pin 260 drives the guide member 241 to move along the guide groove. Since the guide member 241 will offset to the third direction, the avoidance groove 2412 of the guide member 241 can move along the third direction relative to the positioning pin 260 during this process, and will not affect the positioning pin 260 to continuously drive the guide member 241 to move.

[0098] In this example, the ingenious design of the positioning pin 260 and the avoidance groove 2412 converts the linear motion of the pulling component 230 into the precise trajectory motion of the guide member 241, thereby enhancing the stability of the motion coupling between the various components and improving the reliability of the operation.

[0099] like Figure 6 As shown, in some embodiments, the guide member 241 includes a guide plate, which is located at the side wall of the support shell 250 and is arranged adjacent to the side wall of the support shell 250 where the push button 11 is located; the avoidance groove 2412 is a notch constructed at the end of the guide plate away from the coupling member 242; the third direction is perpendicular to the second direction.

[0100] Specifically, the guide plate is placed adjacent to the side wall of the support housing 250 where the push button 11 is located, and the avoidance groove 2412 can be a strip-shaped notch configured at the end of the guide plate away from the coupling member 242, and the strip-shaped notch extends along the third direction, thereby providing an avoidance space for the positioning pin 260. The guide plate has a simple and compact structure, is easy to install and debug, and is arranged close to the side wall of the support housing 250 where the push button 11 is located, which can reduce motion transmission loss, thereby quickly responding to the action of the pulling assembly 230, accurately adjusting the position of the push button 11, and improving the flexibility of surgical operations.

[0101] It should be noted that the guide groove may not be set through the side wall of the support shell 250, but because the positioning pin 260 is set in the positioning channel 252, and the end of the positioning pin 260 away from the guide plate is connected to the pulling assembly 230, that is, the end of the positioning pin 260 located in the support shell 250 is connected to the pulling assembly 230, therefore, the positioning channel 252 is set through the shell side wall. The positional relationship between the positioning pin 260 and the pulling assembly 230 can enhance the stability of the pulling assembly 230 driving the positioning pin 260 to move, and the pulling assembly 230 is set inside the support shell 250 to avoid interference with other external components.

[0102] like Figure 4 As shown, in some embodiments, the coupling assembly 240 further includes an elastic member 243 , and the elastic member 243 connects the guide member 241 and the coupling member 242 , so that the coupling member 242 is continuously clamped on the push button 11 .

[0103] Specifically, the coupling member 242 can be rotatably set at one end of the guide member 241 through a rotating shaft, but in order to make the coupling member 242 continuously clamped on the push button 11, an elastic member 243 is provided at the rotating connection between the coupling member 242 and the guide member 241. The elastic member 243 can be a torsion spring sleeved on the rotating shaft, one end of the torsion spring abuts against the guide member 241, and the other end abuts against the coupling member 242. The torsion spring is pre-compressed during installation, so that the installed coupling member 242 always maintains an elastic force in the direction of the push button 11, ensuring a tight clamping, and will not detach from the push button 11 even if it is slightly vibrated or disturbed by external forces during surgery.

[0104] like Figure 7 As shown, in some embodiments, the coupling member 242 includes a coupling block, and a side of the coupling block for coupling with the push button 11 is configured with a coupling groove 2421 , and a coupling tooth meshing with the outer end surface of the push button 11 is arranged in the coupling groove 2421 .

[0105] Specifically, the coupling block can be milled with a coupling groove 2421, and the bottom surface of the coupling groove 2421 is designed to be a V-shape that matches the outer end surface of the push button 11. Fine coupling teeth can be made on the bottom surface of the coupling groove 2421, and the tooth shape can be precisely engaged with the tooth grooves on the outer end surface of the push button 11, thereby ensuring that the power transmission between the coupling block and the push button 11 is slip-free.

[0106] It should be noted that pulling grooves can also be set at both ends of the outside of the coupling block, which facilitate manual pulling of the coupling block to place the control handle 10 in the support shell 250, and release the coupling block after it is placed in place to couple the coupling block with the push button 11.

[0107] like Figure 4As shown, in some embodiments, the pulling assembly 230 includes a connecting component 231 and a pulling rod 232, the connecting component 231 is fixedly connected to the moving member 222, one end of the pulling rod 232 is connected to the connecting component 231, and the other end is connected to the positioning pin 260, and the pulling rod 232 is used to drive the positioning pin 260 to move along the second direction.

[0108] Specifically, the design of the connecting component 231 can, on the one hand, avoid the control handle 10 so that the setting positions of the moving part 222 and the pulling rod 232 are more reasonable. On the other hand, the connecting component 231 can provide support for the rotation of the control handle 10, that is, the pulling rod 232, the coupling component 240, etc. are separated from the transmission component 220, the power mechanism 210, etc. at the other end of the connecting component 231.

[0109] like Figure 8 As shown, in some embodiments, the connecting component 231 is provided with a missing portion 2313 for avoiding the control handle 10 .

[0110] Specifically, the structure of the connecting component 231 can be U-shaped or C-shaped, and the missing portion 2313, i.e., the gap, provided therein facilitates the placement of the control handle 10 in the support shell 250 (inside the ablation catheter supporter). The provision of the connecting component 231 in this example can ensure the synchronization and continuity of the transmission assembly 220 and the coupling assembly 240 during the movement process. The provision of the missing portion 2313 can effectively avoid the control handle 10 (specifically, the conveying groove provided on the catheter supporter) to ensure that there is no interference with the control handle 10 during installation and use.

[0111] In order to clearly understand the specific structure of the connecting component 231 and other auxiliary functions of the connecting component 231, the function of the ablation catheter support is first introduced. The ablation catheter support can carry the control handle 10 and the catheter, instruments, etc. therein, and the ablation catheter support can rotate under the drive of other devices, thereby achieving the purpose of driving the control handle 10 to rotate. In the surgical instrument driving device provided in this example, the power mechanism 210 and the transmission assembly 220 are stationary relative to the transmission cabin (specifically, they will not rotate), and the traction rod 232 and the coupling assembly 240 need to rotate synchronously with the control handle 10. Therefore, the connecting component 231 connecting the moving member 222 and the traction rod 232 needs to ensure that the traction rod 232 and the coupling assembly 240 can rotate together with the ablation catheter support on the basis of providing the movement synchronization of the moving member 222 and the traction rod 232.

[0112] Based on this, Figure 8As shown, in some embodiments, the connecting component 231 includes a connecting plate 2311 and a rotating support plate 2312, one end of the connecting plate 2311 is fixed to the moving member 222, and the other end is engaged with the rotating support plate 2312, and the rotating support plate 2312 can rotate around the second direction relative to the connecting plate 2311.

[0113] Specifically, one end of the connecting plate 2311 is fixed on the above-mentioned moving member 222, and the end of the connecting plate 2311 away from the moving member 222 can be set to a C shape, and the rotating support plate 2312 can be a C-shaped plate that is buckled with the C-shaped part of the connecting plate 2311. The connecting plate 2311 and the rotating support plate 2312 are both configured with grooves that can be buckled, and the buckling stability of the connecting plate 2311 and the rotating support plate 2312 can also be achieved through a cover plate with a shape adaptation. The inner arc surface of the rotating support plate 2312 is also provided with a protrusion for abutting against the outer side surface of the ablation catheter support, so as to drive the rotating support plate 2312 to rotate around the second direction when the ablation guide adapter rotates, so as to achieve the purpose of driving the pulling rod 232 and the coupling assembly 240 to rotate through the rotating support plate 2312.

[0114] In some embodiments, the rotating member 221 includes a driving gear, which is fixedly connected to the output end of the power mechanism 210; the moving member 222 includes a driven rack, which is meshed with the driving gear.

[0115] Specifically, the driving gear and the output end of the power mechanism 210 can be fixedly connected by a key connection or a set screw. Of course, the driving gear and the output end of the power mechanism 210 can be connected by a tightening sleeve, thereby enhancing the connection stability between the driving gear and the output end of the power mechanism 210 to ensure a close fit between the two.

[0116] The driven rack can convert the rotational motion of the driving gear into linear motion. The driven rack can be supported by engineering plastics or steel with good wear resistance. Its surface is finely processed and heat treated to improve the accuracy and wear resistance of the driven rack, thereby improving the meshing accuracy and strength with the driving gear, and improving the transmission efficiency and reliability between the two.

[0117] It should be noted that the transmission assembly 220 may further include a guide shaft, and the driven rack may be passed through the guide shaft through a guide block, thereby limiting the driven rack in the second direction.

[0118] Based on the same inventive concept, the present application embodiment also provides a surgical robot, such as Figure 1As shown, the surgical robot may include a control handle 10 and the above-mentioned surgical instrument drive device. A push button 11 is provided on one side of the control handle 10; in the surgical instrument drive device of the above-mentioned embodiment, the coupling component 240 is used to engage with the push button 11 and drive the push button 11 to move under the drive of the power mechanism 210, the transmission component 220 and the pulling component 230.

[0119] Specifically, the surgical robot integrates a control handle 10 and a surgical instrument drive device, and the push button 11 on the control handle 10 is precisely docked with the coupling component 240 of the drive device. The power mechanism 210, transmission component 220, pulling component 230 and coupling component 240 in the drive device work together to receive instructions from the remote control console and drive the push button 11 to implement various instrument functions, such as stent size adjustment, catheter delivery and withdrawal, etc.

[0120] The overall surgical robot organically combines the handle and the drive device. Doctors operate through a remote console to achieve precise and convenient control of surgical instruments, reduce surgical difficulty, shorten operation time, reduce radiation exposure, and comprehensively improve the quality of vascular interventional surgery, bringing patients a safer and more efficient treatment experience.

[0121] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0122] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed 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 surgical instrument driving device, characterized in that: Used to couple with a push button of a control handle to drive the push button to move; the surgical instrument driving device comprises: A power mechanism for outputting torque; A transmission assembly, comprising a rotating member and a moving member, wherein the rotating member is connected to the output end of the power mechanism, and the moving member is connected to the rotating member to convert the rotational motion of the rotating member into linear motion; A pulling assembly connected to the moving member and moving linearly with the moving member; A coupling assembly is connected to the pulling assembly, and the coupling assembly is used to engage with the push button.

2. The surgical instrument driving device according to claim 1, characterized in that: The rotating member rotates around a first direction under the drive of the power mechanism to drive the moving member to move linearly along a second direction intersecting the first direction; The moving member drives the pulling component to move linearly along the second direction. The coupling component is movably connected to the pulling component. The coupling component drives the push button to move along a predetermined trajectory under the drive of the pulling component.

3. The surgical instrument driving device according to claim 2, characterized in that: The surgical instrument driving device further comprises a supporting shell, the supporting shell is used to accommodate the control handle, and the push button is exposed outside the supporting shell; The coupling assembly comprises a guide member and a coupling member which are connected to each other. The guide member is slidably connected to the support shell, and the coupling member is used for clamping with the push button.

4. The surgical instrument driving device according to claim 3, characterized in that: The matching surfaces of the support shell and the guide member are respectively provided with matching guide parts and limiting parts, and the limiting part is used to move in the guide part so that the coupling member drives the push button to move along the predetermined trajectory.

5. The surgical instrument driving device according to claim 4, characterized in that: The limiting portion includes a limiting block arranged on one side of the guide member, and the guiding portion includes a guiding groove formed on the side wall of the supporting shell; Alternatively, the limiting portion includes a limiting groove formed on one side of the guide member, and the guiding portion includes a guiding block arranged on a side wall of the supporting shell.

6. The surgical instrument driving device according to claim 5, characterized in that: An arc-shaped slide groove is configured on one side of the control handle, and the push button is movably arranged in the arc-shaped slide groove; When the guide portion is the guide groove, the guide track of the guide groove is the same as the guide track of the arc-shaped slide groove; The predetermined trajectory is the guide trajectory of the arc-shaped slide groove.

7. The surgical instrument driving device according to claim 6, characterized in that: The side wall of the support shell is also configured with a positioning channel extending along the second direction, and a positioning pin is embedded in the positioning channel; The guide member is configured with an avoidance groove, the avoidance groove having an avoidance space extending along a third direction, and a portion of the positioning pin is passed through the avoidance groove; The pulling assembly is connected to the positioning pin to drive the guide member to move along the predetermined track when the positioning pin moves along the second direction; The third direction intersects with the second direction.

8. The surgical instrument driving device according to claim 7, characterized in that: The guide member comprises a guide plate, the guide plate is located at the side wall of the support shell, and is arranged adjacent to the side wall of the support shell where the push button is located; The avoidance groove is a notch constructed at one end of the guide plate away from the coupling member; The third direction is perpendicular to the second direction.

9. The surgical instrument driving device according to any one of claims 3 to 8, characterized in that: The coupling assembly also includes an elastic member, which connects the guide member and the coupling member so that the coupling member is continuously clamped on the push button.

10. The surgical instrument driving device according to claim 9, characterized in that: The coupling member comprises a coupling block, a side of the coupling block for coupling with the push button is configured with a coupling groove, and a coupling tooth meshing with the outer end surface of the push button is arranged in the coupling groove.

11. The surgical instrument driving device according to claim 7 or 8, characterized in that: The pulling assembly includes a connecting component and a pulling rod, wherein the connecting component is fixedly connected to the moving member, one end of the pulling rod is connected to the connecting component, and the other end is connected to the positioning pin, and the pulling rod is used to drive the positioning pin to move along the second direction.

12. The surgical instrument driving device according to claim 11, characterized in that: The connecting component is provided with a missing portion for avoiding the control handle.

13. The surgical instrument driving device according to claim 12, characterized in that: The connecting component comprises a connecting plate and a rotating support plate. One end of the connecting plate is fixed to the moving member, and the other end is buckled with the rotating support plate. The rotating support plate can rotate around the second direction relative to the connecting plate.

14. The surgical instrument driving device according to any one of claims 2 to 8, characterized in that: The rotating member comprises a driving gear, and the driving gear is fixedly connected to the output end of the power mechanism; The moving member comprises a driven rack which is meshed with the driving gear.

15. A surgical robot, characterized in that: include: A control handle, wherein a push button is provided on one side of the control handle; In the surgical instrument driving device described in any one of claims 1 to 14, the coupling assembly is used to engage with the push button and drive the push button to move under the drive of the power mechanism, the transmission assembly and the pulling assembly.

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