Instrument driving device, surgical robot and grounding method of surgical robot

Abstract

The invention belongs to the technical field of surgical robots, and discloses an instrument driving device, a surgical robot and a grounding method of the surgical robot. The problem that in the process that the instrument driving device of the surgical robot drives the instrument to move, wiring is disordered and damaged is solved. According to the instrument driving device, a driving assembly is installed at the tail end of a mechanical arm, and the driving assembly can drive a surgical instrument to move according to a preset posture; the conductive guide piece is at least partially attached to the connecting line, one end of the conductive guide piece is connected with the driving assembly, and the other end of the conductive guide piece is connected with any fixing surface of the driving assembly to form a fixing end of the conductive guide piece; the ground wire is connected to the fixed end of the conductive guide. The conductive guide piece not only plays a role in guiding the connecting wire of the instrument driving device, but also can fix the grounding wire at the fixed end of the conductive guide piece, so that the problems of confusion and damage easily caused by synchronous movement of wiring in the process that the instrument driving device drives the instrument to move are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to an instrument driving device, a surgical robot and a grounding method thereof. Background Art

[0002] The surgical robot is a complex that integrates many modern high-tech technologies. With the extensive clinical application of surgical robots, many medical problems have been solved.

[0003] The master-slave surgical robot system includes a doctor control platform and a patient surgical platform. The doctor control platform is used to send control commands to the patient surgical platform according to the doctor's operations to control the patient surgical platform; the patient surgical platform is used to respond to the control commands sent by the doctor control platform and perform corresponding surgical operations; the core of the patient surgical platform includes a robotic arm, and surgical instruments are connected to the end of the robotic arm; in order to ensure that the operation is performed safely and effectively, an instrument drive device is configured at the end of the robotic arm to drive the surgical instrument to move according to a preset posture to perform the operation.

[0004] The above-mentioned instrument driving device will drive the wiring connected to it to move synchronously when driving the surgical instrument. The wiring of the instrument driving device will move many times during the operation and the process of adjusting the surgical instrument, which may easily cause wiring confusion and damage during the movement. Summary of the invention

[0005] The purpose of the present invention is to provide an instrument driving device, a surgical robot and a grounding method thereof, so as to solve the problem that the wiring of the instrument driving device of the existing surgical robot moves synchronously with the multiple driving surgical instruments during the movement, causing wiring confusion and damage.

[0006] To achieve this object, the present invention adopts the following technical solution: an instrument driving device, including a driving assembly and a conductive guide;

[0007] The drive assembly is installed at the end of the robotic arm, and the drive assembly can drive the surgical instrument to move according to a preset posture. The wiring of the drive assembly includes a connecting wire and a grounding wire.

[0008] The conductive guide is at least partially attached to the connecting wire, one end of the conductive guide is connected to the driving assembly, and the other end of the conductive guide is connected to any fixed surface of the driving assembly to form a fixed end of the conductive guide;

[0009] The grounding wire is connected to a fixed end of the conductive guide.

[0010] Preferably, the conductive guide and the connecting wire form an extension section, and the extension section can extend along the moving path of the driving assembly, so that when the driving assembly moves along a preset position, the conductive guide and the connecting wire can move synchronously.

[0011] Preferably, the conductive guide and the connecting line form an arc-shaped extended section.

[0012] Preferably, the connecting wire is a flexible cable, and the conductive guide is a strong conductive tape.

[0013] Preferably, the connecting wire is a flexible cable, and fixing parts are respectively arranged at both ends of the conductive guide, and the connecting wire is fixedly connected to at least the two ends of the conductive guide through the fixing parts.

[0014] As a preference, it further comprises a guide block;

[0015] The guide block is at least partially in contact with the conductive guide member, and the guide block is connected in a moving path of the instrument driving device.

[0016] Preferably, the conductive guide is made of steel.

[0017] Preferably, the drive assembly comprises a linear drive mechanism, a drive box and a connecting seat;

[0018] The connecting seat is sleeved on the lead screw of the linear drive mechanism, and the drive box is detachably connected to the connecting seat;

[0019] The driving box is connected to the connecting seat via the grounding wire.

[0020] A surgical robot comprises a mechanical arm and the above-mentioned instrument driving device.

[0021] The mechanical arm has a plurality of joints, adjacent joints are rotatably connected, and the mechanical arm is provided with at least two grounding points;

[0022] The adjacent grounding points are connected in series through the grounding wires.

[0023] A grounding method for a surgical robot includes the above-mentioned instrument driving device, and the specific steps include:

[0024] Connecting one end of the conductive guide to the device driving device, and connecting the other end of the conductive guide to any fixed surface of the driving assembly;

[0025] Connecting the grounding wire to the fixed end of the conductive guide;

[0026] The grounding wire connects at least two grounding points on the robot arm in series.

[0027] Beneficial effects of the present invention:

[0028] The instrument driving device, surgical robot and grounding method provided by the present invention include a driving assembly and a conductive guide; the driving assembly is installed at the end of the mechanical arm, the driving assembly can drive the surgical instrument to move according to a preset posture, and the wiring of the driving assembly includes a connecting wire and a grounding wire; the conductive guide and the connecting wire are at least partially arranged in close contact, one end of the conductive guide is connected to the driving assembly, and the other end of the conductive guide is connected to any fixed surface of the driving assembly to form a fixed end of the conductive guide; the grounding wire is connected to the fixed end of the conductive guide; the instrument driving device not only guides the connecting wire of the instrument driving device through the conductive guide to avoid confusion caused by the connecting wire during the movement process, but also fixes the grounding wire to the fixed end of the conductive guide to avoid synchronous movement of the grounding wire during the movement of the driving device, and avoid the problem of damage caused by synchronous movement of the wiring during the movement of the instrument driving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic structural diagram of a mechanical arm provided in Embodiment 1 of the present invention;

[0030] Figure 2 is a partial schematic diagram of an instrument driving device provided in Embodiment 1 of the present invention;

[0031] Figure 3 is a schematic diagram of the connection between the linear drive mechanism and the ground wire provided in the first embodiment of the present invention;

[0032] Figure 4 This is a flow chart of a grounding method for a surgical robot provided in Embodiment 1 of the present invention.

[0033] In the figure: 10, robotic arm; 20, drive assembly; 21, linear drive mechanism; 22, drive box; 23, connecting seat; 24, lead screw; 30, grounding wire; 31, conductive guide; 32, extension section; 33, guide block. DETAILED DESCRIPTION

[0034] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0035] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be connected, detachably connected, or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected 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.

[0036] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is 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 that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0037] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0038] Embodiment 1

[0039] like Figures 1 to 3 As shown, the drive assembly 20 is installed at the end of the robotic arm 10. The drive assembly 20 can drive the surgical instrument to move according to a preset posture. The routing of the drive assembly 20 includes a connecting wire and a grounding wire 30; the conductive guide 31 is at least partially arranged to fit the above-mentioned connecting wire, one end of the conductive guide 31 is connected to the drive assembly 20, and the other end of the conductive guide 31 is connected to any fixed surface of the drive assembly 20 to form a fixed end of the conductive guide 31; the grounding wire 30 is connected to the fixed end of the conductive guide 31.

[0040] Specifically, the drive assembly 20 is installed at the end of the robotic arm 10. An instrument box is installed on the drive assembly 20 for providing kinetic energy to the instruments on the instrument box. The drive assembly 20 is mainly used to drive the surgical instruments to move in a preset straight line. The wiring of the drive assembly 20 includes a connecting wire connected to an external communication line, etc. and a grounding wire 30 for safety protection. The conductive guide 31 is at least partially fitted with the connecting wire, so that the conductive guide 31 can play a certain guiding role on the connecting wire, and the fitting and fixing effect is good, which avoids the problem of confusion caused by the connecting wire during the movement process. The grounding wire 30 can also be fixed to the fixed end of the conductive guide 31 to avoid the synchronous movement of the grounding wire 30 during the movement of the drive device, and avoid the problem of damage caused by the synchronous movement of the wiring during the movement of the instrument drive device.

[0041] Among them, the drive assembly 20 is installed at the end of the robot arm 10, and the drive assembly 20 drives the surgical instrument at the end of the robot arm 10 to perform surgical operations; wherein, the robot arm 10 has multiple degrees of freedom of joints, which can realize the adjustment of spatial position; the linear drive mechanism 21 of the drive assembly 20 drives the connecting seat 23 and the drive box 22 to move along a linear straight line, so as to realize more multi-directional posture adjustment of the surgical instrument; and the linear drive mechanism 21, as disclosed in the existing patents, mostly includes a lead screw 24 and a slide rail; in this way, during the linear motion of the drive assembly 20, the routing of the drive assembly 20 also needs to perform linear motion synchronously; when the routing of the drive assembly 20 performs linear motion synchronously for multiple times, it is particularly easy to cause routing confusion and wear problems, which causes greater safety risks for actual use and operation; in the technical solution of the present invention, through the performance, position and connection relationship of the conductive guide 31, the conductive guide 31 can guide the connecting wire in the routing and prevent the grounding wire 30 in the routing from moving synchronously. The technical effect is achieved, and the overall safety performance of the surgical robot operation is improved.

[0042] Among them, the conductive guide 31 is at least partially fitted with the connecting wire; for example, the conductive guide 31 is fitted with more than two-thirds of the area of ​​the connecting wire to ensure that the conductive guide 31 and the connecting wire have a sufficiently large fitting area to ensure the guiding effect of the conductive guide 31. It is worth mentioning that the conductive guide 31 is at least partially fitted with the connecting wire, and it should be ensured that at least one-half to two-thirds of the area of ​​the conductive guide 31 and the connecting wire are in a fitted setting to ensure the guiding effect of the conductive guide 31 on the connecting wire; because the input and output ends of the connecting wire need to be connected to the preset position, the first end thereof cannot be better fitted with the conductive guide 31, so the conductive guide 31 and the connecting wire cannot be completely fitted, so the conductive guide 31 and the connecting wire are selected to have a larger fitting connection, which can achieve a better guiding and fixing effect.

[0043] Among them, one end of the conductive guide 31 is connected to the driving assembly 20, and the other end of the conductive guide 31 is connected to any fixed surface of the driving assembly 20 to form a fixed end of the conductive guide 31. The grounding wire 30 is connected to the fixed end of the conductive guide 31, that is, the driving assembly 20 transmits its current charge to the fixed end formed by any fixed surface of the driving assembly 20 through the conductive guide 31, and then the grounding wire 30 is connected to this fixed end to realize the current charge of the driving assembly 20 to the ground to form a safety protection for the equipment. It is worth mentioning that the other end of the conductive guide 31 is connected to any fixed surface of the driving assembly 20 to form a fixed end of the conductive guide 31, preferably away from the position of the driving assembly 20 and toward the extended moving direction of the driving assembly 20, that is, close to the position of the outlet end of the connecting line of the driving assembly 20. After the conductive guide 31 has a relatively large surface-fitting guiding effect on the connecting line of the driving assembly 20, it is connected to the grounding wire 30 at the end position to avoid interference with the overall routing caused by the grounding wire 30, thereby improving the routing effect.

[0044] Among them, the conductive guide member 31 is a structure with conductive properties and can play a guiding role; since the conductive guide member 31 is used to guide the connecting wire, the structure of the conductive guide member 31 is basically the same as the preset guided connecting wire structure and has conductive properties; it is worth mentioning that the conductive guide member 31 needs to have a certain strength, rigidity and ductility when playing a guiding role to ensure that it has sufficient guidance and protection when guiding the connecting wire and the instrument box to move synchronously.

[0045] Exemplarily, the conductive guide 31 and the connecting line form a continuous extension section 32, and the extension section 32 can extend along the moving path of the driving assembly 20, so that when the driving assembly 20 moves along a preset position, the conductive guide 31 and the connecting line can move continuously and synchronously.

[0046] Specifically, the conductive guide 31 and the connecting wire form a continuous extension section 32, and the extension section 32 extends continuously along the moving path of the drive assembly 20, thereby ensuring the smoothness of the connecting wire guided along the conductive guide 31, and is used to guide the conductive guide 31 and the connecting wire to move synchronously and continuously when the drive assembly 20 moves along a preset position, thereby avoiding the wear of the connecting wire by the link-type intermittent guide. The continuous extension section 32 formed by the setting ensures that the conductive guide 31 and the connecting wire can have a continuous extension buffer section during the synchronous movement of the instrument box, thereby avoiding damage such as stretching to the cable during the movement, thereby ensuring the reliability and safety of the product.

[0047] Among them, the conductive guide 31 and the connecting wire form a continuous extension section 32, that is, the part where the conductive guide 31 and the connecting wire are in contact forms a part with ductility and cushioning properties, that is, when the driving assembly 20 is in movement, the conductive guide 31 and the extension section 32 of the connecting wire can move continuously and synchronously, which can not only protect and smoothly guide the connecting wire, but also ensure that the connecting wire is not messy during the synchronous movement.

[0048] It is worth mentioning that the extension section 32 can completely overlap with the part where the conductive guide 31 and the connecting line are attached, or it can only partially overlap; preferably, the extension section 32 completely overlaps with the part where the conductive guide 31 and the connecting line are attached, so that the extension section 32 has continuous guidance and ensures the best protection effect.

[0049] Exemplarily, the conductive guide 31 and the connecting line form an arc-shaped extending section 32 .

[0050] Specifically, the conductive guide 31 and the connecting line form a continuous extended section 32 with an arc-shaped bend, that is, the extended section 32 formed by the conductive guide 31 and the connecting line is a continuous arc-shaped bend structure, the arc-shaped bend structure has greater ductility and cushioning properties, and when the drive assembly 20 is performing a linear motion, the arc-shaped bend extended section 32 can have a better cushioning effect when performing continuous and synchronous linear motion.

[0051] Among them, the angle at the corner of the arc-shaped extended section 32 is preferably greater than 180 degrees, that is, the extension angle of the extended section 32 is an obtuse angle, which is beneficial for the arc-shaped extended section 32 to better buffer the synchronous movement during the linear motion of the drive assembly 20.

[0052] Exemplarily, the connecting wire is a flexible flat cable, and the conductive guide 31 is a strong conductive tape.

[0053] Specifically, the connecting wire is a flexible cable, and the conductive guide 31 is a strong conductive tape. The flexible cable is flexible, easy to bend, and easy to load and unload. It has excellent electrical properties, dielectric properties, heat resistance, and high assembly reliability and quality, and especially has a long service life. Therefore, when the flexible cable is used as the connecting wire of the drive assembly 20, due to its flexibility, it is fitted and fixed by the strong conductive tape, thereby ensuring the supplement of the flexibility of the flexible cable and improving its performance.

[0054] The flexible flat cable and the conductive tape are preferably of exactly the same size to ensure that the flexible flat cable can be better fitted and fixed to the conductive tape.

[0055] Exemplarily, a guide block 33 is further included; the guide block 33 is at least partially in contact with the conductive guide member 31, and the guide block 33 is connected in the moving path of the instrument driving device.

[0056] Specifically, by at least partially abutting the guide block against the conductive guide member 31, the conductive guide member 31 drives the connecting wire to guide the moving path of the instrument driving device, ensuring that the conductive guide member 31 drives the connecting wire to move along a preset path, thereby ensuring the guiding effect.

[0057] Among them, the base of the guide block 33 can be fixed on the screw 24 of the driving assembly 20, and the main body of the guide block 33 faces the fitting part of the connecting line and the conductive guide member 31. The guide block 33 can abut against the outer side of the conductive guide member 31 and has a certain extrusion force on the conductive guide member 31 to form a guiding effect on the conductive guide member 31 and the connecting line, especially for the conductive guide member 31 and the connecting line in the process of moving along the preset posture, it can continuously perform a certain extrusion and guiding effect on the whole.

[0058] Exemplarily, the conductive guide 31 is made of steel.

[0059] Specifically, when the material of the conductive guide member 31 is steel, it has sufficient strength and conductivity, and thus better meets the material requirements of the conductive guide member 31 .

[0060] Among them, when the material of the conductive guide 31 is steel, that is, when the connecting line is a flexible cable, the conductive guide 31 is a steel belt; when the connecting line is a flexible cable, the conductive guide 31 is a steel plate, and the steel plate forms an inwardly concave guide portion, and the flexible cable is arranged in the guide portion, so that the conductive guide 31 realizes the guiding and supporting function of the flexible cable.

[0061] Exemplarily, the drive assembly 20 includes a linear drive mechanism 21, a drive box 22 and a connecting seat 23; the connecting seat 23 is sleeved on the lead screw 24 of the linear drive mechanism 21, and the drive box 22 and the connecting seat 23 are detachably connected; the drive box 22 and the connecting seat 23 are connected via the ground wire 30.

[0062] Specifically, the linear drive mechanism 21 includes a mounting groove, a slide rail and a lead screw 24. The mounting groove is installed at the end of the robot arm 10, and the slide rail and the lead screw 24 are installed in the mounting groove; the connecting seat 23 is sleeved on the lead screw 24 of the linear drive mechanism 21, and the drive box 22 is connected to the connecting seat 23; the drive box 22 and the connecting seat 23 are connected through the grounding wire 30, that is, the current charge of the drive box 22 is transmitted to the connecting seat 23, one end of the conductive guide 31 is connected to the connecting seat 23, and the current charge is guided to any fixed surface of the drive assembly 20 connected to the other end of the conductive guide 31, and finally the current charge is conducted outward from the fixed end of the conductive guide 31 through the grounding wire 30, and the outwardly connected grounding wire 30 can be realized by connecting the fixed end of the conductive guide 31, thereby avoiding the problem of the grounding wire 30 moving synchronously with the movement of the drive assembly 20.

[0063] The drive box 22 and the connecting seat 23 are detachably connected. Preferably, the drive box 22 and the connecting seat 23 are fixed by snapping, which can realize both sliding connection between the drive box 22 and the connecting seat 23 and quick and easy disassembly.

[0064] A surgical robot comprises a mechanical arm 10 and the above-mentioned instrument driving device. The mechanical arm 10 has a plurality of joints, and adjacent joints are rotatably connected. The mechanical arm 10 is provided with at least two grounding points; adjacent grounding points are connected in series through the above-mentioned grounding wire 30.

[0065] Specifically, the surgical robot is preferably a master-slave surgical robot, that is, it includes a doctor's operating platform and a patient's operating platform; the doctor controls the doctor's operating platform and performs surgery on the patient close to the patient's operating platform; wherein the patient's operating platform includes a robotic arm 10 and surgical instruments configured at the end of the robotic arm 10, and the robotic arm 10 and the surgical instruments can perform surgery on the patient; it is worth mentioning that when the surgical instrument performs surgery on the patient, the robotic arm 10 can adjust the posture, and the instrument drive device can also adjust the preset posture of the surgical instrument; because when the instrument drive device adjusts the posture, its routing will also move synchronously with the change of its position, causing the problem of chaotic routing; with the help of the configured conductive guide 31, not only can the connecting wires in the routing be guided to move according to the preset posture, but also the grounding wire 30 in the routing can be fixed to the fixed surface to prevent it from following the movement; finally, at least two grounding points configured between multiple joints of the robotic arm 10 are connected in series through the grounding wire 30 to form a grounding system of the entire robotic arm 10, so that the grounding operation is more convenient, and the orderliness and reliability of the routing of the entire surgical robot are improved.

[0066] Among them, the robot arm 10 is equipped with at least two grounding points; for example, the robot arm 10 includes two grounding points, that is, the grounding wire 30 can ground the robot arm 10 at at least two positions to ensure the grounding effect; for example, the robot arm 10 includes four joints, and grounding points are configured between adjacent joints, that is, four points, and the four points better achieve the grounding protection effect of the robot arm 10. It is worth mentioning that the grounding point is preferably located in the middle of the joint segment, and can also be any position of the corresponding joint segment.

[0067] like Figure 4 As shown, a grounding method for a surgical robot includes the above-mentioned instrument driving device, and the specific steps include:

[0068] S1, connecting one end of the conductive guide 31 to the instrument driving device, and connecting the other end of the conductive guide 31 to any fixed surface of the driving assembly 20;

[0069] S2, connecting the ground wire 30 to the fixed end of the conductive guide 31;

[0070] S3, making the grounding wire 30 connect at least two grounding points on the robot arm 10 in series.

[0071] Specifically, in step S1, by connecting one end of the conductive guide 31 to the instrument driving device, the current charge of the instrument driving device is transferred to the other end of the conductive guide 31; in step S2, the grounding wire 30 is directly connected to the fixed end of the conductive guide 31 to directly conduct the current charge of the instrument driving device outward, and the grounding wire 30 does not need to move synchronously with the movement of the instrument driving device, thereby increasing the service life of the grounding wire 30; in step S3, at least two grounding points on the robotic arm 10 are connected in series to achieve grounding protection for the entire robotic arm 10 of the surgical robot.

[0072] It is worth mentioning that the grounding scheme is explained by taking the patient end of the surgical robot including four robotic arms 10 as an example; when each robotic arm 10 includes four joints, each joint is configured with a grounding point; the grounding wire 30 of each robotic arm 10 connects the grounding points of the four joints on the robotic arm 10 in series, and finally the grounding wire 30 of the instrument drive assembly 20 at the end is connected in series, so as to realize the grounding operation of a single robotic arm 10; finally, the grounding wires 30 of the four robotic arms 10 are gathered to the base at the lower end for centralized grounding protection, thereby ensuring the reliability and convenience of the overall surgical robot grounding scheme.

[0073] Embodiment 2

[0074] The difference between this embodiment and the first embodiment is that the connecting wire is a flexible cable, both ends of the conductive guide 31 are respectively provided with fixing parts, and the connecting wire is fixedly connected to at least the two ends of the conductive guide 31 through the fixing parts.

[0075] Specifically, the connecting wire is an ordinary flexible cable, and the fixed parts respectively configured at the two ends of the conductive guide 31 are fixedly connected to the flexible cable, that is, the connecting wire and the conductive guide 31 are at least partially integrated, that is, when the driving assembly 20 is moving, the part formed by the connecting wire and the conductive guide 31 can synchronously drive the assembly 20 to move, thereby avoiding problems such as wear of the connecting wire during movement, and improving the safety and reliability of the use of the connecting wire.

[0076] Among them, it is preferred to fix the extension section 32 of the connecting line to multiple positions of the conductive guide 31, such as by bonding them together, to ensure that the main body of the connecting line is protected by the conductive guide 31 and avoid the problem of chaotic routing of the connecting line.

[0077] The fixing member may be a fixing turn, which ensures the convenience of the connection line and the guide part being fixed together, and has a good fixing effect, ensuring that the connection line will not shake or fall off at will under the guidance of the conductive guide member 31 .

[0078] In summary, the present invention provides an instrument driving device, a surgical robot and a grounding method thereof, wherein the instrument driving device includes a driving assembly 20 and a conductive guide 31; the driving assembly 20 is installed at the end of the robotic arm 10, and the driving assembly 20 can drive the surgical instrument to move according to a preset posture, and the wiring of the driving assembly 20 includes a connecting wire and a grounding wire 30; the conductive guide 31 is at least partially fitted with the connecting wire, one end of the conductive guide 31 is connected to the driving assembly 20, and the other end of the conductive guide 31 is connected to any fixed surface of the driving assembly 20 to form a fixed end of the conductive guide 31; the grounding wire 30 is connected to the fixed end of the conductive guide 31; the instrument driving device not only guides the connecting wire of the instrument driving device through the conductive guide 31 to avoid confusion caused by the connecting wire during the movement process, but also fixes the grounding wire 30 to the fixed end of the conductive guide 31 to avoid synchronous movement of the grounding wire 30 during the movement of the driving device, and avoids the problem of damage caused by synchronous movement of the wiring during the movement of the instrument driving device.

[0079] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An instrument driving device, characterized in that: include: A drive assembly, which is installed at the end of the robotic arm and can drive the surgical instrument to move according to a preset posture. The wiring of the drive assembly includes a connecting wire and a grounding wire; A conductive guide, the conductive guide is at least partially arranged in contact with the connecting wire, and the conductive guide can guide the connecting wire to move according to a preset posture; One end of the conductive guide is connected to the driving assembly, and the other end of the conductive guide is connected to any fixed surface of the driving assembly to form a fixed end of the conductive guide; The grounding wire is connected to a fixed end of the conductive guide.

2. The instrument driving device according to claim 1, characterized in that: The conductive guide and the connecting line form a continuous extension section, and the extension section can extend along the moving path of the driving assembly, so that when the driving assembly moves along a preset position, the conductive guide and the connecting line can move continuously and synchronously.

3. The instrument driving device according to claim 2, characterized in that: The conductive guide and the connecting line form a continuous extended section with an arc-shaped bend.

4. The instrument driving device according to claim 1, characterized in that: The connecting wire is a flexible cable, and the conductive guide is a strong conductive belt.

5. The instrument driving device according to claim 1, characterized in that: The connecting wire is a flexible cable, and fixing parts are respectively arranged at both ends of the conductive guide. The connecting wire is fixedly connected to at least the two ends of the conductive guide through the fixing parts.

6. The instrument driving device according to claim 1, characterized in that: Also included is a guide block; The guide block is at least partially in contact with the conductive guide member, and the guide block is connected in a moving path of the instrument driving device.

7. The instrument driving device according to claim 1, characterized in that: The conductive guide is made of steel.

8. The instrument driving device according to claim 1, characterized in that: The driving assembly includes a linear driving mechanism, a driving box and a connecting seat; The connecting seat is sleeved on the lead screw of the linear drive mechanism, and the drive box is detachably connected to the connecting seat; The driving box is connected to the connecting seat via the grounding wire.

9. A surgical robot, characterized in that: It comprises a robotic arm and at least one instrument driving device as described in any one of claims 1-8.

10. The surgical robot according to claim 9, characterized in that: The mechanical arm has a plurality of joints, adjacent joints are rotatably connected, and the mechanical arm is configured with at least two grounding points; Adjacent grounding points are connected in series via the grounding wires.

11. A grounding method for a surgical robot, characterized in that: The device comprises the instrument driving device according to any one of claims 9 to 10, wherein the specific steps include: Connecting one end of the conductive guide to the instrument drive device, and connecting the other end of the conductive guide to any fixed surface of the drive assembly; connecting the ground wire to the fixed end of the conductive guide; The grounding wire connects at least two grounding points on the robot arm in series.

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