Instrument drive apparatus, surgical robot and grounding method thereof

Abstract

The application belongs to the technical field of surgical robots, and discloses an instrument driving device, a surgical robot and a grounding method thereof. The instrument driving device solves the problem of line disorder and damage caused by the instrument driving device of the surgical robot during driving instrument movement. The instrument driving device is installed at the end of the mechanical arm, and the driving assembly can drive the surgical instrument to move according to the preset pose. The conductive guide is at least partially attached to the connecting line, one end of the conductive guide is connected to the driving assembly, 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, and the grounding wire is connected to the fixed end of the conductive guide. The conductive guide not only plays a guiding role on the connecting line of the instrument driving device, but also fixes the grounding wire to the fixed end of the conductive guide, thereby avoiding the problem of line disorder and damage caused by the synchronous movement of the connecting line during the driving instrument movement.

Description

Technical Field

[0001] This invention relates to the technical field of surgical robots, and more particularly to an instrument drive device, a surgical robot, and a grounding method thereof. Background Technology

[0002] Surgical robots are a complex system that integrates multiple modern high-tech technologies. With their widespread clinical application, surgical robots have solved many medical problems.

[0003] The master-slave surgical robot system includes a physician control platform and a patient surgical platform. The physician control platform sends control commands to the patient surgical platform based on the physician's operations to control the patient surgical platform. The patient surgical platform responds to the control commands sent by the physician control platform and performs the corresponding surgical operations. The core of the patient surgical platform includes a robotic arm, with surgical instruments connected to its end effector. To ensure the safe and effective execution of the surgery, the end effector of the robotic arm is equipped with an instrument drive device to drive the surgical instruments to move according to a preset posture during the surgery.

[0004] The aforementioned instrument drive device moves the surgical instruments and the connected wiring synchronously. The wiring of the instrument drive device will move multiple times during the operation and when the surgical instruments are adjusted, which can easily cause wiring confusion and damage. Summary of the Invention

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

[0006] To achieve this objective, the present invention adopts the following technical solution: a device driving device, comprising a driving assembly and a conductive guide;

[0007] The aforementioned drive assembly is mounted on the end of the robotic arm. The drive assembly can drive the surgical instruments to move according to a preset position. The wiring of the drive assembly includes connecting wires and grounding wires.

[0008] The conductive guide is at least partially attached to the connecting line. One end of the conductive guide is connected to the drive assembly, and the other end of the conductive guide is connected to any fixed surface of the drive assembly to form a fixed end of the conductive guide.

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

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

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

[0012] Preferably, the connecting line is a flexible ribbon cable, and the conductive guide is a strong conductive strip.

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

[0014] Preferably, a guide block is also included;

[0015] The guide block is at least partially in contact with the conductive guide, and the guide block is connected in the movement path of the instrument drive device.

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

[0017] Preferably, the drive assembly includes a linear drive mechanism, a drive housing, and a connecting base;

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

[0019] The aforementioned drive box and the aforementioned connector are connected via the aforementioned grounding wire.

[0020] A surgical robot includes a robotic arm and the aforementioned instrument drive mechanism.

[0021] The aforementioned robotic arm has multiple joints, with adjacent joints rotatably connected, and the robotic arm is equipped with at least two grounding points;

[0022] The adjacent grounding points are connected in series via the aforementioned grounding wire.

[0023] A grounding method for a surgical robot, including the aforementioned instrument drive device, specifically includes the following steps:

[0024] One end of the conductive guide is connected to the instrument drive device, and the other end of the conductive guide is connected to any fixed surface of the drive assembly.

[0025] Connect the grounding wire to the fixed end of the conductive guide.

[0026] Connect at least two grounding points on the robotic arm in series using the aforementioned grounding wire.

[0027] The beneficial effects of this invention are:

[0028] The present invention provides an instrument driving device and surgical robot, and a grounding method thereof, comprising a driving assembly and a conductive guide; the driving assembly is mounted on the end of a robotic arm and can drive surgical instruments to move according to a preset posture; the wiring of the driving assembly includes connecting wires and grounding wires; the conductive guide is at least partially attached to the connecting wires, 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; this instrument driving device not only guides the connecting wires of the instrument driving device through the conductive guide, avoiding the problem of the connecting wires becoming tangled during movement, but also fixes the grounding wire to the fixed end of the conductive guide, preventing the grounding wire from moving synchronously during the movement of the driving device, thus avoiding the problem of damage caused by the synchronous movement of the wiring during the movement of the instrument driving device. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the robotic arm provided in Embodiment 1 of the present invention;

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

[0031] Figure 3 This is a schematic diagram of the linear drive mechanism and grounding wire connection provided in Embodiment 1 of the present invention;

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

[0033] In the diagram: 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 Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0035] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0036] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0038] Example 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 instruments to move according to a preset position. The wiring of the drive assembly 20 includes a connecting wire and a grounding wire 30. The conductive guide 31 is at least partially attached to the 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 mounted on the drive assembly 20 to provide kinetic energy to the instruments in 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 connecting wires that connect to external communication lines and grounding wires 30 for safety protection. The conductive guide 31 is at least partially attached to the connecting wires, so that the conductive guide 31 can guide the connecting wires to a certain extent, with good attachment and fixation effect, avoiding the problem of the connecting wires becoming tangled during movement. It can also fix the grounding wire 30 to the fixed end of the conductive guide 31, preventing the grounding wire 30 from moving synchronously during the movement of the drive device, and avoiding the problem of damage caused by synchronous movement of the wiring during the movement of the instrument drive device.

[0041] The drive assembly 20 is mounted at the end of the robotic arm 10, driving surgical instruments to perform surgical operations. The robotic arm 10 has multiple degrees of freedom in its joints, enabling spatial position adjustment. 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 line, achieving more multi-directional posture adjustment of the surgical instruments. As disclosed in existing patents, the linear drive mechanism 21 mostly includes a lead screw 24 and a slide rail. As a result, during the linear movement of the drive assembly 20, the wiring of the drive assembly 20 also needs to move in a linear motion simultaneously. When the wiring of the drive assembly 20 moves in a linear motion simultaneously multiple times, wiring chaos and wear are particularly likely to occur, posing a significant safety risk to actual operation. In the technical solution of this invention, the conductive guide 31 is designed with specific performance, position, and connection relationships to guide the connecting wires in the wiring and prevent the grounding wire 30 in the wiring from moving synchronously, thereby improving the overall safety performance of the surgical robot operation.

[0042] The conductive guide 31 is at least partially attached to the connecting wire; for example, more than two-thirds of the conductive guide 31 is attached to the connecting wire to ensure a sufficiently large contact area and guarantee the guiding effect of the conductive guide 31. It is worth noting that the at least partial attachment of the conductive guide 31 to the connecting wire should ensure that at least one-half to two-thirds of the conductive guide 31 is in contact with the connecting wire to guarantee the guiding effect of the conductive guide 31 on the connecting wire. Since both the input and output ends of the connecting wire need to be connected to preset positions, its first and second ends cannot be perfectly attached to the conductive guide 31. Therefore, a large contact area between the conductive guide 31 and the connecting wire is necessary to achieve a better guiding and fixing effect.

[0043] 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. That is, the drive assembly 20 transmits its current charge through the conductive guide 31 to the fixed end formed by any fixed surface of the drive assembly 20. Then, the grounding wire 30, by connecting to this fixed end, conducts the current charge of the drive 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 drive assembly 20 to form the fixed end of the conductive guide 31. Preferably, it is located away from the drive assembly 20 and towards the extension direction of the drive assembly 20, that is, close to the outlet end of the connecting wire of the drive assembly 20. After the conductive guide 31 guides the connecting wire of the drive assembly 20 to a larger surface area, it connects to the grounding wire 30 at the end position to avoid interference of the grounding wire 30 to the overall wiring and improve the wiring effect.

[0044] Among them, the conductive guide 31 is a structure with conductive properties and capable of guiding. Since the conductive guide 31 is used to guide the connecting line, the structure of the conductive guide 31 is basically the same as the structure of the pre-guided connecting line and has conductive properties. It is worth mentioning that when the conductive guide 31 plays a guiding role, it needs to have a certain strength, rigidity and ductility to ensure that it has sufficient guidance and protection when guiding the connecting line and the instrument box move synchronously.

[0045] For example, the conductive guide 31 and the connecting line form a continuous extension segment 32, which can extend along the moving path of the drive assembly 20 so that when the drive 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 line form a continuous extension section 32. This extension section 32 extends continuously along the moving path of the drive assembly 20, ensuring the smoothness of the connecting line guided along the conductive guide 31. This is used to guide the conductive guide 31 and the connecting line to move synchronously and continuously when the drive assembly 20 moves along a preset position, avoiding wear problems on the connecting line caused by intermittent guides. By setting the continuous extension section 32, the conductive guide 31 and the connecting line can have a continuous extension buffer section during the synchronous movement of the instrument box, so as to avoid damage such as stretching of the cable during the movement, thereby ensuring the reliability and safety of the product.

[0047] 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 extension and buffering properties. In other words, during the movement of the drive assembly 20, the conductive guide 31 and the extension section 32 of the connecting wire can move continuously and synchronously, which can protect and guide the connecting wire smoothly, and ensure that the connecting wire does not become messy during synchronous movement.

[0048] It is worth mentioning that the extension section 32 can completely overlap with the part of the conductive guide 31 and the connecting wire, or it can partially overlap; preferably, the extension section 32 completely overlaps with the part of the conductive guide 31 and the connecting wire, so that the extension section 32 has continuous guiding properties and ensures the best protection effect.

[0049] For example, the conductive guide 31 and the connecting line form an arc-shaped extension section 32.

[0050] Specifically, by forming a continuous extension section 32 with an arc-shaped bend between the conductive guide 31 and the connecting line, that is, the extension 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 extensibility and buffering capacity, and when the drive assembly 20 is in linear motion, the arc-shaped bend extension section 32 can have a good buffering effect when it continuously and synchronously moves in a linear motion.

[0051] The included angle at the corner of the arc-shaped extension segment 32 is preferably greater than 180 degrees, that is, the extension angle of the extension segment 32 is an obtuse angle, which is beneficial for the arc-shaped extension segment 32 to better buffer and synchronize the motion during the linear motion of the drive assembly 20.

[0052] For example, the connecting line is a flexible ribbon cable, and the conductive guide 31 is a conductive strip with strength.

[0053] Specifically, the connecting wire is a flexible ribbon cable, and the conductive guide 31 is a strong conductive strip. The flexible ribbon cable is flexible, easy to bend, and easy to install and remove. It has excellent electrical properties, dielectric properties, heat resistance, and high assembly reliability and quality, and in particular, it has a long service life. Therefore, when the flexible ribbon cable is used as the connecting wire of the drive assembly 20, its flexibility is reinforced by the strong conductive strip to ensure that the flexibility of the flexible ribbon cable is supplemented and its performance is improved.

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

[0055] For example, it also includes a guide block 33; the guide block 33 at least partially abuts against the conductive guide 31, and the guide block 33 is connected in the movement path of the instrument drive device.

[0056] Specifically, by at least partially contacting the guide block with the conductive guide 31, the conductive guide 31 guides the connecting line along the movement path of the instrument drive device, ensuring that the conductive guide 31 drives the connecting line to move along a preset path and guaranteeing the guiding effect.

[0057] The base of the guide block 33 can be fixed on the lead screw 24 of the drive assembly 20. The main body of the guide block 33 faces the contact part of the connecting line and the conductive guide 31. The guide block 33 can abut against the outside of the conductive guide 31 and exert a certain squeezing force on the conductive guide 31 to form a guiding effect on the conductive guide 31 and the connecting line. In particular, it can continuously exert a certain squeezing and guiding effect on the entire conductive guide 31 and the connecting line during the movement along the preset posture.

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

[0059] Specifically, when the conductive guide 31 is made of steel, it has sufficient strength and conductivity, which satisfies the material requirements for the conductive guide 31.

[0060] Specifically, when the conductive guide 31 is made of steel, that is, when the connecting line is a flexible ribbon cable, the conductive guide 31 is a steel strip; when the connecting line is a flexible cable, the conductive guide 31 is a steel plate, and the steel plate forms a concave guide part, on which the flexible cable is arranged to achieve the guiding and supporting function of the conductive guide 31 for the flexible cable.

[0061] For example, 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 is detachably connected to the connecting seat 23; the drive box 22 and the connecting seat 23 are connected through the grounding wire 30.

[0062] Specifically, the linear drive mechanism 21 includes a mounting slot, a slide rail, and a lead screw 24. The mounting slot is installed at the end of the robotic arm 10, and the slide rail and lead screw 24 are installed in the mounting slot. 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 by a grounding wire 30, that is, the current charge of the drive box 22 is conducted to the connecting seat 23. One end of the conductive guide 31 is connected to the connecting seat 23, guiding the current charge to any fixed surface of the drive assembly 20 connected to the other end of the conductive guide 31. Finally, the current charge is discharged outward from the fixed end of the conductive guide 31 through the grounding wire 30. The grounding wire 30 that is connected to the fixed end of the conductive guide 31 can achieve the external connection, thus avoiding the problem of the grounding wire 30 moving synchronously with the drive assembly 20.

[0063] The drive box 22 and the connector 23 are detachably connected. Preferably, the drive box 22 and the connector 23 are snap-fitted together, which can achieve both sliding connection between the drive box 22 and the connector 23 and quick and easy disassembly.

[0064] A surgical robot includes a robotic arm 10 and the aforementioned instrument drive device. The robotic arm 10 has multiple joints, which are rotatably connected to adjacent joints. The robotic arm 10 is equipped with at least two grounding points; adjacent grounding points are connected in series via the aforementioned grounding wire 30.

[0065] Specifically, the surgical robot is preferably a master-slave surgical robot, which includes a doctor's operating platform and a patient's operating platform. The doctor controls the robot from the doctor's operating platform and performs surgical procedures on the patient from the patient's operating platform. The patient's operating platform includes a robotic arm 10 and surgical instruments at the end of the robotic arm 10. The robotic arm 10 and the surgical instruments can perform surgical procedures on the patient. It is worth mentioning that when the surgical instruments are performing surgery on the patient, the robotic arm 10 can adjust its posture, and the instrument drive device can also adjust the posture of the surgical instruments according to a preset posture. Since the instrument drive device moves synchronously with its position change when adjusting its posture, it causes the wiring to become messy. The conductive guide 31 can not only guide the connecting wires in the wiring to move according to the preset posture, but also fix the grounding wire 30 in the wiring to a fixed surface to prevent it from moving. Finally, the grounding wire 30 connects at least two grounding points between multiple joints of the robotic arm 10 in series to form the grounding system of the entire robotic arm 10. The grounding operation is more convenient and improves the orderliness and reliability of the wiring of the entire surgical robot.

[0066] The robotic arm 10 is equipped with at least two grounding points. For example, if the robotic arm 10 includes two grounding points, the grounding wire 30 can ground the robotic arm 10 at at least two locations to ensure grounding effectiveness. Alternatively, if the robotic arm 10 includes four joints, and each adjacent joint is equipped with a grounding point, that is, four points, these four points better achieve the grounding protection effect for the robotic arm 10. It is worth mentioning that the preferred grounding point is located in the middle of the joint segment, but it can also be located at any position within the corresponding joint segment.

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

[0068] S1. Connect one end of the conductive guide 31 to the instrument drive device, and connect the other end of the conductive guide 31 to any fixed surface of the drive assembly 20.

[0069] S2. Connect the grounding wire 30 to the fixed end of the conductive guide 31.

[0070] S3. Connect at least two grounding points on the robotic arm 10 in series using the grounding wire 30.

[0071] Specifically, in step S1, by connecting one end of the conductive guide 31 to the instrument drive device, the current charge of the instrument drive 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, directly dissipating the current charge of the instrument drive device outward, and the grounding wire 30 does not need to move synchronously with the movement of the instrument drive device, 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 using the patient end of the surgical robot, which includes four robotic arms 10, as an example. When each robotic arm 10 includes four joints, each joint is equipped 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 connects the grounding wire 30 of the instrument drive assembly 20 at the end in series, thus realizing the grounding operation of a single robotic arm 10. Finally, the grounding wires 30 of the four robotic arms 10 are connected to the base at the lower end for centralized grounding protection, ensuring the reliability and convenience of the overall surgical robot grounding scheme.

[0073] Example 2

[0074] The difference between this embodiment and Embodiment 1 is that the connecting line is a flexible cable, and the two ends of the conductive guide 31 are respectively provided with fixing parts. The connecting line is fixedly connected to at least the two ends of the conductive guide 31 through the fixing parts.

[0075] Specifically, the connecting line is a common flexible cable, and the fixing parts at both ends of the conductive guide 31 are fixedly connected to the flexible cable. That is, the connecting line and the conductive guide 31 are at least partially integrated. In other words, when the drive assembly 20 moves, the part of the connecting line and the conductive guide 31 that is integrated can drive the assembly 20 to move synchronously, avoiding wear and tear on the connecting line during movement and improving the safety and reliability of the connecting line.

[0076] Preferably, the extension section 32 of the connecting wire is fixed to multiple positions of the conductive guide 31, such as by bonding them together, so as to ensure that the main body of the connecting wire is protected by the conductive guide 31 and avoid the problem of messy wiring of the connecting wire.

[0077] The fixing component can be a fixing turn, which ensures the ease of fixing the connecting wire and the guide part, and has a good fixing effect, ensuring that the connecting wire will not shake or detach under the guidance of the conductive guide 31.

[0078] In summary, the instrument driving device and surgical robot and their grounding method provided by the present invention include a driving assembly 20 and a conductive guide 31. The driving assembly 20 is installed at the end of the robotic arm 10 and can drive the surgical instrument to move according to a preset posture. The wiring of the driving assembly 20 includes a connecting wire and a grounding wire 30. The conductive guide 31 is at least partially attached to 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. This instrument driving device not only guides the connecting wires of the instrument driving device through the conductive guide 31 to avoid the problem of the connecting wires becoming tangled during movement, but also fixes the grounding wire 30 to the fixed end of the conductive guide 31 to prevent the grounding wire 30 from moving synchronously during the movement of the driving device, thus avoiding the problem of damage caused by the 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 implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A machine driving device, characterized in that, include: A drive assembly is mounted on the end of a robotic arm. The drive assembly is capable of moving surgical instruments according to a preset posture. The wiring of the drive assembly includes connecting wires and grounding wires. A conductive guide is provided, which is at least partially attached to the connecting line, and the conductive guide is capable of guiding the connecting line to move according to a preset posture; One end of the conductive guide is connected to the drive assembly, and the other end of the conductive guide is connected to any fixed surface of the drive assembly to form the fixed end of the conductive guide; The grounding wire is connected to the fixed end of the conductive guide; The conductive guide and the connecting line form a continuous extension segment, which can extend along the moving path of the drive assembly so that when the drive assembly moves along a preset position, the conductive guide and the connecting line can move continuously and synchronously.

2. The instrument driving device according to claim 1, characterized in that, The conductive guide and the connecting line form a continuous, arc-shaped extension.

3. The instrument driving device according to claim 1, characterized in that, The connecting line is a flexible ribbon cable, and the conductive guide is a strong conductive strip.

4. The instrument driving device according to claim 1, characterized in that, The connecting line is a flexible cable, and the two ends of the conductive guide are respectively provided with fixing parts. The connecting line is fixedly connected to at least the two ends of the conductive guide through the fixing parts.

5. The instrument driving device according to claim 1, characterized in that, It also includes guide blocks; The guide block at least partially abuts against the conductive guide, and the guide block is connected in the movement path of the instrument drive device.

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

7. The instrument driving device according to claim 1, characterized in that, The drive assembly includes a linear drive mechanism, a drive box, and a connecting base; 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 drive box and the connector are connected via the grounding wire.

8. A surgical robot, characterized in that, It includes a robotic arm and at least one machine drive device as described in any one of claims 1-7.

9. The surgical robot according to claim 8, characterized in that, The robotic arm has multiple joints, with adjacent joints rotatably connected, and the robotic arm is equipped with at least two grounding points. The adjacent grounding points are connected in series via the grounding wire.

10. A grounding method for a surgical robot, characterized in that, Including the instrument driving device as described in any one of claims 8 to 9, the specific steps include: One end of the conductive guide is connected to the instrument drive device, and the other end of the conductive guide is connected to any fixed surface of the drive assembly. Connect the grounding wire to the fixed end of the conductive guide; The grounding wire connects at least two grounding points on the robotic arm in series.

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