Medical surgical instrument driving device

Abstract

The invention discloses a medical surgical instrument driving device. The medical surgical instrument driving device comprises a fixing assembly, a push-pull assembly, a rotating assembly and a base. The fixing assembly is used for clamping and installing surgical instruments of different sizes. The push-pull assembly is fixedly installed on the base and used for driving a clamp of a surgical instrument to be opened and closed. The rotating assembly is movably installed on the base and used for driving the fixing assembly to rotate and driving the surgical instrument to rotate through the fixing assembly. The medical surgical instrument driving device can drive an existing surgical instrument and is compatible with surgical instruments of different sizes.

Description

Technical Field

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

[0002] The prior art discloses a driving device for a surgical instrument, which is used to drive a special surgical instrument consumable. The device is composed of a consumable contact layer, a driving main body layer and a moving platform layer. The gear rack in the driving main body layer contacts the surgical instrument consumable through an opening on the consumable contact layer to drive the instrument to move. The moving platform layer drives the main body layer by means of a slider connecting layer, thereby driving the device to move as a whole.

[0003] At the same time, the prior art also discloses a modular surgical instrument drive device, which is a surgical robot system accessory and is compatible with a variety of minimally invasive surgical instruments. The device includes a mounting bracket, a power source for providing driving force to the surgical instrument, a transmission assembly for transmitting the driving force, and a clutch device for changing the engagement state between the surgical instrument and the transmission assembly. The power source, transmission assembly, clutch device and mounting bracket are packaged as a standard module, which realizes the rapid installation and disassembly of the surgical instrument, keeps the drive device relatively independent from other component systems of the surgical robot, and is also compatible with connecting rod transmission type surgical instruments and wire transmission type surgical instruments, expanding the types of surgical instrument drives and having a wide range of applications.

[0004] However, the existing surgical robot system is not compatible with existing surgical instruments. The surgical instrument drive device on the surgical robot is mainly for specific surgical instrument consumables and cannot be used to drive handheld surgical instruments already on the market. At the same time, the drive interface of the existing surgical robot drive device is not adjustable, and when the size specifications of the surgical instrument change, there will be incompatibility issues. Summary of the invention

[0005] The invention provides a medical surgical instrument driving device, which can drive existing surgical instruments and is compatible with surgical instruments of different sizes.

[0006] In order to achieve the above object, the present invention adopts the following specific technical solutions:

[0007] A medical surgical instrument driving device, comprising a fixing component, a push-pull component, a rotating component and a base;

[0008] The fixing assembly is used for clamping and installing surgical instruments of different sizes;

[0009] The push-pull assembly is fixedly mounted on the base and is used to drive the clamp of the surgical instrument to open and close;

[0010] The rotating component is movably mounted on the base, and is used to drive the fixed component to rotate, and drives the surgical instrument to rotate through the fixed component.

[0011] Furthermore, the fixing assembly includes a first fixing slider, a second fixing slider, a slide rail and an instrument support;

[0012] The first fixed slider and the second fixed slider can be installed on the slide rail in a linear sliding manner, and are used to clamp the hand-held ring of the surgical instrument to fix the surgical instrument;

[0013] One end of the instrument support is fixedly connected to the slide rail, and the other end is slidably connected to the rotating component, so as to achieve overall position adjustment of the fixed component.

[0014] Furthermore, the first fixed slider and the second fixed slider each include two symmetrical semicircular structures and a spring compressed and connected between the two semicircular structures;

[0015] The two semicircular structures are butted together so as to be snap-fitted into the hand-held circular ring of the surgical instrument, and the elastic force of the spring is used to tighten the two semicircular structures into the hand-held circular ring.

[0016] Furthermore, the push-pull assembly includes a Bowden cable, a push-pull slider, a boss and a first linear motor;

[0017] One end of the Bowden cable is connected to the second fixed slider, and the other end is connected to the push-pull slider;

[0018] The boss is fixedly mounted on the base;

[0019] The push-pull slider can be installed on the boss in a linear sliding manner;

[0020] The first linear motor is transmission-connected to the push-pull slider for driving the push-pull slider to slide relative to the boss, and the push-pull slider is utilized to drive the inner core of the Bowden cable to move so that the second fixed slider and the first fixed slider produce relative movement, thereby controlling the opening and closing of the hand-held ring of the surgical instrument through the first fixed slider and the second fixed slider to realize the opening and closing movement of the clamp.

[0021] Furthermore, the boss is provided with a square slide groove;

[0022] The push-pull slider has a square slide bar;

[0023] The square sliding rod is slidably mounted in the square sliding groove in a shape-matched manner.

[0024] Furthermore, the rotating assembly includes a gear, a rack, a round iron block, a bracket, a knob and a second linear motor;

[0025] One end of the bracket is rotatably mounted on the base, and the other end is rotatably mounted on the boss;

[0026] The gear is fixedly mounted on the bracket;

[0027] The rack is movably mounted on the base;

[0028] The gear meshes with the rack to convert the linear motion of the rack into the rotational motion of the bracket, thereby driving the surgical instrument to rotate through the fixing assembly;

[0029] The knob is threadably mounted on the bracket and is used to compress the surgical instrument;

[0030] The round iron block is fixedly connected to the rack;

[0031] The second linear motor is drivingly connected to the round iron block and is used for driving the round iron block to move back and forth.

[0032] Furthermore, the gear is fixedly mounted on the bracket by means of a top screw.

[0033] Furthermore, the slide rail and the apparatus support are both provided with wedge-shaped slide grooves;

[0034] The first fixed sliding block and the second fixed sliding block are both installed in the wedge-shaped sliding groove of the sliding rail;

[0035] The bracket is installed in the wedge-shaped slide groove of the instrument support.

[0036] Furthermore, the surgical instrument is a nucleus pulposus forceps type surgical instrument.

[0037] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0038] 1. The medical surgical instrument driving device of the present invention can drive existing surgical instruments. According to the handheld structure of the surgical instrument, surgical instruments of different sizes can be clamped and installed by using a fixed component. The clamp of the surgical instrument is driven to open and close by a push-pull component, and the fixed component and the surgical instrument are driven to rotate by a rotating component, so that the surgical robot can drive traditional surgical instruments and realize automated control of surgical instruments with similar structures such as nucleus pulposus forceps, thereby saving consumables costs.

[0039] 2. The medical surgical instrument driving device of the present invention is compatible with surgical instruments of different sizes. The surgical instruments of different sizes can be clamped and installed through the fixing components. The design of adjustable fixed interface size makes the driving device compatible with traditional surgical instruments of the same type but different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the overall structure of the medical surgical instrument driving device of the present invention;

[0041] Figure 2 It is a schematic diagram of the structure of the fixed component;

[0042] Figure 3 It is a schematic diagram of the structure of the base, push-pull assembly and rotating assembly.

[0043] Reference numerals:

[0044] 1-surgical instrument, 2-driving mechanism, 21-fixed component, 22-push-pull component, 23-rotating component, 24-base, 211-first fixed slider, 212-second fixed slider, 213-slide rail, 214-instrument support, 221-Bowden wire, 222-push-pull slider, 223-boss, 231-gear, 232-rack, 233-round iron block, 234-bracket, 235-knob. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] like Figure 1 As shown in the structure, this embodiment provides a medical surgical instrument driving device, which includes a fixing component 21, a push-pull component 22, a rotating component 23 and a base 24; in this embodiment, the surgical instrument 1 is a nucleus pulposus forceps surgical instrument 1 of different sizes as an example for description; wherein:

[0047] like Figure 1 and Figure 2As shown in the structure, the fixing assembly 21 is used for clamping and installing surgical instruments 1 of different sizes; the fixing assembly 21 includes a first fixed slider 211, a second fixed slider 212, a slide rail 213 and an instrument support 214; the first fixed slider 211 and the second fixed slider 212 can be installed on the slide rail 213 along a straight line for sliding, and are used to clamp the hand-held ring of the surgical instrument 1 to fix the surgical instrument 1; the slide rail 213 is provided with a wedge-shaped slide groove extending along its length; the first fixed slider 211 and the second fixed slider 212 are both provided with a wedge-shaped block that matches the shape of the wedge-shaped slide groove, and the wedge blocks of the first fixed slider 211 and the second fixed slider 212 are both installed in the wedge-shaped slide groove of the slide rail 213 The first fixed slider 211 and the slide rail 213 are slidably matched, and the second fixed slider 212 and the slide rail 213 are slidably matched; one end of the instrument support 214 is fixedly connected to the slide rail 213, so that the instrument support 214 and the slide rail 213 are fixedly connected as one, and the other end of the instrument support 214 is slidably connected to the rotating assembly 23. The instrument support 214 is provided with a wedge-shaped slide groove, and the bracket 234 is provided with a wedge-shaped block. The bracket 234 realizes the sliding cooperation between the instrument support 214 and the bracket 234 of the rotating assembly 23 through the wedge block installed in the wedge-shaped slide groove of the instrument support 214; the overall position adjustment of the fixed assembly 21 is realized through the instrument support 214. Figure 2 As shown, the first fixed slider 211 and the second fixed slider 212 each include two symmetrical semicircular structures and a spring compressed and connected between the two semicircular structures. The two symmetrical semicircular structures are arranged along the length extension direction of the guide rail and can be relatively far away or close. Under the action of the spring, the two symmetrical semicircular structures will move in the direction of being away. The two semicircular structures are docked together and can be snapped into the hand-held ring of the surgical instrument 1 in a shape-fitting manner, and the elastic force of the spring is used to tighten the two semicircular structures in the hand-held ring of the surgical instrument 1. The first fixed slider 211 and the second fixed slider 212 can be moved to corresponding positions according to the different sizes of the hand-held part of the surgical instrument 1 to be compatible with surgical instruments 1 of various specifications.

[0048] like Figure 1 and Figure 3As shown in the structure, the push-pull assembly 22 is fixedly mounted on the base 24 and is used to drive the clamp of the surgical instrument 1 to open and close; the push-pull assembly 22 includes a Bowden cable 221, a push-pull slider 222, a boss 223 and a first linear motor; one end of the Bowden cable 221 is connected to the second fixed slider 212, and the other end is connected to the push-pull slider 222; the Bowden cable 221 includes an inner core and an outer sleeve; the boss 223 is fixedly mounted on the base 24; the push-pull slider 222 can be slidably mounted on the boss 223 along a straight line; the boss 223 is provided with a square slide groove; the push-pull slider 222 has a square slide rod; the square slide rod is shaped The first linear motor is connected to the push-pull slider 222 for driving the push-pull slider 222 to slide relative to the boss 223, and the push-pull slider 222 is used to drive the inner core of the Bowden cable 221 to move so that the second fixed slider 212 and the first fixed slider 211 move relative to each other, so that the second fixed slider 212 and the first fixed slider 211 move relatively away from or close to each other along the slide rail 213, thereby controlling the hand-held circular ring of the surgical instrument 1 to open and close through the first fixed slider 211 and the second fixed slider 212, so as to realize the opening and closing movement of the clamp. The first linear motor can be fixedly installed on the base 24.

[0049] like Figure 1 and Figure 3 As shown in the structure, the rotating assembly 23 is movably mounted on the base 24, used to drive the fixed assembly 21 to rotate, and drive the surgical instrument 1 to rotate through the fixed assembly 21; the rotating assembly 23 includes a gear 231, a rack 232, a round iron block 233, a bracket 234, a knob 235 and a second linear motor; one end of the bracket 234 is rotatably mounted on the base 24, and the other end is rotatably mounted on the boss 223; the gear 231 is fixedly mounted on the bracket 234, and the gear 231 can be fixedly mounted on the bracket 234 by a top screw; the axis of the gear 231 is coaxially arranged with the rotation axis of the bracket 234; the rack 232 can be movably mounted On the base 24, the moving direction of the rack 232 is perpendicular to the rotation axis of the gear 231; the gear 231 is meshed with the rack 232, and is used to convert the linear motion of the rack 232 into the rotational motion of the gear 231, and the gear 231 drives the bracket 234 to rotate, thereby driving the surgical instrument 1 to rotate through the bracket 234 and the fixing assembly 21; the knob 235 is installed on the bracket 234 through a thread, and is used to adjust the gap through the spiral rotation to tighten or loosen the surgical instrument 1; the round iron block 233 is fixedly connected to the rack 232; the second linear motor is transmission-connected to the round iron block 233, and is used to drive the round iron block 233 to reciprocate. The second linear motor can be fixedly installed on the base 24.

[0050] The above-mentioned medical surgical instrument driving device can drive the existing surgical instrument 1. According to the handheld structure of the surgical instrument 1, the fixing component 21 can be used to clamp and install surgical instruments 1 of different sizes. The push-pull component 22 drives the clamp of the surgical instrument 1 to open and close, and the rotating component 23 drives the fixing component 21 and the surgical instrument 1 to rotate, so that the surgical robot can drive the traditional surgical instrument 1 and realize the automated control of surgical instruments 1 with similar structures such as nucleus pulposus forceps, thereby saving consumables costs.

[0051] The above-mentioned medical surgical instrument driving device is compatible with surgical instruments 1 of different sizes. The surgical instruments 1 of different sizes can be clamped and installed through the fixing component 21. The design of adjustable fixed interface size makes the driving device compatible with traditional surgical instruments 1 of the same type and different sizes.

[0052] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A medical surgical instrument driving device, characterized in that: It includes a fixed component, a push-pull component, a rotating component and a base; The fixing assembly is used for clamping and installing surgical instruments of different sizes; The push-pull assembly is fixedly mounted on the base and is used to drive the clamp of the surgical instrument to open and close; The rotating component is movably mounted on the base, and is used to drive the fixed component to rotate, and drives the surgical instrument to rotate through the fixed component.

2. The medical surgical instrument driving device according to claim 1, characterized in that: The fixing assembly includes a first fixing slider, a second fixing slider, a slide rail and an instrument support; The first fixed slider and the second fixed slider can be installed on the slide rail in a linear sliding manner, and are used to clamp the hand-held ring of the surgical instrument to fix the surgical instrument; One end of the instrument support is fixedly connected to the slide rail, and the other end is slidably connected to the rotating component, so as to achieve overall position adjustment of the fixed component.

3. The medical surgical instrument driving device according to claim 2, characterized in that: The first fixed slider and the second fixed slider each include two symmetrical semicircular structures and a spring compressed and connected between the two semicircular structures; The two semicircular structures are butted together so as to be snap-fitted into the hand-held circular ring of the surgical instrument, and the elastic force of the spring is used to tighten the two semicircular structures into the hand-held circular ring.

4. The medical surgical instrument driving device according to claim 2, characterized in that: The push-pull assembly includes a Bowden cable, a push-pull slider, a boss and a first linear motor; One end of the Bowden cable is connected to the second fixed slider, and the other end is connected to the push-pull slider; The boss is fixedly mounted on the base; The push-pull slider can be installed on the boss in a linear sliding manner; The first linear motor is transmission-connected to the push-pull slider for driving the push-pull slider to slide relative to the boss, and the push-pull slider is utilized to drive the inner core of the Bowden cable to move so that the second fixed slider and the first fixed slider produce relative movement, thereby controlling the opening and closing of the hand-held ring of the surgical instrument through the first fixed slider and the second fixed slider to realize the opening and closing movement of the clamp.

5. The medical surgical instrument driving device according to claim 4, characterized in that: The boss is provided with a square slide groove; The push-pull slider has a square slide bar; The square sliding rod is slidably mounted in the square sliding groove in a shape-matched manner.

6. The medical surgical instrument driving device according to claim 4, characterized in that: The rotating assembly includes a gear, a rack, a round iron block, a bracket, a knob and a second linear motor; One end of the bracket is rotatably mounted on the base, and the other end is rotatably mounted on the boss; The gear is fixedly mounted on the bracket; The rack is movably mounted on the base; The gear meshes with the rack to convert the linear motion of the rack into the rotational motion of the bracket, thereby driving the surgical instrument to rotate through the fixing assembly; The knob is mounted on the bracket via a thread and is used to compress the surgical instrument; The round iron block is fixedly connected to the rack; The second linear motor is drivingly connected to the round iron block and is used for driving the round iron block to move back and forth.

7. The medical surgical instrument driving device according to claim 6, characterized in that: The gear is fixedly mounted on the bracket by means of a jackscrew.

8. The medical surgical instrument driving device according to claim 6, characterized in that: The slide rail and the apparatus support are both provided with wedge-shaped slide grooves; The first fixed sliding block and the second fixed sliding block are both installed in the wedge-shaped sliding groove of the sliding rail; The bracket is installed in the wedge-shaped slide groove of the instrument support.

9. The medical surgical instrument driving device according to any one of claims 1 to 8, characterized in that: The surgical instrument is a nucleus pulposus forceps type surgical instrument.

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