Medical surgical instrument driving device

Abstract

The application discloses a medical surgical instrument driving device, which 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 is used for driving the opening and closing of the clamps of the surgical instrument. The rotating assembly is movably installed on the base and is used for driving the rotation of the fixing assembly and the rotation of the surgical instrument through the fixing assembly. The medical surgical instrument driving device can drive the existing surgical instruments and is compatible with surgical instruments of different sizes.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical instruments, and particularly relates to a medical surgical instrument driving device. BACKGROUND

[0002] The prior art discloses a surgical instrument driving device for driving a special surgical instrument consumable, which 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 is in contact with the surgical instrument consumable through the opening on the consumable contact layer, and drives the instrument to move. The moving platform layer drives the driving main body layer through the slider connecting layer, and then drives the device to move as a whole.

[0003] Meanwhile, the prior art also discloses a modular surgical instrument driving device, which is used as 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 driving force, and a clutch device for changing the engagement state of the surgical instrument and the transmission assembly. The power source, transmission assembly, clutch device and mounting bracket are packaged as a standard module, realizing quick installation and disassembly of the surgical instrument, keeping the driving device and other components of the surgical robot system relatively independent, and being compatible with both link transmission type surgical instruments and steel 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 cannot be compatible with the existing surgical instruments. The surgical instrument driving device on the surgical robot is mainly aimed at specific surgical instrument consumables and cannot be used to drive existing handheld surgical instruments on the market. Meanwhile, the driving interface of the existing surgical robot driving device is not adjustable, and when the size specification of the surgical instrument changes, the problem of incompatibility may occur. SUMMARY

[0005] The present application 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-mentioned purpose, the present application adopts the following specific technical solutions:

[0007] A medical surgical instrument driving device, which comprises a fixing assembly, a push-pull assembly, a rotating assembly 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 installed on the base and is used for driving the opening and closing of the clamps of the surgical instrument;

[0010] The rotating assembly is movably installed on the base and used to drive the fixed assembly to rotate and drive the surgical instrument to rotate through the fixed assembly.

[0011] Further, the fixed assembly comprises a first fixed sliding block, a second fixed sliding block, a sliding rail and an instrument support.

[0012] The first fixed sliding block and the second fixed sliding block are linearly slidably installed on the sliding rail and 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 with the sliding rail, and the other end is slidably connected with the rotating assembly, so as to realize the overall position adjustment of the fixed assembly.

[0014] Further, the first fixed sliding block and the second fixed sliding block each comprise two symmetrical semicircular structures and a spring compressedly connected between the two semicircular structures.

[0015] The two semicircular structures are abutted together and can be clamped in the hand-held ring of the surgical instrument in shape fitting, and the two semicircular structures are tensioned in the hand-held ring by the elastic force of the spring.

[0016] Further, the push-pull assembly comprises a Bowden wire, a push-pull sliding block, a boss and a first linear motor.

[0017] One end of the Bowden wire is connected with the second fixed sliding block, and the other end is connected with the push-pull sliding block.

[0018] The boss is fixedly installed on the base.

[0019] The push-pull sliding block is linearly slidably installed on the boss.

[0020] The first linear motor is in transmission connection with the push-pull sliding block, used to drive the push-pull sliding block to slide relative to the boss, drive the inner core of the Bowden wire to move through the push-pull sliding block to make the second fixed sliding block and the first fixed sliding block relatively move, so as to control the hand-held ring of the surgical instrument to be tensioned or released through the first fixed sliding block and the second fixed sliding block, and realize the opening and closing movement of the clamp.

[0021] Further, the boss is provided with a square sliding groove.

[0022] The push-pull sliding block has a square sliding rod.

[0023] The square sliding rod is slidably installed in the square sliding groove in shape fitting.

[0024] Further, the rotating assembly comprises a gear, a rack, a round iron block, a support, a knob and a second linear motor.

[0025] One end of the support is rotatably installed on the base, and the other end is rotatably installed on the boss.

[0026] The gear is fixedly installed on the support.

[0027] The rack is movably installed on the base.

[0028] The gear is engaged with the rack, for converting linear motion of the rack into rotary motion of the support, so as to drive the surgical instrument to rotate through the fixing assembly.

[0029] The knob is installed on the support through screw thread, for pressing the surgical instrument.

[0030] The round iron block is fixedly connected with the rack.

[0031] The second linear motor is drivingly connected with the round iron block, for driving the round iron block to reciprocate.

[0032] Further, the gear is fixedly installed on the support through a top pin.

[0033] Further, the slide rail and the instrument support are both provided with wedge-shaped sliding grooves.

[0034] The first fixed sliding block and the second fixed sliding block are both installed on the wedge-shaped sliding grooves of the slide rail.

[0035] The support is installed on the wedge-shaped sliding grooves of the instrument support.

[0036] Further, the surgical instrument is a nucleus pliers type surgical instrument.

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

[0038] 1. The medical surgical instrument driving device can drive the existing surgical instrument, and according to the hand-held structure of the surgical instrument, the fixing assembly can clamp and install surgical instruments of different sizes, the push-pull assembly drives the clamps of the surgical instrument to open and close, and the rotating assembly drives the fixing assembly and the surgical instrument to rotate, so that the surgical robot can drive the traditional surgical instrument, realize automatic control of the surgical instrument with similar structure such as nucleus pliers, and save the cost of consumables.

[0039] 2、The medical surgical instrument driving device of the application can be compatible with surgical instruments of different sizes, and can clamp and install surgical instruments of different sizes through the fixing assembly, and the design of the adjustable fixing interface size makes the driving device compatible with traditional surgical instruments of the same type and different sizes. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 It is a schematic diagram of the overall structure of the medical surgical instrument driving device of the application.

[0041] Figure 2 It is a schematic diagram of the structure of the fixing assembly.

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

[0043] Reference signs:

[0044] 1-surgical instrument, 2-driving mechanism, 21-fixing assembly, 22-push-pull assembly, 23-rotating assembly, 24-base, 211-first fixing sliding block, 212-second fixing sliding block, 213-slideway, 214-instrument support, 221-Bowden cable, 222-push-pull sliding block, 223-convex boss, 231-gear, 232-rack, 233-round iron block, 234-bracket, 235-knob. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0046] As Figure 1 As shown in the structure, the embodiment provides a medical surgical instrument driving device, which comprises a fixing assembly 21, a push-pull assembly 22, a rotating assembly 23 and a base 24; in the embodiment, the surgical instrument 1 is a nucleus pulposus forceps type surgical instrument 1 of different sizes, and the following is described by taking the nucleus pulposus forceps type surgical instrument 1 as an example; wherein:

[0047] As Figure 1 and Figure 2As shown in the structure, the fixing assembly 21 is used for clamping and mounting surgical instruments 1 of different sizes; the fixing assembly 21 comprises a first fixing sliding block 211, a second fixing sliding block 212, a sliding rail 213 and an instrument support 214; the first fixing sliding block 211 and the second fixing sliding block 212 are linearly slidably installed on the sliding rail 213, used for clamping the hand-held annular ring of the surgical instrument 1, and realizing the fixation of the surgical instrument 1; the sliding rail 213 is provided with a wedge-shaped sliding groove extending along the length thereof; the first fixing sliding block 211 and the second fixing sliding block 212 are both provided with wedge-shaped blocks matched with the shape of the wedge-shaped sliding groove, and the wedge-shaped blocks of the first fixing sliding block 211 and the second fixing sliding block 212 are both installed in the wedge-shaped sliding groove of the sliding rail 213, realizing the sliding cooperation of the first fixing sliding block 211 and the sliding rail 213 and the sliding cooperation of the second fixing sliding block 212 and the sliding rail 213; one end of the instrument support 214 is fixedly connected with the sliding rail 213, so that the instrument support 214 is integrally connected with the sliding rail 213, and the other end of the instrument support 214 is slidably connected with the rotating assembly 23; the instrument support 214 is provided with a wedge-shaped sliding groove, and the bracket 234 is provided with a wedge-shaped block; the bracket 234 realizes the sliding cooperation of the instrument support 214 and the bracket 234 of the rotating assembly 23 through the wedge-shaped block installed in the wedge-shaped sliding groove of the instrument support 214; the overall position adjustment of the fixing assembly 21 is realized through the instrument support 214. As shown in Figure 2 The first fixing sliding block 211 and the second fixing sliding block 212 each comprise 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 relatively move away from or close to each other; under the action of the spring, the two symmetrical semicircular structures will move away from each other; the two semicircular structures are butted together and can be clamped in the hand-held annular ring of the surgical instrument 1 in a shape-matched manner, and the spring force is used to tension the two semicircular structures in the hand-held annular ring of the surgical instrument 1. The first fixing sliding block 211 and the second fixing sliding block 212 can be moved to the corresponding positions according to the different sizes of the hand-held parts of the surgical instruments 1, so as to be compatible with surgical instruments 1 of multiple specifications.

[0048] As shown in Figure 1 and Figure 3As shown in the structure, the push-pull assembly 22 is fixedly installed on the base 24 and used to drive the clamping jaw of the surgical instrument 1 to open and close; the push-pull assembly 22 comprises 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 with the second fixed slider 212 and the other end is connected with the push-pull slider 222; the Bowden cable 221 comprises an inner core and an outer sleeve; the boss 223 is fixedly installed on the base 24; the push-pull slider 222 is movably installed on the boss 223 along a straight line; the boss 223 is provided with a square sliding groove; the push-pull slider 222 is provided with a square sliding rod; the square sliding rod is slidingly installed in the square sliding groove in a shape-fitting manner to achieve sliding connection; the first linear motor is in transmission connection with the push-pull slider 222 and used to drive the push-pull slider 222 to slide relative to the boss 223, drive the inner core of the Bowden cable 221 to move so as to make the second fixed slider 212 and the first fixed slider 211 move relative to each other, make the second fixed slider 212 and the first fixed slider 211 move away from or close to each other along the slide rail 213, and thus control the hand-held 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 clamping jaw. The first linear motor can be fixedly installed on the base 24.

[0049] As shown in the structure, Figure 1 and Figure 3 As shown in the structure, the rotating assembly 23 is movably installed on the base 24 and 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 comprises 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 installed on the base 24 and the other end is rotatably installed on the boss 223; the gear 231 is fixedly installed on the bracket 234 and can be fixedly installed on the bracket 234 through a top wire; the axis of the gear 231 is coaxially arranged with the rotating axis of the bracket 234; the rack 232 is movably installed on the base 24 and the moving direction of the rack 232 is perpendicular to the rotating axis of the gear 231; the gear 231 is in meshing with the rack 232 and used to convert the linear motion of the rack 232 into the rotating motion of the gear 231, drive the bracket 234 to rotate through the gear 231, and thus drive the surgical instrument 1 to rotate through the bracket 234 and the fixed assembly 21; the knob 235 is installed on the bracket 234 in a threaded manner and used to adjust the gap through screw rotation to press or release the surgical instrument 1; the round iron block 233 is fixedly connected with the rack 232; the second linear motor is in transmission connection with the round iron block 233 and used to drive the round iron block 233 to move back and forth. The second linear motor can be fixedly installed on the base 24.

[0050] The medical surgical instrument driving device can drive the existing surgical instrument 1, according to the handheld structure of the surgical instrument 1, the fixed assembly 21 can be used for clamping and installing the surgical instrument 1 of different sizes, the push-pull assembly 22 is used for driving the clamping and opening and closing of the surgical instrument 1, and the rotating assembly 23 is used for driving the rotation of the fixed assembly 21 and the surgical instrument 1, so that the surgical robot can drive the conventional surgical instrument 1, realize the automatic control of the surgical instrument 1 with similar structures such as the nucleus clamps, and save the cost of consumables.

[0051] The medical surgical instrument driving device can be compatible with different sizes of surgical instruments 1, different sizes of surgical instruments 1 can be clamped and installed through the fixed assembly 21, and the design of the adjustable size of the fixed interface can be compatible with the same type of conventional surgical instruments 1 of different sizes.

[0052] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A medical surgical instrument driving device, characterized in that, The utility model relates to a surgical instrument fixing device, which comprises a fixing assembly, a push-pull assembly, a rotating assembly and a base; The fixing assembly is used for clamping and fixing surgical instruments of different sizes; The push-pull assembly is fixedly installed on the base and is used for driving the opening and closing of the clamps of the surgical instrument; The rotating assembly is movably installed on the base and is used for driving the rotation of the fixing assembly and the surgical instrument through the fixing assembly; The fixing assembly comprises a first fixing sliding block, a second fixing sliding block, a sliding rail and an instrument support; The first fixing sliding block and the second fixing sliding block are linearly slidably installed on the sliding rail, and are used for clamping the hand-held ring of the surgical instrument to fix the surgical instrument; One end of the instrument support is fixedly connected with the sliding rail, and the other end is slidably connected with the rotating assembly, and is used for adjusting the overall position of the fixing assembly; The rotating assembly comprises a gear, a rack, a round iron block, a support, a knob and a second linear motor; One end of the support is rotatably installed on the base, and the other end is rotatably installed on a boss of the push-pull assembly; The boss is fixedly installed on the base; The gear is fixedly installed on the support; The rack is movably installed on the base; The gear is engaged with the rack, and is used for converting the linear motion of the rack into the rotary motion of the support, so that the surgical instrument is rotated through the fixing assembly; The knob is installed on the support through threads, and is used for pressing the surgical instrument; The round iron block is fixedly connected with the rack; 2. The medical surgical instrument driving device according to claim 1, wherein The second linear motor is in transmission connection with the round iron block, and is used for driving the round iron block to reciprocate. The first fixing sliding block and the second fixing sliding block each comprise two symmetrical semicircular structures and a spring compressedly connected between the two semicircular structures; 3. The medical surgical instrument drive device according to claim 1, wherein The two semicircular structures are abutted together and are shape-fittingly clamped in the hand-held ring of the surgical instrument, and the two semicircular structures are tensioned in the hand-held ring by the elastic force of the spring. The push-pull assembly further comprises a Bowden cable, a push-pull sliding block and a first linear motor; One end of the Bowden cable is connected with the second fixing sliding block, and the other end is connected with the push-pull sliding block; The push-pull sliding block is linearly slidably installed on the boss; 4. The medical surgical instrument driving device according to claim 3, wherein The first linear motor is in transmission connection with the push-pull sliding block, and is used for driving the push-pull sliding block to slide relative to the boss, and driving the inner core of the Bowden cable to move to make the second fixing sliding block and the first fixing sliding block produce relative motion, so that the hand-held ring of the surgical instrument is controlled through the first fixing sliding block and the second fixing sliding block to realize the opening and closing motion of the clamps. The boss is provided with a square sliding groove; The push-pull sliding block has a square sliding rod; 5. The medical instrument drive apparatus according to claim 1, wherein The square sliding rod is shape-fittingly slidably installed in the square sliding groove.

6. The medical instrument drive apparatus according to claim 1, wherein The gear is fixedly installed on the support through a top pin. The sliding rail and the instrument support are each provided with a wedge-shaped sliding groove; The first fixing sliding block and the second fixing sliding block are installed in the wedge-shaped sliding groove of the sliding rail; 7. The medical surgical instrument drive device according to any one of claims 1 to 6, characterized in that, The support is installed in the wedge-shaped sliding groove of the instrument support. The surgical instrument is a nucleus pliers type surgical instrument.

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