Control device, driving system, and surgical robot

Abstract

The embodiment of the invention provides a control device, a driving system and a surgical robot, and belongs to the technical field of medical instruments.The control device comprises a base and a traction assembly, the traction assembly comprises a traction piece, a guiding piece and a blocking piece, the traction piece is rotationally connected with the base, the base is provided with an arc-shaped hole and a containing groove, and the arc-shaped hole penetrates through the base in the first direction; the containing groove is located in at least one side of the arc-shaped hole in the radial direction and communicated with the arc-shaped hole. The guide piece movably penetrates through the traction piece and the arc-shaped hole in the first direction. The guiding piece is connected with the blocking piece, and the traction piece is used for driving the guiding piece to rotate in the extending direction of the arc-shaped hole. The containing groove comprises a first containing groove located in the radial side of the arc-shaped hole. The first containing groove is used for limiting rotation of the blocking piece in the extending direction of the arc-shaped hole. Therefore, according to the control device, the driving system and the surgical robot provided by the embodiment of the invention, the assembly difficulty of the control device and other devices can be reduced, and the assembly procedure of the control device and other devices can be simplified.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and in particular, to a control device, a drive system, and a surgical robot. Background Art

[0002] Flexible endoscopy is a commonly used minimally invasive surgical technique in clinics. It mainly inserts a flexible endoscope sheath through the natural cavity or artificial incision of the human body to the target position of the operation, so as to realize the observation and diagnosis of the target tissue, or inserts surgical instruments through the instrument channel of the flexible endoscope sheath to the target tissue position for corresponding surgical treatment.

[0003] In the related art, a flexible endoscope robot system at least includes a drive box, an instrument box, and a flexible endoscope sheath. The flexible endoscope sheath is installed on the instrument box. A traction wire is connected to the flexible endoscope sheath, and the traction wire is assembled and fixed on a traction wheel in the instrument box. The motor in the drive box drives the traction wheel in the instrument box to rotate, so that the traction wire drives the bending section of the sheath to bend.

[0004] However, during the assembly process of the drive box and the instrument box, the traction wheel is prone to rotate, resulting in a relatively large assembly difficulty and a complex assembly procedure. Summary of the Invention

[0005] In view of the above at least one technical problem, the embodiments of the present application provide a control device, a drive system, and a surgical robot, which can reduce the assembly difficulty between the control device and other devices and simplify the assembly procedure between the control device and other devices.

[0006] The embodiments of the present application provide the following technical solutions:

[0007] In a first aspect of the embodiments of the present application, a control device is provided, including a base and a traction assembly. The traction assembly includes a traction member, a guiding member, and a blocking member. The traction member is rotatably connected to the base. The base has an arc-shaped hole and a receiving groove. The arc-shaped hole penetrates the base along a first direction. The receiving groove is located on at least one side in the radial direction of the arc-shaped hole and communicates with the arc-shaped hole. The guiding member is movably inserted through the traction member and the arc-shaped hole along the first direction. The guiding member is connected to the blocking member. The traction member is used to drive the guiding member to rotate along the extending direction of the arc-shaped hole. The receiving groove includes a first receiving groove located on one side in the radial direction of the arc-shaped hole. When the blocking member is located in the first receiving groove, the first receiving groove is used to limit the rotation of the blocking member along the extending direction of the arc-shaped hole and form a limiting state of the traction member. When the blocking member is located outside the first receiving groove, a non-limiting state of the traction member is formed.

[0008] The control device provided by the embodiment of the present application, the control device includes a base and a traction assembly, the traction assembly includes a traction member, a guiding member and a blocking member, the traction member is rotatably connected to the base, the base has an arc-shaped hole and a receiving groove, the arc-shaped hole penetrates through the base along a first direction, the receiving groove is located at least on one side of the radial direction of the arc-shaped hole and is communicated with the arc-shaped hole. The guiding member is movably disposed through the traction member and the arc-shaped hole along the first direction. The guiding member is connected to the blocking member, and the traction member is used to drive the guiding member to rotate along the extending direction of the arc-shaped hole. The receiving groove includes a first receiving groove located on one side of the radial direction of the arc-shaped hole. When the blocking member is located in the first receiving groove, the first receiving groove is used to limit the rotation of the blocking member along the extending direction of the arc-shaped hole and form a limiting state of the traction member. With such a setting, during the transportation and storage of the control device, and during the installation of the control device and the driving device, the random rotation of the traction member can be avoided, thereby preventing the traction member from deviating from the preset position, so that during the installation of the control device and the driving device, the traction member can be directly assembled with the coupling, without the need for a series of additional complex procedures to achieve the assembly of the traction member and the coupling, nor the need to design a special limiting tooling to limit the traction member, thereby reducing the assembly difficulty between the control device and the driving device, simplifying the assembly procedure, and reducing the assembly cost. When the blocking member is located outside the first receiving groove, a non-limiting state of the traction member is formed. With such a setting, the traction member can rotate under the drive of the coupling, so that the traction member drives the traction wire to wind around or unwind from the traction member to realize the bending movement of the sheath tube.

[0009] In a possible implementation manner, the receiving groove includes a second receiving groove located on the other side of the radial direction of the arc-shaped hole, and the second receiving groove and the first receiving groove are oppositely arranged along the radial direction of the arc-shaped hole. When the traction member is in the limiting state, the blocking member is located in the second receiving groove. When the traction member is in the non-limiting state, the blocking member is located outside the second receiving groove.

[0010] In a possible implementation, a sensor is further included. The sensor includes a photoelectric sensor, and the photoelectric sensor includes a transmitting end and a receiving end, both of which are located in the second accommodation groove. The transmitting end and the receiving end are arranged at intervals along the extending direction of the arc-shaped hole, and the light emitted by the transmitting end is directed towards the receiving end. When the traction member is in the limited state, the blocking member is located between the transmitting end and the receiving end and blocks the light from being emitted towards the receiving end. Alternatively, both the transmitting end and the receiving end are located on the same side of the second accommodation groove along the extending direction of the arc-shaped hole, and the side of the blocking member facing the transmitting end has a reflecting surface. When the traction member is in the limited state, the light emitted by the transmitting end is directed towards the reflecting surface, and the light is reflected by the reflecting surface and then directed towards the receiving end. Alternatively, both the transmitting end and the receiving end are located on the same side of the second accommodation groove along the extending direction of the arc-shaped hole, and a reflecting surface is provided on the other side of the second accommodation groove along the extending direction of the arc-shaped hole. The light emitted by the transmitting end is directed towards the reflecting surface. When the traction member is in the limited state, the blocking member is located between the transmitting end and the reflecting surface and blocks the light from being emitted towards the reflecting surface. When the traction member is in the non-limited state, the light is reflected by the reflecting surface and then directed towards the receiving end.

[0011] In a possible implementation, a sensor is further included. The sensor includes a proximity switch, and the proximity switch has a sensing surface. When the traction member is in one of the limited state and the non-limited state, the distance between the blocking member and the sensing surface is less than or equal to the sensing distance of the proximity switch. When the traction member is in the other of the limited state and the non-limited state, the distance between the blocking member and the sensing surface is greater than the sensing distance of the proximity switch.

[0012] In a possible implementation, for a control system, the control device includes an indicating member. The indicating member and the sensor are both configured to be electrically connected to the control system. When the traction member switches between the limited state and the non-limited state, the control system is configured to receive the signal from the sensor and control the indicating member to switch between a first indicating state and a second indicating state.

[0013] In a possible implementation, the base has an arc-shaped groove. The arc-shaped groove and the accommodation groove are located on the same side of the base along the first direction. The arc-shaped groove extends along the extending direction of the arc-shaped hole, and the orifice of the arc-shaped hole and the notch of the accommodation groove are both located on the bottom wall of the arc-shaped groove. When the traction member is in the non-limited state, the blocking member is located in the arc-shaped groove.

[0014] In a possible embodiment, the traction member includes a traction wheel and a transmission member, the transmission member is rotatably connected to the base, and the transmission member includes a first transmission part and a second transmission part that are connected. The traction wheel and the receiving groove are located on the same side of the base along the first direction, the first transmission part penetrates the base along the first direction and is located on the inner side of the arc-shaped hole, the first transmission part is connected to the traction wheel, and the second transmission part is located on the side of the base away from the traction wheel. The second transmission part has a guide hole, the guide hole and part of the arc-shaped hole are arranged opposite to each other along the first direction, and are connected to each other, and the guide member is movably arranged in the guide hole along the first direction.

[0015] In a possible embodiment, the traction assembly includes an elastic member, and the two ends of the guide member along the first direction include a first guide end and a second guide end, and the first guide end is connected to the blocking member. The guide hole includes a first sub-guide hole and a second sub-guide hole that are connected, the first sub-guide hole is located between the second sub-guide hole and the arc hole, and the second guide end is located on the side of the second sub-guide hole away from the first sub-guide hole. Along the cross section perpendicular to the first direction, the cross-sectional size of the second guide end is larger than the cross-sectional size of the remaining part of the guide member. The opening size of the first sub-guide hole is smaller than the opening size of the second sub-guide hole. The elastic member is located between the transmission member and the second guide end at the first sub-guide hole, and when the traction member is in a non-limiting state, the elastic member is in a compressed state.

[0016] In a possible implementation, the guide hole includes a third sub-guide hole, the third sub-guide hole is located on a side of the second sub-guide hole away from the first sub-guide hole, the opening size of the third sub-guide hole is larger than the opening size of the second sub-guide hole, and the second guide end is located in the third sub-guide hole. The second guide end has a first limiting surface, and the hole wall of the third sub-guide hole has a second limiting surface, and the first limiting surface and the second limiting surface are limitedly matched to limit the relative rotation of the second guide end and the transmission member along the circumferential direction of the third sub-guide hole.

[0017] In a possible implementation manner, the blocking member has a limiting hole, and the guiding member passes through the limiting hole along the first direction.

[0018] The guide member in the limiting hole has a third limiting surface, the hole wall of the limiting hole has a fourth limiting surface, and the third limiting surface cooperates with the fourth limiting surface to limit the relative rotation of the guide member and the blocking member along the circumferential direction of the limiting hole.

[0019] In a possible implementation, when the blocking member is located in the first accommodating groove, an assembly gap is provided between the blocking member and a groove side wall of the first accommodating groove, and the assembly gap is less than or equal to 0.5 mm.

[0020] In a possible implementation, there are multiple traction assemblies, and the multiple traction assemblies are used to be arranged in one-to-one correspondence with the multiple traction wires, and the traction members of the traction assemblies are used to be connected to the corresponding traction wires.

[0021] In a possible embodiment, the base has a traction hole for passing the traction wire, and the traction hole is located on the same side of each traction assembly. The multiple traction assemblies include two first traction assemblies and two second traction assemblies, the two first traction assemblies and the two second traction assemblies are arranged in a direction away from the traction hole, the two first traction assemblies are arranged in a one-to-one correspondence with the two second traction assemblies, and the first traction assemblies and the corresponding second traction assemblies are arranged at intervals in a direction perpendicular to the traction hole to the traction assembly.

[0022] The second aspect of the embodiment of the present application provides a driving system, including a driving device and the control device in the first aspect, wherein the driving device and the control device are connected. The driving device includes a driving member and a coupling, wherein the driving member is connected to one end of the coupling, and a protruding structure is provided at the other end of the coupling. The protruding structure is located in the guide hole of the control device, and abuts against the side of the second guide end of the control device away from the first guide end of the control device, thereby forming a non-limiting state of the traction member of the control device.

[0023] The driving system provided in the embodiment of the present application includes a control device, the control device includes a base and a traction assembly, the traction assembly includes a traction member, a guide member and a blocking member, the traction member is rotatably connected to the base, the base has an arc hole and a receiving groove, the arc hole passes through the base along a first direction, the receiving groove is located on at least one side of the radial direction of the arc hole, and is connected to the arc hole. The guide member is movably arranged in the traction member and the arc hole along the first direction. The guide member is connected to the blocking member, and the traction member is used to drive the guide member to rotate along the extension direction of the arc hole. The receiving groove includes a first receiving groove located on one side of the radial direction of the arc hole. When the blocking member is located in the first accommodating groove, the first accommodating groove is used to limit the rotation of the blocking member along the extension direction of the arc hole, and the limiting state of the traction member is formed. In this way, the traction member can be prevented from rotating randomly during the transportation and storage process of the control device, as well as during the installation process of the control device and the drive device, thereby preventing the traction member from deviating from the preset position, so that during the installation process of the control device and the drive device, the traction member can be directly assembled with the coupling, without the need for an additional series of complex procedures to realize the assembly of the traction member and the coupling, and without the need to design a special limiting tool to limit the traction member, thereby reducing the difficulty of assembling the control device and the drive device, simplifying the assembly procedure, and reducing the assembly cost. When the blocking member is located outside the first accommodating groove, the non-limiting state of the traction member is formed. In this way, the traction member can rotate under the drive of the coupling, so that the traction member drives the traction wire to wrap around or unwind around the traction member to realize the bending movement of the sheath.

[0024] The third aspect of the embodiments of the present application provides a surgical robot, including a control system, a sheath assembly, a driving device, and the control device in the first aspect above. The driving device is connected to the control device, and the control system is electrically connected to the driving device and the control device. The sheath assembly includes a sheath and a traction wire. The base of the control device is connected to one end of the sheath. The other end of the sheath extends away from the base and is connected to the first end of the traction wire. The second end of the traction wire is connected to the traction wheel of the control device.

[0025] The surgical robot provided by the embodiments of the present application includes a control device. The control device includes a base and a traction assembly. The traction assembly includes a traction member, a guiding member, and a blocking member. The traction member is rotatably connected to the base. The base has an arc-shaped hole and a receiving groove. The arc-shaped hole penetrates the base along a first direction. The receiving groove is located on at least one side in the radial direction of the arc-shaped hole and communicates with the arc-shaped hole. The guiding member is movably disposed through the traction member and the arc-shaped hole along the first direction. The guiding member is connected to the blocking member. The traction member is used to drive the guiding member to rotate along the extending direction of the arc-shaped hole. The receiving groove includes a first receiving groove located on one side in the radial direction of the arc-shaped hole. When the blocking member is located in the first receiving groove, the first receiving groove is used to limit the rotation of the blocking member along the extending direction of the arc-shaped hole and form a limiting state of the traction member. With such a setting, during the transportation and storage of the control device, and during the installation of the control device and the driving device, the random rotation of the traction member can be avoided, thereby preventing the traction member from deviating from the preset position. As a result, during the installation of the control device and the driving device, the traction member can be directly assembled with the coupling, without the need for a series of additional complex procedures to achieve the assembly of the traction member and the coupling, nor the need to design a special limiting tooling to limit the traction member. Thus, the assembly difficulty between the control device and the driving device is reduced, the assembly procedure is simplified, and the assembly cost is lowered. When the blocking member is located outside the first receiving groove, a non-limiting state of the traction member is formed. With such a setting, the traction member can rotate under the drive of the coupling, so that the traction member drives the traction wire to wind around or unwind from the traction member to realize the bending movement of the sheath.

[0026] The structure of the present application and its other invention purposes and beneficial effects will become more obvious and understandable through the description of the preferred embodiments in conjunction with the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0028] Figure 1 It is a schematic structural diagram of the surgical robot, the patient, and the operating table provided by the embodiments of the present application;

[0029] Figure 2 Structural schematic diagram of the drive system provided by the embodiment of the present application with the patient and the operating table;

[0030] Figure 3 Structural schematic diagram of the control device, drive device and sheath assembly provided by the embodiment of the present application;

[0031] Figure 4 Structural schematic diagram of the bending section and part of the traction wire provided by the embodiment of the present application;

[0032] Figure 5 Exploded view of the control device, drive device and sheath assembly provided by the embodiment of the present application;

[0033] Figure 6 Another exploded view of the control device, drive device and sheath assembly provided by the embodiment of the present application;

[0034] Figure 7 Top view of the control device with the housing removed provided by the embodiment of the present application;

[0035] Figure 8 Cross-sectional view of the control device with the housing removed provided by the embodiment of the present application;

[0036] Figure 9 For Figure 8 Enlarged structural schematic diagram in the dashed circle of;

[0037] Figure 10 Partial cross-sectional view of the control device provided by the embodiment of the present application;

[0038] Figure 11 Structural schematic diagram of the guide member, blocking member, transmission member and sensor provided by the embodiment of the present application;

[0039] Figure 12 Another structural schematic diagram of the guide member, blocking member, transmission member and sensor provided by the embodiment of the present application;

[0040] Figure 13 Structural schematic diagram of part of the base, guide member, blocking member, transmission member and sensor provided by the embodiment of the present application.

[0041] Explanation of reference numerals:

[0042] 1: Patient; 2: Operating table;

[0043] 10: Surgical robot; 11: Manipulator;

[0044] 12: Display system; 13: Control system;

[0045] 14: Navigation system; 20: Drive system;

[0046] 21: Trolley; 22: Robot arm;

[0047] 23: Driving device; 231: First electrical connection port;

[0048] 232: Driving box; 2321: Mounting base;

[0049] 2322: Accommodating cavity; 2323: Positioning pin;

[0050] 2324: Buckle groove; 233: Driving part;

[0051] 2331: Motor; 2332: Driver;

[0052] 234: Reducer; 235: Coupling;

[0053] 2351: First convex structure; 2352: Second convex structure;

[0054] 24: Control device; 241: Housing;

[0055] 242: Second electrical connection port; 243: Base;

[0056] 2431: Arc-shaped hole; 2432: Arc-shaped groove;

[0057] 2433: Accommodating groove; 2433a: First accommodating groove;

[0058] 2433b: Second accommodating groove; 244: Traction hole;

[0059] 245a: Traction component; 245b: First traction component;

[0060] 245c: Second traction component; 245: Traction part;

[0061] 246: Traction wheel; 2461: Notch;

[0062] 2462: Traction groove; 247: Fixing part;

[0063] 248: Transmission part; 2481: First transmission part;

[0064] 2482: Second transmission part; 2483: Guide hole;

[0065] 2483a: First sub-guide hole; 2483b: Second sub-guide hole;

[0066] 2483c: Third sub-guide hole; 2484: Groove;

[0067] 249: Guide; 2491: First guiding end;

[0068] 2492: Second guiding end; 251: First bearing;

[0069] 252: Second bearing; 253: Blocking member;

[0070] 2531: Limit hole; 254: Locking plate;

[0071] 255: Locking screw; 256: Snap;

[0072] 257: Elastic member; 258: Sensor;

[0073] 30: Sheath assembly; 310: Traction wire;

[0074] 320: Sheath; 321: Insertion section;

[0075] 322: Bending section; 323: Tip end;

[0076] 330: Instrument channel interface; 340: Protective sheath. Detailed implementation mode

[0077] In related technologies, using a flexible endoscope for surgery is a minimally invasive surgical technique. During the surgical process, the flexible endoscope sheath is inserted through the natural cavity or artificial incision of the human body to the target tissue position for surgery, so as to achieve the observation and diagnosis of the target tissue, or insert a surgical instrument through the instrument channel of the flexible endoscope sheath to the target tissue position for corresponding surgical treatment. Compared with traditional open surgery, flexible endoscope surgery has small or no incisions, which is beneficial to the rapid recovery of patients.

[0078] Some flexible endoscope surgeries mainly use manual instruments. The user needs to manually insert the endoscope sheath through the natural cavity or artificial incision to the target tissue position according to his own experience, which puts high requirements on the operation technique and operation stability of the user. In order to improve the operation stability of flexible endoscope surgery and reduce the dependence on the user's experience during the penetration of the endoscope sheath, the research and development of flexible endoscope robot systems has begun.

[0079] The flexible endoscope robot system may include a drive system and a flexible endoscope sheath. The drive system includes a drive box and an instrument box, and the flexible endoscope sheath is installed on the instrument box. The drive box and the instrument box can realize the bending of the flexible endoscope sheath. The flexible endoscope robot system replaces the bending and overall rotation of the endoscope sheath in the up and down directions with bending in four directions of up, down, left and right, and realizes 360-degree bending in any direction through the coordination of four directions. For example, before the operation, the user scans and models the patient's tissue through CT images, and formulates the route for the flexible endoscope sheath to move forward. During the operation, the display system displays the actual position of the end of the endoscope sheath in the model and in the path in real time. The user controls the movement of the robotic arm and the drive box by controlling the operator to realize the bending of the flexible endoscope sheath and finally reach the target position.

[0080] The flexible endoscope sheath may include an insertion section, a bending section and a head end, wherein one end of the insertion section is connected to the instrument box, the other end of the insertion section is connected to the bending section, and the head end is located at the end of the bending section away from the insertion section. The bending section is evenly distributed with traction wires connected thereto in the circumference, and the traction wires sequentially pass through the bending section and the insertion section to enter the instrument box, and are respectively fixed on traction wheels in the instrument box. The motor in the driving box drives the traction wheel in the instrument box to rotate, so that the traction wire is wound around the traction wheel or unwound around the traction wheel, thereby realizing the pitch and deflection movement of the bending section.

[0081] The drive box is provided with a motor and a coupling, the instrument box is provided with a transmission disc and a traction wheel, the traction wheel is mounted on the transmission disc, and one end of the traction wire is connected to the traction wheel. When the instrument box is mounted on the drive box, the transmission disc and the coupling are engaged, and the motor drives the coupling, the transmission disc and the traction wheel to rotate in sequence, so that the traction wire is wound around the traction wheel or unwound around the traction wheel.

[0082] However, since there is no limiting structure to limit the position of the transmission disc, before the instrument box and the drive box are installed, the transmission disc is prone to rotate around its own axis during transportation and storage, thereby deviating from the preset position, resulting in the inability to directly engage the transmission disc and the coupling, requiring a series of complex procedures to complete the engagement, which results in greater difficulty in assembly and a more complicated assembly procedure. In addition, since there is no limiting structure to limit the position of the transmission disc, during the installation of the instrument box and the drive box, the transmission disc rotates at will, and the traction wire cannot be accurately fixed to the traction wheel. It is necessary to design a special limiting tool to limit the transmission disc to prevent it from rotating, which further complicates the assembly procedure and increases the assembly cost.

[0083] Based on at least one of the above technical problems, an embodiment of the present application provides a control device, a drive system, and a surgical robot. The control device includes a base and a traction assembly. The traction assembly includes a traction member, a guiding member, and a blocking member. The traction member is rotatably connected to the base. The base has an arc-shaped hole and a receiving groove. The arc-shaped hole penetrates the base along a first direction. The receiving groove is located on at least one side in the radial direction of the arc-shaped hole and communicates with the arc-shaped hole. The guiding member is movably disposed through the traction member and the arc-shaped hole along the first direction. The guiding member is connected to the blocking member. The traction member is configured to drive the guiding member to rotate along the extending direction of the arc-shaped hole. The receiving groove includes a first receiving groove located on one side in the radial direction of the arc-shaped hole. When the blocking member is located in the first receiving groove, the first receiving groove is configured to limit the rotation of the blocking member along the extending direction of the arc-shaped hole and form a limiting state of the traction member. With such a setting, during the transportation and storage of the control device, and during the installation of the control device and the drive device, the random rotation of the traction member can be avoided, thereby preventing the traction member from deviating from the preset position. As a result, during the installation of the control device and the drive device, the traction member can be directly assembled with the coupling without the need for a series of additional complex procedures to achieve the assembly of the traction member and the coupling, nor the need to design a dedicated limiting tooling to limit the traction member. This reduces the assembly difficulty between the control device and the drive device, simplifies the assembly procedure, and reduces the assembly cost. When the blocking member is located outside the first receiving groove, a non-limiting state of the traction member is formed. With such a setting, the traction member can rotate under the drive of the coupling, so that the traction member drives the traction wire to wind around or unwind from the traction member to achieve the bending movement of the sheath tube.

[0084] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0085] The following will be combined with Figures 1-13 to illustrate the surgical robot 10 provided by the embodiments of the present application.

[0086] See Figure 1 , an embodiment of the present application provides a surgical robot 10, and the surgical robot 10 may include a control system 13, a navigation system 14, a display system 12, an operator 11, a sheath tube assembly 30, and a drive system 20.

[0087] The control system 13 can be used to control the operation of the drive system 20, the navigation system 14, etc. Before the operation, the surgical approach is designed and the simulated operation is carried out in the computer through the navigation system 14, so that the user (e.g., doctor) can accurately master the movement route and position of the surgical instrument, ensure the accuracy of the operation, and at the same time avoid the additional damage to the surrounding tissues and organs to the greatest extent. During the operation, the actual position of the head end 323 of the sheath tube 320 ( Figure 3 ) in the model and the path can be displayed in real time through the display system 12 to help the user perform accurate operations. For example, the display system 12 can be a display screen. The operator 11 can be an operating table, and a manual operating member and the like are arranged on the operating table. The user can control the movement of the surgical instrument and the sheath tube 320 by using the manual operating member.

[0088] The sheath tube assembly 30 provided by the embodiments of the present application will be described below.

[0089] In some embodiments, referring to Figure 4 and Figure 5 , the sheath tube assembly 30 may include a sheath tube 320 and a traction wire 310. For example, the sheath tube 320 may be an endoscope sheath tube. The sheath tube 320 is installed in the drive system 20 ( Figure 1 ), and the drive system 20 drives the sheath tube 320 to move forward and backward or bend to reach the target tissue. For example, the base 243 is connected to one end of the sheath tube 320, the other end of the sheath tube 320 extends in a direction away from the base 243, the other end of the sheath tube 320 is connected to the first end of the traction wire 310, and the second end of the traction wire 310 is connected to the traction wheel 246 of the control device 24.

[0090] Wherein, an instrument channel is provided in the sheath tube 320, and the instrument channel can allow the corresponding surgical instrument to pass through and reach the target tissue position for the operation. One end of the instrument channel is provided with an instrument channel interface 330, and the instrument channel interface 330 is exposed outside the sheath tube 320 and extends out of the housing 241, so as to facilitate the surgical instrument to enter the instrument channel from the instrument channel interface 330.

[0091] Exemplarily, referring to Figure 5, the sheath tube 320 may include an insertion section 321, a bending section 322, and a head end section 323. The instrument channel may pass through the insertion section 321, the bending section 322, and the head end section 323. The bending section 322 is connected between the insertion section 321 and the head end section 323. The insertion section 321 is located on the side of the bending section 322 close to the base 243, and the head end section 323 is located on the side of the bending section 322 away from the base 243. The instrument channel interface 330 is provided at one end of the insertion section 321 facing away from the bending section 322. The sheath tube assembly 30 passes through and is fixedly connected to the base 243. The surgical instrument can enter the instrument channel through the instrument channel interface 330, and then sequentially pass through the insertion section 321, the bending section 322, and the head end section 323, and finally reach the target tissue position.

[0092] Exemplarily, referring to Figure 4 and Figure 6 , the first end of the traction wire 310 may be fixedly connected to the end of the bending section 322 away from the insertion section 321. The second end of the traction wire 310 extends in the direction of the base 243. The second end of the traction wire 310 enters the cavity and is connected to the traction assembly 245a. The first end of the traction wire 310 and the bending section 322 may be connected by welding, bonding, or clamping.

[0093] Referring to Figure 7 , the sheath tube assembly 30 may include a protective sleeve 340. One traction wire 310 is correspondingly arranged with one protective sleeve 340. The traction wire 310 passes through the corresponding protective sleeve 340. The protective sleeve 340 may be arranged in the sheath tube 320. For example, the protective sleeve 340 may pass through the insertion section 321, and the protective sleeve 340 extends out of the insertion section 321 and enters the cavity of the base 243. The second end of the traction wire 310 is exposed outside the protective sleeve 340 and is connected to the traction assembly 245a. Among them, the protective sleeve 340 may provide a movement channel for the traction wire 310, and may also reduce the frictional resistance between the traction wire 310 and other components, which is beneficial to extending the service life of the traction wire 310. For example, one end of the protective sleeve 340 may be connected to the insertion section 321, and the other end of the protective sleeve 340 may be connected to the base 243. The protective sleeve 340 may be a spring tube.

[0094] The following describes the drive system 20 provided by the embodiments of the present application.

[0095] Referring to Figure 2 , the embodiments of the present application provide a drive system 20. The drive system 20 may be located near the operating table 2, and the operating table 2 may be used to carry the patient 1. The drive system 20 may include a drive device 23 and a control device 24, and the drive device 23 and the control device 24 are connected. For example, the control device 24 may be installed above the drive device 23.

[0096] In some embodiments, referring toFigure 2 The drive system 20 may further include a trolley 21 and a robotic arm 22. During the operation, the trolley 21 can be placed beside the operating table 2, and the position of the trolley 21 can be kept fixed during the operation. One end of the robotic arm 22 is connected to the trolley 21, and the other end of the robotic arm 22 is connected to the drive device 23. The robotic arm 22 can be used to drive the overall movement of the drive device 23, the control device 24, and the sheath assembly 30, so as to realize the forward and backward movement of the sheath 320 on the movement track.

[0097] The drive device 23 and the control device 24 provided in the embodiments of the present application will be described below.

[0098] Exemplarily, referring to Figure 3 、 Figure 5 and Figure 6 The drive device 23 may include a drive box 232. The drive box 232 includes a mounting seat 2321, and the mounting seat 2321 may be located at the top of the drive box 232. The drive box 232 may have a receiving cavity 2322, and the receiving cavity 2322 may be located at the bottom of the drive box 232. A driving member 233 and a speed reducer 234 may be provided in the receiving cavity 2322. The driving member 233 may include a motor 2331 and a driver 2332. The motor 2331 is located between the speed reducer 234 and the driver 2332. One end of the motor 2331 is connected to the speed reducer 234, and the other end of the motor 2331 is connected to the driver 2332. The speed reducer 234 is fixed on the mounting seat 2321, and a coupling 235 is installed on the shaft of the speed reducer 234. Among them, the speed reducer 234 can reduce the rotation speed of the motor 2331 and increase the torque. The coupling 235 may be an elastic cross-slider coupling. Among them, one driving member 233 is correspondingly arranged with one speed reducer 234 through one speed reducer 234.

[0099] Referring to Figure 5 and Figure 6, the control device 24 may include a base 243 and a housing 241. The base 243 and the housing 241 may jointly enclose to form a cavity. A traction assembly 245a is rotatably provided on the base 243, and the traction assembly 245a may be at least partially located in the cavity. The motor 2331 is sequentially connected to the traction assembly 245a through a speed reducer 234 and a coupling 235. The control device 24 and the drive device 23 may be connected through a mounting seat 2321 and the base 243. The mounting seat 2321 and the base 243 may be connected by means of threaded connection, snap connection or bonding. For example, a snap groove 2324 is provided on the mounting seat 2321, and a snap 256 is provided on the base 243. The base 243 is stably connected to the mounting seat 2321 through the cooperation of the snap 256 and the snap groove 2324. And / or, a positioning pin 2323 may be provided on the mounting seat 2321, and a positioning hole may be provided on the base 243. The positioning pin 2323 is inserted into the corresponding positioning hole, which is beneficial to realizing the connection between the mounting seat 2321 and the base 243, and is also beneficial to ensuring the accurate positioning of the mounting seat 2321 and the base 243.

[0100] Exemplarily, refer to Figure 6 , the drive device 23 may be provided with a first electrical connection port 231, and the control device 24 may be provided with a second electrical connection port 242. The first electrical connection port 231 is electrically connected to the second electrical connection port 242. After the control device 24 and the drive device 23 are successfully installed, the terminals of the first electrical connection port 231 and the second electrical connection port 242 are mutually docked to realize the electrical signal connection between the control device 24 and the drive device 23. The control system 13 ( Figure 1 ) may be electrically connected to the drive device 23 and the control device 24. For example, the first electrical connection port 231 and the control system 13 may be electrically connected.

[0101] Refer to Figure 6 , the base 243 may be provided with a traction hole 244. The traction hole 244 may penetrate the base 243 along the first direction A. The traction hole 244 is used for the sheath tube assembly 30 to pass through, and the traction wire 310 may enter the cavity through the traction hole 244. The traction hole 244 is opened at one end of the base 243 along the second direction B.

[0102] Exemplarily, refer to Figure 6 , the first direction A, the second direction B and the third direction C may be different. For example, they may be perpendicular to each other in pairs. The first direction A may be the thickness direction of the base 243, the second direction B may be the length direction of the base 243, and the third direction C may be the width direction of the base 243. The length, width and thickness in the embodiments of the present application are only for convenience of description and do not mean any limitation on the size. For example, the length may be greater than, equal to or less than the width. The two sides of the base 243 along the first direction A may include a first side and a second side. The first side may beFigure 6 On the upper side of the middle base 243, the second side can be Figure 6 the lower side of the middle base 243.

[0103] See Figure 7 , the number of the traction components 245a and the traction wires 310 can each include at least one. When there are multiple traction components 245a and multiple traction wires 310, the multiple traction components 245a and the multiple traction wires 310 are arranged in one-to-one correspondence, and the traction member 245 of the traction component 245a is connected to the corresponding traction wire 310. The traction holes 244 can be located on the same side of each traction component 245a along the second direction B. In this embodiment of the present application, an example is given where both the traction components 245a and the traction wires 310 are four. The four traction wires 310 in the cavity can be symmetrically arranged.

[0104] Among them, the multiple traction components 245a can include two first traction components 245b and two second traction components 245c. The two first traction components 245b and the two second traction components 245c can both be arranged along the second direction B away from the traction holes 244. The two first traction components 245b and the two second traction components 245c are arranged in one-to-one correspondence, and the first traction component 245b and the corresponding second traction component 245c can be spaced apart along the third direction C. For example, the first traction component 245b and the corresponding second traction component 245c can be symmetrically arranged, which is beneficial to ensuring the consistency of the actions of the traction wires 310 on the first traction component 245b and the corresponding second traction component 245c. The tightness of the traction wires 310 on the first traction component 245b and the corresponding traction wires 310 on the second traction component 245c can be equal or unequal.

[0105] Exemplarily, see Figure 7 , the first traction component 245b close to the traction holes 244 and the corresponding second traction component 245c can control the deflection movement of the bending section 322 of the sheath tube 320, that is, control the movement of the bending section 322 in the left-right direction. The first traction component 245b far from the traction holes 244 and the corresponding second traction component 245c can control the pitching movement of the bending section 322 of the sheath tube 320, that is, control the movement of the bending section 322 in the up-down direction. For example, when the bending section 322 needs to deflect to the left, one of the first traction component 245b close to the traction holes 244 and the corresponding second traction component 245c rotates to wind the traction wire 310 around the traction wheel 246 (that is, the number of winding turns of the traction wire 310 on the traction wheel 246 increases) and is in the state of contracting and taking in the wire, and the other rotates to unwind the traction wire 310 from the traction wheel 246 (that is, the number of winding turns of the traction wire 310 on the traction wheel 246 decreases) and is in the state of stretching and paying out the wire, so that the bending section 322 can be bent to the left or to the right.

[0106] See Figure 8 Figure 8 , a locking plate 254 may also be included in the control device 24. The locking plate 254 may be disposed on the first side of the base 243 and spaced apart from the base 243. The locking plate 254 may be connected to the base 243 through a connecting member. The locking plate 254 may be used to limit the position of the transmission member 248, prevent the transmission member 248 from moving up and down, and at the same time prevent the axis of the transmission member 248 from deviating from the set position.

[0107] The following describes the same traction assembly 245a provided in the embodiments of the present application.

[0108] See Figure 8 Figure 8 , the traction assembly 245a may include a traction member 245. The traction member 245 may be rotatably connected to the base 243. The traction member 245 may include a traction wheel 246 and a transmission member 248. The transmission member 248 is rotatably connected to the base 243. The traction wheel 246 is connected to the transmission member 248, and the traction wire 310 is connected to the traction wheel 246. The coupling 235 drives the transmission member 248 and the traction wheel 246 to rotate in sequence. When the traction wheel 246 rotates, the traction wire 310 is wound or unwound around the traction wheel 246, so that the traction wire 310 expands and contracts in the sheath 320 to achieve the bending of the bending section 322.

[0109] For example, see Figure 9 and Figure 10 Figure 10 , the transmission member 248 may include a connected first transmission portion 2481 and a second transmission portion 2482. The first transmission portion 2481 may penetrate through the base 243 along the first direction A. The traction wheel 246 may be located on the first side of the base 243. Part of the first transmission portion 2481 may be located on the first side of the base 243 and connected to the traction wheel 246. The second transmission portion 2482 may be located on the second side of the base 243. For example, the surface of the second transmission portion 2482 facing the second side of the base 243 may be flush with the surface of the second side of the base 243.

[0110] For example, see Figure 9 Figure 9 , a traction groove 2462 may be provided on the traction wheel 246. The notch of the traction groove 2462 is located on the circumferential side wall of the traction wheel 246. The second end of the traction wire 310 may be fixed to the traction wheel 246 through a fixing member 247. Part of the traction wire 310 near the second end is wound around part of the traction wheel 246 of the traction groove 2462. For example, the shape of the traction groove 2462 may be V-shaped, U-shaped or other shapes.

[0111] See Figure 7, a notch 2461 may be provided on the traction wheel 246, and the traction wire 310 is threaded through the notch 2461. The notch 2461 may be in an "L shape" or a "W shape". In this embodiment, the shape of the notch 2461 is taken as an example of an L shape for illustration. The traction wire 310 may be attached to the root of the L-shaped notch 2461 and is blocked by the traction wheel 246 at the L-shaped notch 2461, so that the traction wire 310 is not easily disengaged from the notch 2461. For example, the four traction wheels 246 may be symmetrically arranged, the notches 2461 on the four traction wheels 246 may be symmetrically arranged, and the fixing members 247 on the four traction wheels 246 may be symmetrically arranged.

[0112] See Figure 9 and Figure 10 , a first bearing 251, a second bearing 252 and a locking screw 255 may also be correspondingly provided for a traction assembly 245a. When assembling the traction member 245, the first bearing 251 may be sleeved on one end of the first transmission part 2481 close to the second transmission part 2482. The first transmission part 2481 may pass through the base 243 from the second side of the base 243. One end of the first transmission part 2481 facing away from the second transmission part 2482 may be located on the first side of the base 243. The traction wheel 246 may be sleeved on the first transmission part 2481 located on the first side of the base 243. The second bearing 252 may be sleeved on the uppermost end of the first transmission part 2481 from above the locking plate 254. The locking screw 255 is installed at the top of the first transmission part 2481, and the inner ring of the second bearing 252 is pressed tightly through a washer. The first bearing 251 and the second bearing 252 may perform circumferential limiting on the transmission member 248, and may also jointly limit the transmission member 248 from moving up and down along the first direction A.

[0113] See Figure 9 and Figure 13, the traction assembly 245a may include a guide member 249 and a blocking member 253. The blocking member 253 may be located on the first side of the base 243. The guide member 249 may be movably disposed through the transmission member 248 along the first direction A. For example, the second transmission portion 2482 may have a guide hole 2483, and the guide member 249 may be movably disposed through the guide hole 2483 along the first direction A. The transmission member 248 may drive the guide member 249 to rotate. The base 243 may have an arc-shaped hole 2431 that penetrates the base 243 along the first direction A. The guide hole 2483 and a part of the arc-shaped hole 2431 may be oppositely disposed along the first direction A, and the guide hole 2483 and this part of the arc-shaped hole 2431 may be in communication with each other. The guide member 249 may be movably disposed through the arc-shaped hole 2431 along the first direction A. The two ends of the guide member 249 along the first direction A may include a first guide end 2491 and a second guide end 2492. The first guide end 2491 may be located on the first side of the base 243, and the first guide end 2491 may be connected to the blocking member 253. The second guide end 2492 may be the second side of the base 243. The traction member 245 may be used to drive the guide member 249 to rotate along the extending direction of the arc-shaped hole 2431. When the transmission member 248 rotates, it may drive the guide member 249 to rotate along the extending direction of the arc-shaped hole 2431, thereby driving the blocking member 253 to rotate. Among them, the first transmission portion 2481 may be located inside the arc-shaped hole 2431, and the arc-shaped hole 2431 is bent in a direction away from the first transmission portion 2481.

[0114] For example, the blocking member 253 may be sheet-shaped, block-shaped or other shapes.

[0115] Exemplarily, refer to Figure 9 and Figure 13, a first side of the base 243 may have a receiving groove 2433, the receiving groove 2433 may be located on at least one side in the radial direction of the arc-shaped hole 2431, and the receiving groove 2433 and the arc-shaped hole 2431 may be communicated. The receiving groove 2433 may include a first receiving groove 2433a located on one side in the radial direction of the arc-shaped hole 2431. For example, the first receiving groove 2433a may be located inside or outside the arc-shaped hole 2431. In the embodiment of the present application, the case where the first receiving groove 2433a is located inside the arc-shaped hole 2431 is taken as an example for illustration. For example, by controlling the guide member 249 to move along the first direction A, the blocking member 253 can be located in the first receiving groove 2433a, or the blocking member 253 can extend out of the first receiving groove 2433a and be located above the first receiving groove 2433a. When the blocking member 253 is located in the first receiving groove 2433a, the first receiving groove 2433a can be used to limit the rotation of the blocking member 253 along the extending direction of the arc-shaped hole 2431, thereby restricting the rotation of the traction member 245 and forming a limiting state of the traction member 245. With such a setting, during the transportation and storage process of the control device 24, and during the installation process of the control device 24 and the driving device, the random rotation of the traction member 245 can be avoided, so as to prevent the traction member 245 from deviating from the preset position. During the installation process of the control device 24 and the driving device, the transmission member 248 of the traction member 245 can be directly assembled with the coupling 235, without the need for a series of additional complex procedures to realize the assembly of the traction member 245 and the coupling 235, nor the need to design a special limiting tooling to limit the traction member 245, thereby reducing the assembly difficulty of the control device 24 and the driving device, simplifying the assembly procedure, and reducing the assembly cost. In addition, when the blocking member 253 is located outside the first receiving groove 2433a, the first receiving groove 2433a cannot limit the rotation of the blocking member 253 and the traction member 245, forming a non-limiting state of the traction member 245. With such a setting, the traction member 245 can rotate under the drive of the coupling 235, so that the traction member 245 can drive the traction wire 310 to wind around or unwind from the traction member 245.

[0116] When the traction member 245 is in the limiting state, that is, when the blocking member 253 is located in the first receiving groove 2433a, there may be an assembly gap between the blocking member 253 and the groove side wall of the first receiving groove 2433a, so as to ensure that the blocking member 253 moves relative to the groove side wall of the first receiving groove 2433a along the first direction A, and at the same time, ensure the limitation of the blocking member 253 by the first receiving groove 2433a along the extending direction of the arc-shaped hole 2431. The assembly gap may be within the numerical range of the assembly gap commonly used in mechanical design. For example, the assembly gap may be less than or equal to 0.5 mm. Optionally, the assembly gap may be less than or equal to 0.2 mm. For example, the assembly gap may be 0.05 mm, 0.1 mm, 0.2 mm, 0.3 mm, 0.4 mm, 0.5 mm or any value less than 0.5 mm.

[0117] Exemplarily, refer to Figure 9 and Figure 13 , the receiving groove 2433 may include a second receiving groove 2433b located on the radially opposite side of the arc-shaped hole 2431. For example, the second receiving groove 2433b and the first receiving groove 2433a may be arranged oppositely along the radial direction of the arc-shaped hole 2431. When the traction member 245 is in the limit state, the blocking member 253 may be located in the second receiving groove 2433b, and the second receiving groove 2433b may be used to receive other structural members (for example, the sensor 258). When the traction member 245 is in the non-limit state, the blocking member 253 may be located outside the second receiving groove 2433b, which can prevent the second receiving groove 2433b from affecting the rotation of the blocking member 253. For example, at least one of the first receiving groove 2433a and the second receiving groove 2433b may be located at the middle position of the arc-shaped hole 2431.

[0118] Wherein, one traction assembly 245a may correspond to one arc-shaped hole 2431, one arc-shaped groove 2432, one first receiving groove 2433a, and one second receiving groove 2433b. For example, the four arc-shaped holes 2431 may be symmetrically arranged. The arrangement manners of the four blocking members 253, the four guiding members 249, the four arc-shaped grooves 2432, the four first receiving grooves 2433a, and the four second receiving grooves 2433b may be the same as those of the four arc-shaped holes 2431, and will not be elaborated herein.

[0119] The sensor 258 provided in the embodiments of the present application will be described below.

[0120] In some embodiments, refer to Figures 11-13 , one traction assembly 245a may correspond to one sensor 258. The position change of the blocking member 253 can be sensed through the sensor 258, so as to sense the state (limit state or non-limit state) of the traction member 245. The sensor 258 may be electrically connected to the control system 13, and the control system 13 ( Figure 1 ) can obtain the signal of the sensor 258.

[0121] In some embodiments, at least one of the control device 24 and the driving device 23 may be provided with an indicating member. The indicating member and the sensor 258 may both be electrically connected to the control system 13. When the traction member 245 switches between the limit state and the non-limit state, the control system 13 is configured to receive the signal of the sensor 258 and control the indicating member to switch between the first indicating state and the second indicating state. The operator can simply and intuitively know the state of the traction member 245 and the position of the blocking member 253 through the change of the state of the indicating member.

[0122] Exemplarily, the indicating member can give an indication by means of light, sound, etc. For example, the difference between the first indication state and the second indication state can be represented by the brightness and darkness of light, the on and off of light, or different colors, etc., to indicate the limited state and the non-limited state of the traction member 245. Or, the difference between the first indication state and the second indication state can be represented by the loudness and softness of sound, the presence and absence of sound, or voice content, etc., to indicate the limited state and the non-limited state of the traction member 245.

[0123] In some examples, the sensor 258 can include a proximity switch. The proximity switch can have a sensing surface. When the traction member 245 is in one of the limited state and the non-limited state, the distance between the blocking member 253 and the sensing surface is less than or equal to the sensing distance of the proximity switch. When the traction member 245 is in the other of the limited state and the non-limited state, the distance between the blocking member 253 and the sensing surface is greater than the sensing distance of the proximity switch. The control system 13 can determine whether the traction member 245 is in the limited state or the non-limited state by obtaining the on or off of the proximity switch, and the control system 13 can also control the indicating member to switch to the corresponding indication state. Among them, the proximity switch can be arranged in the second receiving groove 2433b. Or, the proximity switch can be arranged on other structural members of the traction wheel 246 and the control device 24, so that there is no need to provide the second receiving groove 2433b to accommodate the proximity switch, thereby simplifying the structure of the control device 24. For example, the proximity switch can be a capacitive, inductive, or magnetic induction proximity switch.

[0124] In some examples, the sensor 258 can include a photoelectric sensor. The photoelectric sensor can include a transmitting end and a receiving end, and both the transmitting end and the receiving end can be located in the second receiving groove 2433b.

[0125] For example, the transmitting end and the receiving end can be arranged at intervals along the extending direction of the arc-shaped hole 2431. The light emitted by the transmitting end can be directed towards the receiving end. When the traction member 245 is in the non-limited state, the light emitted by the transmitting end can be received by the receiving end. When the traction member 245 is in the limited state, the blocking member 253 is located between the transmitting end and the receiving end and blocks the light from being emitted to the receiving end. The control system 13 can determine whether the blocking member 253 is located in the second receiving groove 2433b by whether the receiving end receives the light emitted by the transmitting end, so as to determine whether the traction member 245 is in the limited state or the non-limited state.

[0126] Alternatively, both the transmitting end and the receiving end can be located on the same side of the second receiving groove 2433b along the extending direction of the arc-shaped hole 2431. The side of the blocking member 253 facing the transmitting end has a reflecting surface. When the traction member 245 is in the limiting state, the light emitted by the transmitting end faces the reflecting surface, and after being reflected by the reflecting surface, it faces the receiving end and is received by the receiving end. When the traction member 245 is in the non-limiting state, the blocking member 253 is located outside the second receiving groove 2433b, and the light emitted by the transmitting end cannot irradiate the reflecting surface and cannot be reflected back to the receiving end. The control system 13 can determine whether the blocking member 253 is located in the second receiving groove 2433b by whether the receiving end receives the light from the transmitting end, so as to determine whether the traction member 245 is in the limiting state or the non-limiting state.

[0127] Alternatively, both the transmitting end and the receiving end can be located on the same side of the second receiving groove 2433b along the extending direction of the arc-shaped hole 2431. A reflecting surface can be provided on the other side of the second receiving groove 2433b along the extending direction of the arc-shaped hole 2431. The light emitted by the transmitting end faces the reflecting surface. When the traction member 245 is in the non-limiting state, the blocking member 253 is located outside the second receiving groove 2433b, and the light is not blocked by the blocking member 253 and can irradiate the reflecting surface. After being reflected by the reflecting surface, the light faces the receiving end and is received by the receiving end. When the traction member 245 is in the limiting state, the blocking member 253 is located between the transmitting end and the reflecting surface and blocks the light from being emitted to the reflecting surface. The light emitted by the transmitting end cannot irradiate the reflecting surface and cannot be reflected back to the receiving end, and the receiving end cannot receive the light from the transmitting end. The control system 13 can determine whether the blocking member 253 is located in the second receiving groove 2433b by whether the receiving end receives the light from the transmitting end, so as to determine whether the traction member 245 is in the limiting state or the non-limiting state.

[0128] In the embodiments of the present application, the transmitting end and the receiving end of the photoelectric sensor are arranged at intervals along the extending direction of the arc-shaped hole 2431 as an example for illustration.

[0129] The following describes the arc-shaped groove 2432 provided in the embodiments of the present application.

[0130] In some embodiments, referring to Figure 9 and Figure 13 , the base 243 can have an arc-shaped groove 2432. The arc-shaped groove 2432 and the receiving groove 2433 can be located on the same side of the base 243 along the first direction A, and the arc-shaped groove 2432 can be located on the first side of the base 243. The arc-shaped groove 2432 can extend along the extending direction of the arc-shaped hole 2431. The orifice of the arc-shaped hole 2431 and the orifice of the receiving groove 2433 can both be located on the bottom wall of the arc-shaped groove 2432. When the traction member 245 is in the non-limiting state, the blocking member 253 can be located in the arc-shaped groove 2432, and the transmission member 248 can drive the blocking member 253 to rotate in the arc-shaped groove 2432.

[0131] Exemplarily, refer to Figure 13 , the arc-shaped groove 2432 may include two first groove walls D that are opposite and spaced apart along the extension direction. The first groove wall D may limit the rotation range of the blocking member 253. When the blocking member 253 abuts against the first groove wall D, the blocking member 253 cannot continue to rotate. When the traction member 245 is in a non-limiting state, starting from the position of the first accommodating groove 2433a, the transmission member 248 can rotate a certain angle clockwise or counterclockwise. The transmission member 248 drives the traction wheel 246 to rotate, while tightening or loosening the traction wire 310. The first groove wall D of the arc-shaped groove 2432 can ensure that the rotation angle of the transmission member 248 meets the usage requirements, and can meet the requirement that the bending section 322 bends to the required angle. In addition, the first groove wall D of the arc-shaped groove 2432 can also prevent the transmission member 248 from rotating excessively, resulting in the traction wire 310 being overly tightened and breaking, thereby preventing medical accidents. The opening size of the arc-shaped groove 2432 can be larger than the opening size of the arc-shaped hole 2431. The area of the first groove wall D is larger than the area of the hole walls at both ends of the arc-shaped hole 2431 in the extension direction. The first groove wall D has a better limiting effect on the blocking member 253, and the average action of the blocking member 253 on the first groove wall D is smaller. Among them, the arc angles of the arc-shaped groove 2432 and the arc-shaped hole 2431 can be set as needed.

[0132] The following describes the cooperation between the guiding hole 2483 and the coupling 235 provided in the embodiments of the present application.

[0133] In some embodiments, refer to Figure 6 and Figure 9 , one traction assembly 245a may correspond to one coupling 235. The second transmission part 2482 may have a guiding hole 2483. A first protruding structure 2351 may be provided at one end of the coupling 235 facing away from the speed reducer 234. Before the coupling 235 and the transmission member 248 are assembled, the traction member 245 may be in a limiting state. During the assembly process of the coupling 235 and the transmission member 248, align the first protruding structure 2351 with the guiding hole 2483, insert the first protruding structure 2351 into the guiding hole 2483. The first protruding structure 2351 abuts against the side of the second guiding end 2492 facing away from the first guiding end 2491, and pushes the guiding member 249 upward, so that the blocking member 253 exits from the first accommodating groove 2433a, the arc-shaped hole 2431 and the second accommodating groove 2433b, and enters the arc-shaped groove 2432, so that the traction member 245 switches from the limiting state to the non-limiting state. At this time, the coupling 235 and the transmission member 248 are assembled in place.

[0134] Exemplarily, refer to Figure 6 and Figure 9, at least one second protrusion structure 2352 may be provided at one end of the coupling 235 facing away from the speed reducer 234, and at least one groove 2484 may be provided on the side of the second transmission part 2482 facing the coupling 235. One groove 2484 is correspondingly arranged with one second protrusion structure 2352. During the assembly process of the coupling 235 and the transmission member 248, the second protrusion structure 2352 and the corresponding groove 2484 are aligned, and the second protrusion structure 2352 is inserted into the corresponding groove 2484. Among them, the first protrusion structure 2351 and the second protrusion structure 2352 may be arranged at intervals.

[0135] In the related art, the control device cannot detect whether the assembly between the transmission member and the coupling is successful, so that the user cannot know whether the transmission member and the coupling are assembled in place. If the transmission member and the coupling are not assembled in place, it will cause the rotation angle of the transmission member to be inaccurate, further causing the winding or unwinding movement of the traction wire on the traction wheel not to reach the expected value, and ultimately resulting in the sheath tube not being able to be bent to the preset position. Seriously, it may even cause the traction wire to break, resulting in surgical failures.

[0136] In the embodiment of the present application, the sensor 258 can detect the position change of the blocking member 253 in real time, so as to know the state change of the traction member 245, so that the user can know whether the transmission member 248 and the coupling 235 are assembled successfully, so as to ensure the normal connection of the driving device 23 and the control device 24, ensure that the control device 24 controls the bending action of the sheath tube 320 according to the predetermined target, and prevent unexpected surgical events from occurring. For example, through the cooperation of the indicating member, the user can judge whether the transmission member 248 and the coupling 235 are assembled in place from the change of the state of the indicating member, so as to avoid problems caused by inaccurate rotation angle of the transmission member 248.

[0137] The following describes the guiding hole 2483 provided in the embodiment of the present application.

[0138] See Figure 9 and Figure 10, the guiding hole 2483 can guide the guiding member 249, enabling the guiding member 249 to reciprocate along the first direction A. Exemplarily, the guiding hole 2483 can include a connected first sub-guiding hole 2483a and a second sub-guiding hole 2483b. The first sub-guiding hole 2483a can be located between the second sub-guiding hole 2483b and the arc-shaped hole 2431. The second guiding end 2492 can be located on the side of the second sub-guiding hole 2483b away from the first sub-guiding hole 2483a. Along a cross-section perpendicular to the first direction A, the cross-sectional dimension of the second guiding end 2492 is larger than the cross-sectional dimension of the remaining part of the guiding member 249. The opening dimension of the first sub-guiding hole 2483a can be smaller than the opening dimension of the second sub-guiding hole 2483b. The traction assembly 245a can include an elastic member 257. The elastic member 257 can be located between the transmission member 248 at the first sub-guiding hole 2483a and the second guiding end 2492. The transmission member 248 at the first sub-guiding hole 2483a and the second guiding end 2492 can limit the elastic member 257. The second sub-guiding hole 2483b can accommodate at least a part of the elastic member 257. For example, the elastic member 257 can be sleeved on the middle section of the guiding member 249. The elastic member 257 can be a spring. When the traction member 245 is in a non-limited state, the elastic member 257 can be in a compressed state.

[0139] See Figure 10 and Figure 12 , during the assembly process of the transmission member 248 and the coupling 235, the first convex structure 2351 ( Figure 6 ) will push the guiding member 249 upward, thereby compressing the elastic member 257. See Figure 9 and Figure 11 , during the disassembly process of the transmission member 248 and the coupling 235, the elastic member 257 can drive the second guiding end 2492 downward, causing the guiding member 249 to move downward, thereby driving the blocking member 253 back into the first receiving groove 2433a to form a limited state of the traction member 245. For example, when the traction member 245 is in a limited state, the surface of the guiding member 249 facing the second side of the base 243 can be flush with the surface of the transmission member 248 facing the second side of the base 243. When the traction member 245 is in a limited state, the elastic member 257 can be in an initial uncompressed state.

[0140] Exemplarily, see Figure 9 and Figure 10, the guiding hole 2483 may include a third sub-guiding hole 2483c. The third sub-guiding hole 2483c may be located on a side of the second sub-guiding hole 2483b away from the first sub-guiding hole 2483a, and an opening size of the third sub-guiding hole 2483c may be larger than an opening size of the second sub-guiding hole 2483b. A cross-sectional dimension of the second guiding end 2492 perpendicular to the first direction A is larger than the opening size of the second sub-guiding hole 2483b. The second guiding end 2492 may be located in the third sub-guiding hole 2483c and move along the first direction A in the third sub-guiding hole 2483c.

[0141] Exemplarily, the second guiding end 2492 may have a first limiting surface, and a hole wall of the third sub-guiding hole 2483c may have a second limiting surface. The first limiting surface and the second limiting surface are in limiting cooperation to limit relative circumferential rotation of the second guiding end 2492 and the transmission member 248 along the third sub-guiding hole 2483c.

[0142] Exemplarily, referring to Figure 13 , the blocking member 253 may have a limiting hole 2531, and the first guiding end 2491 penetrates through the limiting hole 2531 along the first direction A. A guiding member 249 located in the limiting hole 2531 has a third limiting surface, and a hole wall of the limiting hole 2531 has a fourth limiting surface. The third limiting surface and the fourth limiting surface are in limiting cooperation to limit relative circumferential rotation of the guiding member 249 and the blocking member 253 along the limiting hole 2531.

[0143] For example, in a cross-section perpendicular to the first direction A, a cross-sectional shape of the limiting hole 2531 and the first guiding end 2491 located in the limiting hole 2531 may be square or other shapes.

[0144] For example, in a cross-section perpendicular to the first direction A, cross-sections of the first sub-guiding hole 2483a, the second sub-guiding hole 2483b, and a middle section of the guiding member 249 may be circular or other shapes.

[0145] For example, in a cross-section perpendicular to the first direction A, cross-sections of the second guiding end 2492 and the third sub-guiding hole 2483c may be square or other shapes.

[0146] The following describes the switching of the traction assembly 245a provided in the embodiment of the present application between a limiting state and a non-limiting state.

[0147] Referring to Figure 9 and Figure 11, before the control device 24 and the drive device 23 are assembled, the traction member 245 is in a limited position, part of the blocking member 253 is located in the first accommodation groove 2433, the guiding member 249 is in the initial position, the guiding member 249 is acted on by the elastic force of the elastic member 257, and the bottom surface of the guiding member 249 is flush with the bottom surface of the transmission member 248. Since part of the blocking member 253 is located in the first accommodation groove 2433a, restricted by the first accommodation groove 2433a, the transmission member 248 cannot rotate. Therefore, during the transportation and storage of the control device 24 and during the assembly process of the control device 24, the position of the transmission member 248 remains stationary, and the position of the traction member 245 is stable, which is convenient for the installation of the traction wire 310 and does not require designing additional tooling to limit the position of the traction member 245. In addition, part of the blocking member 253 is located in the second accommodation groove 2433b and is between the transmitting end and the receiving end of the photoelectric sensor. The light emitted by the transmitting end is blocked by the blocking member 253, and the receiving end of the photoelectric sensor cannot receive the photoelectric signal.

[0148] See Figure 10 and Figure 12 , the assembly process of the guiding member 249 and the coupling 235 (i.e., the assembly process of the control device 24 and the drive device 23) can be as follows: after the transmission member 248 and the coupling 235 are aligned, the first convex structure 2351 will insert into the third sub-guiding hole 2483c of the transmission member 248 and push up the guiding member 249. The guiding member 249 moves upward and compresses the elastic member 257. The blocking member 253 installed at the top end of the guiding member 249 moves upward with the guiding member 249. At this time, there is no block between the transmitting end and the receiving end of the photoelectric sensor, and the receiving end receives the photoelectric signal. The photoelectric signal is transmitted through the second electrical connection port 242 ( Figure 6 ) and finally transmitted to the control system 13 ( Figure 1 ), and a signal indicating whether the connection is successful is given. The control system 13 controls the indicating member to directly display the signal indicating whether the transmission member 248 and the coupling 235 are successfully connected on the drive system 20. At the same time, after the transmission member 248 and the coupling 235 are successfully assembled, the blocking member 253 moves upward to reach the arc-shaped groove 2432 of the base 243. When the transmission member 248 rotates with the motor 2331, it drives the blocking member 253 to rotate with the transmission member 248 in the arc-shaped groove 2432, and the part of the guiding member 249 located in the arc-shaped hole 2431 will rotate with the transmission member 248.

[0149] After the operation is completed and the sheath tube 320 is withdrawn from the human body cavity, before unloading the transmission member 248, first control the motor 2331 to return to the zero position. When the motor 2331 is at the zero position, the blocking member 253 is disposed opposite to the first receiving groove 2433a and the second receiving groove 2433b along the first direction A. At this time, the unloading control device 24, the transmission member 248 and the coupling 235 are disengaged, and the guiding member 249 moves downward to the initial position under the action of the elastic member 257, driving the blocking member 253 to move downward, so that the blocking member 253 moves downward into the first receiving groove 2433a and the second receiving groove 2433b.

[0150] It should be noted here that the numerical values and numerical ranges involved in the embodiments of the present application are approximate values. Affected by the manufacturing process, there may be a certain range of errors, which can be considered negligible by those skilled in the art.

[0151] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A control device, characterized in that, It includes a base and a traction assembly. The traction assembly includes a traction member, a guide member and a blocking member. The traction member is rotatably connected to the base. The base has an arc-shaped hole and a receiving groove. The arc-shaped hole penetrates the base along a first direction. The receiving groove is located on at least one side in the radial direction of the arc-shaped hole and communicates with the arc-shaped hole. The guide member is movably disposed through the traction member and the arc-shaped hole along the first direction. The guide member is connected to the blocking member. The traction member is used to drive the guide member to rotate along the extending direction of the arc-shaped hole. The receiving groove includes a first receiving groove located on one side in the radial direction of the arc-shaped hole. When the blocking member is located in the first receiving groove, the first receiving groove is used to limit the rotation of the blocking member along the extending direction of the arc-shaped hole and form a limiting state of the traction member. When the blocking member is located outside the first receiving groove, a non-limiting state of the traction member is formed.

2. The control device according to claim 1, characterized in that, The receiving groove includes a second receiving groove located on the other side in the radial direction of the arc-shaped hole. The second receiving groove and the first receiving groove are oppositely arranged along the radial direction of the arc-shaped hole. When the traction member is in the limiting state, the blocking member is located in the second receiving groove. When the traction member is in the non-limiting state, the blocking member is located outside the second receiving groove.

3. The control device according to claim 2, characterized in that, It further includes a sensor. The sensor includes a photoelectric sensor. The photoelectric sensor includes a transmitting end and a receiving end. Both the transmitting end and the receiving end are located in the second receiving groove. The transmitting end and the receiving end are arranged at intervals along the extending direction of the arc-shaped hole. The light emitted by the transmitting end is directed towards the receiving end. When the traction member is in the limiting state, the blocking member is located between the transmitting end and the receiving end and blocks the light from being emitted towards the receiving end. Or, both the transmitting end and the receiving end are located on the same side of the second receiving groove along the extending direction of the arc-shaped hole. The side of the blocking member facing the transmitting end has a reflecting surface. When the traction member is in the limiting state, the light emitted by the transmitting end is directed towards the reflecting surface, and the light is reflected by the reflecting surface and then directed towards the receiving end. Or, both the transmitting end and the receiving end are located on the same side of the second receiving groove along the extending direction of the arc-shaped hole. A reflecting surface is provided on the other side of the second receiving groove along the extending direction of the arc-shaped hole. The light emitted by the transmitting end is directed towards the reflecting surface. When the traction member is in the limiting state, the blocking member is located between the transmitting end and the reflecting surface and blocks the light from being emitted towards the reflecting surface. When the traction member is in the non-limiting state, the light is reflected by the reflecting surface and then directed towards the receiving end.

4. The control device according to claim 1, characterized in that, It also includes a sensor, which includes a proximity switch, and the proximity switch has a sensing surface. When the traction member is in one of the limiting state and the non-limiting state, the distance between the blocking member and the sensing surface is less than or equal to the sensing distance of the proximity switch, and when the traction member is in the other of the limiting state and the non-limiting state, the distance between the blocking member and the sensing surface is greater than the sensing distance of the proximity switch.

5. The control device according to claim 3 or 4, characterized in that, Used for a control system, the control device includes an indicator, the indicator and the sensor are both used to be electrically connected to the control system, when the traction member switches between the limit state and the non-limit state, the control system is configured to receive a signal from the sensor and control the indicator to switch between a first indication state and a second indication state.

6. The control device according to any one of claims 1-4, characterized in that, The base has an arc-shaped groove, the arc-shaped groove and the receiving groove are located on the same side of the base along the first direction, the arc-shaped groove extends along the extension direction of the arc-shaped hole, and the opening of the arc-shaped hole and the notch of the receiving groove are both located on the bottom wall of the arc-shaped groove; When the traction member is in a non-limiting state, the blocking member is located in the arc-shaped groove.

7. The control device according to any one of claims 1-4, characterized in that, The traction member includes a traction wheel and a transmission member, the transmission member is rotatably connected to the base, and the transmission member includes a first transmission part and a second transmission part connected to each other; The traction wheel and the containing groove are located on the same side of the base along the first direction, the first transmission part penetrates the base along the first direction and is located on the inner side of the arc-shaped hole, the first transmission part is connected to the traction wheel, and the second transmission part is located on a side of the base away from the traction wheel; The second transmission part has a guide hole, the guide hole and part of the arc-shaped hole are arranged opposite to each other along the first direction and are connected to each other, and the guide member is movably arranged in the guide hole along the first direction.

8. The control device according to claim 7, characterized in that, The traction assembly includes an elastic member, and the two ends of the guide member along the first direction include a first guide end and a second guide end, and the first guide end is connected to the blocking member; The guide hole comprises a first sub-guide hole and a second sub-guide hole connected to each other, the first sub-guide hole is located between the second sub-guide hole and the arc-shaped hole, and the second guide end is located at a side of the second sub-guide hole away from the first sub-guide hole; Along the cross section perpendicular to the first direction, the cross-sectional dimension of the second guide end is larger than the cross-sectional dimension of the remaining portion of the guide member; the opening dimension of the first sub-guide hole is smaller than the opening dimension of the second sub-guide hole; The elastic member is located between the transmission member and the second guide end at the first sub-guide hole, and when the traction member is in a non-limiting state, the elastic member is in a compressed state.

9. The control device according to claim 8, characterized in that, The guide hole comprises a third sub-guide hole, the third sub-guide hole is located at a side of the second sub-guide hole away from the first sub-guide hole, the opening size of the third sub-guide hole is larger than the opening size of the second sub-guide hole, and the second guide end is located in the third sub-guide hole; The second guide end has a first limiting surface, and the hole wall of the third sub-guide hole has a second limiting surface. The first limiting surface cooperates with the second limiting surface to limit the relative rotation of the second guide end and the transmission member along the circumferential direction of the third sub-guide hole.

10. The control device according to any one of claims 1-4, characterized in that, The blocking member has a limiting hole, and the guiding member is arranged through the limiting hole along the first direction; The guide member located in the limiting hole has a third limiting surface, and the hole wall of the limiting hole has a fourth limiting surface. The third limiting surface cooperates with the fourth limiting surface to limit the relative rotation of the guide member and the blocking member along the circumferential direction of the limiting hole.

11. The control device according to any one of claims 1-4, characterized in that, When the blocking member is located in the first accommodating groove, an assembly gap is provided between the blocking member and a groove side wall of the first accommodating groove, and the assembly gap is less than or equal to 0.5 mm.

12. The control device according to any one of claims 1-4, characterized in that, There are multiple traction assemblies, and the multiple traction assemblies are used to be arranged in one-to-one correspondence with multiple traction wires. The traction members of the traction assemblies are used to be connected with the corresponding traction wires.

13. The control device according to claim 12, characterized in that, The base is provided with a traction hole, the traction hole is used for the traction wire to pass through, and the traction hole is located on the same side of each traction assembly; The multiple traction assemblies include two first traction assemblies and two second traction assemblies, the two first traction assemblies and the two second traction assemblies are arranged in a direction away from the traction hole, the two first traction assemblies and the two second traction assemblies are arranged one-to-one, and the first traction assembly and the corresponding second traction assembly are spaced apart in a direction perpendicular to the traction hole to the traction assembly.

14. A drive system, characterized in that, It comprises a driving device and a control device according to any one of claims 1 to 13, wherein the driving device is connected to the control device; The driving device comprises a driving member and a coupling, wherein the driving member is connected to one end of the coupling, and the other end of the coupling is provided with a protruding structure; The protruding structure is located in the guide hole of the control device and abuts against a side of the second guide end of the control device away from the first guide end of the control device, thereby forming a non-limiting state of the traction member of the control device.

15. A surgical robot, characterized in that, It comprises a control system, a sheath assembly, a driving device and the control device according to any one of claims 1 to 13, wherein the driving device is connected to the control device, and the control system is electrically connected to the driving device and the control device; The sheath assembly includes a sheath and a traction wire. The base of the control device is connected to one end of the sheath, the other end of the sheath extends in a direction away from the base and is connected to the first end of the traction wire, and the second end of the traction wire is connected to the traction wheel of the control device.

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