Ultrasonic knife for robot, transmission butt joint method of ultrasonic knife and surgical robot

Abstract

The invention provides an ultrasonic knife for a robot, a transmission butt joint method of the ultrasonic knife and a surgical robot. The ultrasonic knife for the robot comprises a cutting assembly and an instrument box, and the cutting assembly comprises a slender shaft and a knife head part; the instrument box comprises a base, a power input assembly, a first transmission mechanism and a second transmission mechanism. The power input assembly comprises a first input part, a second input part and a third input part; the first input piece is in transmission connection with the inner pipe through a first transmission mechanism and used for driving the inner pipe to reciprocate relative to the outer pipe. The second input part is in transmission connection with the outer pipe through a second transmission mechanism and used for driving the outer pipe to rotate, and the third input part is selectively in transmission connection with the second input part. The connection state enables the movement between the third input piece and the second input piece to be mutually limited, and the disconnection state enables the movement between the third input piece and the second input piece to be mutually independent. According to the ultrasonic knife for the robot, butt joint of the power box and the second input piece can be rapidly achieved, and the control difficulty is lowered.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to an ultrasonic scalpel for a robot, a transmission docking method thereof, and a surgical robot. Background Art

[0002] The ultrasonic scalpel for a robot has the characteristics of less bleeding, less damage to surrounding tissues, and fast postoperative recovery, and is widely used in minimally invasive surgical operations. Its working principle is to use a transducer to convert the electrical energy of the host into mechanical energy of high-frequency vibration, and the high-frequency vibration of the transducer is transmitted to the tip of the knife head through a waveguide rod and acts on the target tissue. The high-power high-frequency vibration can vaporize the water in blood vessels and tissue cells, causing the cells to disintegrate and complete the cutting. At the same time, the frictional heat generated by the vibration of the knife head will cause local tissue temperature rise, improve the activity of thrombin, and thus accelerate the blood coagulation reaction.

[0003] At present, when realizing the function of the knife rod rotation of the ultrasonic scalpel for a robot, a single gear is mainly used to transmit power, that is, the docking of the positioning protrusion on a single motor and the docking groove on a single driven gear meshing with the knife rod is used to realize the transmission between the motor and the knife rod. However, since the rotation angle of the knife rod is ±360°, and the rotation angle of the driven gear meshing with the knife rod is also ±360°, it is difficult for the positioning protrusion on the motor to realize the automatic docking with the docking groove on the driven gear. If the two are not successfully docked, the positioning protrusion will abut against the tooth surface of the driven gear. When the motor rotates, the positioning protrusion can cause the driven gear to rotate accordingly through the frictional force on the tooth surface of the driven gear, resulting in the operator mistakenly believing that the motor and the driven gear are successfully docked. However, during the surgical operation, due to the lack of the limit of the motor on the driven gear, the situation of the driven gear slipping or the motor drive failure will inevitably occur, seriously affecting the surgical accuracy. Summary of the Invention

[0004] The purpose of the present invention is to provide an ultrasonic scalpel for a robot, a transmission docking method thereof, and a surgical robot, aiming to solve the technical problem that the positioning protrusion on the motor and the positioning groove on the transmission gear meshing with the knife rod in the prior art cannot be automatically docked.

[0005] To achieve the above purpose, the technical solutions adopted by the present invention are as follows:

[0006] In a first aspect, an ultrasonic scalpel for a robot is provided, including a cutting assembly and an instrument box.

[0007] The cutting assembly includes a slender shaft and a knife head component; the slender shaft includes a waveguide rod, an inner tube sleeved outside the waveguide rod, and an outer tube sleeved outside the inner tube, and the inner tube can axially move relative to the outer tube; the knife head component includes a knife head and a clamp piece, the knife head is fixedly connected to one end of the waveguide rod, and the clamp piece is rotatably connected to both the inner tube and the outer tube;

[0008] The instrument box includes a base, a power input assembly, a first transmission mechanism and a second transmission mechanism; the power input assembly includes at least a first input member, a second input member and a third input member, all of which are rotatably connected to the base; the outer tube is rotatably connected to the base; the first input member is transmission-connected to the inner tube through the first transmission mechanism, and is used to drive the inner tube to reciprocate relative to the outer tube; the second input member is transmission-connected to the outer tube through the second transmission mechanism, and is used to drive the outer tube to rotate, the third input member can be selectively transmission-connected to the second input member, and has a connected state and a disconnected state, when the third input member is in the connected state, the movement between the third input member and the second input member is mutually restricted, when the third input member is in the disconnected state, the movement between the third input member and the second input member is independent of each other.

[0009] In one embodiment of the first aspect, the second transmission mechanism includes a first gear and a second gear, the first gear is fixedly connected to the second input member, the second gear is fixedly connected to the outer tube, and the first gear and the second gear are transmission connected; the instrument box also includes a third gear, the third gear is fixedly connected to the third input member, and can be selectively transmission connected to the first gear.

[0010] In one of the embodiments of the first aspect, the third gear is an incomplete gear having a toothed area and a toothless area, and the transmission connection between the third gear and the first gear has an engaging position, and when the toothed area rotates to the engaging position, the third input member is in a connected state; when the toothless area rotates to the engaging position, the third input member is in a disconnected state.

[0011] In one of the embodiments of the first aspect, the second transmission mechanism further includes a transition gear 6, and the first gear is transmission-connected to the second gear via the transition gear; the third gear can be selectively transmission-connected to the transition gear, thereby achieving transmission connection with the first gear.

[0012] In one embodiment of the first aspect, a first docking portion is provided on the first input member, a second docking portion is provided on the second input member, and a third docking portion is provided on the third input member. The first docking portion, the second docking portion and the third docking portion are respectively used to dock with an output end of a power source, so that each power source is transmission-connected to the corresponding input member.

[0013] In one embodiment of the first aspect, the first transmission mechanism includes a lever arm and a transmission component. The lever arm includes a lever body rotatably connected to the base, a lever rack connected to the lever body, and a support column connected to the lever body. The rotation axis of the lever body is perpendicular to the rotation axis of the outer tube. The support column is connected to the inner tube. The first input member is drivingly connected to the lever rack through the transmission component.

[0014] In one embodiment of the first aspect, the transmission component includes a first bevel gear, a second bevel gear, a bearing seat, a transmission shaft, and a fourth gear. The first bevel gear is fixedly connected to the first input member. The bearing seat is fixedly connected to the base. The transmission shaft is rotatably connected to the bearing seat. The second bevel gear is connected to one end of the transmission shaft and is drivingly connected to the first bevel gear. The fourth gear is connected to the other end of the transmission shaft and is drivingly connected to the lever rack.

[0015] In one embodiment of the first aspect, the ultrasonic scalpel for a robot further includes a housing sleeved outside the base. The housing has a receiving cavity. The first transmission mechanism and the second transmission mechanism are both located in the receiving cavity. The housing is provided with an emergency release hole. A wrench mating groove is provided at the center of the top of the first bevel gear. The emergency release hole and the wrench mating groove are oppositely arranged. A wrench passes through the emergency release hole and is drivingly connected to the wrench mating groove to manually drive the first input member to rotate.

[0016] In a second aspect, there is provided a surgical robot, including a robotic arm, a power box connected to the end of the robotic arm, and an ultrasonic scalpel for a robot as mentioned in each of the above embodiments and installed in the power box.

[0017] In a third aspect, there is provided a method for driving and docking an ultrasonic scalpel for a robot, which is implemented based on the surgical robot in the above embodiments. The method for driving and docking an ultrasonic scalpel for a robot includes:

[0018] Allocating a commutation motor corresponding to the second input member and a calibration motor corresponding to the third input member in the power box;

[0019] Controlling the output ends of the commutation motor and the calibration motor to rotate in a preset rotation direction and a preset rotational speed difference that limit the relative rotation of the second input member and the third input member until stall signals appear in both the commutation motor and the calibration motor, and then stopping the power output of the commutation motor and the calibration motor;

[0020] Controlling the calibration motor to drive the third input member to be in an off state, and the driving and docking is completed.

[0021] The technical effect of the present invention compared with the prior art is as follows: Before driving the robot to perform surgery with the ultrasonic scalpel, it is necessary to first achieve the docking of the power source in the power box with the second input component and the third input component to ensure that the power box can normally drive the robot to adjust the clamping direction of the ultrasonic scalpel. The specific steps are as follows: First, switch the third input component to the connected state. At this time, the third input component realizes the transmission connection with the second input component, and the movements between the third input component and the second input component restrict each other. For example, neither the third input component nor the second input component can rotate relative to the base. If the power box and the second input component are not successfully docked at this time, the power source in the power box will operate normally until the power box and the second input component are successfully docked. Since both the third input component and the second input component are stationary, the power source in the power box cannot operate normally. At this time, it can be judged that the power source in the power box is successfully docked with the second input component, and then the power output of the power source in the power box can be stopped. Then, switch the third input component to the disconnected state, so that the third input component disconnects the transmission connection with the second input component, and the movements between the third input component and the second input component are independent of each other. Then, the power box can independently transmit power to the first input component and the second input component. The first input component can drive the cutting component to perform the clamping action through the power provided by the power box, and the second input component can drive the cutting component to adjust the clamping direction through the power provided by the power box. The robot ultrasonic scalpel can quickly achieve the docking of the power box and the second input component through the above method, with reliable docking, high efficiency, simple operation, and reduced control difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for describing the embodiments of the present invention or the prior art. Obviously, the following described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0023] Figure 1 is a three-dimensional structure diagram of the robot ultrasonic scalpel provided by the embodiment of the present invention;

[0024] Figure 2 is Figure 1 a partial three-dimensional structure diagram of the robot ultrasonic scalpel in;

[0025] Figure 3 is Figure 1 a partial structure diagram of one of the robot ultrasonic scalpels in;

[0026] Figure 4 is Figure 1 a partial structure diagram of another one of the robot ultrasonic scalpels in;

[0027] Figure 5It is an assembly diagram of the third input part and the third gear of the ultrasonic scalpel for robots provided by the embodiments of the present invention;

[0028] Figure 6 It is an assembly diagram of the cutting assembly and the first transmission mechanism of the ultrasonic scalpel for robots provided by the embodiments of the present invention;

[0029] Figure 7 It is a three-dimensional structure diagram of the first input part of the ultrasonic scalpel for robots provided by the embodiments of the present invention;

[0030] Figure 8 It is a three-dimensional structure diagram of the transmission shaft of the ultrasonic scalpel for robots provided by the embodiments of the present invention;

[0031] Figure 9 It is a three-dimensional structure diagram of the housing of the ultrasonic scalpel for robots provided by the embodiments of the present invention.

[0032] Description of reference numerals:

[0033] 10. Cutting assembly; 11. Elongated shaft; 112. Inner tube; 113. Outer tube; 114. Pin structure; 12. Tool head component; 121. Tool head; 122. Forceps piece; 20. Instrument box; 21. Base; 22. Power input component; 221. First input part; 2211. First docking part; 2212. Knurled groove; 2213. Connecting shaft; 222. Second input part; 2220. Wrench mating groove; 2221. Second docking part; 223. Third input part; 2231. Third docking part; 23. First transmission mechanism; 231. Lever arm; 2311. Lever body; 2312. Lever rack; 2313. Support column; 232. Transmission component; 2321. First bevel gear; 2322. Second bevel gear; 2323. Bearing seat; 2324. Transmission shaft; 2324a. First rotating shaft; 2324b. Second rotating shaft; 2324c. Limiting groove; 2325. Fourth gear; 24. Second transmission mechanism; 241. First gear; 242. Second gear; 25. Third gear; 251. Tooth-shaped area; 252. Toothless area; 26. Intermediate gear; 30. Housing; 301. Emergency release hole. Detailed description of the specific implementation

[0034] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0035] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the present invention.

[0036] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0037] In the present invention, unless otherwise clearly specified and limited, the terms "mounted", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the drawings and embodiments.

[0039] An embodiment of the present invention provides a surgical robot, which includes a robotic arm, a power box, and a robot ultrasonic scalpel. The power box is connected to the end of the robotic arm, and the robot ultrasonic scalpel is installed in the power box. A power source for providing power to the robot ultrasonic scalpel is provided in the power box. The surgical robot can adjust the position and angle of the robot ultrasonic scalpel through the movement of the robotic arm, and drive the robot ultrasonic scalpel to work through the power box.

[0040] Please refer to Figure 1 and Figure 2 , an embodiment of the present invention also provides a robot ultrasonic scalpel, which includes a cutting assembly 10 and an instrument box 20.

[0041] The cutting assembly 10 includes a slender shaft 11 and a knife head component 12.

[0042] The slender shaft 11 includes a waveguide rod, an inner tube 112 sleeved outside the waveguide rod, and an outer tube 113 sleeved outside the inner tube 112. The inner tube 112 can axially move relative to the outer tube 113. The cutter head component 12 includes a cutter head 121 and a clamping piece 122. The cutter head 121 is fixedly connected to one end of the waveguide rod, and the clamping piece 122 is rotatably connected to both the inner tube 112 and the outer tube 113. Among them, the waveguide rod, the inner tube 112, and the outer tube 113 can be connected through a pin structure 114 to achieve synchronous rotation. A chute extending along the axial direction of the inner tube 112 can be provided on the inner tube 112, and the pin structure 114 can slide in the chute, so as to realize the axial movement of the inner tube 112 relative to the outer tube 113.

[0043] Please combine Figure 3 and Figure 4 , the instrument box 20 includes a base 21, a power input component 22, a first transmission mechanism 23, and a second transmission mechanism 24.

[0044] The power input component 22 at least includes a first input member 221, a second input member 222, and a third input member 223 that are all rotatably connected to the base 21. The first input member 221, the second input member 222, and the third input member 223 are respectively used for driving connection with the output end of a power source in the power box, and power is provided through the power box. The outer tube 113 is rotatably connected to the base 21, and the cutting component 10 can rotate relative to the base 21 through the outer tube 113. The first input member 221 is in transmission connection with the inner tube 112 through the first transmission mechanism 23. The first input member 221 is used to drive the inner tube 112 to reciprocate relative to the outer tube 113, so as to drive the clamping piece 122 to rotate relative to the outer tube 113. The clamping piece 122 can move towards or away from the cutter head 121 during rotation, so as to realize the opening and closing of the clamping piece 122 relative to the cutter head 121, thereby realizing the clamping action of the cutting component 10. The second input member 222 is in transmission connection with the outer tube 113 through the second transmission mechanism 24. The second input member 222 is used to drive the outer tube 113 to rotate, so as to change the clamping direction of the cutting component 10. The third input member 223 is selectively in transmission connection with the second input member 222. Among them, the third input member 223 has a connected state and a disconnected state. When the third input member 223 is in the connected state, the third input member 223 realizes the transmission connection with the second input member 222. At this time, the movements between the third input member 223 and the second input member 222 are mutually restricted. When the third input member 223 is in the disconnected state, the third input member 223 disconnects the transmission connection with the second input member 222. At this time, the movements between the third input member 223 and the second input member 222 are independent of each other.

[0045] Before driving the robot to perform surgery with the ultrasonic scalpel, it is necessary to first achieve the docking of the power source in the power box with the second input member 222 and the third input member 223 to ensure that the power box can normally drive the robot's ultrasonic scalpel to adjust the clamping direction. The specific steps are as follows: First, switch the third input member 223 to the connected state. At this time, the third input member 223 realizes the transmission connection with the second input member 222, and the movements between the third input member 223 and the second input member 222 restrict each other. If the power box and the second input member 222 are not successfully docked at this time, the power source in the power box will operate normally until the power box and the second input member 222 are successfully docked. Due to the mutual restriction of the movements between the third input member 223 and the second input member 222, the power source in the power box will also have a situation where it cannot operate normally, such as stalling. At this time, it can be judged that the power source in the power box is successfully docked with the second input member 222 according to the rotation situation of the power source. At this time, the power output of the power source in the power box can be stopped, and then the third input member 223 is switched to the disconnected state. In this way, the third input member 223 disconnects the transmission connection with the second input member 222, and the movements between the third input member 223 and the second input member 222 are independent of each other. Then the power box can independently transmit power to the first input member 221 and the second input member 222. The first input member 221 can drive the cutting assembly 10 to act through the power provided by the power box, and the second input member 222 can drive the cutting assembly 10 to adjust the direction through the power provided by the power box. The robot's ultrasonic scalpel can quickly achieve the docking of the power box with the second input member 222 through the above method, with reliable docking, high efficiency, simple operation, and reduced control difficulty.

[0046] Specifically, the first transmission assembly 232 and the second transmission assembly 232 are installed on the base 21. Among them, a first avoidance hole, a second avoidance hole, and a third avoidance hole are formed on the base 21. The first input member 221 is rotatably connected in the first avoidance hole, the second input member 222 is rotatably connected in the second avoidance hole, and the third input member 223 is rotatably connected in the third avoidance hole, thereby reducing the space occupied by the first input member 221, the second input member 222, and the third input member 223.

[0047] In some embodiments, please refer to Figure 2 and Figure 3, the second transmission mechanism 24 includes a first gear 241 and a second gear 242. The first gear 241 is fixedly connected to the second input member 222, the second gear 242 is fixedly connected to the outer tube 113, the first gear 241 and the second gear 242 are in transmission connection. When the second input member 222 rotates relative to the base 21, the first gear 241 rotates accordingly, and the second gear 242 drives the outer tube 113 to rotate relative to the base 21 under the drive of the first gear 241, thereby realizing the rotation of the cutting assembly 10 relative to the base 21. It should be noted that the transmission connection manner between the first gear 241 and the second gear 242 can be that the first gear 241 is directly meshed with the second gear 242, or the transmission connection can be indirectly realized through other structural members, and no limitation is made here.

[0048] Among them, please refer to Figure 4 , the instrument box 20 further includes a third gear 25. The third gear 25 is fixedly connected to the third input member 223. The third gear 25 is selectively in transmission connection with the first gear 241. That is to say, when the third input member 223 is in the connected state, the third gear 25 is in transmission connection with the first gear 241 to realize the transmission connection between the third input member 223 and the second input member 222. When the third input member 223 is in the disconnected state, the third gear 25 is disconnected from the first gear 241 to disconnect the transmission connection between the third input member 223 and the second input member 222.

[0049] Optionally, please refer to Figure 4 and Figure 5 , the third gear 25 is an incomplete gear, that is, the number of teeth on the third gear 25 is incomplete. Specifically, the third gear 25 has a toothed area 251 and a toothless area 252. Among them, the number of teeth in the toothed area 251 is complete, and there are no teeth in the toothless area 252. The transmission connection between the third gear 25 and the first gear 241 has an engagement position. When the third input member 223 rotates relative to the base 21, it can drive the third gear 25 to rotate. During the rotation of the third gear 25, the toothed area 251 can be rotated to the engagement position or the toothless area 252 can be rotated to the engagement position. When the toothed area 251 rotates to the engagement position, the third gear 25 is in transmission connection with the first gear 241, and the third input member 223 is in the connected state; when the toothless area 252 rotates to the engagement position, the third gear 25 is disengaged from the first gear 241, and the third input member 223 is in the disconnected state. In this way, the third input member 223 realizes the switching between the connected state and the disconnected state by rotating relative to the base 21.

[0050] In some embodiments, please refer to Figure 3 and Figure 4, the second transmission mechanism 24 further includes an intermediate gear 26. The first gear 241 is drivingly connected to the second gear 242 through the intermediate gear 26; the third gear 25 is selectively drivingly connected to the intermediate gear 26, so as to achieve driving connection with the first gear 241. By providing the intermediate gear 26, the available arrangement space between the first gear 241 and the third gear 25 is increased, so as to flexibly adjust the positions of the first gear 241 and the third gear 25 according to the positions of the base 21 and other components. At the same time, the transmission speed of the second transmission mechanism 24 can also be adjusted by adjusting the size of the intermediate gear 26.

[0051] Optionally, please combine with Figure 2 , the intermediate gear 26 meshes with the first gear 241 and the second gear 242 respectively. When the second input member 222 rotates, the intermediate gear 26 can be driven to rotate by the first gear 241, and the intermediate gear 26 then drives the second gear 242 to rotate, and the outer tube 113 can rotate along with the rotation of the second gear 242, so as to realize the clamping direction conversion of the cutting assembly 10. When the tooth-shaped area 251 of the third gear 25 rotates to the meshing position, the third gear 25 meshes with the intermediate gear 26. When the toothless area 252 of the third gear 25 rotates to the meshing position, the toothless area 252 of the third gear 25 faces the intermediate gear 26, and the third gear 25 disengages from the intermediate gear 26, so as to realize the disengagement of the transmission connection between the third gear 25 and the first gear 241.

[0052] In other embodiments, the third gear 25 may also mesh with the first gear 241, and the second gear 242 may mesh with the first gear 241. The first gear 241, the second gear 242 and the third gear 25 may also be indirectly drivingly connected to the intermediate gear 26 through other transmission structures, which are not limited herein.

[0053] In some embodiments, please refer to Figure 2 , a first docking portion 2211 is provided on the first input member 221, a second docking portion 2221 is provided on the second input member 222, and a third docking portion 2231 is provided on the third input member 223. The first docking portion 2211, the second docking portion 2221 and the third docking portion 2231 are respectively used for docking with the output end of a power source, so that each power source is drivingly connected to the corresponding input member. It can be understood that there are at least three power sources in the power box. For example, the power box includes a first power source, a second power source and a third power source. Among them, the first power source is drivingly connected to the first input member 221 through the docking of its output end with the first docking portion 2211, the second power source is drivingly connected to the second input member 222 through the docking of its output end with the second docking portion 2221, and the third power source is drivingly connected to the third input member 223 through the docking of its output end with the third docking portion 2231.

[0054] If the third input member 223 is in a connected state, when the output end of the second power source fails to be docked with the second docking portion 2221 or the output end of the third power source fails to be docked with the third docking portion 2231, both the second power source and the third power source can operate normally. During the normal operation of the second power source, its output end can rotate to be docked with the second docking portion 2221. Then, during the normal operation of the third power source, its output end can rotate to be docked with the third docking portion 2231. After the second power source and the third power source are both successfully docked, due to the mutual restriction of the movements between the second input member and the third input member, both the second power source and the third power source exhibit abnormal rotation. Based on this abnormal rotation situation, it can be determined that the second power source is successfully docked with the second docking portion 2221 and the third power source is successfully docked with the third docking portion 2231. At this time, the third input member 223 can be switched to a disconnected state so that when the second power source drives the second input member 222 later, it will not be affected by the third input member and can operate normally.

[0055] Optionally, the first docking portion 2211 can be a first docking groove formed on the first input member 221, and the output end of the first power source can be inserted into the first docking groove to achieve a transmission connection with the first input member 221. Among them, the first docking groove can avoid the rotation axis of the first input member 221 to facilitate the first power source to drive the first input member 221 to rotate.

[0056] Optionally, the second docking portion 2221 can be a second docking groove formed on the second input member 222, and the output end of the second power source can be inserted into the second docking groove to achieve a transmission connection with the second input member 222. Among them, the second docking groove can avoid the rotation axis of the second input member 222 to facilitate the second power source to drive the second input member 222 to rotate.

[0057] Optionally, the third docking portion 2231 can be a third docking groove formed on the third input member 223, and the output end of the third power source can be inserted into the third docking groove to achieve a transmission connection with the third input member 223. Among them, the third docking groove can avoid the rotation axis of the third input member 223 to facilitate the third power source to drive the third input member 223 to rotate.

[0058] Among them, to facilitate the docking of the output ends of the power sources, the first input member 221, the second input member 222, and the third input member 223 can be of the same size and shape. For example, they are all disc-shaped with the same size. The positions of the first docking portion 2211 on the first input member 221, the second docking portion 2221 on the second input member 222, and the third docking portion 2231 on the third input member 223 can be the same. In this way, the three power sources can be set to the same specifications, which is convenient for assembly and saves processing costs.

[0059] In some embodiments, please refer to Figure 4 , the first transmission mechanism 23 includes a lever arm 231 and a transmission component 232. The lever arm 231 includes a lever body 2311, a lever rack 2312 and a support column 2313. The lever body 2311 is rotatably connected to the base 21. The rotation axis of the lever body 2311 is perpendicular to the rotation axis of the outer tube 113. The lever rack 2312 is connected to the lever body 2311 and can extend in a direction perpendicular to the rotation axis of the lever body 2311. The support column 2313 is connected to the lever body 2311 and is connected to the inner tube 112. The first input member 221 is drivingly connected to the lever rack 2312 through the transmission component 232. When the first power source drives the first input member 221 to rotate, the first input member 221 can drive the lever body 2311 to reciprocally rotate relative to the base 21 through the driving connection between the transmission component 232 and the lever rack 2312. During the reciprocating rotation of the lever body 2311, the inner tube 112 can be driven by the support column 2313 to reciprocally move axially within the outer tube 113, thereby realizing the opening and closing of the tool head 121 assembly.

[0060] In some embodiments, please refer to Figure 4 and Figure 6 , the transmission component 232 includes a first bevel gear 2321, a second bevel gear 2322, a bearing seat 2323, a transmission shaft 2324 and a fourth gear 2325. The first bevel gear 2321 is fixedly connected to the first input member 221, and the rotation axis of the first bevel gear 2321 can coincide with the rotation axis of the first input member 221. The bearing seat 2323 is fixedly connected to the base 21. The transmission shaft 2324 is rotatably connected to the bearing seat 2323. The second bevel gear 2322 is connected to one end of the transmission shaft 2324 and is drivingly connected to the first bevel gear 2321. The fourth gear 2325 is connected to the other end of the transmission shaft 2324 and is drivingly connected to the lever rack 2312. Among them, the rotation axes of the transmission shaft 2324, the second bevel gear 2322 and the fourth gear 2325 can all coincide. In this way, when the first power source drives the first input member 221 to rotate, the first input member 221 can drive the first bevel gear 2321 to rotate. The first bevel gear 2321 drives the second bevel gear 2322 to rotate. The second bevel gear 2322 drives the fourth gear 2325 to rotate through the transmission shaft 2324. The rotation of the fourth gear 2325 can drive the lever body 2311 to rotate relative to the base 21 through the driving connection with the lever rack 2312. The driving connection between the first bevel gear 2321 and the second bevel gear 2322 can realize the change of the transmission direction. At this time, the transmission component 232 can be disposed closely to the lower surface of the base 21, reducing the occupation of the installation space, thereby reducing the size of the instrument box 20.

[0061] Optionally, please refer to Figure 7A knurled groove 2212 is provided on the side wall of the first input member 221 to facilitate manual movement of the first input member 221. A connecting shaft 2213 is connected to the first input member 221, the central axis of the connecting shaft 2213 coincides with the rotation axis of the first input member 221, the cross section of the connecting shaft 2213 is square, and a square groove is provided on the first bevel gear 2321. The first bevel gear 2321 is sleeved on the connecting shaft 2213 through the square groove to achieve position limiting between the first bevel gear 2321 and the connecting shaft 2213.

[0062] Specifically, please combine Figure 8 The transmission shaft 2324 includes a first rotating shaft 2324a and a second rotating shaft 2324b connected to each other. The rotation axis of the first rotating shaft 2324a coincides with the rotation axis of the second rotating shaft 2324b. The cross section of the first rotating shaft 2324a is square, and the cross section of the second rotating shaft 2324b is circular. The side wall of the second rotating shaft 2324b is provided with a limiting groove 2324c, and the limiting groove 2324c passes through the end face of the second rotating shaft 2324b. The second bevel gear 2322 is provided with a first connecting hole. The first connecting hole is adapted to the first rotating shaft 2324a to achieve the position limiting between the second bevel gear 2322 and the first rotating shaft 2324a, the second bevel gear 2322 is sleeved on the first rotating shaft 2324a through the first connecting hole, the fourth gear 2325 is provided with a second connecting hole, the second connecting hole is adapted to the second rotating shaft 2324b, the fourth gear 2325 is sleeved on the second rotating shaft 2324b through the second connecting hole to achieve the position limiting between the fourth gear 2325 and the second rotating shaft 2324b. In other embodiments, the cross-section of the first rotating shaft 2324a and the cross-section of the second rotating shaft 2324b can be non-circular.

[0063] Optional, see Figure 4 The first bevel gear 2321 is meshed with the second bevel gear 2322, and the rotation axis of the first bevel gear 2321 is perpendicular to the rotation axis of the second bevel gear 2322, so as to facilitate processing and assembly.

[0064] Optional, see Figure 4 and Figure 6 The fourth gear 2325 is meshed with the lever rack 2312 , the lever rack 2312 extends along an arc path, and the central axis corresponding to the arc path is the rotation axis of the lever body 2311 .

[0065] In other embodiments, the first bevel gear 2321 and the second bevel gear 2322 may be indirectly connected via other structural components, and the fourth gear 2325 and the lever rack 2312 may be indirectly connected via other structural components, which is not limited here.

[0066] Optionally, the bearing seat 2323 is provided with a connecting hole, and the transmission shaft 2324 is passed through the connecting hole and can rotate in the connecting hole.

[0067] In some embodiments, see Figure 2 and Figure 9 The robot ultrasonic knife also includes a housing 30 sleeved on the outside of the base 21, the housing 30 has a receiving cavity, the first transmission mechanism 23 and the second transmission mechanism 24 are both located in the receiving cavity, and the housing 30 is used to protect the first transmission mechanism 23 and the second transmission mechanism 24. Among them, the housing 30 is provided with an emergency release hole 301, and a wrench matching groove 2220 is provided at the top center of the first bevel gear 2321, and the emergency release hole 301 and the wrench matching groove 2220 are arranged opposite to each other. When the cutter head 121 assembly is stuck, the power source can be separated from the first input member 221, and then the wrench can be manually passed through the emergency release hole 301 and connected to the wrench matching groove 2220, and then the wrench can be manually screwed to realize the manual drive of the first input member 221 to rotate, thereby realizing the manual operation of the cutter head 121 assembly to open and close.

[0068] In some embodiments, the power box in the surgical robot provided in the embodiments of the present application includes at least a commutation motor and a correction motor. The commutation motor can be used as the second power source to be transmission-connected with the second input member 222, and the correction motor can be used as the third power source to be transmission-connected with the third input member 223. The output end of the commutation motor is connected to the second docking portion 2221 of the second input member 222, and the commutation motor can provide power to the second input member 222 to realize the rotation of the second input member 222. The output end of the correction motor is connected to the third docking portion 2231 of the third input member 223, and the correction motor can provide power to the third input member 223 to realize the rotation of the third input member 223.

[0069] Optionally, the power box may further include a driving motor, and an output end of the driving motor is connected to the first connecting portion 2211 of the first input member 221 .

[0070] The present application also provides a robot ultrasonic knife transmission docking method, which is implemented based on the surgical robot in the above embodiment. The robot ultrasonic knife transmission docking method includes:

[0071] A commutation motor corresponding to the second input member 222 and a correction motor corresponding to the third input member 223 in the distribution power box;

[0072] Control the output end of the commutation motor and the output end of the correction motor to rotate in a preset rotation direction and a preset speed difference to limit the relative rotation of the second input member 222 and the third input member 223, until the commutation motor and the correction motor both have a stall signal to stop the power output of the commutation motor and the correction motor;

[0073] Control the correction motor to drive the third input member 223 to be in the off state, and the transmission docking is completed.

[0074] It can be understood that the output end of the commutation motor can be first docked towards the second input member 222, and the output end of the correction motor can be docked towards the third input member 223. Then, control the output ends of the commutation motor and the correction motor to rotate. The output ends of the commutation motor and the correction motor rotate according to a preset rotation direction and a preset rotational speed difference. Under the above preset rotation direction and preset rotational speed difference, the relative rotation of the second input member 222 and the third input member 223 can be restricted. In this way, if the output end of the commutation motor fails to be successfully transmission-docked with the second input member 222 or the output end of the correction motor fails to be successfully transmission-docked with the third input member 223, then the output ends of the commutation motor and the correction motor rotate normally until both the commutation motor and the correction motor generate stall signals, that is, the commutation motor and the correction motor are abnormally rotated due to resistance, indicating that the output end of the commutation motor is successfully transmission-docked with the second input member 222 and the output end of the correction motor is successfully transmission-docked with the third input member 223. At this time, the power output of the commutation motor and the correction motor can be stopped. Then, the commutation motor can be disabled, or the rotation direction and rotation speed of the output end of the commutation motor can be controlled to be adapted to the rotation direction and rotation speed of the output end of the correction motor, and the correction motor is controlled to drive the third input member 223 to rotate until the third input member 223 is in the off state, and the transmission docking is completed. After the docking is completed, the second input member 222 can be normally controlled to rotate by the commutation motor so that the second input member 222 can normally drive the cutting assembly 10 to change the clamping direction. At this time, the correction motor can be in the enabled state or can be disabled. This transmission docking method of the ultrasonic knife for the robot realizes the transmission docking between the commutation motor and the second input member 222 by controlling the stall of the commutation motor and the correction motor, with reliable docking, high efficiency, simple operation, and reduced control difficulty.

[0075] For the robot ultrasonic knife in the above embodiment, the preset rotation direction of the output end of the commutation motor may be opposite to the preset rotation direction of the output end of the correction motor. In this case, the rotation direction of the second input member 222 is opposite to the rotation direction of the third input member 223. The third input member 223 can be switched to the connection state by rotation, and the third gear 25 is meshed with the transition gear 26. Since the rotation direction of the first gear 241 is also opposite to the rotation direction of the third gear 25, the first gear 241 and the third gear 25 both stop rotating or hinder each other from rotating, thereby limiting the relative rotation of the second input member 222 and the third input member 223. The preset rotation direction of the output end of the commutation motor may be the same as the preset rotation direction of the output end of the correction motor. In this case, the preset speed difference between the output end of the commutation motor and the output end of the correction motor can make the pitch circle linear speed of the first gear 241 and the third gear 25 different, so that the first gear 241 and the third gear 25 hinder each other from rotating, thereby limiting the relative rotation of the second input member 222 and the third input member 223.

[0076] If the first gear 241 and the second gear 242 have the same size, and the second input member 222 and the third input member 223 have the same size, then the preset speed difference between the output end of the commutation motor and the output end of the correction motor only needs to be non-zero.

[0077] In other embodiments, when the sizes of the first gear 241 and the second gear 242 are different, or the sizes of the second input member 222 and the third input member 223 are different, the preset speed difference between the output end of the commutation motor and the output end of the correction motor may also be zero, which is not limited here.

[0078] The above description is only a preferred embodiment of the present invention, and only specifically describes the technical principle of the present invention. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanation here, any modification, equivalent substitution and improvement made within the spirit and principle of the present invention, and other specific embodiments of the present invention that can be associated with by technicians in this field without creative labor, should be included in the scope of protection of the present invention.

Claims

1. An ultrasonic scalpel for a robot, characterized in that, include: A cutting assembly (10) comprises a slender shaft (11) and a cutter head component (12); the slender shaft (11) comprises a waveguide rod, an inner tube (112) sleeved outside the waveguide rod, and an outer tube (113) sleeved outside the inner tube (112), wherein the inner tube (112) is movable axially relative to the outer tube (113); the cutter head component (12) comprises a cutter head (121) and a clamp blade (122), wherein the cutter head (121) is fixedly connected to one end of the waveguide rod, and the clamp blade (122) is rotatably connected to both the inner tube (112) and the outer tube (113); The instrument box (20) comprises a base (21), a power input assembly (22), a first transmission mechanism (23) and a second transmission mechanism (24); the power input assembly (22) comprises at least a first input member (221), a second input member (222) and a third input member (223) which are all rotatably connected to the base (21); the outer tube (113) is rotatably connected to the base (21); the first input member (221) is transmission-connected to the inner tube (112) via the first transmission mechanism (23) and is used to drive the inner tube (112) to reciprocate relative to the outer tube (113); the second input member (221) is transmission-connected to the inner tube (112) via the first transmission mechanism (23) and is used to drive the inner tube (112) to reciprocate relative to the outer tube (113); The third input member (222) is transmission-connected to the outer tube (113) through the second transmission mechanism (24) and is used to drive the outer tube (113) to rotate. The third input member (223) can be selectively transmission-connected to the second input member (222) and has a connected state and a disconnected state. When the third input member (223) is in the connected state, the movement between the third input member (223) and the second input member (222) is mutually restricted. When the third input member (223) is in the disconnected state, the movement between the third input member (223) and the second input member (222) is independent of each other.

2. The ultrasonic scalpel for a robot according to claim 1, wherein The second transmission mechanism (24) comprises a first gear (241) and a second gear (242), wherein the first gear (241) is fixedly connected to the second input member (222), the second gear (242) is fixedly connected to the outer tube (113), and the first gear (241) and the second gear (242) are transmission-connected; the instrument box (20) further comprises a third gear (25), wherein the third gear (25) is fixedly connected to the third input member (223), and can be selectively transmission-connected to the first gear (242).

3. The ultrasonic scalpel for a robot according to claim 2, characterized in that, The third gear (25) is an incomplete gear having a toothed area (251) and a toothless area (252). The transmission connection between the third gear (25) and the first gear (241) has a meshing position. When the toothed area (251) rotates to the meshing position, the third input member (223) is in a connected state; when the toothless area (252) rotates to the meshing position, the third input member (223) is in a disconnected state.

4. The ultrasonic scalpel for a robot according to claim 3, characterized in that, The second transmission mechanism (24) further includes an intermediate gear (26), and the first gear (241) is drivingly connected to the second gear (242) through the intermediate gear (26); the third gear (25) is selectively drivingly connected to the intermediate gear (26), so as to realize the driving connection with the first gear (241).

5. The ultrasonic scalpel for a robot according to claim 1, wherein A first docking portion (2211) is provided on the first input member (221), a second docking portion (2221) is provided on the second input member (222), and a third docking portion (2231) is provided on the third input member (223). The first docking portion (2221), the second docking portion (2211), and the third docking portion (2231) are respectively used for docking with the output end of a power source, so that each power source is drivingly connected to the corresponding input member.

6. The ultrasonic scalpel for a robot according to claim 1, wherein, The first transmission mechanism (23) includes a lever arm (231) and a transmission assembly (232). The lever arm (231) includes a lever body (2311) rotatably connected to the base (21), a lever rack (2312) connected to the lever body (2311), and a support column (2313) connected to the lever body (2311). The rotation axis of the lever body (2311) is perpendicular to the rotation axis of the outer tube (113). The support column (2313) is connected to the inner tube (112), and the first input member (221) is drivingly connected to the lever rack (2312) through the transmission assembly (232).

7. The ultrasonic scalpel for a robot according to claim 6, wherein, The transmission assembly (232) includes a first bevel gear (2321), a second bevel gear (2322), a bearing seat (2323), a transmission shaft (2324), and a fourth gear (2325); the first bevel gear (2321) is fixedly connected to the first input member (221), the bearing seat (2323) is fixedly connected to the base (21), the transmission shaft (2324) is rotatably connected to the bearing seat (2323), the second bevel gear (2322) is connected to one end of the transmission shaft (2324) and is drivingly connected to the first bevel gear (2321); the fourth gear (2325) is connected to the other end of the transmission shaft (2324) and is drivingly connected to the lever rack (2312).

8. The ultrasonic scalpel for a robot according to claim 7, characterized in that, The ultrasonic scalpel for a robot further includes a housing (30) sleeved outside the base (21). The housing (30) has a receiving cavity. The first transmission mechanism (23) and the second transmission mechanism (24) are both located in the receiving cavity. The housing (30) is provided with an emergency release hole (301). A wrench mating groove (2220) is provided at the center of the top of the first bevel gear (2321). The emergency release hole (301) and the wrench mating groove (2220) are oppositely arranged. A wrench passes through the emergency release hole (301) and is drivingly connected to the wrench mating groove (2220) to manually drive the first input member (221) to rotate.

9. A surgical robot, characterized in that, It includes a robotic arm, a power box connected to the end of the robotic arm, and a robotic ultrasonic scalpel as described in any one of claims 1-8 installed in the power box.

10. A method for transmission docking of a robotic ultrasonic scalpel, implemented based on claim 9; the method for transmission docking of the robotic ultrasonic scalpel includes: Allocating a commutation motor corresponding to the second input member (222) and a calibration motor corresponding to the third input member (223) in the power box; Controlling the output ends of the commutation motor and the calibration motor to rotate in a preset rotation direction and a preset rotational speed difference that limit the relative rotation of the second input member (222) and the third input member (223), and stopping the power output of the commutation motor and the calibration motor until stall signals appear in both the commutation motor and the calibration motor; Controlling the calibration motor to drive the third input member (223) to be in an off state, and the transmission docking is completed.

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