Instrument driving device

Abstract

The invention belongs to the technical field of medical instruments, and discloses an instrument driving device which comprises an instrument assembly, a first rotation driving assembly, a second rotation driving assembly and a push-pull driving assembly, the instrument assembly comprises a handle, a plurality of operation pull rods and a rotating rod, and the operation pull rods are slidably connected to the handle; the rotating rod is rotatably connected to the handle; the output end of the first rotation driving mechanism is connected with the rotating seat mechanism so as to drive the instrument assembly to rotate; the output end of the second rotation driving mechanism is connected with the rotating wheel mechanism so as to drive the rotating rod to rotate; the plurality of flexible push-pull wires are in one-to-one correspondence with the plurality of operation pull rods; and the push-pull driving mechanism drives the flexible push-pull wires to reciprocate so as to enable the operation pull rods to reciprocate. According to the instrument driving device, rotation and push-pull actions of the instrument assembly are achieved through active driving, the control precision and motion stability of an execution device are improved, and the device is reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an instrument driving device. Background Art

[0002] With the continuous development of medical devices, computer technology and control technology, minimally invasive surgery has been increasingly widely used due to its advantages such as small surgical trauma, short recovery time, and less patient pain. When using traditional passive minimally invasive surgical instruments, doctors need to manually operate them. Doctors manually control the actions of intermediate transmission mechanisms such as sheath tubes and traction ropes, thereby controlling the operation of the distal actuator. This manual operation method has certain limitations, mainly manifested as relatively low control accuracy, easy misoperation due to hand tremors during operation, and inevitable operation fatigue during manual operation. Therefore, it has an adverse impact on both the motion control accuracy and motion stability of the actuator. Summary of the Invention

[0003] The purpose of the present invention is to provide an instrument driving device, which can solve the problems that the existing minimally invasive surgical instruments have relatively low control accuracy for the actuator due to manual operation, easy misoperation due to hand tremors during operation, operation fatigue, etc., resulting in poor motion stability of the actuator.

[0004] To achieve this purpose, the present invention adopts the following technical solutions:

[0005] Provide an instrument driving device, including:

[0006] An instrument assembly, the instrument assembly includes a handle, at least two operating pull rods, and a rotating rod. The operating pull rods are slidably connected to the handle, and the rotating rod is rotatably connected to the handle;

[0007] A first rotation driving assembly, the first rotation driving assembly includes a first rotation driving mechanism and a rotating seat mechanism. The rotating seat mechanism is connected to the instrument assembly, and the output end of the first rotation driving mechanism is connected to the rotating seat mechanism;

[0008] A second rotation driving assembly, the second rotation driving assembly includes a second rotation driving mechanism and a rotating wheel mechanism. The rotating wheel mechanism is drivingly connected to the rotating rod, and the output end of the second rotation driving mechanism is connected to the rotating wheel mechanism;

[0009] A push-pull driving assembly, the push-pull driving assembly includes a push-pull driving mechanism and at least two flexible push-pull wires. The flexible push-pull wires are arranged between the operating pull rods and the output end of the push-pull driving mechanism.

[0010] In one embodiment, the push-pull drive assembly further includes a slider connected to the operating pull rod; the push-pull drive mechanism includes a drive gear, a first transmission rack and a second transmission rack. The first transmission rack and the second transmission rack are respectively engaged on both sides of the drive gear and are arranged in parallel with each other. The flexible push-pull wire includes a first section and a second section. Two ends of the first section are respectively connected to the first transmission rack and one end of the slider, and two ends of the second section are respectively connected to the second transmission rack and the other end of the slider.

[0011] In one embodiment, the push-pull drive assembly further includes a slider connected to the operating pull rod; the push-pull drive mechanism includes a rotatable drum, the flexible push-pull wire is wound around the drum, a first end of the flexible push-pull wire is connected to one end of the slider, and a second end of the flexible push-pull wire is connected to the other end of the slider.

[0012] In one embodiment, the push-pull drive assembly further includes a tensioning mechanism, and the tensioning mechanism includes:

[0013] An adjustment bracket and a limit bracket, the adjustment bracket and the limit bracket are arranged at intervals and are sequentially arranged between the drum and the slider. The adjustment bracket is provided with a threaded adjustment hole;

[0014] A tensioning sheath, the tensioning sheath is arranged between the adjustment bracket and the limit bracket, and one end abuts against the limit bracket. The tensioning sheath is sleeved outside the flexible push-pull wire, and the tensioning sheath and the flexible push-pull wire are slidably connected;

[0015] An adjustment bolt, the adjustment bolt is threadedly connected to the threaded adjustment hole, the adjustment bolt abuts against the other end of the tensioning sheath away from the limit bracket, the adjustment bolt can push against one end of the tensioning sheath, and the tensioning sheath is bent to tension the flexible push-pull wire.

[0016] In one embodiment, the first rotation drive mechanism includes a rotatable rotary seat drive wheel, the rotary seat drive wheel is connected to the rotary seat mechanism, the second rotation drive mechanism includes a rotatable twist drive wheel, the twist drive wheel is connected to the rotating rod, and the rotary seat drive wheel and the twist drive wheel are coaxially arranged.

[0017] In one embodiment, the instrument drive device further includes a support tailstock, the rotary seat drive wheel is rotatably disposed in the support tailstock, both ends of the rotary seat drive wheel penetrate through, and the twist drive wheel is disposed in the rotary seat drive wheel and coaxially arranged.

[0018] In one embodiment, the first rotation driving mechanism further includes a first transmission wheel, and the second rotation driving assembly further includes a second transmission wheel. The first transmission wheel and the second transmission wheel are both rotatably connected to the support tailstock and are coaxially arranged. The first transmission wheel drives the rotation seat driving wheel to rotate, and the second transmission wheel drives the twist driving wheel to rotate.

[0019] In one embodiment, the instrument driving device further includes a translation slide rail that extends along the axial direction of the handle, and the support tailstock is slidably connected to the translation slide rail; the twist driving wheel is detachably connected to the rotating rod, and the operation pull rod is detachably connected to the rotating seat mechanism.

[0020] In one embodiment, the first rotation driving mechanism further includes a first driving member and a first transmission gear, and the first transmission gear is in transmission connection with the first transmission wheel; and / or,

[0021] The second rotation driving mechanism further includes a second driving member and a second transmission gear, and the second transmission gear is in transmission connection with the second transmission wheel.

[0022] In one embodiment, the instrument driving device further includes a translation slide rail that extends along the axial direction of the handle, and the support tailstock is slidably connected to the translation slide rail; the first rotation driving mechanism further includes a first transmission shaft, and the second rotation driving mechanism further includes a second transmission shaft. The first transmission shaft and the second transmission shaft are both parallel to the translation slide rail. The first transmission gear is axially slidably sleeved on the first transmission shaft, and the second transmission gear is axially slidably sleeved on the second transmission shaft.

[0023] In one embodiment, the push-pull driving assembly further includes a slider that is slidably connected to the rotating seat mechanism. The rotating seat mechanism includes a clamping member that is detachably connected to the operation pull rod. The slider is connected to the clamping member and is fixedly connected to the flexible push-pull wire; and / or,

[0024] The rotating wheel mechanism further includes an inner sheath driving wheel and a twist sleeve. The inner sheath driving wheel is connected to the end of the rotating rod away from the handle. The twist sleeve is in transmission connection with the twist driving wheel. The inner sheath driving wheel has external engagement teeth, and the inner wall of the twist sleeve is provided with internal engagement teeth, and the external engagement teeth and the internal engagement teeth are engaged with each other.

[0025] Advantages of the present invention:

[0026] The instrument driving device provided by the present invention has an instrument assembly including a handle, a plurality of operating pull rods, and a rotating rod. The operating pull rods are slidably connected to the handle, and the rotating rod is rotatably connected to the handle. The actions of the handle, the operating pull rods, and the rotating rod can respectively control the execution device to achieve different operations. The first rotation driving mechanism of the first rotation driving assembly is connected to the rotation seat mechanism to drive the instrument assembly to rotate. The pushing and pulling movement actions of the operating pull rods and the rotation action of the rotating rod are not affected by the rotation action of the instrument assembly, enabling the instrument assembly to independently achieve multiple actions or perform a combination of multiple actions simultaneously to meet surgical requirements; the pushing and pulling driving assembly includes a plurality of flexible push-pull wires corresponding to the plurality of operating pull rods one by one. The pushing and pulling driving mechanism can drive the flexible push-pull wires to reciprocate to make the operating pull rods reciprocate. Utilizing the flexibility of the flexible push-pull wires, the actions of driving components such as motors are converted into the pushing and pulling actions of the operating pull rods, simplifying the motion transmission chain, enabling the instrument driving device to achieve lightweight and miniaturization, and reducing processing costs. The above-mentioned instrument driving device does not require manual operation. The pushing and pulling movement actions of the operating pull rods, the rotation action of the rotating rod, and the overall rotation action of the instrument assembly are all realized by driving components, avoiding misoperations caused by hand tremors during manual operation and also avoiding manual operation fatigue, and improving the motion control accuracy of the execution device. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic structural diagram of the instrument driving device provided by an embodiment of the present invention without the flexible push-pull wires Figure 1 ;

[0028] Figure 2 is a schematic structural diagram of the instrument driving device provided by an embodiment of the present invention without the flexible push-pull wires Figure 2 ;

[0029] Figure 3 is a partial structural schematic diagram of the instrument driving device provided by an embodiment of the present invention;

[0030] Figure 4 is a schematic structural diagram of the rotation of the instrument assembly provided by an embodiment of the present invention;

[0031] Figure 5 is a schematic structural diagram of the flexible push-pull wire pushing and pulling slider provided by an embodiment of the present invention;

[0032] Figure 6 is a schematic structural diagram of the pushing and pulling driving mechanism driving the flexible push-pull wires provided by an embodiment of the present invention;

[0033] Figure 7 is a schematic structural diagram of the rotating cylinder driving the flexible push-pull wires provided by an embodiment of the present invention;

[0034] Figure 8 is a schematic structural diagram of the tensioning mechanism provided by an embodiment of the present invention.

[0035] In the figure:

[0036] 1. Instrument component; 11. Handle; 12. Operating pull rod; 13. Rotating rod;

[0037] 2. First rotation drive component; 21. First rotation drive mechanism; 211. Rotating seat drive wheel; 212. First transmission wheel; 213. First transmission gear; 214. First transmission shaft; 215. First pulley; 22. Rotating seat mechanism; 221. Clamping member; 2211. Clamping seat; 2212. Tightening screw; 222. Base; 23. Bevel gear set;

[0038] 3. Second rotation drive component; 31. Second rotation drive mechanism; 311. Knob drive wheel; 312. Second transmission wheel; 313. Second transmission gear; 314. Second transmission shaft; 315. Second pulley; 32. Rotating wheel mechanism; 321. Knob sleeve; 322. Inner sheath drive wheel;

[0039] 4. Push-pull drive component; 41. Push-pull drive mechanism; 411. Drive gear; 412. First transmission rack; 413. Second transmission rack; 414. Drum; 42. Flexible push-pull wire; 421. First section; 422. Second section; 43. Slide block; 44. Tensioning mechanism; 441. Adjusting bracket; 442. Limiting bracket; 443. Tensioning sheath; 444. Adjusting bolt; 45. Guide rod;

[0040] 5. Support tailstock; 6. Translation slide rail; 7. Installation platform. Detailed implementation mode

[0041] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only the parts related to the present invention are shown in the drawings, rather than all the structures.

[0042] In the description of the present invention, unless otherwise clearly specified and defined, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. 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.

[0043] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include direct contact between the first and second features, or may include the first and second features not being in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is less than that of the second feature.

[0044] In the description of this embodiment, the orientation or positional relationships such as "upper", "lower", "left" and "right" are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplifying the operations, 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, and thus should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for differentiation in description and have no special meaning.

[0045] In the present invention, the term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "part", "element" and "member" may be used interchangeably.

[0046] In the present invention, the terms "instrument", "surgical instrument" and "surgical tool" are used herein to describe a medical device configured to be inserted into a patient's body and used to perform a surgical or diagnostic procedure, including an end effector. The end effector may be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cautery, tissue stabilizers or retractors, clip appliers, anastomosis devices, imaging devices, and the like. Some of the instruments used in the embodiments of the present application further provide an articulated support for the surgical tool, such that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a knife that translates along a path. The instrument may also contain stored information that is permanent or updatable by a surgical system. Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0047] In the present invention, the term "cooperate" can be broadly understood as any situation in which two or more objects are connected in such a way that the cooperating objects operate in combination with each other. It should be noted that cooperation does not require direct connection (e.g., direct physical or electrical connection), but rather that many objects or components can be used to cooperate two or more objects. For example, object A and B can be cooperated by using object C. In addition, the term "detachably coupled" or "detachably cooperate" can be interpreted to mean a non-permanent coupling or cooperation situation between two or more objects. This means that the detachably coupled objects can be uncoupled and separated such that they no longer operate in combination.

[0048] Finally, the terms "or" and "and / or" as used herein shall be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and / or C" means any of the following: A; B; C; A and B; A and C; B and C; A, B and C. Exceptions to this definition will only occur when the combination of elements, functions, steps or acts are inherently mutually exclusive in some way.

[0049] As Figures 1 to 8 shown, this embodiment first provides an instrument driving device for controlling an execution device (not shown in the figure), and the specific structure of the execution device is not limited in this embodiment.

[0050] The instrument driving device includes a driving member (such as a motor, not shown in the figure), an instrument assembly 1, a first rotation driving assembly 2, a second rotation driving assembly 3, and a push-pull driving assembly 4. The instrument assembly 1 includes a handle 11, at least two operating pull rods 12, and a rotating rod 13. The operating pull rods 12 are slidably connected to the handle 11, and the rotating rod 13 is rotatably connected to the handle 11. The actions of the handle 11, the operating pull rods 12, and the rotating rod 13 can respectively control the execution device to achieve different operations.

[0051] The first rotation driving assembly 2 includes a first rotation driving mechanism 21 and a rotating seat mechanism 22. The output end of the first rotation driving mechanism 21 is connected to the rotating seat mechanism 22, and the rotating seat mechanism 22 is connected to the instrument assembly 1 to drive the instrument assembly 1 to rotate. The second rotation driving assembly 3 includes a second rotation driving mechanism 31 and a rotating wheel mechanism 32. The output end of the second rotation driving mechanism 31 is connected to the rotating wheel mechanism 32, and the rotating wheel mechanism 32 is drivingly connected to the rotating rod 13 to drive the rotating rod 13 to rotate.

[0052] The push-pull drive assembly 4 includes a push-pull drive mechanism 41 and at least two flexible push-pull wires 42. The flexible push-pull wires 42 are arranged between the operating lever 12 and the output end of the push-pull drive mechanism 41. The push-pull drive mechanism 41 can drive the flexible push-pull wires 42 to reciprocate, so as to make the operating lever 12 reciprocate. By utilizing the flexibility of the flexible push-pull wires 42, the actions of driving components such as motors are converted into the push-pull actions of the operating lever 12, simplifying the motion transmission chain, enabling the instrument drive device to achieve lightweight and miniaturization, and reducing the processing cost. The above-mentioned instrument drive device does not require manual operation. The push-pull movement of the operating lever 12, the rotation of the rotating lever 13, and the overall rotation of the instrument assembly 1 are all realized by the driving components, avoiding misoperations caused by hand tremors during manual operation and also avoiding manual operation fatigue, and improving the motion control accuracy of the actuating device. The push-pull movement of the operating lever 12 and the rotation of the rotating lever 13 are not affected by the rotation of the instrument assembly 1, enabling the instrument assembly 1 to independently achieve multiple actions or perform a combination of multiple actions simultaneously to meet the surgical requirements.

[0053] In one embodiment, the first rotation drive mechanism 21 includes a rotatable rotating seat drive wheel 211. The rotating seat drive wheel 211 is connected to the rotating seat mechanism 22 to drive the rotating seat mechanism 22 to rotate. The second rotation drive mechanism 31 includes a rotatable knob drive wheel 311. The knob drive wheel 311 is connected to the rotating lever 13 to drive the rotating lever 13 to rotate. The rotating seat drive wheel 211 and the knob drive wheel 311 are coaxially arranged. In this way, the rotation of the rotating seat mechanism 22 does not affect the action of the rotating lever 13, and the instrument assembly 1 can achieve more actions.

[0054] Specifically, the rotating seat drive wheel 211 and the base 222 of the rotating seat mechanism 22 are detachably connected by screws.

[0055] In one embodiment, the instrument drive device further includes a support tailstock 5. The support tailstock 5, the above-mentioned instrument assembly 1, the first rotation drive assembly 2, the second rotation drive assembly 3, and the push-pull drive assembly 4 are all arranged on the mounting platform 7. The rotating seat drive wheel 211 is rotatably passed through the support tailstock 5, and both ends of the rotating seat drive wheel 211 are through. The knob drive wheel 311 is passed through the rotating seat drive wheel 211 for coaxial arrangement, reducing the occupation of axial space. In this way, the structure of the instrument drive device is relatively compact.

[0056] In one embodiment, the first rotation driving mechanism 21 further includes a first transmission wheel 212, and the second rotation driving assembly 3 further includes a second transmission wheel 312. The first transmission wheel 212 and the second transmission wheel 312 are rotatably connected to the support tailstock 5 and are coaxially arranged. The first transmission wheel 212 drives the rotation of the rotary seat driving wheel 211, and the second transmission wheel 312 drives the rotation of the knob driving wheel 311. The transmission of torque is achieved through the first transmission wheel 212 and the second transmission wheel 312, respectively controlling the coaxial rotation of the rotary seat driving wheel 211 and the knob driving wheel 311.

[0057] In one embodiment, the instrument driving device further includes a translation slide rail 6. The translation slide rail 6 extends along the axial direction of the handle 11, and the support tailstock 5 is slidably connected to the translation slide rail 6. The knob driving wheel 311 is detachably connected to the rotating rod 13, and the operating pull rod 12 is detachably connected to the rotary seat mechanism 22. When the knob driving wheel 311 and the rotating rod 13 are disassembled and separated, and the operating pull rod 12 and the rotary seat mechanism 22 are disassembled and separated, the support tailstock 5 can drive the rotary seat mechanism 22 and the knob driving wheel 311 to move away from the instrument assembly 1. When the support tailstock 5 drives the rotary seat mechanism 22 and the knob driving wheel 311 to move towards the instrument assembly 1, the assembly with the instrument assembly 1 can be achieved, which is convenient for disassembly, assembly and maintenance. This sliding mechanism simplifies the assembly process of the instrument driving device.

[0058] In one embodiment, the first rotation driving mechanism 21 further includes a first driving member and a first transmission gear 213. The first transmission gear 213 is in transmission connection with the first transmission wheel 212 and is used to transmit the torque of the first driving member. The first driving member adopts a motor (not shown in the figure). The first transmission gear 213 transmits the torque of the motor to the first transmission wheel 212. In this way, the output shaft of the motor does not need to be coaxially arranged with the first transmission wheel 212, avoiding affecting the coaxial arrangement of the first transmission wheel 212 and the second transmission wheel 312. The transmission connection between the first transmission gear 213 and the first transmission wheel 212 can be achieved through various structures, such as Figure 1 As shown, the first rotation driving mechanism 21 further includes a first belt pulley 215, and the first belt pulley 215 is sleeved outside the first transmission gear 213 and the first transmission wheel 212.

[0059] In one embodiment, the second rotation driving mechanism 31 further includes a second driving member and a second transmission gear 313. The second transmission gear 313 is in transmission connection with the second transmission wheel 312, and the second transmission gear 313 is used to transmit the torque of the second driving member. The second driving member is a motor (not shown in the figure). The second transmission gear 313 transmits the torque of the motor to the second transmission wheel 312. In this way, the output shaft of the motor does not need to be coaxially arranged with the second transmission wheel 312, avoiding affecting the coaxial arrangement of the first transmission wheel 212 and the second transmission wheel 312. Similarly, the transmission connection between the second transmission gear 313 and the second transmission wheel 312 can be realized by various structures, such as Figure 4 As shown, the second rotation driving mechanism 31 further includes a second pulley 315. The second pulley 315 is sleeved outside the second transmission gear 313 and the second transmission wheel 312.

[0060] In one embodiment, the first rotation driving mechanism 21 further includes a first transmission shaft 214, and the second rotation driving mechanism 31 further includes a second transmission shaft 314. The first transmission shaft 214 and the second transmission shaft 314 are both parallel to the translation slide rail 6. The first transmission gear 213 is sleeved on the first transmission shaft 214 in an axially slidable manner. The first transmission shaft 214 is used to transmit the torque of the first driving member to the first transmission gear 213. The second transmission gear 313 is sleeved on the second transmission shaft 314 in an axially slidable manner. The second transmission shaft 314 is used to transmit the torque of the second driving member to the second transmission gear 313. In this way, the first transmission gear 213 can axially slide on the first transmission shaft 214 and can also rotate with the first transmission shaft 214. The second transmission gear 313 can axially slide on the second transmission shaft 314 and can also rotate with the second transmission shaft 314. The arrangement of the first transmission shaft 214 enables the first driving member and the first transmission gear 213 to be arranged at a certain distance, which is more flexible according to the spatial layout of the instrument driving device. Correspondingly, the second transmission shaft 314 enables the second driving member and the second transmission gear 313 to be arranged at a certain distance, which is more flexible according to the spatial layout of the instrument driving device. Moreover, the support tailstock 5 can drive the first transmission gear 213 and the second transmission gear 313 to axially reciprocate. In this way, the first transmission gear 213 and the second transmission gear 313 can be pre-assembled with the support tailstock 5 into a module and complete the detachable connection with the instrument assembly 1 as the support tailstock 5 moves, further simplifying the assembly process.

[0061] Optionally, the first driving member and the first transmission shaft 214 can be drivingly connected through a pair of bevel gear sets 23 to achieve perpendicular arrangement of the output shaft of the first driving member and the first transmission shaft 214. Similarly, the second driving member and the second transmission shaft 314 can also be drivingly connected through a pair of bevel gear sets 23 to achieve perpendicular arrangement of the output shaft of the second driving member and the second transmission shaft 314, meeting various requirements of spatial layout and reducing the spatial length along the axial direction of the first transmission shaft 214.

[0062] In one embodiment, the push-pull driving assembly 4 further includes a slider 43, which is slidably connected to the base 222 of the rotary seat mechanism 22. And the slider 43 is fixedly connected to the flexible push-pull wire 42, and the flexible push-pull wire 42 pushes and pulls the slider 43 to reciprocate axially along the operating pull rod 12. There are various connection methods between the flexible push-pull wire 42 and the slider 43. One of the connection structures is that a through hole is provided in the slider 43, and the through hole extends along the axial direction of the operating pull rod 12. The flexible push-pull wire 42 passes through the through hole and is fixedly connected to the slider 43. This structure can prevent the flexible push-pull wire 42 from detaching from the slider 43. When the flexible push-pull wire 42 pulls the slider 43 along one end of the through hole, the operating pull rod 12 can slide forward, and when the flexible push-pull wire 42 pulls the slider 43 along the other end of the through hole, the operating pull rod 12 can slide backward. Or, the flexible push-pull wire 42 is provided as two parallel flexible wires, which are respectively connected to both ends of the slider 43, and the two flexible wires respectively realize pulling the slider 43 in two opposite directions, thereby realizing the forward or backward sliding of the operating pull rod 12. Optionally, the rotary seat mechanism 22 includes a clamping member 221, the clamping member 221 is detachably connected to the operating pull rod 12, the slider 43 is connected to the clamping member 221, and the slider 43 drives the clamping member 221 to move, thereby realizing the reciprocating movement of the operating pull rod 12.

[0063] To maintain the stability of the movement direction of the slider 43, the push-pull driving assembly 4 is further provided with a plurality of guide rods 45. The guide rods 45 are parallel to the translation slide rail 6, and the slider 43 is slidably sleeved on the guide rods 45 to avoid deviation of the sliding direction and maintain the motion control accuracy of the flexible push-pull wire 42.

[0064] Specifically, the clamping member 221 includes a clamping seat 2211 and a tightening screw 2212, as Figure 5 shown; the operating pull rod 12 can be inserted into the clamping seat 2211 and the operating pull rod 12 is pressed by the tightening screw 2212 to realize the detachable connection between the operating pull rod 12 and the clamping member 221, which is convenient for disassembly and assembly.

[0065] In one embodiment, the rotary wheel mechanism 32 further includes an inner sheath driving wheel 322 and a twist sleeve 321. The inner sheath driving wheel 322 is connected to the end of the rotating rod 13 away from the handle 11. The twist sleeve 321 is drivingly connected to the twist driving wheel 311. The inner sheath driving wheel 322 has external meshing teeth, and the inner wall of the twist sleeve 321 is provided with internal meshing teeth. The external meshing teeth and the internal meshing teeth mesh with each other so that the twist sleeve 321 drives the rotating rod 13 to rotate. When the support tailstock 5 drives the twist sleeve 321 and drives the clamping member 221 to move along the translation slide rail 6 through the rotary seat mechanism 22 and approach the instrument assembly 1 and reach the in-place position, the operation pull rod 12 is inserted into the clamping seat 2211 to achieve connection, and the inner sheath driving wheel 322 is inserted into the twist sleeve 321 to achieve connection, thus completing the connection of the instrument assembly 1, the first rotary driving assembly 2, the second rotary driving assembly 3, and the push-pull driving assembly 4, which is relatively convenient.

[0066] In one embodiment, to realize the driving of the slider 43 by the flexible push-pull wire 42, as Figure 6 shown, the push-pull driving mechanism 41 includes a driving gear 411, a first transmission rack 412, and a second transmission rack 413. The first transmission rack 412 and the second transmission rack 413 are respectively meshed on both sides of the driving gear 411 and are arranged in parallel. When the driving gear 411 rotates, it can drive the first transmission rack 412 and the second transmission rack 413 to move in opposite directions simultaneously. The flexible push-pull wire 42 includes a first section 421 and a second section 422. The two ends of the first section 421 are respectively connected to the first transmission rack 412 and one end of the slider 43, and the two ends of the second section 422 are respectively connected to the second transmission rack 413 and the other end of the slider 43, so that the first section 421 pulls the slider 43 or the second section 422 pulls the slider 43. When the driving gear 411 Figure 6 shown rotates clockwise, when the first transmission rack 412 moves away from the slider 43 and the second transmission rack 413 moves towards the slider 43, the first section 421 pulls the slider 43 to drive the operation pull rod 12 to move away from the handle 11; correspondingly, when the driving gear 411 Figure 6 shown rotates counterclockwise, when the first transmission rack 412 moves towards the slider 43 and the second transmission rack 413 moves away from the slider 43, the second section 422 pulls the slider 43 to drive the operation pull rod 12 to move towards the handle 11. It can be understood that due to the flexibility of the flexible push-pull wire 42, the "thrust" exerted on the slider 43 is actually achieved by reverse pulling force.

[0067] It should be noted that the control of the movement direction of the slider 43 by the rotation direction of the driving gear 411 described above is only an example. When the connection positions of the first section 421 and the second section 422 of the flexible push-pull wire 42 on the first transmission rack 412, the second transmission rack 413 and the slider 43 are different, there will be different movement direction control methods, which will not be elaborated in this embodiment.

[0068] In one embodiment, the push-pull driving mechanism 41 includes a rotatable drum 414. The flexible push-pull wire 42 is wound around the drum 414, and the first end of the flexible push-pull wire 42 is connected to one end of the slider 43, and the second end of the flexible push-pull wire 42 is connected to the other end of the slider 43. The drum 414 rotates to pull the slider 43 at the first end, or the drum 414 rotates in the reverse direction to pull the slider 43 at the second end in the reverse direction, thereby driving the operation lever 12 to move towards or away from the handle 11. The flexible push-pull wire 42 can be wound around the drum 414 for multiple turns, such as Figure 7 shown; rotating the drum 414 for multiple turns can enable the flexible push-pull wire 42 to have a large stroke, which is suitable for working conditions where the operation lever 12 needs to have a large stroke. Or, the flexible push-pull wire 42 is only wound around the drum 414 for half a turn, such as Figure 8 shown; the drum 414 rotates no more than one turn, which is suitable for working conditions where the operation lever 12 needs to have a small stroke. Moreover, this winding structure is conducive to miniaturization and lightweight, does not require a long flexible push-pull wire 42, and the response sensitivity of the flexible push-pull wire 42 is good.

[0069] It should be noted that the push-pull driving mechanism 41 further includes a push-pull driving motor (not shown in the figure), and the rotation of the driving gear 411 or the drum 414 is controlled by the push-pull driving motor.

[0070] In one embodiment, the push-pull driving assembly 4 further includes a tensioning mechanism 44. The tensioning mechanism 44 is used to tension the flexible push-pull wire 42 to prevent the flexible push-pull wire 42 from falling off the drum 414.

[0071] Specifically, the tensioning mechanism 44 includes an adjusting bracket 441, a limiting bracket 442, a tensioning sheath 443, and an adjusting bolt 444. The adjusting bracket 441 and the limiting bracket 442 are arranged at intervals and are disposed between the rotating cylinder 414 and the slider 43. A threaded adjusting hole is formed in the adjusting bracket 441. The tensioning sheath 443 is disposed between the adjusting bracket 441 and the limiting bracket 442, and one end of the tensioning sheath 443 abuts against the limiting bracket 442. The tensioning sheath 443 is made of a flexible material such as a rubber sheath. The tensioning sheath 443 is sleeved outside the flexible push-pull wire 42, and the tensioning sheath 443 and the flexible push-pull wire 42 are slidably connected. When the rotating cylinder 414 rotates to drive the flexible push-pull wire 42 to move, the tensioning sheath 443 will not move with the flexible push-pull wire 42. The adjusting bolt 444 is threadedly connected to the threaded adjusting hole, and the adjusting bolt 444 abuts against the other end of the tensioning sheath 443 away from the limiting bracket 442. In this way, the tensioning sheath 443 is restricted between the adjusting bolt 444 and the limiting bracket 442. When the adjusting bolt 444 is rotated on the adjusting bracket 441, the adjusting bolt 444 can push against one end of the tensioning sheath 443, causing the tensioning sheath 443 to bend between the adjusting bolt 444 and the limiting bracket 442. There is friction between the bent tensioning sheath 443 and the flexible push-pull wire 42, thereby driving the flexible push-pull wire 42 to move toward the limiting bracket 442, and further tensioning the slack flexible push-pull wire 42 between the adjusting bracket 441 and the rotating cylinder 414.

[0072] It should be noted that the specific structure of the above tensioning mechanism 44 is only an example and not a limitation.

[0073] The embodiment of the present invention also provides a surgical system. The surgical system includes the above-mentioned instrument driving device. The surgical system further includes an execution device. The instrument driving device is connected to the execution device, and the handle 11 and / or the operation pull rod 12 and / or the rotating rod 13 of the instrument driving device are used to drive the execution device to act. The instrument driving device utilizes the flexibility of the flexible push-pull wire 42 to convert the action of a driving member such as a motor into the pushing and pulling action of the operation pull rod 12, simplifies the motion transmission chain, enables the instrument driving device to be lightweight and miniaturized, and reduces the processing cost. Moreover, the instrument driving device does not require manual operation. The pushing and pulling movement action of the operation pull rod 12, the rotating action of the rotating rod 13, and the overall rotation action of the instrument assembly 1 are all realized by the driving member, avoiding misoperations caused by hand tremors during manual operation and also avoiding manual operation fatigue, improving the motion control accuracy of the execution device, and the surgical system has both high precision and reliability.

[0074] Obviously, the above-mentioned embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. Instrument drive device, characterized in that, Comprising: An instrument assembly (1), the instrument assembly (1) comprising a handle (11), at least two operating pull rods (12), and a rotating rod (13), the operating pull rods (12) being slidably connected to the handle (11), and the rotating rod (13) being rotatably connected to the handle (11); A first rotation drive assembly (2), the first rotation drive assembly (2) comprising a first rotation drive mechanism (21) and a rotating seat mechanism (22), the rotating seat mechanism (22) being connected to the instrument assembly (1), and the output end of the first rotation drive mechanism (21) being connected to the rotating seat mechanism (22); A second rotation drive assembly (3), the second rotation drive assembly (3) comprising a second rotation drive mechanism (31) and a rotating wheel mechanism (32), the rotating wheel mechanism (32) being in transmission connection with the rotating rod (13), and the output end of the second rotation drive mechanism (31) being connected to the rotating wheel mechanism (32); A push-pull drive assembly (4), the push-pull drive assembly (4) comprising a push-pull drive mechanism (41) and at least two flexible push-pull wires (42), the flexible push-pull wires (42) being disposed between the operating pull rods (12) and the output end of the push-pull drive mechanism (41).

2. The instrument drive device according to claim 1, characterized in that, The push-pull drive assembly (4) further comprises a slider (43) connected to the operating pull rod (12); the push-pull drive mechanism (41) comprises a drive gear (411), a first transmission rack (412), and a second transmission rack (413), the first transmission rack (412) and the second transmission rack (413) being respectively engaged on both sides of the drive gear (411) and arranged in parallel, the flexible push-pull wire (42) comprising a first section (421) and a second section (422), two ends of the first section (421) being respectively connected to the first transmission rack (412) and one end of the slider (43), and two ends of the second section (422) being respectively connected to the second transmission rack (413) and the other end of the slider (43).

3. The instrument drive device according to claim 1, characterized in that, The push-pull drive assembly (4) further comprises a slider (43) connected to the operating pull rod (12); the push-pull drive mechanism (41) comprises a rotatable drum (414), the flexible push-pull wire (42) being wound around the drum (414), and a first end of the flexible push-pull wire (42) being connected to one end of the slider (43), and a second end of the flexible push-pull wire (42) being connected to the other end of the slider (43).

4. The instrument drive device according to claim 3, characterized in that, The push-pull drive assembly (4) further comprises a tensioning mechanism (44), the tensioning mechanism (44) comprising: An adjusting bracket (441) and a limiting bracket (442), the adjusting bracket (441) and the limiting bracket (442) being spaced apart and sequentially disposed between the drum (414) and the slider (43), the adjusting bracket (441) being provided with a threaded adjusting hole; A tensioning sheath (443) is disposed between the adjusting bracket (441) and the limiting bracket (442), and one end thereof abuts against the limiting bracket (442). The tensioning sheath (443) is sleeved outside the flexible push-pull wire (42), and is slidably connected between the tensioning sheath (443) and the flexible push-pull wire (42); An adjusting bolt (444) is threadedly connected to the threaded adjusting hole. The adjusting bolt (444) abuts against the other end of the tensioning sheath (443) away from the limiting bracket (442). The adjusting bolt (444) can push against one end of the tensioning sheath (443), and the tensioning sheath (443) is bent to tension the flexible push-pull wire (42).

5. The instrument drive device according to claim 1, characterized in that, The first rotation driving mechanism (21) includes a rotatable rotating seat driving wheel (211). The rotating seat driving wheel (211) is connected to the rotating seat mechanism (22). The second rotation driving mechanism (31) includes a rotatable twist driving wheel (311). The twist driving wheel (311) is connected to the rotating rod (13). The rotating seat driving wheel (211) and the twist driving wheel (311) are coaxially arranged.

6. The instrument driving device according to claim 5, wherein The instrument driving device further includes a support tailstock (5). The rotating seat driving wheel (211) is rotatably disposed within the support tailstock (5). Both ends of the rotating seat driving wheel (211) are through. The twist driving wheel (311) is disposed within the rotating seat driving wheel (211) and is coaxially arranged.

7. The instrument drive device according to claim 6, characterized in that, The first rotation driving mechanism (21) further includes a first transmission wheel (212). The second rotation driving assembly (3) further includes a second transmission wheel (312). The first transmission wheel (212) and the second transmission wheel (312) are both rotatably connected to the support tailstock (5) and are coaxially arranged. The first transmission wheel (212) drives the rotating seat driving wheel (211) to rotate, and the second transmission wheel (312) drives the twist driving wheel (311) to rotate.

8. The instrument driving device according to claim 6, wherein, The instrument driving device further includes a translation slide rail (6). The translation slide rail (6) extends along the axial direction of the handle (11). The support tailstock (5) is slidably connected to the translation slide rail (6); The twist driving wheel (311) is detachably connected to the rotating rod (13), and the operation pull rod (12) is detachably connected to the rotating seat mechanism (22).

9. The instrument drive device according to claim 7, wherein, The first rotation driving mechanism (21) further includes a first driving member and a first transmission gear (213). The first transmission gear (213) is in transmission connection with the first transmission wheel (212); and / or, The second rotation driving mechanism (31) further includes a second driving member and a second transmission gear (313). The second transmission gear (313) is in transmission connection with the second transmission wheel (312).

10. The instrument drive device according to claim 9, characterized in that, The device driving device further includes a translation slide rail (6), the translation slide rail (6) extends along the axial direction of the handle (11), and the support tailstock (5) is slidably connected to the translation slide rail (6); the first rotation driving mechanism (21) further includes a first transmission shaft (214), the second rotation driving mechanism (31) further includes a second transmission shaft (314), the first transmission shaft (214) and the second transmission shaft (314) are both parallel to the translation slide rail (6), the first transmission gear (213) is axially slidably sleeved on the first transmission shaft (214), and the second transmission gear (313) is axially slidably sleeved on the second transmission shaft (314).

11. The instrument driving device according to claim 8, wherein, The push-pull driving assembly (4) further includes a slider (43), the slider (43) is slidably connected to the rotating seat mechanism (22), the rotating seat mechanism (22) includes a clamping member (221), the clamping member (221) is detachably connected to the operating pull rod (12), the slider (43) is connected to the clamping member (221), and the slider (43) is fixedly connected to the flexible push-pull wire (42); and / or, The rotating wheel mechanism (32) further includes an inner sheath driving wheel (322) and a twist sleeve (321), the inner sheath driving wheel (322) is connected to the end of the rotating rod (13) away from the handle (11), the twist sleeve (321) is in transmission connection with the twist driving wheel (311), the inner sheath driving wheel (322) has external meshing teeth, the inner wall of the twist sleeve (321) is provided with internal meshing teeth, and the external meshing teeth and the internal meshing teeth are meshed with each other.

Images