Rear drive unit and medical system

Abstract

This invention discloses a rear-end transmission device and a medical system. The rear-end transmission device, used to drive a cable, includes: a rotating component, a transmission component, and a tensioning mechanism; the transmission component is drivenly connected to the rotating component, and the cable is wound around the transmission component; the tensioning mechanism includes an elastic element and is connected to the cable. When the cable slacks, the tensioning mechanism can undergo elastic deformation, causing the cable to shift and thus tensioning the cable. This invention compensates for the increase in cable tension compared to its original tensioned state by setting a tensioning mechanism, ensuring that the cable is always under tension, thereby preventing derailment due to slack during alternating tensioning and slackening processes.

Description

Technical Field

[0001] This invention relates generally to the field of surgical robot technology, and more specifically to a rear-end drive device and a medical system. Background Technology

[0002] In robot-assisted minimally invasive surgery, surgical instruments attached to the end effector of the robot enter the body through incisions or natural orifices on the surface to manipulate internal tissues. These surgical instruments primarily include actuators at the front end (such as surgical forceps, cutting tools, or cauterization tools), wrist joints, pivot joints, and / or other joints providing multiple degrees of freedom for the actuators, a main circuit extending from the rear end of the instrument to the front end, and a power and transmission system at the rear end of the instrument. The front-end actuators and various joints are typically driven by multiple cables fixed to them, which run through the main circuit of the surgical instrument and are driven by the power and transmission system at the rear end.

[0003] For surgical forceps and other gripping or cutting tools, the wrist joint typically needs to achieve three degrees of freedom: pitch, yaw, and gripping. Combined with the additional degrees of freedom provided by the robot's rear end, this enables the movements required to perform the surgical procedure.

[0004] Existing surgical instruments connected to the end effector of robots require a pair of cables to drive one degree of freedom. These cables—one cable on the drive plate (a component of the rear-end transmission device) and the other cable on the actuator (also connected via terminals / friction)—form a closed loop. This loop is a generalized loop, allowing for bends and twists as needed. When the actuator operates, it encounters external resistance. The drive plate continuously outputs motion, but the actuator may not move synchronously due to this resistance, or may even stop completely. In this situation, one side of the cables is taut while the other is slack, and the loosened cable can easily detach from the track, affecting normal operation. Summary of the Invention

[0005] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] A first aspect of the present invention provides a rear-end drive device for driving a cable, comprising:

[0007] Rotating component;

[0008] A transmission assembly, which is drivenly connected to the rotating assembly, and the cable is wound around the transmission assembly;

[0009] The tensioning mechanism includes an elastic element and is connected to the cable. When the cable is slack, the tensioning mechanism can undergo elastic deformation, causing the cable to shift and thus tension the cable.

[0010] Optionally, the elastic element is disposed on the cable, and the elastic element is capable of elastic deformation along the axial direction of the cable, thereby tensioning the cable.

[0011] Optionally, the tensioning mechanism further includes:

[0012] A terminal is disposed on the cable and fixedly connected to the cable. One end of the elastic element is connected to the terminal. The elastic element pushes or pulls the terminal to generate elastic force on the cable, thereby tensioning the cable.

[0013] Optionally, the tensioning mechanism further includes:

[0014] The tensioning seat has a terminal on the cable, which is located inside the tensioning seat. The first end of the elastic element is connected to the terminal, and the second end of the elastic element is fixed. The elastic element is in a compressed or stretched state to tension the cable.

[0015] Optionally, the tensioning mechanism further includes:

[0016] The tensioning seat has two terminals on the cable, which are located inside the tensioning seat. The cable is disconnected between the two terminals. An elastic element, which is a tension spring, is located between the two terminals. The first end of the elastic element pulls one of the terminals, and the second end of the elastic element pulls the other terminal. The elastic element is in a stretched state, thereby tensioning the cable.

[0017] Optionally, the tensioning mechanism further includes:

[0018] The tensioning seat has two terminals on the cable, which are located inside the tensioning seat. The cable is disconnected between the two terminals. The tensioning seat has two elastic elements inside, which are respectively located between the terminals and the inner wall of the tensioning seat. Each elastic element is a compression spring. The first end of the elastic element abuts against the terminal, and the second end of the elastic element abuts against the inner wall of the tensioning seat. The elastic element is in a compressed state, thereby tensioning the cable.

[0019] Optionally, the tensioning mechanism further includes:

[0020] slider;

[0021] A guide device, wherein the slider is disposed on the guide device and is capable of sliding along the guide device, and the elastic element is disposed on the guide device and is elastically connected to the slider;

[0022] A first pulley is disposed on the slider and connected to the cable. The elastic element is in a compressed state and the cable is tensioned by the first pulley.

[0023] Optionally, the tensioning mechanism further includes:

[0024] The second pulley is located on the path where the cable connects to the surgical instrument. The second pulley connects to the cable and guides the cable.

[0025] Optionally, the circumferential surfaces of the first pulley and the second pulley are provided with grooves, and the cable is disposed in the grooves.

[0026] Optionally, the tensioning mechanism includes:

[0027] At least two sets of the sliders are disposed on the guide device;

[0028] At least two sets of elastic elements, one set of elastic elements being elastically connected to one set of sliders, and the other set of elastic elements being disposed between the two sets of sliders and elastically connected to both sets of sliders.

[0029] Optionally, the tensioning mechanism includes:

[0030] At least two sets of the sliders are disposed on the guide device;

[0031] The elastic element is disposed between the two sets of sliders and is elastically connected to both sets of sliders.

[0032] Optionally, the tensioning mechanism further includes:

[0033] A tightening screw is used, with one end of the tightening screw abutting against one of the sets of sliders. By rotating the tightening screw, the displacement of the slider on the guide device is adjusted, so that the elastic element is in a compressed state.

[0034] Optionally, the rear drive unit also includes:

[0035] The mounting base, the tightening screw and the guide device are both disposed on the mounting base, and the mounting base is provided with a threaded hole corresponding to the tightening screw.

[0036] Optionally, the guiding device includes:

[0037] The slider has guide holes at both ends, and the slider is sleeved on the guide post through the guide holes and can slide along the guide post. The elastic element is sleeved on the guide post.

[0038] Optionally, the elastic element is a torsion spring, which bends the cable to tension it.

[0039] Optionally, the torsion spring includes:

[0040] Spring body;

[0041] A fixed arm is disposed on one side of the spring body and is fixed.

[0042] A torsion arm is disposed on the other side of the spring body. The torsion arm is connected to the cable. The torsion arm pushes or pulls the cable to tension it.

[0043] Optionally, the transmission assembly includes:

[0044] A drive disk, wherein at least two cables are wound around the drive disk simultaneously, the drive disk being able to rotate forward or backward, rotating forward to tighten the first cable and loosen the second cable, and rotating backward to loosen the first cable and tighten the second cable.

[0045] Optionally, the cable is a tungsten wire.

[0046] A second aspect of the present invention provides a medical system comprising:

[0047] A slave operating device, the slave operating device including at least one robotic arm; and

[0048] According to any one of the above technical solutions, the rear-end transmission device is mounted on the robotic arm.

[0049] Details of one or more embodiments of this application are set forth in the following drawings and description. Other features, objects, and advantages of this application will become apparent from the specification, drawings, and claims. Attached Figure Description

[0050] The following drawings, which illustrate embodiments of the present invention, are included as part of this invention for understanding its principles. The drawings depict embodiments of the invention and their descriptions, serving to explain the principles of the invention. In the drawings,

[0051] Figure 1 This is a schematic diagram of a medical system according to an embodiment of the present invention;

[0052] Figure 2 A schematic diagram of a patient-side robot according to an embodiment of the present invention;

[0053] Figure 3 A perspective view of an end-effector component according to an embodiment of the present invention;

[0054] Figure 4 This is a schematic diagram of the drive line according to an embodiment of the present invention;

[0055] Figure 5 This is a schematic diagram illustrating the interaction between the drive line and the end effector component according to an embodiment of the present invention;

[0056] Figure 6 This is a schematic diagram of the tension state of the drive line according to an embodiment of the present invention;

[0057] Figure 7 This is a schematic diagram of the tension state of the drive line according to an embodiment of the present invention;

[0058] Figure 8 This is a schematic diagram of the tension state of the drive line according to an embodiment of the present invention;

[0059] Figure 9 This is a schematic diagram of the tension state of the drive line according to an embodiment of the present invention;

[0060] Figure 10 This is a front view of the rear-end drive device according to an embodiment of the present invention;

[0061] Figure 11 This is a top view of the rear-end drive mechanism according to an embodiment of the present invention;

[0062] Figure 12 This is a front view of the rear-end drive device according to an embodiment of the present invention;

[0063] Figure 13 This is a top view of the rear-end drive mechanism according to an embodiment of the present invention;

[0064] Figure 14 This is a schematic diagram of the tension state of the drive line according to an embodiment of the present invention;

[0065] Figure 15 This is a schematic diagram of the tension state of the drive line according to an embodiment of the present invention.

[0066] Explanation of reference numerals in the attached figures:

[0067] 100: Surgical instruments

[0068] 110: Tensioning mechanism

[0069] 120: End Execution Component

[0070] 140: Shaft

[0071] 150: Rear-end transmission device

[0072] 160: First torsion spring

[0073] 161: Fixed arm

[0074] 162: Torsion Arm

[0075] 170: Second torsion spring

[0076] 103: Gripper base

[0077] 1035: Snap-on terminal

[0078] 1036: First load-bearing surface

[0079] 1037: Second bearing surface

[0080] 1038: The First Spring

[0081] 1039: Second Spring

[0082] 1040: Fixed foundation

[0083] 104: Conductor

[0084] 105: Cables

[0085] 1051: First Drive Line

[0086] 1052: Second drive line

[0087] 1053: First terminal

[0088] 1054: Second terminal

[0089] 1055: Tension Seat

[0090] 1056: The Third Spring

[0091] 1057: The Fourth Spring

[0092] 1058: The Fifth Spring

[0093] 113: Slider

[0094] 114: Guiding device

[0095] 115: The Sixth Spring

[0096] 116: First pulley

[0097] 117: Second pulley

[0098] 118: Drive disk

[0099] 119: The Seventh Spring

[0100] 121: Mounting bracket

[0101] 122: Tighten the screws

[0102] 200: Healthcare System

[0103] 210: Doctor's Control Panel

[0104] 220: Patient-side robot

[0105] 221: Robotic Arm

[0106] 222: Weapon-holding arm

[0107] 230: Imaging equipment Detailed Implementation

[0108] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0109] To fully understand the present invention, a detailed description will be set forth in the following description. It should be understood that these embodiments are provided so that the disclosure of the present invention is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. Obviously, the implementation of embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of the present invention are described in detail below; however, in addition to these detailed descriptions, the present invention may have other embodiments.

[0110] The ordinal numbers such as "first" and "second" used in this invention are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term "first component" does not imply the existence of "second component," and the term "second component" does not imply the existence of "first component."

[0111] It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and similar expressions used in this invention are for illustrative purposes only and are not intended to be limiting.

[0112] In this invention, the terms "distal" and "proximal" are used as directional terms, which are commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the operator during surgery, while "proximal" refers to the end closest to the operator during surgery. In a remotely operated surgical robot system, the "operator" refers to the patient-side robot that holds and actuates the surgical instruments.

[0113] The terms “parallel” / “perpendicular” and similar expressions used in this invention include absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (e.g., relationships that differ from absolute parallel / perpendicular relationships by a range of -5° to +5°), which can achieve equivalent effects.

[0114] Exemplary embodiments of the present invention will now be described in more detail with reference to the accompanying drawings.

[0115] The medical system 200 according to an embodiment of the present invention is a surgical robot system capable of remotely controlling and performing surgery. See also Figure 1 The medical system 200 may include a doctor's console 210, a patient-side robot 220, and an imaging device 230.

[0116] The doctor's control console 210 includes a display unit for showing the surgical instruments and environment, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the operating control mechanism is designed so that its movements correspond to the movements of the surgical instruments, and the armrests are for supporting the doctor's arms. In addition, the doctor's control console 210 also has other control switches that are easily accessible by hand or foot for various functions and human-computer interaction.

[0117] The imaging device 230 includes a display screen, an endoscope controller, system electronics, an image processor, etc.

[0118] See Figure 2 The patient-side robot 220 may include at least one robotic arm 221, which has several connecting arms. Adjacent connecting arms move relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm to achieve multiple degrees of freedom (e.g., 7 degrees of freedom, depending on the surgical instrument). The end effector of the robotic arm 221 is provided with a holding arm 222, on which the surgical instrument 100 is detachably mounted. The surgical instrument 100 may be an instrument for performing surgical procedures, such as an electrocautery device, clamp, or vascular occluder; it may also be a camera for acquiring images of the surgical area, such as an endoscope; or other surgical instruments.

[0119] In some applications, the robotic arm 221 can be configured to move mechanically around a remote center of motion (RCM). For example, in laparoscopic surgery, the RCM is defined as the port into the patient's abdominal cavity during the operation. During the operation, manipulating the robotic arm 221 causes the holding arm 222 to drive the surgical instrument 100 to perform pitching, yaw, insertion, and rotation movements. During the movement, the longitudinal axis of the surgical instrument 100 always passes through the RCM point to avoid non-surgical damage to the patient's abdominal incision caused by the surgical instrument 100.

[0120] The surgical instrument 100 includes, from proximal to distal, a rear-end drive 150, a shaft 140, and an end effector 120. The rear-end drive 150 is connected to a drive unit located within the surgical arm 222. The rear-end drive 150 can be connected to the end effector 120 via a transmission component, which can also brake the end effector 120. The transmission component may include a push-pull rod, a line, a rope, a belt, etc. The shaft 140 connects the rear-end drive 150 and the end effector 120, serving to separate them and support the end effector 120. The end effector 120 may include tools for surgical operations such as tissue cutting, such as hooks, spatulas, clamps, and scissors, or an endoscope lens for image acquisition.

[0121] See Figure 3 The end effector 120 includes an electric clamp, which may include two jaws, each rotatable about an axis. Each jaw includes a tissue contact portion, an insulating component, and a jaw base 103. The tissue contact portion is used to connect a lead wire 104; when the lead wire 104 is energized, the tissue contact portion forms an electrode. The jaw base 103 is used to connect a cable 105. A rear-end drive 150 at the rear end of the instrument can brake the jaw base 103 via the cable 105 to move the jaws. The insulating component electrically isolates the tissue contact portion from the jaw base 103. The insulating component has a through-hole through which the lead wire 104 passes to connect to the tissue contact portion.

[0122] Furthermore, a joint, such as a pitch joint or yaw joint, can be provided between the end effector 120 and the shaft 140 to improve the mobility of the end effector 120. The rear drive unit 150 can drive the joint to move via transmission components such as push-pull rods, lines, ropes, or belts. For example, the cable 105 can be made of tungsten wire, which has high strength and low ductility. The rear drive unit 150 can control the gripper with tungsten wire, making it less prone to breakage and ensuring precise control.

[0123] However, the inventors discovered that the current surgical instrument 100, when in operation, is subject to external resistance. While the drive disc of the rear transmission device 150 continuously outputs motion, the end effector 120 fails to move synchronously due to this external resistance, or even stops moving altogether. At this time, as... Figure 4 As shown, the transmission component is tensioned on one side and relaxed on the other. Compared to the original tensioned state, the transmission component has increased in size. The loosened transmission component, such as the cable, can easily fall off the track, affecting normal use.

[0124] The surgical instruments of this invention can improve or solve at least one of the above-mentioned problems.

[0125] like Figure 4As shown, the rear-end transmission device 150 according to an embodiment of the present invention is used to drive the cable 105, and includes: a rotating assembly, a transmission assembly and a tensioning mechanism 110;

[0126] The rotating component may include a motor, a reducer, or other devices that can provide driving force to drive the transmission component to rotate; the motor can rotate in the forward or reverse direction to drive the transmission component to rotate in the forward or reverse direction.

[0127] The transmission component is driven to connect with the rotation component. The cable 105 is wound around the transmission component. When the transmission component is driven to rotate by the rotation component, it can drive the cable 105 to move. The cable 105 can then drive the end effector 120 to perform an action. The transmission component is wound with at least two cables 105 at the same time. The transmission component can rotate in the forward direction or in the reverse direction. Rotating in the forward direction tightens the first cable 105 and loosens the second cable 105. Rotating in the reverse direction loosens the first cable 105 and tightens the second cable 105.

[0128] The tensioning mechanism 110 includes an elastic element and is connected to the cable 105. When the cable 105 is slack, the tensioning mechanism 110 can undergo elastic deformation, causing the cable 105 to undergo displacement change, thereby tensioning the cable 105. The elastic deformation of the tensioning mechanism 110 can compensate for the increase in cable 105 compared to its original tensioned state, thereby making the slack cable 105 return to a tensioned state.

[0129] The tensioning mechanism 110 can elastically deform at any time, and the amount of elastic deformation can be adaptively adjusted according to the slack state of the cable 105. For example, if the cable 105 grows a large amount, the slack is also large, and the elastic deformation of the tensioning mechanism 110 is also large. If the cable 105 grows a small amount, the slack is also small, and the elastic deformation of the tensioning mechanism 110 is also small. If the cable 105 is always in a taut state and there is no increase compared to the original taut state, the tensioning mechanism 110 will not elastically deform.

[0130] In this embodiment, the rear transmission device 150 compensates for the increase in cable 105 compared to its original tensioned state by setting a tensioning mechanism 110, so that cable 105 is always in a tensioned state, thereby avoiding derailment of cable 105 due to slack during alternating tensioning and slack.

[0131] In one example, the elastic element of the tensioning mechanism 110 is disposed on the cable 105. The elastic element can elastically deform along the axial direction of the cable 105, thereby tensioning the cable 105. For example, the elastic element can be a cylindrical spring or a conical spring. The elastic element is sleeved on the cable 105, and the connection between the elastic element and the cable 105 is coaxial. When the elastic element elastically deforms, it can drive the cable 105 to produce a displacement change along the axial direction of the connection part of the cable 105, thereby tensioning the cable 105. The elastic deformation of the tensioning mechanism 110 can compensate for the increase in cable 105 compared to the original tensioned state, thereby making the slack cable 105 return to a tensioned state.

[0132] In one example, the tensioning mechanism 110 also includes:

[0133] A terminal is disposed on and fixedly connected to the cable 105. One end of an elastic element is connected to the terminal. The elastic element pushes or pulls the terminal, generating an elastic force on the cable 105 to tension the cable 105. For example, the terminal can be sleeved on the cable 105, and the outer diameter of the terminal is larger than the outer diameter of the elastic element. When the elastic element pushes or pulls the terminal, the force is transmitted to the cable 105 through the terminal, causing the cable 105 to return to a taut state from a slack state.

[0134] like Figure 5 As shown, the cable 105 passes through the drive disk or the gripper base 103. Under the influence of various factors, the cable 105 is in a slack state in the drive disk or the gripper base 103. The first bearing surface 1036 of the snap-fit ​​terminal 1035, which was originally attached together, and the second bearing surface 1037 of the gripper base 103 are no longer attached (a similar second bearing surface is also provided in the drive disk), resulting in a gap of distance α. At this time, if the cable 105 is pulled, the cable 105 cannot drive the gripper of the end effector assembly 120 normally.

[0135] like Figure 6 As shown, a first spring 1038 is provided between the snap-fit ​​terminal 1035 and the gripper base 103. One end of the first spring 1038 pushes against the first bearing surface 1036 of the snap-fit ​​terminal 1035, and the other end of the first spring 1038 pushes against the second bearing surface 1037 of the gripper base 103. The elastic deformation of the first spring 1038 can compensate for the increase α of the cable 105 compared to the original tensioned state, so that the slack cable 105 becomes tensioned again. At this time, if the cable 105 is pulled, the cable 105 can normally drive the gripper of the end effector assembly 120.

[0136] like Figure 7As shown, a second spring 1039 is provided between the snap-fit ​​terminal 1035 and a fixed base 1040 outside the drive disk or gripper base 103. One end of the second spring 1039 pulls the snap-fit ​​terminal 1035, and the other end of the second spring 1039 pulls the fixed base 1040 (the fixed base 1040 can be a structure provided in the drive disk or gripper base 103). The elastic deformation of the second spring 1039 can compensate for the increase α of the cable 105 compared to the original tensioned state, so that the slack cable 105 becomes tensioned again. At this time, if the cable 105 is pulled, the cable 105 can normally drive the gripper of the end effector assembly 120.

[0137] In one example, the tensioning mechanism 110 also includes:

[0138] The tensioning seat has a terminal on the cable 105. The terminal is located inside the tensioning seat. The first end of the elastic element is connected to the terminal, and the second end of the elastic element is fixed. The elastic element is in a compressed or stretched state, thereby tensioning the cable 105.

[0139] like Figure 6 As shown, the tensioning seat can be either a gripper base 103 or a drive disk. This embodiment uses the gripper base 103 as an example for explanation. The implementation of the drive disk can refer to the gripper base 103. The snap-fit ​​terminal 1035 is disposed inside the gripper base 103. One end of the first spring 1038 pushes the snap-fit ​​terminal 1035, and the other end of the first spring 1038 is fixed to the gripper base 103. The first spring 1038 is in a compressed state. When the cable 105 is relaxed, the first spring 1038 extends along the axial direction of the first spring 1038 to undergo elastic deformation. The elastic deformation of the first spring 1038 can compensate for the increase α of the cable 105 compared to the original tensioned state, thereby making the relaxed cable 105 return to a tensioned state.

[0140] like Figure 7 As shown, the tensioning seat can be a gripper base 103, and a snap-fit ​​terminal 1035 is disposed inside the gripper base 103. One end of the second spring 1039 pulls the snap-fit ​​terminal 1035, and the other end of the second spring 1039 pulls the fixing base 1040. The second spring 1039 is in a stretched state. When the cable 105 is slack, the second spring 1039 is compressed along the axial direction of the second spring 1039 to undergo elastic deformation. The elastic deformation of the second spring 1039 can compensate for the increase α of the cable 105 compared to the original tensioned state, thereby making the slack cable 105 return to a tensioned state.

[0141] In one example, the tensioning mechanism 110 also includes:

[0142] The tensioning seat 1055 has two terminals on the cable 105, which are located inside the tensioning seat 1055. The cable 105 is disconnected between the two terminals. An elastic element, which is a tension spring, is located between the two terminals. The first end of the elastic element pulls one of the terminals, and the second end of the elastic element pulls the other terminal. The elastic element is in a stretched state, thereby tensioning the cable 105.

[0143] like Figure 8 As shown, a first terminal 1053 and a second terminal 1054 are provided inside the tensioning seat 1055. The first terminal 1053 and the second terminal 1054 are movable inside the tensioning seat 1055. After the cable 105 is disconnected, it extends into the tensioning seat 1055 and is fixedly connected to the first terminal 1053 and the second terminal 1054 respectively. A third spring 1056 is disposed between the first terminal 1053 and the second terminal 1054. The first end of the third spring 1056 pulls the first terminal 1053, and the second end of the third spring 1056 pulls the second terminal 1054. 54. The third spring 1056 is in a stretched state and always exerts a tension on the first terminal 1053 and the second terminal 1054. The force is transmitted to the two ends of the cable 105 through the terminals. When the cable 105 is relaxed, the third spring 1056 is compressed along the axis of the third spring 1056 in a direction away from the first terminal 1053 and the second terminal 1054 to undergo elastic deformation. The elastic deformation of the third spring 1056 can compensate for the increase in cable 105 compared to the original tensioned state, so that the relaxed cable 105 becomes tensioned again.

[0144] Since the first terminal 1053 and the second terminal 1054 are movable, the tension state of the elastic element and the position of the first terminal 1053 and the second terminal 1054 inside the tensioning seat 1055 can be automatically adjusted according to the slack state of the cable 105, so that the cable 105 is always in a tensioned state.

[0145] In one example, the tensioning mechanism 110 also includes:

[0146] The tensioning seat 1055 has two terminals on the cable 105, which are located inside the tensioning seat 1055. The cable 105 is disconnected between the two terminals. The tensioning seat 1055 has two elastic elements inside, which are respectively located between the terminals and the inner wall of the tensioning seat 1055. The elastic elements are compression springs. The first end of the elastic element abuts against the terminal, and the second end of the elastic element abuts against the inner wall of the tensioning seat 1055. The elastic elements are in a compressed state, thereby tensioning the cable 105.

[0147] like Figure 9As shown, a first terminal 1053 and a second terminal 1054 are provided inside the tensioning seat 1055. The first terminal 1053 and the second terminal 1054 are movable inside the tensioning seat 1055. After the cable 105 is disconnected, it extends into the tensioning seat 1055 and is fixedly connected to the first terminal 1053 and the second terminal 1054 respectively. A fourth spring 1057 is disposed between the first terminal 1053 and the inner wall of the tensioning seat 1055, and a fifth spring 1058 is disposed between the second terminal 1054 and the inner wall of the tensioning seat 1055. The fourth spring 1057 is in a compressed state and always exerts pressure on the first terminal 1053. The first terminal 1053 generates a pushing force, and the fifth spring 1058 is in a compressed state, constantly exerting a pushing force on the second terminal 1054. This force is transmitted through the terminal to both ends of the cable 105. When the cable 105 slacks, the fourth spring 1057 elongates along its axial direction to undergo elastic deformation, thereby pushing the first terminal 1053 towards the second terminal 1054; the fifth spring 1058 elongates along its axial direction to undergo elastic deformation, thereby pushing the second terminal 1054 towards the first terminal 1053. The elastic deformation of the fourth spring 1057 and the fifth spring 1058 can compensate for the increase in cable tension compared to its original taut state, thus causing the slack cable 105 to return to a taut state.

[0148] Since the first terminal 1053 and the second terminal 1054 are movable, the compression state of the elastic element and the position of the first terminal 1053 and the second terminal 1054 inside the tensioning seat 1055 can be automatically adjusted according to the slack state of the cable 105, so that the cable 105 is always in a taut state.

[0149] In one example, the tensioning mechanism 110 also includes:

[0150] Slider 113;

[0151] The guide device 114, the slider 113 is disposed on the guide device 114 and can slide along the guide device 114, the elastic element is disposed on the guide device 114, and the elastic element is elastically connected to the slider 113.

[0152] The first pulley 116 is disposed on the slider 113 and is connected to the cable 105. The elastic element is in a compressed state and the cable 105 is tensioned by the first pulley 116.

[0153] like Figure 10 , Figure 11As shown, the elastic element can be a cylindrical spring or a conical spring. The elastic element is sleeved on the guide device 114. When the elastic element is in a compressed state, its elastic force acts on the slider 113 and indirectly on the first pulley 116. The first pulley 116 can push the cable 105 to make the cable 105 displace and tighten the cable 105. The elastic deformation of the elastic element can compensate for the increase in cable 105 compared to the original tensioned state, so that the slack cable 105 becomes tensioned again. At this time, if the cable 105 is pulled, the cable 105 can normally drive the end effector 120.

[0154] Since the slider 113 is slidable, the compression state of the elastic element and the position of the slider 113 on the guide device 114 can be automatically adjusted according to the slack state of the cable 105, so that the cable 105 is always in a taut state.

[0155] In one example, the tensioning mechanism 110 also includes:

[0156] The second pulley 117 is located on the path connecting the cable 105 and the surgical instrument 100. The second pulley 117 connects to the cable 105 and guides the cable 105.

[0157] like Figure 10 , Figure 11 As shown, after the cable 105 passes over the first pulley 116, it passes over the second pulley 117, thus changing the direction of extension of the cable 105. The second pulley 117 and the first pulley 116 simultaneously support the cable 105, which can help to tension the cable 105.

[0158] In one example, the circumferential surfaces of the first pulley 116 and the second pulley 117 are provided with grooves, and the cable 105 is disposed in the grooves.

[0159] like Figure 10 , Figure 11 As shown, the groove can limit the cable 105, preventing the cable 105 from disengaging from the first pulley 116 and the second pulley 117, so that the second pulley 117 and the first pulley 116 can stably support the cable 105.

[0160] In one example, the tensioning mechanism 110 includes:

[0161] At least two sets of sliders 113 are provided on the guide device 114;

[0162] At least two sets of elastic elements, one set of elastic elements is elastically connected to one set of sliders 113, and the other set of elastic elements is disposed between the two sets of sliders 113 and elastically connected to both sets of sliders 113.

[0163] like Figure 10 , Figure 11 As shown, each of the two sets of sliders 113 is equipped with a first pulley 116, and each first pulley 116 supports a cable 105. The two sets of sliders 113 are mounted on the same guide device 114 and can slide along the guide device 114. A sixth spring 115 is elastically connected to one set of sliders 113, and a seventh spring 119 is located between the two sets of sliders 113 and is elastically connected to both sets of sliders 113. The sixth spring 115 and the seventh spring 119 can be compression springs. The elastic force of the sixth spring 115 and the seventh spring 119 acts on both sets of sliders 113 simultaneously, allowing both sets of sliders 113 to simultaneously act on the cable 105. By setting two sets of sliders 113 and two sets of first pulleys 116, the number of cables 105 supported can be increased, satisfying more complex control outputs from the rear transmission device 150.

[0164] In one example, the tensioning mechanism 110 includes:

[0165] At least two sets of sliders 113 are provided on the guide device 114;

[0166] The elastic element is disposed between the two sets of sliders 113 and is elastically connected to both sets of sliders 113.

[0167] like Figure 12 , Figure 13 As shown, each of the two sets of sliders 113 is equipped with a first pulley 116, and each first pulley 116 supports a cable 105. The two sets of sliders 113 are mounted on the same guide device 114 and can slide along the guide device 114. A seventh spring 119 is disposed between the two sets of sliders 113 and is elastically connected to both sets of sliders 113. The seventh spring 119 can be a compression spring, and its elastic force acts on both sets of sliders 113 simultaneously, allowing both sets of sliders 113 to simultaneously act on the cable 105. By setting two sets of sliders 113 and two sets of first pulleys 116, the number of cables 105 supported can be increased, satisfying more complex control outputs from the rear-end transmission device 150.

[0168] In one example, the tensioning mechanism 110 also includes:

[0169] Tighten screw 122, one end of which abuts against one of the sliders 113. By rotating the tightening screw 122, the displacement of slider 113 on guide device 114 is adjusted, so that the elastic element is in a compressed state.

[0170] like Figure 12 , Figure 13As shown, under the pushing action of the tightening screw 122, the first pulley 116 on the two sets of sliders 113 can maintain the support of the cable 105. When the tightening screw 122 is rotated, the position of the two sets of sliders 113 on the guide device 114 can be adjusted, and the two sets of sliders 113 are driven to move closer to each other. The elastic element is compressed at the same time. The elastic deformation of the elastic element can compensate for the increase in cable 105 compared to the original tension state, so that the slack cable 105 becomes tensioned again. At this time, if the cable 105 is pulled, the cable 105 can drive the end effector 120 normally.

[0171] In one example, the rear drive unit also includes:

[0172] Mounting base 121, tightening screw 122, and guide device 114 are all provided on mounting base 121, and mounting base 121 is provided with threaded hole corresponding to tightening screw 122.

[0173] like Figure 10 , Figure 11 , Figure 12 , Figure 13 As shown, the mounting base 121 forms the mounting foundation for the tightening screw 122 and the guide device 114. The guide device 114 is fixed on the mounting base 121 and can provide stable guidance for the slider 113. The tightening screw 122 is connected to the threaded hole on the mounting base 121. When the tightening screw 122 is rotated, the tightening screw 122 can move axially to adjust the pushing state of the tightening screw 122 on the slider 113.

[0174] In one example, the guide device 114 includes:

[0175] The guide post and the slider 113 are provided with guide holes at both ends. The slider 113 is sleeved on the guide post through the guide holes and can slide along the guide post. The elastic element is sleeved on the guide post.

[0176] like Figure 10 , Figure 11 , Figure 12 , Figure 13 As shown, the two ends of the guide post are fixed to the mounting base 121. Support seats can be provided on the mounting base 121 to correspond to the guide post, so that the guide post is at an appropriate distance away from the surface of the mounting base 121 and does not obstruct the sliding of the slider 113. The guiding device 114 includes at least two guide posts, which are arranged in parallel to support the slider 113.

[0177] The elastic element can be a cylindrical spring or a conical spring. The elastic element is sleeved on the guide post and can also slide along the guide post, elastically connected to the slider 113.

[0178] In one example, the transmission assembly includes:

[0179] A drive disk 118 can simultaneously wind at least two cables 105. The drive disk 118 can rotate in the forward or reverse direction. Rotating in the forward direction tightens the first cable 105 and loosens the second cable 105, while rotating in the reverse direction loosens the first cable 105 and tightens the second cable 105.

[0180] like Figure 10 , Figure 11 , Figure 12 , Figure 13 As shown, the drive disk 118 simultaneously winds two cables 105. When the drive disk 118 rotates, it can simultaneously drive the two cables 105 to wind and unwind. To prevent the two cables 105 from moving freely on the drive disk 118 and getting tangled, affecting the winding and unwinding, the surface of the drive disk 118 is provided with a spiral groove. The cable 105 winds around the groove, and when the drive disk 118 rotates, the cable 105 winds and unwinds along the groove, and can be limited by the groove.

[0181] In one example, the elastic element is a torsion spring, which bends cable 105 to tension cable 105.

[0182] like Figure 14 , Figure 15 As shown, torsion springs are connected to cables 105, and each torsion spring is connected to a cable 105. The elastic deformation of the torsion spring can compensate for the increase in cable 105 compared to its original tensioned state, thereby making the slack cable 105 return to a tensioned state. At this time, if the cable 105 is pulled, the cable 105 can drive the end effector 120 normally.

[0183] In one example, a torsion spring includes:

[0184] Spring body;

[0185] A fixed arm is located on one side of the spring body and is fixed in place.

[0186] A torsion arm is located on the other side of the spring body. The torsion arm is connected to the cable 105. The torsion arm pushes or pulls the cable 105 to tension the cable 105.

[0187] like Figure 14 As shown, the first torsion spring 160 includes: a spring body, a fixed arm 161, and a torsion arm 162. The spring body is a multi-coil cylindrical spring structure. The fixed arm 161 and the torsion arm 162 are integrally formed with the spring body and extend on both sides of the spring body. The torsion arm 162 is hooked or supported by the cable 105. When the first torsion spring 160 is in a compressed state, the torsion arm 162 is located inside the cable. When the cable 105 is relaxed, the torsion arm 162 undergoes elastic deformation, and the torsion arm 162 causes the cable 105 to undergo displacement change, so as to tension the cable 105.

[0188] like Figure 15As shown, the first torsion spring 160 includes: a spring body, a fixed arm 161, and a torsion arm 162. The spring body is a multi-coil cylindrical spring structure. The fixed arm 161 and the torsion arm 162 are integrally formed with the spring body and extend on both sides of the spring body. The torsion arm 162 is hooked or supported by the cable 105. When the first torsion spring is in a stretched state, the torsion arm 162 is set on the outside of the cable 105 to support the cable 105. When the cable 105 is slack, the torsion arm 162 undergoes elastic deformation, and the torsion arm 162 causes the cable 105 to undergo displacement change to tension the cable 105.

[0189] The fixed arm 161 is fixed to a fixed foundation to hold the first torsion spring 160. When the torsion arm 162 undergoes elastic deformation, the fixed arm 161 can play an elastic support role, so that the first torsion spring 160 can store energy as a whole.

[0190] The structure of the second torsion spring 170 is the same as that of the first torsion spring 160. The first torsion spring 160 and the second torsion spring 170 are symmetrically arranged in the rear transmission device 150, and can connect two cables 105 at the same time.

[0191] In the example of this application, since there are two pairs of cables 105, the pitch, yaw, and opening / closing movements of the end effector 120 can be controlled by a four-wire drive. The specific structure and working principle of the four-wire drive control mechanism and the rear-end transmission device 150 can be found in existing technologies, such as Chinese invention patents CN113208732A and CN113367796A, which have been disclosed therein and will not be described in detail here.

[0192] The processes and steps described in all the preferred embodiments above are merely examples. Unless adverse effects occur, various processing operations can be performed in a different order than those described above. The order of steps in the above process can also be added, combined, or deleted according to actual needs.

[0193] In understanding the scope of this invention, the term "comprising" and its derivatives, as used herein, are intended to be open-ended terms that specify the presence of the described features, elements, components, groups, integrals, and / or steps, but do not exclude the presence of other undescribed features, elements, components, groups, integrals, and / or steps. This concept also applies to words with similar meanings, such as the terms "comprising," "having," and their derivatives.

[0194] The term "attached" or "joined" as used herein includes: a construction in which one element is directly fixed to another element by fixing it directly to another element; a construction in which one element is indirectly fixed to another element by fixing it to an intermediate member, which in turn is fixed to another element; and a construction in which one element is integral with another element, that is, one element is substantially part of another element. This definition also applies to words with similar meanings, such as "connect," "joint," "couple," "install," "adhere," "fix," and their derivatives. Finally, degree terms such as "substantially," "approximately," and "approximately" as used herein indicate the amount of deviation from which modifications to the terminology do not significantly alter the final result.

[0195] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the invention. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0196] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the present invention to the described embodiments. Furthermore, those skilled in the art will understand that the present invention is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of the present invention, all of which fall within the scope of protection claimed by the present invention.

Claims

1. A rear-end drive device for driving a cable, comprising: Mounting base; Rotating component; A transmission assembly, which is drivenly connected to the rotating assembly, and the cable is wound around the transmission assembly; Tensioning mechanism, the tensioning mechanism comprising: An elastic element is provided, and the tensioning mechanism is connected to the cable. When the cable is slack, the tensioning mechanism can undergo elastic deformation, causing the cable to undergo displacement changes in order to tension the cable. At least two sets of sliders, wherein the elastic element is disposed between the two sets of sliders and is elastically connected to both sets of sliders; A guiding device, wherein at least two sets of the sliders are disposed on the guiding device and are capable of sliding along the guiding device, and the elastic element is disposed on the guiding device and elastically connected to the sliders; A first pulley is disposed on the slider and connected to the cable. The elastic element is in a compressed state and the cable is tensioned by the first pulley. A tightening screw is used, one end of which abuts against one of the sets of sliders. By rotating the tightening screw, the displacement of the slider on the guide device is adjusted, so that the elastic element is in a compressed state. The tightening screw and the guide device are both disposed on the mounting base, and the mounting base is provided with a threaded hole corresponding to the tightening screw.

2. The rear-end transmission device according to claim 1, characterized in that, The tensioning mechanism also includes: The second pulley is located on the path where the cable connects to the surgical instrument. The second pulley connects to the cable and guides the cable.

3. The rear-end transmission device according to claim 2, characterized in that, The first pulley and the second pulley have grooves on their circumferential surfaces, and the cable is disposed in the grooves.

4. The rear-end transmission device according to claim 1, characterized in that, The guiding device includes: The slider has guide holes at both ends, and the slider is sleeved on the guide post through the guide holes and can slide along the guide post. The elastic element is sleeved on the guide post.

5. The rear-end transmission device according to claim 1, characterized in that, The transmission assembly includes: A drive disk, wherein at least two cables are wound around the drive disk simultaneously, the drive disk being able to rotate forward or backward, rotating forward to tighten the first cable and loosen the second cable, and rotating backward to loosen the first cable and tighten the second cable.

6. The rear-end transmission device according to claim 1, characterized in that, The cable is a tungsten wire.

7. A medical system, characterized in that, include: A slave operating device, the slave operating device including at least one robotic arm; and The rear-end drive device according to any one of claims 1 to 6 is disposed on the robotic arm.

Images