Transmission mechanism of surgical instrument and driving device of surgical robot

Abstract

The invention discloses a transmission mechanism of a surgical instrument and a driving device of a surgical robot, and relates to the technical field of medical instruments. According to the transmission mechanism of the surgical instrument, the more than two rope driving assemblies are rotationally arranged on the instrument base, and the rope driving assemblies can rotate to drive the rope body wound on the rope driving assemblies to change the direction through the two reducing and turning wheels of the turning wheel assemblies correspondingly arranged, so that the rope body penetrates through the instrument rod to be connected with the forceps head. The axis of the rope wheel of each rope drive assembly is parallel to the axis of the instrument rod, the heights of the two ends of a rope body wound on the rope wheels are different, the higher end of the rope body enters the instrument rod after being wound around the large-diameter turning wheel to change the direction, and the lower end of the rope body enters the instrument rod after being wound around the small-diameter turning wheel to change the direction. The size of the instrument base is reduced; when the rope driving assembly drives the rope body to move, the inclination angle between the rope body and the rope wheel and the steering wheel is smaller than or equal to the preset angle, the inclination angle of the rope body is prevented from being too large, and the transmission efficiency and the service life are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a transmission mechanism of a surgical instrument and a driving device of a surgical robot. Background Art

[0002] Surgical instruments are driven into the human body by a surgical robot's drive unit. Due to the limited size of the instrument's entryway, most instruments utilize a pulley drive mechanism to drive the cable. When the robot's drive unit is operating, the cable's direction is altered by a reversing pulley, allowing the cable drive to control the forceps assembly's pitch and yaw movements.

[0003] The transmission mechanism of existing surgical instruments takes up a large space due to the large number of components such as the changing wheel and the rope pulley. In addition, the rope needs to pass through the instrument rod to connect to the forceps head. However, the diameter of the instrument rod is usually small, and the rope body needs to change direction multiple times before it can pass through the instrument rod and connect to the forceps head at the end of the instrument rod. As a result, the rope body has an excessively large inclination angle relative to the rope pulley and the changing wheel during the transmission process, resulting in poor transmission performance, which in turn affects the transmission efficiency and service life. Summary of the Invention

[0004] The object of the present invention is to provide a transmission mechanism for a surgical instrument and a driving device for a surgical robot, so as to achieve a compact structure, reduce the volume and improve the transmission efficiency and service life.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A transmission mechanism of a surgical instrument, the surgical instrument comprising an instrument rod and a forceps head, the forceps head being rotatably disposed at one end of the instrument rod, the transmission mechanism comprising:

[0007] Equipment holder;

[0008] Two or more rope drive assemblies are rotatably mounted on the apparatus base, the rope drive assemblies comprising a rope drive shaft and a rope pulley fixed to the rope drive shaft, the axis of the rope pulley being parallel to the axis of the apparatus rod, and the center heights of the rope pulleys of different rope drive assemblies being different;

[0009] Two or more direction-changing wheel assemblies are arranged in a one-to-one correspondence with two or more rope drive assemblies in height; the direction-changing wheel assembly includes a support shaft and two different-diameter direction-changing wheels arranged on the support shaft at intervals, the axis of the support shaft is perpendicular to the axis of the instrument rod, and the height of the axis of the support shaft of each direction-changing wheel assembly is different, wherein the height of the axis of the support shaft of the direction-changing wheel assembly is adapted to the center height of its corresponding rope wheel;

[0010] Two or more rope bodies, each of which is wound around a rope pulley, with the higher end of each rope body passing around the larger diameter turning wheel of the corresponding turning wheel assembly, and the lower end passing around the smaller diameter turning wheel, and then passing through the instrument rod to connect to the clamp head;

[0011] Wherein, when the rope drive assembly drives the rope body to move, the inclination angle between the rope body and the rope pulley and the direction-changing wheel is ≤ a preset angle.

[0012] As an optional solution for the transmission mechanism of the surgical instrument, the preset angle is 3° to 5°.

[0013] As an optional scheme for the transmission mechanism of the surgical instrument, in each group of the corresponding rope drive assembly and the changing wheel assembly, the distance from the axis of the rope wheel to the axis of the corresponding support shaft is L1, and the distance between the two changing wheels is L2, wherein the larger L1 is, the smaller L2 is.

[0014] As an optional solution for the transmission mechanism of the surgical instrument, the rope drive assembly includes a first rope drive assembly, a second rope drive assembly, and a third rope drive assembly, wherein the center height of the rope pulley of the first rope drive assembly is higher than the center height of the rope pulley of the second rope drive assembly, and the center height of the rope pulley of the second rope drive assembly is higher than the center height of the rope pulley of the third rope drive assembly;

[0015] The direction-changing wheel assembly includes a first direction-changing wheel assembly, a second direction-changing wheel assembly, and a third direction-changing wheel assembly. The axis height of the support shaft of the first direction-changing wheel assembly is higher than the axis height of the support shaft of the second direction-changing wheel assembly. The axis height of the support shaft of the second direction-changing wheel assembly is higher than the axis height of the support shaft of the third direction-changing wheel assembly.

[0016] The rope body includes a first rope body, a second rope body and a third rope body, the first rope body is wound around the rope pulley of the first rope drive assembly, the higher end of the first rope body passes around the larger diameter changing pulley of the first changing wheel assembly, and the lower end of the first rope body passes around the smaller diameter changing pulley of the first changing wheel assembly; the second rope body is wound around the rope pulley of the second rope drive assembly, the higher end of the second rope body passes around the larger diameter changing pulley of the second changing wheel assembly, and the lower end of the second rope body passes around the smaller diameter changing pulley of the second changing wheel assembly; the third rope body is wound around the rope pulley of the third rope drive assembly, the higher end of the third rope body passes around the larger diameter changing pulley of the third changing wheel assembly, and the lower end of the third rope body passes around the smaller diameter changing pulley of the third changing wheel assembly.

[0017] As an optional scheme for the transmission mechanism of the surgical instrument, the projections of the first rope drive assembly and the second rope drive assembly on the instrument base are symmetrically arranged relative to the instrument rod, the first rope drive assembly and the second rope drive assembly jointly drive the forceps head to rotate around a first axis, and the third rope drive assembly drives the forceps head to rotate around a second axis, the first axis is perpendicular to the second axis, and the distance from the first axis to the instrument base is greater than the distance from the second axis to the instrument base.

[0018] As an optional solution for the transmission mechanism of the surgical instrument, L1 corresponding to the first rope drive assembly is L A1 , the corresponding L2 is L A2 ; L1 corresponding to the second rope drive assembly is L B1 , the corresponding L2 is L B2 ; then L A1 =L B1 , L A2 =L B2 .

[0019] As an optional solution for the transmission mechanism of the surgical instrument, 48mm<L A1 =L B1 <65mm,1.5mm<L A2 =L B2 <5mm.

[0020] As an optional solution for the transmission mechanism of the surgical instrument, L1 corresponding to the third rope drive assembly is L C1 , the corresponding L2 is L C2 ; then L C1 <L A1 , L C2 >L A2 .

[0021] As an optional solution for the transmission mechanism of the surgical instrument, 15mm<L C1 <30mm,4.5mm<L C2 <6mm.

[0022] As an optional solution of the transmission mechanism of the surgical instrument, the transmission mechanism of the surgical instrument further includes a rod drive assembly connected to the instrument rod, for driving the instrument rod to drive the forceps head to rotate; the rod drive assembly includes:

[0023] A rod drive shaft and a gear set, wherein the rod drive shaft drives the instrument rod to rotate through the gear set, and keeps the direction of rotation and rotation speed of the instrument rod and the rod drive shaft the same.

[0024] As an optional solution of the transmission mechanism of the surgical instrument, the instrument seat includes:

[0025] base;

[0026] The fixing seat is arranged above the base and is detachably connected to the base; the rope drive shaft of each rope drive assembly passes through the base and the fixing seat in sequence and is connected to the rope pulley, and three mounting grooves of different heights are provided on the fixing seat corresponding to the instrument rod, and the three changing wheel assemblies of different heights are respectively installed.

[0027] The driving device of the surgical robot includes the transmission mechanism of the surgical instrument as described in any of the above solutions.

[0028] Beneficial effects of the present invention:

[0029] The transmission mechanism of the surgical instrument provided by the present invention is configured such that two or more rope drive assemblies are rotatably mounted on an instrument base. The rope drive assemblies, through rotation, can drive a rope body wound thereon to change direction through two different-diameter deflection wheels of a corresponding deflection wheel assembly, so as to pass through an instrument rod and connect to a forceps head. Since the axes of the rope wheels of each rope drive assembly are parallel to the axis of the instrument rod, the two ends of the rope body wound on the rope wheels are at different heights. The higher end of the rope body is deflected by winding around the larger-diameter deflection wheel before entering the instrument rod, while the lower end of the rope body is deflected by winding around the smaller-diameter deflection wheel before entering the instrument rod. In this way, both ends of each rope body enter the instrument rod through a single vertical deflection and are located at different heights along the axial direction of the instrument rod. This not only achieves a reasonable structural layout and reduces the volume of the instrument base, but also ensures that the inclination angle between the rope body and the rope wheel and deflection wheel when the rope drive assembly drives the rope body to move is less than or equal to a preset angle, thereby avoiding poor transmission performance caused by excessive rope inclination angle, thereby improving transmission efficiency and service life.

[0030] The driving device of the surgical robot provided by the present invention includes the above-mentioned transmission mechanism, which not only reduces the volume of the instrument seat but also improves the transmission efficiency and service life of the driving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 1 is a schematic structural diagram of a transmission mechanism of a surgical instrument provided in an embodiment of the present invention;

[0032] Figure 2 Schematic diagram of the connection between the forceps head and the instrument rod provided by an embodiment of the present invention;

[0033] Figure 3 This is a schematic structural diagram of the connection between each rope drive assembly and its corresponding direction-changing wheel assembly provided by an embodiment of the present invention;

[0034] Figure 4 is a top view of the connection between each rope drive assembly and its corresponding direction-changing wheel assembly provided by an embodiment of the present invention;

[0035] Figure 5It is an exploded view of the transmission mechanism of the surgical instrument provided by an embodiment of the present invention.

[0036] In the picture:

[0037] 100, instrument rod; 101, connecting ear; 102, support arm; 103, first axis; 104, second axis;

[0038] 200, pliers head;

[0039] 300. Device identification circuit board;

[0040] 1. First rope drive assembly; 1.1. First rope drive shaft; 1.2. First rope pulley;

[0041] 2. Second rope drive assembly; 2.1. Second rope drive shaft; 2.2. Second rope pulley;

[0042] 3. Third rope drive assembly; 3.1. Third rope drive shaft; 3.2. Third rope pulley;

[0043] 4. First turning wheel assembly; 4.1. First support shaft; 4.2. First larger diameter turning wheel; 4.3. First smaller diameter turning wheel;

[0044] 5. Second turning wheel assembly; 5.1. Second support shaft; 5.2. Second larger diameter turning wheel; 5.3. Second smaller diameter turning wheel;

[0045] 6. Third turning wheel assembly; 6.1. Third support shaft; 6.2. Third larger diameter turning wheel; 6.3. Third smaller diameter turning wheel;

[0046] 7. First rope body; 7.1. Upper end of first rope body; 7.2. Lower end of first rope body;

[0047] 8. Second rope body; 8.1. Higher end of second rope body; 8.2. Lower end of second rope body;

[0048] 9. Third rope body; 9.1. Upper end of third rope body; 9.2. Lower end of third rope body;

[0049] 10. Instrument seat; 10.1. Base; 10.11. Positioning slot; 10.2. Fixing bracket; 10.3. Bracket;

[0050] 11. Rod drive assembly; 11.1. Rod drive shaft; 11.2. First gear; 11.3. Second gear; 11.4. Third gear; 11.5. Rotating bracket. DETAILED DESCRIPTION

[0051] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, but are not to be construed as limiting the present invention.

[0052] In the description of the present invention, it should be noted that the terms "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," and "outside" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0053] Unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, they may refer to fixed or removable connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0054] Unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0055] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0056] Surgical instruments consist of an instrument shaft and a forceps head, rotatably mounted at one end of the shaft. The surgical robot's drive unit is used to drive the forceps head to achieve multiple degrees of freedom (DOF) motion, such as opening and closing, pitch, yaw, and rotation, simulating the delicate manipulation of the human hand. Due to the limitations of minimally invasive surgical approaches, the diameter of the instrument shaft is relatively small, making it impossible to incorporate a power source such as a motor. Force is transmitted through an external pulley system to pull the cable. Because the forceps head must achieve multiple degrees of freedom, the cable must change direction multiple times to pass through the instrument shaft and connect to the forceps head at the end of the shaft. These repeated bending and changing directions of the cable reduce mechanical efficiency and increase motor torque, resulting in a complex, bulky, and large transmission mechanism. The cable has a large inclination angle at the pulley and deflection wheel, increasing lateral slip and affecting transmission efficiency. Furthermore, the cable's repeated changes in direction concentrate bending stress, which can lead to fatigue fracture and shorten its service life.

[0057] In order to solve the above-mentioned technical problems, the present embodiment provides a transmission mechanism for a surgical instrument. By rationally arranging the rope drive assembly and the direction-changing wheel assembly in the transmission mechanism, the rope body of each driving forceps head can pass through the instrument rod with only one direction change, thereby improving the transmission efficiency and service life of the transmission mechanism; and the various direction-changing wheels are arranged in layers along the axial direction of the instrument rod, which reduces the radial size of the instrument seat and reduces the volume.

[0058] like Figure 1-Figure 3 As shown, the transmission mechanism of the surgical instrument provided in this embodiment includes an instrument base 10, two or more rope drive assemblies, two or more direction-changing wheel assemblies, and two or more rope bodies. The instrument rod 100 of the surgical instrument, each rope drive assembly, and each direction-changing wheel assembly are all mounted on the instrument base 10. The two or more rope drive assemblies are rotatably mounted on the instrument base 10. The rope drive assemblies include a rope drive shaft and a rope pulley fixed to the rope drive shaft. The axis of the rope pulley is parallel to the axis of the instrument rod 100. The center position of the rope pulley of different rope drive assemblies is at different heights.

[0059] Two or more direction-changing wheel assemblies are arranged in a one-to-one correspondence with two or more rope drive assemblies in height. The direction-changing wheel assembly includes a support shaft and two different-diameter direction-changing wheels spaced apart on the support shaft. The axis of the support shaft is perpendicular to the axis of the instrument rod 100, and the height of the axis of the support shaft of each direction-changing wheel assembly is different. The height of the axis of the support shaft of the direction-changing wheel assembly is adapted to the center height of the corresponding rope pulley. That is, the direction-changing wheel assembly with a higher support shaft axis corresponds to the rope drive assembly with a higher rope pulley center height, and the direction-changing wheel assembly with a lower support shaft axis corresponds to the rope drive assembly with a lower rope pulley center height.

[0060] After each rope body is wound around the rope pulley, the higher end of the rope body passes around the larger diameter turning wheel of the corresponding turning wheel assembly, and the lower end passes around the smaller diameter turning wheel, and then passes through the instrument rod 100 to connect to the clamp head 200.

[0061] When the rope drive assembly drives the rope body to move, the inclination angle between the rope body and the rope pulley and the direction-changing wheel is ≤ the preset angle.

[0062] The axis of the pulley is set parallel to the axis of the instrument rod 100, and the two ends of the rope body are wrapped around the rope pulley to form a height difference between one high and one low; with the different rope pulley center heights arranged in a layered manner, the higher end of the rope body passes around the larger diameter changing wheel, and the lower end of the rope body passes around the smaller diameter changing wheel, and then makes a single vertical turn, and then penetrates in layers along the axial direction of the instrument rod 100; multi-rope body interference-free transmission is realized, and the inclination angle of the rope body relative to the rope pulley and the changing wheel is controlled to ≤ the preset angle, thereby reducing the volume of the instrument seat 10 and improving the transmission efficiency and service life.

[0063] In one embodiment, the preset angle is 3° to 5°. For example, the inclination angle of the rope body relative to the rope pulley and the direction-changing pulley is controlled to ≤ 5°, reducing the volume of the equipment base 10 by more than 30%, improving the transmission efficiency of the transmission mechanism to ≥ 95%, and extending the service life to more than 5,000 times.

[0064] In one embodiment, if Figure 4 As shown, in each set of corresponding rope drive components and redirecting wheel components, the distance from the axis of the rope wheel to the axis of the corresponding support shaft is L1, and the distance between the two redirecting wheels is L2, wherein the larger L1 is, the smaller L2 is. As L1 increases, the inclination angle between the rope body and the rope wheel is reduced, and as L2 increases, the inclination angle between the redirecting wheel and the rope body is reduced. Under the constraint of limited space, the rational allocation of space resources is achieved through the reverse adjustment of increasing L1 and decreasing L2. When it is necessary to suppress the inclination angle between the rope body and the rope wheel, L1 is increased, and when it is necessary to suppress the inclination angle between the redirecting wheel and the rope body, L2 is increased. Moreover, the space for L2 is limited by the diameter of the instrument rod 100. When adjusting, it is necessary to limit L2 to ≤ 0.4D (D is the diameter of the instrument rod 100). Such an arrangement avoids the increase in volume caused by increasing L1 and L2 at the same time within a limited space, thereby maximizing space utilization.

[0065] like Figure 2 As shown, support arms 102 are provided on both sides of the pliers head 200, and the pliers head 200 is rotatably connected to the two support arms 102 via a first axis 103, thereby realizing the yaw motion of the pliers head 200 around the first axis 103. A pair of connecting ears 101 are provided at one end of the instrument rod 100 close to the pliers head 200, and the two connecting ears 101 are connected to the ends of the two support arms 102 away from the pliers head 200 via a second axis 104. The second axis 104 can drive the two support arms 102 to drive the pliers head 200 to perform pitch motion around the second axis 104 by rotating. The first axis 103 and the second axis 104 are perpendicular to each other, and the second axis 104 is closer to the instrument base 10.

[0066] In one embodiment, if Figure 3 and Figure 5As shown, the rope drive assembly includes a first rope drive assembly 1, a second rope drive assembly 2 and a third rope drive assembly 3. The center height of the rope pulley of the first rope drive assembly 1 is higher than the center height of the rope pulley of the second rope drive assembly 2, and the center height of the rope pulley of the second rope drive assembly 2 is higher than the center height of the rope pulley of the third rope drive assembly 3.

[0067] Specifically, the first rope drive assembly 1 includes a first rope drive shaft 1.1 and a first rope pulley 1.2, the second rope drive assembly 2 includes a second rope drive shaft 2.1 and a second rope pulley 2.2, and the third rope drive assembly 3 includes a third rope drive shaft 3.1 and a third rope pulley 3.2. The first rope drive shaft 1.1, the second rope drive shaft 2.1 and the third rope drive shaft 3.1 are all rotatably connected to the instrument base 10, and the length and wheel diameter of the first rope pulley 1.2, the second rope pulley 2.2 and the third rope pulley 3.2 are the same. The length of rope 1.1 is greater than that of the second rope drive shaft 2.1, the length of the second rope drive shaft 2.1 is greater than that of the third rope drive shaft 3.1, the first rope sheave 1.2 is fixed to the first rope drive shaft 1.1, the second rope sheave 2.2 is fixed to the second rope drive shaft 2.1, and the third rope sheave 3.2 is fixed to the third rope drive shaft 3.1, so that the center height of the first rope sheave 1.2 is higher than the center height of the second rope sheave 2.2, and the center height of the second rope sheave 2.2 is higher than the center height of the third rope sheave 3.2.

[0068] The changing wheel assembly includes a first changing wheel assembly 4, a second changing wheel assembly 5 and a third changing wheel assembly 6. The axis height of the support shaft of the first changing wheel assembly 4 is higher than the axis height of the support shaft of the second changing wheel assembly 5, and the axis height of the support shaft of the second changing wheel assembly 5 is higher than the axis height of the support shaft of the third changing wheel assembly 6.

[0069] Specifically, the first direction-changing wheel assembly 4 includes a first support shaft 4.1, a first larger diameter direction-changing wheel 4.2, and a first smaller diameter direction-changing wheel 4.3. The first larger diameter direction-changing wheel 4.2 and the first smaller diameter direction-changing wheel 4.3 are fixedly mounted on the first support shaft 4.1 at a first preset interval. The first support shaft 4.1 is rotatably connected to the instrument base 10. The second direction-changing wheel assembly 5 includes a second support shaft 5.1, a second larger diameter direction-changing wheel 5.2, and a second smaller diameter direction-changing wheel 5.3. The second larger diameter direction-changing wheel 5.2 and the second smaller diameter direction-changing wheel 5.3 are fixedly mounted on the second support shaft 5.1 at a second preset interval. The second support shaft 5.1 is rotatably connected to the instrument base 10, and the position of the first support shaft 4.1 on the instrument base 10 is higher than the position of the second support shaft 5.1 on the instrument base 10. The third changing wheel assembly 6 includes a third support shaft 6.1, a third larger diameter changing wheel 6.2 and a third smaller diameter changing wheel 6.3. The third larger diameter changing wheel 6.2 and the third smaller diameter changing wheel 6.3 are fixed on the third support shaft 6.1 at a third preset interval. The third support shaft 6.1 is rotatably connected to the instrument base 10, and the position of the second support shaft 5.1 on the instrument base 10 is higher than the position of the third support shaft 6.1 on the instrument base 10.

[0070] The first larger diameter turning wheel 4.2, the second larger diameter turning wheel 5.2 and the third larger diameter turning wheel 6.2 have the same wheel diameter; the first smaller diameter turning wheel 4.3, the second smaller diameter turning wheel 5.3 and the third smaller diameter turning wheel 6.3 have the same wheel diameter.

[0071] The rope body includes a first rope body 7, a second rope body 8 and a third rope body 9. The first rope body 7 is wound around the rope pulley of the first rope drive assembly 1, the higher end 7.1 of the first rope body passes around the larger diameter changing pulley of the first changing wheel assembly 4, and the lower end 7.2 of the first rope body passes around the smaller diameter changing pulley of the first changing wheel assembly 4; the second rope body 8 is wound around the rope pulley of the second rope drive assembly 2, the higher end 8.1 of the second rope body passes around the larger diameter changing pulley of the second changing wheel assembly 5, and the lower end 8.2 of the second rope body passes around the smaller diameter changing pulley of the second changing wheel assembly 5; the third rope body 9 is wound around the rope pulley of the third rope drive assembly 3, the higher end 9.1 of the third rope body passes around the larger diameter changing pulley of the third changing wheel assembly 6, and the lower end 9.2 of the third rope body passes around the smaller diameter changing pulley of the third changing wheel assembly 6.

[0072] Specifically, continue to refer to Figure 3 The first rope body 7 is wound around the first rope pulley 1.2, the higher end 7.1 of the first rope body passes around the first larger diameter changing wheel 4.2, and the lower end 7.2 of the first rope body passes around the first smaller diameter changing wheel 4.3; the second rope body 8 is wound around the second rope pulley 2.2, the higher end 8.1 of the second rope body passes around the second larger diameter changing wheel 5.2, and the lower end 8.2 of the second rope body passes around the second smaller diameter changing wheel 5.3; the third rope body 9 is wound around the third rope pulley 3.2, the higher end 9.1 of the third rope body passes around the third larger diameter changing wheel 6.2, and the lower end 9.2 of the third rope body passes around the third smaller diameter changing wheel 6.3.

[0073] In one embodiment, the projections of the first rope-driven assembly 1 and the second rope-driven assembly 2 on the instrument base 10 are symmetrically arranged relative to the instrument rod 100. The first rope-driven assembly 1 and the second rope-driven assembly 2 jointly drive the pliers head 200 to rotate around the first axis 103, and the second rope-driven assembly 2 drives the pliers head 200 to rotate around the second axis 104. The first axis 103 is perpendicular to the second axis 104, and the distance from the first axis 103 to the instrument base 10 is greater than the distance from the second axis 104 to the instrument base 10.

[0074] Specifically, both ends of the first rope body 7 and the second rope body 8 are connected to the first shaft 103 after passing through the instrument rod 100. The first rope body 7 and the second rope body 8 are both formed into a ring. The first rope body 7 and the second rope body 8 are respectively located on both sides of the pliers head 200, and simultaneously drive the first shaft 103 to rotate, thereby realizing the yaw motion of the pliers head 200. Both ends of the third rope body 9 are connected to the second shaft 104 after passing through the instrument rod 100. The middle parts of the two support arms 102 are relatively provided with limiting holes. The two ends of the third rope body 9 are respectively passed through the corresponding limiting holes and connected to form a ring. They are sleeved on the second shaft 104. The third rope body 9 drives the second shaft 104 to rotate, realizing the pitch motion of the pliers head 200. Such a layout not only realizes the yaw and pitch motion of the pliers head 200, but also the various rope bodies do not interfere with each other during the transmission process, and the inclination angle is small.

[0075] Of course, in other embodiments, the first rope body 7 and the second rope body 8 can also be respectively arranged on both sides of the support arm 102, connected to the second shaft 104, and jointly drive the second shaft 104 to rotate, and the third rope body 9 can be connected to the first shaft 103 to drive the first shaft 103 to rotate.

[0076] In one embodiment, if Figure 4 As shown, L1 corresponding to the first rope drive assembly 1 is L A1 , the corresponding L2 is L A2 ; L1 corresponding to the second rope drive assembly 2 is L B1 , the corresponding L2 is L B2 ; then L A1 =L B1 , L A2 =L B2 That is, the first preset interval is L A2 , the second preset interval is L B2 The first preset interval is equal to the second preset interval. By synchronously driving the first shaft 103 through the symmetrically arranged first and second rope drive assemblies 1.2, the tension deviation of the two ropes is maintained at less than 5% even when the center height of the first rope pulley 1.2 is higher than the center height of the second rope pulley 2.2. This eliminates the deflection delay or stagnation of the clamp head 200 caused by asymmetric eccentric loading, improves deflection accuracy, reduces rope wear, and extends service life.

[0077] For example, 48 mm < L A1 =L B1 <65mm,1.5mm<L A2 =L B2 <5mm.

[0078] In one embodiment, L1 corresponding to the third rope drive assembly 3 is L C1 , the corresponding L2 is L C2 ; then L C1 <L A1, L C2 >L A2 That is, the third preset interval is L C2 , the third preset interval is greater than the first preset interval.

[0079] Specifically, 15mm<L C1 <30mm,4.5mm<L C2 <6mm.

[0080] In one embodiment, if Figure 4 and Figure 5 As shown, the surgical instrument's transmission mechanism also includes a rod drive assembly 11, which is connected to the instrument rod 100 and is used to drive the instrument rod 100 to rotate the forceps head 200. The rod drive assembly 11 includes a rod drive shaft 11.1 and a gear set. The rod drive shaft 11.1 drives the instrument rod 100 through the gear set, and the direction and speed of the instrument rod 100 and the rod drive shaft 11.1 are maintained at the same level. The rotation of the instrument rod 100 can also drive the entire forceps head 200 to rotate. The transmission is transmitted through the gear set, improving transmission efficiency while reducing the occupied space.

[0081] Specifically, the instrument rod 100 is fixed in the rotating bracket 11.5, and the rotating bracket 11.5 is rotatably connected to the instrument base 10. The gear set includes a first gear 11.2, a second gear 11.3 and a third gear 11.4. The rod drive shaft 11.1 is rotatably arranged on the instrument base 10. The first gear 11.2 is fixed on the rod drive shaft 11.1, and the second gear 11.3 is fixed on the outer periphery of the rotating bracket 11.5. The first gear 11.2 and the second gear 11.3 are engaged and transmitted through the third gear 11.4, and the number of teeth of the first gear 11.2 and the number of teeth of the second gear 11.3 are the same, so that the direction and speed of the rod drive shaft 11.1 and the rotating bracket 11.5 are consistent, thereby achieving the consistency of the direction and speed of the instrument rod 100 and the rod drive shaft 11.1.

[0082] In one embodiment, the first rope drive assembly 1 and the second rope drive assembly 2 are arranged side by side on the instrument base 10 , and the third rope drive assembly 3 and the rod drive assembly 11 are arranged side by side and located between the instrument rod 100 and the first rope drive assembly 1 .

[0083] In one embodiment, the instrument base 10 includes a base 10.1 and a fixing base. The fixing base is disposed above the base 10.1 and is detachably connected to the base 10.1. The rope drive shaft of the rope drive assembly passes through the base 10.1 and the fixing base in sequence before being connected to the rope pulley. The fixing base is provided with three mounting slots at different heights corresponding to the instrument rod 100, each of which is equipped with three direction-changing wheel assemblies at different heights.

[0084] Specifically, five mounting holes are provided on the base 10.1 and the fixed seat. Along the length direction of the instrument seat 10, the five mounting holes are arranged in a "1-2-2" pattern. The first rope drive shaft 1.1, the second rope drive shaft 2.1, the third rope drive shaft 3.1, the rod drive shaft 11.1 and the rotating bracket 11.5 are all rotatably connected to their respective corresponding mounting holes through bearings.

[0085] Furthermore, the fixing seat includes a fixing frame 10.2 and a bracket 10.3, the bracket 10.3 is connected to the top of the fixing frame 10.2, and the fixing frame 10.2 is provided with a mounting groove for installing the third support shaft 6.1; the bracket 10.3 is provided with two mounting grooves of different heights, the higher mounting groove is used to install the first support shaft 4.1, and the lower mounting groove is used to install the second support shaft 5.1.

[0086] The base 10.1 and the fixing seat are detachably connected to facilitate the installation of the rotating bracket 11.5 and the gear set.

[0087] The rotating bracket 11.5 and the gear assembly are located between the base 10.1 and the fixed frame 10.2. The base 10.1 and the fixed frame 10.2 are connected by a hook and a hanging slot, etc., and the bracket 10.3 and the fixed frame 10.2 are also connected by a hook and a hanging slot, etc. Of course, in other embodiments, the base 10.1 and the fixed frame 10.2, as well as the bracket 10.3 and the fixed frame 10.2, can also be detachably connected by bolts or other means.

[0088] When surgical instruments are mounted on a surgical robot, there is a gap between them. Tilting the instrument can cause the gap to widen on one side and narrow on the other. By providing a positioning slot 10.11 between the two rows of mounting holes in the base 10.1 and installing the instrument identification circuit board 300 within the positioning slot 10.11, the problem of unstable identification caused by the gap between the instrument base 10 can be resolved.

[0089] This embodiment also provides a driving device for a surgical robot, comprising a driving mechanism and the transmission mechanism of the surgical instrument described above. The driving mechanism drives the forceps head 200 of the surgical instrument through the transmission mechanism to achieve multi-degree-of-freedom motion. This not only reduces the volume of the instrument holder 10 but also improves the transmission efficiency and service life of the driving device.

[0090] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there may be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. A transmission mechanism for a surgical instrument, the surgical instrument comprising an instrument rod (100) and a forceps head (200), wherein the forceps head (200) is rotatably disposed at one end of the instrument rod (100), characterized in that: The transmission mechanism comprises: Instrument seat (10); Two or more rope drive assemblies are rotatably mounted on the instrument seat (10), the rope drive assemblies comprising a rope drive shaft and a rope pulley fixed on the rope drive shaft, the axis of the rope pulley being parallel to the axis of the instrument rod (100), and the center heights of the rope pulleys of different rope drive assemblies being different; Two or more direction-changing wheel assemblies are arranged in a one-to-one correspondence with two or more rope drive assemblies in height; the direction-changing wheel assembly comprises a support shaft and two different-diameter direction-changing wheels arranged on the support shaft at intervals, the axis of the support shaft is perpendicular to the axis of the instrument rod (100), and the height of the axis of the support shaft of each direction-changing wheel assembly is different, wherein the height of the axis of the support shaft of the direction-changing wheel assembly is adapted to the center height of its corresponding rope wheel; Two or more rope bodies, each rope body is wound around the rope pulley, the higher end of each rope body passes around the larger diameter turning wheel of the corresponding turning wheel assembly, and the lower end passes around the smaller diameter turning wheel, and then passes through the instrument rod (100) to connect to the clamp head (200); Wherein, when the rope drive assembly drives the rope body to move, the inclination angle between the rope body and the rope pulley and the direction-changing wheel is ≤ a preset angle.

2. The transmission mechanism of the surgical instrument according to claim 1, characterized in that: The preset angle is 3° to 5°.

3. The transmission mechanism of the surgical instrument according to claim 1, characterized in that: In each set of the corresponding rope drive assembly and the changing wheel assembly, the distance from the axis of the rope wheel to the axis of the corresponding support shaft is L1, and the distance between the two changing wheels is L2, wherein the larger L1 is, the smaller L2 is.

4. The transmission mechanism of the surgical instrument according to claim 3, characterized in that: The rope drive assembly comprises a first rope drive assembly (1), a second rope drive assembly (2) and a third rope drive assembly (3), wherein the center height of the rope wheel of the first rope drive assembly (1) is higher than the center height of the rope wheel of the second rope drive assembly (2), and the center height of the rope wheel of the second rope drive assembly (2) is higher than the center height of the rope wheel of the third rope drive assembly (3); The direction-changing wheel assembly comprises a first direction-changing wheel assembly (4), a second direction-changing wheel assembly (5) and a third direction-changing wheel assembly (6); the axis height of the support shaft of the first direction-changing wheel assembly (4) is higher than the axis height of the support shaft of the second direction-changing wheel assembly (5); and the axis height of the support shaft of the second direction-changing wheel assembly (5) is higher than the axis height of the support shaft of the third direction-changing wheel assembly (6); The rope body comprises a first rope body (7), a second rope body (8) and a third rope body (9), wherein the first rope body (7) is wound around the rope wheel of the first rope drive assembly (1), the higher end (7.1) of the first rope body passes around the larger diameter changing wheel of the first changing wheel assembly (4), and the lower end (7.2) of the first rope body passes around the smaller diameter changing wheel of the first changing wheel assembly (4); the second rope body (8) is wound around the rope wheel of the second rope drive assembly (2), the higher end (8.1) of the second rope body passes around the larger diameter changing wheel of the second changing wheel assembly (5), and the lower end (8.2) of the second rope body passes around the smaller diameter changing wheel of the second changing wheel assembly (5); and the third rope body (9) is wound around the rope wheel of the third rope drive assembly (3), the higher end (9.1) of the third rope body passes around the larger diameter changing wheel of the third changing wheel assembly (6), and the lower end (9.2) of the third rope body passes around the smaller diameter changing wheel of the third changing wheel assembly (6).

5. The transmission mechanism of the surgical instrument according to claim 4, characterized in that: The projections of the first rope drive assembly (1) and the second rope drive assembly (2) on the instrument base (10) are symmetrically arranged relative to the instrument rod (100); the first rope drive assembly (1) and the second rope drive assembly (2) jointly drive the pliers head (200) to rotate around a first axis (103); the third rope drive assembly (3) drives the pliers head (200) to rotate around a second axis (104); the first axis (103) is perpendicular to the second axis (104), and the distance from the first axis (103) to the instrument base (10) is greater than the distance from the second axis (104) to the instrument base (10).

6. The transmission mechanism of the surgical instrument according to claim 5, characterized in that: The L1 corresponding to the first rope drive assembly (1) is L A1 , the corresponding L2 is L A2 ; L1 corresponding to the second rope drive assembly (2) is L B1 , the corresponding L2 is L B2 ; then L A1 =L B1 ,L A2 =L B2 .

7. The transmission mechanism of the surgical instrument according to claim 6, characterized in that: 48mm<L A1 =L B1 <65mm,1.5mm<L A2 =L B2 <5mm。 8. The transmission mechanism of the surgical instrument according to claim 6, characterized in that: The L1 corresponding to the third rope drive assembly (3) is L C1 , the corresponding L2 is L C2 ; then L C1 <L A1 , L C2 >L A2 .

9. The transmission mechanism of the surgical instrument according to claim 8, characterized in that: 15mm<L C1 <30mm,4.5mm<L C2 <6mm。 10. The transmission mechanism of the surgical instrument according to any one of claims 1 to 9, characterized in that: The transmission mechanism of the surgical instrument further comprises a rod drive assembly (11), which is connected to the instrument rod (100) and is used to drive the instrument rod (100) to drive the forceps head (200) to rotate; the rod drive assembly (11) comprises: A rod drive shaft (11.1) and a gear set, wherein the rod drive shaft (11.1) drives the instrument rod (100) to rotate through the gear set, and keeps the direction of rotation and speed of the instrument rod (100) and the rod drive shaft (11.1) the same.

11. The transmission mechanism of the surgical instrument according to any one of claims 3 to 9, characterized in that: The instrument seat (10) comprises: Base (10.1); A fixed seat is arranged above the base (10.1) and is detachably connected to the base (10.1); the rope drive shaft of each rope drive assembly passes through the base (10.1) and the fixed seat in sequence and is connected to the rope pulley, and three mounting grooves (10.11) of different heights are provided on the fixed seat corresponding to the instrument rod (100), and the three direction-changing wheel assemblies of different heights are respectively installed.

12. A driving device for a surgical robot, characterized in that: A transmission mechanism comprising a surgical instrument as described in any one of claims 1 to 11.

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