Transmission mechanism of surgical instrument and driving device of surgical robot

Abstract

The application 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. The transmission mechanism of the surgical instrument is characterized in that two or more rope driving assemblies are arranged on the instrument seat in a rotating mode. The rope driving assembly can drive the rope wound thereon to change the direction through two variable-direction wheels with different diameters of the corresponding variable-direction wheel assembly, so as to pass through the instrument rod and be connected with the forceps head. The axis of the rope wheel of each rope driving assembly is parallel to the axis of the instrument rod. The two ends of the rope wound on the rope wheel are at different heights. The higher end of the rope is wound around the larger-diameter variable-direction wheel and then enters the instrument rod, and the lower end of the rope is wound around the smaller-diameter variable-direction wheel and then enters the instrument rod. The structure is reasonably arranged, and the volume of the instrument seat is reduced. When the rope driving assembly drives the rope to move, the inclination angle between the rope and the rope wheel and the variable-direction wheel is less than or equal to a preset angle, the inclination angle of the rope is prevented from being too large, and the transmission efficiency and the service life are improved.

Description

TECHNICAL FIELD

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

[0002] The surgical instrument is driven into the human body by the driving device of the surgical robot to perform surgical operation. Due to the size limitation of the part of the instrument entering the human body, most of the instruments usually use a rope wheel driving device to drive a rope to transmit. When the driving device of the surgical robot works, the rope changes the transmission direction through a direction-changing wheel, so that the pincer head assembly can be controlled to make pitching and yawing movements through the rope driving device.

[0003] The existing transmission mechanism of the surgical instrument has the following problems: too many components such as the direction-changing wheel and the rope wheel, large space occupation; and the need to pass through the instrument rod to be connected with the pincer head, but the diameter of the instrument rod is usually small, and the rope needs to change direction multiple times to pass through the instrument rod and be connected with the pincer head at the end of the instrument rod, which causes the transmission performance to be poor due to the too large inclination angle of the rope relative to the rope wheel and the direction-changing wheel in the transmission process, thereby affecting the transmission efficiency and service life. SUMMARY

[0004] The purpose of the present application is to provide a transmission mechanism of a surgical instrument and a driving device of a surgical robot to realize compact structure, reduced volume, and improved transmission efficiency and service life.

[0005] To achieve this purpose, the present application adopts the following technical solutions:

[0006] The transmission mechanism of the surgical instrument, the surgical instrument comprising an instrument rod and a pincer head, the pincer head being rotatably arranged at one end of the instrument rod, the transmission mechanism comprising:

[0007] an instrument seat;

[0008] two or more rope driving assemblies rotatably arranged on the instrument seat, each rope driving assembly comprising a rope driving shaft and a rope wheel fixedly arranged on the rope driving shaft, the axis of the rope wheel being parallel to the axis of the instrument rod, and the center heights of the rope wheels of different rope driving assemblies being different;

[0009] two or more direction-changing wheel assemblies corresponding to the two or more rope driving assemblies in height, each direction-changing wheel assembly comprising a support shaft and two different-diameter direction-changing wheels arranged at intervals on the support shaft, the axis of the support shaft being perpendicular to the axis of the instrument rod, and the axes of the support shafts of each direction-changing wheel assembly being different in height, wherein 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 wheel.

[0010] Two or more rope bodies, each of which is wound around a rope wheel, and the higher end of the two ends of the rope body is wound around a larger diameter deflection wheel corresponding to the deflection wheel assembly, and the lower end is wound around a smaller diameter deflection wheel, and then the instrument rod is connected to the jaw;

[0011] Wherein, when the rope drive assembly drives the movement of the rope body, the inclination angle of the rope body with the rope wheel and the deflection wheel is ≤ a preset angle.

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

[0013] As an optional solution of the transmission mechanism of the surgical instrument, in each set of corresponding rope drive assembly and deflection wheel assembly, the distance between the axis of the rope wheel and the axis of the corresponding support shaft is L1, and the distance between the two deflection wheels is L2, wherein the larger L1 is, the smaller L2 is.

[0014] As an optional solution of 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, the center height of the rope wheel of the first rope drive assembly is higher than the center height of the rope wheel of the second rope drive assembly, and the center height of the rope wheel of the second rope drive assembly is higher than the center height of the rope wheel of the third rope drive assembly.

[0015] The deflection wheel assembly includes a first deflection wheel assembly, a second deflection wheel assembly and a third deflection wheel assembly, the axis height of the support shaft of the first deflection wheel assembly is higher than the axis height of the support shaft of the second deflection wheel assembly, and the axis height of the support shaft of the second deflection wheel assembly is higher than the axis height of the support shaft of the third deflection 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 wheel of the first rope drive assembly, the higher end of the first rope body is wound around the larger diameter deflection wheel of the first deflection wheel assembly, and the lower end of the first rope body is wound around the smaller diameter deflection wheel of the first deflection wheel assembly; the second rope body is wound around the rope wheel of the second rope drive assembly, the higher end of the second rope body is wound around the larger diameter deflection wheel of the second deflection wheel assembly, and the lower end of the second rope body is wound around the smaller diameter deflection wheel of the second deflection wheel assembly; the third rope body is wound around the rope wheel of the third rope drive assembly, the higher end of the third rope body is wound around the larger diameter deflection wheel of the third deflection wheel assembly, and the lower end of the third rope body is wound around the smaller diameter deflection wheel of the third deflection wheel assembly.

[0017] As an alternative of 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 jaw head to rotate around a first axis, the third rope drive assembly drives the jaw 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 alternative of the transmission mechanism of the surgical instrument, the corresponding L1 of the first rope drive assembly is L A1 , and the corresponding L2 is L A2 ; the corresponding L1 of the second rope drive assembly is L B1 , and the corresponding L2 is L B2 ; and L A1 = L B1 , L A2 = L B2 .

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

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

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

[0022] As an alternative of the transmission mechanism of the surgical instrument, the transmission mechanism of the surgical instrument further comprises a rod drive assembly connected with the instrument rod for driving the instrument rod to rotate the jaw head; the rod drive assembly comprises:

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

[0024] As an alternative of the transmission mechanism of the surgical instrument, the instrument base comprises:

[0025] Base;

[0026] The fixed seat is arranged above the base and detachably connected with the base; the rope driving shafts of each rope driving assembly pass through the base and the fixed seat in sequence and are connected with the rope wheel; the fixed seat is provided with three mounting grooves of different heights corresponding to the instrument rod, and three variable direction wheel assemblies of different heights are mounted in the mounting grooves respectively.

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

[0028] The beneficial effects of the present application are:

[0029] The transmission mechanism of the surgical instrument provided by the present application comprises two or more rope driving assemblies arranged on the instrument seat in a rotating manner; the rope driving assembly can drive the rope wound thereon to change direction through two variable direction wheels of different diameters of the corresponding variable direction wheel assembly, so as to pass through the instrument rod and be connected with the forceps head. Since the axis of the rope wheel of each rope driving assembly is parallel to the axis of the instrument rod, the two ends of the rope wound on the rope wheel are at different heights, the end of the rope with a higher height is wound around the larger diameter variable direction wheel and then enters the instrument rod, and the end of the rope with a lower height is wound around the smaller diameter variable direction wheel and then enters the instrument rod. In this way, the two ends of each rope enter the instrument rod through a single vertical turning, and are located at different heights along the axis of the instrument rod, which not only realizes a reasonable structure layout and reduces the volume of the instrument seat, but also ensures that the inclination angle between the rope and the rope wheel and the variable direction wheel is ≤ a preset angle when the rope driving assembly drives the rope to move, thereby avoiding the transmission performance from being deteriorated due to the too large inclination angle of the rope and improving the transmission efficiency and service life.

[0030] The driving device of the surgical robot provided by the present application comprises the transmission mechanism described above, 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 DRAWINGS

[0031] Figure 1 FIG. 1 is a structural schematic diagram of the transmission mechanism of the surgical instrument provided by an embodiment of the present application;

[0032] Figure 2 FIG. 2 is a connection schematic diagram of the forceps head and the instrument rod provided by an embodiment of the present application;

[0033] Figure 3 FIG. 3 is a structural schematic diagram of the connection between each rope driving assembly and the corresponding variable direction wheel assembly provided by an embodiment of the present application;

[0034] Figure 4 FIG. 4 is a top view of the connection between each rope driving assembly and the corresponding variable direction wheel assembly provided by an embodiment of the present application;

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

[0036] In the figure:

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

[0038] 200, forceps head;

[0039] 300, instrument identification circuit board;

[0040] 1, first rope drive assembly; 1.1, first rope drive shaft; 1.2, first rope wheel;

[0041] 2, second rope drive assembly; 2.1, second rope drive shaft; 2.2, second rope wheel;

[0042] 3, third rope drive assembly; 3.1, third rope drive shaft; 3.2, third rope wheel;

[0043] 4, first direction-changing wheel assembly; 4.1, first support shaft; 4.2, first larger-diameter direction-changing wheel; 4.3, first smaller-diameter direction-changing wheel;

[0044] 5, second direction-changing wheel assembly; 5.1, second support shaft; 5.2, second larger-diameter direction-changing wheel; 5.3, second smaller-diameter direction-changing wheel;

[0045] 6, third direction-changing wheel assembly; 6.1, third support shaft; 6.2, third larger-diameter direction-changing wheel; 6.3, third smaller-diameter direction-changing wheel;

[0046] 7, first rope body; 7.1, higher 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, higher end of third rope body; 9.2, lower end of third rope body;

[0049] 10, instrument seat; 10.1, base; 10.11, positioning groove; 10.2, fixing frame; 10.3, support frame;

[0050] 11, rod drive assembly; 11.1, rod drive shaft; 11.2, first gear wheel; 11.3, second gear wheel; 11.4, third gear wheel; 11.5, rotating support frame. DETAILED DESCRIPTION

[0051] Embodiments of the present application are described in detail below with reference to the attached drawing figures, wherein the same or like component have the same or similar designations. The embodiments described below are presented by way of example to explain the present application, and are not intended to limit the present application.

[0052] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0053] Unless otherwise clearly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" should be understood broadly, for example, it can be fixed connection, or detachable connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0054] Unless otherwise clearly specified and limited, "on" or "under" of the first feature to the second feature can include that the first feature and the second feature are in direct contact, or the first feature and the second feature are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" of the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature "below", "below" and "below" of the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.

[0055] The technical solutions of the present application are further illustrated below in conjunction with the drawings and through specific embodiments.

[0056] The surgical instrument includes an instrument rod and a jaw head rotatably arranged at one end of the instrument rod, and a driving device of the surgical robot is used to drive the jaw head of the surgical instrument to realize multi-degree-of-freedom motion, such as opening and closing, pitching, yawing and rotating, etc., to simulate fine human hand operation. Due to the limitation of the minimally invasive surgical approach, the diameter of the instrument rod is small, and the motor and other power sources cannot be built-in, and need to be pulled by a rope body through an external rope wheel system to transmit force. Because the jaw head needs to realize multi-degree-of-freedom motion, the rope body needs to pass through the instrument rod multiple times to connect the jaw head at the end of the instrument rod. The multiple bending and changing directions of the rope body result in a decrease in mechanical efficiency, an increase in motor torque, and a further increase in the complexity and bulk of the transmission mechanism; the rope body has a large inclination angle at the rope wheel and the changing direction wheel, resulting in an increase in lateral slip rate and affecting the transmission efficiency; and the multiple changes in the direction of the rope body result in stress concentration and fatigue fracture, affecting the service life.

[0057] To solve the above technical problems, the embodiment provides a transmission mechanism of a surgical instrument, which reasonably arranges a rope driving assembly and a changing direction wheel assembly in the transmission mechanism, so that the rope body for driving each jaw head only needs to change direction once to pass through the instrument rod, thereby improving the transmission efficiency and service life of the transmission mechanism; and each changing direction wheel is arranged in layers along the axial direction of the instrument rod, thereby reducing the radial size of the instrument seat and reducing the volume.

[0058] As shown in Figures 1-3 The transmission mechanism of the surgical instrument provided by the embodiment includes an instrument seat 10, two or more rope driving assemblies, two or more changing direction wheel assemblies and two or more rope bodies. The instrument rod 100 of the surgical instrument, each rope driving assembly and each changing direction wheel assembly are all mounted on the instrument seat 10. The two or more rope driving assemblies are rotatably arranged on the instrument seat 10. The rope driving assembly includes a rope driving shaft and a rope wheel fixedly arranged on the rope driving shaft. The axis of the rope wheel is parallel to the axis of the instrument rod 100, and the center positions of the rope wheels of different rope driving assemblies are at different heights.

[0059] The two or more changing direction wheel assemblies are arranged in one-to-one correspondence with the two or more rope driving assemblies in terms of height. The changing direction wheel assembly includes a support shaft and two different-diameter changing direction wheels arranged at intervals on the support shaft. The axis of the support shaft is perpendicular to the axis of the instrument rod 100, and the axes of the support shafts of each changing direction wheel assembly are at different heights. The height of the axis of the support shaft of the changing direction wheel assembly is matched with the center height of the corresponding rope wheel. That is, the changing direction wheel assembly with a higher axis of the support shaft corresponds to the rope driving assembly with a higher center height of the rope wheel, and the changing direction wheel assembly with a lower axis of the support shaft corresponds to the rope driving assembly with a lower center height of the rope wheel.

[0060] After each rope body is wound around the rope wheel, the higher end of the two ends of the rope body is wound around the larger-diameter changing direction wheel of the corresponding changing direction wheel assembly, and the lower end is wound around the smaller-diameter changing direction wheel and then passes through the instrument rod 100 to connect the jaw head 200.

[0061] The inclination angle between the rope body and the rope wheel and the variable direction wheel is less than or equal to a preset angle when the rope drive assembly drives the rope body to move.

[0062] The axis of the rope wheel is parallel to the axis of the instrument rod 100, and the rope body is wound around the rope wheel to form a height difference between the two ends. The higher end of the rope body is wound around the larger diameter variable direction wheel, and the lower end of the rope body is wound around the smaller diameter variable direction wheel. After single vertical turning, the rope body is layered along the axial direction of the instrument rod 100. The multi-rope body non-interference transmission is realized, the inclination angle between the rope body and the rope wheel and the variable direction wheel is controlled to be less than or equal to a preset angle, the volume of the instrument seat 10 is reduced, and the transmission efficiency and service life are improved.

[0063] In an embodiment, the preset angle is 3°-5°. Exemplarily, the inclination angle between the rope body and the rope wheel and the variable direction wheel is controlled to be less than or equal to 5°, the volume of the instrument seat 10 is reduced by more than 30%, the transmission efficiency of the transmission mechanism is improved to be greater than or equal to 95%, and the service life is more than 5000 times.

[0064] In an embodiment, as shown in Figure 4 , the distance between the axis of the rope wheel and the axis of the corresponding support shaft in each group of corresponding rope drive assembly and variable direction wheel assembly is L1, and the distance between the two variable direction wheels is L2. The larger L1 is, the smaller L2 is. Increasing L1 reduces the inclination angle between the rope body and the rope wheel, and increasing L2 reduces the inclination angle between the variable direction wheel and the rope body. Under the constraint of limited space, by increasing L1 and decreasing L2, the space resources are reasonably allocated. 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 variable direction wheel and the rope body, L2 is increased. Moreover, the space of L2 is limited by the diameter of the instrument rod 100, and when adjusting, L2 needs to be limited to be less than or equal to 0.4D (D is the diameter of the instrument rod 100). Such a setting avoids the increase in volume caused by the simultaneous increase in L1 and L2 in limited space, and maximizes the utilization of space.

[0065] As shown in Figure 2 , the two sides of the jaw 200 are provided with support arms 102, and the jaw 200 is rotationally connected to the two support arms 102 through a first shaft 103 to realize the yawing movement of the jaw 200 around the first shaft 103. One end of the instrument rod 100 close to the jaw 200 is provided with a pair of connecting lugs 101, and the two connecting lugs 101 are connected to the ends of the two support arms 102 away from the jaw 200 through a second shaft 104. The second shaft 104 can drive the two support arms 102 to drive the jaw 200 to perform the pitching movement around the second shaft 104 by rotation. The first shaft 103 and the second shaft 104 are perpendicular, and the second shaft 104 is closer to the instrument seat 10.

[0066] In an embodiment, as shown in Figure 3 and Figure 5As shown, the rope drive assemblies include a first rope drive assembly 1, a second rope drive assembly 2 and a third rope drive assembly 3, the rope wheel center height of the first rope drive assembly 1 is higher than that of the second rope drive assembly 2, and the rope wheel center height of the second rope drive assembly 2 is higher than that 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 wheel 1.2, the second rope drive assembly 2 includes a second rope drive shaft 2.1 and a second rope wheel 2.2, and the third rope drive assembly 3 includes a third rope drive shaft 3.1 and a third rope wheel 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 rotationally connected to the instrument seat 10, the lengths and diameters of the first rope wheel 1.2, the second rope wheel 2.2 and the third rope wheel 3.2 are all the same, the length of the first rope drive shaft 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 wheel 1.2 is fixedly arranged on the first rope drive shaft 1.1, the second rope wheel 2.2 is fixedly arranged on the second rope drive shaft 2.1, and the third rope wheel 3.2 is fixedly arranged on the third rope drive shaft 3.1, so that the center height of the first rope wheel 1.2 is higher than that of the second rope wheel 2.2, and the center height of the second rope wheel 2.2 is higher than that of the third rope wheel 3.2.

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

[0069] Specifically, the first deflection wheel assembly 4 includes a first support shaft 4.1, a first large-diameter deflection wheel 4.2 and a first small-diameter deflection wheel 4.3, the first large-diameter deflection wheel 4.2 and the first small-diameter deflection wheel 4.3 are fixedly arranged on the first support shaft 4.1 at a first preset interval, and the first support shaft 4.1 is rotationally connected to the instrument seat 10. The second deflection wheel assembly 5 includes a second support shaft 5.1, a second large-diameter deflection wheel 5.2 and a second small-diameter deflection wheel 5.3, the second large-diameter deflection wheel 5.2 and the second small-diameter deflection wheel 5.3 are fixedly arranged on the second support shaft 5.1 at a second preset interval, the second support shaft 5.1 is rotationally connected to the instrument seat 10, and the position of the first support shaft 4.1 on the instrument seat 10 is higher than that of the second support shaft 5.1 on the instrument seat 10. The third deflection wheel assembly 6 includes a third support shaft 6.1, a third large-diameter deflection wheel 6.2 and a third small-diameter deflection wheel 6.3, the third large-diameter deflection wheel 6.2 and the third small-diameter deflection wheel 6.3 are fixedly arranged on the third support shaft 6.1 at a third preset interval, the third support shaft 6.1 is rotationally connected to the instrument seat 10, and the position of the second support shaft 5.1 on the instrument seat 10 is higher than that of the third support shaft 6.1 on the instrument seat 10.

[0070] The wheel diameters of the first large-diameter deflection wheels 4.2, the second large-diameter deflection wheels 5.2, and the third large-diameter deflection wheels 6.2 are the same; the wheel diameters of the first small-diameter deflection wheels 4.3, the second small-diameter deflection wheels 5.3, and the third small-diameter deflection wheels 6.3 are the same.

[0071] The rope bodies include 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 wheel of the first rope drive assembly 1, the higher end 7.1 of the first rope body is wound around the large-diameter deflection wheel of the first deflection wheel assembly 4, and the lower end 7.2 of the first rope body is wound around the small-diameter deflection wheel of the first deflection 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 is wound around the large-diameter deflection wheel of the second deflection wheel assembly 5, and the lower end 8.2 of the second rope body is wound around the small-diameter deflection wheel of the second deflection wheel assembly 5. 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 is wound around the large-diameter deflection wheel of the third deflection wheel assembly 6, and the lower end 9.2 of the third rope body is wound around the small-diameter deflection wheel of the third deflection wheel assembly 6.

[0072] Specifically, with continued reference to Figure 3 , the first rope body 7 is wound around the first rope wheel 1.2, the higher end 7.1 of the first rope body is wound around the first large-diameter deflection wheel 4.2, and the lower end 7.2 of the first rope body is wound around the first small-diameter deflection wheel 4.3. The second rope body 8 is wound around the second rope wheel 2.2, the higher end 8.1 of the second rope body is wound around the second large-diameter deflection wheel 5.2, and the lower end 8.2 of the second rope body is wound around the second small-diameter deflection wheel 5.3. The third rope body 9 is wound around the third rope wheel 3.2, the higher end 9.1 of the third rope body is wound around the third large-diameter deflection wheel 6.2, and the lower end 9.2 of the third rope body is wound around the third small-diameter deflection wheel 6.3.

[0073] In an embodiment, 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 shaft 100, the first rope drive assembly 1 and the second rope drive assembly 2 jointly drive the jaw 200 to rotate around the first shaft 103, the second rope drive assembly 2 drives the jaw 200 to rotate around the second shaft 104, the first shaft 103 is perpendicular to the second shaft 104, and the distance from the first shaft 103 to the instrument base 10 is greater than the distance from the second shaft 104 to the instrument base 10.

[0074] Specifically, both ends of the first rope body 7 and both ends of the second rope body 8 are connected with the first shaft 103 after passing through the instrument rod 100, and the first rope body 7 and the second rope body 8 form a ring, and the first rope body 7 and the second rope body 8 are located on both sides of the jaw 200 respectively, and drive the first shaft 103 to rotate, thereby realizing the yawing movement of the jaw 200. Both ends of the third rope body 9 are connected with the second shaft 104 after passing through the instrument rod 100, and the middle parts of the two support arms 102 are oppositely provided with limiting holes, and both ends of the third rope body 9 are connected into a ring after passing through the corresponding limiting holes respectively, and are sleeved on the second shaft 104, and the third rope body 9 drives the second shaft 104 to rotate, thereby realizing the pitching movement of the jaw 200. Such a layout not only realizes the yawing and pitching movements of the jaw 200, but also does not interfere with each other in the transmission process of the rope bodies, and the inclination angle is small.

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

[0076] In an embodiment, as shown in Figure 4 , the corresponding L1 of the first rope drive assembly 1 is L A1 , and the corresponding L2 is L A2 ; the corresponding L1 of the second rope drive assembly 2 is L B1 , and 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 , and the first preset interval is equal to the second preset interval. Through the synchronous driving of the symmetrically arranged first rope drive assembly 1 and the second rope drive assembly 2, the yawing precision of the jaw 200 is improved, the wear rate of the rope body is reduced, and the service life is prolonged.

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

[0078] In an embodiment, the corresponding L1 of the third rope drive assembly 3 is L C1 , and 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 an embodiment, as shown in Figure 4 and Figure 5 , the transmission mechanism of the surgical instrument further includes a rod driving assembly 11 connected with the instrument rod 100 for driving the instrument rod 100 to rotate the clamp head 200. The rod driving assembly 11 includes a rod driving shaft 11.1 and a gear set, the rod driving shaft 11.1 drives the instrument rod 100 to rotate through the gear set, and the rotation direction and speed of the instrument rod 100 remain the same as those of the rod driving shaft 11.1. The rotation of the instrument rod 100 can drive the entire clamp head 200 to rotate, and the transmission efficiency is improved through the gear set transmission, while the occupied space is reduced.

[0081] Specifically, the instrument rod 100 is fixedly arranged in a rotating support 11.5, the rotating support 11.5 is rotationally connected with 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 driving shaft 11.1 is rotationally arranged on the instrument base 10, the first gear 11.2 is fixedly arranged on the rod driving shaft 11.1, the second gear 11.3 is fixedly arranged on the outer periphery of the rotating support 11.5, the first gear 11.2 and the second gear 11.3 are meshed and driven through the third gear 11.4, and the number of teeth of the first gear 11.2 is the same as that of the second gear 11.3, so that the rotation direction and speed of the rod driving shaft 11.1 and the rotating support 11.5 are consistent, and the rotation direction and speed of the instrument rod 100 and the rod driving shaft 11.1 are consistent.

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

[0083] In an embodiment, the instrument base 10 includes a base 10.1 and a fixing base, the fixing base is arranged above the base 10.1 and detachably connected with the base 10.1. The rope driving shafts of the rope driving assemblies are sequentially connected with the rope wheels after passing through the base 10.1 and the fixing base, three mounting grooves of different heights are arranged on the fixing base corresponding to the instrument rod 100, and three direction changing wheel assemblies of different heights are respectively arranged in the mounting grooves.

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

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

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

[0087] The rotating bracket 11.5 and the gear set 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 through hooking and hanging groove clamping, and the bracket 10.3 and the fixed frame 10.2 are also connected through hooking and hanging groove clamping. Of course, in other embodiments, the base 10.1 and the fixed frame 10.2, and the bracket 10.3 and the fixed frame 10.2 can also be detachably connected through bolt connection and the like.

[0088] When the surgical instrument is installed on the surgical robot for use, there will be an installation gap, and the inclination of the surgical instrument will cause the gap on one side to increase and the gap on the other side to decrease. By arranging a positioning groove 10.11 between the two rows of mounting holes of the base 10.1 and installing the instrument recognition circuit board 300 in the positioning groove 10.11, the problem of unstable recognition caused by the installation gap of the instrument seat 10 can be solved.

[0089] The embodiment also provides a driving device of a surgical robot, which comprises a driving mechanism and the transmission mechanism of the surgical instrument, and the driving mechanism drives the jaw 200 of the surgical instrument to realize multi-degree-of-freedom movement through the transmission mechanism. Not only the volume of the instrument seat 10 is reduced, but also the transmission efficiency and service life of the driving device are improved.

[0090] The above is only a preferred embodiment of the present application, and for those skilled in the art, according to the idea of the present application, the specific implementation manner and application range can be changed, and the content of the description should not be understood as a limitation of the present application.

Claims

1. Transmission mechanism for a surgical instrument, said surgical instrument comprising an instrument shaft (100) and a jaw (200), said jaw (200) being rotatably arranged at one end of said instrument shaft (100), characterized in that, The transmission mechanism comprises: an instrument seat (10); two or more rope driving assemblies, which are rotatably arranged on the instrument seat (10), each of the rope driving assemblies comprising a rope driving shaft and a rope wheel fixed on the rope driving shaft, the axis of the rope wheel being parallel to the axis of the instrument rod (100), and the center height of the rope wheel of each of the rope driving assemblies being different; two or more deflection wheel assemblies, which are arranged in one-to-one correspondence with the two or more rope driving assemblies in terms of height, each of the deflection wheel assemblies comprising a support shaft and two deflection wheels of different diameters arranged on the support shaft, the axis of the support shaft being perpendicular to the axis of the instrument rod (100), and the axis of the support shaft of each of the deflection wheel assemblies being different in height, wherein the height of the axis of the support shaft of each of the deflection wheel assemblies is adapted to the center height of the corresponding rope wheel; two or more rope bodies, each of the rope bodies being wound around the rope wheel, the higher end of the two ends of the rope body being wound around the larger-diameter deflection wheel of the corresponding deflection wheel assembly, and the lower end being wound around the smaller-diameter deflection wheel and then passing through the instrument rod (100) to connect the jaw (200); wherein the inclination angle between the rope body and the rope wheel and the deflection wheel is ≤ a preset angle when the rope driving assembly drives the rope body to move.

2. A transmission mechanism for a surgical instrument according to claim 1, characterised in that, The preset angle is 3°-5°.

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

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

5. A transmission mechanism for a surgical instrument according to claim 4, wherein, 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 jaw (200) to rotate around a first axis (103), the third rope drive assembly (3) drives the jaw (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. A transmission mechanism for a surgical instrument according to claim 5, wherein, The first rope drive assembly (1) corresponds to L1=L A1 , and the corresponding L2=L A2 ; the second rope drive assembly (2) corresponds to L1=L B1 , and the corresponding L2=L B2 ; then L A1 =L B1 , L A2 =L B2 .

7. A transmission mechanism for a surgical instrument according to claim 6, wherein 48 mm < L A1 = L B1 < 65 mm, 1.5 mm < L A2 = L B2 < 5 mm.

8. A transmission mechanism for a surgical instrument according to claim 6, wherein, The third rope drive assembly (3) corresponds to L1 C1 Corresponding L2 is L C2 ; L C1 < L A1 , L C2 > L A2 .

9. A transmission mechanism for a surgical instrument according to claim 8, wherein, 15 mm < L C1 < 30 mm, 4.5 mm < L C2 < 6 mm.

10. A transmission mechanism for a surgical instrument according to any one of claims 1-9, characterised in that, The transmission mechanism of the surgical instrument further comprises a rod drive assembly (11) connected with the instrument rod (100) for driving the instrument rod (100) to rotate the jaw (200); the rod drive assembly (11) comprises: a rod drive shaft (11.1) and a gear set, the rod drive shaft (11.1) drives the instrument rod (100) to rotate through the gear set, and the direction and speed of rotation of the instrument rod (100) are kept the same as those of the rod drive shaft (11.1).

11. A transmission mechanism for a surgical instrument according to any one of claims 3-9, characterised in that, The instrument base (10) comprises: a base (10.1); a fixed seat arranged above the base (10.1) and detachably connected with the base (10.1); the rope drive shafts of the rope drive assemblies pass through the base (10.1) and the fixed seat in sequence and are connected with the rope wheels, and the fixed seat is provided with three mounting grooves (10.11) of different heights corresponding to the instrument rod (100) for mounting the three deflection wheel assemblies of different heights, respectively.

12. A drive device for a surgical robot, characterised in that The transmission mechanism of the surgical instrument comprises any one of claims 1-11.

Images