Pre-tightening tool for surgical instrument box

Abstract

The embodiment of the invention relates to assembly, and discloses a pre-tightening tool of a surgical instrument box, the surgical instrument box comprises a box body and a plurality of winders, and each winder is adjustably arranged in the box body through a mounting shaft; the winders are configured to allow the corresponding steel wire ropes to penetrate through and change the extending directions of the steel wire ropes, and the winders are matched with the multiple steel wire ropes of the snake-shaped arm of the surgical instrument in a one-to-one correspondence mode. Comprising guide wheels arranged corresponding to winding wheels, and the guide wheels are used for steering and guiding a steel wire rope led out by a winder; the tension adjusting assembly comprises a tension meter and a driving device, the tension meter is assembled at the output end of the driving device, the tension meter is connected with the steel wire rope bypassing the corresponding guide wheel, and the driving device can drive the tension meter to move along a preset track so as to adjust the pre-tightening force applied to the corresponding steel wire rope; the rack is used for installing the surgical instrument box, the guide wheel and the tension adjusting assembly. The problems that an existing tool is inconvenient to adjust, poor in adaptability, insufficient in stability and the like are solved.

Description

Technical Field

[0001] This application relates to the field of assembly technology, and more particularly to a pre-tightening fixture for a surgical instrument box. Background Technology

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. With the development of robotics technology, a new technology in the field of minimally invasive medicine—minimally invasive surgical robot technology—has emerged, overcoming its shortcomings while inheriting its advantages.

[0003] Surgical instruments are mounted at the end of the robotic arm of a minimally invasive surgical robot. The end of a single-port surgical instrument is usually a snake-shaped arm, which is driven by several steel cables connected to the surgical instrument box. In order to ensure motion accuracy, the steel cables in the snake-shaped arm need to be pre-tightened and the tension on each steel cable needs to be controlled during the assembly of the surgical instruments. Therefore, special assembly fixtures are required to complete the assembly.

[0004] Traditional methods rely heavily on weights to control preload, making it impossible to monitor force values ​​in real time. Furthermore, adjusting a single wire rope independently is difficult and can easily lead to uneven preload across multiple ropes. In addition, the spacing and extension angle of the wire ropes running through the instrument box vary between different types of surgical instruments. The existing tooling has fixed positions for winding and guiding components, which cannot be flexibly adjusted. Custom tooling is required for each type of instrument, increasing production costs. Summary of the Invention

[0005] One object of this application is to provide a pre-tightening fixture for a surgical instrument box, which at least solves the above-mentioned problems.

[0006] To achieve the above objectives, some embodiments of this application provide a pre-tightening fixture for a surgical instrument box, used to pre-tighten steel wire ropes threaded through the surgical instrument box. The surgical instrument box includes a box body and multiple winding devices, each winding device being adjustablely disposed within the box body via a mounting shaft. The winding devices are configured to allow corresponding steel wire ropes to be threaded through and to change the extension direction of the steel wire ropes, and the multiple winding devices correspond one-to-one with multiple steel wire ropes extending from the serpentine arm of the surgical instrument. The fixture includes:

[0007] The guide wheel assembly includes guide wheels corresponding to each winding wheel. The guide wheels are used to guide the steel wire rope led out by the winder to turn.

[0008] The tension adjustment assembly includes a tension gauge and a drive device. The tension gauge is mounted on the output end of the drive device and is connected to a steel wire rope that passes around the corresponding guide wheel. The drive device can drive the tension gauge to move along a preset trajectory to adjust the preload applied to the corresponding steel wire rope.

[0009] The frame is used to mount the surgical instrument box, guide roller assembly, and tension adjustment assembly.

[0010] Compared with related technologies, the solution provided in this application forms a complete pre-tightening fixture through the coordinated operation of the guide wheel assembly, the tension adjustment component, and the frame. The guide wheel assembly provides stable guidance and reduces friction, the tension adjustment component precisely controls the force, and the frame provides stable support and integrated positioning. The functions of each component are complementary and work synergistically. Compared with the method of relying on the stacking of weights in the prior art, there is no need to prepare multiple specifications of weights or a large operating space, which realizes convenient and precise adjustment of the pre-tightening force. At the same time, it meets the requirement of independent pre-tightening of a single steel wire rope in the surgical instrument box, ensuring that the pre-tightening force of each steel wire rope meets the motion accuracy requirements of the serpentine arm of the surgical instrument. It greatly improves the efficiency and accuracy of pre-tightening operations and solves the problems of inconvenient adjustment, poor adaptability, and insufficient stability of existing fixtures. Attached Figure Description

[0011] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0012] Figure 1 This is a schematic diagram of the pre-tightening fixture for the surgical instrument box provided in this embodiment;

[0013] Figure 2 yes Figure 1 A magnified view of a portion of point A in the middle;

[0014] Figure 3 This is a schematic diagram of the pre-tightening tooling provided in an embodiment of the present disclosure from another perspective;

[0015] Figure 4 yes Figure 3 A magnified view of a portion of point B in the middle;

[0016] Figure 5 This is a schematic diagram of the pre-tightening tooling provided in an embodiment of the present disclosure from another perspective;

[0017] Figure 6 This is an assembly diagram of the winder and mounting shaft provided in an embodiment of this disclosure;

[0018] Figure 7 This is an exploded view of the winder provided in the embodiments of this disclosure;

[0019] Figure 8 Figure 3 A magnified view of a portion of point B in the middle;

[0020] Figure 9 yes Figure 8A magnified view of a portion of point C in the middle;

[0021] Figure 10 This is an assembly diagram of the guide wheel, baffle, connecting shaft and rolling bearing provided in the embodiments of this disclosure;

[0022] Figure 11 This is a schematic diagram of the tension adjustment assembly provided in the embodiments of this disclosure;

[0023] Figure 12 This is an assembly diagram of the first fixing base and the serpentine arm of the surgical instrument provided in the embodiments of this disclosure;

[0024] Figure 13 This is an exploded schematic diagram of the first fixing seat and the serpentine arm of the surgical instrument provided in the embodiments of this disclosure.

[0025] Figure label:

[0026] 10: Surgical instrument box; 101: Box body; 1011: Connecting port; 102: Winder; 1021: Threaded part; 1022: Threaded groove; 1023: First locking body; 1024: Insertion groove; 1025: Narrowing opening; 1026: Second locking body; 1027: Opening groove; 1028: Mounting hole; 103: First thread guide roller; 104: Second thread guide roller; 105: Third thread guide roller; 106: Mounting shaft;

[0027] 20: Guide wheel assembly; 201: Guide wheel; 2011: Wheel groove; 202: Baffle; 203: Connecting shaft; 204: Ball bearing;

[0028] 30: Tension adjustment assembly; 301: Tension gauge; 302: Bracket; 303: Slide rail; 304: Mounting base; 305: Hand-tightening bolt;

[0029] 40: Frame; 401: Main body; 402: First side plate; 4021: Through opening; 403: Second side plate; 404: Base plate;

[0030] 501: First fixing seat; 5011: V-groove; 5012: Bolt hole; 502: Positioning bolt; 503: Second fixing seat;

[0031] 601: Swivel casters; 602: Fixed casters;

[0032] 100: The serpentine arm of the surgical instrument; 1001: Positioning hole; 1002: Steel wire rope. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0034] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0035] In this disclosure, the terms "upper," "lower," "inner," "middle," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for better description of the embodiments of this disclosure and their implementations, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to require them to be constructed and operated in a specific orientation. Furthermore, some of the aforementioned terms may be used to indicate other meanings besides orientation or positional relationship; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in the embodiments of this disclosure according to the specific circumstances.

[0036] Furthermore, the terms "set up," "connect," and "fix" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0037] Unless otherwise stated, the term "multiple" means two or more.

[0038] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0039] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0040] It should be noted that, unless otherwise specified, the embodiments and features described in the present disclosure can be combined with each other.

[0041] The surgical instrument provided in this embodiment includes not only the execution end (snake arm), but also a surgical instrument box connected to the steel wire rope of the snake arm.

[0042] Combination Figures 1 to 13 As shown, this embodiment of the present disclosure provides a pre-tightening fixture for a surgical instrument box, used to pre-tighten steel wire ropes 1002 threaded inside the surgical instrument box. The surgical instrument box 10 includes a box body 101 and multiple winding devices 102. Each winding device 102 is adjustablely disposed inside the box body 101 via a mounting shaft 106. The winding devices 102 are configured to allow corresponding steel wire ropes 1002 to pass through and change the extension direction of the steel wire ropes 1002, and the multiple winding devices 102 correspond one-to-one with the multiple steel wire ropes 1002 of the serpentine arm of the surgical instrument; including:

[0043] The guide wheel assembly 20 includes guide wheels 201 corresponding to each winding wheel. The guide wheels 201 are used to guide the steel wire rope 1002 led out by the winder 102 to turn.

[0044] The tension adjustment assembly 30 includes a tension gauge 301 and a drive device. The tension gauge 301 is mounted on the output end of the drive device and is connected to the wire rope 1002 that passes around the corresponding guide wheel 201. The drive device can drive the tension gauge 301 to move along a preset trajectory to adjust the preload applied to the corresponding wire rope 1002.

[0045] The frame 40 is used to mount the surgical instrument box, the guide wheel assembly 20, and the tension adjustment assembly 30.

[0046] The pre-tightening fixture for the surgical instrument box provided in this embodiment forms a complete pre-tightening fixture through the coordinated operation of the guide wheel assembly 20, the tension adjustment component 30, and the frame 40. The guide wheel assembly 20 provides stable guidance and reduces friction, the tension adjustment component 30 precisely controls the force, and the frame 40 provides stable support and integrated positioning. The functions of each component are complementary and work synergistically. Compared with the method of relying on the stacking of weights in the prior art, it eliminates the need to prepare various specifications of weights and requires less operating space, enabling convenient and precise adjustment of the pre-tightening force. At the same time, it meets the requirement of independent pre-tightening of each steel wire rope 1002 in the surgical instrument box, ensuring that the pre-tightening force of each steel wire rope 1002 meets the motion accuracy requirements of the serpentine arm of the surgical instrument 100. It significantly improves the efficiency and accuracy of pre-tightening operations and solves the problems of inconvenient adjustment, poor adaptability, and insufficient stability of existing fixtures.

[0047] The surgical instruments include a serpentine arm and a surgical instrument box. The steel wires inside the serpentine arm extend through the surgical instrument box and need to be pre-tightened. An adjustable winder 102 inside the box 101 corresponds one-to-one with the more than 100 steel wires 1002 of the serpentine arm. The winder 102 can precisely change the extension direction of each steel wire 1002, preventing them from tangling and interfering with each other during pre-tightening. Furthermore, its adjustable position on the mounting shaft 106 allows for adaptation to the spacing and angle of the steel wires 1002 of different surgical instruments.

[0048] The guide wheel 201, which is provided in relation to the winder 102, can stably guide the steel wire rope 1002 led out by the winder 102, reduce the friction loss of the steel wire rope 1002 during the turning process, and at the same time ensure the straightness and stability of the extension path of the steel wire rope 1002, and avoid the deviation of the preload transmission due to the path deviation.

[0049] The drive device drives the tension gauge 301 to move along a preset trajectory, which can directly apply an adjustable preload to the steel wire rope 1002 that passes over the guide wheel 201. The tension gauge 301 can provide real-time feedback on the current preload value. Compared with the existing technology that relies on the stacking of weights, it does not require the preparation of various specifications of weights or a large operating space, thus achieving convenient and precise adjustment of the preload. At the same time, it meets the requirement of independent preload of a single steel wire rope 1002, ensuring that the preload of each steel wire rope 1002 meets the motion accuracy requirements of the serpentine arm of the surgical instrument 100.

[0050] Optionally, the wire ropes 1002 between each guide wheel 201 and the corresponding tension gauge 301 are all arranged in parallel, and the tension gauges 301 are also arranged in parallel. This ensures that the direction of the preload applied by the tension gauge 301 to the wire rope 1002 is completely consistent with the extension direction of the wire rope 1002, eliminating the additional torque caused by deviation in the direction of the force and preventing the wire rope 1002 from laterally shifting or detaching from the guide wheel 201 during preload adjustment. Simultaneously, the parallel arrangement of the tension gauges 301 facilitates unified observation of the readings by the operator, improving the convenience and synchronization of preload adjustment.

[0051] Optionally, the winding device 102 has a rotating structure. The outer wall of the winding device 102 is provided with a threaded portion 1021 along the axial direction, and a first locking body 1023 protruding outward is provided on the radial side of the threaded portion 1021. The winding device 102 is provided with an opening groove 1027 at a position radially opposite to the first locking body 1023. The opening groove 1027 is fitted with a second locking body 1026. The second locking body 1026 and the first locking body 1023 are detachably connected along the radial direction of the winding device 102 to form a clamping space for clamping the mounting shaft 106.

[0052] The threaded portion 1021 on the outer wall of the winder 102 provides a spiral winding path for the wire rope 1002 of the serpentine arm, which can increase the contact area between the wire rope 1002 and the winder 102, improve the winding stability of the wire rope 1002 on the winder 102, and prevent the wire rope 1002 from slipping off the winder 102 under the action of preload. At the same time, the threaded groove 1022 can position the wire rope 1002, ensuring that the winding spacing of each turn of the wire rope 1002 is uniform, further improving the winding reliability.

[0053] Optionally, the depth of the opening slot 1027 is 1 / 3 to 2 / 3 of the radial thickness of the winder 102. When the second locking body 1026 is embedded in the opening slot 1027, the second locking body 1026 protrudes radially outward. Preferably, the depth of the opening slot 1027 is 1 / 2 of the radial thickness of the winder 102. Preferably, the second locking body 1026 is symmetrically arranged with the first locking body 1023.

[0054] The depth of the opening slot 1027 is set to 1 / 3 to 2 / 3 (preferably 1 / 2) of the radial thickness of the winder 102. This ensures the overall structural strength of the winder 102, preventing breakage due to an excessively deep opening slot 1027, while also providing sufficient space for the second locking body 1026 to ensure a stable clamping structure between the second locking body 1026 and the first locking body 1023, effectively clamping the mounting shaft 106. Furthermore, the second locking body 1026 and the first locking body 1023 are symmetrically arranged, ensuring uniform force distribution on the winder 102 on the mounting shaft 106.

[0055] Optionally, the first locking body 1023 and the second locking body 1026 are respectively provided with corresponding mounting holes 1028 or mutually cooperating positioning structures to realize the detachable connection of the first locking body 1023 and the second locking body 1026.

[0056] The first locking body 1023 and the second locking body 1026 are detachably connected through corresponding mounting holes 1028 or by a positioning structure, providing a clear and stable assembly reference for their connection, avoiding positional deviations during assembly, and ensuring the stability of the connection between the winder 102 and the mounting shaft 106.

[0057] Optionally, when the mounting hole 1028 is a threaded hole, the bolt is sequentially threaded into the mounting holes 1028 of the first locking body 1023 and the second locking body 1026 to fix the first locking body 1023 and the second locking body 1026. The threaded connection has self-locking properties, which can effectively prevent the bolt from loosening due to vibration during operation, ensuring that the two locking bodies always maintain a stable clamping state and preventing the winder 102 from shifting; at the same time, the detachability of the threaded connection facilitates subsequent adjustment of the position of the winder 102 or replacement of components, making the operation simple and convenient.

[0058] Optionally, if the mounting hole 1028 is a through hole, a bolt or screw is sequentially inserted into the mounting holes 1028 of the first locking body 1023 and the second locking body 1026, and then fixed by a nut. Fixing with a bolt / screw and nut, compared to a simple threaded hole connection, can accommodate locking body structures of different thicknesses, improving the versatility of the connection method; at the same time, the locking effect of the nut further enhances the stability of the connection, preventing loosening due to long-term use and ensuring the reliable fixation of the winder 102 on the mounting shaft 106.

[0059] Optionally, the axis of the mounting hole 1028 is parallel to the radial direction of the winder 102, so that the direction of the bolt / screw locking force is consistent with the clamping direction of the winder 102 on the mounting shaft 106, ensuring that the locking force can be fully applied to the clamping space, improving the clamping effect of the winder 102 on the mounting shaft 106, preventing the winder 102 from sliding axially or radially along the mounting shaft 106 when under force, and ensuring the stability of the working position of the winder 102.

[0060] Optionally, the threaded portion 1021 extends along the axial direction of the winder 102, and the length of the threaded portion 1021 is not less than 1 / 3 of the total axial length of the winder 102. This provides sufficient winding length for the wire rope 1002, ensuring that the wire rope 1002 can form multiple turns on the winder 102. This further improves the connection stability between the wire rope 1002 and the winder 102, preventing the wire rope 1002 from falling off under the preload due to insufficient winding length. At the same time, sufficient winding length can also disperse the local pressure of the wire rope 1002 on the winder 102, extending the service life of the winder 102.

[0061] Optionally, the threaded portion 1021 has at least two threaded grooves 1022, which can ensure that the wire rope 1002 forms at least two turns of winding on the winder 102, ensuring that the preload can be stably transmitted to the wire rope 1002. At the same time, multiple turns of winding can also make the wire rope 1002 more evenly stressed and reduce local stress concentration.

[0062] Optionally, the first locking body 1023 has an insert groove 1024 extending axially along the winder 102 on its end face connected to the threaded portion 1021. The insert groove 1024 is used to accommodate and position the sleeve fitted on the outside of the wire rope 1002. On the one hand, it prevents the sleeve from moving randomly during the pre-tightening process. On the other hand, by applying tension to the wire rope, the wire rope moves relative to the sleeve until the force applied to the wire rope meets the preset conditions. At this time, the relative position of the sleeve to the wire rope is adjusted to a fixed position, and the pre-tightening work is completed.

[0063] Optionally, the opening of the fitting groove 1024 at the end face is provided as a constriction 1025, which can axially limit the sleeve contained in the fitting groove 1024, prevent the sleeve from coming out of the fitting groove 1024 when the wire rope 1002 is subjected to tension or vibration, and ensure that the sleeve always plays a role in protecting and positioning the wire rope 1002.

[0064] Optionally, when two winders 102 are provided on the mounting shaft 106, the threaded portions 1021 of the two winders 102 can be arranged opposite each other or away from each other, or the threaded portion 1021 of one winder 102 can be arranged facing the first locking body 1023 of the other winder 102.

[0065] The threaded portions 1021 of the two winders 102 on the mounting shaft 106 can be arranged in a way that is opposite to each other, facing away from each other, or facing another locking body. The installation posture of the winders 102 can be flexibly adjusted according to the actual arrangement requirements and extension direction of the steel wire rope 1002 of the surgical instrument 100, so that the winders 102 can better adapt to the turning requirements of the steel wire rope 1002.

[0066] Optionally, the surgical instrument box 10 further includes: a thread guide assembly, comprising multiple thread guides, each thread guide being disposed on the box body 101 and located between the communication port 1011 of the corresponding through port 4021 of the box body 101 and the winding device 102; the thread guide assembly is used to support the steel wire rope 1002 and adjust the extension path of the steel wire rope 1002 by coordinating the positions of each thread guide to keep the steel wire rope 1002 taut.

[0067] The guide roller assembly is located between the internal connection port 1011 of the housing 101 and the winder 102. On the one hand, it can support the wire rope 1002, reduce the sag of the wire rope 1002 on this section of the path, and avoid the wire rope 1002 from getting tangled together or rubbing against the inner wall of the housing 101 due to sag. On the other hand, by adjusting the position of each guide roller, the extension path of the wire rope 1002 can be optimized, so that the wire rope 1002 can be kept taut.

[0068] Optionally, the wire guide wheel assembly includes at least: a first wire guide wheel 103, located at the communication opening 1011 of the housing 101 and corresponding to the through opening 4021 of the first side plate 402 of the frame 40, for initially turning the wire rope 1002 extending from the through opening 4021; and a second wire guide wheel 104, located in the housing 101 and in the extension direction of the wire rope 1002 extending from the through opening 4021, for initially turning the wire rope 1002; wherein the second wire guide wheel 104 and the first wire guide wheel 103 are arranged to avoid interference in both the axial and radial directions of the wire rope 1002 to prevent interference between the wire rope 1002 guided by the two.

[0069] The first guide wheel 103 and the second guide wheel 104 ensure that the wire rope 1002 can smoothly transition into the box 101 after being led out from the through hole 4021, avoiding stress concentration caused by direct bending of the wire rope 1002 and protecting the structure of the wire rope 1002.

[0070] Both the first guide pulley 103 and the second guide pulley 104 perform initial steering of the wire rope 1002 extending from the through-hole 4021. However, given the large number of wire ropes 1002 and the small area of ​​the through-hole 4021, it is impossible to accommodate too many first guide pulleys 103. Therefore, a second guide pulley 104 is provided to avoid the position of the first guide pulley 103, in order to perform initial steering of the remaining wire ropes 1002. Simultaneously, both are positioned to avoid interference between the two wire ropes 1002 guided by different guide pulleys, effectively preventing interference between the two wire ropes 1002 and ensuring that the extension paths of multiple wire ropes 1002 within the housing 101 do not affect each other.

[0071] Optionally, for example, a plurality of first guide rollers 103 are arranged side by side in parallel or at an angle. Similarly, a plurality of second guide rollers 104 are arranged side by side or at an angle.

[0072] Multiple first / second guide rollers 104 can be arranged side by side in parallel or at an angle. The arrangement of the guide rollers can be flexibly adjusted according to the size of the space inside the box 101, the number of wire ropes 1002 and the extension direction requirements. When there is enough space, the parallel arrangement can simplify the structure, and when the space is limited or the angle of the wire ropes 1002 is varied, the inclined arrangement can adapt to different steering requirements, thereby improving the spatial adaptability and functional flexibility of the guide roller group.

[0073] Optionally, the wire guide wheel assembly also includes a third wire guide wheel 105, which is located on the side wall of the housing 101 and between the connecting port 1011 and the winder 102. This can further increase the support points for the wire rope 1002, and is especially suitable for scenarios where the distance between the connecting port 1011 and the winder 102 inside the housing 101 is relatively far. This can effectively reduce the span of the wire rope 1002, prevent the wire rope 1002 from sagging or swaying due to excessive span, effectively optimize the extension path of the wire rope 1002, and ensure that the wire rope 1002 always maintains a stable tension.

[0074] Optionally, the guide wheel assembly 20 further includes a baffle 202, which at least covers a portion of the groove 2011 area of ​​the guide wheel 201, and the radial end face of the baffle 202 protrudes beyond the groove opening plane of the groove 2011. When the wire rope 1002 is wound within the groove 2011 of the guide wheel 201, the baffle 202 can form a radial stop on the wire rope 1002 to limit the wire rope 1002 from axially disengaging from the groove 2011 of the guide wheel 201. This effectively prevents the wire rope 1002 from axially disengaging from the groove 2011 of the guide wheel 201 during preload adjustment (such as tension changes or vibrations), avoiding interruption of preload operation or damage to the wire rope 1002 due to the wire rope 1002 disengaging from the groove, and improving the reliability and operational safety of the guide wheel 201.

[0075] In this embodiment, the wire rope 1002 is spirally wound along the threaded groove 1022 of the threaded portion 1021 of the winder 102. After winding, the lead end of the wire rope 1002 passes through the embedded groove 1024 on the first locking body 1023 and extends to the guide wheel 201 of the guide wheel assembly 20. Then, guided by the guide wheel 201, it connects to the tension gauge 301 of the tension adjustment assembly 30. This path makes the extension process of the wire rope 1002 form a complete process of "winding and positioning - guiding and protection - tension transmission". The winding of the threaded groove 1022 ensures the stable fixation of the wire rope 1002. The embedded groove 1024 passes through to protect the wire rope 1002 and position the clamp. The guide wheel 201 guides to reduce friction and deviation, and finally realizes the accurate transmission of the preload of the tension gauge 301.

[0076] Optionally, the frame 40 includes a frame-type main body 401 and a first side plate 402 located on one side of the main body 401. The first side plate 402 is configured with a through-hole 4021 through which the wire rope 1002 of the serpentine arm 100 of the surgical instrument passes.

[0077] The frame 40 frame-type main body 401 provides a stable overall support structure, ensuring that the tooling is not easily deformed during operation; the through-hole 4021 constructed by the first side plate 402 provides a clear passage for the steel wire rope 1002 of the serpentine arm 100 of the surgical instrument, avoiding the chaotic path caused by the steel wire rope 1002 going out randomly; at the same time, the box 101 is set on the first side plate 402 and corresponds to the through-hole 4021, so that the steel wire rope 1002 can directly enter the box 101 for branching and turning after passing through the through-hole 4021, shortening the ineffective path of the steel wire rope 1002 and reducing wear and friction damage.

[0078] Optionally, the guide wheel 201 is suspended on the first side plate 402 via the connecting shaft 203, and a ball bearing 204 is provided between the guide wheel 201 and the connecting shaft 203.

[0079] The guide wheel 201 is suspended on the first side plate 402 via the connecting shaft 203, so that the guide wheel 201 and the first side plate 402 maintain an appropriate distance and avoid friction between the guide wheel 201 and the first side plate 402 when rotating. The ball bearing 204 between the guide wheel 201 and the connecting shaft 203 can convert the sliding friction of the guide wheel 201 into rolling friction, which greatly reduces the frictional resistance when the guide wheel 201 rotates, so that the guide wheel 201 can rotate flexibly with the movement of the wire rope 1002, reduce the frictional loss between the wire rope 1002 and the groove 2011 of the guide wheel 201, extend the service life of both, and at the same time ensure the smoothness of the turning of the wire rope 1002.

[0080] Optionally, the baffle 202 is sleeved on the connecting shaft 203, and the baffle 202 can provide an axial stop for the guide wheel 201 or the ball bearing 204. The baffle 202 is L-shaped, with one arm sleeved on the connecting shaft 203 and the other arm covering a portion of the groove 2011 of the guide wheel 201. In this way, on the one hand, it can provide an axial stop for the guide wheel 201 or the ball bearing 204, preventing the guide wheel 201 or the ball bearing 204 from shifting axially along the connecting shaft 203 during operation, thus ensuring the stability of the working position of the guide wheel 201; on the other hand, it eliminates the need for a separate installation structure for the baffle 202, simplifying the overall assembly process of the guide wheel assembly 20 and improving the compactness of the guide wheel assembly 20 structure.

[0081] Optionally, some guide wheels 201 are equidistant from the first side plate 402. It is understood that the guide wheels 201 are not equidistant from the first side plate 402, that is, the working planes of the guide wheels 201 are not consistent, which reduces the risk of multiple steel wire ropes 1002 crossing and interfering with each other in the extension path.

[0082] Optionally, the multiple guide wheels 201 are divided into at least two groups, and the two groups of guide wheels 201 are respectively located on both sides of the box body 101.

[0083] Multiple guide wheels 201 are divided into at least two groups and are located on both sides of the housing 101. The guide wheels 201 can be grouped and managed according to the lead-out requirements of the wire ropes 1002 on both sides of the housing 101, so that the wire ropes 1002 on different sides can be turned to correspond to different groups of guide wheels 201, avoiding space congestion and path confusion caused by the centralized setting of all guide wheels 201. At the same time, the grouped arrangement can also balance the force on both sides of the housing 101, improve the overall stress stability of the frame 40, and avoid local stress concentration caused by too many guide wheels 201 on one side.

[0084] Optionally, the drive device includes: a bracket 302, mounted on the frame 40; a slide rail 303, mounted on the frame 40, with its end abutting against the bracket 302; a mounting base 304, slidably connected to the slide rail 303 and detachably connected to the tension gauge 301; and a hand-tightening bolt 305, one end of which is threaded through the bracket 302 and the other end of which is connected to the mounting base 304. The hand-tightening bolt 305 is used to drive the mounting base 304 to slide along the slide rail 303 by rotation, so as to adjust the distance between the mounting base 304 and the bracket 302, thereby controlling the preload applied to the wire rope 1002 by the tension gauge 301.

[0085] The bracket 302 and slide rail 303 are mounted on the frame 40, providing stable support and sliding guide structure for the mounting base 304, ensuring the straightness of the mounting base 304 moving along the slide rail 303, avoiding deviation in the force direction of the tension gauge 301 due to movement offset, and ensuring the accuracy of preload adjustment.

[0086] The hand-tightened bolt 305 is threaded through the bracket 302 and connected to the mounting base 304. By rotating it, the mounting base 304 can be driven to slide along the slide rail 303. The operation is simple and convenient, and no additional power equipment is required. At the same time, the threaded drive has a precise displacement adjustment capability, which can realize the fine adjustment of the preload and ensure that the preload reaches the preset requirements. Compared with the existing weight stacking method, the adjustment efficiency and accuracy are greatly improved.

[0087] Optionally, the extension direction of the slide rail 303 is consistent with the force application direction of the tension gauge 301, and the guide wheel 201 is located in the force application direction of the tension gauge 301, so that the direction in which the mounting base 304 drives the tension gauge 301 to move is completely matched with the force application direction of the tension gauge 301 on the wire rope 1002, ensuring that the movement of the tension gauge 301 can be directly converted into the preload of the wire rope 1002, avoiding force loss or extra torque caused by directional deviation, improving the preload transmission efficiency, and ensuring the accuracy of preload adjustment.

[0088] Optionally, the frame 40 further includes: a second side plate 403, disposed on the main body 401 and disposed on the same side as the first side plate 402; wherein, the drive devices of multiple sets of tension adjustment components 30 are arranged side by side on the second side plate 403.

[0089] The second side plate 403 is located on the main body 401 and on the same side as the first side plate 402. Multiple sets of tension adjustment components 30 drive devices are arranged side by side on the second side plate 403. On the one hand, it can centrally arrange all tension adjustment components 30, which is convenient for operators to operate and observe uniformly and improve work efficiency. On the other hand, it makes the tension adjustment components 30, the guide wheel 201 on the first side plate 402, and the box 101 form a layout on the same side, shortening the path length of the wire rope 1002 from the guide wheel 201 to the tension gauge 301, reducing path loss, and optimizing the compactness of the overall structure of the frame 40, saving space.

[0090] Optionally, the bracket 302 and the slide rail 303 are detachably connected to the second side plate 403. This allows for easy adjustment of the installation positions of the bracket 302 and the slide rail 303 according to actual needs, to accommodate the pre-tensioning requirements of different specifications of tension gauges 301 or different lengths of wire ropes 1002; at the same time, the detachable structure also facilitates the individual disassembly, maintenance, or replacement of the bracket 302 and the slide rail 303, reducing the maintenance cost of the tooling and improving the versatility and ease of replacement of the components.

[0091] Optionally, it also includes: a fixing component, including a first fixing seat 501, the top of the first fixing seat 501 having a V-groove configured to adapt to and support the serpentine arm 100 of the surgical instrument to be assembled; wherein the first fixing seat 501 is provided with a limiting structure for limiting the axial movement and radial rotation of the serpentine arm 100 of the surgical instrument.

[0092] The V-shaped groove at the top of the first fixed seat 501 can accommodate and stably support the serpentine arm 100 of the surgical instrument to be assembled. The V-shaped structure has a self-centering function, which can automatically center and position the serpentine arm 100 of the surgical instrument, ensuring the accuracy of the instrument installation position and avoiding uneven pretension of the wire rope 1002 due to instrument misalignment. In addition, the limiting structure restricts the axial movement and radial rotation of the serpentine arm 100 of the surgical instrument, preventing the instrument from shifting or rotating due to the tension of the wire rope 1002 during the pretensioning operation, ensuring that the instrument is always in the preset assembly position, providing a stable reference for the pretensioning of the wire rope 1002, ensuring that the pretension of each wire rope 1002 meets the design requirements, and thus ensuring the movement accuracy of the serpentine arm 100 of the surgical instrument.

[0093] Optionally, the first fixed seat 501 is constructed with a bolt hole 5012 that penetrates the side wall of the V-groove, and the limiting structure is a positioning bolt 502. The positioning bolt 502 passes through the bolt hole 5012 and abuts against the serpentine arm 100 of the surgical instrument to limit the displacement and rotation of the serpentine arm 100 of the surgical instrument.

[0094] The bolt hole 5012 of the first fixing seat 501 provides an installation channel for the positioning bolt 502. The positioning bolt 502 passes through the bolt hole 5012 and abuts against the serpentine arm 100 of the surgical instrument. The displacement and rotation of the instrument can be directly restricted by the tightening force of the positioning bolt 502. Compared with other limiting methods, the limiting force of the positioning bolt 502 can be adjusted by the degree of tightening, which is more flexible. At the same time, the abutting method of the positioning bolt 502 can adapt to the serpentine arm 100 of surgical instruments with different shapes, improving the versatility of the limiting structure.

[0095] Optionally, the serpentine arm 100 of the surgical instrument is provided with a positioning hole 1001 that matches the positioning bolt 502, so that the positioning bolt 502 can be inserted into the positioning hole 1001 to form a precise position. Compared with simple abutment limit, the positioning accuracy is higher and can effectively prevent the instrument from slight displacement during operation. At the same time, the cooperation between the positioning hole 1001 and the positioning bolt 502 also provides a clear benchmark for the installation of the instrument, simplifies the installation and positioning process of the instrument, and improves assembly efficiency.

[0096] Optionally, the end of the positioning bolt 502 is tapered to automatically align itself when inserted into the positioning hole 1001 of the serpentine arm 100 of the surgical instrument, correcting the radial orientation of the instrument rod of the serpentine arm 100. Even if there is a slight radial deviation during instrument installation, the tapered end of the positioning bolt 502 can guide the positioning bolt 502 smoothly into the positioning hole 1001 via the bevel, while correcting the radial orientation of the instrument rod, ensuring that the instrument is ultimately in the correct assembly position, avoiding preload adjustment errors caused by installation deviations, and improving the fault tolerance and assembly accuracy of the tooling.

[0097] Optionally, the fixing assembly further includes a second fixing seat 503, configured to support and fix the instrument rod of the serpentine arm 100 of the surgical instrument. The second fixing seat 503 and the first fixing seat 501 form a dual fixing structure for the instrument end and the instrument rod, preventing the instrument rod from shaking or shifting when only the instrument end is fixed, and further improving the overall installation stability of the serpentine arm 100 of the surgical instrument; at the same time, fixing the instrument rod can also reduce the path change of the wire rope 1002 caused by the shaking of the instrument rod during the pre-tensioning process, ensuring the stability and accuracy of the pre-tensioning force adjustment.

[0098] Optionally, the frame 40 further includes a base plate 404, which is disposed on the top of the main body 401. The base plate 404 is used to install the first fixing seat 501 and the second fixing seat 503, and the positions of the first fixing seat 501 and the second fixing seat 503 can be adjusted along the axial direction of the serpentine arm 100 of the surgical instrument.

[0099] The base plate 404 is located on the top of the main body 401, providing a stable mounting platform for the first fixing seat 501 and the second fixing seat 503, ensuring that the two fixing seats are fixed in position; at the same time, the position of the two fixing seats can be adjusted along the axial direction of the serpentine arm 100 of the surgical instrument, which can adapt to the serpentine arm 100 of surgical instruments of different lengths. By adjusting the distance between the first fixing seat 501 and the second fixing seat 503, the end of the instrument and the rod can be stably fixed, improving the compatibility of the tooling with instruments of different lengths and expanding the scope of application.

[0100] Optionally, the first side plate 402 and the second side plate 403 are located on the same side of the main body 401, and the bottom plate 404 is located on the top of the main body 401, so that the serpentine arm 100 of the surgical instrument is arranged perpendicularly to the tension adjustment assembly 30. This layout can make full use of the space of the frame 40 and avoid mutual obstruction or interference between components; at the same time, the vertical arrangement allows the steel wire rope 1002 to be connected to the tension adjustment assembly 30 through a shorter path after being led out from the instrument, reducing path loss and friction, improving the preload transmission efficiency, and also making it easier for the operator to observe the instrument status and the reading of the tension gauge 301 at the same time.

[0101] Optionally, it also includes: movable casters, located at the bottom of the frame 40; wherein the movable casters include at least a set of swivel casters 601 arranged on the same side to adjust the moving direction of the frame 40.

[0102] The movable casters are located at the bottom of the frame 40, which can convert the sliding friction between the frame 40 and the ground into rolling friction, allowing the tooling to move flexibly as a whole. This solves the problem that the pre-tightened tooling cannot be moved as a whole and is inconvenient for relocation in the prior art. At the same time, the setting of at least one set of swivel casters 601 on the same side can flexibly adjust the moving direction of the frame 40, making it easy for the tooling to turn or adjust its position in narrow spaces, thus improving the tooling's mobility and site adaptability.

[0103] Optionally, the swivel caster 601 is equipped with a braking structure. When the tooling needs to be fixed in place, the swivel caster 601 can be locked by the braking structure to prevent the tooling from moving due to vibration or external force during operation, thus ensuring the stability of the tooling's working position. When it is necessary to move the tooling, the braking structure can be released to move the tooling, realizing a convenient switch between "fixed operation" and "flexible movement", improving the tooling's flexibility and operational safety.

[0104] Optionally, the movable casters may also include fixed casters 602. Fixed casters 602 are used in conjunction with swivel casters 601. Fixed casters 602 can restrict the movement of the tooling in a specific direction. During long-distance relocation, the straightness of the movement direction can be ensured by fixed casters 602, avoiding movement deviation caused by the arbitrary turning of swivel casters 601. At the same time, the combination of fixed casters 602 and swivel casters 601 takes into account both the directionality and flexibility of movement, further improving the convenience of tooling relocation operations.

[0105] For example, the specific application of this embodiment in single-port laparoscopic surgical instruments is as follows:

[0106] To address the assembly requirements of a certain model of single-port laparoscopic surgical instrument (with a 3-section serpentine arm at the end, requiring 6 steel wire ropes 1002 for drive), the pre-tightening fixture provided in this embodiment is used to achieve precise pre-tightening of the steel wire ropes 1002, ensuring the movement accuracy of the serpentine arm and meeting the requirements of delicate intra-abdominal operations.

[0107] Lock the two swivel casters 601 (with brakes) and two fixed casters 602 at the bottom of the tooling frame 40, push the tooling to the designated work position in the assembly workshop, step on the brake of the swivel casters 601 to fix it, and prevent it from shifting during operation.

[0108] Place the laparoscopic instrument (the serpentine arm 100 of the surgical instrument) in the V-groove of the first fixing seat 501 of the base plate 404 of the frame 40, so that the instrument positioning hole 1001 is aligned with the positioning bolt 502; tighten the positioning bolt 502 at the conical end, insert it into the positioning hole 1001 to automatically align the radial position of the instrument rod and restrict its radial rotation; then clamp the instrument rod through the second fixing seat 503 to prevent axial movement and ensure that the serpentine arm of the instrument is in the straight zero position.

[0109] Six steel wire ropes 1002 in the device pass through the through-hole 4021 of the first side plate 402 of the frame 40 and enter the box 101. Some of the steel wire ropes 1002 are initially turned by the first guide wheel 103 at the connecting port 1011, and some of the steel wire ropes 1002 are initially turned by the second guide wheel 104 (the two avoid interference in the axial and radial directions). Finally, after being turned a second time and the path is adjusted by the third guide wheel 105, they are spirally wound along the threaded part 1021 (2 turns of thread groove 1022) of the winder 102. The lead-out end passes through the groove 1024 (fixing the steel wire rope 1002 clamp) of the first locking body 1023 constriction 1025 and passes around the guide wheel 201 (the wheel groove 2011 is surrounded by a baffle 202 to prevent detachment).

[0110] The end of each wire rope 1002 is connected to the corresponding tension gauge 301. The tension gauge 301 is fixed on the slide rail 303 of the second side plate 403 by the mounting base 304, ensuring that the extension direction of the slide rail 303 is consistent with the force application direction of the tension gauge 301, and the guide wheel 201 is located on the force application path.

[0111] Rotate the hand-tightening bolt 305 clockwise to drive the mounting base 304 to slide along the slide rail 303, and the tension gauge 301 applies pre-tension to the wire rope 1002; according to the requirements of the instrument, adjust the 6 wire ropes 1002 to the preset pre-tension respectively, and monitor them in real time through the reading of the tension gauge 301, and the adjustment of each wire rope does not interfere with each other.

[0112] After adjustment, observe that the wire rope 1002 has no deviation or derailment, and the serpentine arm of the device has no displacement; start the device to simulate the action. If the preload fluctuation range is less than the preset value, then the motion accuracy requirements are met.

[0113] Release the brake mechanism of the 601 swivel caster and push the tooling to the next assembly station.

[0114] The foregoing description and accompanying drawings fully illustrate embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included or substituted for parts and features of other embodiments. Embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims, and the foregoing embodiments should be considered exemplary and non-limiting.

Claims

1. A pre-tightening fixture for a surgical instrument box, used to pre-tighten steel wire ropes threaded through the surgical instrument box, the surgical instrument box comprising a box body and multiple winding devices, each winding device being adjustablely disposed within the box body via a mounting shaft; the winding devices are configured to allow corresponding steel wire ropes to be threaded through and to change the extension direction of the steel wire ropes, and the multiple winding devices correspond one-to-one with multiple steel wire ropes of the serpentine arm of the surgical instrument; characterized in that, include: The guide wheel assembly includes guide wheels corresponding to each winding wheel. The guide wheels are used to guide the steel wire rope led out by the winder to turn. The tension adjustment assembly includes a tension gauge and a drive device. The tension gauge is mounted on the output end of the drive device and is connected to a steel wire rope that passes over the corresponding guide wheel. The drive device can drive the tension gauge to move along a preset trajectory to adjust the preload applied to the corresponding steel wire rope. The frame is used to mount the surgical instrument box, guide roller assembly, and tension adjustment assembly.

2. The pre-tightening fixture for the surgical instrument box according to claim 1, characterized in that, The guide wheel assembly also includes: The baffle covers at least part of the groove area of ​​the guide wheel, and the radial end face of the baffle protrudes beyond the groove opening plane; When the wire rope is wound in the groove of the guide wheel, the baffle can form a radial stop on the wire rope to prevent the wire rope from axially disengaging from the groove of the guide wheel.

3. The pre-tightening fixture for the surgical instrument box according to claim 1, characterized in that, Multiple guide wheels are divided into at least two groups and are located on both sides of the surgical instrument box.

4. The pre-tightening fixture for the surgical instrument box according to claim 1, characterized in that, The frame includes a frame-like main body and a first side plate located on one side of the main body. The first side plate has a through-hole for the steel wire rope of the serpentine arm of the surgical instrument to pass through.

5. The pre-tightening fixture for the surgical instrument box according to claim 4, characterized in that, The guide wheels are suspended on the first side plate via a connecting shaft, and some of the guide wheels are equidistant from the first side plate.

6. The pre-tightening fixture for the surgical instrument box according to claim 4, characterized in that, The rack also includes: The second side panel is located on the main body and is set on the same side as the first side panel; Among them, the drive devices of multiple tension adjustment components are arranged side by side on the second side plate.

7. The pre-tightening fixture for the surgical instrument box according to claim 1, characterized in that, The drive unit includes: The bracket is mounted on the machine frame; The slide rail is mounted on the frame and its end abuts against the support. The mounting base is slidably connected to the slide rail and is detachably connected to the tension gauge; The hand-tightening bolt has one end threaded through the bracket and the other end connected to the mounting base. The hand-tightening bolt is used to drive the mounting base to slide along the slide rail by rotation, so as to adjust the distance between the mounting base and the bracket, thereby controlling the preload applied to the wire rope by the tension gauge.

8. The pre-tightening fixture for the surgical instrument box according to claim 1, characterized in that, Also includes: A fixing assembly is provided on the frame; the fixing assembly includes a first fixing seat, the top of which is constructed with a V-groove, the V-groove being configured to adapt to and support the serpentine arm of the surgical instrument to be assembled; The first fixed seat is equipped with a limiting structure to restrict the axial movement and radial rotation of the serpentine arm of the surgical instrument.

9. The pre-tightening fixture for the surgical instrument box according to claim 8, characterized in that, The first fixed seat has a through-hole that penetrates the side wall of the V-shaped groove. The limiting structure is a positioning bolt, which passes through the through-hole and abuts against the serpentine arm of the surgical instrument to limit the displacement and rotation of the serpentine arm of the surgical instrument.

10. The pre-tightening fixture for the surgical instrument box according to any one of claims 1 to 9, characterized in that, Also includes: Mobility casters are located at the bottom of the frame; The movable casters include at least one set of swivel casters on the same side to adjust the movement direction of the frame.

Images