Transmission for a surgical robotic surgical instrument

Abstract

This application provides a transmission device for surgical instruments in a surgical robot. The transmission device includes a base, a telescopic mechanism, and a drive mechanism. The telescopic mechanism includes a first plate, a second plate, and a third plate stacked on top of each other. A first end of the first plate is fixedly connected to the base, the second plate is slidably connected to the first plate, and the third plate is slidably connected to the second plate. The third plate is adapted to connect to the base of the surgical instrument. The drive mechanism includes a drive assembly adapted to provide power to drive the second and third plates to slide; a traction assembly adapted to move the second plate relative to the first plate between a first position close to the base and a second position far from the base under the drive of the drive assembly; and to move the third plate relative to the second plate between a third position close to the base and a fourth position far from the base, thereby adjusting the working space of the surgical instrument.

Description

Technical Field

[0001] This application relates to the field of medical devices and surgical robots, and more specifically, to a transmission device for surgical instruments in a surgical robot. Background Technology

[0002] Single-port thoracoscopic surgery, as a cutting-edge field of minimally invasive surgery, allows for complex surgical procedures to be performed through a single incision, offering significant advantages such as minimal trauma and rapid postoperative recovery. However, single-port surgery places stringent demands on the end effector of the surgical robot: within a limited incision space, it must simultaneously accommodate multiple surgical instruments and achieve precise multi-degree-of-freedom operation, while ensuring that the instruments can be compactly stored before entering the body and flexibly deployed afterward. Currently, however, the end effector structure of single-port surgical robots is relatively large and suffers from low flexibility. Summary of the Invention

[0003] In view of this, this application provides a transmission device for surgical instruments of a surgical robot.

[0004] One aspect of this application provides a transmission device for surgical instruments in a surgical robot, comprising: a base; a telescopic mechanism including: a first plate, a second plate, and a third plate stacked on top of each other, wherein a first end of the first plate is fixedly connected to the base, the second plate and the first plate are slidably connected, the third plate and the second plate are slidably connected, and the third plate is adapted to be connected to the base of the surgical instrument; and a drive mechanism including: a first drive assembly adapted to drive the second plate to move relative to the first plate between a first position close to the base and a second position far from the base; and a second drive assembly adapted to drive the third plate to move relative to the second plate between a third position close to the base and a fourth position far from the base, thereby adjusting the working space of the surgical instrument.

[0005] According to an embodiment of this application, the first driving assembly includes: a first driving motor configured to rotate in opposite directions, a first rotation direction and a second rotation direction; a first transmission member connected to the first driving motor and rotating with the first driving motor; and a first traction member connected to the first transmission member and a second plate respectively; wherein the first traction member is configured to drive the second plate to slide from a first position to a second position when the first driving motor rotates in the first rotation direction; and to drive the second plate to slide from a second position to a first position when the first driving motor rotates in the second rotation direction.

[0006] According to an embodiment of this application, the first traction member includes: a first traction wire and a second traction wire, the first ends of the first traction wire and the second traction wire are wound around the first transmission member in opposite winding directions, and the second ends of the first traction wire and the second traction wire, which are opposite to the first ends, are connected to the second plate; wherein, when the first drive motor rotates in a first rotation direction, the first traction wire applies a first traction force to the second plate away from the base; when the first drive motor rotates in a second rotation direction, the second traction wire applies a second traction force to the second plate closer to the base.

[0007] According to an embodiment of this application, the driving mechanism includes: a first rotating wheel, rotatably disposed on a base, suitable for adjusting the traction path of the first traction wire; and a second rotating wheel, rotatably disposed at one end of the first plate away from the base; wherein the first traction wire, after exiting from the first transmission member, is sequentially wound around the first rotating wheel and the second rotating wheel and connected to the second plate to form the traction path of the first traction wire.

[0008] According to an embodiment of this application, the driving mechanism includes: a third rotating wheel, rotatably disposed on a base, suitable for adjusting the traction path of the second traction wire; wherein the second traction wire, after exiting from the transmission member, is wound around the third rotating wheel and connected to the second plate to form the traction path of the second traction wire.

[0009] According to an embodiment of this application, the second driving assembly includes: a second driving motor configured to rotate in opposite directions, a first rotation direction and a second rotation direction; a second transmission member connected to the second driving motor and rotating with the second driving motor; and a second traction member connected to the second transmission member and the base of the surgical instrument; wherein the second traction member is configured to slide the third plate from a third position to a fourth position when the second driving motor rotates in the first rotation direction; and to slide the third plate from a fourth position to a third position when the second driving motor rotates in the second rotation direction.

[0010] According to an embodiment of this application, the second traction member includes a third traction wire and a fourth traction wire. The first ends of the third traction wire and the fourth traction wire are wound around the transmission member in opposite winding directions. The second ends of the third traction wire and the fourth traction wire, opposite to the first ends, are connected to the base of the surgical instrument. When the second drive motor rotates in the first rotation direction, the third traction wire applies a third traction force to the third plate in a direction away from the base. When the second drive motor rotates in the second rotation direction, the fourth traction wire applies a fourth traction force to the third plate in a direction close to the base.

[0011] According to an embodiment of this application, the driving mechanism further includes: a third rotating wheel, rotatably disposed on the base, suitable for adjusting the traction path of the third traction wire; a fourth rotating wheel, rotatably disposed at the end of the second plate away from the base; and a fifth rotating wheel, rotatably disposed at the end of the third plate close to the base. The third traction wire, after exiting from the second transmission member, is sequentially wound around the third rotating wheel, the fourth rotating wheel, and the fifth rotating wheel, and connected to the base of the surgical instrument to form the traction path of the third traction wire.

[0012] According to an embodiment of this application, the driving mechanism further includes: a first rotating wheel, rotatably disposed on the base, suitable for adjusting the traction path of the fourth traction wire; a second rotating wheel, rotatably disposed at the end of the first plate away from the base; a sixth rotating wheel, rotatably disposed at the end of the second plate close to the base; and a seventh rotating wheel, rotatably disposed at the end of the third plate away from the base. The fourth traction wire, after exiting from the second transmission member, is sequentially wound around the first rotating wheel, the second rotating wheel, the sixth rotating wheel, and the seventh rotating wheel and connected to the base of the surgical instrument to form the traction path of the fourth traction wire.

[0013] According to an embodiment of this application, the base of the surgical instrument is provided with multiple control units, which are used to control the degrees of freedom of the surgical instrument in multiple directions; the second drive assembly includes multiple components, and the second traction member of each of the multiple drive assemblies is connected to the multiple control units one by one, so as to control the degrees of freedom of the surgical instrument in multiple directions through the multiple second drive assemblies.

[0014] According to embodiments of this application, by using a transmission assembly with a retractable and sliding three-stage plate structure, before and after surgery, the transmission assembly can retract the three plates into a single flat plate shape via the first and second drive components. This significantly reduces the overall space ratio of the surgical instruments, facilitating the entry and exit of the instrument arm into the single-port surgical channel and reducing the size requirements for the surgical incision. During surgery, the second and third plates can be gradually unfolded via the first and second drive components to form a spatial configuration that meets the needs of multi-degree-of-freedom surgical operations, ensuring the range of motion and operational flexibility of the surgical instruments. Attached Figure Description

[0015] The above and other objects, features and advantages of this application will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0016] Figure 1 A perspective view of the transmission component in a retracted state according to an embodiment of this application is shown;

[0017] Figure 2 A perspective view of the transmission assembly in its deployed state according to an embodiment of this application is shown;

[0018] Figure 3 A perspective structural diagram of a telescopic mechanism according to an embodiment of this application is shown;

[0019] Figure 4 A schematic diagram showing the connection between the drive mechanism and the telescopic mechanism according to an embodiment of this application is shown;

[0020] Figure 5 It shows Figure 4 The illustrated embodiment shows the traction path diagram on the left side of the first and second traction components after removing the three plates.

[0021] Figure 6 It shows Figure 4 The illustrated embodiment shows the traction path diagram of the first and second traction components from the right-side view after removing the three plates.

[0022] Figure 7 A schematic diagram showing the connection between the drive motor and the transmission component according to an embodiment of this application is provided.

[0023] Figure 8 A perspective view of a transmission device according to an embodiment of this application is shown.

[0024] Figure 9 A perspective view of the transmission device according to an embodiment of this application is shown from a second viewpoint.

[0025] Figure 10 A perspective view of a rotating member according to an embodiment of this application is shown;

[0026] Figure 11 A three-dimensional structural schematic diagram of a plurality of transmission components connected to a connector of a robotic arm according to an embodiment of the present application, wherein the transmission components are in a retracted state.

[0027] Figure 12 This is a three-dimensional structural diagram showing the transmission components in an unfolded state after they are connected to the connector of the robotic arm according to an embodiment of this application.

[0028] 100. Base;

[0029] 200. Telescopic mechanism;

[0030] 210. First plate;

[0031] 220. Second plate;

[0032] 230. The third plate;

[0033] 240. Motion guide rail;

[0034] 250. Motion slider;

[0035] 260. Cable guard plate;

[0036] 270. Hooked thread boss;

[0037] 300. Drive mechanism;

[0038] 311. First drive motor;

[0039] 312. First transmission component;

[0040] 313. First traction component;

[0041] 3131, First traction wire;

[0042] 3132. Second traction wire;

[0043] 314. First rotating wheel;

[0044] 315. Second rotating wheel;

[0045] 316. The third rotating wheel;

[0046] 321. Second drive motor;

[0047] 322. Second transmission component;

[0048] 323. Second traction component;

[0049] 3231, Third traction wire;

[0050] 3232, Fourth traction wire;

[0051] 324. The fourth rotating wheel;

[0052] 325. The fifth rotating wheel;

[0053] 326. The sixth rotating wheel;

[0054] 327. The seventh rotating wheel;

[0055] 328. The eighth rotating wheel;

[0056] 329. The Ninth Rotating Wheel;

[0057] 330. Wheel groove;

[0058] 331. Outer shell;

[0059] 400. Base;

[0060] 410. Control Department;

[0061] 500. Connectors. Detailed Implementation

[0062] The embodiments of this application will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of this application. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of this application for ease of explanation. However, it will be apparent that one or more embodiments may be implemented without these specific details. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of this application.

[0063] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The terms “comprising,” “including,” etc., as used herein indicate the presence of features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0064] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0065] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).

[0066] Existing end effectors for single-port surgical robots suffer from the following technical bottlenecks: Insufficient space utilization: Traditional rigid linkages or multi-arm parallel structures are bulky, making it difficult to achieve coordinated operation of multiple instruments within a single port, easily causing interference between instruments and limiting the flexibility of surgical procedures and the range of surgical indications. Lack of retraction or extension functions or low efficiency: Most end effectors lack active retraction mechanisms, relying on external manipulators for position adjustment, increasing the complexity of the surgical procedure and operational risks; the few devices with retraction functions suffer from defects such as complex structures and insufficient reliability.

[0067] In view of this, this application provides a transmission device for surgical instruments of a surgical robot, in order to solve at least one of the above-mentioned problems.

[0068] Figure 1 A perspective view of the transmission component in a retracted state according to an embodiment of this application is shown.

[0069] According to the transmission device for surgical instruments for surgical robots provided in this application, such as Figure 1As shown, the transmission device includes a base 100, a telescopic mechanism 200, and a drive mechanism 300. The telescopic mechanism 200 includes a first plate 210, a second plate 220, and a third plate 230 stacked on top of each other. The first end of the first plate 210 is fixedly connected to the base 100, the second plate 220 is slidably connected to the first plate 210, and the third plate 230 is slidably connected to the second plate 220. The third plate 230 is adapted to connect to the base 400 of the surgical instrument. The drive mechanism 300 includes a first drive assembly and a second drive assembly. The first drive assembly is adapted to drive the second plate 220 relative to the first plate 210 between a first position close to the base 100 and a second position away from the base 100. The second drive assembly is adapted to drive the third plate 230 relative to the second plate 220 between a third position close to the base 100 and a fourth position away from the base 100, thereby adjusting the working space of the surgical instrument.

[0070] In this embodiment of the application, one end of the transmission device can be connected to the end of the surgical robot arm, and the other end can be connected to the surgical instrument. The working space of the surgical instrument can be adjusted by the extension and retraction operation of the transmission device.

[0071] like Figure 1 As shown, the first plate 210 can serve as the basic support for the entire transmission mechanism and is fixedly connected to the base 100. The base 100 can be fixedly connected to the end of the robot's robotic arm, providing a stable installation reference.

[0072] The second plate 220 can be nested within the first plate 210 and can slide linearly between a first position and a second position relative to the first plate 210. The second plate 220 is the main moving part for realizing the overall length adjustment of the transmission device.

[0073] When the second plate 220 is in the first position, it is in a contracted state, and the overlap area between the first plate 210 and the second plate 220 reaches its maximum. When the second plate 220 is in the second position, it is in an unfolded state, and the overlap area between the first plate 210 and the second plate 220 reaches its minimum.

[0074] The third plate 230 can be nested within the second plate 220 and can slide linearly between the third and fourth positions relative to the second plate 220. The end of the third plate 230 away from the base 100 is fixedly connected to the base 400 of the surgical instrument. The surgical instrument can achieve synchronous linear displacement under the drive of the second plate.

[0075] When the third plate 230 is in the third position, it is in a contracted state, and the overlap area between the third plate 230 and the second plate 220 reaches its maximum. When the third plate 230 is in the second position, it is in an unfolded state, and the overlap area between the third plate 230 and the second plate 220 reaches its minimum.

[0076] Figure 2 A perspective view of the transmission assembly in its deployed state according to an embodiment of this application is shown.

[0077] like Figure 2 As shown, under the drive of the first drive assembly, the second plate 220 can slide relative to the first plate 210 in a direction away from the base 100, and drive the third plate 230 to also move in a direction away from the base 100. At the same time, under the drive of the second drive assembly, the third plate 230 can also move relative to the second plate 220 in a direction away from the base 100, driving the surgical instruments set on the third plate 230 to move, thereby adjusting the spatial position of the surgical instruments.

[0078] like Figure 1 and Figure 2 As shown, the base 400 of the surgical instrument can be fixed to the end of the third plate 230 away from the base 100, and the surgical instrument can be detachably connected to the base 100, which can be adapted to a variety of surgical instruments.

[0079] According to embodiments of this application, by setting a transmission assembly with a retractable and sliding three-stage plate structure, before and after the start of surgery, the transmission assembly can retract the three plates into a single flat plate shape via the first and second drive assemblies, significantly compressing the overall space ratio at the end, facilitating the entry and exit of the surgical arm into the single-port surgical channel, and reducing the size requirements for the surgical incision. During the operation, the second plate 220 and the third plate 230 can be gradually unfolded via the first and second drive assemblies to form a spatial configuration that meets the requirements of multi-degree-of-freedom surgical operations, ensuring the range of motion and operational flexibility of the surgical instruments at the end of the robotic arm.

[0080] Figure 3 A perspective structural view of the telescopic mechanism 200 according to an embodiment of this application is shown.

[0081] like Figure 3As shown, motion guide rails 240 can be respectively provided on the upper surface of the first plate 210 and the upper surface of the second plate 220, and motion sliders 250 can be provided on the lower surface of the second plate 220 and the lower surface of the third plate 230. The motion guide rails 240 can be rigidly connected to the first plate 210 and the second plate 220 via fasteners, providing a precise guiding reference for the linear motion of the second plate 220 and the third plate 230, ensuring the consistency and stability of the motion axis. The motion sliders 250 can be fixedly connected to the second plate 220 and the third plate 230 via fasteners, cooperating with the motion guide rails 240 to strictly constrain the movement direction of the plates, avoiding movement deviation and jamming, and ensuring precise and controllable contraction and expansion movements.

[0082] The three plates are connected by a sliding block 250 and a limiting mechanism with the motion guide rail 240, which enables a smooth transition from contraction to full expansion. At the same time, it ensures high rigidity and low clearance during the movement, providing a structural basis for the stability of the surgical operation.

[0083] Figure 4 A schematic diagram showing the connection between the drive mechanism 300 and the telescopic mechanism 200 according to an embodiment of this application is provided.

[0084] According to embodiments of this application, such as Figure 4 As shown, the first drive assembly may include a first drive motor 311, a first transmission member 312, and a first traction member 313. The first drive motor 311 is configured to rotate in opposite directions, a first rotation direction and a second rotation direction. The first transmission member 312 is connected to the first drive motor 311 and rotates with the first drive motor 311. The first traction member 313 is connected to the first transmission member 312 and the second plate 220. The first traction member 313 is configured to slide the second plate 220 from a first position to a second position when the first drive motor 311 rotates in the first rotation direction; and to slide the second plate 220 from a second position to a first position when the first drive motor 311 rotates in the second rotation direction.

[0085] like Figure 4 As shown, the first rotation direction can be clockwise, and the second rotation direction can be counterclockwise. The first drive motor 311 can rotate alternately in the clockwise and counterclockwise directions, and the first transmission member 312 can also rotate synchronously in the clockwise and counterclockwise directions, and transmit the rotational power generated by the first drive motor 311 to the first traction member 313.

[0086] For example, the first traction member 313 can be wound around the first transmission member 312 and extend a left traction section and a right traction section along both sides of the first transmission member 312 respectively. The left traction section can be connected to the left side of the second plate 220, and the right traction section can be connected to the right side of the second plate 220.

[0087] Multiple rotating members can be arranged on the traction paths of the first transmission member 312 and the second plate 220 to adjust the traction paths of the left and right traction sections. This allows the first transmission member 312 to drive the left traction section to apply a traction force away from the base 100 to the second plate when the first drive motor 311 rotates in the first rotation direction, and to drive the right traction section to apply a traction force closer to the base 100 to the second plate when the first drive motor 311 rotates in the second rotation direction. However, this application is not limited to this; it only requires that the first traction member 313 can apply traction forces away from and closer to the base 100 to the second plate when the first drive motor 311 rotates in the first and second rotation directions, respectively. Therefore, the expansion and contraction movements of the second plate 220 can be adjusted by changing the rotation direction of the first drive motor 311.

[0088] According to embodiments of this application, such as Figure 4 As shown, the second drive assembly includes a second drive motor 321, a second transmission member 322, and a second traction member 323. The second drive motor 321 is configured to rotate in opposite directions, a first rotation direction and a second rotation direction. The second transmission member 322 is connected to the second drive motor 321 and rotates with the second drive motor 321. The second traction member 323 is connected to both the second transmission member 322 and the base 400 of the surgical instrument; the second traction member 323 is configured to slide the third plate 230 from a third position to a fourth position when the second drive motor 321 rotates in the first rotation direction; and to slide the third plate 230 from a fourth position to a third position when the second drive motor 321 rotates in the second rotation direction.

[0089] Similarly, the second drive motor 321 can also rotate alternately in the clockwise and counterclockwise directions, and the second transmission component 322 can also rotate synchronously in the clockwise and counterclockwise directions, transmitting the rotational power generated by the second drive motor 321 to the second traction component 323.

[0090] like Figure 4As shown, the second traction member 323 can be wound around the second transmission member 322, and extends into a left traction section and a right traction section on both sides of the second transmission member 322, respectively. The left traction section can be connected to the left side of the base 400 of the surgical instrument, and the right traction section can be connected to the right side of the base 400 of the surgical instrument.

[0091] Multiple rotating members can be provided on the first plate 210, the second plate 220, and the third plate 230 to adjust the traction paths of the left and right traction sections. This allows the second transmission member 322 to drive the right traction section to apply a traction force away from the base 100 to the third plate when the second drive motor 321 rotates in the first rotation direction, and to drive the left traction section to apply a traction force closer to the base 100 to the second plate when the second drive motor 321 rotates in the second rotation direction. Similarly, this application is not limited to this; it only requires that the second traction member 323 can apply traction forces away from and closer to the base 100 to the third plate when the second drive motor 321 rotates in the first and second rotation directions, respectively. Therefore, the expansion and contraction movements of the third plate 230 can be adjusted by changing the rotation direction of the second drive motor 321.

[0092] Figure 5 It shows Figure 4 The traction path diagram on the left side of the first traction member 313 and the second traction member 323 after removing the three plates in the embodiment shown. Figure 6 It shows Figure 4 The illustrated embodiment shows the traction path diagram of the first traction member 313 and the second traction member 323 from the right-side view after removing the three plates.

[0093] like Figure 5 and Figure 6 As shown, the first traction member 313 may include a first traction wire 3131 and a second traction wire 3132. The first ends of each of the first traction wire 3131 and the second traction wire 3132 are wound around the first transmission member 312 in opposite winding directions. The second ends of each of the first traction wires 3131 and the second traction wire 3132, opposite to their first ends, are connected to the second plate 220. When the first drive motor 311 rotates in a first rotation direction, the first traction wire 3131 applies a first traction force to the second plate 220 in a direction away from the base 100; when the first drive motor 311 rotates in a second rotation direction, the second traction wire 3132 applies a second traction force to the second plate 220 in a direction closer to the base 100.

[0094] like Figure 5As shown, the first end of the first traction wire 3131 can be wound counterclockwise around the first transmission member 312, and the second end of the first traction wire 3131 can be fixedly connected to the hook protrusion 270 provided on the left side of the second plate. Figure 6 As shown, the first end of the second traction wire 3132 can be wound clockwise around the first transmission member 312, and the second end of the second traction wire 3132 can be fixedly connected to the hook protrusion 270 on the right side of the second plate.

[0095] like Figure 5 As shown, multiple rotating wheels can be arranged between the first transmission member 312 and the hook boss 270 on the left side to adjust the traction path of the first traction wire 3131, so that the first traction wire 3131 can generate a pulling force on the second plate in a direction away from the base 100. Figure 6 As shown, at least one rotating wheel can be provided between the first transmission member 312 and the hook boss 270 on the right side to adjust the traction path of the first traction wire 3131 so that the second traction wire 3132 can generate a pulling force on the second plate in the direction close to the base 100.

[0096] When the first drive motor 311 rotates in the first rotation direction (i.e., clockwise), the first traction wire 3131 can be wound more around the first transmission member 312, thus tightening and shortening, pulling the second plate to unfold, causing the second plate to move away from the base 100. When the first drive motor 311 rotates in the second rotation direction (i.e., counterclockwise), the second traction wire 3132 can be wound more around the first transmission member 312, thus tightening and shortening, pulling the second plate to contract, causing the second plate to move closer to the base 100.

[0097] like Figure 5 and Figure 6 As shown, the second traction member 323 may include a third traction wire 3231 and a fourth traction wire 3232. The first ends of each of the third traction wire 3231 and the fourth traction wire 3232 are wound around the transmission member in opposite winding directions, and the second ends of each of the third traction wire 3231 and the fourth traction wire 3232, opposite to their first ends, are connected to the base 400 of the surgical instrument. Specifically, when the second drive motor 321 rotates in the first rotation direction, the third traction wire 3231 applies a third traction force to the third plate 230 in a direction away from the base 100; when the second drive motor 321 rotates in the second rotation direction, the fourth traction wire 3232 applies a fourth traction force to the third plate 230 in a direction closer to the base 100.

[0098] like Figure 6As shown, the first end of the third traction wire 3231 can be wound counterclockwise around the second transmission member 322, and the second end of the third traction wire 3231 can be connected to the base 400 of the surgical instrument mounted on the third plate. Figure 5 As shown, the first end of the fourth traction wire 3232 can be wound clockwise around the second transmission member 322, and the second end of the fourth traction wire 3232 can be connected to the base 400 of the surgical instrument set on the third plate.

[0099] like Figure 5 and Figure 6 As shown, multiple rotating wheels can be set between the second transmission member 322 and the base 400 of the surgical instrument to adjust the traction paths of the third traction wire 3231 and the fourth traction wire 3232, so that the third traction wire 3231 can generate a pulling force on the third plate away from the base 100, and the fourth traction wire 3232 can generate a pulling force on the second plate close to the base 100.

[0100] For example, when the second drive motor 321 rotates in the first rotation direction (clockwise), the third traction wire 3231 can be tightened and shortened, pulling the third plate to unfold and causing the third plate to move away from the base 100. When the second drive motor 321 rotates in the second rotation direction (counterclockwise), the fourth traction wire 3232 can be tightened and shortened, pulling the second plate to retract and causing the second plate to move closer to the base 100.

[0101] Figure 7 A schematic diagram showing the connection between the drive motor and the transmission component according to an embodiment of this application is provided.

[0102] like Figure 7 As shown, the first transmission member 312 may include a left winding portion and a right winding portion. The first traction wire 3131 may be wound around the left winding portion of the first transmission member 312, and the second traction wire 3132 may be wound around the right winding portion of the first transmission member 312. Similarly, the second transmission member 322 may include a left winding portion and a right winding portion. The third traction wire 3231 may be wound around the left winding portion of the second transmission member 322, and the fourth traction wire 3232 may be wound around the right winding portion of the second transmission member 322.

[0103] Figure 8 A perspective view of the transmission device according to an embodiment of this application is shown.

[0104] According to embodiments of this application, such as Figure 8As shown, the drive mechanism 300 includes a first rotating wheel 314 and a second rotating wheel 315. The first rotating wheel 314 is rotatably mounted on the base 100 and is used to adjust the traction path of the first traction wire 3131. The second rotating wheel 315 is rotatably mounted on the end of the first plate 210 away from the base 100; wherein, the first traction wire 3131, after exiting from the first transmission member 312, is sequentially wound around the first rotating wheel 314 and the second rotating wheel 315 and connected to the second plate 220 to form the traction path of the first traction wire 3131.

[0105] like Figure 8 As shown, the three plates can be set on the lower left side of the base 100, and the drive motor and transmission components in the drive mechanism 300 can be set on the upper right side of the base 100.

[0106] The first rotating wheel 314 can be located below the drive motor and transmission component on the base 100, and the second rotating wheel 315 can be located at the end of the first plate 210 away from the base 100. The first rotating wheel 314 and the second rotating wheel 315 can be roughly on the same horizontal plane.

[0107] The traction path of the first traction wire 3131 may include a first traction segment between the first transmission member 312 and the first rotating wheel 314, a second traction segment between the first rotating wheel 314 and the second rotating wheel 315, and a third traction segment between the second rotating wheel 315 and the second plate 220. After being guided by the first rotating wheel 314, the second traction segment can be parallel to the first plate 210. After being guided by the second rotating wheel 315, the third traction segment generates a traction force on the second plate 220 in a direction away from the base 100. When the first drive motor 311 rotates in the first rotation direction, the third traction segment shortens, thereby pulling the second plate 220 out.

[0108] Figure 9 A perspective view of the transmission device according to an embodiment of this application is shown from a second perspective.

[0109] According to embodiments of this application, such as Figure 9 As shown, the drive mechanism 300 includes a third rotating wheel 316, which is rotatably mounted on the base 100 and is suitable for adjusting the traction path of the second traction wire 3132. The second traction wire 3132 is wound around the third rotating wheel 316 after exiting the transmission member and is connected to the second plate 220 to form the traction path of the second traction wire 3132.

[0110] like Figure 9As shown, the third rotating wheel 316 can be positioned below the drive motor and transmission components in the base 100. Guided by the third rotating wheel 316, the traction path of the second traction wire 3132 can include a fourth traction segment between the first transmission component 312 and the third rotating wheel 316, and a fifth traction segment between the third transmission wheel and the second plate 220. Guided by the third rotating wheel 316, the fifth traction segment can be parallel to the second plate 220 and generate a traction force on the second plate 220 in the direction close to the base 100.

[0111] like Figure 9 As shown, an eighth rotating wheel 328 and a ninth rotating wheel 329 can also be provided on the base 100. The second traction wire 3132 can be sequentially wound around the third rotating wheel 316, the eighth rotating wheel 328, and the ninth rotating wheel 329. The eighth rotating wheel 328 and the ninth rotating wheel 329 can also adjust the height of the fifth traction section so that the height of the fifth traction section matches the height of the hook boss 270 of the second plate, and at the same time, the second traction wire 3132 can be kept in a taut state. When the first drive motor 311 rotates in the second rotation direction, the fifth traction section shortens, thereby pulling the second plate 220 to retract.

[0112] In some embodiments, such as Figure 8 As shown, the drive mechanism 300 includes a first rotating wheel 314, a second rotating wheel 315, a sixth rotating wheel 326, and a seventh rotating wheel 327. The first rotating wheel 314 is rotatably mounted on the base 100 and is used to adjust the traction path of the fourth traction wire 3232. The second rotating wheel 315 is rotatably mounted on the end of the first plate 210 away from the base 100. The sixth rotating wheel 326 is rotatably mounted on the end of the second plate 220 near the base 100. The seventh rotating wheel 327 is rotatably mounted on the end of the third plate 230 away from the base 100. The fourth traction wire 3232, after exiting from the second transmission member, is sequentially wound around the first rotating wheel 314, the second rotating wheel 315, the sixth rotating wheel 326, and the seventh rotating wheel 327 and connected to the base 400 of the surgical instrument to form the traction path of the fourth traction wire 3232.

[0113] For example, see Figure 5 and Figure 8The fourth traction wire 3232 may include a sixth traction section between the second transmission member 322 and the first rotating wheel 314, a seventh traction section between the first rotating wheel 314 and the second rotating wheel 315, an eighth traction section between the second rotating wheel 315 and the sixth rotating wheel 326, and a ninth traction section between the sixth rotating wheel 326 and the seventh rotating wheel 327. The seventh traction section is located at the lower part of the lower surface of the first plate 210, the eighth traction section is located between the first plate 210 and the second plate 220, and the ninth traction section is located between the second plate 220 and the third plate 230.

[0114] According to embodiments of this application, such as Figure 9 As shown, the drive mechanism 300 also includes a third rotating wheel 316, a fourth rotating wheel 324, and a fifth rotating wheel 325. The third rotating wheel 316 is rotatably disposed on the base 100 and is suitable for adjusting the traction path of the third traction wire 3231; the fourth rotating wheel 324 is rotatably disposed at the end of the second plate 220 away from the base 100; the fifth rotating wheel 325 is rotatably disposed at the end of the third plate 230 near the base 100; the third traction wire 3231, after exiting from the second transmission member, is sequentially wound around the third rotating wheel 316, the fourth rotating wheel 324, and the fifth rotating wheel 325, and is connected to the base 400 of the surgical instrument to form the traction path of the third traction wire 3231.

[0115] For example, see Figure 6 and Figure 9 The third traction wire 3231 may include a tenth traction section between the second transmission member 322 and the third rotating wheel 316, an eleventh traction section between the third rotating wheel 316 and the fourth rotating wheel 324, a twelfth traction section between the fourth rotating wheel 324 and the fifth rotating wheel 325, and a thirteenth traction section between the fifth rotating wheel 325 and the surgical instrument base 100. The eleventh traction section may be located between the first plate 210 and the twelfth traction section, the twelfth traction section may be located between the second plate 220 and the third plate 230, and the thirteenth traction section may be located on the upper surface of the third plate 230.

[0116] For example, the first traction wire 3131 and the third traction wire 3231 can work together. When the first drive motor 311 rotates in the first rotation direction, the first traction wire 3131 can be wound and shortened, applying a traction force to the second plate 220 away from the base 100, driving the second plate 220 to extend outward. At the same time, the second drive motor 321 also rotates in the first rotation direction, driving the third plate 230 to unfold synchronously through the third drive wire, achieving synchronous linear elongation of the third plate 230.

[0117] For example, the second traction wire 3132 and the fourth traction wire 3232 can work together. When the first drive motor 311 rotates in the second rotation direction, the second traction wire 3132 can be wound and shortened, applying a traction force to the second plate 220 in the direction close to the base 100, driving the second plate to retract inward. At the same time, the second drive motor 321 also rotates in the second rotation direction, driving the third plate 230 to retract synchronously via the fourth drive wire, achieving synchronous linear shortening of the third plate 230.

[0118] According to embodiments of this application, the traction wires can be pre-tensioned and path-constrained through the cooperation of multiple traction wires and multiple rotating wheels, effectively avoiding problems such as slackness, entanglement, or deviation during wire transmission. Through an optimized winding layout, precise decoupling transmission of traction wire tension and displacement can be achieved, ensuring that the motion from the drive end to the execution end is lag-free and error-free, providing stable and controllable power input for the retraction and extension movements of the second plate 220 and the third plate 230.

[0119] In some embodiments, see Figure 3 Furthermore, a guard plate 260 can be provided on the upper and lower surfaces of the first plate 210, the second plate 220, and the third plate 230 for the first traction wire 3131, the second traction wire 3132, the third traction wire 3231, and the fourth traction wire 3232, respectively, on the outside of the traction path of the plate. During the sliding process of the second plate 220 and the third plate 230, the guard plate 260 can effectively isolate the contact friction between each traction wire and the surrounding structure, surgical instruments, or tissue, reduce wire wear, extend service life, and at the same time avoid motion errors or safety risks caused by wire interference, thereby improving the reliability and safety of surgical operations.

[0120] In some embodiments, see Figure 3 As shown, a protective shell for the transmission wire can also be provided on the base 100. The protective shell can form a space that can accommodate the first rotating wheel 314, the third rotating wheel 316, the eighth rotating wheel 328, the ninth rotating wheel 329 and other rotating wheels on the base 100, thereby protecting the rotating wheels on the base 100.

[0121] See Figure 1 , Figure 2 The base 400 of the surgical instrument is provided with multiple control units 410, which are used to control the degrees of freedom of the surgical instrument in multiple directions; the second drive assembly includes multiple components, and the second traction member 323 of each drive assembly is connected to the multiple control units 410 in a one-to-one correspondence, so as to control the degrees of freedom of the surgical instrument in multiple directions through the multiple second drive assemblies.

[0122] For example, such as Figure 1 and Figure 2As shown, the base 400 can be equipped with six control units 410, each corresponding to one of the six second drive components. The six second drive motors 321 can independently control six second traction members 323, which are connected to the six control units 410 respectively. This enables independent and precise control of the surgical instruments across six degrees of freedom, including three translational degrees of freedom and three rotational degrees of freedom, thus meeting the multi-degree-of-freedom motion requirements of complex surgical procedures.

[0123] In some embodiments, the first drive assembly can serve as the main drive component, and the first drive motor 311 can be a high-torque servo motor specifically designed to drive the two first traction wires 3131 and the second traction wire 3132. The first drive motor 311 can directly drive the second and third stage plates to achieve linear unfolding and retraction movements by alternating clockwise and counterclockwise rotations, combined with the differentiated winding patterns of the drive wires on the wire wheel. Its high-torque output characteristics ensure sufficient driving force and movement speed even when bearing surgical instruments and end-effector loads, and precise positioning of the plate unfolding length is achieved by controlling the length of the traction wires.

[0124] Multiple second drive motors 321 can be low-torque motors. Each second drive motor 321 can be connected to control a third traction wire 3231 and a fourth traction wire 3232 respectively. When the third plate 230 is in unfolding motion, the third traction wire 3231 can control the degrees of freedom of the surgical instrument. When the third plate 230 is in retracting motion, the fourth traction wire 3232 can control the degrees of freedom of the surgical instrument. Each second drive motor can achieve precise control of multiple degrees of freedom of the surgical instrument through a high-precision encoder and closed-loop control algorithm.

[0125] Figure 10 A perspective view of a rotating member according to an embodiment of this application is shown.

[0126] like Figure 10 As shown, the wheel body of the rotating wheel can be precisely divided into multiple independent wheel grooves 330, each wheel groove 330 corresponding to a traction wire. Multiple third traction wires 3231 or multiple fourth traction wires 3232 can be respectively set in different wheel grooves 330 of the rotating wheel, so that independent decoupling control of different degrees of freedom can be achieved by using the traction wires of different wheel grooves 330.

[0127] When performing multi-degree-of-freedom manipulation of surgical instruments, multiple second drive motors 321 can serve as the main drive unit, while the first drive motor 311 acts as an auxiliary unit. When the multiple second drive motors 321 drive the third traction wire 3231 and the fourth traction wire 3232, the three plates will experience additional motion tendencies. At this time, the first drive motor 311 will output compensating torque in real time to counteract the displacement caused by the movement of the third traction wire 3231 and the fourth traction wire 3232, ensuring that the three plates maintain a fixed spatial posture and guaranteeing the stability and precision of the surgical operation.

[0128] See also Figure 1 and Figure 2 As shown, an outer casing 331 for the motor can also be set on the base 100, integrating multiple second drive motors 321 and multiple second transmission components 322 into the outer casing. On the one hand, it provides physical protection for the drive motor, preventing foreign objects such as body fluids and tissue debris from entering in the surgical environment, and ensuring the safe operation and electrical reliability of the motor. On the other hand, the regular shape design optimizes the end structure layout, improving the overall aesthetics and space utilization.

[0129] Figure 11 A three-dimensional structural schematic diagram of a plurality of transmission components connected to a connector 500 of a robotic arm according to an embodiment of the present application, wherein the transmission components are in a retracted state. Figure 12 This is a three-dimensional structural diagram showing the transmission components in an unfolded state after they are connected to the connector 500 of the robotic arm according to an embodiment of this application.

[0130] One aspect of this application also provides a surgical robot, which may include multiple transmission devices and connectors 500. Each connector 500 has a central circular hole for rigid connection with the robotic arm of the surgical robot. The connector 500 also has multiple mounting portions arranged circumferentially along the connector 500, each mounting portion corresponding to one of the multiple transmission devices. The third plate 230 of each transmission device has a surgical instrument base 400 connected to its end furthest from the connection point. Different bases 400 can be connected to different surgical instruments.

[0131] like Figure 11 As shown, before and after the operation, multiple delivery devices can each drive three plates to shrink into a single flat plate shape, significantly compressing the overall space ratio at the end, facilitating the entry and exit of the instrument arm into the single-port surgical channel, and reducing the size requirements for the surgical incision.

[0132] like Figure 12As shown, during the operation, multiple delivery devices can be driven to gradually unfold three plates to form a spatial configuration that meets the requirements of multi-degree-of-freedom surgical operations, ensuring the range of motion and operational flexibility of the end instruments.

[0133] According to embodiments of this application, the dual-state design of the transfer device—contraction and expansion—effectively solves the problem of the large size of the robotic arm's end effector. The space occupied in the contracted state is significantly reduced, adapting to the narrow passage requirements of single-port surgery. Driving the movement of the three plates via traction wires, combined with the path constraints of the wire housing, ensures the accuracy and stability of motion transmission, avoiding transmission gaps and interference. The connector 500 enables multi-module integration, resulting in a compact structure and convenient assembly, improving the overall rigidity and reliability of the end effector system. The expansion form and range of motion can be adjusted according to different single-port surgical scenarios, and it is compatible with the rapid docking and replacement of various surgical instruments.

[0134] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this application. In particular, the features described in the various embodiments and / or claims of this application can be combined and / or combined in various ways without departing from the spirit and teachings of this application. All such combinations and / or combinations fall within the scope of this application.

[0135] The embodiments of this application have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of this application. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this application is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this application, and all such substitutions and modifications should fall within the scope of this application.

Claims

1. A transmission for a surgical robotic surgical instrument, characterized in that, include: Base; Telescopic mechanism, including: A first plate, a second plate, and a third plate are stacked together, wherein a first end of the first plate is fixedly connected to the base, the second plate is slidably connected to the first plate, the third plate is slidably connected to the second plate, and the third plate is adapted to be connected to the base of the surgical instrument. The drive mechanism includes: A first drive assembly is adapted to drive the second plate body relative to the first plate body between a first position close to the base and a second position far from the base; The second drive assembly is adapted to drive the third plate relative to the second plate between a third position close to the base and a fourth position far from the base to adjust the workspace of the surgical instrument.

2. The transmission of claim 1, wherein The first driving component includes: The first drive motor is configured to rotate in opposite directions, a first rotation direction and a second rotation direction. The first transmission component is connected to the first drive motor and rotates as the first drive motor rotates; A first traction member is connected to the first transmission member and the second plate respectively; wherein the first traction member is configured to drive the second plate to slide from the first position to the second position when the first drive motor rotates in a first rotation direction; and to drive the second plate to slide from the second position to the first position when the first drive motor rotates in a second rotation direction.

3. The transmission of claim 2, wherein The first traction component includes: A first traction wire and a second traction wire, the first ends of the first traction wire and the second traction wire are wound around the first transmission member in opposite winding directions, and the second ends of the first traction wire and the second traction wire, opposite to the first ends, are connected to the second plate. When the first drive motor rotates in a first rotation direction, the first traction wire applies a first traction force to the second plate in a direction away from the base; when the first drive motor rotates in a second rotation direction, the second traction wire applies a second traction force to the second plate in a direction close to the base.

4. The transmission of claim 3, wherein The drive mechanism includes: The first rotating wheel is rotatably mounted on the base and is suitable for adjusting the traction path of the first traction wire; The second rotating wheel is rotatably disposed at the end of the first plate away from the base; The first traction wire, after exiting the first transmission member, is sequentially wound around the first rotating wheel and the second rotating wheel and connected to the second plate to form the traction path of the first traction wire.

5. The transmission device according to claim 3, characterized in that, The drive mechanism includes: The third rotating wheel is rotatably mounted on the base and is suitable for adjusting the traction path of the second traction wire; The second traction wire, after exiting the transmission member, is wound around the third rotating wheel and connected to the second plate to form the traction path of the second traction wire.

6. The transmission device according to claim 1, characterized in that, The second driving component includes: The second drive motor is configured to rotate in opposite directions, namely a first rotation direction and a second rotation direction. The second transmission component is connected to the second drive motor and rotates as the second drive motor rotates; The second traction member is connected to the second transmission member and the base of the surgical instrument, respectively; wherein the second traction member is configured to drive the third plate to slide from the third position to the fourth position when the second drive motor rotates in the first rotation direction; and to drive the third plate to slide from the fourth position to the third position when the second drive motor rotates in the second rotation direction.

7. The transmission device according to claim 6, characterized in that, The second traction component includes: The third and fourth traction wires, each having its first end wound in opposite directions around the transmission component, and its second end, opposite to the first end, connected to the base of the surgical instrument; Specifically, when the second drive motor rotates along the first rotation direction, the third traction wire applies a third traction force to the third plate away from the base; when the second drive motor rotates along the second rotation direction, the fourth traction wire applies a fourth traction force to the third plate closer to the base.

8. The transmission device according to claim 7, characterized in that, The drive mechanism includes: The third rotating wheel is rotatably mounted on the base and is suitable for adjusting the traction path of the third traction wire; The fourth rotating wheel is rotatably disposed at the end of the second plate away from the base; The fifth rotating wheel is rotatably disposed at one end of the third plate near the base; The third traction wire, after exiting from the second transmission member, is sequentially wound around the third rotating wheel, the fourth rotating wheel, and the fifth rotating wheel, and connected to the base of the surgical instrument to form the traction path of the third traction wire.

9. The transmission device according to claim 7, characterized in that, The drive mechanism also includes: The first rotating wheel is rotatably mounted on the base and is suitable for adjusting the traction path of the fourth traction wire; The second rotating wheel is rotatably disposed at the end of the first plate away from the base; The sixth rotating wheel is rotatably disposed at one end of the second plate near the base; The seventh rotating wheel is rotatably disposed at the end of the third plate away from the base; The fourth traction wire, after exiting from the second transmission member, is sequentially wound around the first rotating wheel, the second rotating wheel, the sixth rotating wheel, and the seventh rotating wheel, and is connected to the base of the surgical instrument to form the traction path of the fourth traction wire.

10. The transmission device according to any one of claims 6-9, characterized in that, The base of the surgical instrument is provided with multiple control units, which are used to control the degrees of freedom of the surgical instrument in multiple directions. The second drive assembly includes multiple components, and the second traction element of each of the multiple drive assemblies is respectively connected to the multiple control units one by one, so as to control the degrees of freedom of the surgical instrument in multiple directions through the multiple second drive assemblies.

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