Instrument box and surgical robot

Abstract

The utility model provides an instrument box and a surgical robotic.The instrument box comprises a box body and a linkage piece arranged in the box body, and the linkage piece is rotationally connected with the box body through a rotating shaft; a first through hole is formed in the side wall of the box body, and a protruding part is arranged at the end, facing the first through hole, of the linkage piece. The linkage piece rotates to the position where the protruding part is inserted into the first through hole, at least part of the protruding part protrudes out of the box body, a mechanism structure arranged on the instrument box and used for preventing assembly with the driving box is simplified, and the product manufacturing cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an instrument box and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. With the development of robotics technology, minimally invasive surgical robots have emerged. Minimally invasive surgical robots can reduce incisions, speed up recovery, and doctors can operate remotely.

[0003] In the related art, the surgical robot includes a movable console and a mechanical arm. The operator can control the mechanical arm to move through the console to perform the surgical operation. A drive box is set at the end of the mechanical arm. The drive box and the instrument box are detachably connected. The end of the instrument box is set with surgical instruments. The drive box controls the surgical instruments connected to the instrument box to perform the surgical operation. After a certain number of surgeries, the instrument box needs to be replaced and scrapped due to the wear of the instrument. In order to prevent the scrapped instrument box from being used again, it is necessary to prevent the scrapped instrument box from being assembled with the drive box.

[0004] However, the mechanism for preventing the assembly of the instrument box with the driving box is complex in structure and relatively costly. Utility Model Content

[0005] The present application provides an instrument box and a surgical robot to solve the technical problems in the related art that the mechanism for preventing the assembly of the instrument box and the driving box is complex in structure and high in cost.

[0006] In a first aspect, the present application provides an instrument box, which includes a box body and a linkage member arranged in the box body, the linkage member being rotatably connected to the box body through a rotating shaft; a first through hole is provided on the side wall of the box body, and a protrusion is provided on one end of the linkage member facing the first through hole.

[0007] When the linkage member rotates to a position where the protruding portion is inserted into the first through hole, the protruding portion at least partially protrudes outside the box body.

[0008] The instrument box provided in the present application is provided with a rotatable linkage part for correspondingly cooperating with the top rod on the driving box of the surgical robot, so that after the instrument box is used a certain number of times and becomes scrapped, the linkage part can be used to prevent the driving box and the instrument box from being assembled, thereby simplifying the structure of the mechanism set on the instrument box for preventing assembly with the driving box and reducing the product manufacturing cost.

[0009] As an optional embodiment, the linkage member has a first position and a second position relative to the box body; wherein, when the linkage member is in the first position, the protrusion is located inside the box body, and the protrusion is staggered with the first through hole; when the linkage member is in the second position, the protrusion is opposite to the first through hole, and partially extends through the first through hole to the outside of the box body.

[0010] With such arrangement, when the instrument box needs to be scrapped, the linkage member can be rotated from the first position to the second position by the ejector rod, thereby ensuring that it can prevent the instrument box from being assembled.

[0011] As an optional implementation, a second through hole is provided on the bottom wall of the box body, and an abutment portion is provided at one end of the linkage member away from the protruding portion, and the abutment portion is opposite to the second through hole.

[0012] With such arrangement, when the instrument box needs to be scrapped, it can be ensured that the ejector rod can accurately abut against the linkage member.

[0013] As an optional implementation, the rotating shaft is arranged between the protruding portion and the abutting portion.

[0014] With such arrangement, when the push rod pushes the abutting portion, it is ensured that the end where the protruding portion is located has sufficient movable travel to move into the first through hole.

[0015] As an optional implementation, the first through hole and the second through hole are located on different sides of the box body.

[0016] With such arrangement, when the instrument box needs to be scrapped, it is possible to avoid misassembly of the instrument box and the drive box.

[0017] As an optional implementation, the end of the protrusion has an arc-shaped guide surface.

[0018] Such an arrangement can improve the smoothness of the protrusion sliding into the first through hole.

[0019] As an optional implementation, a support member is provided on the inner wall of the box body, a limiting portion is provided on the support member, and the rotating shaft is rotatably connected to the limiting portion.

[0020] In the second aspect, the present application provides a surgical robot, which includes a drive box and the instrument box in the above-mentioned technical solution, wherein the drive box is detachably connected to the instrument box; an extendable push rod is provided on the drive box; when the drive box and the instrument box are assembled and the push rod is extended toward the instrument box, the push rod abuts against a linkage member of the instrument box, so that the linkage member rotates until a part protrudes to the outside of the instrument box, and interferes with the assembly path of the drive box relative to the instrument box.

[0021] As an optional embodiment, a counter and a driving unit are provided in the driving box, and the push rod is connected to the driving unit; the counter is configured to record the number of times the driving box and the instrument box are disassembled and assembled; the driving unit is configured to drive the push rod to extend after the number of disassembly and assembly reaches a preset number.

[0022] By setting it in this way, the number of times the instrument box is used can be accurately limited.

[0023] As an optional embodiment, a driving shaft is provided in the drive box, and a transmission shaft is provided in the instrument box; the driving shaft at least partially extends to the outside of the drive box, and the transmission shaft at least partially extends to the outside of the instrument box; one of the driving shaft and the transmission shaft is provided with a snap-in protrusion, and the other is provided with a snap-in groove; when the drive box and the instrument box are connected, the snap-in protrusion is inserted into the snap-in groove.

[0024] Such an arrangement can improve the reliability of the drive box and the instrument box during normal docking and the stability of power transmission.

[0025] The present application provides an instrument box and a surgical robot, wherein the instrument box includes a box body and a linkage member arranged in the box body, the linkage member is rotatably connected to the box body through a rotating shaft; a first through hole is provided on the side wall of the box body, and a protrusion is provided on one end of the linkage member facing the first through hole; when the linkage member rotates to a position where the protrusion is inserted into the first through hole, the protrusion at least partially protrudes to the outside of the box body, thereby simplifying the mechanism structure set on the instrument box to prevent assembly with the drive box and reducing the product manufacturing cost.

[0026] In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the instrument box and surgical robot provided by the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 A schematic diagram of the docking of the instrument box and the drive box provided in the embodiment of the present application;

[0029] Figure 2 A schematic diagram of the structure of the instrument box provided in the embodiment of the present application;

[0030] Figure 3 A schematic diagram of the internal structure of the instrument box provided in the embodiment of the present application;

[0031] Figure 4 A schematic diagram of a linkage member of an instrument box provided in an embodiment of the present application in a first position;

[0032] Figure 5 A schematic diagram of a linkage member of an instrument box provided in an embodiment of the present application in a second position;

[0033] Figure 6 A schematic diagram of the position change process of the linkage member of the instrument box provided in the embodiment of the present application;

[0034] Figure 7 A schematic diagram of the structure of the linkage member provided in the embodiment of the present application;

[0035] Figure 8 A top view of a linkage member provided in an embodiment of the present application;

[0036] Fig. 9 A schematic diagram of a surgical robot provided in an embodiment of the present application.

[0037] Description of reference numerals:

[0038] 10- Transmission assembly;

[0039] 100-driving box; 110-rod;

[0040] 200-instrument box; 210-box body; 211-first through hole; 212-second through hole; 220-linkage member; 221-rotating shaft; 222-protruding portion; 223-abutting portion; 230-support member; 231-limiting portion; 232-limiting groove; 240-transmission shaft;

[0041] 300-Flexible joint assembly;

[0042] 20- robot body;

[0043] 30-Robotic arm. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0045] First, those skilled in the art should understand that these implementations are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0046] Secondly, it should be noted that in the description of the present application, terms such as "up", "down", "left", "right", "front", "back", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present application.

[0047] In addition, it should be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0048] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0049] Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, due to the limitation of the incision size, the difficulty of minimally invasive instruments in minimally invasive surgery is greatly increased, and the fatigue and trembling of doctors during long operations will be amplified, which has become a key factor restricting the development of minimally invasive surgical technology. With the development of robotics technology, minimally invasive surgical robot technology has emerged. Common minimally invasive surgical robots are composed of a doctor's console (master hand), a patient surgical platform (slave hand) and a display device. The surgeon operates the input device on the doctor's console and transmits the input to the patient surgical platform connected to the remotely operated surgical instrument, so as to perform precise surgical operations.

[0050] The surgical robot includes a movable console and a mechanical arm. The operator can control the mechanical arm to move through the console to perform surgical operations. A drive box is set at the telecentric structure position of the mechanical arm. The drive box and the instrument box are detachably connected. The end of the instrument box is set with surgical instruments. The drive box controls the surgical instruments connected to the instrument box to perform surgical operations. After a certain number of surgeries, the instrument box needs to be replaced and scrapped due to the wear of the instruments. In order to prevent the scrapped instrument box from being used again, it is necessary to prevent the scrapped instrument box from being assembled with the drive box. However, the current mechanism for preventing the assembly with the drive box is complex and costly.

[0051] In view of the above problems, the present application provides an instrument box and a surgical robot. The instrument box is applied to the surgical robot. A rotatable linkage part is arranged in the instrument box to serve as a blocking mechanism. The linkage part can correspond to the top rod on the drive box, so that when the instrument box needs to be scrapped after a certain number of uses, the linkage part is used to prevent the assembly of the drive box and the instrument box, thereby simplifying the mechanism structure set on the instrument box for preventing assembly with the drive box and reducing the product manufacturing cost.

[0052] To facilitate understanding, the application scenarios of the instrument box and surgical robot provided in the embodiments of the present application are first described below.

[0053] The surgical robot in the embodiment of the present application includes a master-hand robot and a slave-hand robot, wherein the operator controls the master-hand robot, and the slave-hand robot performs the surgical operation according to the control signal of the master-hand robot, and the transmission assembly provided in the embodiment of the present application is used in the slave-hand robot. It should be noted that the surgical robot provided in the embodiment of the present application is a minimally invasive surgical robot, which is used for performing minimally invasive surgical operations, and the embodiment of the present application will not be elaborated here.

[0054] Figure 1 A schematic diagram of the docking of the instrument box and the drive box provided in the embodiment of the present application, Figure 2 This is a schematic diagram of the structure of the instrument box provided in the embodiment of the present application. Figure 3 This is a schematic diagram of the internal structure of the instrument box provided in the embodiment of the present application. Figure 4 A schematic diagram of the linkage member of the instrument box provided in an embodiment of the present application in the first position, Figure 5 A schematic diagram of the linkage member of the instrument box provided in an embodiment of the present application in the second position, Figure 6 A schematic diagram of the position change process of the linkage parts of the instrument box provided in an embodiment of the present application.

[0055] like Figures 1 to 6As shown, the embodiment of the present application provides an instrument box 200, which can be connected with the drive box 100 to form a transmission assembly 10 in the joint of the surgical robot, and the drive box 100 and the instrument box 200 are detachably connected. When applied to the surgical robot, the drive box 100 can be connected to the mechanical arm of the surgical robot, and surgical instruments such as an endoscope and clamps can be connected to the instrument box 200.

[0056] Among them, the instrument box 200 includes a box body 210 and a linkage member 220 arranged in the box body 210, and the linkage member 220 is rotatably connected to the box body 210 through a rotating shaft 221. The surgical instrument at the end of the instrument box 200 will be lost during the operation, and the surgical instrument needs to be replaced after a certain number of times of use. In addition, a traction rope is set in the instrument box 200 to pull the end surgical instrument. After a certain number of times of use, the tension of the traction rope will also change, and the traction rope will also be lost. Since the surgical instrument is connected to the instrument box 200, the instrument box 200 needs to be replaced synchronously. Before the instrument box 200 reaches the number of times of use, the linkage member 220 will be inside the box body 210, and will not affect the assembly of the instrument box 200 and the drive box 100; and when the instrument box 200 reaches the number of times of use, the linkage member 220 can move relative to the box body 210 and at least partially extend to the outside of the box body 210, and then the linkage member 220 can play the effect of preventing the assembly of the instrument box 200 and the drive box 100.

[0057] In some embodiments, the side wall of the box body 210 is provided with a first through hole 211, and the end of the linkage member 220 facing the first through hole 211 is provided with a protrusion 222. Figure 1 The X direction of the expansion and contraction movement.

[0058] It can be understood that when the drive box 100 and the instrument box 200 are assembled and the push rod 110 extends toward the instrument box 200, the push rod 110 abuts against the linkage member 220, and the linkage member 220 rotates, so that the protrusion 222 is inserted into the first through hole 211, so that the protrusion 222 at least partially protrudes to the outside of the box body 210. At this time, the protrusion 222 protruding to the outside of the box body 210 can interfere with the assembly path of the drive box 100 relative to the instrument box 200.

[0059] Exemplarily, the drive box 100 and the instrument box 200 can be slid or plugged in and assembled along a preset direction. When the instrument box 200 moves to a preset position relative to the drive box 100, the clamping piece on one of the drive box 100 and the instrument box 200 can be clamped with the card slot on the other, so as to achieve the fixed connection between the drive box 100 and the instrument box 200. When the instrument box 200 reaches the upper limit of the number of uses and cannot be used again, since the protrusion 222 of the linkage member 220 protrudes to the outside of the box body 210, if the instrument box 200 and the drive box 100 are assembled, before the instrument box 200 reaches the preset position relative to the drive box 100, the shell of the drive box 100 will abut against the protrusion 222, and the protrusion 222 can prevent the instrument box 200 from continuing to assemble and move relative to the drive box 100, so that the clamping piece cannot be clamped with the card slot, thereby ensuring that the instrument box 200 after the loss cannot be used.

[0060] It should be noted that in the transmission assembly 10 provided in the embodiment of the present application, a rotatable linkage member 220 is provided in the instrument box 200 for correspondingly cooperating with the top rod 110 on the drive box 100, so that after the instrument box 200 is used a certain number of times and is scrapped, the drive box 100 and the instrument box 200 can be prevented from being assembled by the linkage member 220, thereby simplifying the mechanism structure set on the instrument box 200 for preventing assembly with the drive box 100 and reducing the product manufacturing cost.

[0061] The specific arrangement of the linkage member 220 in the instrument box 200 and the matching manner between the top rod 110 of the drive box 100 and the linkage member 220 are described in detail below.

[0062] Please continue to refer to Figures 1 to 6 In a possible implementation, the linkage member 220 has a first position and a second position relative to the box body 210. When the instrument box 200 and the drive box 100 can be assembled normally, the linkage member 220 is in the first position; when the instrument box 200 and the drive box 100 cannot be assembled, that is, the linkage member 220 plays a role in preventing the instrument box 200 and the drive box 100 from being assembled, the linkage member 220 is in the second position.

[0063] It is understandable that when the linkage member 220 is in the first position, the protrusion 222 is located inside the box body 210, and the protrusion 222 is misaligned with the first through hole 211. When the linkage member 220 is in the second position, the protrusion 222 is opposite to the first through hole 211, and extends through the first through hole 211 to the outside of the box body 210. When the instrument box 200 reaches the upper limit of the number of uses and the instrument box 200 needs to be scrapped, the push rod 110 on the drive box 100 can be extended relative to the drive box 100, and the linkage member 220 can be rotated from the first position to the second position through the push rod 110 to ensure that it can prevent the instrument box 200 from being assembled.

[0064] Figure 7 This is a schematic diagram of the structure of the linkage member in the transmission assembly provided in the embodiment of the present application. Figure 8 A top view of a linkage member in a transmission assembly provided in an embodiment of the present application.

[0065] Please refer to Figure 7 and Figure 8 , and combined with Figures 1 to 6 In some embodiments, the bottom wall of the box body 210 may be provided with a second through hole 212, and the end of the linkage member 220 away from the protrusion 222 is provided with an abutment portion 223, and the abutment portion 223 is opposite to the second through hole 212. When the drive box 100 and the instrument box 200 are assembled and the push rod 110 extends toward the instrument box 200, the push rod 110 passes through the second through hole 212 and abuts against the linkage member 220.

[0066] It is understandable that when the instrument box 200 needs to be scrapped, if the instrument box 200 is assembled with the drive box 100, since the push rod 110 extends from the drive box 100 toward the instrument box 200, before the instrument box 200 reaches a preset position relative to the drive box 100, the push rod 110 can first be inserted into the box body 210 through the second through hole 212 and as the instrument box 200 and the drive box 100 are assembled and moved, the push rod 110 pushes the linkage 220 to rotate to the second position, thereby ensuring that the push rod 110 can accurately abut against the linkage 220.

[0067] In some embodiments, the rotating shaft 221 can be arranged between the protrusion 222 and the abutment 223. When the top rod 110 pushes the abutment 223, the abutment 223 deflects upward relative to the bottom of the box body 210, and the protrusion 222 deflects downward at the other end of the linkage 220, thereby ensuring that the end where the protrusion 222 is located has sufficient movable travel to move to the first through hole 211.

[0068] Exemplarily, the protruding portion 222 and the abutting portion 223 can be integrally formed with the main structure of the linkage member 220 . The linkage member 220 can be made of metal, plastic or other materials, which is not specifically limited in the embodiments of the present application.

[0069] In some embodiments, the second through hole 212 may be located on a side of the box body 210 facing the driving box 100. The first through hole 211 and the second through hole 212 are located on different sides of the box body 210.

[0070] The protruding portion 222 may be a protruding columnar structure on the side of the linkage member 220. The abutting portion 223 may be a bent structure at the end of the linkage member 220. When the instrument box 200 needs to be scrapped, the instrument box 200 and the driving box 100 may be prevented from being misassembled.

[0071] Exemplarily, the size of the abutment portion 223 may be larger than the size of the second through hole 212 to prevent the abutment portion 223 from deflecting to the outside of the second through hole 212 and affecting the assembly of the instrument box 200 and the drive box 100 during normal use.

[0072] Exemplarily, the cross-sectional shape of the protrusion 222 may match the shape of the first through hole 211. The protrusion 222 may be a cylindrical structure, the first through hole 211 may be a circular hole connecting the inside and outside of the box body 210, and the diameter of the protrusion 222 may be equal to or slightly smaller than the diameter of the first through hole 211.

[0073] It should be noted that the end of the protrusion 222 has an arc-shaped guide surface, so that the smoothness of the protrusion 222 sliding into the first through hole 211 can be improved. In addition, the main structure of the protrusion 222 or the linkage member 220 can have a certain elasticity, so that when the protrusion 222 is misaligned with the first through hole 211, the protrusion 222 or the linkage member 220 is in a state of compression or elastic deformation to a certain extent, and when the protrusion 222 is opposite to the first through hole 211, the elastic force of the protrusion 222 or the linkage member 220 ensures that the protrusion 222 can be immediately and accurately inserted into the first through hole 211.

[0074] In a possible implementation, a support member 230 may be provided on the inner wall of the box body 210 . A limiting portion 231 is provided on the support member 230 . The rotating shaft 221 may be rotatably connected to the limiting portion 231 .

[0075] Exemplarily, there are at least two limiting portions 231 , and the at least two limiting portions 231 are arranged at intervals, and a limiting groove 232 is formed between adjacent limiting portions 231 , and the rotating shaft 221 can be rotatably arranged in the limiting groove 232 .

[0076] It is understandable that the support member 230 can be integrally formed with the bottom wall of the box body 210, or the support member 230 can be welded to the bottom wall of the box body 210, or the support member 230 can be connected to the bottom wall of the box body 210 by fasteners such as bolts and buckles. The limiting portion 231 can be arranged on the upper surface of the support member 230, and the rotating shaft 221 can be interference-fitted with the side walls of two adjacent limiting portions 231 to prevent the linkage member 220 from coming out of the limiting groove 232.

[0077] When assembling the linkage member 220, it is only necessary to insert the rotating shaft 221 of the linkage member 220 into the limiting groove 232 between the two limiting parts 231, and to misalign the protrusion 222 with the first through hole 211. This has good assembly convenience, can improve assembly efficiency, and reduce production costs.

[0078] For example, the limiting portion 231 may be provided with a limiting hole, in which the rotating shaft 221 may be rotatably inserted. Alternatively, the limiting portion 231 may be provided with a bearing, the limiting portion 231 may function as a bearing seat, and the rotating shaft 221 may be rotatably connected to the limiting portion 231 via the bearing.

[0079] In a possible implementation, a counter and a driving unit are provided in the driving box 100, and the push rod 110 is connected to the driving unit. The counter is configured to record the number of times the driving box 100 and the instrument box 200 are disassembled and assembled. The driving unit is configured to drive the push rod 110 to extend after the number of times of disassembly and assembly reaches a preset number.

[0080] The driving unit may be a motor, and the motor may cooperate with the push rod 110 through a transmission mechanism such as a gear rack to drive the push rod 110 to telescopically move, and the counter will record each time the instrument box 200 and the driving box 100 are assembled and used. When the number of times the instrument box 200 and the driving box 100 are disassembled and assembled reaches a preset number, the instrument box 200 needs to be replaced. At this time, the push rod 110 is extended by the driving unit, so that when the worn instrument box 200 is assembled on the driving box 100, the push rod 110 can push the linkage member 220 to move, and the linkage member 220 prevents the assembly between the instrument box 200 and the driving box 100, thereby accurately limiting the number of times the instrument box 200 is used.

[0081] In some embodiments, a driving shaft is provided in the driving box 100, and a transmission shaft 240 is provided in the instrument box 200. The driving shaft at least partially extends to the outside of the driving box 100, and the transmission shaft 240 at least partially extends to the outside of the instrument box 200; one of the driving shaft and the transmission shaft 240 is provided with a clamping protrusion, and the other is provided with a clamping groove. When the driving box 100 and the instrument box 200 are connected, the clamping protrusion is inserted into the clamping groove. In this way, the reliability of the driving box 100 and the instrument box 200 during normal docking and the stability of power transmission can be improved.

[0082] Exemplarily, the driving shaft and the transmission shaft 240 may be arranged in parallel, and the driving box 100 and the instrument box 200 may be plug-connected and assembled along the axial direction of the driving shaft and the transmission shaft 240 .

[0083] Fig. 9 A schematic diagram of a surgical robot provided in an embodiment of the present application.

[0084] Please refer to Fig. 9 The embodiment of the present application provides a surgical robot, including a driving box 100 and the instrument box 200 in the above technical solution, the driving box 100 and the instrument box 200 are detachably connected; the driving box 100 is provided with an extendable push rod 110; when the driving box 100 and the instrument box 200 are assembled and the push rod 110 is extended toward the instrument box 200, the push rod 110 abuts against the linkage member 220 of the instrument box 200, so that the linkage member 220 rotates to partially protrude to the outside of the instrument box 200, and interferes with the assembly path of the driving box 100 relative to the instrument box 200.

[0085] The surgical robot may include a main operating robot and a slave executing robot. The main operating robot may be operated to control the slave executing robot to perform surgery, wherein both the main operating robot and the slave executing robot may be movable on the ground.

[0086] Among them, the main operating robot can be provided with an operating platform and a display device, and the medical operator can control the slave execution robot through the operating platform, and can observe the end effector of the slave execution robot through the display device and display the operation screen.

[0087] In some embodiments, the slave execution robot in the surgical robot includes a robot body 20, a mechanical arm 30 and the transmission assembly 10 in the above technical solution, the mechanical arm 30 is connected to the robot body 20, and the end of the mechanical arm 30 is connected to the flexible joint assembly 300 through the transmission assembly 10. The transmission assembly 10 is connected to the mechanical arm 30, and the flexible joint assembly 300 is connected to the transmission assembly 10.

[0088] It should be noted that the surgical robot provided in the embodiment of the present application may include all the technical solutions and technical effects of the transmission assembly 10 of the above-mentioned technical solution, which will not be repeated here.

[0089] The embodiment of the present application provides an instrument box 200 and a surgical robot, wherein the instrument box 200 includes a box body 210 and a linkage member 220 arranged in the box body 210, and the linkage member 220 is rotatably connected to the box body 210 through a rotating shaft 221; a first through hole 211 is provided on the side wall of the box body 210, and a protrusion 222 is provided at one end of the linkage member 220 facing the first through hole 211, and an extendable push rod 110 is provided on the drive box 100; when the drive box 100 is assembled with the instrument box 200 and the push rod 110 is extended toward the instrument box 200, the push rod 110 abuts against the linkage member 220, and the linkage member 220 rotates to a position where the protrusion 222 is inserted into the first through hole 211, so that the protrusion 222 at least partially protrudes to the outside of the box body 210 and interferes with the assembly path of the drive box 100 relative to the instrument box 200, thereby simplifying the mechanism structure set on the instrument box 200 to prevent assembly with the drive box 100 and reducing the product manufacturing cost.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An instrument box, characterized in that: The instrument box comprises a box body and a linkage member arranged in the box body, wherein the linkage member is rotatably connected to the box body via a rotating shaft; a first through hole is arranged on a side wall of the box body, and a protrusion is arranged on one end of the linkage member facing the first through hole; When the linkage member rotates to a position where the protrusion is inserted into the first through hole, the protrusion at least partially protrudes to the outside of the box body.

2. The instrument box according to claim 1, characterized in that: The linkage member has a first position and a second position relative to the box body; wherein, when the linkage member is in the first position, the protrusion is located inside the box body, and the protrusion is staggered with the first through hole; when the linkage member is in the second position, the protrusion is opposite to the first through hole, and partially extends through the first through hole to the outside of the box body.

3. The instrument box according to claim 1, characterized in that: A second through hole is provided on the bottom wall of the box body, and an abutment portion is provided on one end of the linkage member away from the protruding portion, and the abutment portion is opposite to the second through hole.

4. The instrument box according to claim 3, characterized in that: The rotating shaft is arranged between the protruding portion and the abutting portion.

5. The instrument box according to claim 4, characterized in that: The first through hole and the second through hole are located on different sides of the box body.

6. The instrument box according to any one of claims 1 to 5, characterized in that: The end of the protruding portion has an arc-shaped guiding surface.

7. The instrument box according to any one of claims 1 to 5, characterized in that: A supporting member is disposed on the inner wall of the box body, a limiting portion is disposed on the supporting member, and the rotating shaft is rotatably connected to the limiting portion.

8. A surgical robot, characterized in that: It comprises a driving box and an instrument box as described in any one of claims 1 to 7, wherein the driving box is detachably connected to the instrument box; an extendable push rod is provided on the driving box; when the driving box is assembled with the instrument box and the push rod is extended toward the instrument box, the push rod abuts against a linkage member of the instrument box, so that the linkage member rotates to partially protrude to the outside of the instrument box, and interferes with the assembly path of the driving box relative to the instrument box.

9. The surgical robot according to claim 8, characterized in that: A driving shaft is provided in the driving box, and a transmission shaft is provided in the instrument box; the driving shaft at least partially extends to the outside of the driving box, and the transmission shaft at least partially extends to the outside of the instrument box; a snap-in protrusion is provided on one of the driving shaft and the transmission shaft, and a snap-in groove is provided on the other; when the driving box and the instrument box are connected, the snap-in protrusion is inserted into the snap-in groove.

10. The surgical robot according to claim 8, characterized in that: A counter and a driving unit are provided in the driving box, and the push rod is connected to the driving unit; the counter is configured to record the number of times the driving box and the instrument box are disassembled and assembled; The driving unit is configured to drive the ejector rod to extend after the number of assembly and disassembly operations reaches a preset number.

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