Joint device for actuated surgical instrument and surgical robot

Abstract

The utility model discloses a joint device for actuating a surgical instrument and a surgical robot. The joint device for actuating the surgical instrument comprises a driving part and a surgical part which are detachably assembled, the driving part comprises a fixed seat, a driving motor and a transmission assembly, the driving motor is arranged on the fixed seat, and the transmission assembly is assembled on an output shaft of the driving motor; the surgical part comprises an instrument base and a winding structure arranged on the instrument base, when the surgical part and the driving part are assembled, the instrument base and the fixing base are oppositely arranged, the winding structure is located at the position right opposite to the transmission assembly, and the winding structure abuts against the transmission assembly; a butt joint groove is formed in the side, facing the driving component, of the winding structure. A butt joint protrusion is arranged on the side, facing the surgical component, of the transmission assembly. And when the driving motor is in a zeroing state, the butt joint bulge is inserted into the butt joint groove. By arranging the butt joint protrusion and the butt joint groove, the driving component and the operation component can be in butt joint easily, and the assembling convenience can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a joining device for actuating surgical instruments and a surgical robot. Background Art

[0002] At present, the application of surgical robots in the medical field is becoming more and more widespread. Unlike traditional surgical procedures, surgeons can remotely control surgical robots to perform surgery, which is a well-deserved revolutionary innovation in the field of minimally invasive surgery in the world. Existing surgical robots are generally equipped with one or more robotic arms that can rotate and move at multiple angles, and surgical instruments are set at the free end of the robotic arms for surgery. Due to the special surgical occasions, the hygiene level of the environment is required to be high, so after each operation, the surgical instruments need to be disinfected or replaced. Therefore, it is necessary to design an assembly method in which the surgical instruments can be disassembled and coordinated with the robotic arms. Through the flexible disassembly and assembly of the surgical instruments and the robotic arms, the surgical instruments can be removed for sterilization and disinfection alone, or directly replaced with new surgical instruments, which is more convenient to operate.

[0003] However, during the assembly process of surgical instruments, it is not only necessary to fix them to the robotic arm, but also often necessary to connect the drive structure to drive the surgical instrument to perform surgery. The assembly of existing surgical instruments and drive structures requires very high assembly accuracy. Once misalignment occurs, it will affect the transmission effect of the surgical instrument, which may affect the working efficiency of the surgical robot and even make it impossible to perform surgery. In other words, the existing surgical instruments and robotic arms need to be docked with high precision, which is difficult to operate and inconvenient to assemble.

[0004] Therefore, the prior art still needs to be improved and developed. Utility Model Content

[0005] In view of the above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a coupling device for actuating surgical instruments and a surgical robot, aiming to solve the problem that the surgical instruments of the existing surgical robots require high precision and are inconvenient to assemble.

[0006] The technical solution of the utility model is as follows:

[0007] A coupling device for actuating a surgical instrument, comprising a detachably assembled driving component and a surgical component; the driving component comprises a fixed seat, a driving motor and a transmission assembly, the driving motor is arranged on the fixed seat, and the transmission assembly is assembled on the output shaft of the driving motor; the surgical component comprises an instrument seat and a winding structure arranged on the instrument seat, when the surgical component is assembled with the driving component, the instrument seat and the fixed seat are arranged opposite to each other, the winding structure is located at a position facing the transmission assembly, and the winding structure abuts against the transmission assembly; a docking groove is arranged on the winding structure on a side facing the driving component; a docking protrusion is arranged on the transmission assembly on a side facing the surgical component; when the driving motor is in a zeroing state, the docking protrusion is plugged into the docking groove.

[0008] The coupling device for actuating a surgical instrument, wherein the transmission assembly includes a first connecting member and a second connecting member, one end of the first connecting member is connected to the output end of the driving motor, and the other end is connected to the second connecting member; the side of the second connecting member facing away from the first connecting member is in contact with the winding structure, and the second connecting member is provided with the docking protrusion; the surface of the first connecting member facing the second connecting member is provided with an alignment protrusion; the surface of the second connecting member facing the first connecting member is provided with an alignment groove, and the alignment groove is adapted to the alignment protrusion.

[0009] The coupling device for actuating a surgical instrument, wherein two docking protrusions are provided, and the connection direction of the two docking protrusions is the first direction; two alignment grooves are provided, and the connection direction of the two alignment grooves is the second direction; the first direction is perpendicular to the second direction.

[0010] The coupling device for actuating surgical instruments, wherein a through hole is provided on the instrument seat; the winding structure includes a slide rod, a docking piece and a winding wheel, the slide rod is assembled in the through hole; the docking piece is nested on the slide rod, located at one end of the slide rod facing the transmission assembly, and the docking groove is provided on the surface of the docking piece abutting against the transmission assembly; the winding wheel is arranged on one end of the slide rod facing away from the transmission assembly.

[0011] The engaging device for actuating surgical instruments, wherein a positioning boss is arranged around the through hole on the instrument seat, and a bayonet is arranged on the positioning boss; a latch is arranged on the side wall of the docking piece, and the latch is adapted to the bayonet for locking the docking piece.

[0012] The coupling device for actuating a surgical instrument, wherein the bayonet is provided with two, the connection direction of the two bayonet is the third direction; the docking groove is provided with two, the connection direction of the two docking groove is the fourth direction, and the third direction is perpendicular to the fourth direction.

[0013] The coupling device for actuating a surgical instrument, wherein the winding structure includes a bearing and an elastic member sleeved on the sliding rod, two baffles are arranged on the sliding rod at intervals, and the bearing, the elastic member and the docking member are arranged in sequence between the two baffles along the axial direction of the sliding rod; the outer ring of the bearing is in contact with the side wall of the through hole; the elastic member is used to squeeze the docking member so that the docking member is reset to the positioning boss.

[0014] The engaging device for actuating a surgical instrument, wherein the elastic member comprises at least one of a spring, an elastic folding bracket, and an elastic rubber ring.

[0015] The engaging device for actuating a surgical instrument, wherein the driving motor comprises one or more of a servo motor, a stepper motor, a brushless motor, and a DC motor.

[0016] The present application also discloses a surgical robot, which includes a coupling device for actuating a surgical instrument as described above.

[0017] Compared with the prior art, the embodiment of the utility model has the following advantages:

[0018] The coupling device for actuating surgical instruments disclosed in the utility model includes a driving component and a surgical component. When in use, the driving component can be fixed on the mechanical arm of the surgical robot, and the surgical component is a detachable part that can be removed separately for disinfection. Specifically, the fixing seat is arranged on the free end of the surgical robot. During assembly, the operator holds or moves the surgical component through the mechanical arm to align it with the fixing seat, and stacks the instrument seat on the fixing seat so that the transmission assembly abuts against the winding structure. In particular, during the assembly process, when the docking groove on the winding structure and the docking protrusion on the transmission assembly are just engaged, the assembly is completed, and the driving motor can drive the transmission assembly to rotate, thereby rotating the winding structure.

[0019] It can be seen that the coupling device for actuating surgical instruments disclosed in the utility model is easy to operate during the docking process, does not require high precision during the pairing process, and can easily achieve the effects of accurate docking and efficient transmission, which is beneficial to improving the assembly convenience of the surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a schematic structural diagram of a joint device for actuating a surgical instrument in the utility model;

[0022] Figure 2 It is another structural schematic diagram of the engaging device for actuating the surgical instrument in the utility model;

[0023] Figure 3 It is a structural explosion diagram of the engaging device of the actuated surgical instrument in the present invention.

[0024] Among them, 100, driving component; 110, fixing seat; 120, driving motor; 130, transmission assembly; 131, first connecting member; 1311, alignment protrusion; 132, second connecting member; 1321, docking protrusion; 1322, alignment groove; 200, surgical component; 210, instrument seat; 211, through hole; 212, positioning boss; 2121, bayonet; 220, winding structure; 221, sliding rod; 222, docking member; 2221, docking groove; 2222, bayonet; 223, winding wheel; 224, bearing; 225, elastic member; 226, baffle. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solution of the utility model, the following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] Existing surgical robots generally include a robotic arm and a surgical instrument disposed at the free end of the robotic arm. The operator adjusts the position of the surgical instrument by controlling the rotation of the robotic arm and then performs the operation. During the operation, the surgical instrument is generally moved by a rope drive. A driving structure is provided on the robotic arm to drive the winding parts in the surgical instrument to rotate and drive the traction rope to retract, thereby achieving a control effect. After the operation, cleaning, disinfection and sterilization are required before another operation can be performed.

[0027] However, the disassembly and assembly process of existing surgical robots is relatively complicated and requires high precision, so the sterilization time is long, which affects the efficiency of the surgical robot.

[0028] See also Figure 1 and Figure 3 In one embodiment of the utility model application, a coupling device for actuating a surgical instrument is disclosed, wherein the coupling device comprises a detachably assembled driving component 100 and a surgical component 200; the driving component 100 comprises a fixing seat 110, a driving motor 120 and a transmission assembly 130, the driving motor 120 is arranged on the fixing seat 110, and the transmission assembly 130 is assembled on the output shaft of the driving motor 120; the surgical component 200 comprises an instrument seat 210 and a winding structure 220 arranged on the instrument seat 210, when the surgical component 200 is assembled with the instrument seat 210, the winding structure 220 is assembled with the surgical component 200. When the driving component 100 is assembled, the instrument seat 210 is arranged opposite to the fixing seat 110, the winding structure 220 is located at a position directly opposite to the transmission assembly 130, and the winding structure 220 is abutted against the transmission assembly 130; a docking groove 2221 is provided on the winding structure 220 on a side facing the driving component 100; a docking protrusion 1321 is provided on the transmission assembly 130 on a side facing the surgical component 200; when the driving motor 120 is in a zeroing state, the docking protrusion 1321 is plugged into the docking groove 2221.

[0029] The engaging device for actuating the surgical instrument disclosed in this embodiment includes a driving component 100 and a surgical component 200. When in use, the driving component 100 can be fixed on the mechanical arm of the surgical robot. The surgical component 200 is integrated with the catheter, traction rope, winding parts and other parts for intervening in the human body, and is used for minimally invasive surgery. The surgical component 200 is a detachable part and can be removed separately for disinfection. Specifically, the fixed seat 110 is set on the free end of the surgical robot. During assembly, the operator holds or moves the surgical component 200 through the mechanical arm to align with the fixed seat 110, and stacks the instrument seat 210 on the fixed seat 110, so that the transmission assembly 130 abuts against the winding structure 220.

[0030] Specifically, during the assembly process, the winding structure 220 abuts against the transmission assembly 130, but when the alignment angle is not correct, there is no transmission effect between the two. Therefore, the operator needs to control the drive motor 120 to return to zero, at which time the docking groove 2221 on the winding structure 220 is aligned with the docking protrusion 1321 on the transmission assembly 130, and the drive motor 120 can drive the transmission assembly 130 to rotate, thereby rotating the winding structure 220 to complete the assembly action.

[0031] It can be seen that the coupling device for actuating surgical instruments disclosed in this embodiment is easy to operate during the docking process. When the assembly is completed, the winding structure 220 and the transmission assembly 130 have an obvious sense of frustration; in other words, when the alignment is accurate, the winding structure 220 will move a distance toward the transmission assembly 130, and the operator can hear the sound of collision during the assembly process, or feel it through touch, and can make a clear judgment. It can be seen that the coupling device disclosed in this embodiment does not require high precision during the pairing process, and can easily achieve the effect of accurate docking and efficient transmission, which is conducive to improving the assembly convenience of the surgical robot.

[0032] like Figure 2 and Figure 3 As shown, as an implementation of this embodiment, the transmission assembly 130 is disclosed to include a first connecting member 131 and a second connecting member 132, one end of the first connecting member 131 is connected to the output end of the driving motor 120, and the other end is connected to the second connecting member 132; the side of the second connecting member 132 facing away from the first connecting member 131 is in contact with the winding structure 220, and the second connecting member 132 is provided with the docking protrusion 1321; the surface of the first connecting member 131 facing the second connecting member 132 is provided with a positioning protrusion 1311; the surface of the second connecting member 132 facing the first connecting member 131 is provided with an alignment groove 1322, and the alignment groove 1322 is adapted to the alignment protrusion 1311.

[0033] The transmission assembly 130 in this embodiment is a cross coupling, which includes two parts, namely, a first connecting member 131 and a second connecting member 132. A slot can be provided on the first connecting member 131 to be plugged into the output end of the driving motor 120, and the first connecting member 131 is driven to rotate by the driving motor 120. Specifically, an alignment groove 1322 and an alignment protrusion 1311 are provided between the first connecting member 131 and the second connecting member 132 so that the first connecting member 131 and the second connecting member 132 can slide along the lateral direction of the alignment groove 1322, and keep the first connecting member 131 and the second connecting member 132 rotating at the same angular velocity, eliminating the influence of radial and axial deviations, thereby maintaining a good transmission effect between the driving component 100 and the surgical component 200.

[0034] It should be noted that the types of transmission components 130 are only exemplified in this embodiment, but the protection scope of the present invention is not limited to this. As long as other types of transmission components 130 can achieve the technical effects disclosed in this application, they should also be within the scope of protection of this application as equivalent replacements for the concept of the present invention.

[0035] like Figure 3As shown, as another implementation of this embodiment, it is disclosed that two docking protrusions 1321 are provided, and the connection direction of the two docking protrusions 1321 is the first direction; two alignment grooves 1322 are provided, and the connection direction of the two alignment grooves 1322 is the second direction; the first direction is perpendicular to the second direction. In this embodiment, the first direction is perpendicular to the second direction to limit the sliding of the second connecting member 132. Specifically, when the second connecting member 132 slides radially along the first direction, the second connecting member 132 is restricted in the second direction and cannot move, and can keep rotating synchronously with the first connecting member 131 without sliding; similarly, when the second connecting member 132 slides radially along the second direction, the second connecting member 132 is restricted in the first direction and can keep rotating synchronously with the winding structure 220.

[0036] In general, two docking protrusions 1321 and two alignment grooves 1322 are provided, and the connecting direction of the two is set perpendicularly, in order to improve the connection stability between the cross coupling and the winding structure 220, avoid relative sliding deviation between the second connecting member 132 and the first connecting member 131 and the winding structure 220 at the same time, maintain efficient transmission, and thus ensure high-precision control during the operation of the surgical robot.

[0037] For example Figure 3 As shown, as another implementation of this embodiment, it is disclosed that the instrument seat 210 is provided with a through hole 211; the winding structure 220 includes a slide bar 221, a docking piece 222 and a winding wheel 223, and the slide bar 221 is assembled in the through hole 211; the docking piece 222 is nested on the slide bar 221, located at the end of the slide bar 221 facing the transmission assembly 130, and the docking groove 2221 is provided on the surface of the docking piece 222 abutting against the transmission assembly 130; the winding wheel 223 is arranged on the end of the slide bar 221 away from the transmission assembly 130.

[0038] In this embodiment, after the driving component 100 is aligned with the surgical component 200, when the surgical component 200 is stacked on the driving component 100, the transmission assembly 130 passes through the through hole 211 to the side of the instrument seat 210 away from the fixed seat 110, and abuts against the docking member 222. The docking member 222 is set on the slide bar 221, rotates coaxially with the slide bar 221, and drives the winding wheel 223 at the other end of the slide bar 221 to rotate. After the surgical component 200 is removed, the docking member 222 is stuck in the through hole 211, so that the slide bar 221 and the winding wheel 223 remain fixed and will not shake inside the surgical component 200, so as to be installed and used again.

[0039] like Figure 2 and Figure 3As shown, as another implementation of this embodiment, a positioning boss 212 is provided on the instrument seat 210 around the through hole 211, and a bayonet 2121 is provided on the positioning boss 212; a clamping protrusion 2222 is provided on the side wall of the docking member 222, and the clamping protrusion 2222 is adapted to the bayonet 2121 for locking the docking member 222. The positioning boss 212 is provided, firstly, to surround the through hole 211 and contact the docking member 222, further increase the support for the docking member 222, and maintain the stability of the winding structure 220. Secondly, the bayonet 2121 is provided on the positioning boss 212 and assembled with the clamping protrusion 2222 on the docking member 222, so as to achieve a locking effect. When the surgical component 200 is removed, the clamping protrusion 2222 of the docking member 222 is clamped in the bayonet 2121, and the winding structure 220 will not rotate accidentally during the movement and sterilization process, and the docking angle is maintained, which is convenient for re-installation and use. When the surgical component 200 is assembled, the transmission assembly 130 passes through the through hole 211 and lifts up the docking piece 222, so that the protrusion 2222 can be separated from the bayonet 2121, and the docking piece 222, the slide bar 221 and the winding wheel 223 can rotate freely.

[0040] Specifically, as another implementation of this embodiment, it is disclosed that the bayonet 2121 is provided with two, and the connection direction of the two bayonet 2121 is the third direction; the docking groove 2221 is provided with two, and the connection direction of the two docking grooves 2221 is the fourth direction, and the third direction is perpendicular to the fourth direction. In this embodiment, when the convex 2222 of the docking member 222 is stuck in the bayonet 2121, the docking groove 2221 is engaged with the docking protrusion 1321, which is the state of successful assembly. At the beginning of the operation, if the driving component 100 is not zeroed, the docking groove 2221 and the docking protrusion 1321 cannot be engaged, and transmission cannot be achieved; in addition, at the end of the operation, if the driving component 100 is not zeroed, the docking member 222 does not return to the initial angle, and the convex 2222 cannot be engaged with the bayonet 2121, and it cannot be disassembled at this time. Only after the driving component 100 is zeroed, can the disassembly action be completed.

[0041] That is to say, in this embodiment, by setting the connecting direction of the two bayonet holes 2121 and the two docking grooves 2221 to be perpendicular, the driving component 100 must be reset to zero when the surgical component 200 is disassembled and installed before successful assembly. On the contrary, when the assembly is completed, the driving component 100 has been reset to zero and can start to drive the docking member 222 to rotate. Therefore, the safety and convenience of assembling the surgical component 200 and the driving component 100 are improved, and the assembly accuracy is guaranteed, which is conducive to achieving rapid assembly.

[0042] For example Figure 3As shown, as another implementation of this embodiment, the winding structure 220 is disclosed to include a bearing 224 and an elastic member 225 sleeved on the slide bar 221, and two baffles 226 are arranged on the slide bar 221 at intervals, and the bearing 224, the elastic member 225 and the docking member 222 are sequentially arranged between the two baffles 226 along the axial direction of the slide bar 221; the two baffles 226 are used to support the bearing 224, the elastic member 225 and the docking member 222 to prevent these parts from falling off the slide bar 221. The outer ring of the bearing 224 is in contact with the side wall of the through hole 211; the elastic member 225 is used to squeeze the docking member 222 to reset the docking member 222 to the positioning boss 212.

[0043] The slide bar 221 in this embodiment is to be nested with the winding wheel 223 and the docking piece 222, so the radial width is relatively small, smaller than the aperture of the through hole 211, so that the docking piece 222 can be easily inserted into the through hole 211. The bearing 224 is provided to provide support for the slide bar 221, to avoid deformation of the slide bar 221 during rotation, and to maintain the structural stability of the winding structure 220.

[0044] In this embodiment, the elastic member 225 is provided to facilitate the resetting of the docking member 222. During the operation, the driving component 100 lifts the docking member 222, compresses the elastic member 225, and causes the locking protrusion 2222 to disengage from the bayonet 2121, so as to facilitate rotation; after the operation, when the docking member 222 rotates to the position where the locking protrusion 2222 and the bayonet 2121 are aligned, the automatic rebound force of the elastic member 225 causes the docking member 222 to automatically retract, and the locking protrusion 2222 and the bayonet 2121 are engaged again, and at this time, the driving component 100 can be separated smoothly, achieving the effect of safe and efficient disassembly and assembly.

[0045] Specifically, as another implementation of this embodiment, the elastic member 225 includes at least one of a spring, an elastic folding bracket, and an elastic rubber ring. It should be noted that this embodiment only exemplifies the types of the elastic member 225, but the protection scope of the utility model is not limited thereto. As long as other types of elastic members 225 can achieve the technical effects disclosed in this application, they should also be within the protection scope of this application as equivalent replacements of the concept of the utility model.

[0046] Specifically, as another implementation of this embodiment, it is disclosed that the drive motor 120 includes one or more of a servo motor, a stepper motor, a brushless motor, and a DC motor.

[0047] As another embodiment of the present application, a surgical robot is disclosed, which includes a coupling device for actuating a surgical instrument as described above.

[0048] In summary, the present application discloses a coupling device for actuating a surgical instrument, which includes a detachably assembled driving component 100 and a surgical component 200; the driving component 100 includes a fixing seat 110, a driving motor 120 and a transmission assembly 130, the driving motor 120 is arranged on the fixing seat 110, and the transmission assembly 130 is assembled on the output shaft of the driving motor 120; the surgical component 200 includes an instrument seat 210 and a winding structure 220 arranged on the instrument seat 210, when the surgical component 200 is assembled with the driving component 100, the driving motor 120 and the transmission assembly 130 are assembled with the output shaft of the driving motor 120; the surgical component 200 includes an instrument seat 210 and a winding structure 220 arranged on the instrument seat 210. When the component 100 is assembled, the instrument seat 210 is arranged opposite to the fixing seat 110, the winding structure 220 is located at a position facing the transmission assembly 130, and the winding structure 220 is in contact with the transmission assembly 130; a docking groove 2221 is arranged on the winding structure 220 on the side facing the driving component 100; a docking protrusion 1321 is arranged on the side facing the surgical component 200; when the driving motor 120 is in a zeroing state, the docking protrusion 1321 is plugged into the docking groove 2221. The engaging device for actuating surgical instruments disclosed in this embodiment includes a driving component 100 and a surgical component 200. When in use, the driving component 100 can be fixed on the mechanical arm of the surgical robot, and the surgical component 200 is a detachable part that can be removed separately for disinfection. Specifically, the fixing seat 110 is arranged on the free end of the surgical robot. During assembly, the operator holds or moves the surgical component 200 by a mechanical arm to align with the fixing seat 110, and then stacks the instrument seat 210 on the fixing seat 110, so that the transmission assembly 130 abuts against the winding structure 220. In particular, during the assembly process, when the docking groove 2221 on the winding structure 220 and the docking protrusion 1321 on the transmission assembly 130 are just engaged, the assembly is completed, and the driving motor 120 can drive the transmission assembly 130 to rotate, thereby rotating the winding structure 220. It can be seen that the coupling device for actuating surgical instruments disclosed in this embodiment is easy to operate during the docking process, and the accuracy requirements for the pairing process are not high. It is easy to achieve the effect of accurate docking and efficient transmission, which is conducive to improving the assembly convenience of the surgical robot.

[0049] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0050] It should be noted that the present invention takes the coupling device for actuating surgical instruments as an example to introduce the specific structure and working principle of the present invention, but the application of the present invention is not limited to the coupling device for actuating surgical instruments, and can also be applied to the production and use of other similar workpieces.

[0051] It should be understood that the present invention is not limited to the precise structure described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A coupling device for an actuated surgical instrument, characterized in that It comprises a detachably assembled driving component and a surgical component; the driving component comprises a fixing seat, a driving motor and a transmission assembly, the driving motor is arranged on the fixing seat, and the transmission assembly is assembled on the output shaft of the driving motor; The surgical component includes an instrument seat and a winding structure arranged on the instrument seat. When the surgical component is assembled with the driving component, the instrument seat is arranged opposite to the fixing seat, the winding structure is located at a position facing the transmission component, and the winding structure abuts against the transmission component. Among them, a docking groove is provided on the winding structure on the side facing the driving component; a docking protrusion is provided on the transmission assembly on the side facing the surgical component; when the driving motor is in a zero state, the docking protrusion is plugged into the docking groove.

2. The engaging device for an actuated surgical instrument according to claim 1, characterized in that: The transmission assembly comprises a first connecting member and a second connecting member, one end of the first connecting member is connected to the output end of the driving motor, and the other end is connected to the second connecting member; a side of the second connecting member facing away from the first connecting member is in contact with the winding structure, and the second connecting member is provided with the docking protrusion; Wherein, a positioning protrusion is arranged on the surface of the first connecting member facing the second connecting member; and a positioning groove is arranged on the surface of the second connecting member facing the first connecting member, and the positioning groove is matched with the positioning protrusion.

3. The engaging device for an actuated surgical instrument according to claim 2, characterized in that: There are two docking protrusions, and the connection direction of the two docking protrusions is the first direction; there are two alignment grooves, and the connection direction of the two alignment grooves is the second direction; the first direction is perpendicular to the second direction.

4. The engaging device for an actuated surgical instrument according to claim 1, characterized in that: The instrument seat is provided with a through hole; the winding structure comprises: A slide bar, mounted in the through hole; A docking member, nested on the slide bar, located at one end of the slide bar facing the transmission assembly, and the docking groove is provided on the surface of the docking member abutting against the transmission assembly; The winding wheel is arranged on one end of the slide bar away from the transmission assembly.

5. The engaging device for an actuated surgical instrument according to claim 4, characterized in that: The instrument seat is provided with a positioning boss surrounding the through hole, and the positioning boss is provided with a bayonet; A locking protrusion is arranged on the side wall of the docking piece, and the locking protrusion is matched with the bayonet to lock the docking piece.

6. The engaging device for an actuated surgical instrument according to claim 5, characterized in that: There are two bayonet holes, and the connection direction of the two bayonet holes is the third direction; there are two docking grooves, and the connection direction of the two docking grooves is the fourth direction, and the third direction is perpendicular to the fourth direction.

7. The engaging device for an actuated surgical instrument according to claim 5, characterized in that: The winding structure includes a bearing and an elastic member mounted on the sliding rod, two baffles are arranged on the sliding rod at intervals, and the bearing, the elastic member and the docking member are arranged in sequence between the two baffles along the axial direction of the sliding rod; the outer ring of the bearing is in contact with the side wall of the through hole; the elastic member is used to squeeze the docking member so that the docking member is reset to the positioning boss.

8. The engaging device for an actuated surgical instrument according to claim 7, characterized in that: The elastic member includes at least one of a spring, an elastic folding bracket, and an elastic rubber ring.

9. The engaging device for an actuated surgical instrument according to claim 1, characterized in that: The driving motor includes one or more of a servo motor, a stepper motor, a brushless motor, and a DC motor.

10. A surgical robot, characterized in that: An engagement device for an actuated surgical instrument comprising the method of any one of claims 1 to 9.

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