Transmission assembly of robot surgical instrument and surgical instrument

Abstract

The utility model is suitable for the technical field of medical instruments, and provides a transmission assembly of a robot surgical instrument and the surgical instrument. The transmission assembly of the robot surgical instrument comprises a transmission shaft, a butt joint piece and an elastic piece. In the rapid clamping movement process of the working end of the surgical instrument, the elastic piece can generate a certain amount of elastic deformation, and the torque at the butt joint piece is transmitted to the transmission shaft, so that the transmission shaft is kept in a rotating state; after an object is clamped by the working end of the surgical instrument, the transmission shaft stops rotating, but the power unit cannot stop immediately due to the overshoot effect of the butt joint piece during speed reduction of the power unit. At the moment, buffering can be conducted through further elastic deformation of the elastic piece, the situation that torque generated by the power unit due to the overshoot effect continues to be transmitted to the working end of the surgical instrument through the transmission shaft is avoided, and then the situation that the surgical instrument is too large in clamping force or loosened and damaged is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical instruments, and in particular relates to a transmission component of a robot surgical instrument and the surgical instrument. Background Art

[0002] Surgical instruments are the executing parts for surgical operations, and they are usually installed at the end of the mechanical arm of a surgical robot. Most surgical instruments are driven by ropes. The working principle is that a driving structure consisting of a winding assembly and a power unit is arranged at the proximal part of the surgical instrument, a working part is arranged at the distal part of the surgical instrument, and a driving rope is arranged between the winding assembly and the working part. One end of the driving rope is wound on the winding assembly, and the other end is connected to the working part. The winding assembly is driven to rotate by the power unit to achieve the purpose of driving the working part to move. However, due to the overshoot effect of the power unit of the system during acceleration and deceleration, the surgical instrument will have the problem of excessive clamping when performing rapid clamping. In severe cases, it will also cause damage to the clamped tissue and loosening and damage to the instrument. Utility Model Content

[0003] The utility model aims to provide a transmission assembly of a robotic surgical instrument and a surgical instrument, aiming to solve the technical problem of excessive clamping generated by the surgical instrument in the prior art during rapid clamping.

[0004] The utility model is implemented as follows: in a first aspect, a transmission assembly of a robotic surgical instrument is provided, comprising a transmission shaft, a docking piece and an elastic piece, wherein the docking piece has a first docking end and a second docking end, the first docking end is connected to a power unit, and the second docking end is connected to the transmission shaft, so that the docking piece drives the transmission shaft to rotate under the drive of the power unit, the elastic piece is located between the second docking end and the transmission shaft, the elastic piece is transmission-connected to the second docking end and the transmission shaft, and the docking piece transmits torque to the transmission shaft through the elastic piece to drive the transmission shaft to rotate.

[0005] In an optional embodiment, the elastic member is arranged along a preset trajectory, and the preset trajectory is perpendicular to the direction of the rotation axis of the transmission shaft.

[0006] In an optional embodiment, the preset trajectory includes a straight trajectory or an arc trajectory arranged around the rotation axis of the transmission shaft.

[0007] In an optional embodiment, a connecting component is provided at one end of the transmission shaft, the second butt end is in driving connection with the connecting component, and the elastic member is respectively abutted or connected with the connecting component and the second butt end.

[0008] In an optional embodiment, a first groove is provided on the end face of the connecting component close to the second docking end, the first groove has two support walls extending along the preset trajectory and arranged at intervals, and a support protrusion is provided at the second docking end, and when the connecting component is transmission-connected with the second docking end, at least part of the support protrusion extends into the first groove, and the elastic member is arranged between the support wall and the support protrusion.

[0009] In an optional embodiment, a second groove is provided on the end surface of the second butt end close to the connecting component. When the connecting component is transmission-connected with the second butt end, the position of the second groove is aligned with the position of the first groove, a part of the elastic member is located in the first groove, and another part of the elastic member is located in the second groove.

[0010] In an optional embodiment, there are multiple elastic members, and the multiple elastic members are spaced and evenly distributed around the rotation axis of the transmission shaft, and the number of the first grooves and the number of the supporting protrusions are both adapted to the number of the elastic members.

[0011] In an optional embodiment, a mounting component is further provided between the transmission shaft and the docking member, and the docking member is rotatably connected to the transmission shaft via the mounting component.

[0012] In an optional embodiment, the mounting component is a bolt, a stepped through hole is provided at the center of the docking piece, a threaded hole is provided at the center of the connecting component, the diameter of the stepped through hole decreases from the first docking end to the second docking end, the bolt passes through the stepped through hole and is fixedly connected to the threaded hole, and the docking piece can rotate relative to the bolt.

[0013] In a second aspect, a surgical instrument is provided, comprising an instrument box, an axis assembly extending from the instrument box, and an end effector connected to the distal end of the axis assembly, wherein the instrument box comprises at least one transmission assembly of the above-mentioned robotic surgical instrument.

[0014] The first aspect of the utility model has the following technical effects relative to the prior art: the first butt end of the butt joint is connected to the power unit; the second butt end of the butt joint is connected to the transmission shaft. An elastic member is also arranged between the second butt end and the transmission shaft, and the elastic member is transmission-connected to the second butt end and the transmission shaft, and the driving torque on the butt joint is transmitted to the transmission shaft through the elastic member, so that the butt joint drives the transmission shaft to rotate under the drive of the power unit, and then the driving rope is controlled by the rotation of the transmission shaft. Compared with the transmission assembly in the prior art, the elastic member is arranged between the transmission shaft and the butt joint, and during the movement of the rapid clamping of the working end of the surgical instrument, the elastic member will undergo a certain amount of elastic deformation, and transmit the torque at the butt joint to the transmission shaft, so that the transmission shaft remains in a rotating state, and of course the elastic member can also be in a compressed state in the initial state, so that the transmission shaft can be directly driven to rotate when the butt joint rotates along the working direction; when the working end of the surgical instrument clamps the object, the transmission shaft will stop rotating, but the butt joint will not stop immediately due to the overshoot effect of the power unit when decelerating. At this time, the elastic part can undergo further elastic deformation to provide buffering, preventing the torque generated by the overshoot effect of the power unit from continuing to be transmitted to the working end of the surgical instrument through the transmission shaft, thereby preventing the surgical instrument from having excessive clamping force or loosening and damage, making the use of the surgical instrument safer and more reliable.

[0015] It can be understood that the beneficial effects of the second aspect mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments of the utility model or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a partial structural schematic diagram of a surgical instrument provided by an embodiment of the utility model;

[0018] Figure 2 It is a schematic diagram of the exploded structure of the transmission assembly of the robotic surgical instrument provided by an embodiment of the utility model;

[0019] Figure 3 It is a partial cross-sectional structural schematic diagram of a transmission assembly of a robotic surgical instrument provided by an embodiment of the utility model;

[0020] Figure 4 It is a structural schematic diagram of the docking piece used in the embodiment of the utility model.

[0021] Description of reference numerals:

[0022] 100. Surgical instruments;

[0023] 10. Transmission assembly; 20. Driving rope; 30. Working end;

[0024] 11. Transmission shaft; 12. Docking member; 121. First docking end; 122. Second docking end; 13. Elastic member; 14. Mounting member; 15. Connecting member; 16. First groove; 17. Second groove; 18. Support protrusion. DETAILED DESCRIPTION

[0025] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0026] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0028] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like 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 a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0030] Please refer to Figures 1 to 4 As shown, in an embodiment of the utility model, a transmission assembly of a robotic surgical instrument is provided, including a transmission shaft 11, a docking piece 12 and an elastic piece 13, the docking piece 12 having a first docking end 121 and a second docking end 122, the first docking end 121 being connected to a power unit, the second docking end 122 being connected to the transmission shaft 11, so that the docking piece 12 drives the transmission shaft 11 to rotate under the drive of the power unit, the elastic piece 13 is located between the second docking end 122 and the transmission shaft 11, the elastic piece 13 is transmission-connected to the second docking end 122 and the transmission shaft 11, the docking piece 12 transmits torque to the transmission shaft 11 through the elastic piece 13, so as to drive the transmission shaft 11 to rotate.

[0031] Specifically, the transmission shaft 11 refers to a component with a certain length, and the drive rope 20 is wound and fixedly connected to the transmission shaft 11 to control the movement of the drive rope 20 through the transmission shaft 11, thereby achieving the purpose of controlling the working end 30 of the actuator. The shape of the transmission shaft 11 can be columnar, rod-shaped, etc.; the shape of the transmission shaft 11 can also be a combination of multiple shapes. The docking piece 12 refers to a component with a certain volume, and the shape of the docking piece 12 can be columnar, rod-shaped, or disc-shaped, etc.; the docking piece 12 can also be a composite shape composed of multiple shapes. The first docking end 121 and the second docking end 122 can refer to two oppositely arranged ends of the docking piece 12. By connecting the first docking end 121 with the power unit and the second docking end 122 with the transmission shaft 11, the torque of the power unit can be transmitted to the transmission shaft 11 through the docking piece 12. The elastic member 13 refers to a component with elasticity itself, and the elastic member 13 can be a spring, a rubber member, or other components that can undergo elastic deformation, wherein the spring can also be a compression spring, a tension spring, or a torsion spring. The elastic member 13 and the second docking end 122 and the transmission shaft 11 are all in transmission connection, which means that the elastic member 13 and the second docking end 122 and the transmission shaft 11 can be directly connected, for example, by means of a clamping connection, a fastener, etc.; the elastic member 13 and the second docking end 122 and the transmission shaft 11 can also be connected by abutment, as long as the connection method can play the role of transmitting the driving torque. For example, when the elastic member 13 is a tension spring, the two ends of the elastic member 13 and the second docking end 122 and the transmission shaft 11 can be directly connected by means of a clamping connection, a fastener, etc.; when the elastic member 13 is a compression spring, a torsion spring or a rubber member, the two ends of the elastic member 13 and the second docking end 122 and the transmission shaft 11 can be directly connected by means of a clamping connection, a fastener, etc., and the two ends of the elastic member 13 and the second docking end 122 and the transmission shaft 11 can also be connected by abutment.

[0032] The transmission assembly of the robotic surgical instrument provided by the embodiment of the utility model is provided by connecting the first docking end 121 of the docking member 12 with the power unit; the second docking end 122 of the docking member 12 is connected with the transmission shaft 11. An elastic member 13 is also provided between the second docking end 122 and the transmission shaft 11, and the elastic member 13 is transmission-connected with the second docking end 122 and the transmission shaft 11, and the driving torque on the docking member 12 can be transmitted to the transmission shaft 11 through the elastic member 13, so that the docking member 12 drives the transmission shaft 11 to rotate under the drive of the power unit, and then the driving rope is controlled by the rotation of the transmission shaft 11. Compared with the transmission assembly in the prior art, by providing the elastic member 13 between the transmission shaft 11 and the docking member 12, during the rapid clamping movement of the working end of the surgical instrument, the elastic member 13 will undergo a certain amount of elastic deformation, and transmit the torque at the docking member 12 to the transmission shaft 11, so that the transmission shaft 11 remains in a rotating state. Of course, the elastic member 13 can also be in a compressed state in the initial state, so that when the docking member 12 rotates in the working direction, it can directly drive the transmission shaft 11 to rotate; when the working end of the surgical instrument clamps the object, the transmission shaft 11 will stop rotating, but the docking member 12 will not stop immediately due to the overshoot effect of the power unit when decelerating. At this time, the elastic member 13 can be further elastically deformed to buffer, so as to prevent the torque generated by the overshoot effect of the power unit from continuing to be transmitted to the working end of the surgical instrument through the transmission shaft 11, thereby preventing the surgical instrument from having excessive clamping force or loosening and damage, making the use of the entire surgical instrument safer and more reliable.

[0033] In one embodiment, see Figure 2 , the elastic member 13 is arranged along a preset trajectory, and the preset trajectory is perpendicular to the direction of the rotation axis of the transmission shaft 11. Specifically, the preset trajectory refers to a line with a certain length, and the preset trajectory can be a straight line, a curve, etc.; the preset trajectory can also be a combination of a straight line and a curve, and the preset trajectory can be located in a plane perpendicular to the rotation axis of the transmission shaft 11, so that no matter how the preset trajectory extends in the plane, it will remain perpendicular to the rotation axis of the transmission shaft 11. By arranging the elastic member 13 as a whole along a preset trajectory perpendicular to the rotation axis of the transmission shaft 11, the elastic member 13 will also deform along the preset trajectory when subjected to force, so that when a torque is applied to the elastic member 13 when the docking member 12 rotates, the deformation of the elastic member 13 can be smoother.

[0034] Among them, Figure 2 As shown, when the elastic member 13 is arranged along a preset track, the elastic member 13 can be a compression spring, a tension spring or a rubber member with a certain length, etc., so as to facilitate the arrangement of the elastic member 13 as a whole along the preset track.

[0035] In one embodiment, see Figure 2 , the preset trajectory includes a straight trajectory or a circular arc trajectory set around the rotation axis of the transmission shaft 11. Specifically, the straight trajectory means that the preset trajectory is a straight line, and the circular arc trajectory means that the preset trajectory is an arc; the center of the circular arc trajectory can be located on the rotation axis of the transmission shaft 11. When the length of the elastic member 13 is short, the preset trajectory can adopt a straight trajectory. The use of a straight trajectory can make the elastic member 13 elastically deform along a straight line after being subjected to force, so that when the elastic member 13 is deformed, the parts of the elastic member 13 except the two ends may not contact the transmission shaft 11 or the docking member 12, thereby ensuring the efficiency of the elastic deformation of the elastic member 13. When the length of the elastic member 13 is long, the elastic member 13 can be set along the circular arc trajectory, which can save the space occupied by the installation of the elastic member 13.

[0036] In one embodiment, see Figure 2 , a connecting component 15 is provided at one end of the transmission shaft 11, the second docking end 122 is transmission-connected to the connecting component 15, and the elastic member 13 is respectively in contact with or connected to the connecting component 15 and the second docking end 122. Specifically, the connecting component 15 refers to a component with a certain volume, and the connecting component 15 can be plate-shaped, column-shaped or block-shaped. The connecting component 15 can be integrally formed with the transmission shaft 11, so that the connection between the transmission shaft 11 and the connecting component 15 is more secure; the connecting component 15 can also be a separate structure from the transmission shaft 11, and the connecting component 15 can be connected to the transmission shaft 11 by welding, fastener fixing or clamping fixing, so that the assembly of the transmission shaft 11 is more convenient. The cross-sectional area of ​​the connecting component 15 is greater than the cross-sectional area of ​​the transmission shaft 11, wherein the cross-sectional area refers to the cross-sectional area intercepted by a plane perpendicular to the rotation axis of the transmission shaft 11. By providing a connecting component 15 at one end of the transmission shaft 11 and connecting the second docking end 122 through the connecting component 15, a larger contact area can be provided between the transmission shaft 11 and the second docking end 122, thereby providing a larger installation space for the installation of the elastic component 13, making the installation setting of the elastic component 13 more convenient and flexible.

[0037] In an optional embodiment, if Figure 2 As shown, the connecting component 15 is disc-shaped, and the axis of the connecting component 15 is coaxially arranged with the axis of the transmission shaft 11. And the diameter of the connecting component 15 is larger than the diameter of the transmission shaft 11. The connecting component 15 is disc-shaped, which can ensure the contact area between the connecting component 15 and the second butt end 122, and can also reduce the volume of the connecting component 15 itself and ensure the strength of the connecting component 15 itself, thereby reducing the manufacturing cost of the connecting component 15 and the manufacturing cost of the entire transmission shaft 11.

[0038] In one embodiment, see Figure 3 and Figure 4The end surface of the connecting component 15 close to the second docking end 122 is provided with a first groove 16, and the first groove 16 has two support walls extending and spaced along a preset track. A support protrusion 18 is provided at the second docking end 122. When the connecting component 15 is in transmission connection with the second docking end 122, at least part of the support protrusion 18 extends into the first groove 16, and the elastic member 13 is arranged between the support wall and the support protrusion 18. Specifically, the first groove 16 refers to a groove structure concavely arranged on the connecting component 15, and the support wall refers to two inner walls extending and spaced along the preset track on the first groove 16. The support protrusion 18 refers to a component with a certain volume, and the support protrusion 18 can be block-shaped, plate-shaped or column-shaped. When the connecting component 15 is in transmission connection with the second docking end 122, at least part of the support protrusion 18 extends into the first groove 16, so that when the docking component 12 rotates relative to the transmission shaft 11, the support protrusion 18 will move between the two support walls in the first groove 16. When the elastic member 13 is installed, at least part or all of the elastic member 13 can be arranged in the first groove 16, and the elastic member 13 can be located between the support wall and the support protrusion 18, so that the installation of the elastic member 13 can be more stable and convenient. At the same time, it can also avoid the elastic member 13 occupying too much space, resulting in a problem of excessive gap between the connecting component 15 and the docking component 12, so that the connection between the docking component 12 and the connecting component 15 is tighter.

[0039] In an alternative embodiment, see Figure 3 and Figure 4The elastic member 13 may be a compression spring, a rubber member or other member that undergoes elastic deformation when compressed. At this time, one end of the elastic member 13 abuts against the support protrusion 18, and the other end of the elastic member 13 abuts against one of the support walls. In the process of rapid clamping of the working end of the surgical instrument, the power unit first drives the docking member 12 to rotate relative to the transmission shaft 11 along the working direction, so that the support protrusion 18 moves toward the elastic member 13. The elastic member 13 is compressed under the action of the support protrusion 18 and one of the support walls. When the elastic member 13 is compressed to a certain extent under the action of the support protrusion 18 and the support wall, the elastic torque of the elastic member 13 itself is equal to the torque applied by the docking member 12 to the elastic member 13. The elastic member 13 will transfer the torque at the docking member 12 to the transmission shaft 11, thereby driving the transmission shaft 11 to rotate together. Of course, the elastic member 13 can also be in a compressed state in the initial state, so that when the docking member 12 rotates along the working direction, it can directly drive the transmission shaft 11 to rotate. After the working end of the surgical instrument clamps the object, the elastic member 13 will continue to compress and absorb the impact caused by the power unit decelerating. However, when the working end of the surgical instrument is opened, when the power unit drives the docking member 12 to rotate relative to the transmission shaft 11 in the direction opposite to the working direction, the support protrusion 18 will abut against the other support wall, thereby directly driving the transmission shaft 11 to rotate. At this time, the elastic member 13 does not participate in the work, making the use of the entire transmission assembly more convenient.

[0040] In one embodiment, see Figure 3 and Figure 4 The second butt end 122 is provided with a second groove 17 on the end surface close to the connecting member 15. When the connecting member 15 is in transmission connection with the second butt end 122, the position of the second groove 17 is aligned with the position of the first groove 16, a part of the elastic member 13 is located in the first groove 16, and another part of the elastic member 13 is located in the second groove 17. Specifically, the second groove 17 refers to. The provision of the second groove 17 can further increase the space for accommodating the elastic member 13, and can make the distance between the connecting member 15 and the second butt end 122 of the butt member 12 closer, so as to make the volume of the transmission assembly more compact and light, and also save the space occupied by the entire transmission assembly.

[0041] In one embodiment, see Figure 2, the number of elastic members 13 is multiple, and the multiple elastic members 13 are spaced and evenly distributed around the rotation axis of the transmission shaft 11, and the number of first grooves 16 and the number of supporting protrusions 18 are adapted to the number of elastic members 13. Specifically, the number of elastic members 13 is multiple, and the multiple elastic members 13 are spaced and evenly distributed around the rotation axis of the transmission shaft 11. At the same time, the number of first grooves 16 on the connecting member 15 and the number of supporting protrusions 18 on the docking member 12 are mutually adapted to the elastic members 13, which can ensure that the multiple elastic members 13 can be installed more stably. The number of elastic members 13 is multiple and they are spaced and evenly distributed around the rotation axis of the transmission shaft 11, so that when the docking member 12 transmits torque through the elastic members 13, the connecting member 15 on the rotating shaft is subjected to more uniform force in the direction of the rotation axis of the transmission shaft 11, thereby making the rotation of the transmission shaft 11 more stable and improving the stability of the transmission assembly.

[0042] In a specific embodiment, see Figure 2 The number of the elastic members 13 is two, and the number of the first groove 16, the supporting protrusion 18 and the second groove 17 is also two. The two elastic members 13 can be centrally symmetrically arranged with the rotation axis of the transmission shaft 11 as a reference, which can reduce the manufacturing cost of the transmission assembly while ensuring that the force at all locations of the connecting member 15 is uniform.

[0043] In an alternative embodiment, see Figure 4 The supporting protrusion 18 and the second groove 17 are in a one-to-one correspondence, and the supporting protrusion 18 can be arranged at the end of the second groove 17. The second groove 17 is generally arranged along a preset track, and the supporting protrusions 18 can be arranged at the front end of the second groove 17 along the rotation direction of the docking member 12, and the supporting protrusions 18 can also be arranged at the rear end of the second groove 17 along the rotation direction of the docking member 12, so that the relative position between each supporting protrusion 18 and the corresponding first groove 16 is consistent, which can ensure that the force of multiple elastic members 13 remains uniform when the docking member 12 rotates, thereby improving the stability of the transmission assembly.

[0044] In one embodiment, see Figure 2 and Figure 3 A mounting component 14 is further provided between the transmission shaft 11 and the docking component 12, and the docking component 12 is rotatably connected to the transmission shaft 11 through the mounting component 14. Specifically, the mounting component 14 refers to a component with a certain volume, and its function is to connect the docking component 12 with the connecting component 15. The docking component 12 is rotatably connected to the transmission shaft 11 through the mounting component 14, and is relatively fixed along the axial direction of the transmission shaft 11. When the docking component 12 and the connecting component 15 rotate relative to each other, the elastic component 13 can still be clamped, so that the installation of the elastic component 13 can be more stable, and thus the entire transmission assembly can also be more stable.

[0045] In one embodiment, see Figure 2 and Figure 3 The mounting component 14 is a bolt, a stepped through hole is provided at the center of the docking member 12, a threaded hole is provided at the center of the connecting member 15, the aperture of the stepped through hole decreases from the first docking end 121 to the second docking end 122, the bolt passes through the stepped through hole and is fixedly connected to the threaded hole, and the docking member 12 can rotate relative to the bolt. A bolt refers to a fastening component, which usually has a rod-shaped portion and a limiting cap portion provided at the end of the rod-shaped portion, wherein a thread is also provided on the outside of the rod-shaped portion. By providing a stepped through hole at the center of the docking member 12, the aperture of the stepped through hole decreases from the first docking end 121 to the second docking end 122, so that the rod-shaped portion of the bolt can pass through and accommodate the limiting cap portion; at the same time, a threaded hole is provided at the center of the connecting member 15, which can be threadedly connected to the rod-shaped portion of the bolt, so that the connection between the docking member 12 and the connecting member 15 is more convenient and firm.

[0046] In a second aspect, a surgical instrument is provided, comprising an instrument box, a shaft assembly extending from the instrument box, and an end effector connected to the distal end of the shaft assembly, wherein the instrument box comprises at least one transmission assembly of the above-mentioned robotic surgical instrument. It is understandable that the beneficial effects of the above-mentioned second aspect can be referred to the relevant description in the above-mentioned first aspect, and will not be repeated here.

[0047] The above description is only a preferred embodiment of the utility model, and only specifically describes the technical principle of the utility model. These descriptions are only for explaining the principle of the utility model and cannot be interpreted as limiting the protection scope of the utility model in any way. Based on the explanation here, any modification, equivalent replacement and improvement made within the spirit and principle of the utility model, and other specific implementation methods of the utility model that can be associated with the technicians in this field without creative labor, should be included in the protection scope of the utility model.

Claims

1. A transmission assembly (10) for a robotic surgical instrument, characterized in that: The invention comprises a transmission shaft (11), a docking member (12) and an elastic member (13); the docking member (12) has a first docking end (121) and a second docking end (122); the first docking end (121) is connected to a power unit; the second docking end (122) is connected to the transmission shaft (11) so that the docking member (12) drives the transmission shaft (11) to rotate under the drive of the power unit; the elastic member (13) is located between the second docking end (122) and the transmission shaft (11); the elastic member (13) is transmission-connected to the second docking end (122) and the transmission shaft (11); the docking member (12) transmits torque to the transmission shaft (11) through the elastic member (13) so as to drive the transmission shaft (11) to rotate.

2. The transmission assembly (10) of the robotic surgical instrument according to claim 1, characterized in that: The elastic member (13) is arranged along a preset track, and the preset track is perpendicular to the direction of the rotation axis of the transmission shaft (11).

3. The transmission assembly (10) of the robotic surgical instrument according to claim 2, characterized in that: The preset trajectory comprises a straight trajectory or an arc trajectory arranged around the rotation axis of the transmission shaft (11).

4. The transmission assembly (10) of the robotic surgical instrument according to claim 3, characterized in that: A connecting component (15) is provided at one end of the transmission shaft (11), the second butt end (122) is in transmission connection with the connecting component (15), and the elastic member (13) is respectively in contact with or connected to the connecting component (15) and the second butt end (122).

5. The transmission assembly (10) of the robotic surgical instrument according to claim 4, characterized in that: The end surface of the connecting component (15) close to the second docking end (122) is provided with a first groove (16), the first groove (16) having two support walls extending along the preset track and arranged at intervals, and the second docking end (122) is provided with a support protrusion (18), when the connecting component (15) is transmission-connected with the second docking end (122), at least part of the support protrusion (18) extends into the first groove (16), and the elastic member (13) is arranged between the support wall and the support protrusion (18).

6. The transmission assembly (10) of the robotic surgical instrument according to claim 5, characterized in that: A second groove (17) is provided on an end surface of the second butt joint end (122) close to the connecting component (15); when the connecting component (15) is in transmission connection with the second butt joint end (122), the position of the second groove (17) is aligned with the position of the first groove (16); a portion of the elastic member (13) is located in the first groove (16), and another portion of the elastic member (13) is located in the second groove (17).

7. The transmission assembly (10) of the robotic surgical instrument according to claim 5, characterized in that: The number of the elastic members (13) is multiple, and the multiple elastic members (13) are spaced and evenly distributed around the rotation axis of the transmission shaft (11), and the number of the first grooves (16) and the number of the supporting protrusions (18) are both adapted to the number of the elastic members (13).

8. The transmission assembly (10) of the robotic surgical instrument according to any one of claims 4 to 7, characterized in that: A mounting component (14) is also provided between the transmission shaft (11) and the docking component (12), and the docking component (12) is rotatably connected to the transmission shaft (11) via the mounting component (14).

9. The transmission assembly (10) of the robotic surgical instrument according to claim 8, characterized in that: The mounting component (14) is a bolt, a stepped through hole is provided at the center of the docking member (12), a threaded hole is provided at the center of the connecting component (15), the diameter of the stepped through hole decreases from the first docking end (121) to the second docking end (122), the bolt passes through the stepped through hole and is fixedly connected to the threaded hole, and the docking member (12) can rotate relative to the bolt.

10. A surgical instrument (100), characterized in that: The invention comprises an instrument box, an axis assembly extending from the instrument box, and an end effector connected to the distal end of the axis assembly, wherein the instrument box comprises at least one transmission assembly (10) of the robotic surgical instrument according to any one of claims 1 to 9.

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