Flexible surgical instrument and instrument driving mechanism thereof

Abstract

The utility model discloses a flexible surgical instrument and an instrument driving mechanism thereof, the instrument driving mechanism is used for providing driving force to the flexible instrument, and the instrument driving mechanism comprises a base body, a butt joint part, a conveying mechanism and an executing mechanism; the conveying mechanism comprises a conveying driving assembly and a conveying transmission assembly. The conveying driving assembly transmits rotation driving force to a butt joint disc of the butt joint component through the conveying transmission assembly. The executing mechanism is used for transmitting rotary driving force to a driving transmission disc of the butt joint part; the base body is provided with a cavity with the top open, the butt joint component is installed at the open end of the base body, and the cavity is used for installing the conveying transmission assembly and the executing mechanism. Through the optimized arrangement of the instrument driving mechanism, important parts of the instrument driving mechanism can be protected, so that electromagnetic interference is prevented, and the safety and stability of mechanism operation are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to a flexible surgical instrument and an instrument driving mechanism thereof. Background Art

[0002] Diseases of natural cavities such as the digestive system, urinary system, and respiratory system are common chronic diseases. Diseases such as gastric cancer, esophageal cancer, bladder cancer, and lung cancer have high morbidity and mortality rates, which seriously endanger human health. Diagnosis and treatment with flexible endoscopes in conjunction with related surgical instruments has become the mainstream treatment method, with the characteristics of less trauma, less bleeding, and low complication rate.

[0003] Compared with conventional large incision surgery, the surgical operation space through the natural cavity of the human body is relatively narrow, and usually requires the use of flexible instruments for diagnosis and treatment. There are many types of flexible instruments available, including clamps, electrocoagulation and electrocution, injection and guidance, which can meet different operation requirements in narrow environments.

[0004] Most of the current surgical instruments are designed based on manual operation. In order to meet the needs of cavity intervention, existing flexible instruments are designed as flexible and slender instruments, which require the cooperation of medical staff during use and are complex to operate. There is a typical flexible surgical instrument that provides a matching driving mechanism based on the operation of the flexible instrument, and uses the driving mechanism to drive the flexible instrument to perform a compound action of conveying operation to reduce the complexity of the operation of the flexible instrument.

[0005] However, in the related design, the main part of the instrument driving mechanism of the flexible surgical instrument is in an exposed state, posing a safety hazard. Utility Model Content

[0006] The purpose of the utility model is to provide a flexible surgical instrument and an instrument driving mechanism thereof, which can protect important parts of the instrument driving mechanism by optimizing the setting of the instrument driving mechanism to prevent electromagnetic interference, thereby improving the safety and stability of the mechanism operation.

[0007] In order to solve the above technical problems, the present application provides an instrument driving mechanism for providing driving force to a flexible instrument, comprising a base, a docking component, a conveying mechanism and an actuator;

[0008] The conveying mechanism comprises a conveying drive assembly and a conveying transmission assembly, and the conveying drive assembly transmits a rotational driving force to the docking plate of the docking component through the conveying transmission assembly;

[0009] The actuator is used to transmit the rotational driving force to the active transmission disc of the docking component;

[0010] The base body has a cavity with an open top, the docking component is installed at the open end of the base body, and the cavity is used to install the conveying transmission component and the actuator.

[0011] The instrument drive mechanism as described above, wherein the docking component comprises an identification component, and the identification component is mounted on the docking plate; the docking component is used for docking and mounting with the flexible instrument;

[0012] The actuator includes a circuit board, on which a sensor is mounted; the circuit board is located below the docking plate;

[0013] When the flexible device is docked with the docking component, the identification component can trigger the sensor to feed back a signal representing the device installation status.

[0014] In the instrument driving mechanism as described above, the identification component includes an identification push rod, an identification bottom shell and an identification elastic member; the identification bottom shell is fixedly connected to the bottom of the docking plate; the identification push rod passes through the docking plate and the identification bottom shell and can move relative to the docking plate in a direction parallel to the axis of the docking plate; the identification elastic member is arranged between the identification push rod and the identification bottom shell; a limiting structure is provided between the identification push rod and the docking plate to limit the upward movement position of the identification push rod relative to the docking plate.

[0015] In the device driving mechanism as described above, a detection element is further provided on the circuit board, and the detection element is used to detect the type of the flexible device docked with the docking component.

[0016] In the instrument driving mechanism as described above, the docking component is provided with two active transmission discs, the docking disc is provided with two through holes, and the two active transmission discs correspond to the positions of the two through holes respectively;

[0017] The actuator comprises a mounting flange, two actuator drive components and two actuator encoders; the two actuator drive components and the two actuator encoders are mounted on the mounting flange;

[0018] The output ends of the two execution drive components are respectively connected to the two active transmission discs; the two execution encoders are respectively used to detect the driving force information transmitted by the two execution drive components.

[0019] In the instrument driving mechanism as described above, the output end of the execution driving component is transmission-connected with an execution output shaft, and the execution output shaft is transmission-connected with the input end of the execution encoder via a gear pair.

[0020] As described above, the instrument driving mechanism, the conveying transmission assembly includes a transmission shaft and a transmission sleeve, the transmission sleeve is coaxially fixed on the transmission shaft and the transmission shaft is arranged close to the bottom of the base, the transmission shaft is transmission-connected to the conveying drive assembly, the docking plate is fixed to the upper end of the transmission sleeve and is coaxially arranged with the transmission sleeve; a first bearing is provided between the lower end of the transmission shaft and the base, and a second bearing is provided between the upper end of the transmission sleeve and the base.

[0021] In the instrument driving mechanism as described above, the transmission sleeve includes a first transmission sleeve and a second transmission sleeve, the first transmission sleeve is fixedly connected to the transmission shaft, the second transmission sleeve is fixedly connected to the upper end of the first transmission sleeve, and the second transmission sleeve has a sleeve cavity for installing the actuator.

[0022] In the instrument driving mechanism as described above, the transmission shaft is a hollow shaft, which includes a small diameter section and a large diameter section fixedly arranged above the small diameter section;

[0023] The first transmission sleeve includes an annular plate portion and a sleeve portion extending axially downward from the inner circumferential wall of the annular plate portion; the annular plate portion is fixedly connected to the upper end of the large diameter section, and the sleeve portion is inserted into the interior of the large diameter section; a conductive slip ring is installed in the inner cavity of the sleeve portion, and a cable is arranged inside the conductive slip ring.

[0024] The instrument drive mechanism as described above, wherein the transmission sleeve further comprises a third transmission sleeve, and the third transmission sleeve is fixedly connected to the upper end of the second transmission sleeve;

[0025] The inner peripheral wall of the third transmission sleeve is provided with an annular mounting plate, and the annular mounting plate is used to support and fix the docking plate;

[0026] The outer peripheral wall of the third transmission sleeve has a first annular step surface facing upward, the upper end of the base body has a second annular step surface facing downward, and the axial limit of the second bearing is located between the first annular step surface and the second annular step surface.

[0027] In the instrument driving mechanism as described above, the second transmission sleeve is in a cylindrical shape, and a peripheral wall thereof has an opening, and the opening communicates with the sleeve cavity of the second transmission sleeve and the cavity of the base body.

[0028] As described above, the instrument driving mechanism, the conveying mechanism further comprises a conveying encoder, the conveying encoder is coaxially mounted with the conveying transmission assembly, and is used to detect the driving force information transmitted by the conveying drive assembly.

[0029] In the instrument driving mechanism as described above, the base includes a base, the base is fixedly connected to a mounting bracket, the conveying encoder is mounted on the mounting bracket, and the conveying encoder is in transmission connection with the lower end of the transmission shaft.

[0030] As described above, the instrument driving mechanism, the conveying driving assembly includes a conveying driving component and a pulley transmission mechanism, the pulley transmission mechanism includes a driving pulley, a driven pulley and a synchronous belt, the synchronous belt transmission connects the driving pulley and the driven pulley; the driving pulley is fixedly sleeved on the output end of the conveying driving component, and the driven pulley is fixedly sleeved on the input end of the conveying transmission assembly; the conveying driving component is located outside the base, and the base has a through opening for the synchronous belt to pass through.

[0031] The present application also provides a flexible surgical instrument, comprising a flexible instrument and an instrument driving mechanism capable of outputting a driving force to the flexible instrument, wherein the instrument driving mechanism adopts any one of the instrument driving mechanisms described above.

[0032] The present application optimizes the design of the instrument drive mechanism of the flexible surgical instrument, and can protect the important parts of the instrument drive mechanism to improve the safety and stability of the mechanism operation. Specifically, the instrument drive mechanism is provided with a docking component, a conveying mechanism and an actuator for docking with the flexible instrument, wherein the conveying mechanism and the actuator can provide a rotational driving force to the docking component to realize the relevant operation of the flexible instrument docked with the instrument drive mechanism; the instrument drive mechanism is also provided with a base having a chamber, the docking component is installed at the top opening of the chamber, and the conveying transmission assembly and the actuator of the conveying mechanism are installed inside the base, that is, the base is used to basically cover the conveying transmission assembly and the actuator, and the conveying transmission assembly and the actuator are protected to ensure the operational reliability and safety of the conveying transmission assembly and the actuator during the power transmission process; at the same time, the covering of the conveying transmission assembly and the actuator by the base can prevent electromagnetic interference in the application environment, and is also conducive to improving the stability and reliability of the overall operation of the instrument drive mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of the overall structure of a flexible surgical instrument in one embodiment provided in the present application;

[0034] Figure 2 A cross-sectional schematic diagram of an instrument driving mechanism in one embodiment provided in the present application;

[0035] Figure 3 for Figure 2 Schematic diagram of the structure of the middle matrix;

[0036] Figure 4 for Figure 3 Sectional view along the AA direction;

[0037] Figure 5 for Figure 2 A schematic diagram of the structure of the conveying drive assembly of the conveying mechanism;

[0038] Figure 6 for Figure 2 A schematic diagram of the structure of the conveying transmission assembly of the conveying mechanism;

[0039] Figure 7 for Figure 6 Cross-section along the middle BB direction;

[0040] Figure 8 for Figure 2 A top view of the actuator;

[0041] Fig. 9 for Figure 8 Cross-section along the mid-CC direction;

[0042] Fig.10 It is a structural schematic diagram of an output shaft in a specific implementation manner;

[0043] Fig.11 It is a schematic diagram of the structure of the first and second active transmission discs in a specific implementation manner;

[0044] Fig.12 It is a structural schematic diagram of a docking plate and an identification component in a specific implementation manner;

[0045] Fig.13 for Fig.12 Sectional view along the mid-DD direction;

[0046] Fig.14 for Fig.13 A partial enlarged view of the location of the identification component on the left side of the center.

[0047] Description of reference numerals:

[0048] An instrument driving mechanism 10, a flexible instrument 20;

[0049] Base 11, chamber 11a, base 111, base main plate 1111, foot portion 1112, annular convex portion 1113, step support surface 1114, cover tube 112, through port 1121, end cover 113, second annular step surface 1131;

[0050] Docking component 12, docking plate 121, through hole 1211, limiting surface 1212, first active transmission plate 122, second active transmission plate 123, identification component 124, identification push rod 1241, limiting convex portion 12411, identification bottom shell 1242, identification elastic member 1243, spline groove 125, identification portion 126;

[0051] Conveying mechanism 13, conveying drive assembly 131, conveying drive component 1311, driving pulley 1312, driven pulley 1313, synchronous belt 1314, mounting frame 1315, conveying flange 1316, supporting seat 1317, shaft sleeve 1318, conveying transmission assembly 132, transmission shaft 1321, small diameter section 13211, large diameter section 13212, first transmission sleeve 1322, annular plate portion 13221, sleeve portion 13222, second transmission sleeve 1323, opening 13231, third transmission sleeve 1324, annular mounting plate 13241, first annular step surface 13242, conductive slip ring 133, first bearing 134, second bearing 135, conveying encoder 136, mounting bracket 1361;

[0052] Actuator 14 , mounting flange 141 , actuator driving component 142 , actuator output shaft 143 , first gear portion 1431 , spline portion 1432 , actuator encoder 144 , second gear portion 1441 , circuit board 145 , sensor 1451 . DETAILED DESCRIPTION

[0053] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0054] For ease of understanding and concise description, the following text will explain the flexible surgical instrument and its instrument driving mechanism together, and the beneficial effects will not be repeated.

[0055] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the overall structure of a flexible surgical instrument in one embodiment provided in the present application.

[0056] The flexible surgical instrument includes an instrument driving mechanism 10 and a flexible instrument 20, wherein the flexible instrument 20 is generally a slender flexible instrument, which is equipped with an actuator unit for diagnosis and treatment or auxiliary diagnosis and treatment. The instrument driving mechanism 10 can provide driving force to the flexible instrument 20 to realize the conveying operation of the actuator unit of the flexible instrument 20 and the rotation or opening and closing of the actuator.

[0057] The actuator unit of the flexible instrument 20 can be selected according to the application scenario, such as but not limited to flexible instruments such as clamps, electrocoagulation and electrocutting, baskets, injections, guides, sensors, etc. Among them, the clamp-type flexible instrument includes a tissue clamp with a clamping degree of freedom and a hemostat with a clamping rotation degree of freedom; the electrocoagulation and electrocutting flexible instrument includes a clamping degree of freedom for tissue electrocoagulation and a push-pull degree of freedom including a snare instrument; the basket-type flexible instrument includes a push degree of freedom for pushing out and retracting the basket; the injection-type flexible instrument includes a push degree of freedom for pushing out and retracting the needle; the guide type is used for coaxial instrument guidance and has no degree of freedom; the sensor-type flexible instrument can include an image sensor instrument, a position sensor instrument, or a shape sensor instrument, etc.

[0058] The actuator unit generally includes a flexible body and an actuator arranged at the end of the flexible body. In the actual application scenario of endoscopic surgery, the operation of the flexible instrument 20 generally includes the delivery and recovery of the actuator unit as a whole, the opening and closing, rotation and pushing of the actuator of the flexible body, etc. These actions can be achieved by the driving force provided by the instrument driving mechanism 10.

[0059] The instrument driving mechanism 10 and the flexible instrument 20 can be docked through relevant structures to facilitate the instrument driving mechanism 10 to transmit the driving force to the relevant transmission unit of the flexible instrument 20 to achieve different operations on the actuator unit of the flexible instrument 20.

[0060] Please refer to Figure 2 , Figure 2 A cross-sectional schematic diagram of an instrument driving mechanism in one embodiment provided in the present application.

[0061] In this embodiment, the instrument driving mechanism 10 includes a docking component 12 , a conveying mechanism 13 and an actuator 14 .

[0062] The conveying mechanism 13 includes a conveying driving assembly 131 and a conveying transmission assembly 132 . The conveying driving assembly 131 transmits a rotational driving force to the docking plate 121 of the docking component 12 through the conveying transmission assembly 132 .

[0063] The actuator 14 is used to transmit the rotational driving force to the active transmission disc of the docking component 12. Generally, the docking component 12 includes two active transmission discs, which are referred to as the first active transmission disc 122 and the second active transmission disc 123 for convenience of description. The actuator 14 can transmit the rotational driving force to the first active transmission disc 122 and the second active transmission disc 123 respectively.

[0064] The docking component 12 of the instrument driving mechanism 10 is used to dock with the docking structure of the flexible instrument 20. In one application scenario, after the instrument driving mechanism 10 docks with the flexible instrument 20 using its docking component 12, the rotational driving force transmitted to the docking disk 121 by the conveying mechanism 13 can be transmitted to the flexible instrument 20, so as to realize the overall delivery and retraction of the actuator unit of the flexible instrument 200; the rotational driving force transmitted to the first active transmission disk 122 by the actuator 14 can be transmitted to a transmission unit of the flexible instrument 20 for pulling the flexible body of the actuator unit, and the rotational driving force transmitted to the second active transmission disk 123 by the actuator 14 can be transmitted to another transmission unit of the flexible instrument 20 for operations such as twisting or opening and closing of the actuator of the actuator unit.

[0065] Each transmission unit of the flexible device 20 can transmit each rotational driving force provided by the device driving mechanism 10 to related components to perform corresponding actions. The specific structure and relationship of each transmission unit of the flexible device 20 are not the focus of this application and will not be described in detail here.

[0066] In this embodiment, the instrument drive mechanism 10 further includes a base 11, which has a chamber 11a with an open top, and the docking component 12 is installed at the open end of the base 11. In the illustrated orientation, the open end of the chamber 11a is located at the upper end of the base 11. The chamber 11a is used to install the conveying transmission assembly 132 and the actuator 14, and the main structure of the conveying transmission assembly 132 and the actuator 14 is located in the chamber 11a. In this way, the base 11 can basically cover the conveying transmission assembly 132 and the actuator 14, protect the conveying transmission assembly 132 and the actuator 14, and ensure the operational reliability and safety of the conveying transmission assembly 132 and the actuator 14 during the power transmission process. At the same time, the covering or covering of the conveying transmission assembly 132 and the actuator 14 by the base 11 can also prevent electromagnetic interference in the application environment, and is also conducive to improving the stability and reliability of the overall operation of the instrument drive mechanism 10.

[0067] Please refer to Figure 3 and Figure 4 , Figure 3 for Figure 2 Schematic diagram of the structure of the middle matrix; Figure 4 for Figure 3 Cross-section view along the AA direction.

[0068] In this embodiment, the base 11 is a split structure, and the base 11 includes a base 111, a cover tube 112 and an end cover 113. The base 111 is fixed to the bottom end of the cover tube 112, and the end cover 113 is fixed to the top end of the cover tube 112. The three together form the aforementioned chamber 11a.

[0069] In one implementation, the base 111 and the cover tube 112 are fixedly connected, and the end cover 113 and the cover tube 112 are fixedly connected by fasteners such as screws or bolts, which is convenient for disassembly and assembly and easy for maintenance.

[0070] In other embodiments, the base 11 may be provided as an integral structure or other forms of split structures without interfering with installation requirements. For example, the base 11 may include an upper cover shell and a lower cover shell, which are connected to form the base 11.

[0071] Please refer to Figures 5 to 7 , Figure 5 for Figure 2 A schematic diagram of the structure of the conveying drive assembly of the conveying mechanism; Figure 6 for Figure 2 A schematic diagram of the structure of the conveying transmission assembly of the conveying mechanism; Figure 7 for Figure 6 Cross-sectional view along the BB direction.

[0072] In this embodiment, the conveying drive assembly 131 of the conveying mechanism 13 includes a conveying drive component 1311 and a pulley transmission mechanism, wherein the pulley transmission mechanism includes a driving pulley 1312, a driven pulley 1313 and a synchronous belt 1314, the synchronous belt 1314 transmits and connects the driving pulley 1312 and the driven pulley 1313, the driving pulley 1312 is fixedly sleeved on the output end of the conveying drive mechanism 1311, and the driven pulley 1313 is fixedly sleeved on the input end of the conveying transmission assembly 132.

[0073] The conveying drive component 1311 of the conveying drive assembly 131 is located outside the base 11, and part of the pulley transmission mechanism is located outside the base 11 and part of it is located inside the base 11. Since the conveying drive assembly 132 is located inside the base 11, the driven pulley 1313 is also located inside the base 11, and part of the synchronous belt 1314 that transmits and connects the driving pulley 1312 and the driven pulley 1313 is located outside the base 11 and part of it is located inside the base 11. In order to facilitate the synchronous belt 1314 to pass through the base 11, a through hole 1121 for the synchronous belt 1314 to pass through is provided on the base 11.

[0074] The input end of the conveying drive assembly 132 is close to the bottom end of the base 11, and the output end is close to the top end of the base 11, so as to facilitate driving the docking component 12 located at the top end of the base 11. Accordingly, the output end of the conveying drive component 1311 is arranged close to the bottom end of the base 11, and the belt wheel transmission mechanism is also arranged close to the bottom end of the base 11. Figure 2 and Figure 3 The through opening 1121 for the synchronous belt 1314 to pass through is close to the bottom end side of the base 11. Specifically, with respect to the structure of the base 11 shown in the figure, the through opening 1121 is formed on the wall of the cover tube 112 of the base 11.

[0075] In a specific implementation, the conveying drive assembly 131 further includes a mounting bracket 1315 and a conveying flange 1316. Among them, the mounting bracket 1315 is generally in a structure similar to a "ji" shape, and the bottom flanges of its two side walls can be used to fix the mounting bracket 1315. The conveying drive component 1311 can be mounted on the mounting bracket 1315 through the conveying flange 1316. Specifically, the output end of the conveying drive component 1311 passes through the top wall of the mounting bracket 1315, and the driving pulley 1312 is fixedly sleeved on the output end of the conveying drive component 1311. In this way, the driving pulley 1312 is located between the two side walls of the mounting bracket 1315.

[0076] To improve the reliability and stability of the rotation of the driving pulley 1312, a bushing 1318 is provided between the driving pulley 1312 and the output end of the conveying drive component 1311. The bushing 1318 is coaxially fixed to the output end of the conveying drive component 1311, and the driving pulley 1312 is fixedly sleeved outside the bushing 1318. A support seat 1317 is provided between the two side walls of the mounting bracket 1315. The support seat 1317 is generally in a U-shaped structure, and the lower end of the bushing 1318 is rotatably connected to the support seat 1317 through a bearing. In other implementation manners, the support seat 1317 can also be in a flat plate structure as long as it can provide a rotatable supporting effect for the bushing 1318.

[0077] In application, by changing the distance between the mounting bracket 1315 and the base body 11, the tension of the synchronous belt 1314 can be adjusted without additionally arranging a structure for adjusting the tension, which is beneficial to simplifying the structure of the instrument drive mechanism 10. The setting of the aforementioned support seat 1317 and its cooperative setting with the bushing 1318 enable the side where the conveying drive component 1311 is located to better resist the pulling force caused by the tension of the synchronous belt 1314.

[0078] Among them, the bushing 1318 provided between the driving pulley 1312 and the output end of the conveying drive component 1311, and the setting of the conveying flange 1316 for mounting the conveying drive component 1311 can facilitate the replacement of different models of conveying drive components 1311.

[0079] In this embodiment, the conveying transmission assembly 132 of the conveying mechanism 13 is a shaft system structure. The conveying transmission assembly 132 can be coaxially mounted in the base body 11, and the docking disk 121 of the aforementioned docking component 12 is also coaxially mounted with the base body 11. In this way, the docking disk 121 and the conveying transmission assembly 132 are coaxially arranged, which is beneficial to ensuring the structural balance and stability of the entire mechanism and also convenient for assembly.

[0080] The conveying transmission assembly 132 includes a transmission shaft 1321 and a transmission sleeve. The transmission sleeve is coaxially fixed on the transmission shaft 1321 and the transmission shaft 1321 is arranged near the bottom of the base 11. In this way, the transmission shaft 1321 is connected to the conveying drive assembly 131 as the input end of the conveying transmission assembly 132. The docking plate 121 is fixed on the upper end of the transmission sleeve. It can be understood that the docking plate 121 is coaxially arranged with the transmission sleeve. In this way, after the transmission shaft 1321 receives the rotational driving force transmitted from the conveying drive assembly 131, it can drive the transmission sleeve and the docking plate 121 fixed on the transmission sleeve to rotate together. When the docking plate 121 rotates, it can drive the docked flexible device 20 to perform corresponding operations, such as sending out and retracting the actuator unit as a whole.

[0081] In a specific implementation, the driven pulley 1313 of the aforementioned conveying drive assembly 131 is fixedly mounted on the transmission shaft 1321 .

[0082] Among them, a first bearing 134 is provided between the lower end of the transmission shaft 1321 and the base 11, and a second bearing 135 is provided between the upper end of the transmission sleeve and the base 11. That is, both the upper and lower ends of the conveying transmission assembly 132 are matched with the base 11 through bearings. In this way, when the conveying drive assembly 131 rotates, the two ends of the conveying transmission assembly 132 are radially stable through the bearings, the rotation stability is good, and the wear of the conveying transmission assembly 132 can be avoided.

[0083] In this embodiment, the conveying mechanism 13 further includes a conveying encoder 136, which is coaxially mounted with the conveying transmission assembly 132 and is used to detect the driving force information transmitted by the conveying drive assembly 131. In this way, the detection feedback of the conveying encoder 136 can improve the accuracy of the conveying operation of the flexible device 20.

[0084] In a specific implementation, the conveying encoder 136 is in driving connection with the lower end of the transmission shaft 1321, and a mounting bracket 1361 for mounting the conveying encoder 136 is fixedly connected to the base 111 of the base 11. The conveying encoder 136 can determine the information of the conveying operation of the flexible device 20, such as the length of the actuator unit as a whole, by detecting parameter information such as the rotation angle of the transmission shaft 1321.

[0085] Combination Figure 2 , Figure 4 and Figure 7 The base 111 of the base 11 includes a base main board 1111, and a foot portion 1112 protruding downward is provided at the bottom of the base main board 1111, and the base 11 is supported by the foot portion 1112. A space for installing a conveying encoder 136 is formed at the bottom of the base main board 1111.

[0086] Specifically, the mounting bracket 1361 is fixedly connected to the bottom of the seat main board 1111 , and a through hole is provided in the middle of the seat main board 1111 so that the conveying encoder 136 mounted on the mounting bracket 1361 can be connected to the lower end of the transmission shaft 1321 in terms of transmission.

[0087] Specifically, the base 111 is also provided with an annular protrusion 1113 extending upward from the top surface of the seat main plate 1111, and a step support surface 1114 facing the chamber 11a is formed between the annular protrusion 1113 and the seat main plate 1111. The aforementioned first bearing 134 is supported by the step support surface 1114, and the radial position is limited by the annular protrusion 1113, that is, the first bearing 134 is arranged between the annular protrusion 1113 and the transmission shaft 1321.

[0088] In the illustrated example, the entire bottom foot portion 1112 also has a ring-shaped structure, so that the conveying encoder 136 can be covered to prevent the conveying encoder 136 from being affected by electromagnetic interference in the application environment.

[0089] In this embodiment, the transmission sleeve is a split structure, which includes a first transmission sleeve 1322, a second transmission sleeve 1323 and a third transmission sleeve 1324. The first transmission sleeve 1322 is fixedly connected to the transmission shaft 1321, the second transmission sleeve 1323 is fixedly connected to the upper end of the first transmission sleeve 1322, and the third transmission sleeve 1324 is fixedly connected to the upper end of the second transmission sleeve 1323. The fixed connection here can adopt a detachable connection method to facilitate maintenance and overhaul operations.

[0090] The second transmission sleeve 1323 has a sleeve cavity for installing the actuator 14. In this way, the actuator 14 and the conveying transmission assembly 132 are highly integrated and occupy less space, making the structure of the instrument drive mechanism 10 more compact.

[0091] In a specific implementation, the second transmission sleeve 1323 is a cylindrical structure, and its peripheral wall is provided with an opening 13231, and the opening 13231 can communicate the sleeve cavity of the second transmission sleeve 1323 and the chamber 11a of the base 11. This arrangement can, on the one hand, reduce the weight of the conveying transmission assembly 132, which is beneficial to the reliability of the power transmission of the conveying transmission assembly 132, and on the other hand, it is beneficial to the heat dissipation of the actuator 14 installed in the second transmission sleeve 1323.

[0092] In the specific implementation, the transmission shaft 1321 is a hollow shaft, which includes a small diameter section 13211 and a large diameter section 13212 fixed above the small diameter section 13211; the first transmission sleeve 1322 includes an annular plate portion 13221 and a sleeve portion 13222 extending axially downward from the inner peripheral wall of the annular plate portion 13221, the annular plate portion 13221 and the upper end of the large diameter section 13212 are fixedly connected, the sleeve portion 13222 extends into the interior of the large diameter section 13212, and the inner cavity of the sleeve portion 13222 is installed with a conductive slip ring 133, and a cable is arranged inside the conductive slip ring 133, which can be used to power the relevant components of the actuator 14. After such a configuration, when the transmission transmission assembly 132 rotates, the cable will not rotate with it, which can avoid the safety hazard caused by cable entanglement. In addition, the hollow structure of the transmission shaft 1321 and the arrangement of the sleeve portion 13222 of the first transmission sleeve 1322 inside the transmission shaft 1321 facilitate the arrangement of the conductive slip ring 133 and make the overall structure more compact.

[0093] In this embodiment, the third transmission sleeve 1324 is also a cylindrical structure, and its inner peripheral wall has an annular mounting plate 13241, which is used to support and fix the docking plate 121. The docking plate 121 has two through holes 1211 (marked at Fig.12 ), the first active transmission disc 122 and the second active transmission disc 123 correspond to the positions of the two through holes 1211 respectively, and the actuator 14 is used to provide a rotational driving force to the first active transmission disc 122 and the second active transmission disc 123 .

[0094] The outer peripheral wall of the third transmission sleeve 1324 has an upward first annular step surface 13241, and the upper end of the base body 11 has a downward second annular step surface 1131, and the second bearing 135 is axially limited between the first annular step surface 13241 and the second annular step surface 1131. The second annular step surface 1131 is specifically formed on the end cover 113 of the base body 11, and the top end of the end cover 113 extends radially inward to form an annular plate, and the bottom surface of the annular plate forms a dior annular step surface 1131. The second bearing 135 is arranged between the third transmission sleeve 1324 and the end cover 113.

[0095] The above description takes the transmission sleeve as a three-part structure as an example. In other implementations, the transmission sleeve may also be a two-part structure. For example, the second transmission sleeve 1323 and the third transmission sleeve 1324 may be an integral structure. The transmission sleeve may also be an integral structure without affecting the assembly of components.

[0096] Please refer to Figures 8 to 11 , Figure 8 for Figure 2 A top view of the actuator; Fig. 9 for Figure 8 Cross-section along the mid-CC direction; Fig.10 It is a structural schematic diagram of an output shaft in a specific implementation manner; Fig.11 It is a schematic diagram of the structure of the first and second active transmission discs in a specific implementation manner.

[0097] The actuator 14 includes a mounting flange 141 , two actuator drive components 142 and two actuator encoders 144 . The two actuator drive components 142 and the two actuator encoders 144 are all mounted on the mounting flange 141 . The mounting flange 141 is fixedly connected to the top end of the second transmission sleeve 1323 .

[0098] The output ends of the two execution drive components 142 are respectively connected to the first active transmission disk 122 and the second active transmission disk 123, and the two execution encoders 144 are respectively used to detect the driving force information transmitted by the two execution drive components 142. In this way, the accuracy of the operation performed on the flexible device 20 can be improved through the detection feedback of the execution encoder 144.

[0099] The main structure of the execution driving component 142 is located in the sleeve cavity of the second transmission sleeve 1323. The output end of the execution driving component 142 faces upward and can pass through the mounting flange 141 to drive the corresponding active transmission disc to rotate.

[0100] In a specific implementation, the output end of the execution driving component 142 is drivingly connected to the execution output shaft 143, and the execution output shaft 143 is circumferentially limitedly connected to the corresponding active transmission disk to transmit the rotational driving force to the corresponding active transmission disk.

[0101] Specifically, the execution output shaft 143 and the active transmission disc can be connected by a key to achieve circumferential limitation. In the illustrated example, a spline portion 1432 is provided on the execution output shaft 143, and a spline groove 125 is provided on the active transmission disc.

[0102] The main structure of the execution encoder 144 is located in the sleeve cavity of the second transmission sleeve 1323, and the input end of the execution encoder 144 faces upward and also passes through the mounting flange 141. The input end of the execution encoder 144 can be transmission-connected to the execution output shaft 143 through a gear pair.

[0103] Specifically, a first gear portion 1431 is provided on the execution output shaft 143 , and a second gear portion 1441 is provided at the input end of the execution encoder 144 , and the first gear portion 1431 and the second gear portion 1441 are meshed.

[0104] In this embodiment, the docking component 12 also includes an identification component 124, and the identification component 124 is installed on the docking plate 121. In application, the instrument drive mechanism 10 is docked and installed with the flexible instrument 10 through the docking component 12. A disk structure docked with the docking plate 121 and two driven transmission disks docked with the first active transmission disk 122 and the second active transmission disk 123 are provided on the side of the flexible instrument 10. A docking portion can be provided on the docking plate 121 to dock with the disk structure on the side of the flexible instrument 10, and docking structures are also provided on the two active transmission disks to achieve docking with the driven transmission disk on the side of the flexible instrument 20. The specific structure of the docking portion and the docking structure can be realized by referring to the existing technology, which will not be described in detail here.

[0105] The actuator 14 further includes a circuit board 145 , which is located below the docking plate 121 and on which a sensor 1451 is mounted.

[0106] When the flexible instrument 20 is docked and installed with the docking component 12, the identification component 124 can trigger the sensor 1451 on the circuit board 145 to feed back a signal representing the installation status of the instrument.

[0107] In the illustrated example, four identification components 124 are installed on the docking plate 121, arranged around the center line of the docking plate 121, and correspondingly, sensors 1451 corresponding to four positions are provided on the circuit board 145. After the flexible device 20 is docked and installed with the docking component 12, if the four identification components 124 trigger the corresponding sensors 1451, then according to the feedback signals of the four sensors 1451, it can be confirmed that the flexible device 20 and the device driving mechanism 10 are successfully docked and installed, and the next operation can be performed. On the contrary, if any of the four sensors 1451 is not triggered and there is no signal feedback, it can be considered that the docking is unsuccessful, and inspection and other operations can be performed.

[0108] In other implementations, the number and arrangement of the identification components 124 can be adaptively adjusted according to actual settings, as long as the installation status of the flexible device 20 can be learned based on feedback.

[0109] In a specific implementation, the sensor 1451 installed on the circuit board 145 can be a photoelectric sensor.

[0110] In a specific implementation, the identification component 124 includes an identification push rod 1241, an identification bottom shell 1242 and an identification elastic member 1243; the identification bottom shell 1242 is fixedly connected to the bottom of the docking plate 121, the identification push rod 1241 passes through the docking plate 121 and the identification bottom shell 1242 and can move relative to the docking plate 121 in a direction parallel to the axis of the docking plate 121; the identification elastic member 1243 is arranged between the identification push rod 1241 and the identification bottom shell 1242; a limiting structure is provided between the identification push rod 1241 and the docking plate 121 to limit the upward movement position of the identification push rod 1241 relative to the docking plate 121.

[0111] When the flexible device 20 is docked with the docking component 12, the flexible device 20 will press down the identification push rod 1241, and the identification push rod 1241 will move downward along the docking plate 121 under the downward pressure to trigger the sensor 1451 at the corresponding position. When the flexible device 20 is separated from the device driving mechanism 10, the downward pressure of the flexible device 20 on the identification push rod 1241 disappears, and under the action of the identification elastic member 1243, the identification push rod 1241 will move upward along the docking plate 121 to reset. The aforementioned limiting structure limits the reset position of the identification push rod 1241.

[0112] Specifically, a downward limiting surface 1212 may be formed on the hole wall of the through hole for the identification push rod 1241 to pass through on the docking plate 121, and a limiting convex portion 12411 may be provided on the identification push rod 1241, and the limiting convex portion 12411 may abut against the limiting surface 1212. The identification elastic member 1243 may be a spring, which is sleeved on the identification push rod 1241, one end of the identification elastic member 1243 abuts against the limiting convex portion 12411, and the other end abuts against the identification bottom shell 1242. When the identification push rod 1241 is pressed downward, the identification elastic member 1243 may be compressed downward to accumulate elastic energy.

[0113] In a specific implementation, a detection element is also provided on the circuit board 145 , which is used to detect the type of the flexible device 20 docked and installed with the docking component 12 .

[0114] The docking plate 121 may also be provided with an identification portion 126, which may be used as a reference to ensure the circumferential position of the docking of the flexible device 20 and the device driving mechanism 10, so as to ensure the uniqueness of the docking installation of the two. In addition, the identification portion 126 may also be used as a detection mark, which is used to cover the detection element on the corresponding circuit board 145 to detect the type of the corresponding flexible device.

[0115] Specific examples are used herein to illustrate the principles and implementation methods of the present application, and the description of the above embodiments is only used to help understand the method and core ideas of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. An instrument driving mechanism for providing driving force to a flexible instrument, characterized in that: It includes a base body, a docking component, a conveying mechanism and an actuator; The conveying mechanism comprises a conveying drive assembly and a conveying transmission assembly, and the conveying drive assembly transmits a rotational driving force to the docking plate of the docking component through the conveying transmission assembly; The actuator is used to transmit the rotational driving force to the active transmission disc of the docking component; The base body has a cavity with an open top, the docking component is installed at the open end of the base body, and the cavity is used to install the conveying transmission component and the actuator.

2. The instrument driving mechanism according to claim 1, characterized in that: The docking component includes an identification component, and the identification component is installed on the docking plate; the docking component is used for docking and installation with the flexible device; The actuator includes a circuit board, on which a sensor is mounted; the circuit board is located below the docking plate; When the flexible device is docked with the docking component, the identification component can trigger the sensor to feed back a signal representing the device installation status.

3. The instrument driving mechanism according to claim 2, characterized in that: The identification component includes an identification push rod, an identification bottom shell and an identification elastic member; the identification bottom shell is fixedly connected to the bottom of the docking tray; the identification push rod passes through the docking tray and the identification bottom shell and can move relative to the docking tray in a direction parallel to the axis of the docking tray; the identification elastic member is arranged between the identification push rod and the identification bottom shell; a limiting structure is provided between the identification push rod and the docking tray to limit the upward movement position of the identification push rod relative to the docking tray.

4. The instrument driving mechanism according to claim 2, characterized in that: The circuit board is also provided with a detection element, and the detection element is used to detect the type of the flexible device docked and installed with the docking component.

5. The instrument driving mechanism according to claim 1, characterized in that: The docking component is provided with two active transmission discs, and the docking discs are provided with two through holes, and the two active transmission discs correspond to the positions of the two through holes respectively; The actuator comprises a mounting flange, two actuator drive components and two actuator encoders; The two execution drive components and the two execution encoders are both mounted on the mounting flange; The output ends of the two execution drive components are respectively connected to the two active transmission discs; the two execution encoders are respectively used to detect the driving force information transmitted by the two execution drive components.

6. The instrument driving mechanism according to claim 5, characterized in that: The output end of the execution driving component is transmission-connected with an execution output shaft, and the execution output shaft is transmission-connected with the input end of the execution encoder via a gear pair.

7. The instrument driving mechanism according to any one of claims 1 to 6, characterized in that: The conveying transmission assembly includes a transmission shaft and a transmission sleeve, the transmission sleeve is coaxially fixed on the transmission shaft and the transmission shaft is arranged close to the bottom of the base, the transmission shaft is transmission-connected to the conveying drive assembly, the docking plate is fixed to the upper end of the transmission sleeve and is coaxially arranged with the transmission sleeve; a first bearing is provided between the lower end of the transmission shaft and the base, and a second bearing is provided between the upper end of the transmission sleeve and the base.

8. The instrument driving mechanism according to claim 7, characterized in that: The transmission sleeve includes a first transmission sleeve and a second transmission sleeve, the first transmission sleeve is fixedly connected to the transmission shaft, the second transmission sleeve is fixedly connected to the upper end of the first transmission sleeve, and the second transmission sleeve has a sleeve cavity for installing the actuator.

9. The instrument driving mechanism according to claim 8, characterized in that: The transmission shaft is a hollow shaft, which includes a small diameter section and a large diameter section fixed above the small diameter section; The first transmission sleeve includes an annular plate portion and a sleeve portion extending axially downward from the inner circumferential wall of the annular plate portion; the annular plate portion is fixedly connected to the upper end of the large diameter section, and the sleeve portion is inserted into the interior of the large diameter section; a conductive slip ring is installed in the inner cavity of the sleeve portion, and a cable is arranged inside the conductive slip ring.

10. The instrument driving mechanism according to claim 8, characterized in that: The transmission sleeve further includes a third transmission sleeve, and the third transmission sleeve is fixedly connected to the upper end of the second transmission sleeve; The inner peripheral wall of the third transmission sleeve is provided with an annular mounting plate, and the annular mounting plate is used to support and fix the docking plate; The outer peripheral wall of the third transmission sleeve has a first annular step surface facing upward, the upper end of the base body has a second annular step surface facing downward, and the axial limit of the second bearing is located between the first annular step surface and the second annular step surface.

11. The instrument driving mechanism according to claim 8, characterized in that: The second transmission sleeve is in a cylindrical shape, and a peripheral wall thereof has an opening, and the opening communicates with the sleeve cavity of the second transmission sleeve and the cavity of the base body.

12. The instrument driving mechanism according to claim 7, characterized in that: The conveying mechanism further comprises a conveying encoder, which is coaxially mounted with the conveying transmission assembly and is used for detecting driving force information transmitted by the conveying drive assembly.

13. The instrument driving mechanism according to claim 12, characterized in that: The base comprises a base, a mounting bracket is fixedly connected to the base, the conveying encoder is mounted on the mounting bracket, and the conveying encoder is drivingly connected to the lower end of the transmission shaft.

14. The instrument driving mechanism according to any one of claims 1 to 6, characterized in that: The conveying drive assembly includes a conveying drive component and a pulley transmission mechanism, the pulley transmission mechanism includes a driving pulley, a driven pulley and a synchronous belt, the synchronous belt transmission connects the driving pulley and the driven pulley; the driving pulley is fixedly sleeved on the output end of the conveying drive component, and the driven pulley is fixedly sleeved on the input end of the conveying transmission assembly; the conveying drive component is located outside the base, and the base has a through opening for the synchronous belt to pass through.

15. A flexible surgical instrument, characterized in that: It comprises a flexible instrument and an instrument driving mechanism capable of outputting driving force to the flexible instrument, wherein the instrument driving mechanism adopts the instrument driving mechanism as described in any one of claims 1-14.

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