Minimally invasive surgical instrument

Abstract

The utility model proposes a minimally invasive surgical instrument, wherein a transmission assembly includes a base, a plurality of transmission shafts are arranged between the base and a sealing plate for rotation at intervals, a support platform is mounted on the base, a middle through hole is arranged on the support platform, a plurality of wheel axle body mounting grooves are arranged at intervals on the support platform, cylindrical pin mounting grooves are arranged at the support platform on the left and right sides of the wheel axle body mounting groove, the wheel axle body includes a seat plate, a mounting boss is arranged on the lower surface of the seat plate, a connecting column is arranged on the seat plate, non-coaxial cylindrical pins are symmetrically arranged on both sides of the connecting column, the seat plate is fixed on the support platform, the mounting boss and the connecting column are placed in the wheel axle body mounting groove, a part of the cylindrical pin is placed in the wheel axle body mounting groove, and the other part is placed in the cylindrical pin mounting groove, the cylindrical pin in the wheel axle body mounting groove is rotatably mounted with a wire wheel; a wire rope is connected to the transmission shaft, and after passing through the wire wheel, it passes through the middle through hole and the wire hole on the base into the instrument rod and is connected to the execution end. The above-mentioned instrument can avoid friction between the cylindrical pin and the support platform.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments for minimally invasive abdominal surgery, in particular to a minimally invasive surgical instrument. Background Art

[0002] With the rapid development of minimally invasive surgery, laparoscopic technology has brought great changes to the development of modern surgical medical technology, and minimally invasive surgical technology has significantly improved the effect of surgical operations. Compared with open surgery, laparoscopic surgery has the advantages of less pain, less blood loss, and faster recovery, and it can complete most abdominal surgeries. The application of laparoscopic surgery is gradually entering more complex surgical fields, and the surgical mode is also shifting towards more precise, subtle, minimally invasive and multi-information-oriented intelligent surgery. Minimally invasive surgical robots are created to meet the new requirements of this type of surgery.

[0003] The current mainstream minimally invasive surgical robot structure is mainly composed of a doctor's operating table, a patient operating table and surgical instruments. The surgical method is that the surgeon controls the wrist on the doctor's operating table and transmits the movement of the doctor's wrist to the patient operating table through electrical signals. The patient operating table is equipped with surgical instruments for surgical operations, enabling the doctor to remotely control the surgical instruments to perform surgical movements.

[0004] At present, the surgical instruments used in minimally invasive surgical robots are mainly composed of three parts: the execution end, the instrument rod, and the transmission assembly. These three parts mainly transmit actions through wire ropes. The transmission assembly is connected to the motor at the end of the mechanical arm on the patient's operating table, receives the rotational torque of the motor, and transmits it to the execution end through the wire rope to achieve the opening, closing, deflection and other actions of the end of the surgical instrument. The current transmission assembly structure is slightly complicated, and the axle that carries the wire wheel will rotate. Due to the limited space of the overall structure, the axle will rub against the support platform of the transmission assembly when it rotates, resulting in problems such as axle tilting or wire wheel disengagement. Utility Model Content

[0005] In order to solve the problems existing in the prior art, the present application proposes a minimally invasive surgical instrument.

[0006] In order to achieve the above-mentioned purpose, the application proposes a minimally invasive surgical instrument, including a transmission assembly, an instrument rod, and an execution end, the transmission assembly includes a base, the base is provided with a wire hole, a plurality of transmission shafts are arranged between the base and the sealing plate at intervals, each transmission shaft can rotate relative to the base and the sealing plate, a support platform is also installed on the base, and each transmission shaft is arranged along the periphery of the support platform; an intermediate through hole is provided in the middle position of the support platform, and the intermediate through hole penetrates the support platform along the up and down directions, at least two wheel axle body mounting grooves are provided at intervals on the support platform, and cylindrical pin mounting grooves are provided at the support platform on the left and right sides of each wheel axle body mounting groove, and the cylindrical pin mounting grooves are connected with the corresponding wheel axle body mounting grooves, and a wheel axle body is installed at each wheel axle body mounting groove, and the wheel axle body includes a seat plate, A mounting boss is provided on the lower surface of the seat plate, and a connecting column is fixedly provided on the seat plate, and two non-coaxial cylindrical pins are symmetrically fixedly provided on the left and right sides of the connecting column, and the seat plate is fixed on the support platform. At this time, the mounting boss and the connecting column on the wheel axle body are placed in the mounting groove of the wheel axle body, a part of each cylindrical pin is in the corresponding wheel axle body mounting groove, and the other part is placed in the corresponding cylindrical pin mounting groove, and the wire wheel is rotatably installed at the cylindrical pin in the wheel axle body mounting groove; each wheel axle body corresponds to each transmission shaft one by one, and two wire ropes are fixedly connected to each transmission shaft, and each wire rope passes through the corresponding wire wheel guide, and then penetrates into the instrument rod through the middle through hole and the wire hole on the base, and is then connected to the execution end. When the corresponding transmission shaft is driven to rotate, the execution end can perform the corresponding action.

[0007] In some embodiments, a boss is provided in the middle of the upper surface of the base, and a countersunk hole matching the boss is provided on the lower surface of the support platform, and the support platform is assembled to the base through the cooperation of the two.

[0008] In some embodiments, a plurality of support column guide holes are provided on the support platform, each support column guide hole is provided with a support column, the upper end of the support column is fixed to the sealing plate, and the lower end thereof is fixed to the base.

[0009] In some embodiments, a shell is further included, which is assembled on the base and is used to protect the transmission component.

[0010] The beneficial effect of the scheme of the present application is that the above-mentioned minimally invasive surgical instrument, by making the cylindrical pin and the corresponding wheel shaft body form a whole, and making each cylindrical pin fixed relative to the support platform, can ensure that when the wire rope is pulled out and pulled in, the wire wheel basically rotates in place, and there will be no detachment problem; and the cylindrical pin will not rotate with the rotation of the wire wheel, and then there will be no wear problem between the cylindrical pin and the support platform. In addition, during installation and disassembly and maintenance, the wire wheel will not fall out with the detachment of the wire rope, which can reduce the problems caused by the accidental detachment of the wire wheel during installation and disassembly and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 A schematic diagram of the overall assembly of the minimally invasive surgical instrument in the embodiment is shown.

[0012] Figure 2 A schematic structural diagram of a transmission assembly in an embodiment is shown.

[0013] Figure 3 A schematic diagram of the wire rope transmission path in the transmission assembly in the embodiment is shown.

[0014] Figure 4 A schematic structural diagram of the wire wheel assembly in the embodiment is shown.

[0015] Figure 5 A schematic structural diagram of a support platform in an embodiment is shown.

[0016] Figure 6 A schematic diagram of the back structure of the support platform in the embodiment is shown.

[0017] Figure 7 The schematic diagram of the structure of the axle body in the embodiment is shown.

[0018] Figure 8 A schematic diagram of the back structure of the axle body in the embodiment is shown.

[0019] Figure markings: 1-transmission assembly; 2-instrument rod; 3-execution end; 11-base; 12-transmission shaft; 13-button; 14-sealing plate; 15-support column; 16-wire wheel assembly; 17-wire rope; 18-button spring; 19-housing; 161-support platform; 162-axle body; 163-countersunk screw; 164-wire wheel; 161-1-support column guide hole; 161-2-spring mounting hole; 161-3-middle through hole; 161-4-axle body mounting groove; 161-5-cylindrical pin mounting groove; 161-6-axle body fixing screw hole; 161-7-countersunk hole; 162-1-cylindrical pin; 162-2-tapered hole; 162-3-mounting boss. DETAILED DESCRIPTION

[0020] The specific implementation of the present application is further described below in conjunction with the accompanying drawings.

[0021] In the description of the present application, it should be understood that the terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0022] like Figures 1 to 8 As shown, the minimally invasive surgical instrument involved in the present application includes a transmission assembly 1, an instrument rod 2, and an execution end 3. These three parts mainly transmit actions through wire ropes, and the connection relationship between the three is similar to that in the prior art, which will not be repeated here.

[0023] The transmission assembly 1 includes a base 11, which is provided with a wire hole. One end of the instrument rod 2 is connected to the base 11, and the other end is connected to the execution end 3. A plurality of transmission shafts 12 are arranged between the base 11 and the closing plate 14 at intervals. Each transmission shaft 12 can rotate relative to the base 11 and the closing plate 14. Specifically, both ends of each transmission shaft 12 are respectively connected to the base 11 and the closing plate 14 via bearings. In the present embodiment, transmission shafts 12 are provided at the four corners of the base 11.

[0024] A wire wheel assembly 16 is also mounted on the base 11, and the wire wheel assembly 16 includes a support platform 161 mounted on the base 11. Specifically, a boss is provided in the middle position of the upper surface of the base 11, and a countersunk hole 161-7 matching the boss is provided on the lower surface of the support platform 161. Through the cooperation of the two, the support platform 161 is assembled to the base 11, and each transmission shaft 12 is arranged along the periphery of the support platform 161; in order to make the structure more stable, a plurality of support column guide holes 161-1 are provided on the support platform 161, for example, four, and a support column 15 is provided at each support column guide hole 161-1, and the upper end of the support column 15 is fixed to the sealing plate 14 by screws, and the lower end thereof is fixed in the threaded hole on the base 11.

[0025] A middle through hole 161-3 is provided in the middle position of the support platform 161, and the middle through hole 161-3 penetrates the support platform 161 along the up and down direction. At least two wheel axle body mounting grooves 161-4 are provided on the support platform 161 at intervals, and cylindrical pin mounting grooves 161-5 are provided on the support platform 161 on the left and right sides of each wheel axle body mounting groove 161-4. The cylindrical pin mounting grooves 161-5 are communicated with the corresponding wheel axle body mounting grooves 161-4, and a wheel axle body 162 is assembled at each wheel axle body mounting groove 161-4. The wheel axle body 162 includes a seat plate, and a mounting boss 162-3 is provided on the lower surface of the seat plate. A connecting column is fixedly provided on the seat plate, and two non-coaxial cylindrical pins 162-1 are symmetrically fixedly provided on the left and right sides of the connecting column. The seat plate is fixed on the support platform 16 1 (for example, a tapered hole 162-2 is further provided on the seat plate, and a wheel axle body fixing screw hole 161-6 is correspondingly provided on the support platform 161, and the wheel axle body 162 is fixed on the support platform 161 through the cooperation of the countersunk screw 163, the tapered hole 162-2 and the wheel axle body fixing screw hole 161-6). At this time, the mounting boss 162-3 and the connecting column on the wheel axle body 162 are placed in the wheel axle body mounting groove 161-4, a part of each cylindrical pin 162-1 is placed in the corresponding wheel axle body mounting groove 161-4, and the other part is placed in the corresponding cylindrical pin mounting groove 161-5, and the wire wheel 164 is rotatably installed at the cylindrical pin 162-1 in the wheel axle body mounting groove 161-4, and the wire wheel 164 can rotate in the wheel axle body mounting groove 161-4. The above-mentioned structural arrangement enables the cylindrical pin 162 - 1 to be fixed relative to the support platform 161 , and the cylindrical pin 162 - 1 and the corresponding axle body 162 form a whole, which is convenient for assembly and disassembly, and will not cause friction problems relative to the support platform 161 .

[0026] Each axle body 162 corresponds to each transmission shaft 12 one by one. Two wire ropes 17 are fixedly connected to each transmission shaft 12. After each wire rope 17 is guided by the corresponding wire wheel 164, it passes through the middle through hole 161-3 and the wire hole on the base 11 into the instrument rod 2, and is then connected to the execution terminal 3. When the corresponding transmission shaft 12 is driven to rotate, the execution terminal 3 can perform corresponding actions.

[0027] In order to facilitate the assembly and disassembly of the minimally invasive surgical instrument and the robot's mechanical arm, the minimally invasive surgical instrument also includes two symmetrically arranged button springs 18, one end of each button spring 18 is sunk into the spring mounting hole 161-2 arranged on the side of the support platform 161, and the other end is connected to the button 13.

[0028] The minimally invasive surgical instrument involved in the present application further includes a housing 19 , which is mounted on the base 11 and is used to protect the transmission assembly 1 .

[0029] In a specific use process, when the corresponding transmission shaft 12 is driven to rotate, the corresponding wire rope 17 can be pulled out and pulled in, thereby enabling the execution terminal 3 to perform corresponding actions, such as opening and closing, deflection, etc.

[0030] The minimally invasive surgical instrument involved in the present application, by making the cylindrical pin and the corresponding wheel axle body form an integral body, and making each cylindrical pin fixed relative to the support platform, can ensure that when the wire rope is pulled out and pulled in, the wire wheel basically rotates in place and will not be separated; and the cylindrical pin will not rotate with the rotation of the wire wheel, and then there will be no wear problem between the cylindrical pin and the support platform. In addition, during installation and disassembly and maintenance, the wire wheel will not fall out with the separation of the wire rope, which can reduce the problems caused by the accidental falling off of the wire wheel during installation and disassembly and maintenance of the product.

[0031] The above is only a preferred specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes according to the technical solution and concept of the present application within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A minimally invasive surgical instrument, comprising a transmission assembly, an instrument rod, and an execution end, characterized in that: The transmission assembly includes a base, a wire hole is provided on the base, and a plurality of transmission shafts are arranged between the base and the sealing plate at intervals, and each transmission shaft can rotate relative to the base and the sealing plate. A support platform is also installed on the base, and each transmission shaft is arranged along the periphery of the support platform; an intermediate through hole is provided in the middle position of the support platform, and the intermediate through hole penetrates the support platform along the up and down directions, and at least two wheel axle body mounting grooves are provided at intervals on the support platform, and cylindrical pin mounting grooves are provided at the support platform on the left and right sides of each wheel axle body mounting groove, and the cylindrical pin mounting grooves are connected with the corresponding wheel axle body mounting grooves, and a wheel axle body is installed at each wheel axle body mounting groove, and the wheel axle body includes a seat plate, and a mounting boss is provided on the lower surface of the seat plate, and the seat plate A connecting column is fixedly provided on the top, and two non-coaxial cylindrical pins are symmetrically fixedly provided on the left and right sides of the connecting column, and the seat plate is fixed on the support platform. At this time, the mounting boss on the wheel axle body and the connecting column are placed in the mounting groove of the wheel axle body, a part of each cylindrical pin is in the corresponding wheel axle body mounting groove, and the other part is placed in the corresponding cylindrical pin mounting groove, and the wire wheel is rotatably installed at the cylindrical pin in the mounting groove of the wheel axle body; each wheel axle body corresponds to each transmission shaft one by one, and two wire ropes are fixedly connected to each transmission shaft, and each wire rope passes through the corresponding wire wheel guide, and then penetrates into the instrument rod through the middle through hole and the wire hole on the base, and is then connected to the execution end. When the corresponding transmission shaft is driven to rotate, the execution end can perform the corresponding action.

2. The minimally invasive surgical instrument according to claim 1, characterized in that: A boss is provided at the middle position of the upper surface of the base, and a countersunk hole matching with the boss is provided on the lower surface of the support platform. Through the cooperation of the two, the support platform is assembled to the base.

3. The minimally invasive surgical instrument according to claim 1, characterized in that: A plurality of support column guide holes are arranged on the support platform, and a support column is arranged at each support column guide hole. The upper end of the support column is fixed at the sealing plate, and the lower end thereof is fixed on the base.

4. The minimally invasive surgical instrument according to claim 1, characterized in that: It also includes a shell, which is assembled on the base and is used to protect the transmission component.

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