Surgical instrument for robot and surgical robot

Abstract

The utility model provides a surgical instrument for a robot and a surgical robot, the surgical instrument for the robot comprises an instrument box, and the instrument box comprises a box main body and a plurality of transmission shafts; the box body comprises a bottom plate and a supporting frame installed on the bottom plate, and a plurality of transmission holes are formed in the bottom plate and the supporting frame. Each transmission shaft is rotationally connected with one transmission hole in the bottom plate and the corresponding transmission hole in the supporting frame. The shaft assembly is in transmission connection with one transmission shaft; the hole wall of at least one transmission hole is provided with an anti-attrition structure, and when the corresponding transmission hole in the supporting frame and the transmission hole in the bottom plate are not coaxial due to stress deformation of the supporting frame or the bottom plate, the anti-attrition structure is arranged on the hole wall of at least one transmission hole; the anti-attrition structure is used for reducing excessive abrasion of partial areas caused by too large extrusion force of the partial areas between the transmission shaft and the hole wall of the transmission hole. According to the surgical instrument for the robot, due to the fact that the anti-attrition structure is arranged on the hole wall of the transmission hole, excessive abrasion and abrasive particles of the area are reduced, the use performance is improved, and the service life is prolonged.

Description

Technical Field

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

[0002] With the development of science and technology, the application of surgical robots in clinical practice is increasing. Thoracic and abdominal endoscopic surgery performed by surgical robots has the advantages of minimally invasive and short recovery time, and plays an increasingly important role in the medical field. At present, the cost of using surgical robots for clinical surgery is relatively high. The reason is that surgical instruments, as the end effectors of surgical robots, need to be strictly reprocessed before each use, resulting in a relatively short service life. After one or several uses, the performance of the instruments cannot meet the requirements and the surgical instruments need to be replaced. Therefore, increasing the service life of surgical instruments is of great significance to reducing the cost of a single operation.

[0003] The transmission shaft in the instrument box of the surgical instrument is rotatably connected to the box body. However, during the rotation, the end of the transmission shaft deflects due to the pulling force of the shaft assembly. During the deflection, excessive friction occurs between the transmission shaft and the box body, resulting in a large number of abrasive particles, which reduces the performance and life of the surgical instrument. Utility Model Content

[0004] The utility model aims to provide a surgical instrument for a robot and a surgical robot, aiming to solve the technical problem of severe wear between the existing transmission shaft and the box body.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0006] In a first aspect, a robotic surgical instrument is provided, the robotic surgical instrument comprising an instrument box, a shaft assembly, and an end effector, the shaft assembly extending from the instrument box and defining a longitudinal axis, and the shaft assembly is rotatably connected to the instrument box, the instrument box comprising a box body and a plurality of transmission shafts;

[0007] The box body includes a bottom plate and a support frame fixedly mounted on the bottom plate, and a plurality of transmission holes are provided on the bottom plate and the support frame; the plurality of transmission holes on the bottom plate are arranged in a one-to-one correspondence with the plurality of transmission holes on the support frame;

[0008] Each of the transmission shafts is rotatably connected to one of the transmission holes on the bottom plate and the corresponding transmission hole on the support frame; the shaft assembly is in transmission connection with one of the transmission shafts;

[0009] Among them, a wear-reducing structure is provided on the hole wall of at least one of the transmission holes. When the support frame or the base plate is deformed due to force, causing the corresponding transmission hole on the support frame and the transmission hole on the base plate to be not coaxial, the wear-reducing structure is used to reduce excessive wear of the partial area caused by excessive extrusion pressure in the partial area between the transmission shaft and the hole wall of the transmission hole.

[0010] In one of the embodiments of the first aspect, the wear-reducing structure includes at least one wear-reducing groove formed on a hole wall of the transmission hole, and the wear-reducing groove is used to reduce a contact area between the transmission shaft and the box body.

[0011] In one of the embodiments of the first aspect, the transmission shaft includes a shaft body and a protrusion protruding from the outer circumferential surface of the shaft body, a limiting groove that matches the clearance of the protrusion is formed on the hole wall of the transmission hole, the limiting groove extends around the axis of the transmission hole, the protrusion can slide along the extension direction of the limiting groove, and the wear-reducing groove is opened at the bottom of the limiting groove.

[0012] In one embodiment of the first aspect, two wear-reducing grooves are provided at the bottom of the limiting groove, and a groove side wall surface of one wear-reducing groove close to the first end of the transmission shaft is flush with a groove side wall surface of the limiting groove close to the first end of the transmission shaft, and a groove side wall surface of the other wear-reducing groove close to the second end of the transmission shaft is flush with a groove side wall surface of the limiting groove close to the second end of the transmission shaft.

[0013] In one embodiment of the first aspect, two wear-reducing grooves are provided on the hole wall of the transmission hole, the two wear-reducing grooves are spaced apart along the axial direction of the transmission shaft and respectively pass through two openings of the transmission hole.

[0014] In one of the embodiments of the first aspect, the wear-reducing groove is arranged around the axis of the transmission shaft.

[0015] In one embodiment of the first aspect, the wear-reducing groove extends along the circumference of the transmission shaft, and the extension path is arc-shaped, and a plurality of the wear-reducing grooves are arranged at intervals along the circumference of the transmission shaft.

[0016] In one of the embodiments of the first aspect, the hole wall of the transmission hole is respectively provided with at least one wear-reducing groove at two end positions in at least one radial direction of the transmission hole.

[0017] In one of the embodiments of the first aspect, the friction reducing structure includes a buffer groove surrounding the transmission hole and spaced apart from the transmission hole, and a buffer portion capable of elastic deformation is formed between the buffer groove and the transmission hole.

[0018] In a second aspect, a surgical robot is provided, comprising a robotic arm, a power box disposed at the end of the robotic arm, and a robotic surgical instrument as described in the above embodiments, wherein the instrument box is transmission-connected to the power box.

[0019] The technical effect of the utility model relative to the prior art is that when the shaft assembly drives the transmission shaft to rotate in the transmission hole, it will apply a deflection force to the transmission shaft that is deflected relative to the axis of the transmission shaft. Under the action of the deflection force, the transmission shaft squeezes a partial area of ​​the box body, and the hole wall of the transmission hole of the base plate and the hole wall of the transmission hole of the support frame are subjected to radial extrusion forces of different directions or different sizes. When the extrusion force is too large, it will cause the partial area to be deformed by force, thereby making the transmission hole on the base plate and the transmission hole on the support frame not coaxial. The robot surgical instrument reduces excessive wear of the partial area and reduces the generation of abrasive particles by arranging a wear-reducing structure on the hole wall of the transmission hole, thereby improving the performance of the surgical instrument and extending its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] Figure 1 It is a partial cross-sectional view of a transmission mechanism provided by an embodiment of the utility model;

[0022] Figure 2 It is a partial cross-sectional view of a transmission mechanism provided by another embodiment of the utility model;

[0023] Figure 3 yes Figure 2 A partial three-dimensional structural diagram of the bottom plate in the transmission mechanism;

[0024] Figure 4 It is a partial cross-sectional view of a transmission mechanism provided by another embodiment of the utility model;

[0025] Figure 5 It is a partial cross-sectional view of a transmission mechanism provided by yet another embodiment of the utility model.

[0026] Description of reference numerals:

[0027] 10. Box body; 11. Support frame; 12. Bottom plate; 121. First surface; 122. Second surface; 101. Transmission hole; 102. First transmission hole; 103. Second transmission hole; 104. Limiting groove; 20. Transmission shaft; 201. Avoidance groove; 21. Shaft body; 22. Protrusion; 901. Wear-reducing groove; 902. Buffer groove; 903. Buffer part; 30. Bearing. DETAILED DESCRIPTION

[0028] 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.

[0029] In the description of the present invention, it should be understood that the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] The utility model provides a surgical robot, which comprises a mechanical arm, a power box and a surgical instrument for the robot. The power box is arranged at the end of the mechanical arm and is in transmission connection with the surgical instrument for the robot.

[0034] The present embodiment also provides a robotic surgical instrument, which includes an instrument box, an axis assembly and an end effector. The axis assembly extends from the instrument box and defines a longitudinal axis. One end of the axis assembly is rotatably connected to the instrument box, and the other end is connected to the end effector. The power box is transmission-connected to the instrument box.

[0035] Among them, see Figure 1 The instrument box includes a box body 10 and a transmission shaft 20. The box body 10 includes a bottom plate 12 and a support frame 11. The support frame 11 is fixedly mounted on the bottom plate 12. Specifically, the support frame 11 is located above the bottom plate 12 and is jointly surrounded to form an installation cavity. The two ends of the transmission shaft 20 are rotatably connected to the bottom plate 12 and the support frame 11 respectively.

[0036] A plurality of transmission holes 101 are provided on the bottom plate 12 and the support frame 11, and the plurality of transmission holes 101 on the bottom plate 12 are arranged in a one-to-one correspondence with the plurality of transmission holes 101 on the support frame 11. The one-to-one correspondence means that the axis of the transmission shaft 20 on the bottom plate 12 coincides with the axis of the transmission shaft 20 on the corresponding support frame 11.

[0037] There are also a plurality of transmission shafts 20, the number of which is the same as the number of transmission holes 101 on the bottom plate 12 and the number of transmission holes 101 on the support frame 11, and each transmission shaft 20 is rotatably connected to a transmission hole 101 on the bottom plate 12 and a corresponding transmission hole 101 on the support frame 11. The shaft assembly is in transmission connection with one of the transmission shafts 20. Optionally, the shaft assembly can be in transmission connection through a rope structure wound around the transmission shaft 20.

[0038] Among them, a wear-reducing structure is provided on the hole wall of at least one transmission hole 101. When the support frame 11 or the base plate 12 is deformed due to force, causing the corresponding transmission hole 101 on the support frame 11 and the transmission hole 101 on the base plate 12 to be not coaxial, the wear-reducing structure is used to reduce excessive wear in some areas caused by excessive extrusion pressure in some areas between the transmission shaft 20 and the hole wall of the transmission hole 101. That is to say, the wear-reducing structure can be arranged on the hole wall of the transmission hole 101 on the base plate 12, and the wear-reducing structure is used to reduce the excessive wear between the outer peripheral surface of the first end of the transmission shaft 20 and the hole wall of the transmission hole 101 on the base plate 12; the wear-reducing structure can also be arranged on the hole wall of the transmission hole 101 on the support frame 11, and the wear-reducing structure is used to reduce the transitional wear between the outer peripheral surface of the second end of the transmission shaft 20 and the hole wall of the transmission hole 101 on the support frame 11; the wear-reducing structure is arranged on the hole wall of the transmission hole 101 on the base plate 12 and the hole wall of the transmission hole 101 on the support frame 11, and the wear-reducing structure on the base plate 12 is used to reduce the excessive wear between the outer peripheral surface of the first end of the transmission shaft 20 and the hole wall of the transmission hole 101 on the base plate 12, and the wear-reducing structure on the support frame 11 is used to reduce the excessive wear between the outer peripheral surface of the second end of the transmission shaft 20 and the hole wall of the transmission hole 101 on the support frame 11.

[0039] When the shaft assembly drives the transmission shaft 20 to rotate in the transmission hole 101, a deflection force relative to the axis of the transmission shaft 20 is applied to the transmission shaft 20. The transmission shaft 20 squeezes a partial area of ​​the box body 10 under the action of the deflection force, and the partial areas under stress on the hole wall of the transmission hole 101 of the base plate 12 and the hole wall of the transmission hole 101 of the support frame 11 are subjected to radial extrusion forces of different directions or different sizes. When the extrusion force is too large, the partial area will be deformed by the force, thereby making the transmission hole 101 on the base plate 12 and the transmission hole 101 on the support frame 11 not coaxial. The robot surgical instrument reduces excessive wear of the partial area and reduces the generation of abrasive particles by arranging a wear-reducing structure on the hole wall of the transmission hole 101, thereby improving the performance of the surgical instrument and extending its service life.

[0040] For ease of description, the transmission hole 101 on the base plate 12 can be named as the first transmission hole 102, and the transmission hole 101 on the support frame 11 can be named as the second transmission hole 103. In the illustrated embodiment, the first transmission hole 102 and the second transmission hole 103 are coaxially arranged, and the transmission shaft 20 has a first end and a second end in the axial direction. The first end of the transmission shaft 20 is rotatably connected to the first transmission hole 102, and the second end thereof is rotatably connected to the second transmission hole 103. The transmission shaft 20 is transmission-connected to the shaft assembly.

[0041] In some embodiments, the friction reducing structure is arranged on the hole wall of the first transmission hole 102 , a bearing 30 is connected in the second transmission hole 103 , the second end of the transmission shaft 20 is arranged in the bearing 30 , and the transmission shaft 20 is rotatably connected to the second transmission hole 103 through the bearing 30 .

[0042] For example, see Figure 1 The wear reducing structure includes at least one wear reducing groove 901 opened on the hole wall of the first transmission hole 102, and the notch of the wear reducing groove 901 faces the axis of the first transmission hole 102. The wear reducing groove 901 is used to reduce the contact area between the transmission shaft 20 and the base plate 12, thereby reducing the wear area of ​​the base plate 12, thereby reducing the generation of abrasive particles and extending the service life of the base plate 12.

[0043] Optionally, the wear-reducing groove 901 can be located at the point where the force on the first transmission hole 102 is maximum in the axial direction of the first transmission hole 102, so that the force on the base plate 12 can be reduced through the wear-reducing groove 901 to reduce the deformation, thereby reducing the area of ​​the base plate 12 that is excessively worn and further reducing the generation of abrasive particles.

[0044] The bottom plate 12 has a first surface 121 facing the support plate and a second surface 122 facing away from the support plate. The opening of the first transmission hole 102 on the first surface 121 can be named as the first opening, and the opening of the second transmission hole 103 on the second surface 122 can be named as the second opening. When the transmission shaft 20 is subjected to a deflection force, the extrusion force of the transmission shaft 20 exerted on the first opening and the second opening is the largest.

[0045] Based on this, two wear-reducing grooves 901 are provided on the hole wall of the first transmission hole 102, and the two wear-reducing grooves 901 are arranged at intervals along the axial direction of the transmission shaft 20, and respectively penetrate to the two orifices of the first transmission hole 102. It can be understood that one wear-reducing groove 901 is close to the first surface 121 and penetrates to the first surface 121, and the other wear-reducing groove 901 is close to the second surface 122 and penetrates to the second surface 122, so that the bottom plate 12 forms notches at both the first orifice and the second orifice, thereby reducing the force on the bottom plate 12 at the first orifice and the second orifice, so as to further reduce the wear area of ​​the bottom plate 12.

[0046] Of course, one wear-reducing groove 901 may also be provided. In this case, the wear-reducing groove 901 is close to the first surface 121 and passes through the first surface 121. In this way, a notch is formed at the first orifice of the bottom plate 12, thereby reducing the force on the bottom plate 12 at the first orifice to reduce the wear area of ​​the bottom plate 12; or, the wear-reducing groove 901 is close to the second surface 122 and passes through the second surface 122. In this way, a notch is formed at the second orifice of the bottom plate 12, thereby reducing the force on the bottom plate 12 at the second orifice to reduce the wear area of ​​the bottom plate 12.

[0047] Exemplarily, the wear-reducing groove 901 can be annular and arranged around the axis of the transmission shaft 20. In this way, the wear-reducing groove 901 can reduce the contact area between the base plate 12 and the transmission shaft 20 when the transmission shaft 20 is subjected to a deflection force in any direction, thereby reducing the wear of the transmission shaft 20 on the base plate 12 in all directions and facilitating rapid processing and assembly.

[0048] For example, see Figure 1 The transmission shaft 20 includes a shaft body 21 and a protrusion 22. The protrusion 22 is protruding from the outer circumferential surface of the shaft body 21. A limiting groove 104 is formed on the hole wall of the transmission hole 101. The limiting groove 104 extends around the axis of the transmission hole 101. The protrusion 22 is clearance-matched with the limiting groove 104. The protrusion 22 can slide along the extension direction of the limiting groove 104. That is, the peripheral side surface of the protrusion 22 is clearance-matched with the groove bottom surface of the limiting groove 104. Under the action of gravity, the side surface of the protrusion 22 facing the first end of the transmission shaft 20 abuts against the side wall surface of the limiting groove 104 close to the first end of the transmission shaft 20. The transmission shaft 20 realizes axial and radial limitation through the cooperation between the protrusion 22 and the limiting groove 104, so that the hole wall surface of the first transmission hole 102 can be spaced apart from the outer circumferential surface of the shaft body 21 to reduce the friction between the transmission shaft 20 and the hole wall of the first transmission hole 102. The wear reducing groove 901 is formed at the bottom of the limiting groove 104 to reduce the wear between the protrusion 22 and the bottom of the limiting groove 104. It should be noted that the protrusion 22 can be arranged around the shaft body 21, and multiple protrusions 22 can be arranged at intervals along the circumference of the shaft body 21, which is not limited here.

[0049] Optional, see Figure 1 The bottom of the limiting groove 104 is provided with two wear-reducing grooves 901. The groove side wall surface of one wear-reducing groove 901 near the first end of the transmission shaft 20 is flush with the groove side wall surface of the limiting groove 104 near the first end of the transmission shaft 20. The groove side wall surface of the other wear-reducing groove 901 near the second end of the transmission shaft 20 is flush with the groove side wall surface of the limiting groove 104 near the second end of the transmission shaft 20. In this way, the protrusion 22 only contacts the portion between the two wear-reducing grooves 901 and the groove bottom of the limiting groove 104 in the radial direction. The two wear-reducing grooves 901 avoid the maximum extrusion force applied by the protrusion 22 to the bottom plate 12, thereby reducing the wear of the two ends of the protrusion 22 in the axial direction.

[0050] Of course, the groove bottom of the limiting groove 104 may also be provided with only one wear-reducing groove 901 , and the wear-reducing groove 901 is provided at one of the ends of the limiting groove 104 in the axial direction, which is not limited here.

[0051] Optional, see Figure 1 The limiting groove 104 penetrates to the first surface 121 to facilitate assembly of the transmission shaft 20 and the base plate 12, and the wear-reducing groove 901 near the second end of the transmission shaft 20 also penetrates to the second surface 122 to facilitate processing.

[0052] In other embodiments, the limiting groove 104 may also penetrate to the second surface 122 , or the limiting groove 104 may be disposed between the first surface 121 and the second surface 122 , which is not limited here.

[0053] For example, see Figure 2 and Figure 3 The friction-reducing structure includes a buffer groove 902 surrounding the first transmission hole 102 and spaced from the first transmission hole 102, and a buffer portion 903 capable of elastic deformation is formed between the buffer groove 902 and the first transmission hole 102. When the transmission shaft 20 deflects, the transmission shaft 20 applies an extrusion force toward the buffer portion 903, and the buffer portion 903 can absorb the extrusion force through elastic deformation to avoid stress concentration on the bottom plate 12, thereby reducing the wear of the bottom plate 12. Among them, a buffer groove 902 is provided on the bottom plate 12, and the orientation of the notch of the buffer groove 902 can be the same as the orientation of the first surface 121, and the buffer portion 903 can avoid stress concentration at the first orifice; the orientation of the notch of the buffer groove 902 can also be the same as the orientation of the second surface 122, and the buffer portion 903 can avoid stress concentration at the second orifice. Two buffer grooves 902 can also be provided on the bottom plate 12, and the two buffer grooves 902 are respectively arranged on the first surface 121 and the second surface 122 to form buffer portions 903 at the first orifice and the second orifice, respectively. It should be noted that the distance between the buffer groove 902 and the first transmission hole 102 is based on the fact that the formed buffer portion 903 can be elastically deformed and not broken when subjected to the extrusion force of the transmission shaft 20 .

[0054] Optional, see Figure 2 and Figure 3 , a limiting groove 104 is provided on the hole wall of the first transmission hole 102, and the wear-reducing structure may include a wear-reducing groove 901 provided at the bottom of the limiting groove 104 and a buffer groove 902 provided on the first surface 121, and two wear-reducing grooves 901 are provided, and the groove bottom of the wear-reducing groove 901 near the second end of the transmission shaft 20 of the two wear-reducing grooves 901 is connected with the side wall of the buffer groove 902, and together form an L-shaped groove structure. The extended end of the buffer groove 902 near the first end of the transmission shaft 20 can be flush with the wear-reducing groove 901 near the first end of the transmission shaft 20, and is spaced from the wear-reducing groove 901, so that an L-shaped buffer portion 903 is formed between the buffer groove 902 and the limiting groove 104, so that the bottom plate 12 can not only reduce the friction area through the wear-reducing groove 901, but also avoid stress concentration through the buffer portion 903 formed by the buffer groove 902, thereby improving the wear-reducing effect and extending the service life of the bottom plate 12.

[0055] In other embodiments, only one wear-reducing groove 901 may be provided, the buffer groove 902 may not be connected to any wear-reducing groove 901 , and the limiting groove 104 may not be provided, which is not limited here.

[0056] For ease of description, it can be assumed that the transmission shaft 20 can deflect on the plane where the axis is located when subjected to a deflection force. For example, the second end of the transmission shaft 20 deflects toward the first direction, then the junction of the hole wall of the first transmission hole 102 in the first direction and the first surface 121 is the point of maximum force on the first hole opening, and the junction of the hole wall of the first transmission hole 102 in the direction opposite to the first direction and the second surface 122 is the point of maximum force on the second hole opening.

[0057] Based on this, the wear-reducing groove 901 extends along the circumference of the transmission shaft 20, and the extension path is arc-shaped, and multiple wear-reducing grooves 901 are arranged at intervals along the circumference of the transmission shaft 20. The multiple wear-reducing grooves 901 can be respectively arranged in the deflection direction of the transmission shaft 20, so as to avoid the deflection of the transmission shaft 20 in a specific direction in a targeted manner, thereby reducing the wear in the specific direction.

[0058] Exemplarily, at least one wear-reducing groove 901 is respectively provided on the hole wall of the transmission hole 101 at two end positions in at least one radial direction of the transmission hole 101 .

[0059] It can be understood that if the transmission shaft 20 only deflects in the first direction, wherein the first direction is one of the radial directions of the first transmission hole 102, then two wear-reducing grooves 901 may be provided, one wear-reducing groove 901 may be provided in the first direction of the transmission shaft 20, and the other wear-reducing groove 901 is provided in the opposite direction of the first direction of the transmission shaft 20. If the transmission shaft 20 is not provided with a protrusion 22, then the wear-reducing groove 901 in the first direction is provided on the hole wall of the first transmission hole 102 and penetrates to the first surface 121, and the wear-reducing groove 901 in the opposite direction of the first direction is provided on the hole wall of the first transmission hole 102 and penetrates to the second surface 122. If the transmission shaft 20 is provided with a protrusion 22, then the wear-reducing groove 901 in the first direction is provided on the bottom of the limiting groove 104 and penetrates to the first surface 121, and the wear-reducing groove 901 in the opposite direction of the first direction is provided on the hole wall of the first transmission hole 102 and penetrates to the second surface 122. The arrangement of the wear-reducing groove 901 on the hole wall of the second transmission hole 103 is the same as that of the wear-reducing groove 901 on the hole wall of the first transmission hole 102 , and will not be described in detail here.

[0060] Exemplarily, if the transmission shaft 20 generates deflections in the first direction and the reverse direction of the first direction, four wear-reducing grooves 901 may be provided, two wear-reducing grooves 901 are provided in the first direction of the transmission shaft 20 and are spaced apart in the axial direction, and the other two wear-reducing grooves 901 are provided in the reverse direction of the first direction of the transmission shaft 20 and are spaced apart in the axial direction. If the transmission shaft 20 is not provided with a protrusion 22, the two wear-reducing grooves 901 in the first direction are both provided in the hole wall of the first transmission hole 102 and are respectively penetrated to the first surface 121 and the second surface 122, and the two wear-reducing grooves 901 in the reverse direction of the first direction are both provided in the hole wall of the first transmission hole 102 and are respectively penetrated to the first surface 121 and the second surface 122. If a protrusion 22 is provided on the transmission shaft 20, the two wear-reducing grooves 901 in the first direction are both arranged at the bottom of the limiting groove 104 and are respectively arranged at the two ends of the axial direction of the limiting groove 104, and the two wear-reducing grooves 901 in the opposite direction of the first direction are both arranged at the bottom of the limiting groove 104 and are respectively arranged at the two ends of the axial direction of the limiting groove 104.

[0061] It should be understood that when the transmission shaft 20 can also produce deflection in other directions, at least one wear-reducing groove 901 can also be provided at both end positions of the hole wall of the transmission hole 101 in other radial directions. In this way, the hole wall of the transmission hole 101 is provided with wear-reducing grooves 901 at both end positions in multiple radial directions, and the number of wear-reducing grooves 901 in each radial direction can be set according to the need for wear reduction.

[0062] In some other embodiments, see Figure 4 The first transmission hole 102 and the second transmission hole 103 are both provided with a friction-reducing structure. The first end of the transmission shaft 20 is friction-reduced by the friction-reducing structure on the bottom plate 12, and the second end of the transmission shaft 20 is friction-reduced by the friction-reducing structure on the support frame 11. The friction-reducing structure on the bottom plate 12 may have the same structure and function as the friction-reducing structure on the bottom plate 12 in the previous embodiment, and no limitation is made here. The friction-reducing structure on the support frame 11 may also be the same as the friction-reducing structure on the bottom plate 12 in the previous embodiment.

[0063] See also Figure 4 ,exist Figure 4In the embodiment shown, the friction reduction structure on the support frame 11 includes two friction reduction grooves 901 and a buffer groove 902. The two friction reduction grooves 901 are both provided on the hole wall of the first transmission hole 102. The two friction reduction grooves 901 are spaced apart in the axial direction. The support frame 11 has a third surface facing the bottom plate 12. One friction reduction groove 901 penetrates the third surface, and the other friction reduction groove 901 is away from the third surface. The buffer groove 902 is provided on the third surface. The groove bottom of the friction reduction groove 901 penetrating the third surface penetrates the groove side wall of the buffer groove 902 to form an L-shaped groove structure together with the buffer groove 902. At this time, the buffer portion 903 formed is also L-shaped. In this way, the support frame 11 can reduce the contact area with the transmission shaft 20 by providing two friction reduction grooves 901, thereby avoiding excessive friction. At the same time, the buffer portion 903 that can be elastically deformed is formed by providing the buffer groove 902, thereby avoiding the stress concentration of the deflection force applied to the support frame 11 by the second end of the transmission shaft 20.

[0064] In addition, for example, the friction between the transmission shaft 20 and the box body 10 is further reduced. In some embodiments, see Figure 5 A circumferential side surface of the transmission shaft 20 is provided with an avoidance groove 201 , and the avoidance groove 201 may be partially or completely located in the transmission hole 101 .

[0065] Exemplarily, a protrusion 22 is provided on the transmission shaft 20 , and the avoidance groove 201 is opened on the peripheral side surface of the protrusion 22 , and the avoidance groove 201 is partially located inside the first transmission hole 102 and partially located outside the first transmission hole 102 .

[0066] 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 robotic surgical instrument, comprising an instrument box, a shaft assembly, and an end effector, wherein the shaft assembly extends from the instrument box and defines a longitudinal axis, and the shaft assembly is rotatably connected to the instrument box, characterized in that: The instrument box comprises: The box body (10) comprises a bottom plate (12) and a support frame (11) fixedly mounted on the bottom plate (12); the bottom plate (12) and the support frame (11) are both provided with a plurality of transmission holes (101); the plurality of transmission holes (101) on the bottom plate (12) and the plurality of transmission holes (101) on the support frame (11) are arranged in a one-to-one correspondence; A plurality of transmission shafts (20), each of the transmission shafts (20) being rotatably connected to a transmission hole (101) on the bottom plate and a corresponding transmission hole (101) on the support frame (11); the shaft assembly being in transmission connection with one of the transmission shafts (20); Wherein, a wear-reducing structure is provided on the hole wall of at least one of the transmission holes (101). When the support frame (11) or the base plate (12) is deformed due to force, resulting in the corresponding transmission hole (101) on the support frame (11) and the transmission hole (101) on the base plate (12) being not coaxial, the wear-reducing structure is used to reduce excessive wear of a partial area caused by excessive squeezing force in a partial area between the transmission shaft (20) and the hole wall of the transmission hole (101).

2. The robot surgical instrument according to claim 1, wherein: The wear-reducing structure comprises at least one wear-reducing groove (901) formed on the hole wall of the transmission hole (101), and the wear-reducing groove (901) is used to reduce the contact area between the transmission shaft (20) and the box body (10).

3. The robot surgical instrument according to claim 2, wherein: The transmission shaft (20) comprises a shaft body (21) and a protrusion (22) protruding from the outer peripheral surface of the shaft body; a limiting groove (103) is formed on the hole wall of the transmission hole (101) and is clearance-matched with the protrusion (22); the limiting groove (103) extends around the axis of the transmission hole (101); the protrusion (22) can slide along the extension direction of the limiting groove (103); and the wear-reducing groove (901) is arranged at the groove bottom of the limiting groove (103).

4. The robot surgical instrument according to claim 3, characterized in that: The bottom of the limiting groove (103) is provided with two wear-reducing grooves (901), wherein a groove side wall surface of one wear-reducing groove (901) close to the first end of the transmission shaft (20) is flush with a groove side wall surface of the limiting groove (103) close to the first end of the transmission shaft (20), and a groove side wall surface of the other wear-reducing groove (901) close to the second end of the transmission shaft (20) is flush with a groove side wall surface of the limiting groove (103) close to the second end of the transmission shaft (20).

5. The robot surgical instrument according to claim 2, wherein: Two wear-reducing grooves (901) are provided on the hole wall of the transmission hole (101). The two wear-reducing grooves (901) are spaced apart along the axial direction of the transmission shaft (20) and respectively penetrate to two openings of the transmission hole (101).

6. The robot surgical instrument according to claim 2, wherein: The wear-reducing groove (901) is arranged around the axis of the transmission shaft (20).

7. The robot surgical instrument according to claim 2, wherein: The wear-reducing groove (901) extends along the circumference of the transmission shaft (20), and the extension path is arc-shaped. A plurality of the wear-reducing grooves (901) are arranged at intervals along the circumference of the transmission shaft (20).

8. The robot surgical instrument according to claim 7, characterized in that: The hole wall of the transmission hole (101) is respectively provided with at least one wear-reducing groove (901) at two end positions in at least one radial direction of the transmission hole (101).

9. The robotic surgical instrument according to any one of claims 1 to 8, characterized in that: The friction-reducing structure comprises a buffer groove (902) surrounding the transmission hole (101) and spaced apart from the transmission hole (101); a buffer portion (903) capable of elastic deformation is formed between the buffer groove (902) and the transmission hole (101).

10. A surgical robot, characterized in that: The surgical robot comprises a robotic arm, a power box disposed at the end of the robotic arm, and a robotic surgical instrument as described in any one of claims 1 to 9, wherein the instrument box is transmission-connected to the power box.

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