Side-out surgical instrument and surgical robot

Abstract

The utility model discloses a side-out surgical instrument and a surgical robot, and relates to the technical field of medical instruments. According to the technical scheme, the device comprises a driving mechanism, a clamping mechanism and a transmission mechanism; the transmission mechanism comprises a fixed shell, an opening gear rotationally arranged in the fixed shell, an opening positioning seat coaxially arranged with the opening gear, and an opening pressing plate connected with the fixed shell; and the opening pressing plate is matched with the fixed shell to limit the opening positioning seat. The positioning seat is used for supporting the open gear, so that the stability of the open gear can be improved; transmission connection between the driving mechanism and the transmission mechanism is achieved through the first driving shaft and the driving cylinder, so that the rapid locking assembly can be arranged between the first driving shaft and the driving cylinder, and rapid disassembly and assembly of the transmission mechanism are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, and more specifically, to a side-out surgical instrument and a surgical robot. Background Art

[0002] In orthopedic surgical robots, especially spinal surgical robots, internal fixation surgeries involving the insertion of pedicle screws are often involved.

[0003] The existing Chinese patent with the publication number CN116585016A discloses an instrument assembly, a surgical instrument, and a surgical robot. The instrument assembly includes an input gear, an opening gear, an instrument tool, a driving device, and a housing; the driving device is a motor, and the output shaft of the motor is connected to the central axis of the input gear to drive the input gear to rotate; the central axis of the input gear passes through the mounting hole of the housing and is connected to the driving device outside the housing; the driving device includes a mounting bracket, and the mounting bracket is connected to the housing by screws.

[0004] However, the above patent still has the following problems: 1. The opening gear is directly installed in the housing, resulting in insufficient stability of the opening gear and easy wear of the opening gear, affecting accuracy and service life; 2. When screwing the screw to connect or disassemble the housing and the mounting bracket during the operation, there are problems of inconvenient operation and long time consumption; although a quick locking device can be used to replace the screw to achieve quick disassembly and assembly, there is no extra mounting position in the instrument assembly of the above patent to set the quick locking device. Summary of the Utility Model

[0005] Aiming at the deficiencies of the existing technology, one of the purposes of the present utility model is to provide a side-out surgical instrument, which uses a first drive shaft and a drive cylinder to realize the transmission connection between the drive mechanism and the transmission mechanism, so that the quick locking assembly can be arranged between the first drive shaft and the drive cylinder, thereby realizing the quick disassembly and assembly of the transmission mechanism; using an opening positioning seat to support and position the opening gear can improve the stability of the opening gear.

[0006] To achieve the above purpose, the present utility model provides the following technical solutions:

[0007] A side-out surgical instrument includes a drive mechanism, a clamping mechanism, and a transmission mechanism arranged between the drive mechanism and the clamping mechanism;

[0008] The transmission mechanism includes a fixed housing, an opening gear rotatably arranged in the fixed housing, an opening positioning seat coaxially arranged with the opening gear, and an opening pressure plate connected to the fixed housing;

[0009] The opening pressure plate cooperates with the fixed housing to limit the opening positioning seat.

[0010] Further, the opening positioning seat is fixedly connected to the opening gear.

[0011] Further, an outer stop is provided on the outer side wall of the opening positioning seat for cooperation with the opening pressure plate.

[0012] Further, a limiting cavity is formed between the opening pressure plate and the fixed housing, and the opening positioning seat is rotatably arranged in the limiting cavity.

[0013] Further, the transmission mechanism further includes a transmission pipe for carrying and clamping the mechanism; a side outlet channel is formed between the fixed housing, the opening gear, the opening positioning seat and the opening pressure plate, and the transmission pipe is disassembled and assembled with the opening gear through the side outlet channel.

[0014] Further, an opening support is provided on the opening gear outside the fixed housing, and a locking assembly is provided between the transmission pipe and the opening support.

[0015] Further, the transmission mechanism and the driving mechanism are detachably connected through a quick locking assembly; the transmission mechanism further includes a driving cylinder rotatably arranged in the fixed housing, and a driving gear for driving the opening gear is provided on the outer side wall of the driving cylinder;

[0016] The driving mechanism includes a first driving shaft, the first driving shaft is embedded in the driving cylinder, and the two are circumferentially linked; the quick locking assembly is arranged between the first driving shaft and the driving cylinder and realizes axial limit.

[0017] Further, the quick locking assembly includes a quick lock head extending into the driving cylinder and a locking seat embedded in the first driving shaft and cooperating with the quick lock head.

[0018] Further, the driving mechanism further includes a driving motor and a driving assembly; the driving assembly includes a fixed seat and a second driving shaft rotatably arranged in the fixed seat; one end of the second driving shaft is connected to the motor shaft of the driving motor, and the other end is connected to the first driving shaft.

[0019] Another object of the present invention is to provide a surgical robot, which includes the above-mentioned side-out surgical instrument.

[0020] In summary, the present invention has the following beneficial effects:

[0021] 1. The first driving shaft and the driving cylinder are used to realize the connection and torque transmission between the driving mechanism and the transmission mechanism, so that the quick locking assembly can be installed by using the first driving shaft and the driving cylinder to realize the quick disassembly and assembly of the transmission mechanism, and the radial dimension of the transmission mechanism can be effectively controlled;

[0022] 2. Using an open positioning seat to support the open gear can improve the stability of the open gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic structural diagram of the side-out surgical instrument in Embodiment 1;

[0024] Figure 2 is a schematic structural diagram of the drive assembly, transmission mechanism and clamping mechanism in Embodiment 1;

[0025] Figure 3 is a schematic structural diagram of the drive assembly in Embodiment 1;

[0026] Figure 4 is a schematic structural diagram of the transmission mechanism and the clamping mechanism in Embodiment 1 Figure 1 ;

[0027] Figure 5 is a schematic structural diagram of the transmission mechanism and the clamping mechanism in Embodiment 1 Figure 2 ;

[0028] Figure 6 is a schematic structural diagram of the open positioning seat, open pressure plate and open gear in Embodiment 1.

[0029] In the figure: 1. Linear drive module; 2. Drive motor; 3. Drive assembly; 31. Fixed seat; 32. Second drive shaft; 33. First drive shaft; 4. Kirschner wire; 5. Transmission mechanism; 51. Fixed housing; 52. Drive cylinder; 521. Drive gear; 531. Quick lock head; 532. Locking seat; 54. Open gear; 55. Transmission pipe; 561. Open positioning seat; 562. Open pressure plate; 57. Open support; 58. Locking assembly; 59. Driven idler gear; 6. Clamping mechanism. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] The following further describes the present invention in detail with reference to the accompanying drawings.

[0031] This specific embodiment is only an explanation of the present invention, and it is not a limitation of the present invention. After reading this specification, those skilled in the art can make modifications to this embodiment without creative contributions as needed, but as long as they are within the scope of the claims of the present invention, they are protected by the patent law. Embodiment 1:

[0032] A side-out surgical instrument, referring to Figures 1 to 6, which includes a driving mechanism, a clamping mechanism 6 and a transmission mechanism 5 arranged between the driving mechanism and the clamping mechanism 6; specifically, the driving mechanism in this embodiment includes a driving motor 2, and a driving component 3 arranged between the driving motor 2 and the transmission mechanism 5; the clamping mechanism 6 in this embodiment is used to mount the Kirschner wire 4, then, specifically a drill chuck; the side-out surgical instrument in this embodiment also includes a linear driving module 1 for carrying the driving motor 2; that is, the driving motor 2 drives the Kirschner wire 4 to rotate through the driving component 3, the transmission mechanism 5 and the clamping mechanism 6, and the linear driving module 1 drives the Kirschner wire to move along its length direction; of course, in other optional embodiments, the driving mechanism can also use a hand drill to provide a rotational driving force, and the operator holds the hand drill to drive the Kirschner wire to move, which is not limited here.

[0033] Reference Figures 1 to 6 Preferably, in this embodiment, the transmission mechanism 5 and the driving mechanism are detachably connected by a quick locking assembly, so that the transmission mechanism 5 can be quickly disassembled and assembled, saving time; specifically, in this embodiment, the transmission mechanism 5 and the driving assembly 3 are detachably connected by a quick locking assembly; in this embodiment, the adapter assembly 3 includes a fixed seat 31, a second driving shaft 32 rotatably arranged in the fixed seat 31, and a first driving shaft 33 connected to the second driving shaft 32; specifically, a bearing is arranged between the second driving shaft 32 and the fixed seat 31; the top end of the second driving shaft 32 is provided with an axial hole, and the motor shaft of the driving motor 2 is embedded in the axial hole , the driving motor 2 can drive the second driving shaft 32 to rotate; the bottom end of the second driving shaft 32 is embedded in the top end of the first driving shaft 33, and a screw connected to the second driving shaft 32 is passed through the first driving shaft 33, thereby realizing the fixed connection between the second driving shaft 32 and the first driving shaft 33; the second driving shaft 32 is arranged in the fixing seat 31, and the fixing seat 31 is connected to the casing of the driving motor 2, so in this embodiment, the first driving shaft 33 and the second driving shaft 32 are regarded as two independent parts, which can facilitate the processing and installation of the first driving shaft 33, and the first driving shaft 33 can be disassembled separately for inspection and replacement.

[0034] Reference Figures 1 to 6, the transmission mechanism 5 includes a fixed housing 51 and a driving cylinder 52 rotatably arranged within the fixed housing 51. Specifically, a bearing is provided between the driving cylinder 52 and the fixed housing 51; the first driving shaft 33 extends from the bottom end of the fixed seat 31 and is inserted into the driving cylinder 52 from the top end, and the first driving shaft 33 and the driving cylinder 52 are circumferentially linked; that is, when the first driving shaft 33 is inserted into the driving cylinder 52, torque transmission between the driving assembly 3 and the transmission mechanism 5 can be achieved; preferably, in this embodiment, the mating surface between the first driving shaft 33 and the driving cylinder 52 is a non-cylindrical surface, so that torque can be transmitted and circumferential linkage can be achieved after the outer sidewall of the first driving shaft 33 contacts the inner sidewall of the driving cylinder 52; specifically, three circumferentially evenly distributed planes are provided on the outer sidewall of the first driving shaft 33, and three circumferentially evenly distributed planes are provided on the inner sidewall of the driving cylinder 52; of course, in other alternative embodiments, in order to achieve circumferential linkage, other structures can also be adopted for the mating surface between the first driving shaft 33 and the driving cylinder 52, which is not limited herein; in this embodiment, circumferential linkage can be achieved after the first driving shaft 33 and the driving cylinder 52 are axially sleeved, without the need for additional fasteners, which can simplify the structure, reduce the number of parts and facilitate disassembly and assembly.

[0035] Referring to Figures 1 to 6 , specifically, in this embodiment, the quick-locking assembly includes a quick-lock head 531 and a locking seat 532; wherein, the quick-lock head 531 extends into the driving cylinder 52 from the bottom end of the driving cylinder 52, and the locking seat 532 is embedded in the bottom end of the first driving shaft 33; then, after the first driving shaft 33 is inserted into the driving cylinder 52, pressing the quick-lock head 531 upward until it is inserted into the locking seat 532 can achieve axial limit between the first driving shaft 33 and the driving cylinder 52 and prevent the transmission mechanism from falling off; pressing the quick-lock head 531 again to separate the quick-lock head 531 from the locking seat 532 can move the transmission mechanism 5 downward to disengage from the driving assembly 3, realizing quick disassembly of the transmission mechanism; in this embodiment, the quick-locking assembly is a push-type quick-locking device, which can optimize the radial dimension; of course, in other alternative embodiments, other quick-locking devices can also be adopted for the quick-locking assembly, such as a knob-type quick-locking device, etc., which is not limited herein.

[0036] Referring to Figures 1 to 6 , in this embodiment, the first driving shaft 33 and the driving cylinder 52 are used to achieve the connection and torque transmission between the driving mechanism and the transmission mechanism, so that the quick-locking assembly can be installed by using the first driving shaft 33 and the driving cylinder 52 to realize quick disassembly and assembly of the transmission mechanism, and the radial dimension of the transmission mechanism can be effectively controlled; in this embodiment, inserting the first driving shaft 33 into the driving cylinder 52 is also convenient for realizing the connection between the quick-lock head 531 and the locking seat 532 and controlling the length of the quick-lock head 531 without the need for lengthening; moreover, the quick-locking assembly can be directly purchased from the market without customization, thus reducing costs.

[0037] Referring to Figures 1 to 6 , in this embodiment, the transmission mechanism 5 further includes an open gear 54 rotatably disposed in the fixed housing 51, an open positioning seat 561 coaxially arranged with the open gear 54, an open pressing plate 562 connected to the fixed housing 51, and a transmission pipe 55 for carrying and clamping the mechanism 6; a driving gear 521 is integrally formed on the outer side wall of the driving cylinder 52, and a driven idler gear 59 meshing with the driving gear 521 and the open gear 54 respectively is disposed in the fixed housing 51; that is, the torque of the driving cylinder 52 is transmitted to the open gear 54 through the driving gear 521 and the driven idler gear 59; a side outlet channel is formed among the fixed housing 51, the open gear 54, the open positioning seat 561 and the open pressing plate 562, and the transmission pipe 55 is detachably connected to the open gear 54 through the side outlet channel.

[0038] Referring to Figures 1 to 6 , the transmission pipe 55 extends out of the bottom end of the fixed housing 51, and the clamping mechanism 6 is sleeved on the transmission pipe 55; an open support 57 located at the outer top of the fixed housing 51 is provided on the open gear 54, and a locking assembly 58 is arranged between the transmission pipe 55 and the open support 57; specifically, the locking assembly 58 is a push-type quick lock; the transmission pipe 55 is installed into the open gear 54 through the side outlet channel, and the connection between the transmission pipe 55 and the open support 57 is realized through the locking assembly 58, then the open gear 54 drives the clamping mechanism 6 to rotate through the open support 57, the locking assembly 58 and the transmission pipe 55; pressing the locking assembly 58 to realize the separation between the transmission pipe 55 and the open support 57, and the transmission pipe 55 can be taken out through the side outlet channel, so as to realize the side outlet of the Kirschner wire 4.

[0039] Referring to Figures 1 to 6 , in this embodiment, an open positioning seat 561 is arranged between the open gear 54 and the fixed housing 51. By supporting the open gear 54 through the open positioning seat 561, the stability of the open gear 54 can be improved, the wear of the open gear 54 can be avoided, and the service life can be prolonged; specifically, in this embodiment, a screw connected to the open positioning seat 561 is penetrated through the open gear 54 to realize the fixed connection between the open gear 54 and the open positioning seat 561; that is, the open gear 54 and the open positioning seat 561 rotate synchronously; a limiting cavity is formed between the open pressing plate 562 and the fixed housing 51, and the open positioning seat 561 is rotatably arranged in the limiting cavity; that is, a contact friction is formed between the open positioning seat 561 and the fixed housing 51 and the open pressing plate 562; preferably, an outer stop is arranged on the outer side wall of the open positioning seat 561 to cooperate with the open pressing plate 562, so as to facilitate the axial and radial positioning of the open positioning seat 561; wherein, the open positioning seat 561 is preferably made of wear-resistant material, so as to prolong the service life; fixedly connecting the open gear 54 and the open positioning seat 561 is beneficial to increasing the positioning contact area and improving the positioning stability. Example 2:

[0040] A surgical robot, referring to Figures 1 to 6 , which includes the side-out surgical instrument in Example 1; specifically, the surgical robot further includes a robotic arm (not shown in the drawings) connected to the linear drive module 1.

Claims

1. A side-exit surgical instrument, characterized in that: It includes a driving mechanism, a clamping mechanism, and a transmission mechanism arranged between the driving mechanism and the clamping mechanism; The transmission mechanism comprises a fixed housing, an open gear rotatably arranged in the fixed housing, an open positioning seat coaxially arranged with the open gear, and an open pressure plate connected to the fixed housing; The opening pressing plate cooperates with the fixed shell to limit the opening positioning seat.

2. The side-exit surgical instrument according to claim 1, characterized in that: The opening positioning seat is fixedly connected to the opening gear.

3. The side-exit surgical instrument according to claim 2, characterized in that: The outer side wall of the opening positioning seat is provided with an outer stopper matched with the opening pressing plate.

4. The side-exit surgical instrument according to claim 2, characterized in that: A limiting cavity is formed between the opening pressure plate and the fixed shell, and the opening positioning seat is rotatably arranged in the limiting cavity.

5. The side-exit surgical instrument according to claim 1, characterized in that: The transmission mechanism also includes a transmission tube for carrying the clamping mechanism; a side exit channel is formed between the fixed housing, the open gear, the open positioning seat and the open pressure plate, and the transmission tube is disassembled and assembled with the open gear through the side exit channel.

6. The side-exit surgical instrument according to claim 5, characterized in that: The open gear is provided with an open support located outside the fixed shell, and a locking assembly is provided between the transmission tube and the open support.

7. The side-exit surgical instrument according to claim 1, characterized in that: The transmission mechanism and the driving mechanism are detachably connected via a quick locking assembly; the transmission mechanism further comprises a driving cylinder rotatably disposed in the fixed housing, and an outer wall of the driving cylinder is provided with a driving gear that is transmitted to the open gear; The driving mechanism comprises a first driving shaft, the first driving shaft is embedded in the driving cylinder, and the two are linked in the circumferential direction; the quick locking assembly is arranged between the first driving shaft and the driving cylinder, and realizes axial limitation.

8. The side-exit surgical instrument according to claim 7, characterized in that: The quick locking assembly comprises a quick locking head extending into the driving cylinder, and a locking seat embedded in the first driving shaft and cooperating with the quick locking head.

9. The side-exit surgical instrument according to claim 7, characterized in that: The driving mechanism also includes a driving motor and a driving assembly; the driving assembly includes a fixed seat and a second driving shaft rotatably arranged in the fixed seat; one end of the second driving shaft is connected to the motor shaft of the driving motor, and the other end is connected to the first driving shaft.

10. A surgical robot, characterized in that: A side-exit surgical instrument comprising any one of claims 1-9.

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