Surgical instrument operating device

Abstract

The utility model provides surgical instrument operating equipment which is used for operating a surgical instrument to perform an operation. The surgical instrument comprises a torque input end, and a torque output end is provided with a torque input end butt joint part; the equipment comprises a power output mechanism and a power output mechanism correction mechanism. The power output mechanism comprises a torque output end, and the torque output end is provided with a torque output end butt joint part; the torque output end butt joint part is used for being in butt joint with the torque input end butt joint part to transmit torque; the power output mechanism correction mechanism comprises a first correction butt joint part; the first correction butt joint part is configured to drive the torque output end butt joint part to rotate under the condition that the first correction butt joint part is in butt joint with the torque output end butt joint part so as to adjust the initial angle of the torque output end butt joint part. According to the surgical instrument operating equipment provided by the invention, the torque output end in the surgical instrument operating equipment is pre-calibrated through the power output mechanism and the correction mechanism, so that the mounting efficiency between the surgical instrument operating equipment and the surgical instrument is improved.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and more particularly, to a surgical instrument operating device. Background Art

[0002] A surgical instrument operating device is generally a device used to operate surgical instruments, such as a robot or a robotic arm used to operate laparoscopic surgical instruments for laparoscopic surgery. Taking a laparoscopic surgical robot system as an example, there are two common traditional technical solutions in its related art.

[0003] One is that the sterile isolation plate is initially installed on the power box without directionality. The sterile plate transmission shaft has axial flexibility. In the initial state, the boss squeezes the elastic shaft (axial contraction), and then only the motor is driven by the motor drive method. During the relative movement, the motor shaft and the corresponding boss and groove of the sterile transmission shaft are engaged with each other, so as to achieve direction alignment. In this way, the movement of the motor can be transmitted to the sterile transmission shaft, and then an electrical signal is used to determine whether the sterile plate is successfully installed. An alignment action needs to be added during the process.

[0004] The other is that the transmission shaft of the sterile plate adopts a special slope, so that the transmission shaft is automatically aligned during installation. However, this installation method still has a risk of clamping failure (if there is a coaxiality deviation, the protruding tip may be on the same side of the corresponding convex shaft, resulting in installation failure). In order to reduce this risk, it is necessary to improve the coaxiality of the relevant transmission parts.

[0005] That is to say, in the currently commonly used surgical instrument operating devices, there are problems that the installation between the surgical instrument and the surgical instrument operating device is complicated due to the need to align relevant components, and there is a high risk of clamping failure between the surgical instrument and the surgical instrument operating device.

[0006] Therefore, when the currently commonly used surgical instrument operating device is installed with a surgical instrument, there is a problem of low efficiency. Utility Model Content

[0007] The purpose of this application is to provide a surgical instrument operating device. By pre-calibrating the torque output end in the surgical instrument operating device through a power output mechanism calibration mechanism, the installation efficiency between the surgical instrument operating device and the surgical instrument can be improved.

[0008] The surgical instrument operating device provided by the present application is used to operate a surgical instrument for a surgery; the surgical instrument includes a torque input end, and the torque input end has a torque input end docking portion; the device includes a power output mechanism and a power output mechanism calibration mechanism; the power output mechanism includes a torque output end, and the torque output end has a torque output end docking portion; the torque output end docking portion is used to dock with the torque input end docking portion to transmit torque; the power output mechanism calibration mechanism includes a first calibration docking portion; the first calibration docking portion is configured to drive the torque output end docking portion to rotate when docked with the torque output end docking portion, so as to adjust the initial angle of the torque output end docking portion.

[0009] For the above surgical instrument operating device, before the torque output end docking portion is docked with the torque input end docking portion, the torque output end in the surgical instrument operating device is pre-calibrated through the power output mechanism calibration mechanism, realizing the rapid installation between the surgical instrument operating device and the surgical instrument, and thus improving the installation efficiency between the surgical instrument operating device and the surgical instrument.

[0010] Optionally, the device further includes a surgical instrument calibration mechanism; the surgical instrument calibration mechanism includes a second calibration docking portion; the second calibration docking portion is configured to drive the torque input end docking portion to rotate when docked with the torque input end docking portion, so as to adjust the initial angle of the torque input end docking portion; the power output mechanism includes a power output mechanism body and a partition plate; the power output mechanism body includes a power output end docking portion; the partition plate includes a transmission shaft; the transmission shaft includes transmission shaft docking portions at both ends thereof and the torque output end docking portion; the transmission shaft docking portion is used to dock with the power output end docking portion.

[0011] For the above surgical instrument operating device, when the power output mechanism includes a partition plate, by configuring a surgical instrument calibration mechanism to calibrate the torque input end of the partition plate, the rapid installation among the power output mechanism body, the partition plate, and the surgical instrument is realized, and thus the installation efficiency among the power output mechanism body, the partition plate, and the surgical instrument is improved.

[0012] Optionally, the power output end docking portion includes a power output end linear groove or a power output end elongated step provided on the power output shaft of the power output mechanism body; the transmission shaft docking portion includes a first elongated step or a first groove on the transmission shaft that matches the power output end linear groove or the power output end strip step; the groove or the power output end elongated step is configured to be clamped with the first elongated step or the first groove to realize the docking between the power output end docking portion and the transmission shaft docking portion.

[0013] The above-mentioned surgical instrument operating device uses the linear groove at the power output end or the long strip-shaped step at the power output end as the docking part of the power output end, and correspondingly uses the first long strip-shaped step or the first groove as the docking part of the transmission shaft. It has a simple structure, is easy to manufacture, and also makes the docking between the docking part of the torque output end and the docking part of the transmission shaft more convenient.

[0014] Optionally, the docking part of the torque input end includes a linear groove at the torque input end or a long strip-shaped step at the torque input end provided on the torque input end; the docking part of the torque output end includes a second long strip-shaped step or a second groove on the transmission shaft that matches the groove at the torque input end or the long strip-shaped step at the torque input end; the linear groove at the torque input end or the long strip-shaped step at the torque input end is configured to be clamped with the second long strip-shaped step or the second groove to achieve the docking between the docking part of the torque input end and the docking part of the torque output end.

[0015] The above-mentioned surgical instrument operating device uses the linear groove at the torque input end or the long strip-shaped step at the torque input end as the docking part of the torque input end, and correspondingly uses the second long strip-shaped step or the second groove as the docking part of the second transmission shaft. It has a simple structure, is easy to manufacture, and also makes the docking between the docking part of the torque input end and the docking part of the power output end more convenient.

[0016] Optionally, the docking part of the transmission shaft includes a first long strip-shaped step or a first groove provided on the transmission shaft; the docking part of the torque output end includes a second long strip-shaped step or a second groove provided on the transmission shaft; wherein, the first extension direction of the first long strip-shaped step or the first groove intersects with the second extension direction of the second long strip-shaped step or the second groove.

[0017] For the above-mentioned surgical instrument operating device, the structural design in which the first extension direction intersects with the second extension direction improves the stability of the docking of the transmission shaft with the torque input end and the torque output end respectively, as well as the transmission efficiency, compared with the structural design in which the first extension direction is parallel to the second extension direction.

[0018] Optionally, the first extension direction is perpendicular to the second extension direction.

[0019] For the above-mentioned surgical instrument operating device, the structural design in which the first extension direction is perpendicular to the second extension direction further improves the stability of the docking of the transmission shaft with the torque input end and the torque output end respectively, as well as the transmission efficiency. In addition, it also reduces the position requirements during the docking process of the transmission shaft with the torque input end and the torque output end respectively.

[0020] Optionally, a first positioning pin is provided on the isolation plate; a first pin hole matching the first positioning pin is provided on the main body of the power output mechanism, and the first positioning pin is configured to be inserted into the first pin hole to guide the connection between the isolation plate and the main body of the power output mechanism; and / or a second pin hole matching the first positioning pin is provided on the power output mechanism correction mechanism, and the first positioning pin is further configured to be inserted into the second pin hole to guide the connection between the isolation plate and the power output mechanism correction mechanism.

[0021] In the above surgical instrument operating device, by providing a first positioning pin on the isolation plate and correspondingly providing a first pin hole and / or a second pin hole on the power output mechanism and / or the power output mechanism correction mechanism, a guiding effect is achieved during the assembly process of the isolation plate and the power output mechanism and / or the power output mechanism correction mechanism, thereby facilitating the assembly between the isolation plate and the main body of the power output mechanism and / or the power output mechanism correction mechanism.

[0022] Optionally, a second positioning pin is provided on the surgical instrument correction mechanism; a third pin hole matching the second positioning pin is provided on the surgical instrument; the second positioning pin is configured to be inserted into the third pin hole to guide the connection between the surgical instrument correction mechanism and the surgical instrument.

[0023] In the above surgical instrument operating device, by providing a second positioning pin on the surgical instrument correction mechanism and correspondingly providing a third pin hole on the surgical instrument, a guiding effect is achieved during the assembly process of the surgical instrument correction mechanism and the surgical instrument, thereby facilitating the assembly between the surgical instrument correction mechanism and the surgical instrument.

[0024] Optionally, a first clamping portion is provided on one side of the isolation plate; a second clamping portion is provided on the main body of the power output mechanism; the first clamping portion is configured to be clamped with the second clamping portion to realize the connection between the isolation plate and the main body of the power output mechanism; and / or a third clamping portion is provided on the other side of the isolation plate; the surgical instrument is provided with a fourth clamping portion; the third clamping portion is configured to be clamped with the fourth clamping portion to realize the connection between the isolation plate and the surgical instrument.

[0025] In the above surgical instrument operating device, through the clamping cooperation between the first clamping portion on the isolation plate and the second clamping portion on the main body of the power output mechanism, the assembly strength between the isolation plate and the main body of the power output mechanism is improved. Through the clamping cooperation between the third clamping portion on the isolation plate and the fourth clamping portion on the surgical instrument, the assembly strength between the isolation plate and the surgical instrument is improved.

[0026] Optionally, a third clamping portion is provided on the isolation plate;

[0027] The surgical instrument calibration mechanism is provided with a fifth clamping portion; the fourth clamping portion is configured to realize the connection between the surgical instrument and the surgical instrument calibration mechanism through clamping with the fifth clamping portion.

[0028] In the above surgical instrument operating device, through the clamping cooperation between the fifth clamping portion on the surgical instrument calibration mechanism and the fourth clamping portion on the surgical instrument, the assembly strength between the surgical instrument calibration mechanism and the surgical instrument is improved.

[0029] In summary, for the surgical instrument operating device provided in this application, through the pre-calibration of the torque output end in the surgical instrument operating device by the power output mechanism calibration mechanism, the rapid installation between the surgical instrument operating device and the surgical instrument is realized, thereby improving the installation efficiency between the surgical instrument operating device and the surgical instrument. When the power output mechanism includes a partition board, by configuring the surgical instrument calibration mechanism to calibrate the torque input end of the surgical instrument, the rapid installation among the power output mechanism body, the partition board, and the surgical instrument is realized, thereby improving the installation efficiency among the power output mechanism body, the partition board, and the surgical instrument. The corresponding positioning pins, positioning holes, etc. provided on the power output mechanism body, the partition board, the surgical instrument, the surgical instrument calibration mechanism, and the power output mechanism calibration mechanism facilitate the assembly among them. The corresponding clamping portions provided on the power output mechanism body, the partition board, the surgical instrument, the surgical instrument calibration mechanism, and the power output mechanism calibration mechanism improve the assembly strength among them. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions of the embodiments of this application, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show some embodiments of this application, and thus should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.

[0031] Figure 1 It is an exploded view of the surgical instrument operating device provided in the embodiment of this application;

[0032] Figure 2 It is a three-dimensional view of the assembly of the surgical instrument operating device and the surgical instrument provided in the embodiment of this application;

[0033] Figure 3 It is a front view of one side of the partition board provided in the embodiment of this application;

[0034] Figure 4 It is a front view of the other side of the partition board provided in the embodiment of this application;

[0035] Figure 5 It is a front view of the surgical instrument provided in the embodiment of this application;

[0036] Figure 6 A perspective view of the surgical instrument provided by the embodiment of the present application;

[0037] Figure 7 A perspective view of the correction mechanism of the power output mechanism in the surgical instrument operating device provided by the embodiment of the present application;

[0038] Figure 8 A front view of the assembly of the correction mechanism of the power output mechanism and the isolation plate in the surgical instrument operating device provided by the embodiment of the present application;

[0039] Figure 9 A perspective view of the surgical instrument correction mechanism in the surgical instrument operating device provided by the embodiment of the present application.

[0040] Icon: 100, surgical instrument operating device; 110, power output mechanism; 111, power output mechanism body; 1111, power output end docking part; 1112, first pin hole; 1113, second clamping part; 112, isolation plate; 1121, transmission shaft; 11211, transmission shaft docking part; 11212, torque output end docking part; 1122, first positioning pin; 1123, first clamping part; 1124, third clamping part; 120, power output mechanism correction mechanism; 121, first correction docking part; 122, second pin hole; 130, surgical instrument correction mechanism; 131, second correction docking part; 132, second positioning pin; 133, fifth clamping part; 200, surgical instrument; 210, torque input end; 211, torque input end docking part; 220, third pin hole; 230, fourth clamping part. Detailed implementation manners

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. The components of the embodiments of the present application described and illustrated herein can be arranged and designed in various different configurations.

[0042] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but merely represents the selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts fall within the scope of protection of the present application.

[0043] It should be noted that like reference numerals and letters refer to like items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0044] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship in which the utility model product is usually placed during use. It is only for the convenience of describing the present application 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 should not be construed as a limitation to the present application. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0045] In addition, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging vertically, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0046] In the description of the present application, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "installed", "connected", "connected" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0047] Please refer to Figures 1 to 6 , Figure 1 , which is an exploded view of the surgical instrument operating device 100 provided by the embodiment of the present application; Figure 2 , which is a perspective view of the assembly of the surgical instrument operating device 100 and the surgical instrument 200 provided by the embodiment of the present application; Figure 3 , which is a front view of one side of the partition board 112 provided by the embodiment of the present application; Figure 4 , which is a front view of the other side of the partition board 112 provided by the embodiment of the present application; Figure 5 , which is a front view of the surgical instrument 200 provided by the embodiment of the present application; Figure 6A perspective view of the surgical instrument 200 provided by an embodiment of the present application. The surgical instrument operating device 100 provided by an embodiment of the present application can be used to operate the surgical instrument 200 for surgery. The surgical instrument 200 can include a torque input end 210, and the torque input end 210 can have a torque input end docking portion 211. The device can include a power output mechanism 110 and a power output mechanism correction mechanism 120. The power output mechanism 110 can include a torque output end, and the torque output end can have a torque output end docking portion 11212. The torque output end docking portion 11212 can be used to dock with the torque input end docking portion 211 to transmit torque. The power output mechanism correction mechanism 120 can include a first correction docking portion 121. The first correction docking portion 121 can be configured to drive the torque output end docking portion 11212 to rotate when docked with the torque output end docking portion 11212, so as to adjust the initial angle of the torque output end docking portion 11212.

[0048] The surgical instrument operating device 100 can be a robot, a robotic arm, etc., and the surgical instrument 200 can be a laparoscopic surgical instrument 200 for performing laparoscopic surgery, etc. The surgical instrument 200 usually includes a rotating mechanism, and the rotating mechanism usually has its corresponding torque input end 210. Correspondingly, the surgical instrument operating device 100 has a torque output end for driving the rotating mechanism.

[0049] Before performing surgery, it is usually necessary to dock the torque output end docking portion 11212 with the torque input end docking portion 211 to achieve the driving of the surgical instrument 200 by the surgical instrument operating device 100. Usually, a specific relative rotation angle needs to be maintained between the torque output end docking portion 11212 and the torque input end docking portion 211 in order to achieve the docking between the torque output end docking portion 11212 and the torque input end docking portion 211.

[0050] Therefore, before the torque output end docking portion 11212 is docked with the torque input end docking portion 211, the first correction docking portion 121 in the power output mechanism correction mechanism 120 can be docked with the torque output end docking portion 11212 and its initial angle can be adjusted so that the torque output end docking portion 11212 and the torque input end docking portion 211 can be successfully docked.

[0051] The torque output end docking portion 11212 can be a protruding portion provided on the end face of the torque output end, and the torque input end docking portion 211 can be a recessed portion provided on the end face of the torque input end 210 and matching the protruding portion. Of course, the torque output end docking portion 11212 can be a recessed portion provided on the end face of the torque output end, and the torque input end docking portion 211 can be a protruding portion provided on the end face of the torque input end 210 and matching the recessed portion. Correspondingly, the first calibration docking portion 121 can also be a recessed portion or a protruding portion on the power output mechanism calibration mechanism 120.

[0052] In the above implementation process, before the torque output end docking portion 11212 is docked with the torque input end docking portion 211, the power output mechanism calibration mechanism 120 pre-calibrates the torque output end in the surgical instrument operating device 100, realizing the rapid installation between the surgical instrument operating device 100 and the surgical instrument 200, and thus improving the installation efficiency between the surgical instrument operating device 100 and the surgical instrument 200.

[0053] Please refer to Figures 7 to 9 , Figure 7 is a perspective view of the power output mechanism calibration mechanism 120 in the surgical instrument operating device 100 provided by the embodiment of the present application; Figure 8 is a front view of the assembly of the power output mechanism calibration mechanism 120 and the isolation plate 112 in the surgical instrument operating device 100 provided by the embodiment of the present application; Figure 9 is a perspective view of the surgical instrument calibration mechanism 130 in the surgical instrument operating device 100 provided by the embodiment of the present application. In some alternative embodiments, the device may further include a surgical instrument calibration mechanism 130. The surgical instrument calibration mechanism 130 may include a second calibration docking portion 131. The second calibration docking portion 131 may be configured to drive the torque input end docking portion 211 to rotate when docked with the torque input end docking portion 211, so as to adjust the initial angle of the torque input end docking portion 211. The power output mechanism 110 may further include a power output mechanism body 111 and an isolation plate 112. The power output mechanism body 111 may include a power output end docking portion 1111. The isolation plate 112 includes a transmission shaft 1121. The transmission shaft 1121 may include transmission shaft docking portions 11211 and a torque output end docking portion 11212 at both ends thereof. The transmission shaft docking portion 11211 may be used to dock with the power output end docking portion 1111.

[0054] The isolation plate 112 can be a sterile isolation plate provided between the power output mechanism body 111 and the surgical instrument 200 during the operation of the surgical instrument 200 by the power output mechanism body 111.

[0055] The second calibration docking part 131, the transmission shaft docking part 11211, and the torque output end docking part 11212 can be respectively a concave part, a convex part, etc. that match the shapes of their respective docking parts to be docked.

[0056] Before the operation starts, the first calibration docking part 121 in the power output mechanism calibration mechanism 120 is docked with the transmission shaft docking part 11211 in the isolation plate 112 to achieve the calibration of the isolation plate 112 by the power output mechanism calibration mechanism 120. (This process can be pre-completed before the isolation plate 112 leaves the factory, and the isolation plate 112 and the power output mechanism calibration mechanism 120 are assembled together for packaging, transportation, sales, etc.). Then, the power output mechanism calibration mechanism 120 is disassembled from the isolation plate 112, and the transmission shaft docking part 11211 of the isolation plate 112 is docked with the power output end docking part 1111 to achieve the assembly between the isolation plate 112 and the power output mechanism body 111.

[0057] The second calibration docking part 131 in the surgical instrument calibration mechanism 130 can be docked with the torque input end docking part 211 to calibrate the torque input end 210 of the surgical instrument 200 through the surgical instrument calibration mechanism 130. (This process can also be pre-completed before the isolation plate 112 leaves the factory, and the surgical instrument calibration mechanism 130 and the surgical instrument 200 are assembled together for packaging, transportation, sales, etc.). Then, the surgical instrument calibration mechanism 130 is disassembled from the surgical instrument 200, and the torque input end docking part 211 of the surgical instrument 200 is docked with the second transmission shaft docking part to achieve the assembly between the surgical instrument 200 and the isolation plate 112.

[0058] After completing the above assembly process, it is usually possible to start operating the surgical instrument 200 through the surgical instrument operating device 100 to perform the operation.

[0059] In the above implementation process, when the power output mechanism 110 includes the isolation plate 112, by configuring the surgical instrument calibration mechanism 130 to calibrate the torque input end 210 of the isolation plate 112, the rapid installation among the power output mechanism body 111, the isolation plate 112, and the surgical instrument 200 is achieved, thereby improving the installation efficiency among the power output mechanism body 111, the isolation plate 112, and the surgical instrument 200.

[0060] Please continue to refer to Figure 3 、 Figure 4 、 Figure 7, in some alternative embodiments, the power output end docking portion 1111 may include a linear groove or a long strip-shaped step at the power output shaft of the power output mechanism body 111. The transmission shaft docking portion 11211 may include a first long strip-shaped step or a first groove on the transmission shaft 1121 that matches the linear groove or the strip-shaped step at the power output end. The groove or the long strip-shaped step at the power output end may be configured to be docked with the first long strip-shaped step or the first groove to achieve the docking between the power output end docking portion 1111 and the first transmission shaft docking portion 11211.

[0061] That is to say, when a linear groove at the power output end is provided on the power output shaft of the power output mechanism body 111, a first long strip-shaped step that matches the groove at the torque output end is correspondingly provided on the transmission shaft 1121; when a long strip-shaped step at the torque output end is provided on the power output shaft of the power output mechanism 110, a first groove that matches the long strip-shaped step at the power output end is correspondingly provided on the transmission shaft 1121.

[0062] In the above implementation process, by using the linear groove or the long strip-shaped step at the power output end as the power output end docking portion 1111, and correspondingly using the first long strip-shaped step or the first groove as the transmission shaft docking portion 11211, the structure is simple and easy to manufacture, and it also makes the docking between the torque output end docking portion 11212 and the transmission shaft docking portion 11211 more convenient.

[0063] Please continue to refer to Figures 3 to 6 and Figure 7 , in some alternative embodiments, the torque input end docking portion 211 may include a linear groove or a long strip-shaped step at the torque input end 210 provided on the torque input end 210. The power output end docking portion 1111 may include a second long strip-shaped step or a second groove on the transmission shaft 1121 that matches the groove or the long strip-shaped step at the torque input end 210. The linear groove or the long strip-shaped step at the torque input end 210 may be configured to be docked with the second long strip-shaped step or the second groove to achieve the docking between the torque input end docking portion 211 and the power output end docking portion 1111.

[0064] That is to say, when a linear groove at the torque input end is provided on the torque input end 210 of the surgical instrument 200, a second long strip-shaped step that matches the linear groove at the torque input end is correspondingly provided on the transmission shaft 1121; when a long strip-shaped step at the torque input end is provided on the torque input end 210 of the surgical instrument 200, a second groove that matches the long strip-shaped step at the torque output end is correspondingly provided on the transmission shaft 1121.

[0065] In the above implementation process, by using the linear groove of the torque input end 210 or the long strip-shaped step of the torque input end 210 as the docking part 211 of the torque input end, and correspondingly using the second long strip-shaped step or the second groove as the docking part of the second transmission shaft, the structure is simple and easy to manufacture, and it also makes the docking between the docking part 211 of the torque input end and the docking part 1111 of the power output end more convenient.

[0066] Please continue to refer to Figure 3 and Figure 4 In some alternative embodiments, the docking part 11211 of the transmission shaft may include a first long strip-shaped step or a first groove provided on the transmission shaft 1121. The docking part 11212 of the torque output end may include a second long strip-shaped step or a second groove provided on the transmission shaft 1121. Among them, the first extension direction of the first long strip-shaped step or the first groove may intersect with the second extension direction of the second long strip-shaped step or the second groove.

[0067] In the above implementation process, the structural design in which the first extension direction intersects with the second extension direction improves the stability of the transmission shaft 1121 when docking with the torque input end 210 and the torque output end respectively, as well as the transmission efficiency, compared with the structural design in which the first extension direction is parallel to the second extension direction.

[0068] Please continue to refer to Figure 3 and Figure 4 In some alternative embodiments, the first extension direction may be perpendicular to the second extension direction.

[0069] In the above implementation process, the structural design in which the first extension direction is perpendicular to the second extension direction further improves the stability of the transmission shaft 1121 when docking with the torque input end 210 and the torque output end respectively, as well as the transmission efficiency. In addition, it also reduces the position requirements during the docking process of the transmission shaft 1121 with the torque input end 210 and the torque output end respectively.

[0070] Please continue to refer to Figure 1 , Figure 3 , Figure 4 , Figure 7 , Figure 8 In some alternative embodiments, a first positioning pin 1122 may be provided on the isolation plate 112. A first pin hole 1112 matching the first positioning pin 1122 may be provided on the power output mechanism 110. The first positioning pin 1122 may be configured to be inserted into the first pin hole 1112 to guide the connection between the isolation plate 112 and the power output mechanism body 111.

[0071] And / or, a second pin hole 122 matching the first positioning pin 1122 may be provided on the power output mechanism correction mechanism 120. The first positioning pin 1122 may also be configured to be inserted into the second pin hole 122 to guide the connection between the isolation plate 112 and the power output mechanism correction mechanism 120.

[0072] The first positioning pin 1122 may be a square pin or a round pin. It may be provided on the surface of the isolation plate 112 facing the power output mechanism body 111 or the power output mechanism correction mechanism 120 when the isolation plate 112 is assembled with the power output mechanism body 111 or the power output mechanism correction mechanism 120.

[0073] Correspondingly, the first pin hole 1112 may be a square hole or a round hole. It may be provided on the surface of the power output mechanism 110 facing the isolation plate 112 when the power output mechanism 110 is assembled with the isolation plate 112.

[0074] Correspondingly, the second pin hole 122 may be a square hole or a round hole. It may be provided on the surface of the power output mechanism correction mechanism 120 facing the isolation plate 112 when the power output mechanism correction mechanism 120 is assembled with the isolation plate 112.

[0075] In the above implementation process, by providing the first positioning pin 1122 on the isolation plate 112 and correspondingly providing the first pin hole 1112 and / or the second pin hole 122 on the power output mechanism 110 and / or the power output mechanism correction mechanism 120, it plays a guiding role in the assembly process of the isolation plate 112 and the power output mechanism 110 and / or the power output mechanism correction mechanism 120, thereby facilitating the assembly between the isolation plate 112 and the power output mechanism body 111 and / or the power output mechanism correction mechanism 120.

[0076] Please continue to refer to Figure 1 、 Figures 3 to 9 In some alternative embodiments, a second positioning pin 132 may be provided on the surgical instrument correction mechanism 130. A third pin hole 220 matching the second positioning pin 132 may be provided on the surgical instrument 200. The second positioning pin 132 may be configured to be inserted into the third pin hole 220 to guide the connection between the surgical instrument correction mechanism 130 and the surgical instrument 200.

[0077] The second positioning pin 132 may be a square pin or a round pin. It may be provided on the surface of the surgical instrument correction mechanism 130 facing the surgical instrument 200 when the surgical instrument correction mechanism 130 is assembled with the surgical instrument 200.

[0078] Accordingly, the third pin hole 220 can be a square hole or a circular hole. It can be provided on the surface of the surgical instrument 200 facing the surgical instrument calibration mechanism 130 when the surgical instrument 200 and the surgical instrument calibration mechanism 130 are assembled together.

[0079] In the above implementation process, by providing the second positioning pin 132 on the surgical instrument calibration mechanism 130 and correspondingly providing the third pin hole 220 on the surgical instrument 200, it plays a guiding role in the assembly process of the surgical instrument calibration mechanism 130 and the surgical instrument 200, thereby facilitating the assembly between the surgical instrument calibration mechanism 130 and the surgical instrument 200.

[0080] Please continue to refer to Figures 3 to 9 , in some alternative embodiments, a first clamping portion 1123 can be provided on one surface of the isolation plate 112. A second clamping portion 1113 can be provided on the power output mechanism body 111. The first clamping portion 1123 can be configured to realize the connection between the isolation plate 112 and the power output mechanism body 111 through clamping with the second clamping portion 1113.

[0081] And / or, a third clamping portion 1124 can be provided on the other surface of the isolation plate 112. The surgical instrument 200 can be provided with a fourth clamping portion 230. The third clamping portion 1124 can be configured to realize the connection between the isolation plate 112 and the surgical instrument 200 through clamping with the fourth clamping portion 230.

[0082] The first clamping portion 1123 can be a buckle provided on one surface of the isolation plate 112. Accordingly, the second clamping portion 1113 is also a slot provided on the power output mechanism 110 and matching the buckle. Or, the first clamping portion 1123 can be a slot provided on one surface of the isolation plate 112. Accordingly, the second clamping portion 1113 is also a buckle provided on the power output mechanism 110 and matching the slot.

[0083] The third clamping portion 1124 can be a buckle provided on the other surface of the isolation plate 112. Accordingly, the fourth clamping portion 230 is also a slot provided on the surgical instrument 200 and matching the buckle. Or, the third clamping portion 1124 can be a slot provided on the other surface of the isolation plate 112. Accordingly, the fourth clamping portion 230 is also a buckle provided on the surgical instrument 200 and matching the slot.

[0084] In the above implementation process, the assembly strength between the isolation plate 112 and the power output mechanism body 111 is improved through the clamping cooperation between the first clamping portion 1123 on the isolation plate 112 and the second clamping portion 1113 on the power output mechanism body 111. The assembly strength between the isolation plate 112 and the surgical instrument 200 is improved through the clamping cooperation between the third clamping portion 1124 on the isolation plate 112 and the fourth clamping portion 230 on the surgical instrument 200.

[0085] Please continue to refer to Figures 3 to 9 , in some alternative embodiments, a third clamping portion 1124 may be provided on the isolation plate 112. The surgical instrument calibration mechanism 130 may be provided with a fifth clamping portion 133. The fourth clamping portion 230 may be configured to connect the surgical instrument 200 and the surgical instrument calibration mechanism 130 through clamping with the fifth clamping portion 133.

[0086] The fifth clamping portion 133 may be a buckle, a clamping groove, etc. that matches the fourth clamping portion 230.

[0087] In the above implementation process, the assembly strength between the surgical instrument calibration mechanism 130 and the surgical instrument 200 is improved through the clamping cooperation between the fifth clamping portion 133 on the surgical instrument calibration mechanism 130 and the fourth clamping portion 230 on the surgical instrument 200.

[0088] In summary, for the surgical instrument operating device 100 provided in each embodiment of the present application, the torque output end in the surgical instrument operating device 100 is pre-calibrated by the power output mechanism calibration mechanism 120, realizing the rapid installation between the surgical instrument operating device 100 and the surgical instrument 200, and thus improving the installation efficiency between the surgical instrument operating device 100 and the surgical instrument 200. When the power output mechanism 110 includes the isolation plate 112, the torque input end 210 of the surgical instrument 200 is calibrated by configuring the surgical instrument calibration mechanism 130, realizing the rapid installation among the power output mechanism body 111, the isolation plate 112, and the surgical instrument 200, and thus improving the installation efficiency among the power output mechanism body 111, the isolation plate 112, and the surgical instrument 200. The corresponding positioning pins, positioning holes, etc. provided on the power output mechanism body 111, the isolation plate 112, the surgical instrument 200, the surgical instrument calibration mechanism 130, and the power output mechanism calibration mechanism 120 facilitate the assembly among them. The corresponding clamping portions provided on the power output mechanism body 111, the isolation plate 112, the surgical instrument 200, the surgical instrument calibration mechanism 130, and the power output mechanism calibration mechanism 120 improve the assembly strength among them.

[0089] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various modifications and variations can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. An operating device for surgical instruments, characterized in that, For operating a surgical instrument to perform a surgery; the surgical instrument includes a torque input end, and the torque input end has a torque input end docking portion; The device includes a power output mechanism and a power output mechanism calibration mechanism; The power output mechanism includes a torque output end, and the torque output end has a torque output end docking portion; The torque output end docking portion is used to dock with the torque input end docking portion to transmit torque; The power output mechanism calibration mechanism includes a first calibration docking portion; The first calibration docking portion is configured to drive the torque output end docking portion to rotate when docked with the torque output end docking portion, so as to adjust the initial angle of the torque output end docking portion.

2. The surgical instrument operating device according to claim 1, wherein The device further includes a surgical instrument calibration mechanism; The surgical instrument calibration mechanism includes a second calibration docking portion; The second calibration docking portion is configured to drive the torque input end docking portion to rotate when docked with the torque input end docking portion, so as to adjust the initial angle of the torque input end docking portion; The power output mechanism includes a power output mechanism body and a separator plate; The power output mechanism body includes a power output end docking portion; The separator plate includes a transmission shaft; The transmission shaft includes transmission shaft docking portions at both ends thereof and the torque output end docking portion; The transmission shaft docking portion is used to dock with the power output end docking portion.

3. The surgical instrument operating device according to claim 2, wherein, The power output end docking portion includes a power output end linear groove or a power output end elongated step provided on the power output shaft of the power output mechanism body; The transmission shaft docking portion includes a first elongated step or a first groove on the transmission shaft that matches the power output end linear groove or the power output end bar-shaped step; The groove or the power output end elongated step is configured to be clamped with the first elongated step or the first groove to achieve the docking between the power output end docking portion and the transmission shaft docking portion.

4. The operating device for a surgical instrument according to claim 2, characterized in that, The torque input end docking portion includes a torque input end linear groove or a torque input end elongated step provided on the torque input end; The torque output end docking portion includes a second elongated step or a second groove on the transmission shaft that matches the torque input end groove or the torque input end elongated step; The torque input end linear groove or the torque input end elongated step is configured to be clamped with the second elongated step or the second groove to achieve the docking between the torque input end docking portion and the torque output end docking portion.

5. The surgical instrument operating device according to claim 2, wherein The transmission shaft docking portion includes a first elongated step or a first groove provided on the transmission shaft; The torque output end docking portion includes a second elongated step or a second groove provided on the transmission shaft; Wherein, a first extension direction of the first elongated step or the first groove intersects with a second extension direction of the second elongated step or the second groove.

6. The operating device for a surgical instrument according to claim 5, characterized in that, Wherein, The first extension direction is perpendicular to the second extension direction.

7. The operating device for a surgical instrument according to claim 2, wherein, A first positioning pin is provided on the separator plate; A first pin hole matching with the first positioning pin is provided on the main body of the power output mechanism, and the first positioning pin is configured to be inserted into the first pin hole to guide the connection between the isolation plate and the main body of the power output mechanism; and / or A second pin hole matching with the first positioning pin is provided on the power output mechanism calibration mechanism, and the first positioning pin is further configured to be inserted into the second pin hole to guide the connection between the isolation plate and the power output mechanism calibration mechanism.

8. The surgical instrument operating device according to claim 2, wherein A second positioning pin is provided on the surgical instrument calibration mechanism; A third pin hole matching with the second positioning pin is provided on the surgical instrument; The second positioning pin is configured to be inserted into the third pin hole to guide the connection between the surgical instrument calibration mechanism and the surgical instrument.

9. The surgical instrument operating device according to claim 2, characterized in that, A first clamping portion is provided on one side of the isolation plate; a second clamping portion is provided on the main body of the power output mechanism; the first clamping portion is configured to be clamped with the second clamping portion to realize the connection between the isolation plate and the main body of the power output mechanism; and / or A third clamping portion is provided on the other side of the isolation plate; a fourth clamping portion is provided on the surgical instrument; the third clamping portion is configured to be clamped with the fourth clamping portion to realize the connection between the isolation plate and the surgical instrument.

10. The operating device for a surgical instrument according to claim 9, characterized in that, A third clamping portion is provided on the isolation plate; A fifth clamping portion is provided on the surgical instrument calibration mechanism; The fourth clamping portion is configured to be clamped with the fifth clamping portion to realize the connection between the surgical instrument and the surgical instrument calibration mechanism.

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