Driving device for surgical robot and surgical robot

Abstract

The utility model discloses a driving device for a surgical robot and the surgical robot. The driving device comprises an assembling frame plate, a plurality of driving motors, at least one driver and a controller. The assembling frame plate comprises a first assembling frame plate and a second assembling frame plate fixedly connected with the first assembling frame plate; the plurality of driving motors are arranged on the first assembling frame plate; the power output end of each driving motor is used for being connected with external equipment and providing driving power for the external equipment. The at least one driver is arranged on the second assembly frame plate; the at least one driver is in electric connection and communication connection with the controller and the plurality of driving motors; and the at least one driver is used for enabling the plurality of driving motors to output corresponding power according to an instruction of the controller so as to provide a plurality of driving powers for external equipment. The surgical robot includes a drive device. According to the driving device, the configuration of a plurality of driving motors and at least one driver can be completed in a surgical robot executing device with a limited space.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical devices, and particularly relates to a driving device for a surgical robot and a surgical robot. Background Art

[0002] Traditional interventional surgeries usually require doctors to manually operate passive medical devices. An interventional surgical robot can remotely operate an execution device to drive a passive medical device, which can not only liberate doctors from complicated and / or physically exhausting manual operations, enabling them to fully concentrate on diagnosis and / or decision-making, but also lower the surgical threshold of the surgery and / or reduce the radiation of rays to doctors. However, due to the fact that the execution device and / or the power cabin (driving device) of the interventional surgical robot are restricted by aseptic protection and / or the operation space of the passive medical device, the layout space of the driving device is small, wiring is difficult, heat dissipation requirements are high, and / or electromagnetic interference is serious. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a driving device for a surgical robot and a surgical robot in view of the deficiencies of the prior art.

[0004] To solve the above technical problems, the utility model adopts the following technical scheme: A driving device for a surgical robot includes an assembly frame plate, a plurality of driving motors, at least one driver, and a controller; wherein, the assembly frame plate includes a first assembly frame plate and a second assembly frame plate fixedly connected to the first assembly frame plate; a plurality of the driving motors are all arranged on the first assembly frame plate; the power output end of each driving motor is used to connect to an external device and provide driving power for the external device; at least one driver is arranged on the second assembly frame plate; at least one driver is electrically connected and communicatively connected to the controller and the plurality of driving motors; at least one driver is used to make the plurality of driving motors respectively output corresponding power according to the instructions of the controller, so as to provide a plurality of driving powers for the external device.

[0005] Furthermore, at least one driver includes a plurality of single-axis drivers, the number of the single-axis drivers is the same as the number of the driving motors, each single-axis driver is electrically connected and communicatively connected to one driving motor, and the plurality of single-axis drivers are electrically connected and communicatively connected to each other.

[0006] Furthermore, the number of the single-axis drivers and the number of the driving motors are both twelve.

[0007] Further, at least one of the drivers includes a first multi-axis driver, a second multi-axis driver, and a third multi-axis driver. The first multi-axis driver, the second multi-axis driver, and the third multi-axis driver are all electrically connected and communicatively connected to a plurality of the drive motors, and are electrically connected and communicatively connected to each other.

[0008] Further, the first multi-axis driver is electrically connected and communicatively connected to three of the drive motors, the second multi-axis driver is electrically connected and communicatively connected to three of the drive motors, and the third multi-axis driver is electrically connected and communicatively connected to six of the drive motors.

[0009] Further, the first multi-axis driver, the second multi-axis driver, and the third multi-axis driver are disposed inside the assembly frame plate and arranged in three layers, namely, upper, middle, and lower layers.

[0010] Further, the assembly frame plate includes a third assembly frame plate. The third assembly frame plate is fixedly connected to the first assembly frame plate and the second assembly frame plate. An opening is provided on the third assembly frame plate. The opening includes a robotic arm interface, a power supply interface, a communication interface, and an air convection interface.

[0011] Further, the driving device further includes a heat dissipation part, which is disposed inside the assembly frame plate near the peripheral edge.

[0012] Further, the heat dissipation part includes a cooling fan, a piston air pump, and / or a blower.

[0013] Further, a hold key and / or a reset key are provided on the controller.

[0014] Further, a constant speed mode movement key, a position mode movement key, and / or a constant torque mode movement key are provided on each of the drive motors.

[0015] Further, a safety torque off key is provided on each of the drive motors.

[0016] Further, an external encoder is provided on the output shaft of each of the drive motors.

[0017] Further, the driving device is disposed in a surgical robot execution device and is connected to the robotic arm of the surgical robot through a power cable and a communication cable.

[0018] A surgical robot includes the driving device for a surgical robot as described above.

[0019] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0020] 1. The driving device for a surgical robot of the present utility model is provided with an assembly frame plate, a plurality of driving motors, and at least one driver. By arranging the plurality of driving motors and at least one driver within the limited space enclosed by the first assembly frame plate and the second assembly frame plate, it is possible to complete the configuration of the plurality of driving motors and at least one driver in the execution device of the surgical robot with limited space, enabling the execution device to meet the functional requirements of doctors for operating passive medical devices, and having good stability and reliability.

[0021] 2. The driving device for a surgical robot of the present utility model is provided with a plurality of driving motors and at least one driver. Since the distance between the plurality of driving motors and at least one driver is relatively close, it is possible to avoid cable breakage, short circuit, open circuit, communication interruption, and / or excessive cable impedance, thereby improving the control accuracy of the surgical robot and reducing the failure risk. Moreover, the configuration of the plurality of driving motors and at least one driver can meet the requirements of wiring, cable routing, process, maintenance, heat dissipation, and electromagnetic interference immunity.

[0022] 3. At least one driver of the driving device for a surgical robot of the present utility model includes a plurality of single-axis drivers. The plurality of single-axis drivers correspond one-to-one with the plurality of driving motors and are connected in series for communication, which can make full use of the limited space enclosed by the first assembly frame plate and the second assembly frame plate, have low requirements for space, and can control the surgical robot to achieve accurate, fast, and / or predictable surgical operation purposes. At the same time, if a certain single-axis driver fails, only the corresponding single-axis driver needs to be replaced, which is convenient, efficient, and cost-effective.

[0023] 4. At least one driver of the driving device for a surgical robot of the present utility model includes a first multi-axis driver, a second multi-axis driver, and a third multi-axis driver. By electrically connecting and communicating the first multi-axis driver, the second multi-axis driver, and the third multi-axis driver with the plurality of driving motors respectively, the number of cables can be reduced, and the actual needs can be met.

[0024] 5. The driving device for a surgical robot of the present utility model is provided with a heat dissipation part, which can improve the heat dissipation effect of the driving device.

[0025] 6. The driving device for a surgical robot of the present utility model is provided with a third assembly frame plate. An opening part is provided on the third assembly frame plate, and the opening part includes a power interface, a communication interface, and an air convection interface. The structure is simple, easy to use, and can meet the actual needs.

[0026] 7. An external encoder is arranged on the output shaft of the driving motor of the driving device for the surgical robot of the utility model, which can avoid the runaway phenomenon caused by damage to the original encoder of the motor, and can make up for the lack of multi-turn feedback function of the original encoder of the motor, so as to realize multi-turn precise control.

[0027] 8. A hold key and / or a reset key are provided on the controller of the driving device for the surgical robot of the utility model. The hold key can be used to maintain and record the current position, and the reset key can be used to return the device to the initial position with one click, thereby improving the convenience of using the driving device.

[0028] 9. The driving motor of the driving device for the surgical robot of the utility model is provided with a constant speed mode motion key, a position mode motion key and / or a constant torque mode motion key, which can select the mode for movement according to actual needs, which is convenient and efficient.

[0029] 10. The driving motor of the driving device for the surgical robot of the utility model is provided with a safety torque off button, which can shut off the output torque in an emergency through the safety torque off function, thereby improving the safety of the driving motor operation.

[0030] 11. The driving device for the surgical robot of the utility model has good stability, good reliability and good safety, and at the same time has a simple structure, is easy to use and has a wide range of applications.

[0031] Other advantages of the present application will be explained in more detail in conjunction with the following description and drawings.

[0032] It should be understood that the above description is only an overview of the technical solution of the present application, so that the technical means of the present application can be generally understood and then implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are specifically described below with examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments that conform to the present application and are used together with the specification to illustrate the technical solutions of the present application. It should be understood that the drawings only illustrate certain embodiments of the present application and should not be regarded as limiting the scope of protection. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work. Moreover, the same reference numerals are used to represent the same components throughout the drawings. In the drawings:

[0034] Figure 1Shows a schematic structural diagram of a specific embodiment of the driving device for a surgical robot of the present utility model;

[0035] Figure 2 Shows a schematic structural diagram of a specific embodiment of the driving device for a surgical robot of the present utility model;

[0036] Figure 3 Shows a schematic structural diagram of a specific embodiment of the driving device for a surgical robot of the present utility model;

[0037] Figure 4 Shows a schematic structural diagram of a specific embodiment of the driving device for a surgical robot of the present utility model;

[0038] Figure 5 Shows a schematic cross-sectional view of a specific embodiment of the driving device for a surgical robot of the present utility model;

[0039] Figure 6 Shows a schematic structural diagram of a specific embodiment of the driving device for a surgical robot of the present utility model;

[0040] Figure 7 Shows a schematic structural diagram of a specific embodiment of the driving device for a surgical robot of the present utility model;

[0041] Figure 8 Shows a schematic structural diagram of a specific embodiment of the driving device for a surgical robot of the present utility model;

[0042] Figure 9 Shows a schematic structural diagram of a specific embodiment of the driving device for a surgical robot of the present utility model;

[0043] Figure 10 Shows Figure 9 a cross-sectional view in the A-A direction of

[0044] Figure 11 Shows a schematic structural diagram of a specific embodiment of the driving device for a surgical robot of the present utility model with a display screen provided on the side;

[0045] Figure 12 Shows a schematic structural diagram of a specific embodiment of the driving device for a surgical robot of the present utility model with a display screen provided on the side;

[0046] Figure 13 Shows a schematic structural diagram of a specific embodiment of the driving device for a surgical robot of the present utility model with a display screen provided on the side;

[0047] Figure 14Shows a schematic structural diagram of a specific embodiment with a display screen arranged on the side of the driving device for a surgical robot of the present utility model;

[0048] Figure 15 Shows Figure 14 A sectional view taken along the B-B direction of

[0049] Figure 16 Shows a partial structural schematic diagram of a specific embodiment in which an external encoder is arranged on the driving motor of the driving device for a surgical robot of the present utility model;

[0050] Figure 17 Shows a schematic structural diagram of a specific embodiment with a display screen arranged on the side of the driving device for a surgical robot of the present utility model;

[0051] Figure 18 Shows a schematic structural diagram of a specific embodiment in which the driving device for a surgical robot of the present utility model is connected to a transmission cabin;

[0052] Figure 19 Shows a schematic structural diagram of a specific embodiment of the transmission cabin of the present utility model;

[0053] Figure 20 Shows a schematic structural diagram of another specific embodiment in which the driving device for a surgical robot of the present utility model is connected to a transmission cabin;

[0054] Figure 21 Shows a schematic structural diagram of a specific embodiment of the outer catheter, middle catheter and inner catheter of the present utility model.

[0055] Wherein, 10 - assembly frame plate; 101 - first assembly frame plate; 102 - second assembly frame plate; 103 - third assembly frame plate; 1031 - opening part; 104 - bottom shell; 105 - top cover; 106 - connector hole; 20 - driving motor; 201 - external encoder; 30 - driver; 300 - display screen; 301 - single-axis driver; 302 - first multi-axis driver; 303 - second multi-axis driver; 304 - third multi-axis driver; 40 - outer catheter; 50 - middle catheter; 60 - inner catheter; 70 - heat dissipation part; 80 - motor assembly component; 90 - transmission cabin; 901 - input end connection component; 902 - chassis component; 903 - first adapter transmission component; 904 - second adapter transmission component; 905 - third adapter transmission component; 906 - shaft end fixing component; 100 - driver assembly component; 110 - first adapter component; 120 - second adapter component; 130 - third adapter component. Detailed implementation manners

[0056] The following further describes the present utility model in conjunction with the embodiments shown in the accompanying drawings.

[0057] Direction terms mentioned in the present utility model, such as "inner", "outer", etc., are only in reference to the way of the accompanying drawings. Therefore, the direction terms used are for explaining and understanding the present utility model, rather than for limiting the present utility model.

[0058] As Figure 1 , Figure 2 shown, as Figures 5 to 17 shown, the driving device for a surgical robot of the present utility model includes: an assembly frame plate 10, a plurality of driving motors 20, at least one driver 30, and a controller. Among them,

[0059] The assembly frame plate 10 includes a first assembly frame plate 101 and a second assembly frame plate 102 fixedly connected to the first assembly frame plate 101.

[0060] The plurality of driving motors 20 are all arranged on the first assembly frame plate 101 (as Figure 5 shown). The power output end of each driving motor 20 penetrates out of the first assembly frame plate 101 outward to connect to an external device and provide driving power for the external device.

[0061] At least one driver 30 is arranged on the second assembly frame plate 102. At least one driver 30 is electrically connected and communicatively connected to the controller and the plurality of driving motors 20. At least one driver 30 is used to make the plurality of driving motors 20 respectively output corresponding powers according to the instructions of the controller, so as to provide multiple driving powers for the external device.

[0062] Among them, at least one driver 30 has a supporting software program capable of converting instructions from the controller into control signals recognizable by a plurality of drive motors 20, so that the plurality of drive motors 20 respectively output corresponding power, thereby providing multiple driving powers for external devices. For example, the driving device can provide driving power for the surgical robot execution device and can control the position, speed, and / or torque of the surgical robot execution device. By arranging the plurality of drive motors 20 on the first assembly frame plate 101 and arranging at least one driver 30 on the second assembly frame plate 102, the distance between the plurality of drive motors 20 and at least one driver 30 can be made relatively close, and then the plurality of drive motors 20 and at least one driver 30 can be arranged in the limited space enclosed by the first assembly frame plate 101 and the second assembly frame plate 102, so as to realize the configuration of the plurality of drive motors 20 and at least one driver 30 in the surgical robot execution device with limited space (including the driving device for the surgical robot), enabling the execution device to meet the functional requirements of doctors for operating passive medical devices, and having good stability and reliability. And by arranging the plurality of drive motors 20 and at least one driver 30 in the limited space enclosed by the first assembly frame plate 101 and the second assembly frame plate 102, the electromagnetic shielding performance of active components can be improved. At the same time, since the distance between the plurality of drive motors 20 and at least one driver 30 is relatively close, it is possible to avoid cable (including power cable, communication cable, and / or encoder cable) breakage, short circuit, open circuit, communication interruption, and / or excessive cable impedance, thereby improving the control accuracy of the surgical robot and reducing the failure risk. And the configuration of the plurality of drive motors 20 and at least one driver 30 can meet the requirements of wiring, cable routing, process, maintenance, heat dissipation, and electromagnetic interference immunity.

[0063] In a specific embodiment, as Figure 1 shown, at least one driver 30 includes a plurality of single-axis drivers 301. The number of single-axis drivers 301 is the same as the number of drive motors 20, and each single-axis driver 301 is electrically connected and communicatively connected to a drive motor 20. The plurality of single-axis drivers 301 are electrically connected and communicatively connected to each other. Among them, the plurality of single-axis drivers 301 and the plurality of drive motors 20 are in one-to-one correspondence and are serially communicative. Although the number of cables is increased to some extent, the limited space enclosed by the first assembly frame plate 101 and the second assembly frame plate 102 can be fully utilized according to actual needs, and the surgical robot can be controlled to achieve accurate, fast, and / or predictable surgical operation purposes. At the same time, if a certain single-axis driver 301 fails, only the corresponding single-axis driver 301 needs to be replaced, with a simple structure and convenient use.

[0064] In a specific embodiment, as Figure 1 、 Figure 21As shown, the number of single-axis drivers 301 and the number of drive motors 20 are both twelve. Among them, the number of single-axis drivers 301 and the number of drive motors 20 can be set according to actual needs. For example, when the outer catheter 40 in the surgical robot execution device needs to move, rotate, and / or bend, three drive motors 20 are required to drive the corresponding actions. When the middle catheter 50 in the surgical robot execution device needs to move and / or perform two bending actions, three drive motors 20 are required to drive the corresponding actions. When the inner catheter 60 in the surgical robot execution device needs to perform handle axial movement, handle axial rotation, control of the locking rod, control of the lifting and capturing of the capture arm, and / or control of the opening or closing of the implant clip's large arm, six drive motors 20 are required to drive the corresponding actions.

[0065] In a specific embodiment, such as Figure 2 , Figure 7 , Figure 12 , Figure 16 As shown, at least one driver 30 includes a first multi-axis driver 302, a second multi-axis driver 303, and a third multi-axis driver 304. The first multi-axis driver 302, the second multi-axis driver 303, and the third multi-axis driver 304 are all electrically connected and communicatively connected to a plurality of drive motors 20. The first multi-axis driver 302, the second multi-axis driver 303, and the third multi-axis driver 304 are electrically connected and communicatively connected to each other. Among them, by respectively electrically connecting and communicatively connecting the first multi-axis driver 302, the second multi-axis driver 303, and the third multi-axis driver 304 to a plurality of drive motors 20, the number of cables can be reduced and actual needs can be met.

[0066] In a specific embodiment, such as Figure 2 , Figure 7 , Figure 12 , Figure 16 , Figure 21As shown, the first multi-axis driver 302 is electrically and communicatively connected to three drive motors 20, and can meet the actual needs. The second multi-axis driver 303 is electrically and communicatively connected to three drive motors 20, and can meet the actual needs. The third multi-axis driver 304 is electrically and communicatively connected to six drive motors 20, and can meet the actual needs. For example, the first multi-axis driver 302 is electrically and communicatively connected to three drive motors 20, and can meet the needs of the outer catheter 40 in the surgical robot execution device for moving, rotating, and / or bending. The second multi-axis driver 303 is electrically and communicatively connected to three drive motors 20, and can meet the needs of the middle catheter 50 in the surgical robot execution device for moving and / or two bending actions. The third multi-axis driver 304 is electrically and communicatively connected to six drive motors 20, and can meet the needs of the inner catheter 60 in the surgical robot execution device for handle axial movement, handle axial rotation, control of the locking rod, control of the lifting and capturing of the capture arm, and / or control of the opening or closing of the large arm of the implant clip.

[0067] In a specific embodiment, as Figure 2 shown, the first multi-axis driver 302, the second multi-axis driver 303, and the third multi-axis driver 304 are arranged inside the assembly frame plate 10 in three layers, upper, middle, and lower, which can save space.

[0068] In a specific embodiment, as Figure 7 、 Figure 12 、 Figure 16 shown, the first multi-axis driver 302, the second multi-axis driver 303, and the third multi-axis driver 304 are arranged in a row on the second assembly frame plate 102, which can improve the compactness of the layout and is convenient to use.

[0069] In a specific embodiment, as Figure 1 、 Figure 2 、 Figure 16 shown, the drive device further includes a heat dissipation part 70, and the heat dissipation part 70 is arranged inside the assembly frame plate 10 near the peripheral edge, and can be used to take out the heat generated by at least one driver 30 and / or multiple drive motors 20 in the drive device from the surgical robot execution device, and inhale the purified cold air in the operating room by the robotic arm or the robotic arm base, so as to complete the heat exchange.

[0070] In a specific embodiment, as Figure 1 、 Figure 2 、 Figure 16 shown, the heat dissipation part 70 includes a heat dissipation fan, a piston air pump, and / or a blower, which has good heat dissipation effect, simple structure, and is convenient to use.

[0071] In a specific embodiment, as Figure 1, Figure 2 As shown, the assembly frame plate 10 includes a third assembly frame plate 103. The third assembly frame plate 103 is fixedly connected to the first assembly frame plate 101 and the second assembly frame plate 102. An opening 1031 is provided on the third assembly frame plate 103. The opening 1031 includes a manipulator interface, a power interface, a communication interface and an air convection interface. Among them, the manipulator interface can be used to connect the manipulator. The power interface can be used to provide power supply for at least one driver 30, multiple drive motors 20 and / or the heat dissipation unit 70. The communication interface can be used to provide communication signals for at least one driver 30, multiple drive motors 20 and / or the heat dissipation unit 70. The air convection interface can be used to provide ventilation and heat dissipation support for at least one driver 30, multiple drive motors 20 and / or the heat dissipation unit 70.

[0072] In a specific embodiment, Figures 11 to 16 As shown, the driving device also includes a display screen 300. The display screen 300 is arranged outside one side of the assembly frame plate 10, which can be convenient for displaying relevant information and convenient for performing relevant operations by touch. Among them, the display screen 300 is a bedside touch screen, which is arranged on a side close to the operating table.

[0073] In a specific embodiment, Figure 17 As shown, an external encoder 201 (an encoder outside the motor 20, the second encoder) is provided on the output shaft of each drive motor 20, which can avoid the runaway phenomenon caused by damage to the original encoder (the first encoder) of the motor 20; and can make up for the lack of multi-turn feedback function of the original encoder of the motor 20, and can achieve multi-turn precise control. Among them, the first encoder and the second encoder both include incremental encoders and / or absolute encoders.

[0074] In a specific embodiment, Figure 1 , Figure 2 As shown, Figures 5 to 17 As shown, at least one driver 30 feeds back the position value of the external encoder 201 of each drive motor 20, and calculates through an internal closed-loop algorithm, so that the drive motor 20 outputs the corresponding power, and can always control the speed, position, torque, start and stop and / or maintenance of the drive motor 20, with high control accuracy and good reliability.

[0075] In a specific embodiment, the controller is provided with a hold key and / or a reset key. The hold key has the function of holding and recording the current position. The reset key has the function of returning the device to the initial position with one click.

[0076] In a specific embodiment, Figure 1 , Figure 2 As shown, Figures 5 to 17As shown, a constant speed mode movement key, a position mode movement key, and / or a constant torque mode movement key are provided on each drive motor 20, and can be selected according to actual needs to move in a certain mode. Each drive motor 20 can move in the constant speed mode, the position mode, or the constant torque mode, which is convenient and efficient.

[0077] In a specific embodiment, as Figure 1 、 Figure 2 shown, as Figures 5 to 17 shown, a safety torque off button is provided on each drive motor 20, and the output torque can be turned off in an emergency through the safety torque off function, thereby improving the safety of the operation of the drive motor 20.

[0078] In a specific embodiment, as Figure 1 、 Figure 2 、 Figure 7 、 Figure 10 、 Figure 12 、 Figure 15 、 Figure 16 shown, the controller is electrically connected to at least one driver 30 and establishes EtherCAT (Ethernet Control Automation Technology) communication, CANOpen (Industrial Communication Protocol) communication, Profinet (a new generation of automation bus standard based on industrial Ethernet technology) communication, or serial port protocol communication. And relying on the real-time synchronization speed of Ethernet Control Automation Technology communication as low as microseconds or even nanoseconds for control and reading feedback, with high control precision and good reliability.

[0079] In a specific embodiment, the driving device is arranged in the surgical robot execution device and is connected to the robotic arm of the surgical robot through a power cable and a communication cable. Taking an example, as Figure 8 、 Figure 13 shown, the driving device is connected to the robotic arm through a plurality of connector holes 106 on the bottom junction box of the assembly frame plate 10.

[0080] In a specific embodiment, as Figure 1 、 Figure 2 shown, as Figures 5 to 17 shown, each drive motor 20 is a servo motor, having fast response ability and stable operation characteristics, which can meet the actual needs, and has a simple structure and is easy to use.

[0081] In a specific embodiment, as Figure 1 、 Figure 2 、 Figure 7 、 Figure 10 、 Figure 12 、 Figure 15 、 Figure 16As shown, at least one driver 30 is a servo driver, which has a fast response speed, good stability, strong adaptability, and high precision.

[0082] In a specific embodiment, as Figures 3 to 5 shown, as Figures 18 to 20 shown, the driving device for a surgical robot includes a motor assembly component 80. The motor assembly component 80 has an assembly frame plate 10 and a plurality of driving motors 20 (such as Figure 1 , Figure 2 shown) mounted on the assembly frame plate 10. The output end of the driving motor 20 passes through the assembly frame plate 10 and is coaxially and detachably connected to an input end connection component 901 of a transmission cabin 90 of the surgical robot. The number of driving motors 20 is the same as the number of input end connection components 901. Among them, the driving device is in transmission connection with the transmission cabin 90. The driving device is used to generate power, and the transmission cabin 90 is used to transmit power. Through the split design of the driving device and the transmission cabin 90, the active components and passive components of the execution device can be separated, eliminating the risk of pulling or wearing the cables during the transmission and movement of the execution device, and avoiding problems such as the loosening of the active connectors due to long-term work. By isolating the active components inside the driving device, the electromagnetic shielding performance of the active components is improved. And with the design of the output end of the driving motor 20 being matched and connected to the input end connection component 901, the smooth transmission between the driving device and the transmission cabin 90 is realized, and the modular design of the driving device and the transmission cabin 90 is achieved, improving the flexibility of the execution device in use and helping to expand the execution device to more surgical applications.

[0083] In a specific embodiment, as Figures 3 to 5 shown, the driving device further includes a bottom case 104 and a top cover 105 buckled on the top of the bottom case 104. The bottom case 104 and the top cover 105 enclose an accommodation space, and a driver assembly component 100 and all the driving motors 20 are installed in the accommodation space. The driver assembly component 100 is communicatively connected to the motor assembly component 80.

[0084] In a specific embodiment, as Figures 18 to 20As shown, the drive cabin 90 includes a chassis assembly 902, and a first adapter drive assembly 903, a second adapter drive assembly 904, and a third adapter drive assembly 905 that can move relative to the chassis assembly 902. The first adapter drive assembly 903 has a first drive module detachably connected to the first adapter assembly 110. The second adapter drive assembly 904 has a second drive module detachably connected to the second adapter assembly 120. The third adapter drive assembly 905 has a third drive module detachably connected to the third adapter assembly 130. Among them, the drive device drives the first adapter assembly 110 through the first drive module, which can ensure that the first adapter assembly 110 can complete a predetermined action. The drive device drives the second adapter assembly 120 through the second drive module, which can ensure that the second adapter assembly 120 can complete a predetermined action. The drive device drives the third adapter assembly 130 through the third drive module, which can ensure that the third adapter assembly 130 can complete a predetermined action. At the same time, the first adapter drive assembly 903, the second adapter drive assembly 904, and the third adapter drive assembly 905 are all driven by motors, with good controllability, and can output speed, position, and even force as needed; at the same time, the above structure has high flexibility, which enables the drive cabin 90 to replace different adapter drive assemblies according to needs to meet different surgical procedure requirements.

[0085] In a specific embodiment, the surgical robot is an interventional surgical robot, which can meet actual needs.

[0086] In a specific embodiment, as Figure 20 、 Figure 21 shown, the first adapter assembly 110 is used to connect to the outer catheter 40. The second adapter assembly 120 is used to connect to the middle catheter 50. The third adapter assembly 130 is used to connect to the output end of the inner catheter 60. Among them, the drive device drives the outer catheter 40 to perform corresponding actions through the first adapter assembly 110. The drive device drives the middle catheter 50 to perform corresponding actions through the second adapter assembly 120. The drive device drives the inner catheter 60 to perform corresponding actions through the third adapter assembly 130. The design of separately driving the outer catheter 40, the middle catheter 50, and the inner catheter 60 helps to improve the flexibility of the mitral valve repair instrument's actions and facilitates the implementation of fine operations on the mitral valve repair instrument. Applying the above-mentioned actuator to complete the valve repair surgery can further ensure the stability and accuracy of the surgery. By separately driving the first adapter assembly 110, the second adapter assembly 120, and the third adapter assembly 130, the actuator helps to improve the flexibility of the actions output by the adapter assemblies, facilitating the fine operations required by the surgical procedure, thereby making the operation of the actuator more precise, stable, and safe.

[0087] When the driving device for a surgical robot of the present utility model is in use, by arranging a plurality of driving motors 20 on the first assembly frame plate 101 and arranging at least one driver 30 on the second assembly frame plate 102, the distance between the plurality of driving motors 20 and the at least one driver 30 can be made relatively close. Furthermore, the plurality of driving motors 20 and the at least one driver 30 can be placed in the limited space enclosed by the first assembly frame plate 101 and the second assembly frame plate 102, so as to achieve the configuration of the plurality of driving motors 20 and the at least one driver 30 in the surgical robot execution device with limited space. And whether it is the simple movement of the single-axis driver 301, or the synchronization, flying saw and / or tension compensation of the first multi-axis driver 302, the second multi-axis driver 303 and the third multi-axis driver 304, the real-time performance of the movement of the plurality of driving motors 20 can meet the requirements, so as to ensure that the doctor can control the intervention surgical robot to achieve accurate, fast and / or predictable surgical operation purposes. Moreover, when the driving device for a surgical robot is in use, it is installed on the right side of the transmission cabin 90. The chassis assembly 902 is located at the bottom of the transmission cabin 90. The first adapter transmission assembly 903 is installed above the chassis assembly 902. The second adapter transmission assembly 904 is installed above the first adapter transmission assembly 903. The third adapter transmission assembly 905 is installed on the right side of the second adapter transmission assembly 904. The shaft end fixing assembly 906 is arranged on the right side of the transmission cabin 90. The shaft end fixing assembly 906 can be quickly combined with the motor assembly component 80 to realize the quick combination and disassembly of the transmission cabin 90 and the driving device.

[0088] On the basis of the above embodiments, the present utility model also proposes a surgical robot, including the driving device for a surgical robot described above. Among them, the driving device can be used to ensure that the doctor can control the surgical robot to achieve accurate, fast and predictable surgical operation purposes.

[0089] The protection scope of the present utility model is not limited to the above embodiments. Obviously, those skilled in the art can make various changes and deformations to the present utility model without departing from the scope and spirit of the present utility model. If these changes and deformations belong to the scope of the claims of the present utility model and its equivalent technologies, the intention of the present utility model also includes these changes and deformations.

Claims

1. A driving device for a surgical robot, characterized in that: include: A frame plate (10), a plurality of drive motors (20), at least one driver (30) and a controller are assembled; wherein: The assembly frame plate (10) comprises a first assembly frame plate (101) and a second assembly frame plate (102) fixedly connected to the first assembly frame plate (101); A plurality of the drive motors (20) are arranged on the first assembly frame plate (101); a power output end of each of the drive motors (20) passes out of the first assembly frame plate (101) to be connected to an external device and to provide driving power for the external device; At least one of the drivers (30) is arranged on the second assembly frame plate (102); at least one of the drivers (30) is electrically and communicatively connected to the controller and the plurality of drive motors (20); at least one of the drivers (30) is used to enable the plurality of drive motors (20) to respectively output corresponding power according to instructions of the controller, thereby providing multiple drive powers for the external device.

2. The driving device for a surgical robot according to claim 1, characterized in that: At least one of the drivers (30) comprises a plurality of single-axis drivers (301), the number of the single-axis drivers (301) being the same as the number of the drive motors (20), each of the single-axis drivers (301) being electrically and communicatively connected to one of the drive motors (20), and the plurality of single-axis drivers (301) being electrically and communicatively connected to each other.

3. The driving device for a surgical robot according to claim 2, characterized in that: The number of the single-axis drivers (301) and the number of the drive motors (20) are both twelve.

4. The driving device for a surgical robot according to claim 1, characterized in that: At least one of the drivers (30) includes a first multi-axis driver (302), a second multi-axis driver (303) and a third multi-axis driver (304); the first multi-axis driver (302), the second multi-axis driver (303) and the third multi-axis driver (304) are all electrically and communicatively connected to the plurality of drive motors (20); the first multi-axis driver (302), the second multi-axis driver (303) and the third multi-axis driver (304) are electrically and communicatively connected to each other.

5. The driving device for a surgical robot according to claim 4, characterized in that: The first multi-axis driver (302) is electrically connected and communicatively connected to the three drive motors (20), the second multi-axis driver (303) is electrically connected and communicatively connected to the three drive motors (20), and the third multi-axis driver (304) is electrically connected and communicatively connected to the six drive motors (20).

6. The driving device for a surgical robot according to claim 4, characterized in that: The first multi-axis drive (302), the second multi-axis drive (303) and the third multi-axis drive (304) are arranged inside the assembly frame plate (10) and are arranged in three layers: upper, middle and lower.

7. The driving device for a surgical robot according to claim 1, characterized in that: The assembly frame plate (10) comprises a third assembly frame plate (103), the third assembly frame plate (103) being fixedly connected to the first assembly frame plate (101) and the second assembly frame plate (102), the third assembly frame plate (103) being provided with an opening portion (1031), the opening portion (1031) comprising a robot arm interface, a power supply interface, a communication interface and an air convection interface.

8. The driving device for a surgical robot according to claim 1, characterized in that: The driving device further comprises a heat dissipation portion (70), and the heat dissipation portion (70) is arranged at a position close to the peripheral edge inside the assembly frame plate (10).

9. The driving device for a surgical robot according to claim 8, characterized in that: The heat dissipation unit (70) comprises a heat dissipation fan, a piston air pump and / or a blower.

10. The driving device for a surgical robot according to claim 1, characterized in that: The controller is provided with a hold key and / or a reset key.

11. The driving device for a surgical robot according to claim 1, characterized in that: Each of the drive motors (20) is provided with a constant speed mode motion key, a position mode motion key and / or a constant torque mode motion key.

12. The driving device for a surgical robot according to claim 1, characterized in that: Each of the drive motors (20) is provided with a safety torque off key.

13. The driving device for a surgical robot according to claim 1, characterized in that: An external encoder (201) is provided on the output shaft of each of the drive motors (20).

14. The driving device for a surgical robot according to claim 1, characterized in that: The driving device is arranged in the surgical robot execution device and is connected to the mechanical arm of the surgical robot via a power cable and a communication cable.

15. A surgical robot, characterized in that: It comprises the driving device for a surgical robot according to any one of claims 1 to 14.

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