Surgical robot

Abstract

The utility model provides a surgical robot, and belongs to the field of medical instruments. The surgical robot comprises a medical instrument box, a power box, a sterile isolation plate and a controller. The controller is configured to control a third driving motor of the power box to drive a third transmission disc of the sterile isolation plate to rotate in the direction in which the execution end is closed, so that the third transmission disc and a third opening and closing input shaft of the medical instrument box are clamped, and the third opening and closing input shaft is driven to rotate together. And after the execution end is closed and the third transmission disc cannot rotate, a first driving motor of the power box is controlled to drive a first transmission disc of the sterile isolation plate to rotate until the first transmission disc is clamped with a first rotating input shaft of the instrument box. According to the surgical robot, power joint of the power box and the medical instrument box can be conveniently completed.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and more specifically, to a surgical robot. Background Art

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has gained widespread application due to its advantages such as minimal surgical trauma, short recovery time, and reduced patient pain. Minimally invasive surgical robots, with their high dexterity, high control precision, and intuitive surgical images, can avoid operational limitations such as hand tremors during filtering operations. They are widely applicable to surgical areas such as the abdominal, pelvic, and thoracic cavities. A surgical robot generally consists of a medical device box, a power box, and a sterile isolation plate connecting the two. The power box drives the movement of the medical device box to complete the surgical operation.

[0003] During the operation, medical device boxes with different functions need to be introduced, such as a medical device box with an ultrasonic knife for cutting and hemostasis, and a medical device box with an endoscope for observing the internal situation. However, due to space limitations, the number of power boxes that can be configured on the robot is generally less than the number of medical device boxes needed. Therefore, during the operation, the same power box may engage and disengage with different medical device boxes multiple times.

[0004] Therefore, there is a need for a surgical robot having a medical device box that can facilitate power engagement with a power box. Utility Model Content

[0005] An embodiment of the present application provides a surgical robot that can conveniently complete the power connection between a power box and a medical device box.

[0006] In a first aspect, an embodiment of the present application provides a surgical robot comprising a medical device box, a power box, a sterile isolation plate, and a controller. The medical device box comprises a first rotation input shaft and a third opening and closing input shaft, the first rotation input shaft being used to drive the execution end to rotate, and the third opening and closing input shaft being used to drive the execution end to open or close. The power box comprises a first drive motor and a third drive motor. The sterile isolation plate comprises a first transmission disc and a third transmission disc, and the sterile isolation plate is disposed between the power box and the medical device box. The controller is configured to control the third drive motor to drive the third transmission disc to rotate in a direction to close the execution end, so that the third transmission disc is engaged with the third opening and closing input shaft, and drives the third opening and closing input shaft to rotate together, until the execution end is closed and the third transmission disc cannot rotate, and then controls the first drive motor to drive the first transmission disc to rotate until the first transmission disc is engaged with the first rotation input shaft.

[0007] In the above technical solution, when trying to engage the third drive motor with the third opening and closing input shaft through the third transmission disc, the third sub-clamping portion on the third transmission disc for clamping and the third female clamping portion on the third opening and closing input shaft for clamping are not aligned. At this time, the third drive motor causes the third sub-clamping portion on the third transmission disc to abut the end face of the third female clamping portion on the third opening and closing input shaft. Then the third drive motor rotates, so that the third transmission disc has a tendency to drive the third opening and closing input shaft to rotate through friction.

[0008] When the friction force between the third transmission disc and the third opening and closing input shaft is not enough to make the third opening and closing input shaft rotate to drive the execution end to close, the third transmission disc rotates relative to the third opening and closing input shaft to make the third sub-clamping portion and the third female clamping portion clamped; when the friction force between the third transmission disc and the third opening and closing input shaft is sufficient to make the third opening and closing input shaft rotate to drive the execution end to close, after the third transmission disc is closed at the execution end, the reaction force of the execution end will hinder the continued rotation of the third opening and closing input shaft, thereby making the third transmission disc rotate relative to the third opening and closing input shaft, so that the third sub-clamping portion and the third female clamping portion clamped, thereby making the third drive motor and the third opening and closing input shaft complete power engagement.

[0009] Then, the third drive motor drives the third opening and closing input shaft to continue rotating until the execution end is closed and the third transmission disc cannot rotate, so that the third opening and closing input shaft provides a larger force to the execution end to limit the rotation of the execution end. Then, when the first rotating input shaft has a tendency to drive the execution end to rotate, it will be subjected to a larger reaction force from the execution end. Then, the first drive motor rotates so that the first transmission disc has a tendency to drive the first rotating input shaft to rotate through friction. Since the first rotating input shaft is subjected to a larger reaction force from the execution end, the first transmission disc rotates relative to the first rotating input shaft, so that the first sub-clamping portion of the first transmission disc and the first female clamping portion of the first rotating input shaft are engaged, thereby completing the power engagement between the first drive motor and the first rotating input shaft.

[0010] Therefore, after the medical device box is connected to the power box through the sterile isolation plate, the controller only needs to control the third drive motor to rotate until the third transmission disk is engaged with the third opening and closing input shaft, and drive the third opening and closing input shaft to rotate together, until the execution end is closed and the third transmission disk cannot rotate, control the first drive motor to drive the first transmission disk to rotate until the first transmission disk is engaged with the first rotation input shaft, and the power connection between the medical device box and the power box can be completed.

[0011] In some embodiments, the medical device cassette further includes a second rotational input shaft, and the first and second rotational input shafts are configured to drive the actuator end to rotate. The power cassette further includes a second drive motor. The sterile isolation panel further includes a second transmission disc. The controller is configured to control the second drive motor to rotate the second transmission disc until the second transmission disc is fully engaged with the second rotational input shaft after the actuator end is closed and the third transmission disc is unable to rotate.

[0012] In the above technical solution, after the third drive motor and the third opening and closing input shaft complete power engagement, the third drive motor drives the third opening and closing input shaft to continue rotating until the execution end is closed and the third transmission disk cannot rotate, so that the third opening and closing input shaft provides a larger force to the execution end to limit the rotation of the execution end. Then, when the second rotating input shaft has a tendency to drive the execution end to rotate, it will be subjected to a larger reaction force from the execution end. Subsequently, the second drive motor rotates so that the second transmission disk has a tendency to drive the second rotating input shaft to rotate through friction. Since the second rotating input shaft is subjected to a larger reaction force from the execution end, the second transmission disk rotates relative to the second rotating input shaft, so that the second sub-clamping portion of the second transmission disk is engaged with the second female clamping portion of the second rotating input shaft, thereby completing power engagement between the first drive motor and the first rotating input shaft.

[0013] Therefore, after the third drive motor and the third opening and closing input shaft complete power engagement, the controller only needs to control the third drive motor to drive the third opening and closing input shaft to continue rotating until the execution end is closed and the third transmission disk cannot rotate, and then control the second drive motor to drive the second transmission disk to rotate until the second transmission disk and the second rotation input shaft are fully engaged, thereby completing the power engagement between the medical device box and the power box.

[0014] In some embodiments, the medical device box further comprises a base, a push-pull member and a lever. A first rotation input shaft, a second rotation input shaft and a third opening and closing input shaft are rotatably disposed on the base. The push-pull member is disposed through the base and has a first end and a second end, the second end being configured to be connected to the first cutting head of the execution end, one end of the push-pull member is provided with a first groove, and the first groove extends along the circumferential direction of the push-pull member. The axial direction of the push-pull member is parallel to the axial direction of the third opening and closing input shaft. The lever is rotatably disposed on the base, and the fulcrum of the lever is located between the third opening and closing input shaft and the push-pull member. One end of the lever is transmission-connected to the third opening and closing input shaft, and the other end of the lever has a second protrusion, which is located in the first groove. The rotation of the third opening and closing input shaft can drive the lever to rotate around the fulcrum, thereby driving the push-pull member to move axially.

[0015] In the above technical solution, the rotation of the third opening and closing input shaft can drive the lever to rotate about the fulcrum, causing the second protrusion to abut against the groove wall of the first groove, thereby driving the push-pull member to move axially, and then driving the first cutting head of the actuating end to close the actuating end. After the actuating end is closed, the movement of the first cutting head is restricted, thereby restricting the axial movement of the push-pull member and further restricting the continued axial movement of the first groove and the second protrusion, thereby restricting the rotation of the lever about its fulcrum, and further restricting the rotation of the third opening and closing input shaft. At this time, the driving force of the third drive motor is transmitted to the push-pull member through the third opening and closing input shaft and the lever, thereby increasing the abutment force provided by the second protrusion on the first groove to a maximum, thereby maximizing the static friction force of the second protrusion on the first groove, thereby restricting the rotation of the push-pull member, and further restricting the rotation of the actuating end, and further restricting the rotation of the first rotation input shaft, thereby facilitating power engagement between the first drive motor and the first rotation input shaft.

[0016] In some embodiments, the push-pull member includes a push-pull member body, a snap ring, a spring seat and a first spring. The snap ring is sleeved on the push-pull member body and threadedly connected to the push-pull member body. The spring seat is sleeved on the snap ring. A first groove is formed between the spring seat and the snap ring. The first spring is supported between the spring seat and the push-pull member body.

[0017] In the above technical solution, the push-pull member body is threadedly connected to the retaining ring, and a first groove is formed between the spring seat and the retaining ring. The first spring is supported between the spring seat and the push-pull member body, which facilitates the installation and disassembly of the retaining ring, spring seat, first spring and push-pull member body, and facilitates subsequent parts replacement and maintenance.

[0018] In some embodiments, the push-pull member body includes a clamping claw and an inner sleeve, a clamping ring is sleeved on the outside of the clamping claw, a clamping hole corresponding to the clamping claw is opened on the circumference of the inner sleeve, and a part of the clamping claw is clamped with the clamping hole.

[0019] In the above technical solution, by designing the push-pull member body into separate claws and inner sleeves, it is easier to manufacture than an integrated push-pull member body, so the manufacturing cost of the push-pull member body can be reduced. At the same time, the claw part is connected with the hole to facilitate the connection between the claw and the inner sleeve, and the structure is simple and easy to implement.

[0020] In some embodiments, the medical device box also includes a driving wheel fixed to the third opening and closing input shaft, the outer peripheral surface of the driving wheel is provided with a spiral groove, the end of the lever away from the push-pull member has a first protrusion, and the first protrusion is slidably engaged with the spiral groove.

[0021] In the above technical solution, the first protrusion and the spiral groove are slidably matched so that the driving wheel can drive the end of the lever away from the push-pull member to rotate around the fulcrum. The structure is simple and easy to implement.

[0022] In some embodiments, the medical device box also includes a clamping member and a second spring, which are arranged outside the third opening and closing input shaft. Along the rotation axis of the driving wheel, the second spring is supported on the driving wheel and the clamping member. The second spring is used to provide elastic force to press the driving wheel against the base.

[0023] In the above technical solution, the pressing member presses the driving wheel against the base through the second spring. After the external force applied by the driving wheel to the lever is greater than the elastic force of the second spring, the second spring is compressed, thereby enabling the driving wheel to continue to move axially along the third opening and closing input shaft for a small distance, thereby enabling the lever to continue to rotate, thereby reducing the risk of damage to the lever or driving wheel due to excessive external force at the contact point between the lever and the driving wheel due to the inability of the driving wheel to move axially.

[0024] In some embodiments, the lever includes a first arm and a second arm, the first arm and the second arm being spaced apart along a first direction parallel to the rotation axis of the lever. At least a portion of the drive wheel is located between the first arm and the second arm, the first protrusion includes a first sub-protrusion disposed on the first arm and a second sub-protrusion disposed on the second arm, and the spiral groove includes a first spiral groove and a second spiral groove, the first sub-protrusion being in sliding engagement with the first spiral groove, and the second sub-protrusion being in sliding engagement with the second spiral groove.

[0025] In the above technical solution, along the first direction, at least part of the driving wheel is located between the first arm and the second arm, the first sub-protrusion on the first arm slides with the first spiral groove, and the second sub-protrusion on the second arm slides with the second spiral groove, so that the driving wheel rotates to provide external force to the lever, so that when the lever rotates around the fulcrum, the force on the lever is more uniform and the movement is smoother, thereby making the push-pull member more uniformly stressed and the opening and closing movements of the execution end smoother.

[0026] In some embodiments, the medical device box also includes a waveguide rod, which is inserted into the push-pull member. The end of the waveguide rod located outside the side of the base away from the lever is configured as a second cutting head at the execution end. The push-pull member moves axially to drive the first cutting head to open or close relative to the second cutting head.

[0027] In the above technical solution, the push-pull member is moved axially to drive the first cutter head to rotate relative to the second cutter head to open or close the execution end. The structure is simple and easy to implement.

[0028] In some embodiments, the medical device case further includes an outer sleeve and a pin. The outer sleeve is positioned over the push-pull member, and the first and second rotational input shafts are used to drive the outer sleeve to rotate. The waveguide rod has a first through-hole radially disposed therein, the push-pull member has a second through-hole corresponding to the first through-hole, and the outer sleeve has a third through-hole corresponding to the first through-hole. The pin is inserted through the first, second, and third through-holes. The second through-hole is a waist-shaped hole extending axially along the push-pull member.

[0029] In the above technical solution, by passing the pins through the first through hole, the second through hole and the third through hole, when the outer sleeve rotates, the first cutting head and the second cutting head of the execution end can be driven to rotate, thereby facilitating the first rotation input shaft and the second rotation input shaft to drive the execution end to rotate by driving the outer sleeve to rotate.

[0030] In a second aspect, some embodiments of the present application further provide a method for power coupling between a medical device box and a power box, wherein the medical device box includes a first rotational input shaft, a second rotational input shaft, and a third opening and closing input shaft, wherein the first rotational input shaft and the second rotational input shaft are used to drive the actuator end to rotate, and the third opening and closing input shaft is used to drive the actuator end to open or close; the power box includes a first drive motor, a second drive motor, and a third drive motor; the power box and the medical device box are detachably connected via a sterile isolation plate. The sterile isolation plate includes a first transmission disc, a second transmission disc, and a third transmission disc, and the power coupling method includes: the third drive motor drives the third transmission disc to rotate in a direction to close the actuator end, so that the third transmission disc and the third opening and closing input shaft are fully engaged. The third drive motor continues to drive the third transmission disc and the third opening and closing input shaft to rotate in a direction to close the actuator end until the actuator end is closed and the third transmission disc cannot rotate; and the first drive motor drives the first transmission disc to rotate until the first transmission disc and the first rotational input shaft are fully engaged.

[0031] In the above technical solution, the third drive motor rotates so that the third transmission disc tends to drive the third opening and closing input shaft to rotate through friction.

[0032] When the friction between the third transmission disc and the third opening and closing input shaft is insufficient to rotate the third opening and closing input shaft to drive the actuator end to close, the third transmission disc rotates relative to the third opening and closing input shaft, causing the third sub-clamping portion to engage with the third female clamping portion. When the friction between the third transmission disc and the third opening and closing input shaft is sufficient to rotate the third opening and closing input shaft to drive the actuator end to close, after the actuator end closes, the reaction force of the actuator end hinders the continued rotation of the third opening and closing input shaft, thereby causing the third transmission disc to rotate relative to the third opening and closing input shaft, causing the third sub-clamping portion to engage with the third female clamping portion, thereby achieving power engagement between the third drive motor and the third opening and closing input shaft. The third drive motor drives the third opening and closing input shaft to continue rotating until the actuator end closes and the third transmission disc cannot rotate, causing the third opening and closing input shaft to apply a greater force to the actuator end, thereby limiting the rotation of the actuator end. The first drive motor then rotates, causing the first transmission disc to tend to rotate the first rotating input shaft through friction. Because the first rotary input shaft is subjected to a large reaction force from the actuator end, the first transmission disc rotates relative to the first rotary input shaft, causing the first sub-clamping portion of the first transmission disc to engage with the first female clamping portion of the first rotary input shaft, thereby enabling the first drive motor to achieve power engagement with the first rotary input shaft. Thus, after the medical device box is connected to the power box via the sterile isolation plate, the controller only needs to control the third drive motor to rotate until the third transmission disc is fully engaged with the third opening and closing input shaft, thereby driving the third opening and closing input shaft to rotate together. After the actuator end is closed and the third transmission disc cannot rotate, the controller then controls the first drive motor to rotate the first transmission disc until the first transmission disc is fully engaged with the first rotary input shaft, thereby achieving power engagement between the medical device box and the power box.

[0033] In some embodiments, the power engagement method further includes: after the execution end is closed and the third transmission disc cannot rotate, the second drive motor drives the second transmission disc to rotate until the second transmission disc is fully engaged with the second rotation input shaft.

[0034] In the above technical solution, after the third drive motor and the third opening and closing input shaft are power-engaged, the third drive motor drives the third opening and closing input shaft to continue rotating until the actuator end is closed and the third transmission disk cannot rotate, so that the third opening and closing input shaft provides a large force on the actuator end, thereby restricting the rotation of the actuator end. Subsequently, the second drive motor rotates, causing the second transmission disk to tend to rotate the second rotating input shaft through friction. Due to the large reaction force exerted on the second rotating input shaft by the actuator end, the second transmission disk rotates relative to the second rotating input shaft, causing the second sub-engaging portion of the second transmission disk to engage with the second female engaging portion of the second rotating input shaft, thereby achieving power engagement between the first drive motor and the first rotating input shaft. Thus, after the third drive motor and the third opening and closing input shaft are power-engaged, the controller only needs to control the third drive motor to drive the third opening and closing input shaft to continue rotating until the actuator end is closed and the third transmission disk cannot rotate. Then, the controller controls the second drive motor to drive the second transmission disk to rotate until the second transmission disk is fully engaged with the second rotating input shaft, thereby achieving power engagement between the medical device box and the power box.

[0035] In some embodiments, the power engagement method further includes: determining whether the third transmission disc and the third opening and closing input shaft are engaged by monitoring the electrical characteristics of the third drive motor; and determining whether the first transmission disc and the first rotating input shaft are engaged by monitoring changes in the electrical characteristics of the first drive motor.

[0036] In the above technical solution, the dynamic engagement status of the third drive motor and the third opening and closing input shaft is determined by monitoring the electrical characteristics of the third drive motor when it drives the third transmission disk to rotate relative to the third opening and closing input shaft, and when it drives the third transmission disk and the third opening and closing input shaft to rotate in the direction of closing the actuator end until the actuator end is closed and the third transmission disk cannot rotate. The dynamic engagement status of the first drive motor and the first rotating input shaft is determined by monitoring changes in the electrical characteristics of the first drive motor when it drives the first transmission disk to rotate relative to the first rotating input shaft, and when it drives the first transmission disk and the first rotating input shaft to rotate the actuator end against the reaction force provided by the actuator end.

[0037] In some embodiments, the power engagement method also includes: when the electrical characteristic of the third drive motor is the current value of the third drive motor, and the current value of the third drive motor is greater than or equal to its rated current, it is determined that the third transmission plate and the third opening and closing input shaft are completely engaged; when the electrical characteristic of the first drive motor is the current value of the first drive motor, and the increase in the current value of the first drive motor is between 10%-30% of its rated current, it is determined that the first transmission plate and the first rotating input shaft are completely engaged.

[0038] In the above technical solution, since the third drive motor is fully engaged with the third opening and closing input shaft via the third transmission disc and the third opening and closing input shaft is unable to rotate, the third drive motor is in an overloaded state. Therefore, the current flowing through the third drive motor should be greater than the rated current of the third drive motor. Therefore, the completion of the engagement of the third drive motor with the third opening and closing input shaft via the third transmission disc can be determined by monitoring whether the current of the third drive motor is greater than the rated current. Since the load on the first drive motor when the first drive motor transmits rotational motion via friction between the first transmission disc and the first rotating input shaft, or when the first drive motor drives the first transmission disc to rotate relative to the first rotating input shaft, is less than the load on the first drive motor when the first drive motor is power-engaged with the first rotating input shaft via the first transmission disc, the current flowing through the first drive motor when the first drive motor transmits rotational motion via friction between the first transmission disc and the first rotating input shaft, or when the first drive motor drives the first transmission disc to rotate relative to the first rotating input shaft, should be less than the current flowing through the first drive motor when the first drive motor is power-engaged with the first rotating input shaft via the first transmission disc. The connection between the first transmission plate and the first rotating input shaft is then determined by monitoring the increase in the current of the first drive motor. The increase in the current of the first drive motor is between 10% and 30% of the rated current of the first drive motor, which can be well monitored by the controller. At the same time, the increase in the current is relatively small compared to the rated current of the first drive motor, thereby facilitating the first drive motor to drive the actuator to rotate even when the third drive motor drives the actuator to close. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] 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. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 An exploded diagram of the structure of a surgical robot provided in some embodiments of the present application;

[0041] Figure 2 An exploded view of the structure of the drive motor, transmission disc, and input shaft provided in some embodiments of the present application;

[0042] Figure 3 An exploded view of the structure of a medical machine box provided in some embodiments of the present application;

[0043] Figure 4 Figure 2 A partial enlarged view of point A in the middle;

[0044] Figure 5 An exploded view of the push-pull member and lever provided in some embodiments of the present application;

[0045] Figure 6 A cross-sectional view of a push-pull member provided in some embodiments of the present application;

[0046] Figure 7 An exploded view of the push-pull member provided in some embodiments of the present application;

[0047] Figure 8 A schematic diagram of the structure of a lever provided in some embodiments of the present application;

[0048] Figure 9 An exploded view of the structure of the drive wheel and lever provided in some embodiments of the present application;

[0049] Figure 10 A schematic structural diagram of another medical device box provided in some embodiments of the present application;

[0050] Figure 11 Cross-sectional views of a waveguide rod, a push-pull member, and an outer sleeve provided for some embodiments of the present application;

[0051] Figure 12 A schematic diagram of the structure of the execution end when it is opened provided in some embodiments of the present application;

[0052] Figure 13 A schematic diagram of the structure of the closed execution end provided in some embodiments of the present application;

[0053] Figure 14 Figure 11 A partial enlarged view of point B in the middle;

[0054] Figure 15 An exploded view of the structure of the waveguide rod, push-pull member and outer sleeve provided in some embodiments of the present application;

[0055] Figure 16 A schematic diagram of the structure of the medical machine box provided in some embodiments of the present application after the lever and transmission wheel are removed;

[0056] Figure 17 A schematic structural diagram of a medical device box provided in some embodiments of the present application;

[0057] Figure 18 A schematic flow chart of a method for power connection between a medical device box and a power box provided in some embodiments of the present application.

[0058] icon:

[0059] 1000-Surgical Robot;

[0060] 100 - medical device box; 110 - first rotation input shaft; 110A - first female clamping portion; 111 - first rotation input gear;

[0061] 120 - second rotation input shaft; 120A - second female clamping portion; 121 - second rotation input gear;

[0062] 130 - third opening and closing input shaft; 130A - third female clamping portion; 131 - driving wheel; 131A - spiral groove; 1310 - first spiral groove; 132 - second spring; 133 - pressing member;

[0063] 140-Execution end; 141-First cutting head; 142-Second cutting head;

[0064] 150-base; 151-base body; 152-support member;

[0065] 160 - push-pull member; 160A - first groove; 161 - push-pull member body; 161A - claw; 161B - inner sleeve; 1611 - first step surface; 1612 - claw portion; 1613 - clamping hole; 1614 - second through hole; 162 - snap ring; 162A - second step surface; 163 - spring seat; 163A - receiving groove; 164 - first spring; 165 - fixing ring;

[0066] 170-lever; 170A-fulcrum; 171-first arm; 172-second arm; 173-third arm; 174-fourth arm; 175-first convex portion; 175A-first sub-convex portion; 175B-second sub-convex portion; 176-second convex portion; 176A-third sub-convex portion; 176B-fourth sub-convex portion;

[0067] 180-waveguide rod; 180A-first through hole;

[0068] 190 - outer sleeve; 190A - third through hole; 191 - rotary output gear; 192 - pin;

[0069] 200 - sterile isolation plate; 210 - first transmission plate; 210A - first sub-clamping portion; 220 - second transmission plate; 220A - second sub-clamping portion; 230 - third transmission plate; 230A - third sub-clamping portion; 240 - isolation plate body;

[0070] 300-power box; 310-first drive motor; 320-second drive motor; 330-third drive motor;

[0071] X - first direction. DETAILED DESCRIPTION

[0072] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0073] Unless otherwise defined, all technical and scientific terms used in this application have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first" and "second" in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary-secondary relationship.

[0074] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments.

[0075] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," and "attached" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0076] The term "and / or" in this application simply describes an association between related objects, indicating that three possible relationships exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this application generally indicates that the related objects are in an "or" relationship.

[0077] In the embodiments of this application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components in different embodiments are omitted. It should be understood that the thickness, length, width, and other dimensions of the various components in the embodiments of this application, as well as the overall thickness, length, width, and other dimensions of the integrated device shown in the drawings are merely illustrative and should not constitute any limitation on this application.

[0078] The term "plurality" used in this application refers to two or more (including two).

[0079] A laparoscopic surgery system typically includes a surgeon's control platform, a patient operating platform, and an imaging platform. The surgeon, seated at the surgeon's control platform, views a 2D or 3D image of the surgical area transmitted by a laparoscope placed inside the patient's body. The surgeon also controls the movements of a robotic arm on the patient operating platform, as well as the medical device cassette 100 or laparoscope attached to the robotic arm. The robotic arm simulates a human arm, while the medical device cassette 100 simulates a human hand. Together, they provide the surgeon with a range of movements that mimic those of a human wrist while filtering out inherent hand tremors.

[0080] The patient surgical platform includes a chassis, a column, a robotic arm, and a power box 300. The robotic arm is connected to the column, and the power box 300 is one or more units disposed at the ends of the robotic arms. The medical device box 100 and / or the laparoscope are detachably attached to the power box 300.

[0081] The medical device kit 100 is a medical device for insertion into a patient and performing a surgical or diagnostic procedure. The medical device kit 100 includes an implementation end 140. The implementation end 140 may be a surgical tool for performing one or more surgical-related tasks. For example, the implementation end 140 may be a forceps, a needle holder, scissors, a bipolar cauterizer, a tissue stabilizer or retractor, a clip applier, a stapling device, an imaging device (e.g., an endoscope or ultrasound probe), etc.

[0082] During surgery, each power box 300 can drive various types of medical device boxes 100 to move with one or more mechanical degrees of freedom. Exemplarily, the power box 300 can drive various types of medical device boxes 100 to move with six, five or fewer degrees of freedom.

[0083] Typically, each power box 300 is restricted by mechanical structure or controller constraints to drive the medical device box 100 to rotate based on a motion center, which remains stationary relative to the patient platform and is called the "telecentric point".

[0084] The image platform usually includes a display, which is used to display images captured by a medical device box 100 (commonly an endoscope) with a video image capture function. The above images can be captured by one medical device box 100 or multiple medical device boxes 100.

[0085] In some embodiments where the medical device case 100 is an endoscope, the medical device case 100 includes a sensor that transmits images from the patient's body to the patient's body. The sensor then transmits the video image to the host computer of the imaging platform through steps such as photoelectric conversion. Subsequently, the processed image is displayed on a video monitor for observation by the assistant through image processing.

[0086] Illustratively, the sensor may be a CCD or CMOS sensor.

[0087] As mentioned above, during the operation, it is necessary to introduce medical device boxes 100 with different functions, such as a medical device box 100 with an ultrasonic knife for cutting and hemostasis, and a medical device box 100 with an endoscope for observing the internal situation. However, due to the limited number of robotic arms on the operating platform, the number of power boxes 300 configured on the operating platform is generally less than the number of medical device boxes 100 required. Therefore, during the operation, the same power box 300 may be engaged and disengaged with different medical device boxes 100 multiple times. In order to reduce the replacement time of the power box 300 and the medical device box 100 and reduce the risk of the operation, a surgical robot 1000 is needed that has a medical device box 100 that can easily complete power engagement with the power box 300.

[0088] Based on the above considerations, in order to achieve convenient power connection between the power box 300 and the medical device box 100, an embodiment of the present application provides a surgical robot 1000, including a medical device box 100, a power box 300, a sterile isolation plate 200 and a controller. The medical device box 100 includes a first rotation input shaft 110, a second rotation input shaft 120 and a third opening and closing input shaft 130. The first rotation input shaft 110 and the second rotation input shaft 120 are used to drive the execution end 140 to rotate, and the third opening and closing input shaft 130 is used to drive the execution end 140 to open or close. The power box 300 includes a first drive motor 310, a second drive motor 320 and a third drive motor 330. The sterile isolation plate 200 includes a first transmission disc 210, a second transmission disc 220 and a third transmission disc 230. The sterile isolation plate 200 is arranged between the power box 300 and the medical device box 100. The controller is configured to control the third drive motor 330 to drive the third transmission disk 230 to rotate in the direction of closing the execution end 140, so that the third transmission disk 230 is engaged with the third opening and closing input shaft 130, and drives the third opening and closing input shaft 130 to rotate together until the execution end 140 is closed and the third transmission disk 230 cannot rotate, and then control the first drive motor 310 to drive the first transmission disk 210 to rotate until the first transmission disk 210 is engaged with the first rotation input shaft 110.

[0089] In the surgical robot 1000 of this structure, after the medical device box 100 is connected to the power box 300 through the sterile isolation plate 200, the controller only needs to control the third drive motor 330 to rotate until the third transmission disc 230 is engaged with the third opening and closing input shaft 130, and drive the third opening and closing input shaft 130 to rotate together, until the execution end 140 is closed and the third transmission disc 230 cannot rotate, and then control the first drive motor 310 to drive the first transmission disc 210 to rotate until the first transmission disc 210 is engaged with the first rotation input shaft 110, thereby completing the power connection between the medical device box 100 and the power box 300. In this way, the power connection between the power box 300 and the medical device box 100 can be completed conveniently.

[0090] According to some embodiments of the present application, referring to Figure 1-Figure 4 , Figure 1 This is an exploded view of the structure of the surgical robot 1000 provided in some embodiments of the present application. Figure 2 This is an exploded view of the drive motor, transmission disc, and input shaft provided in some embodiments of the present application. Figure 3 The exploded view of the structure of the medical machine box provided in some embodiments of the present application, Figure 4 Figure 2 A partial enlarged view of point A in the middle. An embodiment of the present application provides a surgical robot 1000, comprising a medical device box 100, a power box 300, a sterile isolation plate 200 and a controller (not shown in the figure). The medical device box 100 comprises a first rotation input shaft 110 and a third opening and closing input shaft 130, the first rotation input shaft 110 is used to drive the execution end 140 to rotate, and the third opening and closing input shaft 130 is used to drive the execution end 140 to open or close. The power box 300 comprises a first drive motor 310 and a third drive motor 330. The sterile isolation plate 200 comprises a first transmission disc 210 and a third transmission disc 230, and the sterile isolation plate 200 is arranged between the power box 300 and the medical device box 100. The controller (not shown in the figure) is configured to control the third drive motor 330 to drive the third transmission disk 230 to rotate in the direction of closing the execution end 140, so that the third transmission disk 230 is engaged with the third opening and closing input shaft 130, and drives the third opening and closing input shaft 130 to rotate together until the execution end 140 is closed and the third transmission disk 230 cannot rotate, and then controls the first drive motor 310 to drive the first transmission disk 210 to rotate until the first transmission disk 210 is engaged with the first rotation input shaft 110.

[0091] In some embodiments, the medical device box 100 further includes a second rotation input shaft 120 , and the first rotation input shaft 110 and the second rotation input shaft 120 are used to drive the actuator 140 to rotate. The power box 300 further includes a second drive motor 320 . The sterile isolation plate 200 further includes a second transmission disk 220 .

[0092] The implementation end 140 can be a surgical tool for performing one or more surgical-related tasks. For example, the implementation end 140 can be a forceps, a needle holder, scissors, a bipolar cautery device, a tissue stabilizer or retractor, a clip applier, or a stapling device.

[0093] The first rotation input shaft 110 is a component in the medical device box 100 for receiving the rotational motion provided by the first drive motor 310 in the power box 300; the second rotation input shaft 120 is a component in the medical device box 100 for receiving the rotational motion provided by the second drive motor 320 in the power box 300; the third opening and closing input shaft 130 is a component in the medical device box 100 for receiving the rotational motion provided by the third drive motor 330 in the power box 300.

[0094] The first rotation input shaft 110 and the second rotation input shaft 120 can drive the transmission mechanism of the execution end 140 to rotate by gear transmission and / or sprocket transmission.

[0095] The third opening and closing input shaft 130 can drive the transmission mechanism of the execution end 140 to move axially through the lever 170 mechanism or the screw transmission so as to open or close the execution end 140 .

[0096] The sterile isolation plate 200 is a component of the surgical robot 1000 for connecting the power box 300 and the medical device box 100. The sterile isolation plate 200 can be detachably connected to the power box 300 by a snap connection, and the sterile isolation plate 200 can be detachably connected to the medical device box 100 by a snap connection.

[0097] Understandably, since the power box 300 includes electronic components such as a drive motor, sterilization treatments such as spraying with alcohol or high-temperature disinfection may damage the electronic components. Therefore, the power box 300 is not suitable for sterilization. Therefore, in order to place the actuator 140 in a sterile operating area during surgery, a sterile isolation plate 200 is required between the power box 300 and the medical device box. The drive motor transmits power to the input shaft via a transmission disc on the isolation plate.

[0098] The first transmission disc 210 is a transmission disc in the sterile isolation panel 200 that is used to engage with the first rotation input shaft 110 to transmit the rotational motion of the first drive motor 310 to the first rotation input shaft 110. The second transmission disc 220 is a transmission disc in the sterile isolation panel 200 that is used to engage with the second rotation input shaft 120 to transmit the rotational motion of the second drive motor 320 to the second rotation input shaft 120. The third transmission disc 230 is a transmission disc in the sterile isolation panel 200 that is used to engage with the third opening and closing input shaft 130 to transmit the rotational motion of the third drive motor 330 to the third opening and closing input shaft 130. The first transmission disc 210, the second transmission disc 220, and the third transmission disc 230 have the same structure and similar functions.

[0099] In some embodiments, the sterile isolation plate 200 includes an isolation plate body 240, which is provided with a through hole that penetrates the isolation plate along the thickness direction of the isolation plate. The middle part of the transmission plate is rotatably arranged in the above-mentioned through hole, and the two ends of the transmission plate protrude from the above-mentioned through hole respectively to facilitate connection with the drive motor and the input shaft.

[0100] The power box 300 is a driving mechanism for driving the execution end 140 of the medical device box 100 to move in one or more mechanical degrees of freedom. For example, the power box 300 can drive the execution end 140 to move in six, five or fewer degrees of freedom.

[0101] The first drive motor 310 is a driving member in the power box 300 that is used to provide independent rotation, allowing the first transmission disc 210 to drive the first rotation input shaft 110 to rotate independently. The second drive motor 320 is a driving member in the power box 300 that is used to provide independent rotation, allowing the second transmission disc 220 to drive the second rotation input shaft 120 to rotate independently. The third drive motor 330 is a driving member in the power box 300 that is used to provide independent rotation, allowing the third transmission disc 230 to drive the third opening and closing input shaft 130 to rotate independently. The first drive motor 310, the second drive motor 320, and the third drive motor 330 have the same structure and similar functions.

[0102] The engagement between the transmission disc and the input shaft means that during the rotation process, the engagement of the engagement portion of the transmission disc with the corresponding engagement portion on the input shaft is completed, thereby changing the transmission relationship between the transmission disc and the input shaft from the friction between the engagement portion of the transmission disc and the input shaft driving the movement of the input shaft or the relative sliding of the engagement portion of the transmission disc and the input shaft to the engagement portion on the transmission disc driving the movement of the engagement portion on the input shaft, thereby enabling the drive motor to transmit stable rotational motion to the input shaft through the transmission disc, thereby enabling the drive motor to be dynamically engaged with the input shaft.

[0103] For the sake of convenience in description, the clamping part on the input shaft is referred to as the female clamping part, and the clamping part on the transmission disk is referred to as the sub-clamping part; the clamping part on the first rotating input shaft 110 is referred to as the first female clamping part 110A, and the clamping part on the first transmission disk 210 is referred to as the first sub-clamping part 210A; the clamping part on the second rotating input shaft 120 is referred to as the second female clamping part 120A, and the clamping part on the second transmission disk 220 is referred to as the second sub-clamping part 220A; the clamping part on the third opening and closing input shaft 130 is referred to as the third female clamping part 130A, and the clamping part on the third transmission disk 230 is referred to as the third sub-clamping part 230A.

[0104] In some embodiments, the drive motor is dynamically engaged with the transmission plate in the same or similar manner as the transmission plate is dynamically engaged with the input shaft.

[0105] Understandably, referring to Figure 4 The female engaging portions may be arranged asymmetrically, and the sub-engaging portions may be arranged correspondingly to the female engaging portions. The asymmetrical arrangement means that no female engaging portion can overlap with another female engaging portion in a rotationally or centrally symmetrical manner, thereby ensuring that the relative angle between the transmission disc and the input shaft is fixed and unique when the transmission disc and the input shaft are fully engaged.

[0106] In the embodiment where there are multiple female clamping parts, the female clamping parts may be grooves and / or protrusions, and the sub-clamping parts may be protrusions and / or grooves arranged corresponding to the female clamping parts.

[0107] In some embodiments, the controller (not shown in the figure) can also be configured to control the third drive motor 330 to drive the third transmission disk 230 to rotate in the direction of opening the execution end 140, so that the third transmission disk 230 is engaged with the third opening and closing input shaft 130, and drives the third opening and closing input shaft 130 to rotate together until the execution end 140 is fully opened and the third transmission disk 230 cannot rotate, and then controls the first drive motor 310 to drive the first transmission disk 210 to rotate until the first transmission disk 210 is engaged with the first rotation input shaft 110.

[0108] Specifically, when trying to engage the third drive motor 330 with the third opening and closing input shaft 130 through the third transmission disk 230, the third sub-clamping portion 230A on the third transmission disk 230 for clamping and the third female clamping portion 130A on the third opening and closing input shaft 130 for clamping are not aligned. At this time, the third drive motor 330 causes the third sub-clamping portion 230A on the third transmission disk 230 to abut the end face of the third opening and closing input shaft 130 having the third female clamping portion 130A. Then the third drive motor 330 rotates, so that the third transmission disk 230 has a tendency to drive the third opening and closing input shaft 130 to rotate through friction.

[0109] When the friction between the third transmission disc 230 and the third opening and closing input shaft 130 is insufficient to rotate the third opening and closing input shaft 130 to drive the execution end 140 to close, the third transmission disc 230 rotates relative to the third opening and closing input shaft 130, so that the third sub-clamping portion 230A and the third female clamping portion 130A are engaged, and the third driving motor 330 drives the third transmission disc 230 and the third opening and closing input shaft 130 to continue rotating until the execution end 140 is closed; when the third transmission disc 230 and the third opening and closing input shaft 130 are engaged, the execution end 140 is closed. When the friction force between the third opening and closing input shaft 130 is sufficient to rotate the third opening and closing input shaft 130 to drive the execution end 140 to close, after the third transmission disc 230 is closed at the execution end 140, the first reaction force of the execution end 140 will hinder the continued rotation of the third opening and closing input shaft 130, thereby causing the third transmission disc 230 to rotate relative to the third opening and closing input shaft 130, so that the third sub-clamping portion 230A and the third female clamping portion 130A are clamped, thereby allowing the third drive motor 330 to complete power engagement with the third opening and closing input shaft 130.

[0110] The third drive motor 330 then drives the third opening and closing input shaft 130 to continue rotating until the third transmission disc 230 is unable to rotate. This causes the third opening and closing input shaft 130 to apply a greater force to the actuator 140, restricting its rotation. Consequently, when the first rotating input shaft 110 tends to rotate the actuator 140, it experiences a second reaction force from the actuator 140. The first drive motor 310 then rotates, causing the first transmission disc 210 to rotate the first rotating input shaft 110 through friction. Due to the second reaction force from the actuator 140, the first transmission disc 210 rotates relative to the first rotating input shaft 110, causing the first sub-engaging portion 210A of the first transmission disc 210 to engage with the first female engaging portion 110A of the first rotating input shaft 110, thereby achieving power engagement between the first drive motor 310 and the first rotating input shaft 110.

[0111] Dynamic connection refers to a stable way of transmitting kinetic energy between two parts, such as snap connection, meshing and coupling.

[0112] In this embodiment, after the medical device box 100 is connected to the power box 300 through the sterile isolation plate 200, the controller (not shown in the figure) only needs to control the third drive motor 330 to rotate until the third transmission disk 230 is fully engaged with the third opening and closing input shaft 130, and drive the third opening and closing input shaft 130 to rotate together, until the execution end 140 is closed and the third transmission disk 230 cannot rotate, and then control the first drive motor 310 to drive the first transmission disk 210 to rotate until the first transmission disk 210 is fully engaged with the first rotation input shaft 110, thereby completing the power connection between the medical device box 100 and the power box 300.

[0113] According to some embodiments of the present application, referring to Figure 1-Figure 4 The medical device box 100 further includes a second rotation input shaft 120. The first rotation input shaft 110 and the second rotation input shaft 120 are used to drive the execution end 140 to rotate. The power box 300 further includes a second drive motor 320. The sterile isolation plate 200 further includes a second transmission disk 220. The controller (not shown) is configured to control the second drive motor 320 to drive the second transmission disk 220 to rotate after the execution end 140 is closed and the third transmission disk 230 cannot rotate, until the second transmission disk 220 is fully engaged with the second rotation input shaft 120.

[0114] Specifically, after the third drive motor 330 is power-engaged with the third opening and closing input shaft 130, the third drive motor 330 drives the third opening and closing input shaft 130 to continue rotating until the actuator 140 is closed and the third transmission disk 230 cannot rotate. This allows the third opening and closing input shaft 130 to apply a large force to the actuator 140, thereby limiting the rotation of the actuator 140. Consequently, when the second rotation input shaft 120 tends to drive the actuator 140 to rotate, it will receive a large reaction force from the actuator 140. Subsequently, the second drive motor 320 rotates, causing the second transmission disk 220 to tend to drive the second rotation input shaft 120 to rotate through friction. Since the second rotation input shaft 120 is subjected to a larger reaction force from the execution end 140, the second transmission disk 220 rotates relative to the second rotation input shaft 120, so that the second sub-clamping portion 220A of the second transmission disk 220 and the second female clamping portion 120A of the second rotation input shaft 120 are clamped, thereby completing the power engagement between the first drive motor 310 and the first rotation input shaft 110.

[0115] In this embodiment, after the third drive motor 330 and the third opening and closing input shaft 130 complete power engagement, the controller (not shown in the figure) only needs to control the third drive motor 330 to drive the third opening and closing input shaft 130 to continue to rotate until the execution end 140 is closed and the third transmission disk 230 cannot rotate, and then control the second drive motor 320 to drive the second transmission disk 220 to rotate until the second transmission disk 220 and the second rotation input shaft 120 are fully engaged, thereby completing the power engagement between the medical device box 100 and the power box 300.

[0116] According to some embodiments of the present application, referring to Figure 3 and Figure 5 , Figure 5An exploded view of the push-pull member 160 and lever 170 provided in some embodiments of the present application. The medical device case 100 further includes a base 150, a push-pull member 160, and a lever 170. The first rotation input shaft 110, the second rotation input shaft 120, and the third opening and closing input shaft 130 are rotatably disposed on the base 150. The push-pull member 160 is disposed through the base 150 and has a first end and a second end. The second end is configured to connect to the first cutting head 141 of the actuator 140. A first groove 160A is provided at one end of the push-pull member 160, extending circumferentially along the push-pull member 160. The axial direction of the push-pull member 160 is parallel to the axial direction of the third opening and closing input shaft 130. The lever 170 is rotatably disposed on the base 150, with the fulcrum 170A of the lever 170 located between the third opening and closing input shaft 130 and the push-pull member 160. One end of lever 170 is in driving connection with third opening / closing input shaft 130. The other end of lever 170 has a second protrusion 176, which is located within first groove 160A. Rotation of third opening / closing input shaft 130 drives lever 170 to rotate about fulcrum 170A, thereby driving axial movement of push-pull member 160.

[0117] The base 150 is a component of the medical device box 100 for mounting the input shaft and the transmission structure as well as the transmission mechanism connected to the execution end 140. For example, the base 150 can be made of a metal or non-metal hard material such as hard plastic, stainless steel, aluminum alloy, etc.

[0118] It can be understood that the base 150 is the portion of the medical device box 100 connected to the sterile isolation plate 200 .

[0119] In some embodiments, the base 150 is provided with through holes for the first rotation input shaft 110, the second rotation input shaft 120 and the third opening and closing input shaft 130 to pass through respectively, and the first rotation input shaft 110, the second rotation input shaft 120 and the third opening and closing input shaft 130 are rotatably connected to the corresponding through holes via bearings.

[0120] It can be understood that the rotation axis of the first rotation input shaft 110, the rotation axis of the second rotation input shaft 120 and the rotation axis of the third opening and closing input shaft 130 should be parallel to each other and parallel to the thickness direction of the base 150 to facilitate the setting of the drive motor on the power box 300.

[0121] The push-pull member 160 is a component in the medical device box 100 for driving the execution end 140 to open and close. It can be understood that the push-pull member 160 can move relative to the base 150 along the axial direction of the push-pull member 160 to drive the execution end 140 to open and close.

[0122] In some embodiments, the push-pull member 160 can rotate relative to the base 150 around the axis of the push-pull member 160, and then when the first rotation input shaft 110 and the second rotation input shaft 120 drive the execution end 140 to rotate through the transmission structure (such as gears and sprockets), the push-pull member 160 can rotate with the execution end 140.

[0123] The first cutting head 141 is an integral part of the execution end 140. Exemplarily, the execution end 140 may include a second cutting head 142 for cutting / closing tissue and a first cutting head 141 rotatable relative to the second cutting head 142. The push-pull member 160 moves to rotate the first cutting head 141 relative to the second cutting head 142, so that the execution end 140 opens and closes to clamp and cut the tissue.

[0124] The first groove 160A is a groove extending around the circumference of the push-pull member 160 . The first groove 160A can be formed on the circumference of the push-pull member 160 by machining such as milling, or can be made simultaneously with the push-pull member 160 by integral molding.

[0125] In some embodiments, the first groove 160A may be annular to prevent the second protrusion 176 located in the first groove 160A from abutting against the end wall of the first groove 160A when the push-pull member 160 rotates around the axis of the push-pull member 160, causing the execution end 140 to be unable to rotate.

[0126] The lever 170 can transmit the external force applied to the lever 170 by the third opening and closing input shaft 130 along the axial direction of the third opening and closing input shaft 130 to the push-pull member 160 in the same or opposite direction. For example, the lever 170 can be made of a metal or non-metal hard material such as hard plastic, stainless steel, or aluminum alloy.

[0127] It can be understood that the axial direction of the push-pull member 160 is parallel to the axial direction of the third opening and closing input shaft 130 , so that when the push-pull member 160 is subjected to the external force provided by the lever 170 , it can be driven by the external force to move axially.

[0128] The fulcrum 170A is a component of the lever 170 that is rotatably connected to the base 150, and the lever 170 rotates around the fulcrum 170A. For example, the fulcrum 170A can be a rotation axis.

[0129] In some embodiments, reference Figure 3The base 150 includes a base body 151 and a support member 152. The support member 152 is mounted on the base body 151. A gap is defined between the support member 152 and the base body 151 along the thickness of the base 150. The transmission structures (e.g., gears and sprockets) of the first rotation input shaft 110 and the actuator 140 are located within this gap. The transmission structures (e.g., gears and sprockets) of the second rotation input shaft 120 and the actuator 140 are also located within this gap. The fulcrum 170A of the lever 170 is located on the side of the support member 152 facing away from the base body 151 along the thickness of the base 150. This reduces the risk of interference with the movement of the transmission structures of the first rotation input shaft 110 and the actuator 140, and the transmission structures of the second rotation input shaft 120 and the actuator 140, when the lever 170 rotates relative to the fulcrum 170A.

[0130] The fulcrum 170A of the lever 170 is located between the third opening and closing input shaft 130 and the push-pull member 160 , so that the external force applied by the lever 170 to the push-pull member 160 is opposite in direction to the external force provided to the lever 170 by the third opening and closing input shaft 130 .

[0131] One end of the lever 170 is in transmission connection with the third opening and closing input shaft 130. In some embodiments, one end of the lever 170 is a worm gear structure, and the third opening and closing input shaft 130 may have a worm structure adapted to the worm gear structure. The third opening and closing input shaft 130 rotates relative to the worm gear structure to drive the lever 170 to rotate relative to the fulcrum 170A.

[0132] In other embodiments, the third opening and closing input shaft 130 may have a screw structure, and one end of the third opening and closing input shaft 130 is a threaded nut that cooperates with the screw. The screw rotates to drive the threaded nut to rotate relative to the lever 170 body and make the lever 170 rotate around the fulcrum 170A.

[0133] The second protrusion 176 is a portion protruding from the side surface of the lever 170 facing the first groove 160A. The second protrusion 176 may have various shapes. For example, the second protrusion 176 may be cylindrical or prismatic.

[0134] In some embodiments, the second protrusion 176 can be provided on the lever 170 by bonding, hot-melt or other connection methods; in some embodiments, the second protrusion 176 and the lever 170 can be integrally formed.

[0135] Specifically, the rotation of the third opening and closing input shaft 130 can drive the lever 170 to rotate around the fulcrum 170A, so that the second protrusion 176 abuts against the groove wall of the first groove 160A, thereby driving the push-pull member 160 to move axially, and then driving the first blade head 141 of the execution end 140 to close the execution end 140. After the execution end 140 is closed, the movement of the first blade head 141 is restricted, thereby restricting the axial movement of the push-pull member 160 and then restricting the first groove 160A and the second protrusion 176 to continue to move axially, thereby restricting the rotation of the lever 170 around its fulcrum 170A, and thereby restricting the rotation of the third opening and closing input shaft 130. At this time, the driving force of the third drive motor 330 will be transmitted to the push-pull member 160 through the third opening and closing input shaft 130 and the lever 170, thereby increasing the abutment force provided by the second protrusion 176 to the first groove 160A to the maximum, thereby making the static friction force of the second protrusion 176 to the first groove 160A reach the maximum, thereby limiting the rotation of the push-pull member 160, and then limiting the rotation of the execution end 140, and then limiting the rotation of the first rotation input shaft 110, so as to facilitate the power engagement of the first drive motor 310 and the first rotation input shaft 110.

[0136] In this embodiment, the second protrusion 176 cooperates with the first groove 160A. On the one hand, the lever 170 can drive the push-pull member 160 to move axially along the push-pull member 160 to complete the opening and closing of the execution end 140; on the other hand, the friction between the second protrusion 176 and the first groove 160A limits the rotation of the execution end 140, thereby limiting the rotation of the first rotation input shaft 110, so as to facilitate the power engagement of the first drive motor 310 and the first rotation input shaft 110.

[0137] According to some embodiments of the present application, referring to Figure 5 , and refer to Figure 6 and Figure 7 , Figure 6 A cross-sectional view of a push-pull member 160 provided in some embodiments of the present application is provided. Figure 7 This is an exploded view of the structure of a push-pull member 160 provided in some embodiments of the present application. The push-pull member 160 includes a push-pull member body 161, a snap ring 162, a spring seat 163, and a first spring 164. The snap ring 162 is sleeved on the push-pull member body 161 and threadedly connected to the push-pull member body 161. The spring seat 163 is sleeved on the snap ring 162, forming a first groove 160A between the spring seat 163 and the snap ring 162. The first spring 164 is supported between the spring seat 163 and the push-pull member body 161.

[0138] The push-pull member body 161 is the main body portion of the push-pull member 160 connected to the first blade head 141 of the execution end 140 .

[0139] The snap ring 162 is a component of the push-pull member 160 that is sleeved on the outside of the push-pull member body 161. The snap ring 162 is threadedly connected to the push-pull member body 161, that is, the inner wall of the snap ring 162 has an internal thread, and the outer side of the push-pull member body 161 has an external thread corresponding to the internal thread. The snap ring 162 rotates relative to the push-pull member body 161 so that the internal thread and the external thread are matched, thereby making the snap ring 162 and the push-pull member body 161 detachably connected.

[0140] The spring seat 163 is a portion of the push-pull member body 161 for forming the first groove 160A with the snap ring 162 . It is understood that the spring seat 163 can move axially and / or rotate circumferentially relative to the push-pull member 160 .

[0141] In some embodiments, the circumferential side of the spring seat 163 has a receiving groove 163A, which extends along the circumference of the spring seat 163. The receiving groove 163A can be the first groove 160A, or the receiving groove 163A and part of the retaining ring 162 are enclosed to form the first groove 160A.

[0142] The first spring 164 is an elastic member that provides elastic force to the spring seat 163 and the push-pull member body 161. It is understood that the first spring 164 is a compression spring. In some embodiments, the first spring 164 may be a constant-force first spring that provides a constant elastic force to the spring seat 163 and the push-pull member body 161. The constant elastic force is equal to the force required to apply to the push-pull member to close the actuator end.

[0143] In some embodiments, a portion of the circumference of one end of the push-pull member body 161 away from the first cutting head 141 protrudes beyond the circumference of the other portion, forming a first step surface 1611 on the push-pull member body 161 facing the first cutting head 141. A portion of the circumference of the retaining ring 162 protrudes beyond the circumference of the other portion of the retaining ring 162, forming a second step surface 162A on the retaining ring 162 facing the first step surface 1611. Along the axial direction of the push-pull member body 161, the spring seat 163 and the first spring 164 are located between the first step surface 1611 and the second step surface 162A. The two ends of the first spring 164 respectively abut the first step surface 1611 and the spring seat 163. The end of the spring seat 163 away from the first spring 164 abuts the second step surface 162A. The accommodating groove 163A and a portion of the second step surface 162A together form a first recess 160A.

[0144] Specifically, the snap ring 162 rotates relative to the push-pull member body 161 to cause the snap ring 162 to move axially relative to the push-pull member body 161, thereby adjusting the distance between the first step surface 1611 and the second step surface 162A, thereby causing the spring seat 163 to compress or loosen the first spring 164, thereby facilitating adjustment of the preload force of the first spring 164. When the preload force of the first spring 164 is exactly equal to the external force required for the push-pull member body 161 to drive the first blade head 141 to rotate so as to close the actuator 140,

[0145] When the third opening and closing input shaft 130 applies an external force to the spring seat 163 through the second protrusion 176 of the lever 170, the external force is less than the preload force so that the first spring 164 is not compressed, and the first spring 164 transmits the external force to the first step surface 1611 to drive the push-pull member body 161 to move axially to drive the first cutting head 141 to rotate toward the closed execution end 140.

[0146] When the external force applied by the third opening and closing input shaft 130 to the spring seat 163 through the second protrusion 176 of the lever 170 is just equal to the preload force, the first spring 164 is just not compressed, and the first spring 164 transmits the external force to the first step surface 1611 to drive the actuator end 140 to close. At this time, the second cutting head 142 limits the continued rotation of the first cutting head 141, thereby limiting the continued axial movement of the push-pull member body 161.

[0147] After the external force applied by the third opening and closing input shaft 130 to the spring seat 163 through the second protrusion 176 of the lever 170 is greater than the pre-tightening force, the execution end 140 mentioned above will restrict the push-pull member body 161 from continuing to move axially, thereby restricting the first step surface 1611 from moving axially along the push-pull member 160, and because the external force applied by the second protrusion 176 to the spring seat 163 is greater than the pre-tightening force, the first spring 164 is compressed, thereby causing the spring seat 163 to no longer abut against the second step, thereby allowing the lever 170 to continue to rotate.

[0148] On the one hand, the lever 170 can continue to rotate, thereby reducing the risk of damage to the lever 170 or the push-pull member 160 due to excessive external force at the abutment between the lever 170 and the push-pull member 160 due to the inability of the push-pull member body 161 to move axially along the push-pull member 160; on the other hand, the first spring 164 continues to compress, so that the first spring 164 can continuously increase the elastic force applied to the spring seat 163 to increase the static friction between the spring seat 163 and the second protrusion 176, so that after the third opening and closing input shaft 130 cannot rotate so that the second protrusion 176 stops moving relative to the spring seat 163, the static friction between the two can limit the push-pull member 160 from rotating by following the first rotating input shaft 110 that has not completed power engagement with the first drive motor 310.

[0149] In this embodiment, the push-pull member body 161 is threadedly connected to the retaining ring 162, and a first groove 160A is formed between the spring seat 163 and the retaining ring 162. The first spring 164 is supported between the spring seat 163 and the push-pull member body 161, which facilitates the installation and disassembly of the retaining ring 162, the spring seat 163, the first spring 164 and the push-pull member body 161, and facilitates the subsequent replacement and maintenance of parts.

[0150] According to some embodiments of the present application, referring to Figure 5 , and refer to Figure 6 and Figure 7 The push-pull member body 161 includes a claw 161A and an inner sleeve 161B. The clamping ring 162 is sleeved on the outside of the claw 161A. The inner sleeve 161B is provided with a clamping hole 1613 corresponding to the claw 161A on the peripheral side. Part of the claw 161A is clamped with the clamping hole 1613.

[0151] The claw 161A is a portion of the push-pull member body 161 that is threadedly connected to the clamping ring 162 .

[0152] The inner sleeve 161B is the portion of the push-pull member body 161 that connects the claw 161A and the first blade head 141 of the execution end 140 .

[0153] Understandably, the portion of the push-pull member body 161 that is threadedly connected to the retaining ring 162 should have a certain structural strength to withstand the elastic force provided by the first spring 164. The portion of the push-pull member body 161 that connects to the first blade head 141 should be minimized to reduce the volume of the actuator 140. If these two components were integrally molded, the process would be more difficult.

[0154] The clamping hole 1613 can be a through hole that penetrates the wall of the inner sleeve 161B in the radial direction, or a blind hole that is arranged on the outer peripheral side of the inner sleeve 161B. Figure 7 There may be a plurality of latch holes 1613 spaced apart around the circumference of the inner sleeve.

[0155] Illustratively, the claw 161A may have a claw portion 1612 arranged corresponding to the clamping hole 1613, and the claw portion 1612 is inserted into the clamping hole 1613 to complete the assembly of the claw 161A and the inner sleeve 161B.

[0156] In some embodiments, the card hole 1613 can be set on the claw portion 1612 of the claw 161A, and a buckle corresponding to the card hole 1613 is set on the outer peripheral side of the inner sleeve 161B, and the buckle is inserted into the card hole 1613 to complete the assembly of the claw 161A and the inner sleeve 161B.

[0157] In some embodiments, reference Figure 6 and Figure 7A fixing ring 165 may be sleeved on the outside of the push-pull member body 161, and the fixing ring 165 is sleeved on the outside of the clamping claw 161A and the inner sleeve 161B to reduce the risk of failure of the clamping claw 161A and the inner sleeve 161B.

[0158] In some embodiments, reference Figure 3 and Figure 5 , and refer to Figure 8 , Figure 8 This is a schematic diagram of the structure of a lever 170 provided in some embodiments of the present application. Lever 170 includes a third arm 173 and a fourth arm 174, which are spaced apart along a first direction X, parallel to the rotation axis of lever 170. At least a portion of the push-pull member 160 is located between the third arm 173 and the fourth arm 174. The second protrusion 176 includes a third sub-protrusion 176A provided on the third arm 173 and a fourth sub-protrusion 176B provided on the fourth arm 174.

[0159] The third arm 173 and the fourth arm 174 are two arms located on the same side of the fulcrum 170A in the lever 170. The third arm 173 and the fourth arm 174 have the same structure and similar functions, and are symmetrically arranged.

[0160] “The second protrusion 176 includes a third sub-protrusion 176A provided on the third arm 173 and a fourth sub-protrusion 176B provided on the fourth arm 174” means that there are two second protrusions 176, and the two second protrusions 176 are respectively provided on the third arm 173 and the fourth arm 174, wherein the second protrusion 176 provided on the third arm 173 is called the third sub-protrusion 176A, and the second protrusion 176 provided on the fourth arm 174 is called the fourth sub-protrusion 176B.

[0161] The third sub-protrusion 176A and the fourth sub-protrusion 176B have the same structure and similar functions, and the third sub-protrusion 176A and the fourth sub-protrusion 176B are symmetrically arranged.

[0162] To facilitate the display of the position of the third sub-protrusion 176A, please refer to Figure 8 In the figure, the range of the third sub-convex portion 176A is marked with a dotted line. It should be noted that the dotted line is only for the convenience of showing the range of the third sub-convex portion 176A and does not represent any physical meaning.

[0163] Exemplarily, the third sub-protrusion 176A protrudes from the side of the third arm 173 facing the push-pull member 160 and is located in the first groove 160A, and the fourth sub-protrusion 176B protrudes from the side of the fourth arm 174 facing the push-pull member 160 and is located in the first groove 160A.

[0164] "At least part of the push-pull member 160 is located between the third arm 173 and the fourth arm 174" means that part or the entire push-pull member 160 is located between the third arm 173 and the fourth arm 174, so that the third sub-protrusion 176A and the fourth sub-protrusion 176B are inserted into the first groove 160A, and when the third arm 173 and the fourth arm 174 rotate around the fulcrum 170A, the third sub-protrusion 176A and the fourth sub-protrusion 176B can still have a larger contact area with the groove wall of the first groove 160A.

[0165] Specifically, along the first direction X, at least part of the push-pull member 160 is located between the third arm 173 and the fourth arm 174, and the third sub-protrusion 176A on the third arm 173 and the fourth sub-protrusion 176B on the fourth arm 174 are located in the first groove 160A, so that the third sub-protrusion 176A and the fourth sub-protrusion 176B are located on opposite sides of the push-pull member 160 in the first direction X, so that when the lever 170 provides external force to the push-pull member 160 through the third sub-protrusion 176A and the fourth sub-protrusion 176B to drive the push-pull member 160 to move axially, the force on the push-pull member 160 is more uniform and the movement is smoother, thereby making the opening and closing movement of the execution end 140 smoother.

[0166] In this embodiment, by designing the push-pull member body 161 into a separate claw 161A and an inner sleeve 161B, it is easier to manufacture than an integrated push-pull member body 161, so the manufacturing cost of the push-pull member body 161 can be reduced. At the same time, part of the claw 161A is engaged with the clamping hole 1613 to facilitate the connection between the claw 161A and the inner sleeve 161B, and the structure is simple and easy to implement.

[0167] According to some embodiments of the present application, referring to Figure 3 and Figure 8 , and refer to Figure 9 , Figure 9 Exploded diagram of the drive wheel 131 and lever 170 provided in some embodiments of the present application. The medical device case 100 further includes a drive wheel 131 secured to the third opening / closing input shaft 130. A spiral groove 131A is provided on the outer circumference of the drive wheel 131. The lever 170 has a first protrusion 175 on the end away from the push-pull member 160, which slidably engages with the spiral groove 131A.

[0168] The driving wheel 131 is a transmission structure for the third opening and closing input shaft 130 to drive the lever 170 to rotate.

[0169] The spiral groove 131A is a groove arranged on the outer peripheral surface of the driving wheel 131. The extension direction of the spiral groove 131A is spiral. The spiral groove 131A can be formed on the peripheral side of the driving wheel 131 by machining methods such as milling, or can be made synchronously with the driving wheel 131 by an integral molding method.

[0170] The first protrusion 175 is a portion protruding from the side surface of the lever 170 facing the spiral groove 131A. The first protrusion 175 may have various shapes. For example, the first protrusion 175 may be cylindrical or prismatic.

[0171] Specifically, when the third opening and closing input shaft 130 drives the driving wheel 131 to rotate, it drives the spiral groove 131A to slide relative to the first protrusion 175, and then drives the first protrusion 175 to drive the end of the lever 170 close to the driving wheel 131 to rotate around the fulcrum 170A, and then drives the end of the lever 170 close to the push-pull member 160 to drive the push-pull member 160 to move axially along the push-pull member 160.

[0172] On the one hand, when the first protrusion 175 abuts against any one of the two end walls of the spiral groove 131A in the extension direction, the first protrusion 175 can limit the driving wheel 131 from continuing to rotate, and then when the third opening and closing input shaft 130 is not engaged with the third transmission plate 230, the third drive motor 330 drives the third opening and closing input shaft 130 to rotate through the friction force between the third transmission plate 230 and the third opening and closing input shaft 130, the third opening and closing input shaft 130 is limited from continuing to rotate, so that the third transmission plate 230 can rotate relative to the third opening and closing input shaft 130 to complete the engagement between the third transmission plate 230 and the third opening and closing input shaft 130; on the other hand, in the embodiment where the lever 170 has the second protrusion 176, when the first protrusion 175 abuts against any one of the two end walls of the spiral groove 131A in the extension direction, the lever 170 can be limited from continuing to rotate, thereby reducing the risk of the second protrusion 176 excessively abutting against the spring seat 163 and causing damage to the first spring 164 or the lever 170 itself.

[0173] In this embodiment, the first protrusion 175 slides with the spiral groove 131A so that the rotation of the driving wheel 131 can drive the end of the lever 170 away from the push-pull member 160 to rotate around the fulcrum 170A. The structure is simple and easy to implement.

[0174] According to some embodiments of the present application, referring to Figure 10 , Figure 10This is a schematic diagram of another medical device case provided in some embodiments of the present application. The medical device case further includes a pressing member 133 and a second spring 132 . The pressing member 133 and the second spring 132 are disposed around the third opening and closing input shaft 130 , along the rotation axis of the drive wheel 131 . The second spring 132 is supported by the drive wheel 131 and abuts against the pressing member 133 . The second spring 132 is used to provide an elastic force to press the drive wheel 131 against the base 150 .

[0175] The second spring 132 is an elastic member that provides elastic force to the pressing member 133 and the driving wheel 131. It is understood that the second spring 132 is a compression spring. In some embodiments, the second spring 132 may be a constant-force second spring 132 that provides a constant elastic force to the pressing member 133 and the driving wheel 131. The constant elastic force is equal to the force required to be applied to the push-pull member 160 to close the actuator 140.

[0176] The pressing member 133 is a plate-shaped component mounted on the third opening and closing input shaft 130 to apply a pressing force to the second spring 132 .

[0177] In this embodiment, the pressing member 133 presses the driving wheel 131 against the base 150 through the second spring 132. After the external force applied by the driving wheel 131 to the lever 170 is greater than the elastic force of the second spring 132, the second spring 132 is compressed, so that the driving wheel 131 can continue to move axially along the third opening and closing input shaft 130 for a small distance, and the lever 170 can continue to rotate, thereby reducing the risk of damage to the lever 170 or the driving wheel 131 due to excessive external force at the contact point between the lever 170 and the driving wheel 131 due to the inability of the driving wheel 131 to move axially.

[0178] According to some embodiments of the present application, referring to Figure 3 and Figure 8 , and refer to Figure 9 The lever 170 includes a first arm 171 and a second arm 172, which are spaced apart along a first direction X, parallel to the rotation axis of the lever 170. At least a portion of the drive wheel 131 is located between the first arm 171 and the second arm 172. The first protrusion 175 includes a first sub-protrusion 175A provided on the first arm 171 and a second sub-protrusion 175B provided on the second arm 172. The spiral groove 131A includes a first spiral groove 1310 and a second spiral groove (not shown). The first sub-protrusion 175A slidably engages with the first spiral groove 1310, and the second sub-protrusion 175B slidably engages with the second spiral groove (not shown).

[0179] The first arm 171 and the second arm 172 are two arms located on the same side of the fulcrum 170A of the lever 170. The first arm 171 and the second arm 172 have the same structure and similar functions, and are symmetrically arranged.

[0180] “The first protrusion 175 includes a first sub-protrusion 175A provided on the first arm 171 and a second sub-protrusion 175B provided on the second arm 172” means that there are two first protrusions 175, and the two first protrusions 175 are respectively provided on the first arm 171 and the third arm 173, wherein the first protrusion 175 provided on the first arm 171 is called the first sub-protrusion 175A, and the first protrusion 175 provided on the second arm 172 is called the second sub-protrusion 175B.

[0181] The first sub-protrusion 175A and the second sub-protrusion 175B have the same structure and similar functions, and the first sub-protrusion 175A and the second sub-protrusion 175B are symmetrically arranged.

[0182] To facilitate the display of the position of the first sub-protrusion 175A, please refer to Figure 8 In the figure, the range of the first sub-convex portion 175A is marked with a dotted line. It should be noted that the dotted line is only for the convenience of showing the range of the first sub-convex portion 175A and does not represent any entity meaning.

[0183] "The spiral groove 131A includes a first spiral groove 1310 and a second spiral groove (not shown in the figure)" means that there are two spiral grooves 131A arranged at circumferential intervals around the driving wheel 131, among which the first spiral groove 1310 slides with the first sub-protrusion 175A, and the second spiral groove (not shown in the figure) slides with the second sub-protrusion 175B.

[0184] Exemplarily, the first sub-protrusion 175A protrudes from the side of the first arm 171 facing the push-pull member 160 and is located in the first spiral groove 1310 to slide with the first spiral groove 1310, and the second sub-protrusion 175B protrudes from the side of the second arm 172 facing the push-pull member 160 and is located in the second spiral groove (not shown in the figure) to slide with the second spiral groove (not shown in the figure).

[0185] The phrase "at least a portion of the drive wheel 131 is located between the first support arm 171 and the second support arm 172" means that part or all of the drive wheel 131 is located between the first support arm 171 and the second support arm 172, facilitating the insertion of the first sub-protrusion 175A into the first spiral groove 1310 and the insertion of the second sub-protrusion 175B into the second spiral groove (not shown). Furthermore, when the first support arm 171 and the second support arm 172 rotate about the fulcrum 170A and the drive wheel 131 rotates about the axis of the third opening and closing input shaft 130, the first sub-protrusion 175A maintains a relatively large contact area with the groove wall of the first spiral groove 1310, and the second sub-protrusion 175B maintains a relatively large contact area with the groove wall of the second spiral groove (not shown).

[0186] In this embodiment, along the first direction X, at least part of the driving wheel 131 is located between the first arm 171 and the second arm 172, the first sub-protrusion 175A on the first arm 171 slides in cooperation with the first spiral groove 1310, and the second sub-protrusion 175B on the second arm 172 slides in cooperation with the second spiral groove (not shown in the figure), thereby causing the driving wheel 131 to rotate to provide external force to the lever 170, so that when the lever 170 rotates around the fulcrum 170A, the force on the lever 170 is more uniform and the movement is smoother, thereby causing the push-pull member 160 to be subjected to more uniform force and the opening and closing movement of the actuator end 140 to be smoother.

[0187] According to some embodiments of the present application, referring to Figure 11-13 , and refer to Figure 14 and Figure 15 , Figure 11 A cross-sectional view of a waveguide rod 180, a push-pull member 160, and an outer sleeve 190 provided in some embodiments of the present application is provided. Figure 12 and Figure 13 These are schematic diagrams of the structure of the execution end 140 when it is opened and closed, respectively, according to some embodiments of the present application. Figure 14 Figure 11 A partial enlarged view of point B in the middle. Figure 15Exploded view of the structure of the waveguide rod 180, push-pull member 160, and outer sleeve 190 provided for some embodiments of the present application. The medical device box 100 also includes a waveguide rod 180, an outer sleeve 190, and a pin 192. The waveguide rod 180 is inserted into the push-pull member 160. The end of the waveguide rod 180 located on the side of the base 150 facing away from the lever 170 is configured as the second cutting head 142 of the execution end 140. The push-pull member 160 moves axially to drive the first cutting head 141 to open or close relative to the second cutting head 142. The outer sleeve 190 is sleeved on the outside of the push-pull member 160. The first rotation input shaft 110 and the second rotation input shaft 120 are used to drive the outer sleeve 190 to rotate. The waveguide rod 180 has a first through-hole 180A radially disposed therein. The push-pull member 160 has a second through-hole 1614 corresponding to the first through-hole 180A. The outer sleeve 190 has a third through-hole 190A corresponding to the first through-hole 180A. The pin 192 extends through the first through-hole 180A, the second through-hole 1614, and the third through-hole 190A. The second through-hole 1614 is a waist-shaped hole extending axially along the push-pull member 160.

[0188] The waveguide rod 180 is a component in the medical device box 100 that transmits high-frequency mechanical energy.

[0189] In the embodiment where the push-pull member 160 includes an inner sleeve 161B, the waveguide rod 180 is disposed within the inner sleeve 161B. For example, the axial direction of the waveguide rod 180 may be the same as the axial direction of the inner sleeve 161B, that is, the extension direction of the push-pull member 160 is the same as the extension direction of the waveguide rod 180.

[0190] In some embodiments, the waveguide rod 180 may be connected to a transducer. Figure 12 and Figure 13 The end of the waveguide rod 180 located outside the push-pull member 160 is configured as the second cutting head 142.

[0191] As can be understood, high-frequency alternating current is transmitted to the transducer via a wire. The piezoelectric crystal within the transducer oscillates at the same frequency under the influence of the high-frequency alternating current, thereby converting the high-frequency alternating current into high-frequency mechanical energy. This mechanical energy is transmitted to the second cutting head 142 via the waveguide rod 180, causing the second cutting head 142 to oscillate at an ultrasonic frequency. The high-power ultrasonic waves instantly vaporize the water in the tissue cells that come into contact with the second cutting head 142, breaking protein hydrogen bonds and causing cell disintegration, thereby incising the tissue. The frictional heat generated by the mechanical vibration simultaneously coagulates and stops bleeding.

[0192] Reference Figure 12 and Figure 13 The first cutting head 141 can rotate relative to the second cutting head 142 to close and open the execution end 140.

[0193] By passing a waveguide rod 180 through the push-pull member 160, the waveguide rod 180 is used to connect the transducer; in this way, the mechanical energy generated by the transducer can be transmitted to the second blade 142 through the waveguide rod 180, and when the push-pull member 160 moves and the execution end 140 switches from an open state to a closed state, it is convenient to clamp and cut the tissue.

[0194] Specifically, the first cutting head 141 and the second cutting head 142 form a clamp or a clamp structure. When the push-pull member 160 is driven by the lever 170 to move axially, the push-pull member 160 can move axially relative to the waveguide rod 180, driving the first cutting head 141 to rotate relative to the second cutting head 142, thereby switching the actuator end 140 between closed and open positions.

[0195] The push-pull member 160 moves axially to drive the first cutting head 141 to rotate relative to the second cutting head 142 to open or close the execution end 140. The structure is simple and easy to implement.

[0196] The outer sleeve 190 is a tubular component in the medical device box 100 that is driven by the first rotation input shaft 110 and the second rotation input shaft 120 to drive the push-pull member 160 and the waveguide rod 180 to move. For example, the axial direction of the outer sleeve 190 can be the same as the axial direction of the inner sleeve 161B, that is, the extension direction of the push-pull member 160 is the same as the extension direction of the outer sleeve 190.

[0197] By arranging an outer sleeve 190 on the outer periphery of the push-pull member 160, when the push-pull member 160 controls the first cutting head 141 of the execution end 140, the outer sleeve 190 can isolate the push-pull member 160 from the patient's body tissue, thereby protecting the patient when the push-pull member 160 moves along the axial direction of the push-pull member 160.

[0198] In some embodiments, reference Figure 12 and Figure 13 , part of the first cutting head 141 is rotatably arranged on the end of the outer sleeve 190 close to the second cutting head 142, and the other part of the first cutting head 141 is rotatably arranged on the end of the push-pull member 160 close to the second cutting head 142, and the rotating connection between the first cutting head 141 and the outer sleeve 190 and the rotating connection between the first cutting head 141 and the push-pull member 160 are located on both sides of the waveguide rod 180 along the radial direction of the waveguide rod 180, so that when the push-pull member 160 moves axially under the drive of the lever 170, the push-pull member 160 can move axially relative to the outer sleeve 190, and the push-pull member 160 drives the first cutting head 141 to rotate relative to the second cutting head 142.

[0199] In the embodiment where the push-pull member body 161 includes an inner sleeve 161B and a claw 161A, Figure 14The outer sleeve 190 can be sleeved on the outer periphery of the joint between the inner sleeve 161B and the claw 161A, and can reduce the risk of the claw portion 1612 of the claw 161A slipping out of the clamping hole 1613 by limiting the size of the gap between the inner wall of the outer sleeve 190 and the inner sleeve 161B.

[0200] In some embodiments, a through hole corresponding to the outer sleeve 190 may be opened on the base 150, and the through hole corresponding to the outer sleeve 190 and the outer sleeve 190 are rotatably connected via a bearing.

[0201] The waveguide rod 180 is provided with a first through-hole 180A along its radial direction. The push-pull member 160 has a second through-hole 1614 corresponding to the first through-hole 180A. The outer sleeve 190 has a third through-hole 190A corresponding to the first through-hole 180A. The pin 192 extends through the first through-hole 180A, the second through-hole 1614, and the third through-hole 190A. In other words, the pin 192 sequentially passes through the third through-hole 190A in the outer sleeve 190, the second through-hole 1614 in the push-pull member 160, and the first through-hole 180A in the waveguide rod 180, thereby preliminarily securing the waveguide rod 180 and the push-pull member 160 relative to the outer sleeve 190. This prevents the waveguide rod 180 from falling during installation and use.

[0202] In some embodiments, the pin 192 and the first through-hole 180A of the waveguide rod 180 may have a clearance fit. It should be understood that the clearance fit between the pin 192 and the first through-hole 180A means that the pin 192 and the first through-hole 180A have a non-interference fit or a tight fit. Thus, a certain clearance exists between the pin 192 and the first through-hole 180A.

[0203] Specifically, when the transducer transmits high-frequency vibrations through the waveguide rod 180 , there is no interference between the vibration of the waveguide rod 180 and the pin 192 , thereby improving the safety of minimally invasive surgery.

[0204] The second through hole 1614 is a waist-shaped hole extending along the axial direction of the push-pull member 160. On the one hand, it can limit the position of the waveguide rod 180; on the other hand, when the execution end 140 is controlled by the push-pull member 160, the design of the waist-shaped hole can facilitate the movement of the push-pull member 160; on the third hand, when the push-pull member 160 moves axially, the outer sleeve 190 can play a role of circumferential limitation and guidance on the movement of the push-pull member 160 through the pin 192, which can improve the accuracy of controlling the execution end 140 and reduce surgical trauma.

[0205] In some embodiments, the axial length of the second through hole 1614 along the push-pull member 160 can be designed according to the rotation angle of the first cutting head 141 relative to the second cutting head 142. For example, the length of the second through hole 1614 can be greater than or equal to the axial displacement distance of the push-pull member 160 when the execution end 140 switches from a closed state to a maximum open angle state.

[0206] Specifically, when the length of the second through hole 1614 is equal to the distance of axial displacement of the push-pull member 160 when the executing end 140 switches from the closed state to the maximum open angle state, when the executing end 140 is closed or opened, the pin 192 abuts against one of the hole walls at both ends of the second through hole 1614 in the axial direction of the push-pull member 160 to limit the axial movement of the push-pull member 160, thereby limiting the lever 170 from driving the push-pull member 160 to move, thereby further increasing the abutment force between the lever 170 and the push-pull member 160, thereby further increasing the static friction force between the lever 170 and the push-pull member 160, thereby limiting the push-pull member 160 and the outer sleeve 190 from rotating with the first rotation input shaft 110 that has not completed power engagement with the first drive motor 310, thereby facilitating the first drive motor 310 to drive the first transmission disk 210 to rotate relative to the first rotation input shaft 110, thereby facilitating the first drive motor 310 to complete power engagement with the first rotation input shaft 110.

[0207] In this embodiment, by passing the pin 192 through the first through hole 180A, the second through hole 1614 and the third through hole 190A, when the outer sleeve 190 rotates, the first cutting head 141 and the second cutting head 142 of the executing end 140 can be driven to rotate, thereby facilitating the first rotation input shaft 110 and the second rotation input shaft 120 to drive the executing end 140 to rotate by driving the outer sleeve 190 to rotate.

[0208] In some embodiments, reference Figure 14 and Figure 16 , and refer to Figure 17 , Figure 16 This is a schematic diagram of the structure of the medical machine box provided in some embodiments of the present application after the lever 170 and the transmission wheel are removed. Figure 17 This is a schematic diagram of the structure of a medical device cassette provided in some embodiments of the present application. The medical device cassette 100 further includes a first rotation input gear 111, a second rotation input gear 121, and a rotation output gear 191. The first rotation input gear 111 is fixed to the first rotation input shaft 110, and the second rotation input gear 121 is fixed to the second rotation input shaft 120. The rotation output gear 191 is fixed to the outer sleeve 190, and the first rotation input gear 111 and the second rotation input gear 121 respectively mesh with the rotation output gear 191.

[0209] The first rotation input gear 111 is a gear fixed to the outside of the first rotation input shaft 110 ; the second rotation input gear 121 is a gear fixed to the outside of the second rotation input shaft 120 ; and the rotation output gear 191 is a gear fixed to the outside of the outer sleeve 190 .

[0210] In some embodiments, the first rotary input gear 111 can be a gear formed on the outer peripheral wall of the first rotary input shaft 110 by milling machining, or it can be a gear integrally formed outside the first rotary input shaft 110; the second rotary input gear 121 can be a gear formed on the outer peripheral wall of the second rotary input shaft 120 by milling machining, or it can be a gear integrally formed outside the second rotary input shaft 120; the rotary output gear 191 can be a gear formed on the outer peripheral wall of the outer sleeve 190 by milling machining, or it can be a gear integrally formed outside the outer sleeve 190.

[0211] In other embodiments, the first rotation input gear 111 can be fixed to the first rotation input shaft 110 by means of connecting components such as screws, bolts or screws, so that when the first rotation input shaft 110 rotates, the first rotation input gear 111 is driven to rotate; the second rotation input gear 121 can be fixed to the second rotation input shaft 120 by means of connecting components such as screws, bolts or screws, so that when the second rotation input shaft 120 rotates, the second rotation input gear 121 is driven to rotate; the rotation output gear 191 can be fixed to the outer sleeve 190 by means of connecting components such as screws, bolts or screws, so that when the rotation output gear 191 rotates, the outer sleeve 190 is driven to rotate.

[0212] In the embodiment where the base 150 includes a base body 151 and a bracket, refer to Figure 17 Along the thickness direction of the base body 151 , the first rotation input gear 111 , the second rotation input gear 121 and the rotation output gear 191 are located between the base body 151 and the bracket, and the lever 170 is located on the side of the bracket away from the base body 151 .

[0213] In some embodiments, the first rotation input gear 111 and the second rotation input gear 121 are spaced apart around the circumference of the rotation output gear 191, and the first rotation input shaft 110 and the second rotation input shaft 120 respectively drive the first rotation input gear 111 and the second rotation input gear 121 to rotate in different rotation directions. In other words, when the first rotation input gear 111 rotates and the second rotation input gear 121 rotates, they respectively drive the rotation output gear 191 to rotate in different directions.

[0214] It can be understood that when driving the rotation output gear 191 to rotate, one of the first rotation input gear 111 and the second rotation input gear serves as a driving gear that drives the rotation output gear 191 to rotate, and the other serves as a driven gear that is driven to rotate by the rotation output gear 191 .

[0215] Exemplarily, the first rotary input gear 111 is used to rotate clockwise to drive the rotary output gear 191 to rotate counterclockwise, thereby driving the second rotary input gear 121 to rotate clockwise; the second rotary input gear 121 is used to rotate counterclockwise to drive the rotary output gear 191 to rotate clockwise, thereby driving the first rotary input gear 111 to rotate counterclockwise, thereby eliminating the clearance error of the gear transmission and improving the rotation accuracy of the execution end 140.

[0216] In other embodiments, the first rotational input gear 111 and the second rotational input gear 121 are spaced apart around the circumference of the rotational output gear 191, and the first rotational input shaft 110 and the second rotational input shaft 120 respectively drive the first rotational input gear 111 and the second rotational input gear 121 to rotate in the same rotational direction. In other words, the first rotational input gear 111 and the second rotational input gear 121 rotate simultaneously to drive the rotational output gear 191. This provides a greater rotational meshing force to the rotational output gear 191 than when a single rotational input gear drives the rotational output gear 191.

[0217] Specifically, after the third drive motor 330 and the third opening and closing input shaft 130 are power-engaged, the third drive motor 330 drives the third opening and closing input shaft 130 to continue rotating until the actuator 140 is closed and the third transmission disk 230 cannot rotate, so that the third opening and closing input shaft 130 applies a large force to the outer sleeve 190 to restrict the rotation of the outer sleeve 190. Furthermore, when the first rotation input shaft 110 tends to drive the first rotation input gear 111 to rotate, the outer sleeve 190 prevents the rotation output gear 191 from rotating, thereby preventing the first rotation input gear 111 meshed with the rotation output gear 191 from rotating. This causes the first transmission disk 210 to rotate relative to the first rotation input shaft 110, thereby engaging the first sub-clamping portion 210A of the first transmission disk 210 with the first female clamping portion 110A of the first rotation input shaft 110, thereby completing power engagement between the first drive motor 310 and the first rotation input shaft 110.

[0218] Reference Figure 18 , Figure 18A flow chart of a method for power connection between a medical device box and a power box provided for some embodiments of the present application. Some embodiments of the present application also provide a method for power connection between a medical device box 100 and a power box 300, wherein the medical device box 100 includes a first rotation input shaft 110, a second rotation input shaft 120, and a third opening and closing input shaft 130, wherein the first rotation input shaft 110 and the second rotation input shaft 120 are used to drive the execution end 140 to rotate, and the third opening and closing input shaft 130 is used to drive the execution end 140 to open or close; the power box 300 includes a first drive motor 310, a second drive motor 320, and a third drive motor 330; the above two are detachably connected via a sterile isolation plate 200, and the sterile isolation plate 200 includes a first transmission disc 210, a second transmission disc 220, and a third transmission disc 230. The power connection method includes:

[0219] Step S100 : the third driving motor 330 drives the third transmission disc 230 to rotate in a direction to close the execution end 140 , so that the third transmission disc 230 is engaged with the third opening and closing input shaft 130 .

[0220] Step S200 : the third driving motor 330 continues to drive the third transmission disc 230 and the third opening and closing input shaft 130 to rotate in the direction of closing the execution end 140 until the execution end 140 is closed and the third transmission disc 230 cannot rotate.

[0221] Step S300 : the first driving motor 310 drives the first transmission plate 210 to rotate until the first transmission plate 210 is engaged with the first rotation input shaft 110 .

[0222] In this embodiment, the third driving motor 330 rotates so that the third transmission plate 230 tends to drive the third opening and closing input shaft 130 to rotate through friction.

[0223] Among them, in step S100, when the friction force between the third transmission disc 230 and the third opening and closing input shaft 130 is not enough to make the third opening and closing input shaft 130 rotate to drive the execution end 140 to close, the third transmission disc 230 rotates relative to the third opening and closing input shaft 130, so that the third sub-clamping portion 230A and the third female clamping portion 130A are clamped; when the friction force between the third transmission disc 230 and the third opening and closing input shaft 130 is sufficient to make the third opening and closing input shaft 130 rotate to drive the execution end 140 to close, after the execution end 140 is closed, the reaction force of the execution end 140 will hinder the continued rotation of the third opening and closing input shaft 130, thereby making the third transmission disc 230 rotate relative to the third opening and closing input shaft 130, so that the third sub-clamping portion 230A and the third female clamping portion 130A are clamped, thereby making the third drive motor 330 and the third opening and closing input shaft 130 complete power engagement.

[0224] In step S200 , the third drive motor 330 drives the third opening and closing input shaft 130 to continue rotating until the execution end 140 is closed and the third transmission disk 230 cannot rotate, so that the third opening and closing input shaft 130 provides a larger force to the execution end 140 to limit the rotation of the execution end 140 .

[0225] In step S300, the first drive motor 310 rotates, causing the first transmission disc 210 to rotate the first rotary input shaft 110 through friction. Due to the large reaction force exerted on the first rotary input shaft 110 by the actuator 140, the first transmission disc 210 rotates relative to the first rotary input shaft 110, causing the first sub-engaging portion 210A of the first transmission disc 210 to engage with the first female engaging portion 110A of the first rotary input shaft 110. This, in turn, allows the first drive motor 310 to achieve power engagement with the first rotary input shaft 110, and the controller issues a signal indicating engagement completion. Exemplarily, this signal may be a light and / or voice prompt.

[0226] Therefore, after the medical device box 100 is connected to the power box 300 through the sterile isolation plate 200, the controller (not shown in the figure) only needs to control the third drive motor 330 to rotate until the third transmission disk 230 is fully engaged with the third opening and closing input shaft 130, and drive the third opening and closing input shaft 130 to rotate together, until the execution end 140 is closed and the third transmission disk 230 cannot rotate, and then control the first drive motor 310 to drive the first transmission disk 210 to rotate until the first transmission disk 210 is fully engaged with the first rotation input shaft 110, thereby completing the power connection between the medical device box 100 and the power box 300.

[0227] According to some embodiments of the present application, the power engagement method further includes: after the execution end 140 is closed and the third transmission disk 230 cannot rotate, the second drive motor 320 drives the second transmission disk 220 to rotate until the second transmission disk 220 is fully engaged with the second rotation input shaft 120.

[0228] In this embodiment, after the third drive motor 330 and the third opening and closing input shaft 130 are power-engaged, the third drive motor 330 drives the third opening and closing input shaft 130 to continue rotating until the actuator end 140 is closed and the third transmission disk 230 cannot rotate. This causes the third opening and closing input shaft 130 to apply a large force to the actuator end 140, thereby restricting the rotation of the actuator end 140. Subsequently, the second drive motor 320 rotates, causing the second transmission disk 220 to rotate the second rotational input shaft 120 through friction. Due to the large reaction force from the actuator end 140, the second transmission disk 220 rotates relative to the second rotational input shaft 120, causing the second sub-clamping portion 220A of the second transmission disk 220 to engage with the second female clamping portion 120A of the second rotational input shaft 120, thereby achieving power engagement between the first drive motor 310 and the first rotational input shaft 110. Therefore, after the third drive motor 330 and the third opening and closing input shaft 130 complete the power engagement, the controller (not shown in the figure) only needs to control the third drive motor 330 to drive the third opening and closing input shaft 130 to continue to rotate until the execution end 140 is closed and the third transmission disk 230 cannot rotate, and then control the second drive motor 320 to drive the second transmission disk 220 to rotate until the second transmission disk 220 and the second rotation input shaft 120 are completely engaged, thereby completing the power engagement between the medical device box 100 and the power box 300.

[0229] According to some embodiments of the present application, the power engagement method further includes: determining whether the third transmission disc 230 and the third opening and closing input shaft 130 are fully engaged by monitoring the electrical characteristics of the third drive motor 330; and determining whether the first transmission disc 210 and the first rotation input shaft 110 are fully engaged by monitoring the changes in the electrical characteristics of the first drive motor 310.

[0230] By monitoring the changes in the electrical characteristics of the third drive motor 330, it is determined that the third transmission disc 230 and the third opening and closing input shaft 130 are fully engaged; by monitoring the changes in the electrical characteristics of the first drive motor 310, it is determined that the first transmission disc 210 and the first rotation input shaft 110 are fully engaged.

[0231] For example, the electrical characteristic may be a characteristic value such as current or voltage.

[0232] In this embodiment, the dynamic engagement between the third drive motor 330 and the third opening and closing input shaft 130 is determined by detecting changes in the electrical characteristics of the third drive motor 330 when the third drive motor 330 drives the third transmission disk 230 to rotate relative to the third opening and closing input shaft 130, and when the third drive motor 330 drives the third transmission disk 230 and the third opening and closing input shaft 130 to rotate in a direction that closes the actuator 140 until the actuator 140 is closed and the third transmission disk 230 cannot rotate. The dynamic engagement between the first drive motor 310 and the first rotational input shaft 110 is determined by detecting changes in the electrical characteristics of the first drive motor 310 when the first drive motor 310 drives the first transmission disk 210 to rotate relative to the first rotational input shaft 110, and when the first drive motor 310 drives the first transmission disk 210 and the first rotational input shaft 110 to rotate the actuator 140 against the reaction force provided by the actuator 140.

[0233] According to some embodiments of the present application, the power engagement method also includes: when the electrical characteristic of the third drive motor 330 is the current value of the third drive motor 330, and the current value of the third drive motor 330 is greater than or equal to its rated current, it is determined that the third transmission plate 230 and the third opening and closing input shaft 130 are completely engaged; when the electrical characteristic of the first drive motor 310 is the increase in the current value of the first drive motor 310, and the increase in the current value of the first drive motor is between 10%-30% of its rated current, it is determined that the first transmission plate and the first rotating input shaft are completely engaged.

[0234] Rated current refers to the current value required by the equipment under rated operating conditions. For a drive motor, the rated current refers to the current required for normal operation of the drive motor at rated voltage and rated frequency.

[0235] In this embodiment, since the third drive motor 330 is engaged with the third opening and closing input shaft 130 through the third transmission disk 230, and the third opening and closing input shaft 130 cannot rotate, the third drive motor 330 is in an over-rated load state. Therefore, the current value passing through the third drive motor 330 should be greater than the rated current value of the third drive motor 330. Therefore, it is possible to determine whether the current value of the third drive motor 330 is greater than the rated current value to determine whether the third drive motor 330 is engaged with the third opening and closing input shaft 130 through the third transmission disk 230. The load of the first drive motor 310 when the first drive motor 310 transmits rotational motion through friction between the first transmission plate 210 and the first rotation input shaft 110, or the load of the first drive motor 310 when the first drive motor 310 drives the first transmission plate 210 to rotate relative to the first rotation input shaft 110, is less than the load of the first drive motor 310 when the first drive motor 310 is dynamically engaged with the first rotation input shaft 110 through the first transmission plate 210. Therefore, the current value passing through the first drive motor 310 when the first drive motor 310 transmits rotational motion through friction between the first transmission plate 210 and the first rotation input shaft 110, or the current value passing through the first drive motor 310 when the first drive motor 310 drives the first transmission plate 210 to rotate relative to the first rotation input shaft 110, should be less than the current passing through the first drive motor 310 when the first drive motor 310 is dynamically engaged with the first rotation input shaft 110 through the first transmission plate 210. The connection between the first transmission plate 210 and the first rotation input shaft 110 is then determined by detecting the increase in the current of the first drive motor 310. The increase in the current of the first drive motor 310 is between 10% and 30% of the rated current of the first drive motor 310, which can be well monitored by the controller. At the same time, this increase in current is relatively small compared to the rated current of the first drive motor 310, thereby facilitating the first drive motor 310 to drive the actuator end to rotate when the third drive motor 330 drives the actuator end to close and open.

[0236] According to some embodiments of the present application, a surgical robot is provided. Figures 1-17 The surgical robot includes a medical instrument box 100, a power box 300, a sterile isolation plate 200 and a controller (not shown in the figure).

[0237] The medical device box 100 includes a first rotation input shaft 110, a second rotation input shaft 120, and a third opening and closing input shaft 130. The first rotation input shaft 110 and the second rotation input shaft 120 are used to drive the actuator end 140 to rotate, and the third opening and closing input shaft 130 is used to drive the actuator end 140 to open or close. The power box 300 includes a first drive motor 310, a second drive motor 320, and a third drive motor 330. The sterile isolation plate 200 includes a first transmission disc 210, a second transmission disc 220, and a third transmission disc 230. The sterile isolation plate 200 is disposed between the power box 300 and the medical device box 100.

[0238] The controller (not shown) is configured to control the third drive motor 330 to rotate the third transmission disc 230 in a direction that closes the actuator end 140, causing the third transmission disc 230 to engage with the third opening and closing input shaft 130 and driving the third opening and closing input shaft 130 to rotate together until the actuator end 140 is closed and the third transmission disc 230 cannot rotate. The controller then controls the first drive motor 310 to rotate the first transmission disc 210 until the first transmission disc 210 is engaged with the first rotation input shaft 110. Furthermore, the controller is configured to control the second drive motor 320 to rotate the second transmission disc 220 until the second transmission disc 220 is engaged with the second rotation input shaft 120 after the actuator end 140 is closed and the third transmission disc 230 cannot rotate.

[0239] The medical device box 100 also includes a base 150, a push-pull member 160, and a lever 170. The first rotation input shaft 110, the second rotation input shaft 120, and the third opening and closing input shaft 130 are rotatably disposed on the base 150. The push-pull member 160 is disposed through the base 150 and has a first end and a second end. The second end is configured to connect to the first cutting head 141 of the execution end 140. One end of the push-pull member 160 is provided with a first groove 160A, and the first groove 160A extends along the circumference of the push-pull member 160. The axial direction of the push-pull member 160 is parallel to the axial direction of the third opening and closing input shaft 130. The lever 170 is rotatably disposed on the base 150, with the fulcrum 170A of the lever 170 located between the third opening and closing input shaft 130 and the push-pull member 160. One end of lever 170 is in driving connection with third opening / closing input shaft 130. The other end of lever 170 has a second protrusion 176, which is located within first groove 160A. Rotation of third opening / closing input shaft 130 drives lever 170 to rotate about fulcrum 170A, thereby driving axial movement of push-pull member 160.

[0240] The push-pull member 160 includes a push-pull member body 161, a snap ring 162, a spring seat 163 and a first spring 164. The snap ring 162 is sleeved on the push-pull member body 161 and is threadedly connected to the push-pull member body 161. The spring seat 163 is sleeved on the snap ring 162. A first groove 160A is formed between the spring seat 163 and the snap ring 162. The first spring 164 is supported between the spring seat 163 and the push-pull member body 161.

[0241] The push-pull member body 161 includes a claw 161A and an inner sleeve 161B. The clamping ring 162 is sleeved on the outside of the claw 161A. The inner sleeve 161B is provided with a clamping hole 1613 corresponding to the claw 161A on the circumference. Part of the claw 161A is clamped with the clamping hole 1613.

[0242] Lever 170 includes a third arm 173 and a fourth arm 174. Third arm 173 and fourth arm 174 are spaced apart along a first direction X, which is parallel to the rotation axis of lever 170. At least a portion of push-pull member 160 is located between third arm 173 and fourth arm 174. Second protrusion 176 includes a third sub-protrusion 176A provided on third arm 173 and a fourth sub-protrusion 176B provided on fourth arm 174.

[0243] The medical device box 100 also includes a driving wheel 131, which is fixed to the third opening and closing input shaft 130. The outer peripheral surface of the driving wheel 131 is provided with a spiral groove 131A. The end of the lever 170 away from the push-pull member 160 has a first protrusion 175, and the first protrusion 175 is slidably engaged with the spiral groove 131A.

[0244] Lever 170 includes a first arm 171 and a second arm 172, which are spaced apart along a first direction X, parallel to the rotation axis of lever 170. At least a portion of drive wheel 131 is positioned between first arm 171 and second arm 172. First protrusion 175 includes a first sub-protrusion 175A provided on first arm 171 and a second sub-protrusion 175B provided on second arm 172. Spiral groove 131A includes a first spiral groove 1310 and a second spiral groove (not shown). First sub-protrusion 175A slidably engages with first spiral groove 1310, while second sub-protrusion 175B slidably engages with second spiral groove (not shown).

[0245] The medical device box 100 also includes a waveguide rod 180, which is inserted into the push-pull member 160. The end of the waveguide rod 180 located on the side of the base 150 away from the lever 170 is configured as the second cutting head 142 of the execution end 140. The push-pull member 160 moves axially to drive the first cutting head 141 to open or close relative to the second cutting head 142.

[0246] The medical device case 100 also includes an outer sleeve 190 and a pin 192. The outer sleeve 190 is sleeved over the push-pull member 160. The first rotation input shaft 110 and the second rotation input shaft 120 are used to drive the outer sleeve 190 to rotate. The waveguide rod 180 is provided with a first through hole 180A along its radial direction. The push-pull member 160 has a second through hole 1614 corresponding to the first through hole 180A. The outer sleeve 190 has a third through hole 190A corresponding to the first through hole 180A. The pin 192 is inserted into the first through hole 180A, the second through hole 1614, and the third through hole 190A. The second through hole 1614 is a waist-shaped hole extending axially along the push-pull member 160.

[0247] The medical device box 100 further includes a first rotation input gear 111, a second rotation input gear 121, and a rotation output gear 191. The first rotation input gear 111 is fixed to the first rotation input shaft 110, and the second rotation input gear 121 is fixed to the second rotation input shaft 120. The rotation output gear 191 is fixed to the outer sleeve 190, and the first rotation input gear 111 and the second rotation input gear 121 are respectively engaged with the rotation output gear 191.

[0248] It should be noted that, unless there is any conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0249] The above embodiments are intended only to illustrate the technical solutions of this application and are not intended to limit this application. Those skilled in the art will appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this application are intended to be within the scope of protection of this application.

Claims

1. A surgical robot, characterized in that: include: The medical device box includes a first rotation input shaft and a third opening and closing input shaft, wherein the first rotation input shaft is used to drive the execution end to rotate, and the third opening and closing input shaft is used to drive the execution end to open or close; A power box, comprising a first drive motor and a third drive motor; A sterile isolation plate, comprising a first transmission disc and a third transmission disc, wherein the sterile isolation plate is disposed between the power box and the medical device box; The controller is configured to control the third drive motor to drive the third transmission disk to rotate in the direction of closing the execution end, so that the third transmission disk is engaged with the third opening and closing input shaft, and drives the third opening and closing input shaft to rotate together until the execution end is closed and the third transmission disk cannot rotate, and then control the first drive motor to drive the first transmission disk to rotate until the first transmission disk is engaged with the first rotation input shaft.

2. The surgical robot according to claim 1, wherein: The medical device box further includes a second rotation input shaft, wherein the first rotation input shaft and the second rotation input shaft are used to drive the execution end to rotate; The power box also includes a second drive motor; The sterile isolation plate also includes a second transmission disc; The controller is configured to control the second drive motor to drive the second transmission disk to rotate after the execution end is closed and the third transmission disk cannot rotate, until the second transmission disk is fully engaged with the second rotation input shaft.

3. The surgical robot according to claim 2, wherein: The medical device box also includes: a base, wherein the first rotation input shaft, the second rotation input shaft, and the third opening and closing input shaft are rotatably disposed on the base; a push-pull member, the push-pull member being passed through the base and having a first end and a second end, the second end being configured to be connected to the first cutting head of the execution end, the first end of the push-pull member being provided with a first groove, the first groove extending along the circumference of the push-pull member, the axial direction of the push-pull member being parallel to the axial direction of the third opening and closing input shaft; a lever rotatably disposed on the base, the fulcrum of the lever being located between the third opening and closing input shaft and the push-pull member, one end of the lever being drivingly connected to the third opening and closing input shaft, the other end of the lever having a second protrusion located in the first groove; The rotation of the third opening and closing input shaft can drive the lever to rotate around the fulcrum, thereby driving the push-pull member to move axially.

4. The surgical robot according to claim 3, wherein: The push-pull member includes a push-pull member body, a snap ring, a spring seat and a first spring. The snap ring is sleeved on the push-pull member body and threadedly connected to the push-pull member body. The spring seat is sleeved on the snap ring. The first groove is formed between the spring seat and the snap ring. The first spring is supported between the spring seat and the push-pull member body.

5. The surgical robot according to claim 4, wherein: The push-pull member body includes a clamping claw and an inner sleeve. The clamping ring is sleeved on the outside of the clamping claw. A clamping hole corresponding to the clamping claw is opened on the circumference of the inner sleeve. Part of the clamping claw is clamped with the clamping hole.

6. The surgical robot according to claim 3, wherein: The medical device box also includes a driving wheel fixed to the third opening and closing input shaft, the outer peripheral surface of the driving wheel is provided with a spiral groove, the end of the lever away from the push-pull member has a first protrusion, and the first protrusion is slidably engaged with the spiral groove.

7. The surgical robot according to claim 6, wherein: The medical device box also includes a pressing piece and a second spring, which are sleeved outside the third opening and closing input shaft and along the rotation axis of the driving wheel. The second spring is supported on the driving wheel and abuts against the pressing piece. The second spring is used to provide elastic force to press the driving wheel against the base.

8. The surgical robot according to claim 6, wherein: The lever comprises a first arm and a second arm, wherein the first arm and the second arm are spaced apart along a first direction, and the first direction is parallel to the rotation axis of the lever; At least a portion of the driving wheel is located between the first support arm and the second support arm, and the first protrusion includes a first sub-protrusion provided on the first support arm and a second sub-protrusion provided on the second support arm; The spiral groove includes a first spiral groove and a second spiral groove, the first sub-protrusion is in sliding engagement with the first spiral groove, and the second sub-protrusion is in sliding engagement with the second spiral groove.

9. The surgical robot according to claim 3, wherein: The medical device box also includes a waveguide rod, which is inserted into the push-pull member. The end of the waveguide rod located outside the side of the base away from the lever is configured as the second cutting head of the execution end. The push-pull member moves axially to drive the first cutting head to open or close relative to the second cutting head.

10. The surgical robot according to claim 9, wherein: The medical device box also includes: an outer sleeve, the outer sleeve being sleeved outside the push-pull member, the first rotation input shaft and the second rotation input shaft being used to drive the outer sleeve to rotate; The waveguide rod is provided with a first through hole along its radial direction, the push-pull member has a second through hole corresponding to the first through hole, the outer sleeve has a third through hole corresponding to the first through hole, and the pin is inserted into the first through hole, the second through hole, and the third through hole. Wherein, the second through hole is a waist-shaped hole extending along the axial direction of the push-pull member.

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