Surgical instrument and surgical robot

Abstract

The utility model discloses a surgical instrument and a surgical robot, and relates to the technical field of medical instruments. According to the technical scheme, the device is characterized by comprising a driving mechanism, a surgical tool clamping mechanism and a transmission mechanism arranged between the driving mechanism and the surgical tool clamping mechanism; the transmission mechanism and the driving mechanism are detachably connected through a quick locking assembly. The driving mechanism comprises a driving shaft sleeve; the transmission mechanism comprises a transmission sleeve; the driving shaft sleeve is embedded into the transmission sleeve, and the driving shaft sleeve and the transmission sleeve are linked in the circumferential direction; the rapid locking assembly is arranged between the driving shaft sleeve and the transmission sleeve and achieves axial limiting. The transmission connection between the driving mechanism and the transmission mechanism is realized by adopting the driving shaft sleeve and the transmission sleeve, so that the quick locking component can be arranged between the driving shaft sleeve and the transmission sleeve, and the quick disassembly and assembly of the transmission mechanism are further realized.

Description

Technical Field

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

[0002] In orthopedic surgical robots, especially spinal surgical robots, internal fixation surgery involving pedicle screw placement is often involved.

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

[0004] However, rotating the screws to connect or disassemble the housing and the mounting bracket during surgery is inconvenient and time-consuming.

[0005] Although a quick locker can be used instead of screws to achieve quick assembly and disassembly, there is no extra installation position in the instrument assembly of the above patent to set the quick locker. Utility Model Content

[0006] In view of the shortcomings of the existing technology, one of the purposes of the present invention is to provide a surgical instrument, which adopts a drive sleeve and a transmission sleeve to realize the transmission connection between the drive mechanism and the transmission mechanism, so that a quick locking assembly can be set between the drive sleeve and the transmission sleeve, thereby realizing the rapid disassembly and assembly of the transmission mechanism.

[0007] To achieve the above objectives, the present invention provides the following technical solutions:

[0008] A surgical instrument comprises a driving mechanism, a surgical tool clamping mechanism, and a transmission mechanism disposed between the driving mechanism and the surgical tool clamping mechanism; the transmission mechanism and the driving mechanism are detachably connected via a quick locking assembly;

[0009] The driving mechanism includes a driving sleeve, and the transmission mechanism includes a transmission sleeve; the driving sleeve is embedded in the transmission sleeve, and the two are linked in the circumferential direction;

[0010] The quick locking assembly is arranged between the drive sleeve and the transmission sleeve to achieve axial limitation.

[0011] Furthermore, the quick locking assembly includes a locking head extending into the transmission sleeve, and a locking seat embedded in the drive sleeve and cooperating with the locking head.

[0012] Furthermore, the driving mechanism also includes a driving motor and an adapter assembly; the adapter assembly includes an adapter shell, and an adapter sleeve rotatably arranged in the adapter shell; one end of the adapter sleeve is connected to the motor shaft of the driving motor, and the other end is connected to the driving sleeve.

[0013] Furthermore, the transmission mechanism further includes a first transmission assembly connected to the driving mechanism, and a second transmission assembly connected to the surgical tool clamping mechanism;

[0014] The first transmission assembly includes a first transmission housing, the transmission sleeve is rotatably disposed in the first transmission housing, and a driving gear is disposed on the outer side wall of the transmission sleeve;

[0015] The second transmission assembly includes a second transmission housing and a first hollow tube rotatably disposed in the second transmission housing, wherein an outer wall of the first hollow tube is provided with a driven gear that cooperates with the driving gear;

[0016] The first transmission housing is provided with a first opening for the driving gear to extend out, and the second transmission housing is provided with a second opening for the driven gear to extend out;

[0017] The first transmission housing and the second transmission housing are detachably connected, so that the driving gear and the driven gear are in an engaged state and a disengaged state.

[0018] Furthermore, the second transmission assembly also includes a second hollow tube rotatably arranged in the second transmission housing, and the second hollow tube is coaxially arranged and fixedly connected to the first hollow tube; the second hollow tube extends out of the second transmission housing, and the surgical tool clamping mechanism is sleeved on the second hollow tube.

[0019] Furthermore, a limiting component and / or a locking component is provided between the first transmission housing and the second transmission housing.

[0020] Furthermore, the limit assembly includes a limit frame extending from the outer side wall of the first transmission housing, and an opening that cooperates with the second transmission housing is formed between the limit frame and the first transmission housing; the inner side wall of the limit frame is provided with a limit plug plate, and the outer side wall of the second transmission housing is provided with a limit slot that cooperates with the limit plug plate.

[0021] Furthermore, the locking assembly includes a locking pin arranged in the second transmission housing, an elastic member arranged between the locking pin and the second transmission housing, and a shift plate connected to the locking pin, and the limiting frame is provided with a locking hole that cooperates with the locking pin; the elastic force of the elastic member makes the locking pin tend to be embedded in the locking hole.

[0022] Another object of the present invention is to provide a surgical robot comprising the above-mentioned surgical instrument.

[0023] In summary, the present invention has the following beneficial effects:

[0024] 1. The drive sleeve and transmission sleeve are used to realize the connection and torque transmission between the drive mechanism and the transmission mechanism, so that the drive sleeve and transmission sleeve can be used to install the quick locking assembly, realize the rapid disassembly and assembly of the transmission mechanism, and effectively control the radial size of the transmission mechanism;

[0025] 2. Install the surgical tool clamping mechanism onto the second transmission assembly, and then disassemble the second transmission assembly. This will help improve the position accuracy and stability of the surgical tool clamping mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic diagram of the structure of the surgical instrument in Example 1 Figure 1 ;

[0027] Figure 2 Schematic diagram of the structure of the surgical instrument in Example 1 Figure 2 ;

[0028] Figure 3 Schematic diagram of the structure of the adapter assembly, transmission mechanism and surgical tool clamping mechanism in Example 1;

[0029] Figure 4 Schematic diagram of the structure of the adapter assembly in Example 1;

[0030] Figure 5 The structure of the transmission mechanism in Example 1 is shown in FIG. Figure 1 ;

[0031] Figure 6 The structure of the transmission mechanism in Example 1 is shown in FIG. Figure 2 ;

[0032] Figure 7 Schematic diagram of the structure of the first transmission assembly in Example 1;

[0033] Figure 8 The structure of the second transmission assembly in Example 1 is shown as follows: Figure 1 ;

[0034] Figure 9The structure of the second transmission assembly in Example 1 is shown as follows: Figure 2 ;

[0035] Figure 10 The structure of the second transmission assembly in Example 1 is shown as follows: Figure 3 ;

[0036] In the figure: 1. linear drive mechanism; 2. drive motor; 3. adapter assembly; 31. adapter housing; 32. adapter sleeve; 33. drive sleeve; 4. Kirschner wire; 5. first transmission assembly; 51. first transmission housing; 511. limit frame; 512. limit plug plate; 513. locking hole; 52. transmission sleeve; 521. driving gear; 531. locking head; 532. locking seat; 6. second transmission assembly; 61. second transmission housing; 611. limit slot; 612. first accommodating chamber; 613. second accommodating chamber; 62. first hollow tube; 621. driven gear; 622. fixing ring; 63. second hollow tube; 631. fixing plate; 65. shift plate; 66. locking pin; 67. spring; 8. surgical tool clamping mechanism. DETAILED DESCRIPTION

[0037] The present invention will be described in further detail below with reference to the accompanying drawings.

[0038] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law. Example 1:

[0039] A surgical instrument, Figures 1 to 10 , which includes a driving mechanism, a surgical tool clamping mechanism 8 and a transmission mechanism arranged between the driving mechanism and the surgical tool clamping mechanism 8; specifically, the driving mechanism in this embodiment includes a driving motor 2, and an adapter component 3 arranged between the driving motor 2 and the transmission mechanism; the surgical tool clamping mechanism 8 in this embodiment is used to mount the Kirschner wire 4, then, specifically a drill chuck; the surgical instrument in this embodiment also includes a linear driving mechanism 1 for carrying the driving motor 2; that is, the driving motor 2 drives the Kirschner wire to rotate through the adapter component 3, the transmission mechanism and the surgical tool clamping mechanism 8, and the linear driving mechanism 1 drives the Kirschner wire to move along its length direction; of course, in other optional embodiments, the driving mechanism can also use a hand drill to provide rotational driving force, and the operator holds the hand drill to drive the Kirschner wire to move, which is not limited here.

[0040] Reference Figures 1 to 10Preferably, in this embodiment, the transmission mechanism and the drive mechanism are detachably connected by a quick locking assembly, so that the transmission mechanism can be quickly disassembled and assembled, saving time; specifically, in this embodiment, the transmission mechanism and the adapter assembly are detachably connected by a quick locking assembly; in this embodiment, the adapter assembly includes an adapter shell 31, an adapter sleeve 32 rotatably arranged in the adapter shell 31, and a drive sleeve 33 connected to the adapter sleeve 32; specifically, a bearing is provided between the adapter sleeve 32 and the adapter shell 31; a shaft hole is provided at the top of the adapter sleeve 32, and the motor shaft of the drive motor 2 is embedded in the shaft hole In the embodiment, the driving motor 2 can drive the adapter sleeve 32 to rotate; the bottom end of the adapter sleeve 32 is embedded in the top end of the driving sleeve 33, and a screw connected to the adapter sleeve 32 is passed through the driving sleeve 33, thereby realizing a fixed connection between the adapter sleeve 32 and the driving sleeve 33; the adapter sleeve 32 is arranged in the adapter shell 31, and the adapter shell 31 is connected to the casing of the driving motor 2, so in this embodiment, the driving sleeve 33 and the adapter sleeve 32 are treated as two independent parts, which can facilitate the processing and installation of the driving sleeve 33, and the driving sleeve 33 can be disassembled separately for inspection and replacement.

[0041] Reference Figures 1 to 10 The transmission mechanism includes a first transmission assembly 5 connected to the adapter assembly 3, and a second transmission assembly 6 connected to the surgical tool clamping mechanism 8; the first transmission assembly 5 includes a first transmission housing 51 and a transmission sleeve 52, and a bearing is provided between the transmission sleeve 52 and the first transmission housing 51; the drive sleeve 33 extends from the bottom end of the adapter housing 31 and is embedded in the top end of the transmission sleeve 52, and the drive sleeve 33 and the transmission sleeve 52 are linked in the circumferential direction; that is, the drive sleeve 33 is embedded in the transmission sleeve 52, so that the torque transmission between the adapter assembly 3 and the transmission mechanism can be realized; preferably, in this embodiment, the mating surface between the drive sleeve 33 and the transmission sleeve 52 is non The cylindrical surface is a cylindrical surface, and the outer wall of the drive sleeve 33 can transmit torque after contacting the inner wall of the transmission sleeve 52, thereby realizing circumferential linkage; specifically, the outer wall of the drive sleeve 33 is provided with three planes evenly distributed along the circumference, and the inner wall of the transmission sleeve 52 is provided with three planes evenly distributed along the circumference; of course, in other optional embodiments, in order to realize circumferential linkage, the mating surface between the drive sleeve 33 and the transmission sleeve 52 can also adopt other structures, which are not limited here; in this embodiment, the drive sleeve 33 and the transmission sleeve 52 can realize circumferential linkage after being axially sleeved, without the need for additional fasteners, which can simplify the structure, reduce the number of parts and facilitate disassembly and assembly.

[0042] Reference Figures 1 to 10The cam 531 is pressed against the locking cam 532 to release the locking cam 532, and the cam 532 is released, so that the cam 531 is released and the cam 532 is released.

[0043] Reference Figures 1 to 10 In this embodiment, the drive sleeve 33 and the transmission sleeve 52 are used to realize the connection between the drive mechanism and the transmission mechanism and the torque transmission, so that the drive sleeve 33 and the transmission sleeve 52 can be used to install the quick locking assembly, realize the rapid disassembly and assembly of the transmission mechanism, and effectively control the radial size of the transmission mechanism; in this embodiment, the drive sleeve 33 is embedded in the transmission sleeve 52, which is also convenient for realizing the connection between the locking head 531 and the locking seat 532, and controlling the length of the locking head 531 without lengthening; moreover, the quick locking assembly can be directly purchased from the market without customization, thereby reducing costs.

[0044] Reference Figures 1 to 10 In this embodiment, the first transmission assembly 5 and the second transmission assembly 6 are detachably connected. After the second transmission assembly 6 is disassembled, the surgical tool clamping mechanism 8 can be withdrawn to release the Kirschner wire 4. Specifically, the outer wall of the transmission sleeve 52 is integrally formed with a driving gear 521, and the first transmission housing 51 is provided with a first opening for the driving gear 521 to extend out; the second transmission assembly 6 includes a second transmission housing 61 and a first hollow tube 62 rotatably arranged in the second transmission housing 61, and the outer wall of the first hollow tube 62 is provided with a driving gear 521. The gear 521 cooperates with the driven gear 621; the second transmission housing 61 is provided with a second opening for the driven gear 621 to extend out; the first transmission housing 51 and the second transmission housing 61 are detachably connected, so that the driving gear 521 and the driven gear 621 include a meshing state and a separation state; that is, when the second transmission housing 61 is connected to the first transmission housing 51, the driven gear 621 is meshed with the driving gear 521, thereby being able to transmit torque; after the second transmission housing 61 is disassembled, the driven gear 621 is separated from the driving gear 521.

[0045] Reference Figures 1 to 10In this embodiment, the second transmission assembly also includes a second hollow tube 63 rotatably arranged in the second transmission housing 61, and the second hollow tube 63 is coaxially arranged and fixedly connected with the first hollow tube 62; the second hollow tube 63 extends out of the bottom end of the second transmission housing 61, and the surgical tool clamping mechanism 8 is sleeved on the second hollow tube 63; in this embodiment, the first hollow tube 62 and the second hollow tube 63 are two independent parts, and the two are fixedly connected by screws, and then the surgical tool clamping mechanism 8 is sleeved on the second hollow tube 63, which can simplify the processing difficulty; moreover, if the surgical tool clamping mechanism 8 needs to be replaced, only the second hollow tube 63 needs to be replaced, which can reduce costs.

[0046] Reference Figures 1 to 10 Specifically, a bearing is provided in the second transmission housing 61, and a fixing ring 622 that cooperates with the bearing is provided on the bottom wall of the driven gear 621, and an outer stop that cooperates with the inner ring of the bearing is provided at the bottom end of the fixing ring 622; the second hollow tube 63 is located below the first hollow tube 62, and a fixing plate 631 that cooperates with the bearing is provided at the top end of the second hollow tube 63, and an outer stop that cooperates with the inner ring of the bearing is provided at the top end of the fixing plate 631; that is, in this embodiment, one bearing is used in the second transmission housing 61 to simultaneously support the first hollow tube 62 and the second hollow tube 63, which can simplify the structure and reduce the number of parts.

[0047] Reference Figures 1 to 10 , a limit assembly and a locking assembly are respectively provided between the first transmission housing 51 and the second transmission housing 61, thereby improving the stability of the connection and facilitating disassembly; specifically, the limit assembly includes a limit frame 511 extending from the outer wall of the first transmission housing 51, and the limit frame 511 is L-shaped, so an opening that cooperates with the second transmission housing 61 is formed between the limit frame 511 and the first transmission housing 51, and the opening is also used to release the Kirschner wire; a limit plug 512 is provided on the inner side wall of the limit frame 511, and a limit plug 512 is provided on the outer side wall of the second transmission housing 61 Slot 611; the second transmission housing 61 is embedded in the limiting frame 511 from the opening, and the limiting plug plate 512 is embedded in the limiting slot 611; the limiting plug plate 512 cooperates with the limiting slot 611 to achieve limiting, thereby improving the stability of the connection between the second transmission housing 61 and the first transmission housing 51; the length direction of the limiting slot 611 is perpendicular to the axial direction of the driven gear 621, so during the movement of the second transmission housing 61, the driven gear 621 moves to contact and engage with the driving gear 521; of course, in other optional embodiments, the limiting component can also adopt other structures, which are not limited here.

[0048] Reference Figures 1 to 10In this embodiment, the locking assembly includes a locking pin 66 arranged in the second transmission housing 61, a spring 67 arranged between the locking pin 66 and the second transmission housing 61, and a dial plate 65 connected to the locking pin 66. A locking hole 513 cooperating with the locking pin 66 is provided on the limiting frame 511; the elastic force of the spring 67 makes the locking pin 66 tend to be embedded in the locking hole 513; specifically, a first accommodating cavity 612 cooperating with the dial plate 65 and a second accommodating cavity 613 cooperating with the locking pin 66 are respectively provided in the second transmission housing 61; the first accommodating cavity 612 is communicated with the second accommodating cavity 613, one end of the locking pin 66 extends into the first accommodating cavity 612 and is threadedly connected to the dial plate 65 The spring 67 is sleeved on the locking pin 66, one end of the spring 67 contacts the inner end surface of the second accommodating cavity 613, and the other end contacts the stepped end surface on the locking pin 66. The elastic force of the spring 67 makes the locking pin 66 tend to be embedded in the locking hole 513; the selector plate 65 extends out of the first accommodating cavity 612 and protrudes from the second transmission housing 61; when installing the second transmission housing 61, pressing the selector plate 65 causes the locking pin 66 to retract inward. After the second transmission housing 61 is installed in place, the selector plate 65 is released, and the locking pin 66 is embedded in the locking hole 513 under the elastic force of the spring 67, thereby achieving locking between the second transmission housing 61 and the first transmission housing 51, preventing the second transmission housing 61 from detaching.

[0049] Reference Figures 1 to 10 The locking assembly in this embodiment has the advantages of simple structure and convenient operation; of course, in other optional embodiments, the locking assembly can also adopt other structures, which is not limited here; in this embodiment, the surgical tool clamping mechanism 8 is installed on the second transmission assembly 6, and then the second transmission assembly 6 is disassembled, which is conducive to improving the position accuracy and stability of the surgical tool clamping mechanism 8. Example 2:

[0050] A surgical robot, referring to Figures 1 to 10 , which includes the surgical instrument in Example 1; specifically, the surgical robot also includes a robotic arm (not shown in the drawings) connected to the linear drive mechanism 1.

Claims

1. A surgical instrument, characterized in that: It includes a driving mechanism, a surgical tool clamping mechanism, and a transmission mechanism arranged between the driving mechanism and the surgical tool clamping mechanism; the transmission mechanism and the driving mechanism are detachably connected via a quick locking assembly; The driving mechanism includes a driving sleeve, and the transmission mechanism includes a transmission sleeve; the driving sleeve is embedded in the transmission sleeve, and the two are linked in the circumferential direction; The quick locking assembly is arranged between the drive sleeve and the transmission sleeve and realizes axial limitation; The quick locking assembly includes a locking head extending into the transmission sleeve, and a locking seat embedded in the drive sleeve and cooperating with the locking head; The transmission mechanism further includes a first transmission assembly connected to the driving mechanism, and a second transmission assembly connected to the surgical tool clamping mechanism; The first transmission assembly includes a first transmission housing, the transmission sleeve is rotatably disposed in the first transmission housing, and a driving gear is disposed on the outer side wall of the transmission sleeve; The second transmission assembly includes a second transmission housing and a first hollow tube rotatably disposed in the second transmission housing, wherein an outer wall of the first hollow tube is provided with a driven gear that cooperates with the driving gear; The first transmission housing is provided with a first opening for the driving gear to extend out, and the second transmission housing is provided with a second opening for the driven gear to extend out; The first transmission housing and the second transmission housing are detachably connected, so that the driving gear and the driven gear are in an engaged state and a disengaged state.

2. The surgical instrument according to claim 1, wherein: The driving mechanism further includes a driving motor and an adapter assembly; the adapter assembly includes an adapter housing and an adapter sleeve rotatably disposed in the adapter housing; One end of the adapter sleeve is connected to the motor shaft of the drive motor, and the other end is connected to the drive sleeve.

3. The surgical instrument according to claim 1, wherein: The second transmission assembly also includes a second hollow tube rotatably disposed in the second transmission housing, the second hollow tube is coaxially arranged with the first hollow tube and fixedly connected; the second hollow tube extends out of the second transmission housing, and the surgical tool clamping mechanism is sleeved on the second hollow tube.

4. The surgical instrument according to claim 1, wherein: A limiting component and / or a locking component is provided between the first transmission housing and the second transmission housing.

5. The surgical instrument according to claim 4, characterized in that: The limiting assembly includes a limiting frame extending from the outer side wall of the first transmission housing, and an opening that cooperates with the second transmission housing is formed between the limiting frame and the first transmission housing; the inner side wall of the limiting frame is provided with a limiting plug plate, and the outer side wall of the second transmission housing is provided with a limiting slot that cooperates with the limiting plug plate.

6. The surgical instrument according to claim 5, characterized in that: The locking assembly includes a locking pin arranged in the second transmission housing, an elastic member arranged between the locking pin and the second transmission housing, and a shift plate connected to the locking pin. The limit frame is provided with a locking hole that cooperates with the locking pin; the elastic force of the elastic member makes the locking pin tend to be embedded in the locking hole.

7. A surgical robot, characterized in that: A surgical instrument comprising any one of claims 1-6.

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