Instrument assembly and surgical robot

Abstract

The utility model provides an instrument assembly and a surgical robot, and relates to the technical field of medical equipment. The instrument assembly comprises an instrument box, an instrument rod, a first traction assembly and a clamping assembly. The first end and the second end of a first traction rope in the first traction assembly are connected with the first winding wheel, the first traction rope is wound around the first winding wheel so that the first winding wheel can drive the first instrument wheel to rotate through the first traction rope when rotating, and the clamping assembly is connected with the first instrument wheel so that the clamping assembly can rotate along with the first instrument wheel. Therefore, the surgical operation is performed. When the first traction rope is in a loose state, the tensile force borne by the elastic structural part in the first traction rope is reduced, so that the elastic structural part in the first traction rope can be shrunk under the action of the elastic restoring force of the elastic structural part, and the length of the elastic structural part in the first traction rope is reduced; therefore, the overall length of the first pulling rope can be reduced, and finally the first pulling rope can be kept in a tightened state and has pre-tightening force.

Description

Technical Field

[0001] The present application relates to an instrument assembly and a surgical robot, belonging to the technical field of medical equipment. Background Art

[0002] Minimally invasive surgery refers to a surgical procedure performed within the human body using modern medical devices such as laparoscopes and thoracoscopes, as well as related equipment. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery. The instrument housing in a surgical robot is connected to the instrument actuator via an instrument rod. The housing contains a reel and a traction rope, which is connected to the reel and ultimately to the instrument actuator. The rotation of the reel drives the traction rope, which retracts and extends around the reel. This traction rope transmits driving force to the instrument actuator, enabling the instrument actuator to move in pitch, yaw, and gripping degrees of freedom. To achieve flexible and precise control, the traction rope must be tensioned, so a preload is applied during assembly of the housing. However, over time, the traction rope will continue to relax due to stress relaxation and creep, and the preload will decrease, making it impossible to precisely control the instrument actuator.

[0003] At present, in order to solve the problem of loose traction rope of the instrument box, it is generally necessary to disassemble the instrument box and replace the traction rope or reassemble it to make the pre-tightening force meet the use requirements. This method is relatively complicated, greatly reduces work efficiency, and increases manpower and material costs. Utility Model Content

[0004] The present application provides an instrument assembly and a surgical robot, which solve the problem in the related art that it is inconvenient to re-tighten the traction rope of the instrument assembly after it becomes loose.

[0005] In a first aspect, the present application provides an apparatus assembly, comprising:

[0006] An instrument box, an instrument rod and a clamping assembly, wherein the instrument box and the clamping assembly are connected through the instrument rod, characterized in that:

[0007] The apparatus further comprises a traction assembly, the traction assembly comprising a winding wheel provided on the apparatus box, an apparatus wheel connected to the clamping assembly, and a traction rope, the traction rope comprising a first end and a second end, the first end and the second end both being connected to the winding wheel, the traction rope also passing through the apparatus rod and being wound around the apparatus wheel, and the apparatus wheel being connected to the clamping assembly;

[0008] Wherein, at least part of the traction rope is an elastic structural member.

[0009] In the instrument assembly provided by the present application, the winding wheel and the instrument wheel are arranged in the instrument box so that the winding wheel and the instrument wheel can be fixedly installed, the first end and the second end of the traction rope are connected to the winding wheel, and the traction rope is wound around the winding wheel so that when the winding wheel rotates, the traction rope can drive the instrument wheel to rotate, and the clamping assembly is connected to the instrument wheel so that the clamping assembly can rotate with the instrument wheel, thereby performing the surgical operation. When the traction rope has not yet slackened, the elastic structural part of the traction rope can be in a stretched state. When the traction rope is in a slack state, the tension on the elastic structural part of the traction rope is reduced, so that the elastic structural part of the traction rope can shrink under the action of its own elastic restoring force, so that the length of the elastic structural part of the traction rope is reduced, thereby reducing the overall length of the traction rope, and ultimately allowing the traction rope to remain taut and have a pre-tightening force. In this way, the problem of traction rope slack can be solved without having to disassemble the instrument assembly, thereby improving the convenience of using the instrument assembly.

[0010] In some embodiments, the clamping assembly includes a first clamping piece and a second clamping piece, and the number of the pulling assemblies is two groups;

[0011] The two groups of traction components are respectively connected to the first clamping piece and the second clamping piece; the two groups of traction components are configured to drive the first clamping piece and the second clamping piece to rotate toward or away from each other.

[0012] By driving the first clamping piece and the second clamping piece to rotate toward or away from each other respectively through two sets of traction components, the first clamping piece and the second clamping piece can be accurately controlled respectively, so that the clamping effect of the clamping component on the clamped object is more stable and reliable.

[0013] In some embodiments, the axes of the winding wheels of the two groups of the traction assemblies are parallel, and the two winding wheels are arranged opposite to each other, and the central axes of the instrument wheels of the two groups of the traction assemblies are collinear.

[0014] Thus, the two traction assemblies can synchronously drive the first clamping piece and the second clamping piece to rotate, so that the first clamping piece and the second clamping piece are subjected to balanced forces, and the clamping effect on the object to be clamped is more stable and reliable.

[0015] In some embodiments, the pull cord includes an elastic section located between the winding reel and the instrument wheel.

[0016] By arranging the elastic section between the winding wheel and the instrument wheel, the elastic section can be prevented from being wound around the winding wheel and the instrument wheel, thereby preventing the elastic section from being damaged by bending and deformation, and allowing the elastic section to maintain elastic force.

[0017] In some embodiments, the elastic section may be selected as a spring, an elastic tube, or an elastic cord.

[0018] In this way, the elastic section can have elastic force and the cost is relatively low.

[0019] In some embodiments, the length of the elastic section is smaller than the distance between the winding wheel and the instrument wheel.

[0020] In this way, the length of the elastic section can be reduced, thereby reducing the preparation cost of the instrument assembly. In addition, the elastic section can be prevented from moving onto the winding wheel or the instrument wheel to a certain extent, thereby protecting the elastic section.

[0021] In some embodiments, when the winding wheel rotates in a first direction, the portion of the traction rope adjacent to the first end is gradually wound around the winding wheel, and the portion of the traction rope adjacent to the second end is gradually released from the instrument wheel, and the elastic section is located between the first end and the instrument wheel.

[0022] The elastic section is arranged between the first end and the instrument wheel, so as to prevent the elastic section from being subjected to excessive force and deforming to an excessive degree, thereby preventing the elastic section from being damaged due to excessive deformation.

[0023] In some embodiments, the traction rope further includes two sub-rope segments and two connecting sleeves, one end of the two sub-rope segments is the first end and the second end respectively, and the other ends of the two sub-rope segments are fixedly connected to the two ends of the elastic segment through the connecting sleeves respectively.

[0024] The sub-rope segment is connected to the elastic segment by arranging a connecting sleeve, so that the connection between the sub-rope segment and the elastic segment can be stable and reliable.

[0025] In some embodiments, the traction assembly further includes a guide wheel, wherein the guide wheel is located between the winding wheel and the apparatus wheel, and the traction rope is wound around the first guide wheel.

[0026] The guide wheel can be provided to support the traction rope, making the traction rope more stable.

[0027] In a second aspect, the present application provides a surgical robot comprising the above-mentioned instrument box.

[0028] The surgical robot provided in this application uses the above-mentioned instrument box, making the use of the surgical robot more convenient and more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and other objects, features and advantages of the embodiments of the present application will become more readily understood through the following detailed description with reference to the accompanying drawings, in which various embodiments of the present application are illustrated by way of example and not limitation, wherein:

[0030] Figure 1 A schematic diagram of an apparatus assembly according to an embodiment of the present application;

[0031] Figure 2 A schematic diagram of a first traction assembly and a second traction assembly of an apparatus assembly according to an embodiment of the present application;

[0032] Figure 3 A schematic diagram of a first clamping piece and a second clamping piece of an instrument assembly according to an embodiment of the present application;

[0033] Figure 4 A schematic diagram of a first traction assembly of an apparatus assembly according to an embodiment of the present application;

[0034] Figure 5 A schematic diagram of a second traction assembly of an apparatus assembly according to an embodiment of the present application;

[0035] Figure 6 This is a schematic diagram of the first elastic section and the second elastic member of the instrument assembly according to an embodiment of the present application being elastic tubes.

[0036] Reference numerals:

[0037] 100-Instrument Box, 110-Instrument Rod,

[0038] 200 - first traction assembly, 210 - first winding wheel, 220 - first apparatus wheel, 230 - first traction rope, 231 - first end, 232 - second end, 233 - first elastic section, 240 - first guide wheel,

[0039] 300-first clamping piece,

[0040] 400 - second traction assembly, 410 - second winding wheel, 420 - second apparatus wheel, 430 - second traction rope, 431 - third end, 432 - fourth end, 433 - second elastic section, 440 - second guide wheel,

[0041] 500-Second clamping piece. DETAILED DESCRIPTION

[0042] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0043] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0045] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0046] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0047] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0048] Minimally invasive surgery refers to a surgical procedure performed within the human body using modern medical devices such as laparoscopes and thoracoscopes, as well as related equipment. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery. The instrument housing in a surgical robot is connected to the instrument actuator via an instrument rod. The housing contains a reel and a traction rope, which is connected to the reel and ultimately to the instrument actuator. The rotation of the reel drives the traction rope, which retracts and extends around the reel. This traction rope transmits driving force to the instrument actuator, enabling the instrument actuator to move in pitch, yaw, and gripping degrees of freedom. To achieve flexible and precise control, the traction rope must be tensioned, so a preload is applied during assembly of the housing. However, over time, the traction rope will continue to relax due to stress relaxation and creep, and the preload will decrease, making it impossible to precisely control the instrument actuator.

[0049] At present, in order to solve the problem of loose traction rope of the instrument box, it is generally necessary to disassemble the instrument box and replace the traction rope or reassemble it to make the pre-tightening force meet the use requirements. This method is relatively complicated, greatly reduces work efficiency, and increases manpower and material costs.

[0050] In the instrument assembly proposed in this application, a first winding reel and a first instrument wheel are disposed in an instrument case so that they can be fixedly mounted. The first and second ends of a first traction rope are connected to the first winding reel, and the first traction rope is wound around the first winding reel so that rotation of the first winding reel drives the first instrument wheel via the first traction rope. A clamping assembly is connected to the first instrument wheel so that the clamping assembly rotates with the first instrument wheel, thereby performing a surgical procedure. When the first traction rope is not loose, the elastic structural portion of the first traction rope can be in a stretched state. When the first traction rope is loose, the tension on the elastic structural portion of the first traction rope decreases, causing the elastic structural portion of the first traction rope to contract under its own elastic restoring force. This reduces the length of the elastic structural portion of the first traction rope, thereby reducing the overall length of the first traction rope and ultimately maintaining a taut, preloaded state. Thus, loosening of the first traction rope can be resolved without having to disassemble the instrument assembly, improving the ease of use of the instrument assembly.

[0051] The surgical robot proposed in this application applies the above-mentioned instrument assembly, making the use of the surgical robot more convenient and more efficient.

[0052] The instrument assembly and surgical robot provided in this application are described in detail below with reference to specific embodiments.

[0053] This application proposes an apparatus assembly, referring to Figures 1 to 3 As shown, it includes an instrument box 100, a traction assembly, an instrument rod 110 and a clamping assembly, and the instrument assembly can be applied to a surgical robot.

[0054] Wherein, instrument box 100 is the basic component of the instrument assembly of the present application, and instrument box 100 can provide installation foundation for other at least part components of the instrument assembly, and plays the purpose of protecting other at least part components. Instrument box 100 can be prepared by metal material, so that instrument box 100 has better structural strength, thereby making the durability and reliability of instrument box 100 better. Of course, instrument box 100 also can be prepared by polymer material, so that instrument box 100 is relatively light while having certain structural strength.

[0055] The traction assembly can be a first traction assembly 200, which includes a first winding wheel 210, a first instrument wheel 220 and a first traction rope 230. The first winding wheel 210 is rotatably disposed on the instrument box 100, so that the first winding wheel 210 can be driven to rotate relative to the instrument box 100.

[0056] One end of the instrument rod 110 is connected to the instrument box 100. The first instrument wheel 220 is rotatably mounted on the instrument rod 110. The clamping assembly includes a first clamping piece 300, which is connected to the first instrument wheel 220. The first traction rope 230 has a first end 231 and a second end 232. The first end 231 and the second end 232 of the first traction rope 230 are opposite ends of the first traction rope 230. The first end 231 and the second end 232 of the first traction rope 230 are both connected to the first winding wheel 210, and the first traction rope 230 is also wound around the first instrument wheel 220.

[0057] Specifically, the first end 231 and the second end 232 of the first traction rope 230 are both connected to the side wall of the first winding wheel 210. When the first winding wheel 210 rotates in the first direction or the second direction, the portion of the first traction rope 230 adjacent to the first end 231 or the portion of the first traction rope 230 adjacent to the second end 232 can be gradually wound around the first winding wheel 210, causing the first traction rope 230 to reciprocate in its extending direction. As a result, the first apparatus wheel 220, around which the first traction rope 230 is wound, rotates under the action of friction, thereby achieving the purpose of driving the first apparatus wheel 220 to rotate with it by rotating the first winding wheel 210. Specifically, when the first winding wheel 210 rotates in the first direction or the second direction, the first apparatus wheel 220 can also rotate in two different directions, which are opposite to each other. The first clamping piece 300 is connected to the first instrument wheel 220. When the first instrument wheel 220 rotates in opposite directions, the first clamping piece 300 is driven to rotate accordingly. The first clamping piece 300 can perform surgical operations during the rotation process.

[0058] At least a portion of the first traction rope 230 is an elastic member, allowing at least a portion of the first traction rope 230 to be deformed, thereby increasing or decreasing the total length of the first traction rope 230. When the first traction rope 230 is not yet loose, the portion of the first traction rope 230 that is an elastic member can be set to a stretched state. In this case, the portion of the first traction rope 230 that is an elastic member is relatively long, thereby increasing the total length of the first traction rope 230. When the long-term use of the instrument assembly of the present application causes the first traction rope 230 to become loose, the length of the portion of the first traction rope 230 other than the elastic structural member will increase, so that the pulling force of the portion of the first traction rope 230 other than the elastic structural member on the elastic structural member portion is reduced. The elastic structural member portion of the first traction rope 230 can shrink from the stretched state under the action of its own elastic restoring force, so that the length of the elastic structural member portion of the first traction rope 230 is reduced, and the total length of the first traction rope 230 is reduced relative to the length of the first traction rope 230 after relaxation. In this way, the first traction rope 230 can be restored to a taut state, so that the first traction rope 230 has a pre-tightening force.

[0059] In addition, it should be understood that when the degree of slackness of the first traction rope 230 is higher, the corresponding degree of recovery deformation of the elastic structural part of the first traction rope 230 is greater, so that the length of the elastic structural part of the first traction rope 230 can become longer, so that the first traction rope 230 can always remain in a taut state with pre-tightening force.

[0060] Therefore, when the first traction rope 230 of the instrument assembly of the present application becomes loose, there is no need to disassemble and reassemble the instrument assembly. The elastic structural part of the first traction rope 230 can naturally recover its deformation to restore the first traction rope 230 to a taut state and have a pre-tightening force, making the method of keeping the first traction rope 230 of the instrument assembly of the present application in a taut state simple and convenient.

[0061] In some embodiments, reference Figure 2 and Figure 3 As shown, the instrument assembly of the present application can also be configured to include two sets of traction assemblies, and the clamping assembly can also be configured to include a second clamping piece 500. The two sets of traction assemblies have the same structure and can be connected to the first clamping piece 300 and the second clamping piece 500, respectively, so as to control the first clamping piece 300 and the second clamping piece 500 to rotate toward or away from each other. The two sets of traction assemblies respectively include a first traction assembly 200 and a second traction assembly 400. The second clamping piece 500 is connected to the second traction assembly 400 and is disposed opposite the first clamping piece 300. The first traction assembly 200 and the second traction assembly 400 can respectively drive the first clamping piece 300 and the second clamping piece 500 to rotate toward or away from each other. The first clamping piece 300 and the second clamping piece 500 can specifically be components such as surgical forceps, surgical scissors, or surgical clamps. When the first clamping piece 300 and the second clamping piece 500 are surgical forceps, the first clamping piece 300 and the second clamping piece 500 rotate toward each other to achieve a surgical operation of clamping or cutting off the target surgical area to complete the surgical operation.

[0062] The second traction assembly 400 includes a second winding wheel 410, a second instrument wheel 420, and a second traction rope 430. The second winding wheel 410 is rotatably mounted on the instrument box 100, such that the second winding wheel 410 can be driven to rotate relative to the instrument box 100. The second instrument wheel 420 is rotatably mounted on the instrument rod 110, and the second clamping piece 500 is connected to the second instrument wheel 420. The second traction rope 430 has a third end 431 and a fourth end 432. The third end 431 and the fourth end 432 of the second traction rope 430 are opposite ends of the second traction rope 430. Both the third end 431 and the fourth end 432 of the second traction rope 430 are connected to the second winding wheel 410, and the second traction rope 430 is also wound around the second instrument wheel 420.

[0063] Specifically, the third end 431 and the fourth end 432 of the second traction rope 430 are both connected to the side wall of the second winding wheel 410. When the second winding wheel 410 rotates in the second direction or the first direction, which are opposite to each other, the portion of the second traction rope 430 adjacent to the third end 431 or the portion of the second traction rope 430 adjacent to the fourth end 432 can be gradually wound around the second winding wheel 410, causing the second traction rope 430 to reciprocate in its extending direction. As a result, the second apparatus wheel 420, which is wound around the second traction rope 430, rotates under the action of friction, thereby achieving the purpose of driving the second apparatus wheel 420 to rotate accordingly by rotating the second winding wheel 410. Specifically, when the second winding wheel 410 rotates in the second direction or the first direction, the second apparatus wheel 420 can also rotate in two different directions, which are opposite to each other. The second clamping piece 500 is connected to the second instrument wheel 420. When the second instrument wheel 420 rotates in opposite directions, the second clamping piece 500 can be driven to rotate accordingly. The second clamping piece 500 can rotate toward or away from the first clamping piece 300 during the rotation process.

[0064] At least a portion of the second traction rope 430 is an elastic member, allowing at least a portion of the second traction rope 430 to be deformed, thereby increasing or decreasing the total length of the second traction rope 430. When the second traction rope 430 is not yet loose, the portion of the second traction rope 430 that is an elastic member can be set to a stretched state. In this case, the portion of the second traction rope 430 that is an elastic member is relatively long, thereby increasing the total length of the second traction rope 430. When the instrument assembly of the present application is used for a long time and causes the second traction rope 430 to become loose, the length of the portion of the second traction rope 430 other than the elastic structural member will increase, so that the pulling force of the portion of the second traction rope 430 other than the elastic structural member on the elastic structural member portion is reduced. The elastic structural member portion of the second traction rope 430 can shrink from the stretched state under the action of its own elastic restoring force, so that the length of the elastic structural member portion of the second traction rope 430 is reduced, and the total length of the second traction rope 430 is reduced relative to the length of the second traction rope 430 after it is relaxed. In this way, the second traction rope 430 can be restored to a taut state, so that the second traction rope 430 has a pre-tightening force.

[0065] In addition, it should be understood that when the degree of slackness of the second traction rope 430 is higher, the corresponding degree of recovery deformation of the elastic structural part of the second traction rope 430 is greater, so that the length of the elastic structural part of the second traction rope 430 can become longer, so that the second traction rope 430 can always remain in a taut state with pre-tightening force.

[0066] Therefore, when the second traction rope 430 of the instrument assembly of the present application becomes loose, there is no need to disassemble and reassemble the instrument assembly. The elastic structural part of the second traction rope 430 can naturally recover its deformation to restore the second traction rope 430 to a taut state and have a pre-tightening force, making the method of keeping the second traction rope 430 of the instrument assembly of the present application in a taut state simple and convenient.

[0067] In some embodiments, the axes of the two sets of winding wheels of the traction assemblies of the present application are arranged in parallel, and the two sets of winding wheels of the traction assemblies are arranged relative to each other, and the central axes of the instrument wheels of the two sets of traction assemblies are collinear. Specifically, the axes of the first winding wheel 210 and the second winding wheel 410 are arranged in parallel, and relative to each other, the central axes of the first instrument wheel 220 and the second instrument wheel 420 are collinear. In this way, the first clamping piece 300 and the second clamping piece 500 can rotate synchronously, so that the first clamping piece 300 and the second clamping piece 500 can be evenly applied with force. In this way, the forces exerted by the first clamping piece 300 and the second clamping piece 500 on opposite sides of the clamped object are more balanced, and ultimately, the effect of the first clamping piece 300 and the second clamping piece 500 in clamping the clamped object is more stable and reliable.

[0068] In some embodiments, reference Figure 2 、 Figure 4 and Figure 5 As shown, to make the traction rope at least partially elastic, the traction rope may include an elastic segment. Specifically, at least a portion of the first traction rope 230 is an elastic member, including a first elastic segment 233. The first elastic segment 233 is deformable and has elastic force. The first elastic segment 233 may be positioned between the first winding wheel 210 and the first apparatus wheel 220. This prevents the first elastic segment 233 from bending due to movement onto the first winding wheel 210 or the first apparatus wheel 220 during movement of the first traction rope 230, thereby protecting the first elastic segment 233.

[0069] To ensure that at least a portion of the second traction rope 430 is an elastic structure, the second traction rope 430 includes a deformable and elastic second elastic segment 433. The second elastic segment 433 can be positioned between the second winding reel 410 and the second apparatus wheel 420. This prevents the second elastic segment 433 from bending due to movement onto the second winding reel 410 or the second apparatus wheel 420 during movement of the second traction rope 430, thereby protecting the second elastic segment 433.

[0070] In some embodiments, reference Figure 2 、 Figure 4 and Figure 5As shown, in order to provide elastic force to the first elastic segment 233 of the first traction rope 230 and the second elastic segment 433 of the second traction rope 430, the first elastic segment 233 can be configured as a spring, and specifically a tension spring. The first traction rope 230 also includes two first rope segments 234. One end of the two first rope segments 234 can be a first end 231 and a second end 232, respectively, and the other ends of the two first rope segments 234 can be connected to the two ends of the first elastic segment 233. When the first rope segments 234 become loose, the tension exerted by the first rope segments 234 on the first elastic segment 233 is reduced, allowing the first elastic segment 233 to contract and reduce its length, thereby keeping the first traction rope 230 taut.

[0071] To impart elasticity to the second elastic segment 433 of the second traction rope 430, the second elastic segment 433 can be configured as a spring, specifically a tension spring. The second traction rope 430 also includes two second segments 434, one end of each of which can be the third end 431 and the fourth end 432, respectively. The other ends of the two second segments 434 can be connected to the two ends of the second elastic segment 433. When the second segments 434 become slack, the tension exerted by the second segments 434 on the second elastic segment 433 decreases, allowing the second elastic segment 433 to contract and reduce in length, thereby maintaining the second traction rope 430 in a taut state.

[0072] In some embodiments, reference Figure 6 As shown, the first elastic section 233 of the first traction rope 230 in the present application can also adopt an elastic tube or elastic rope structure, so that the first traction rope 230 can be deformed and have elastic force. In this way, when the first traction rope 230 becomes loose, its elastic recovery force can reduce the length of the first traction rope 230 to offset the increased length of the first traction rope 230 after relaxation.

[0073] Specifically, when the first traction rope 230 has not yet become loose, the first traction rope 230 is already in a stretched state, and its length is longer than its natural length. When the first traction rope 230 becomes loose, the elastic recovery force of the first traction rope 230 can cause the first traction rope 230 to contract as a whole, thereby keeping the first traction rope 230 taut.

[0074] The second elastic section 433 of the second traction rope 430 in the present application can also adopt an elastic tube or elastic rope structure, so that the second traction rope 430 can be deformed and have elastic force. In this way, when the second traction rope 430 becomes loose, its elastic recovery force can reduce the length of the second traction rope 430 to offset the increased length of the second traction rope 430 after relaxation.

[0075] Specifically, when the second traction rope 430 has not yet become loose, the second traction rope 430 is already in a stretched state, and its length is longer than its natural length. When the second traction rope 430 becomes loose, the elastic recovery force of the second traction rope 430 can cause the second traction rope 430 to contract as a whole, thereby keeping the second traction rope 430 taut.

[0076] In some embodiments, when the first winding wheel 210 rotates in the first direction, the portion of the first traction rope 230 adjacent to its first end 231 can be gradually wound around the first winding wheel 210, and accordingly, the portion of the first traction rope 230 adjacent to its second end 232 can be gradually released from the first winding wheel 210, so that the first traction rope 230 as a whole moves from the second end 232 to the first end 231, and the first clamping plate 300 rotates in the direction toward the second clamping plate 500, so that the distance between the first clamping plate 300 and the second clamping plate 500 gradually decreases, and the first clamping plate 300 and the second clamping plate 500 perform a clamping action.

[0077] It should be understood that when the first clamping piece 300 and the second clamping piece 500 rotate toward each other, in order to ensure that the first clamping piece 300 and the second clamping piece 500 can clamp or cut the target object, the first clamping piece 300 and the second clamping piece 500 need to rotate toward each other sufficiently so that the distance between the first clamping piece 300 and the second clamping piece 500 is relatively small. Accordingly, the portion of the first traction rope 230 adjacent to the first end 231 is wound more around the first winding reel 210, and the portion between the first end 231 of the first traction rope 230 and the first apparatus wheel 220 is more taut, thus subjecting the first traction rope 230 to greater force. The portion between the second end 232 of the first traction rope 230 and the first apparatus wheel 220 is relatively loose. If the first elastic section 233 is located between the first end 231 and the first apparatus wheel 220, the first elastic section 233 may be subjected to excessive tension, causing the first elastic section 233 to deform excessively and undergo plastic deformation, thereby damaging the first elastic section 233. Therefore, the first elastic section 233 of the first traction rope 230 can be disposed between the second end 232 of the first traction rope 230 and the first apparatus wheel 220 to reduce the tension on the first elastic section 233 and prevent the first elastic section 233 from being damaged due to excessive deformation.

[0078] In order to make at least a portion of the second traction rope 430 an elastic structural member, the second traction rope 430 includes a second elastic section 433 that is deformable and has elastic force. When the second winding wheel 410 rotates in the second direction, the portion of the second traction rope 430 adjacent to its third end 431 can be gradually wound around the second winding wheel 410. Accordingly, the portion of the second traction rope 430 adjacent to its fourth end 432 can be gradually released from the second winding wheel 410, so that the second traction rope 430 as a whole moves from the third end 431 to the fourth end 432, and the second clamping piece 500 rotates in a direction away from the first clamping piece 300. In this way, the distance between the second clamping piece 500 and the first clamping piece 300 gradually decreases, and the second clamping piece 500 and the first clamping piece 300 perform a clamping action.

[0079] It should be understood that when the first clamping piece 300 and the second clamping piece 500 rotate toward each other, in order to ensure that the first clamping piece 300 and the second clamping piece 500 can clamp or cut the target object, the first clamping piece 300 and the second clamping piece 500 need to fully rotate toward each other so that the distance between the first clamping piece 300 and the second clamping piece 500 is relatively smaller. Accordingly, the part of the second traction rope 430 adjacent to the third end 431 is more wound around the second winding wheel 410, and the part from the third end 431 of the second traction rope 430 to the second instrument wheel 420 is more tense, and the second traction rope 430 in this part is subjected to greater force, while the part between the fourth end 432 of the second traction rope 430 and the second instrument wheel 420 is relatively loose. If the second elastic section 433 is located between the third end 431 and the second apparatus wheel 420, the second elastic section 433 will be subjected to excessive tension, causing the second elastic section 433 to deform excessively and undergo plastic deformation, thereby damaging the second elastic section 433. Therefore, the second elastic section 433 of the second traction rope 430 can be disposed between the fourth end 432 of the second traction rope 430 and the second apparatus wheel 420 to reduce the tension on the second elastic section 433 and prevent the second elastic section 433 from being damaged by excessive deformation.

[0080] In some embodiments, reference Figure 4 and Figure 5 As shown, in order to improve the stability of the traction rope of the present application, the traction assembly 200 may further include a guide wheel 240. Specifically, the first traction assembly 200 may include a first guide wheel 240, wherein the first guide wheel 240 is located between the first winding wheel 210 and the first apparatus wheel 220, and the first traction rope 230 may be wound around the first guide wheel 240. The first guide wheel 240 may support the first traction rope 230. When the distance between the first winding wheel 210 and the first apparatus wheel 220 is large, the first guide wheel 240 may serve to support and stabilize the first traction rope 230.

[0081] In addition, the number of first guide wheels 240 can also be set to two, one of the first guide wheels 240 can be set between the first end 231 of the first traction rope 230 and the first apparatus wheel 220, and the other first guide wheel 240 can be set between the second end 232 of the first traction rope 230 and the first apparatus wheel 220, thereby further stabilizing the first traction rope 230.

[0082] The second guide wheel 440 is located between the second winding wheel 410 and the second apparatus wheel 420. The second traction rope 430 can be wound around the second guide wheel 440. The second guide wheel 440 can be supported by the second traction rope 430. When the distance between the second winding wheel 410 and the second apparatus wheel 420 is large, the second guide wheel 440 can serve to support and stabilize the second traction rope 430.

[0083] In addition, the number of second guide wheels 440 can also be set to two, one of the second guide wheels 440 can be set between the third end 431 of the second traction rope 430 and the second apparatus wheel 420, and the other second guide wheel 440 can be set between the fourth end 432 of the second traction rope 430 and the second apparatus wheel 420, thereby further stabilizing the second traction rope 430.

[0084] In some embodiments, reference Figure 2 As shown, to ensure that the elastic segment 233 can be securely connected to the rest of the traction rope 230, the traction rope 230 of the present application can be configured to include two sub-segments. Specifically, both sub-segments in the first traction rope 230 are first rope segments 234. The first traction rope 230 can also include a first connecting sleeve 235, and the number of first connecting sleeves 235 can be set to two. The two ends of the first elastic segment 233 can be crimped to the two first rope segments 234 through the two first connecting sleeves 235, thereby firmly connecting the first elastic segment 233 to the first rope segments 234. Of course, when the first rope segment 234 is a steel wire rope, the first elastic segment 233 can also be welded to the first rope segment 234.

[0085] The second traction rope 430 of the present application may also include a second connecting sleeve 435, and the number of second connecting sleeves 435 may be set to two. The two ends of the second elastic segment 433 can be respectively crimped with the two second rope segments 434 through the two second connecting sleeves 435, thereby firmly connecting the second elastic segment 433 to the second rope segments 434. Of course, when the second rope segment 434 is a steel wire rope, the second elastic segment 433 can also be welded to the second rope segment 234.

[0086] Based on the above instrument assembly, an embodiment of the present application also proposes a surgical robot, including the above instrument assembly.

[0087] Finally, it should be noted that the above implementation modes are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned implementation modes, ordinary technicians in this field should understand that they can still modify the technical solutions described in the aforementioned implementation modes, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the implementation modes of the present application.

Claims

1. An instrument assembly, comprising an instrument box, an instrument rod and a clamping assembly, wherein the instrument box and the clamping assembly are connected through the instrument rod, characterized in that: The apparatus further comprises a traction assembly, the traction assembly comprising a winding wheel provided on the apparatus box, an apparatus wheel connected to the clamping assembly, and a traction rope, the traction rope comprising a first end and a second end, the first end and the second end both being connected to the winding wheel, and the traction rope further passing through the apparatus rod and being wound around the apparatus wheel; Wherein, at least part of the traction rope is an elastic structural member.

2. The instrument assembly according to claim 1, wherein: The clamping assembly includes a first clamping piece and a second clamping piece, and the number of the traction assemblies is two groups; The two groups of traction components are respectively connected to the first clamping piece and the second clamping piece; the two groups of traction components are configured to drive the first clamping piece and the second clamping piece to rotate toward or away from each other.

3. The instrument assembly according to claim 2, wherein: The axes of the winding wheels of the two groups of traction assemblies are parallel, and the two winding wheels are arranged opposite to each other, and the central axes of the instrument wheels of the two groups of traction assemblies are collinear.

4. The instrument assembly according to claim 2, wherein: The traction rope includes an elastic section, and the elastic section is located between the winding wheel and the instrument wheel.

5. The instrument assembly according to claim 4, wherein: The elastic section can be selected as a spring, an elastic tube or an elastic rope.

6. The instrument assembly according to claim 4, wherein: The length of the elastic section is smaller than the distance between the winding wheel and the instrument wheel.

7. The instrument assembly according to claim 4, wherein: When the winding wheel rotates in a first direction, the portion of the traction rope adjacent to the first end is gradually wound around the winding wheel, and the portion of the traction rope adjacent to the second end is gradually released from the apparatus wheel, and the elastic section is located between the first end and the apparatus wheel.

8. The instrument assembly according to any one of claims 4 to 7, characterized in that The traction rope also includes two sub-rope segments and two connecting sleeves, one end of the two sub-rope segments is the first end and the second end respectively, and the other ends of the two sub-rope segments are fixedly connected to the two ends of the elastic segment through the connecting sleeves respectively.

9. The instrument assembly according to claim 1, wherein: The traction assembly further includes a guide wheel, which is located between the winding wheel and the apparatus wheel, and the traction rope is wound around the first guide wheel.

10. A surgical robot, characterized in that: Comprising the instrument assembly according to any one of claims 1-9.

Images