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, a first traction assembly, a first clamping piece and a first tensioning piece. The first end and the second end of a first traction rope in the first traction assembly are connected with a first winding wheel, the first traction rope is wound around the first winding wheel, so that a first instrument wheel can be driven to rotate through the first traction rope when the first winding wheel rotates, a first clamping piece is connected with the first instrument wheel, and the first clamping piece can rotate along with the first instrument wheel; therefore, the surgical operation is performed. When the first traction wheel is loosened, the first tensioning piece can move towards the first traction rope, so that the first tensioning piece abuts against the first abutting portion of the first traction rope, the portions, located on the two sides of the first abutting portion, of the first traction rope are bent, and the first traction rope is kept in a tensioned state.

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 assembly in a surgical robot is connected to the instrument actuator via an instrument rod. The instrument assembly includes 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. The traction rope transmits driving force to the instrument actuator via the traction rope, 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 instrument assembly. 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 instrument assembly, it is generally necessary to disassemble the instrument assembly and replace the traction rope or reassemble it to make the preload 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, and the traction rope further passing through the apparatus rod and being wound around the apparatus wheel;

[0008] A tensioning member is provided on the instrument box, and the tensioning member is configured to move toward the traction rope and abut against the abutting portion of the traction rope so that two sides of the abutting portion are bent.

[0009] In the instrument assembly proposed in the present application, the winding wheel is arranged on the instrument box, and the instrument wheel is arranged on the instrument rod, 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 first 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 cooperates with the instrument wheel, so that the clamping assembly can rotate with the first instrument wheel, thereby performing the surgical operation. When the traction wheel becomes loose, the tensioning member can move toward the traction rope, so that the tensioning member abuts against the abutting portion of the traction rope, and the portions of the traction rope on both sides of the abutting portion are bent, so that the tensioning member can support the traction rope, so that the traction rope remains in a tensioned state. In this way, the loosening of the traction rope 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 traction assembly and the tensioning member are in two sets;

[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, and the two groups of tensioning members are respectively supported at the supporting parts of the two traction ropes.

[0012] The clamping assembly can perform a clamping action by respectively controlling the first clamping piece and the second clamping piece to rotate toward or away from each other through two sets of traction assemblies.

[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 groups of traction components can be arranged in a balanced manner, so that the first clamping piece and the second clamping piece can be subjected to balanced forces.

[0015] In some embodiments, a mounting seat is provided on the instrument box, and the two tensioning members are provided on the mounting seat.

[0016] The mounting base can facilitate the installation of the tensioning member on the instrument box.

[0017] In some embodiments, when the first clamping piece and the second clamping piece rotate toward each other, 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 winding wheel, and the supporting portion is located between the second end and the instrument wheel.

[0018] The supporting portion is arranged between the second end and the instrument wheel, so that the supporting member can more easily push the traction rope to bend relative to the supporting portion, so that the traction rope can more easily restore the pre-tightening force.

[0019] In some embodiments, the tensioning member is an elastic member, the two traction ropes are arranged opposite to each other, the two tensioning members are located between the two traction ropes, and the two groups of tensioning members are configured to move in opposite directions to respectively abut the abutting parts of the two traction ropes.

[0020] This can make full use of the space between the two traction ropes, making the device assembly structure more compact. The tensioning member is an elastic member so that the elastic member can automatically move toward the traction rope, so that the tensioning member can abut the abutting part of the traction rope.

[0021] In some embodiments, the tensioning member is an elastic member, the two traction ropes are arranged opposite to each other, the two tensioning members are located on opposite sides of the two traction ropes, and the two groups of tensioning members are configured to deform in opposite directions to respectively support the supporting parts of the two traction ropes.

[0022] In this way, the space outside the two traction ropes can be fully utilized, making the device assembly structure more compact. The tensioning member is an elastic member so that the elastic member can automatically move toward the traction ropes so that the tensioning member can abut the abutting part of the traction ropes.

[0023] In some embodiments, the instrument assembly further includes a positioning wheel, which is disposed on a side of the tensioning member facing the traction rope, and the abutting portion is in contact with the positioning wheel.

[0024] The supporting part of the traction rope can be connected with the positioning wheel in a sliding manner, which can avoid excessive friction between the tensioning member and the traction rope when they are in direct contact, and make the traction rope slide more smoothly.

[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 guide wheel.

[0026] The guide wheel can support and guide the traction rope so that the traction rope can slide more smoothly.

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

[0028] 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. 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 This is a schematic diagram of the second traction assembly of the instrument assembly according to an embodiment of the present application.

[0035] Reference numerals:

[0036] 100-Instrument Box, 110-Support Rod, 120-Mounting Base,

[0037] 200 - first traction assembly, 210 - first winding wheel, 220 - first apparatus wheel, 230 - first traction rope, 231 - first end, 232 - second end, 233 - first abutting portion, 240 - first guide wheel,

[0038] 300-first clamping piece,

[0039] 400 - second traction assembly, 410 - second winding wheel, 420 - second apparatus wheel, 430 - second traction rope, 431 - third end, 432 - fourth end, 433 - second abutting portion, 440 - second guide wheel,

[0040] 500- second clamping piece,

[0041] 600-first tensioning member, 610-first positioning wheel,

[0042] 700-second tensioning member, 710-second positioning wheel. DETAILED DESCRIPTION

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] The instrument assembly in a surgical robot is the component that performs surgical operations, and the instrument assembly is equipped with surgical instruments. A winding wheel and a traction rope are provided within the instrument assembly. The traction rope is connected to the winding wheel and is wound around the instrument. The rotation of the winding wheel drives the traction rope to be retracted and released on the winding wheel, which can drive the instrument to move accordingly. In order to more accurately control the surgical instrument through the traction rope, the traction rope needs to be in a tensioned state. Therefore, it is necessary to preload the traction rope when assembling the instrument assembly. However, after long-term use of the instrument assembly, the traction rope is affected by stress relaxation and creep, and the traction rope will continue to relax, and the preload force will continue to decrease. As a result, the traction rope cannot accurately control the surgical instrument.

[0050] 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 assembly in a surgical robot is connected to the instrument actuator via an instrument rod. The instrument assembly includes 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. The traction rope transmits driving force to the instrument actuator via the traction rope, 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 instrument assembly. 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.

[0051] At present, in order to solve the problem of loose traction rope of instrument assembly, it is generally necessary to disassemble the instrument assembly and replace the traction rope or reassemble it to make the preload force meet the use requirements. This method is relatively complicated, greatly reduces work efficiency and increases manpower and material costs.

[0052] In the instrument assembly provided by the present application, the winding wheel is arranged on the instrument box, and the instrument wheel is arranged on the instrument rod, 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 first 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 cooperates with the instrument wheel, so that the clamping assembly can rotate with the first instrument wheel, thereby performing the surgical operation. When the traction wheel becomes loose, the tensioning member can move toward the traction rope, so that the tensioning member abuts against the abutting portion of the traction rope, and the portions of the traction rope on both sides of the abutting portion are bent, so that the tensioning member can support the traction rope, so that the traction rope remains in a tensioned state. In this way, the loosening of the traction rope can be solved without having to disassemble the instrument assembly, thereby improving the convenience of using the instrument assembly.

[0053] 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.

[0054] The instrument assembly and surgical robot provided in this application are described in detail below with reference to specific embodiments.

[0055] This application proposes an apparatus assembly, referring to Figures 1 to 5 As shown, the instrument assembly includes an instrument box 100, an instrument rod 110, a traction assembly, a clamping assembly and a tensioning member, and can be applied to a surgical robot.

[0056] 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.

[0057] The traction assembly may specifically include 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 and the first instrument wheel 220 are both rotatably disposed on the instrument box 100, such that both the first winding wheel 210 and the first instrument wheel 220 can be driven to rotate relative to the instrument box 100. The first traction rope 230 has a first end 231 and a second end 232, which 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.

[0058] 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.

[0059] 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 traction wheel, causing the first traction rope 230 to reciprocate in its extension 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 accordingly 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.

[0060] The tensioning member may specifically include a first tensioning member 600, which is also disposed on the instrument case 100 so that the first tensioning member 600 can be fixedly mounted. The first tensioning member 600 is configured to move toward the first traction rope 230 and abut against the first abutting portion 233 of the first traction rope 230, thereby bending two sides of the first abutting portion 233 of the first traction rope 230. Specifically, one end of the first tensioning member 600 may be connected to the instrument case 100, and the other end of the first tensioning member 600 may be disposed toward the first traction rope 230. The end of the first tensioning member 600 facing the first traction rope 230 may be moved toward the first traction rope 230 until the first tensioning member 600 abuts against the first traction rope 230. The abutting portion between the first tensioning member 600 and the first traction rope 230 is the first abutting portion 233.

[0061] When the apparatus assembly of the present application causes the first traction rope 230 to become slack due to long-term use, the first tensioning member 600 moves toward the first traction rope 230 and abuts against the first abutting portion 233 of the first traction rope 230, causing the portions of the first traction rope 230 located on both sides of the first abutting portion 233 to bend. Accordingly, the first tensioning member 600 can support the first traction rope 230, restoring the first traction rope 230 to a taut state, thereby imparting a pre-tightening force to the first traction rope 230. Furthermore, it should be understood that as the slackness of the first traction rope 230 increases, the distance the first tensioning member 600 moves toward the first traction rope 230 can be controlled to increase, thereby causing the portions of the first traction rope 230 located on both sides of the first abutting portion 233 to bend more, thereby maintaining the taut state and imparting a pre-tightening force to the first traction rope 230.

[0062] Therefore, when the first traction rope 230 of the instrument assembly of the present application becomes loose, it is not necessary to disassemble and reassemble the instrument assembly. By adjusting the first tensioning member 600 to move toward the first traction rope 230, the first traction rope 230 can be restored 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 taut simple and convenient.

[0063] In some embodiments, reference Figures 1 to 5 As shown, the number of traction assemblies and tensioning members of the present application can also be set to two groups, and the clamping assembly can also be provided with a second clamping piece 500. The two groups 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 groups of tensioning members respectively cooperate with the two groups of traction assemblies.

[0064] Specifically, the two traction assemblies include a first traction assembly 200 and a second traction assembly 400, and the two tensioning members include a first tensioning member 600 and a second tensioning member 700. 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 surgical forceps, surgical scissors, or surgical clamps. When the first clamping piece 300 and the second clamping piece 500 are surgical forceps, their rotation toward each other can achieve a surgical operation of clamping or cutting off the target surgical area, thereby completing the surgical procedure.

[0065] 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 and the second instrument wheel 420 are both rotatably mounted on the instrument case 100, such that both the second winding wheel 410 and the second instrument wheel 420 can be driven to rotate relative to the instrument case 100. 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. The third end 431 and the fourth end 432 of the second traction rope 430 are both connected to the second winding wheel 410, and the second traction rope 430 is also wound around the second instrument wheel 420.

[0066] 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 traction wheel, causing the second traction rope 430 to reciprocate in its extending direction. As a result, the second apparatus wheel 420, around which the second traction rope 430 is wound, 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.

[0067] The second tensioning member 700 is also provided on the instrument case 100 so that the second tensioning member 700 can be fixedly installed. The second tensioning member 700 is configured to move toward the second traction rope 430 and abut against the second abutting portion 433 of the second traction rope 430, thereby bending both sides of the second abutting portion 433 of the second traction rope 430. Specifically, one end of the second tensioning member 700 can be connected to the instrument case 100, and the other end of the second tensioning member 700 can be arranged to face the second traction rope 430. The end of the second tensioning member 700 facing the second traction rope 430 can be moved toward the second traction rope 430 until the second tensioning member 700 abuts against the second traction rope 430. The portion where the second tensioning member 700 abuts against the second traction rope 430 is the second abutting portion 433.

[0068] When the apparatus assembly of the present application causes the second traction rope 430 to become slack due to long-term use, the second tensioning member 700 moves toward the second traction rope 430 and abuts against the second abutting portion 433 of the second traction rope 430, causing the portions of the second traction rope 430 located on both sides of the second abutting portion 433 to bend. Accordingly, the second tensioning member 700 can support the second traction rope 430, restoring the second traction rope 430 to a taut state, thereby imparting a pre-tightening force to the second traction rope 430. Furthermore, it should be understood that as the second traction rope 430 becomes more slack, the second tensioning member 700 can be controlled to move further toward the second traction rope 430, thereby causing the portions of the second traction rope 430 located on both sides of the second abutting portion 433 to bend more, thereby maintaining the taut state and imparting a pre-tightening force to the second traction rope 430.

[0069] Therefore, when the second traction rope 430 of the instrument assembly of the present application becomes loose, it is not necessary to disassemble and reassemble the instrument assembly. By adjusting the second tensioning member 700 to move toward the second traction rope 430, the second traction rope 430 can be restored to a taut state and have a pre-tightening force, so that the method of keeping the second traction rope 430 of the instrument assembly of the present application in a taut state is simple and convenient.

[0070] In some embodiments, reference Figures 1 to 5 As shown, in the present application, when the first winding wheel 210 rotates along 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 piece 300 is rotated in the direction toward the second clamping piece 500, so that the distance between the first clamping piece 300 and the second clamping piece 500 gradually decreases, and the first clamping piece 300 and the second clamping piece 500 perform a clamping action.

[0071] 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 first traction rope 230 adjacent to the first end 231 is more wound around the first winding wheel 210, and the part from the first end 231 of the first traction rope 230 to the first instrument wheel 220 is more tense, and the first traction rope 230 in this part is subjected to greater force, while the part between the second end 232 of the first traction rope 230 and the first instrument wheel 220 is relatively loose. Therefore, the first supporting portion 233 of the first traction rope 230 can be set between the second end 232 of the first traction rope 230 and the first instrument wheel 220, so that the first tensioning member 600 encounters less resistance when it is supported by the first supporting portion 233, and it is easier to bend part of the first traction rope 230 relative to the first supporting portion 233, so that the first traction rope 230 can be more easily maintained in a taut state and have a pre-tightening force.

[0072] In the present application, 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, and 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 the direction toward the first clamping piece 300, so that 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.

[0073] 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. Therefore, the second supporting portion 433 of the second traction rope 430 can be set between the fourth end 432 of the second traction rope 430 and the second instrument wheel 420, so that the second tensioning member 700 encounters less resistance when it is supported by the second supporting portion 433, and it is easier to bend part of the second traction rope 430 relative to the first supporting portion 433, so that the second traction rope 430 can be more easily maintained in a taut state and have a pre-tightening force.

[0074] In some embodiments, when the first tensioning member 600 of the present application moves toward the first traction rope 230, the first tensioning member 600 also moves in a direction away from the second traction rope 430. Accordingly, when the second tensioning member 700 moves toward the second traction rope 430, the second tensioning member 700 also moves in a direction away from the first traction rope 230. Specifically, the first abutting portion 233 of the first traction rope 230 and the second abutting portion 433 of the second traction rope 430 can be arranged opposite each other, with a certain gap between the first traction rope 230 and the second traction rope 430. Both the first tensioning member 600 and the second tensioning member 700 are located in the gap between the first traction rope 230 and the second traction rope 430. This allows the first tensioning member 600 and the second tensioning member 700 to utilize the space between the first traction rope 230 and the second traction rope 430, thereby making the structure of the device assembly of the present application more compact.

[0075] Among them, the instrument box 100 can also be provided with a mounting seat 120, which is located between the first traction rope 230 and the second traction rope 430, and the first tensioning member 600 and the second tensioning member 700 can be arranged on opposite sides of the mounting seat 120, so that the first tensioning member 600 and the second tensioning member 700 can be respectively located between the first traction rope 230 and the second traction rope 430.

[0076] In addition, in other embodiments, the first tensioning member 600 and the second tensioning member 700 can also be set on opposite sides of the first traction rope 230 and the second traction rope 430. The first tensioning member 600 and the second tensioning member 700 can move toward each other to respectively support the first traction rope 230 and the second traction rope 430.

[0077] In some embodiments, reference Figure 4 As shown, in order to enable the first tensioning member 600 of the present application to move toward the first traction rope 230 to abut the first abutting portion 233 of the first traction rope 230, the first tensioning member 600 can be configured as an elastic member. The first tensioning member 600 is configured to be retractable in a direction toward or away from the first traction rope 230. Specifically, the end of the first tensioning member 600 facing the first traction rope 230 can always abut the first traction rope 230. When the first traction rope 230 has not yet become loose, the first tensioning member 600 that is supported by the first traction rope 230 is already in a compressed state. When the first traction rope 230 becomes loose, the pressure of the first traction rope 230 on the first tensioning member 600 is reduced, so that the first tensioning member 600 gradually recovers its deformation. Accordingly, the length of the first tensioning member 600 increases, and the first tensioning member 600 extends toward the first traction rope 230. In this way, one end of the first tensioning member 600 can always be supported by the first supporting portion 233 of the first traction rope 230, and the parts of the first traction rope 230 on both sides of the first supporting portion 233 are bent, so that the first traction rope 230 can remain taut and have a pre-tightening force.

[0078] refer to Figure 5 As shown, in order to enable the second tensioning member 700 of the present application to move toward the second traction rope 430 to abut the second abutting portion 433 of the second traction rope 430, the second tensioning member 700 can be configured as an elastic member. The second tensioning member 700 is configured to be retractable in a direction toward or away from the second traction rope 430. Specifically, the end of the second tensioning member 700 facing the second traction rope 430 can always abut the second traction rope 430. When the second traction rope 430 has not yet become loose, the second tensioning member 700 that is supported by the second traction rope 430 is already in a compressed state. When the second traction rope 430 becomes loose, the pressure of the second traction rope 430 on the second tensioning member 700 is reduced, so that the second tensioning member 700 gradually recovers its deformation. Accordingly, the length of the second tensioning member 700 increases, and the second tensioning member 700 extends toward the second traction rope 430. In this way, one end of the second tensioning member 700 can always be supported by the second supporting portion 433 of the second traction rope 430, and the parts of the second traction rope 430 located on both sides of the second supporting portion 433 are bent, so that the second traction rope 430 can remain taut and have a pre-tightening force.

[0079] In some embodiments, reference Figure 4As shown, in order to ensure that the first tensioning member 600 can more stably and reliably contact the first contact portion 233 of the first traction rope 230, a first positioning wheel 610 can be further provided at one end of the first tensioning member 600 facing the first traction rope 230. The first positioning wheel 610 is rotatably mounted on the first tensioning member 600 and can be provided with a first positioning groove. The first contact portion 233 of the first traction rope 230 can be embedded in the first positioning groove. This allows the first traction rope 230 and the first positioning wheel 610 to be mutually restrained and fixed, thereby improving the contact effect between the first traction rope 230 and the first positioning wheel 610. When the first tensioning member 600 recovers its deformation and moves toward the first traction rope 230, the first positioning wheel 610 can push the first traction rope 230, causing the portions of the first traction rope 230 located on both sides of the first contact portion 233 to bend. In addition, when the first winding wheel 210 rotates to drive the first traction rope 230 to move, since the first positioning wheel 610 is rotatably connected to the first tensioning member 600, the friction between the first traction rope 230 and the first positioning wheel 610 is smaller, so that the first traction rope 230 moves more smoothly.

[0080] refer to Figure 5 As shown, in order to ensure that the second tensioning member 700 can more stably and reliably contact the second contact portion 433 of the second traction rope 430, a second positioning wheel 710 can be further provided at one end of the second tensioning member 700 facing the second traction rope 430. The second positioning wheel 710 is rotatably mounted on the second tensioning member 700 and a second positioning groove can be provided on the second positioning wheel 710. The second contact portion 433 of the second traction rope 430 can be embedded in the second positioning groove, thereby allowing the second traction rope 430 and the second positioning wheel 710 to be mutually restrained and fixed, thereby improving the contact effect between the second traction rope 430 and the second positioning wheel 710. When the second tensioning member 700 recovers its deformation and moves toward the second traction rope 430, the second positioning wheel 710 can push the second traction rope 430, causing the portions of the second traction rope 430 located on both sides of the second contact portion 433 to bend. In addition, when the second winding wheel 410 rotates to drive the second traction rope 430 to move, since the second positioning wheel 710 is rotatably connected to the second tensioning member 700, the friction between the second traction rope 430 and the second positioning wheel 710 is smaller, so that the second traction rope 430 moves more smoothly.

[0081] In some embodiments, reference Figure 4 and Figure 5As shown, in order to improve the stability of the first traction rope 230 of the present application, the first winding wheel 210 may be provided with an apparatus assembly and may further include a first guide wheel 240 and a second guide wheel 440. The first guide wheel 240 is located between the first winding wheel 210 and the first apparatus wheel 220. The first traction rope 230 may be wound around the first guide wheel 240, and 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] Based on the above instrument assembly, an embodiment of the present application also proposes a surgical robot, including the above instrument assembly.

[0086] 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, characterized in that: include: 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; A tensioning member is provided on the instrument box, and the tensioning member is configured to move toward the traction rope and abut against the abutting portion of the traction rope so that two sides of the abutting portion are bent.

2. The instrument assembly according to claim 1, wherein: The clamping assembly includes a first clamping piece and a second clamping piece, and the traction assembly and the tensioning member are in two sets; 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, and the two groups of tensioning members are respectively supported at the supporting parts of the two traction ropes.

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: A mounting seat is provided on the instrument box, and the two tensioning members are provided on the mounting seat.

5. The instrument assembly according to claim 2, wherein: When the first clamping piece and the second clamping piece rotate toward each other, 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 winding wheel, and the abutting portion is located between the second end and the instrument wheel.

6. The instrument assembly according to any one of claims 3 to 5, characterized in that The tensioning member is an elastic member, the two traction ropes are arranged opposite to each other, the two groups of tensioning members are located between the two traction ropes, and the two groups of tensioning members are configured to deform in opposite directions to respectively resist the resisting parts of the two traction ropes.

7. The instrument assembly according to any one of claims 3 to 5, characterized in that: The tensioning member is an elastic member, the two traction ropes are arranged opposite to each other, and the two tensioning members are located on opposite sides of the two traction ropes. The two groups of tensioning members are configured to deform in opposite directions to respectively support the supporting parts of the two traction ropes.

8. The instrument assembly according to claim 1, wherein: The instrument assembly further includes a positioning wheel, which is arranged on a side of the tensioning member facing the traction rope, and the abutting portion is in contact with the positioning wheel.

9. The instrument assembly according to claim 1, wherein: The traction assembly further comprises 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 guide wheel.

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

Images