Instrument box, surgical instrument and surgical robot

Abstract

The utility model discloses an instrument box, a surgical instrument and a surgical robot. The instrument box comprises a shell and a rotating shaft assembly. Wherein at least part of the rotating shaft assembly is located in the shell, a driving rope is wound around the rotating shaft assembly, and the leading-out end of the driving rope is used for being connected with a tail end tool; the rotating shaft assembly is provided with a first limiting assembly, the shell is provided with a second limiting assembly, and the second limiting assembly is used for being matched with the first limiting assembly to limit the rotating angle of the rotating shaft assembly. According to the invention, even if the rotation angle of the driving element is too large or the driving element is not reset due to misoperation, the situation that the rotation angle of the rotating shaft assembly is too large is avoided; therefore, the problem that the action angle of the tail end tool is too large due to the fact that the rotating angle of the rotating shaft assembly is too large is effectively relieved, the tail end tool is protected, and the service life of the tail end tool is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical instruments, in particular to an instrument box, a surgical instrument and a surgical robot. BACKGROUND

[0002] With the development of science and technology, surgical systems have been gradually applied. A surgical system generally comprises a control end and a surgical robot, the surgical robot comprises a body and a surgical instrument, the surgical instrument comprises an instrument box, a straight pipe and an end tool connected in sequence, the instrument box is internally provided with a plurality of rotating shaft assemblies, a driving rope wound on the rotating shaft assemblies passes through the inside of the straight pipe and is connected with the end tool, and the body is internally provided with a plurality of driving elements connected with the plurality of rotating shaft assemblies in one-to-one correspondence; when performing a surgical operation, a doctor controls the driving elements to operate by operating the control end, the driving elements drive the rotating shaft assemblies to operate after operating, the driving rope is retracted and released after the rotating shaft assemblies operate, and the end tool is driven to act after the driving rope is retracted and released, so that the surgical operation on the affected part of a patient can be realized in the process of the action of the end tool.

[0003] In the prior art, the rotation angle of the driving element is generally indirectly controlled to control the angle of the end tool when the end tool acts. However, if the rotation angle of the driving element is too large due to misoperation or the driving element is not reset, the rotation angle of the rotating shaft assembly will be too large, and the rotation angle of the rotating shaft assembly being too large will cause the action angle of the end tool to be too large, thereby damaging the end tool and affecting the service life of the end tool. Utility model content

[0004] The present application aims to provide an instrument box, a surgical instrument and a surgical robot, which effectively alleviate the problem of the action angle of the end tool being too large caused by the rotation angle of the rotating shaft assembly being too large.

[0005] Embodiments of the present application are implemented as follows:

[0006] In a first aspect, the present application provides an instrument box, which comprises a shell and a rotating shaft assembly; wherein the rotating shaft assembly is at least partially located in the shell, a driving rope is wound on the rotating shaft assembly, and a leading end of the driving rope is used to be connected with an end tool; the rotating shaft assembly is provided with a first limiting assembly, and the shell is provided with a second limiting assembly, the second limiting assembly is used to limit the rotation angle of the rotating shaft assembly in cooperation with the first limiting assembly.

[0007] In an embodiment, the first limiting assembly comprises a first protrusion, the second limiting assembly comprises a first arc-shaped groove located on one side of the rotating shaft assembly and arranged along the circumference of the rotating shaft assembly, and the first protrusion is located in the first arc-shaped groove.

[0008] Alternatively, the first limiting assembly comprises a second arc-shaped groove arranged along the circumference of the rotating shaft assembly, and the second limiting assembly comprises a second protrusion arranged in the second arc-shaped groove.

[0009] In an embodiment, the second limiting assembly comprises a first limiting element and a second limiting element arranged on one side of the rotating shaft assembly and spaced along the circumference of the rotating shaft assembly; when the rotating shaft assembly moves, the first limiting assembly moves between the first limiting element and the second limiting element.

[0010] In an embodiment, the first limiting assembly comprises a third protrusion, and when the rotating shaft assembly rotates, the third protrusion moves between the first limiting element and the second limiting element.

[0011] In an embodiment, the first limiting assembly further comprises a fourth protrusion, and the third protrusion and the fourth protrusion are spaced along the circumference of the rotating shaft assembly; when the rotating shaft assembly rotates, the fourth protrusion moves between the first limiting element and the second limiting element.

[0012] In an embodiment, one end of the rotating shaft assembly extends out of the bottom of the shell, the first limiting assembly is arranged at one end of the rotating shaft assembly, and the second limiting assembly is arranged on the bottom surface of the shell.

[0013] In an embodiment, the bottom of the shell is provided with an annular groove, one end of the rotating shaft assembly is arranged in the annular groove, and the second limiting assembly is arranged on the groove wall of the annular groove.

[0014] In a second aspect, the application provides a surgical instrument, which comprises the instrument box described above, a straight pipe, and an end tool, and the surgical instrument is connected with the end tool through the straight pipe.

[0015] In a third aspect, the application provides a surgical robot, which comprises the surgical instrument described above and a body; the instrument box is detachably connected to the body, and the body is provided with a driving element for driving the rotating shaft assembly to rotate.

[0016] In an embodiment, the instrument box is provided with a plurality of connecting pins, the body is provided with a plurality of connecting holes, and when the instrument box is connected to the body, the plurality of connecting pins and the plurality of connecting holes are one-to-one matched;

[0017] And / or, the instrument box is provided with a plurality of buckle assemblies, the body is provided with a plurality of buckle connecting holes, and when the instrument box is connected to the body, the plurality of buckle assemblies and the plurality of buckle connecting holes are one-to-one matched.

[0018] Compared with the prior art, the application has the following beneficial effects:

[0019] In the application, the rotation angle of the rotating shaft assembly is limited by setting a limiting assembly on the rotating shaft assembly and the shell of the instrument box. Even if the driving element rotates too much or the driving element is not reset due to misoperation, the rotating shaft assembly will not rotate too much. In turn, it effectively alleviates the problem of excessive rotation angle of the end tool caused by excessive rotation angle of the rotating shaft assembly, protects the end tool, and improves the service life of the end tool. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0021] Figure 1 The structure diagram of a surgical robot is shown in an embodiment of the application.

[0022] Figure 2 The structure diagram of a surgical instrument is shown in an embodiment of the application.

[0023] Figure 3 The partial explosion diagram of a surgical instrument is shown in the first embodiment of the application.

[0024] Figure 4 The diagram of the first limiting assembly and the second limiting assembly is shown in the first embodiment of the application.

[0025] Figure 5 The diagram of the initial position of the first protrusion in the first arc-shaped groove is shown in the first embodiment of the application.

[0026] Figure 6 The diagram of the initial position of the first protrusion in the first arc-shaped groove is shown in the second embodiment of the application.

[0027] Figure 7 The diagram of the initial position of the first protrusion in the first arc-shaped groove is shown in the third embodiment of the application.

[0028] Figure 8 The diagram of the first limiting assembly and the second limiting assembly is shown in the second embodiment of the application.

[0029] Figure 9 The diagram of the initial position of the third protrusion is shown in the first embodiment of the application.

[0030] Figure 10 The diagram of the initial position of the third protrusion is shown in the second embodiment of the application.

[0031] Figure 11 A schematic view of an initial position of the third protrusion shown in the third embodiment of the present application;

[0032] Figure 12 A schematic view of the first and second limiting assemblies shown in the third embodiment of the present application;

[0033] Figure 13 A schematic view of an initial position of the third and fourth protrusions shown in the first embodiment of the present application;

[0034] Figure 14 A schematic view of an initial position of the third and fourth protrusions shown in the second embodiment of the present application;

[0035] Figure 15 A schematic view of an initial position of the third and fourth protrusions shown in the third embodiment of the present application;

[0036] Figure 16 A bottom view of a surgical instrument shown in an embodiment of the present application;

[0037] Figure 17 A partial exploded schematic view of a surgical instrument shown in the second embodiment of the present application;

[0038] Figure 18 A top view of a body shown in an embodiment of the present application;

[0039] Figure 19 A partial exploded schematic view of an instrument box shown in an embodiment of the present application;

[0040] Figure 20 A sectional view of a surgical robot shown in an embodiment of the present application;

[0041] Figure 21 A partial exploded schematic view of a surgical instrument shown in the third embodiment of the present application;

[0042] Figure 22 A partial exploded schematic view of an end tool shown in an embodiment of the present application.

[0043] Reference signs:

[0044] 1-surgical robot; 10-surgical instrument; 11-instrument box; 12-straight tube; 13-end tool; 20-body; 21-driving element; 22-matching piece; 23-connection pin; 24-buckling connection hole; 25-mounting plate; 110-housing; 111-first arc-shaped groove; 112-first limiting element; 113-second limiting element; 120-rotary shaft assembly; 121-first rotary shaft assembly; 122-second rotary shaft assembly; 123-third rotary shaft assembly; 124-fourth rotary shaft assembly; 131-first clamping piece; 132-second clamping piece; 133-seat body; 134-first shaft body; 135-second shaft body; 1201-first protrusion; 1202-third protrusion; 1203-fourth protrusion; 1204-rotary disc; 1205-connection hole; 1206-buckling assembly; 12041-first surface; 12042-second surface; 12043-first side surface; 12061-first connecting plate; 12062-second connecting plate; 12063-first intermediate plate; 12064-second intermediate plate; 12065-elastic piece; 12066-buckling piece. DETAILED DESCRIPTION

[0045] The terms "first", "second", "third", and the like, are merely used to distinguish descriptions, and do not indicate the arrangement sequence, and cannot be understood as indicating or implying relative importance.

[0046] In addition, the terms "horizontal", "vertical", "overhanging", and the like, do not mean that the components must be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only means that it is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0047] In the description of the present application, it should be noted that the terms "inner", "outer", "left", "right", "upper", "lower", and the like, indicate the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the present application is used, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0048] In the description of the present application, unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements.

[0049] The technical solutions of the present application will be described clearly and completely in conjunction with the drawings.

[0050] The present application provides a surgical system, which includes a control terminal and a surgical robot 1. Figure 1 As shown, the surgical robot 1 includes a surgical instrument 10 and a body 20, and the surgical instrument 10 is detachably connected to the body 20. Figure 2 As shown, the surgical instrument 10 includes an instrument box 11, a straight tube 12 and an end tool 13; the surgical instrument 10 is connected to the end tool 13 through the straight tube 12, and the instrument box 11 is detachably connected to the body 20. Figure 2 and Figure 3 As shown, the instrument box 11 includes a housing 110, a rotating shaft assembly 120 and a drive rope (not shown in the figure), the rotating shaft assembly 120 is at least partially located in the housing 110, the drive rope is wound around the rotating shaft assembly 120, and the lead end of the drive rope passes through the straight tube 12 and is connected to the end tool 13; Figure 1 As shown, a driving element 21 is provided in the body 20, and the driving element 21 is used to drive the rotation shaft assembly 120 to rotate. Exemplarily, the end tool 13 can be forceps, needle holders, monopolar scissors, electric hooks, electric shovels, bipolar window forceps, bipolar Maryland forceps, Cardier forceps, intestinal forceps, or a stapler.

[0051] When performing surgery on a patient, the doctor controls the rotation of the driving element 21 by operating the control terminal. The rotation of the driving element 21 drives the rotation of the rotating shaft assembly 120. The rotation of the rotating shaft assembly 120 causes the driving rope wound thereon to retract and release. The retracted and released driving rope drives the end tool 13 to move. During the movement of the end tool 13, the surgical operation on the patient's affected part can be performed. In the prior art, the angle of the end tool 13 during operation is generally indirectly controlled by controlling the rotation angle of the driving element 21. However, if the driving element 21 rotates too much due to misoperation or the driving element 21 is not reset, the rotation angle of the rotating shaft assembly 120 will be too large. The excessive rotation angle of the rotating shaft assembly 120 will cause the movement angle of the end tool 13 to be too large, causing damage to the end tool 13 and shortening its service life.

[0052] To solve the above problems, in the application, a first limiting assembly is arranged on the rotating shaft assembly 120, and a second limiting assembly is arranged on the shell 110, so that the first limiting assembly cooperates with the second limiting assembly to limit the rotation angle of the rotating shaft assembly 120. By limiting the rotation angle of the rotating shaft assembly 120, the rotating shaft assembly 120 can only rotate within a certain angle range. Even if the driving element 21 rotates too much or the driving element 21 is not reset due to misoperation, the rotating shaft assembly 120 will not rotate too much. In turn, it effectively alleviates the problem of the end tool 13 moving too much caused by the rotating shaft assembly 120 rotating too much, protects the end tool 13, and prolongs the service life of the end tool 13.

[0053] In an embodiment, as shown in Figure 4 The first limiting assembly arranged on the rotating shaft assembly 120 can include a first protrusion 1201, and the second limiting assembly arranged on the shell 110 can include a first arc-shaped groove 111. The first arc-shaped groove 111 is located on one side of the rotating shaft assembly 120 and is arranged along the circumference of the rotating shaft assembly 120. The first arc-shaped groove 111 is arranged around the axis of the rotating shaft assembly 120, and the first protrusion 1201 is located in the first arc-shaped groove 111. Specifically, when the first protrusion 1201 cooperates with the first arc-shaped groove 111 to limit the rotation angle of the rotating shaft assembly 120, the maximum rotation angle of the rotating shaft assembly 120 is related to the initial position of the first protrusion 1201 in the first arc-shaped groove 111 and the angle of the central angle corresponding to the first arc-shaped groove 111. For example, assuming that the angle of the central angle corresponding to the first arc-shaped groove 111 is A, as shown in Figure 5 If the initial position of the first protrusion 1201 in the first arc-shaped groove 111 is located at the end of the first arc-shaped groove 111 and abuts against the groove wall of the first arc-shaped groove 111, the maximum rotation angle of the rotating shaft assembly 120 rotating in the clockwise direction is A; as shown in Figure 6 If the initial position of the first protrusion 1201 in the first arc-shaped groove 111 is located at the other end of the first arc-shaped groove 111 and abuts against the groove wall of the first arc-shaped groove 111, the maximum rotation angle of the rotating shaft assembly 120 rotating in the counterclockwise direction is B; as shown in Figure 7 If the initial position of the first protrusion 1201 in the first arc-shaped groove 111 is located in the first arc-shaped groove 111 and does not abut against the groove wall of the first arc-shaped groove 111, if the maximum rotation angle of the rotating shaft assembly 120 rotating in the clockwise direction is A1, the maximum rotation angle of the rotating shaft assembly 120 rotating in the counterclockwise direction is A-A1.

[0054] In an embodiment, the first limiting assembly arranged on the rotating shaft assembly 120 can include a second arc-shaped groove arranged along the circumference of the rotating shaft assembly 120, and the second limiting assembly arranged on the housing 110 can include a second protrusion located in the second arc-shaped groove. In this embodiment, the second protrusion cooperates with the second arc-shaped groove to limit the rotation angle of the rotating shaft assembly 120, so that the rotating shaft assembly 120 can only rotate within a certain angle range. In this case, when the second protrusion and the second arc-shaped groove are used to limit the rotation angle of the rotating shaft assembly 120, the maximum rotation angle of the rotating shaft assembly 120 is consistent with that when the first protrusion 1201 and the first arc-shaped groove 111 are used to limit the rotation angle of the rotating shaft assembly 120, which will not be described here.

[0055] In the above embodiment, the first arc-shaped groove 111 and the second protrusion can be directly or indirectly arranged on the inner surface of the housing 110, or the first arc-shaped groove 111 and the second protrusion can be directly or indirectly arranged on the outer surface of the housing 110. The first protrusion 1201 and the second arc-shaped groove can be located inside the housing 110, or the first protrusion 1201 and the second arc-shaped groove can be located outside the housing 110.

[0056] In the above embodiment, the rotation angle of the rotating shaft assembly 120 is limited by the cooperation of the protrusion and the groove, which is simple and easy to implement.

[0057] In an embodiment, the second limiting assembly arranged on the housing 110 includes first limiting elements 112 and second limiting elements 113 located on one side of the rotating shaft assembly 120 and spaced along the circumference of the rotating shaft assembly 120. Wherein, the first limiting elements 112 and the second limiting elements 113 spaced along the circumference of the rotating shaft assembly 120 means that the first limiting elements 112 and the second limiting elements 113 can form an arc after being connected, and the arc surrounds the axis of the rotating shaft assembly 120. In this embodiment, the first limiting elements 112, the second limiting elements 113 and the first limiting assembly can cooperate to limit the rotation angle of the rotating shaft assembly 120. The specific limiting principle is that when the rotating shaft assembly 120 rotates, the first limiting assembly can only move between the first limiting elements 112 and the second limiting elements 113, which limits the rotation angle of the rotating shaft assembly 120, so that the rotating shaft assembly 120 can only rotate within a certain angle range. The following will describe the maximum rotation angle of the rotating shaft assembly 120 when the rotation angle of the rotating shaft assembly 120 is limited by the specific structure of the first limiting assembly:

[0058] (1) As Figure 8As shown, when the first limiting component provided on the rotating shaft component 120 includes the third protrusion 1202, assuming that the central angle corresponding to the arc formed by the connection of the first limiting element 112 and the second limiting element 113 is H, the rotation angle of the rotating shaft component 120 is related to the initial position of the third protrusion 1202 and the angle of the central angle H; Figure 9 As shown, assuming that the initial position of the third protrusion 1202 is in contact with the first limiting element 112, the maximum rotation angle of the rotating shaft assembly 120 in the clockwise direction is H; Figure 10 As shown, assuming that the initial position of the third protrusion 1202 is in contact with the second limiting element 113, the maximum rotation angle of the rotating shaft assembly 120 in the counterclockwise direction is H; Figure 11 As shown, assuming that the initial position of the third protrusion 1202 is located between the first limiting element 112 and the second limiting element 113, if the maximum rotation angle of the rotating shaft assembly 120 in the clockwise direction is H1, the maximum rotation angle of the rotating shaft assembly 120 in the counterclockwise direction is H-H1.

[0059] (2) Figure 12 As shown, when the first limiting assembly provided on the rotating shaft assembly 120 includes a third protrusion 1202 and a fourth protrusion 1203, the third protrusion 1202 and the fourth protrusion 1203 are spaced apart along the circumference of the rotating shaft assembly 120; the third protrusion 1202 is close to the first limiting element 112, and the fourth protrusion 1203 is close to the second limiting element 113. At this time, assuming that the central angle corresponding to the arc formed by the connection of the first limiting element 112 and the second limiting element 113 is H, and the central angle corresponding to the arc formed by the connection of the third protrusion 1202 and the fourth protrusion 1203 is P, then the maximum rotation angle of the rotating shaft assembly 120 is related to the initial positions of the third protrusion 1202 and the fourth protrusion 1203, the central angle H, and the angle of the central angle P; as shown Figure 13 As shown, assuming that the initial position of the third protrusion 1202 is in contact with the first limiting element 112, the maximum rotation angle of the rotating shaft assembly 120 in the clockwise direction is HP; Figure 14 As shown, assuming that the initial position of the fourth protrusion 1203 is in contact with the second limiting element 113, the maximum rotation angle of the rotating shaft assembly 120 in the counterclockwise direction is HP; Figure 15As shown, assuming that the initial positions of the third protrusion 1202 and the fourth protrusion 1203 are located between the first limiting element 112 and the second limiting element 113, and the central angle formed by the first limiting element 112 and the third protrusion 1202 is J1, and the central angle formed by the second limiting element 113 and the fourth protrusion 1203 is J2, then the maximum rotation angle of the rotating shaft assembly 120 in the counterclockwise direction is J1, and the maximum rotation angle of the rotating shaft assembly 120 in the clockwise direction is J2.

[0060] It is worth noting that in the above embodiment, the first limiting element 112 and the second limiting element 113 can be integrally arranged, and at this time the central angle H is 360°.

[0061] In the above embodiment, the first limiting element 112 and the second limiting element 113 can be directly or indirectly arranged on the inner surface of the shell 110, or the first limiting element 112 and the second limiting element 113 can be arranged on the outer surface of the shell 110. The third protrusion 1202 and the fourth protrusion 1203 can be located inside the shell 110, or the third protrusion 1202 and the fourth protrusion 1203 can be located outside the shell 110.

[0062] In an embodiment, the first limiting element 112 and / or the second limiting element 113 can be a protrusion.

[0063] In the above embodiment, when a protrusion is used as a limiting element to limit the rotation angle of the rotating shaft assembly 120, the structure of the limiting element is simple and easy to process.

[0064] In an embodiment, as shown in Figure 16 One end of the rotating shaft assembly 120 extends out through the bottom of the shell 110, the first limiting assembly in the above embodiment is arranged at one end of the rotating shaft assembly 120, and the second limiting assembly is arranged on the outer bottom surface of the shell 110. Specifically, as shown in Figure 17 An annular groove is arranged on the outer bottom surface of the shell 110, one end of the rotating shaft assembly 120 and the first limiting assembly are located in the annular groove, and the second limiting assembly is located on the groove wall of the annular groove.

[0065] In an embodiment, as shown in Figure 17 One end of the rotating assembly is provided with a rotating disc 1204, the rotating disc 1204 is located in the annular groove, the rotating disc 1204 has opposite first and second surfaces 12041 and 12042, the first surface 12041 is close to the bottom wall of the annular groove, and the rotating disc 1204 further has a first side surface 12043. The first limiting assembly can be arranged on the first surface 12041, or the first limiting assembly can be arranged on the first side surface 12043.

[0066] In an embodiment, asFigure 18 As shown, a matching piece 22 that cooperates with the rotating disk 1204 can be provided on the top surface of the body 20. When the instrument box 11 is installed on the body 20, the matching piece 22 is connected to the rotating disk 1204. Because the matching piece 22 is connected to the driving element 21 in the body 20, after the matching piece 22 is connected to the rotating disk 1204, the rotating disk 1204 is connected to the driving element 21. Specifically, the top surface of the matching piece 22 and the bottom surface of the rotating disk 1204 can be connected by magnetic attraction, or the top surface of the matching piece 22 and the bottom surface of the rotating disk 1204 can be connected by snap fastening, or the top surface of the matching piece 22 and the bottom surface of the rotating disk 1204 can be connected by screws, or the top surface of the matching piece 22 and the bottom surface of the rotating disk 1204 can be connected by matching protrusions and grooves, and the shapes of the protrusions and grooves are the same; illustratively, the protrusions and grooves can be T-shaped, or the protrusions and grooves can be cross-shaped.

[0067] In one embodiment, the instrument box 11 can be connected to the body 20 in the following manner:

[0068] like Figure 16 and Figure 18 As shown, the instrument box 11 is provided with a plurality of connection holes 1205, and the body 20 is provided with a plurality of connection pins 23. After the plurality of connection holes 1205 are matched with the plurality of connection pins 23 in a one-to-one manner, the instrument box 11 and the body 20 can be connected. For example, the plurality of connection pins 23 can be provided on the outer bottom surface of the housing 110, and the plurality of connection holes 1205 can be provided on the top surface of the body 20.

[0069] and / or, such as Figure 17 and Figure 18 As shown, the instrument box 11 may be provided with a plurality of snap-fit ​​components 1206, and the body 20 may be provided with a plurality of snap-fit ​​connection holes 24. After the plurality of snap-fit ​​components 1206 are matched with the plurality of snap-fit ​​connection holes 24 one by one, the instrument box 11 and the body 20 can be connected. The structure of the snap-fit ​​components 1206 is explained in detail below:

[0070] like Figure 19As shown, the buckle assembly 1206 has a first connecting plate 12061, a second connecting plate 12062, a first intermediate plate 12063, a second intermediate plate 12064, a buckle piece 12066, and an elastic piece 12065. The first connecting plate 12061 is arranged on the inner bottom surface of the shell 110, and a first through slot is formed on the shell 110. The second connecting plate 12062 is arranged in the first through slot. The first connecting plate 12061 and the second connecting plate 12062 are oppositely arranged, and the elastic piece 12065 is connected between the first connecting plate 12061 and the second connecting plate 12062. The first intermediate plate 12063 and the second intermediate plate 12064 are oppositely arranged. One end of the first intermediate plate 12063 and the second intermediate plate 12064 is connected with the first connecting plate 12061, and the other end of the first intermediate plate 12063 and the second intermediate plate 12064 is connected with the second connecting plate 12062. A second through slot is arranged on the inner bottom surface of the shell 110. One end of the buckle piece 12066 is connected with the other end of the first intermediate plate 12063 and the second intermediate plate 12064 and the second connecting plate 12062. The other end of the buckle piece 12066 passes through the second through slot, and a bent buckle part is arranged on the other end of the buckle piece.

[0071] The top surface of the body 20 is provided with a mounting plate 25, and a buckle mounting hole penetrates through the mounting plate 25. When the instrument box 11 is mounted on the body 20, the buckle piece 12066 is pressed, the second connecting plate 12062 is driven to move by the buckle piece 12066, the elastic piece 12065 is deformed by being pressed after the second connecting plate 12062 moves, and the buckle piece 12066 is inserted into the buckle mounting hole and cooperates with the buckle mounting hole while the elastic piece 12065 is deformed. As shown, Figure 20 When the buckle piece 12066 is released, the buckle piece 12066 returns to the initial position under the elastic force of the elastic piece 12065, the buckle part is clamped with the inner wall of the mounting plate 25, and the instrument box 11 is mounted on the body 20 after clamping. When the instrument box 11 is detached from the body 20, the buckle piece 12066 is pressed, the second connecting plate 12062 is driven to move after the buckle piece 12066 is pressed, the elastic piece 12065 is deformed by being pressed after the second connecting plate 12062 moves, and the buckle part is disengaged from the inner wall of the mounting plate 25 when the elastic piece 12065 is deformed. At this time, the buckle piece 12066 is removed from the buckle mounting hole, and the detachment of the instrument box 11 is completed after the removal is completed.

[0072] In the above embodiment, the surgical instrument 10 is connected to the body 20 by the connecting pin 23 and / or the buckle assembly 1206, so that the instrument box 11 can be quickly replaced on the body 20.

[0073] Next, taking the forceps as an example, the working principle of the surgical robot 1 in the present application will be described in detail.

[0074] like Figure 21 As shown, four rotating axis assemblies 120 are provided in the instrument box 11, namely the first rotating axis assembly 121, the second rotating axis assembly 122, the third rotating axis assembly 123 and the fourth rotating axis assembly 124, and four driving elements 21 are provided in the main body 20, and the four driving elements 21 are connected to the above-mentioned four rotating axis assemblies 120 one by one; each driving element 21 is used to drive the rotating axis assembly 120 connected thereto to rotate; when the above-mentioned four rotating axis assemblies 120 rotate, the end tool 13 can perform opening and closing, yaw, rotation and pitching actions; however, if the driving element 21 rotates too much due to misoperation or the driving element 21 is not reset, the rotation angle of the rotating axis assembly 120 will be too large. The excessive rotation angle of the rotating axis assembly 120 will cause the end tool 13 to have too large an action angle when performing the above-mentioned opening and closing, yaw, rotation and pitching actions, which may easily cause damage to the end tool 13 and affect the service life of the end tool 13. To this end, a first limiter assembly can be provided on each rotating shaft assembly 120 using the method described in the above embodiment, and multiple second limiters can be provided on the housing 110. The second limiters cooperate with the first limiters to limit the rotation angle of the rotating shaft assembly 120 to which the first limiter assembly belongs. By limiting the rotation angle of the rotating shaft assembly 120, the rotating shaft assembly 120 can only rotate within a certain angle range, thereby enabling the end tool 13 to perform opening and closing, yaw, rotation, and pitch movements according to certain movement angles, thereby alleviating the problem of the end tool 13's service life being affected by excessive movement angles.

[0075] The specific structures of the first limiting assembly and the second limiting assembly are detailed in the above embodiment, wherein the structure of the first limiting assembly on each rotating shaft assembly 120 can be different, and the structure of the first limiting assembly on all rotating shaft assemblies 120 can be the same. Below, taking the example that the first limiting assembly on each rotating shaft assembly 120 includes a third protrusion 1202, and each second limiting assembly on the housing 110 includes a first limiting element 112 and a second limiting element 113, the principle of limiting the rotation angle of the rotating shaft assembly 120 by the first limiting assembly and the second limiting assembly is explained. In this embodiment, the initial position of the third protrusion 1202 is located between the first limiting element 112 and the second limiting element 113:

[0076] like Figure 22As shown, the end tool 13 comprises a seat body 133, a first clamping piece 131 and a second clamping piece 132, the first clamping piece 131 and the second clamping piece 132 are rotationally connected with the distal end of the seat body 133 through a first shaft body 134, the proximal end of the seat body 133 is rotationally connected with the distal end of the straight pipe 12 through a second shaft body 135; the proximal end of the straight pipe 12 is connected with the instrument box 11. The surgical robot 1 is located in a coordinate system comprising X-axis, Y-axis and Z-axis which are perpendicular to each other; the extension direction of the first shaft body 134 is parallel to the Z-axis, the extension direction of the second shaft body 135 is parallel to the Y-axis, and the symmetry axis L of the straight pipe 12 is parallel to the X-axis.

[0077] The first driving rope is wound on the first rotating shaft assembly 121, the leading end of the first driving rope is connected with the first clamping piece 131, the second driving rope is wound on the second rotating shaft assembly 122, the leading end of the second driving rope is connected with the second clamping piece 132, the third driving rope is wound on the third rotating shaft assembly 123, the leading end of the third driving rope is connected with the seat body 133, and the fourth driving rope is wound on the fourth rotating shaft assembly 124, the leading end of the fourth driving rope is connected with the proximal end of the straight pipe 12.

[0078] Referring to Figure 11 and Figure 22 When the driving element 21 corresponding to the first rotating shaft assembly 121 rotates in the clockwise direction, the first rotating shaft assembly 121 and the third protrusion 1202 thereon rotate from the initial position in the clockwise direction, the first driving rope is reeled in or out when the first rotating shaft assembly 121 rotates in the clockwise direction, the first driving rope reeled in or out drives the first clamping piece 131 to rotate in the clockwise direction around the first shaft body 134, when the third protrusion 1202 abuts against the second limiting element 113, the first rotating shaft assembly 121 is prevented from continuing to rotate in the clockwise direction, and the first clamping piece 131 reaches the maximum rotation angle in the clockwise direction; when the driving element 21 corresponding to the first rotating shaft assembly 121 rotates in the counterclockwise direction, the first rotating shaft assembly 121 and the third protrusion 1202 thereon rotate from the initial position in the counterclockwise direction, the first driving rope is reeled in or out when the first rotating shaft assembly 121 rotates in the counterclockwise direction, the first driving rope reeled in or out drives the first clamping piece 131 to rotate in the counterclockwise direction around the first shaft body 134, when the third protrusion 1202 abuts against the first limiting element 112, the first rotating shaft assembly 121 is prevented from continuing to rotate in the counterclockwise direction, and the first clamping piece 131 reaches the maximum rotation angle in the counterclockwise direction.

[0079] Referring to Figure 11 and Figure 22When the driving element 21 corresponding to the second rotating shaft assembly 122 rotates clockwise, the second rotating shaft assembly 122 and the third protrusion 1202 thereon rotate clockwise from the initial position, the second rotating shaft assembly 122 rotates clockwise and the second driving rope is reeled in and out, the second driving rope is reeled in and out to drive the second clamping piece 132 to rotate clockwise around the first shaft body 134, when the third protrusion 1202 abuts against the second limiting element 113, the second rotating shaft assembly 122 is prevented from continuing to rotate clockwise, and the second clamping piece 132 reaches the maximum rotation angle of clockwise rotation; when the driving element 21 corresponding to the second rotating shaft assembly 122 rotates counterclockwise, the second rotating shaft assembly 122 and the third protrusion 1202 thereon rotate counterclockwise from the initial position, the second rotating shaft assembly 122 rotates counterclockwise and the second driving rope is reeled in and out, the second driving rope is reeled in and out to drive the second clamping piece 132 to rotate counterclockwise around the first shaft body 134, when the third protrusion 1202 abuts against the first limiting element 112, the second rotating shaft assembly 122 is prevented from continuing to rotate counterclockwise, and the second clamping piece 132 reaches the maximum rotation angle of counterclockwise rotation.

[0080] When the first clamping piece 131 or the second clamping piece 132 rotates around the first shaft body 134, or when the first clamping piece 131 and the second clamping piece 132 both rotate around the first shaft body 134 but in opposite directions, the first clamping piece 131 and the second clamping piece 132 can complete the opening and closing actions; when the first clamping piece 131 and the second clamping piece 132 rotate in the same direction, the first clamping piece 131 and the second clamping piece 132 can perform the yawing action.

[0081] It can be seen that, in the embodiment, the first limiting assembly and the second limiting assembly can limit the action angle of the end tool 13 when performing the opening and closing action and the yawing action.

[0082] Referring to Figure 11 and Figure 22When the driving element 21 corresponding to the third rotating shaft assembly 123 rotates clockwise, the third rotating shaft assembly 123 and the third protrusion 1202 thereon rotate clockwise from the initial position. When the third rotating shaft assembly 123 rotates clockwise, the third driving rope is retracted. After the third driving rope is retracted and released, it drives the end tool 13 to rotate clockwise around the second shaft 135. When the third protrusion 1202 abuts against the second limiting element 113, it prevents the third rotating shaft assembly 123 from continuing to rotate clockwise, and the end tool 13 reaches the maximum rotation angle in the clockwise direction. ; When the driving element 21 corresponding to the third rotating shaft assembly 123 rotates counterclockwise, the third rotating shaft assembly 123 and the third protrusion 1202 thereon rotate counterclockwise from the initial position. When the third rotating shaft assembly 123 rotates counterclockwise, the third driving rope is retracted. After the third driving rope is retracted and released, it drives the end tool 13 to rotate counterclockwise around the second axis 135. When the third protrusion 1202 abuts against the first limiting element 112, it will prevent the third rotating shaft assembly 123 from continuing to rotate counterclockwise, and the end tool 13 reaches the maximum rotation angle in the counterclockwise direction.

[0083] The end tool 13 can perform a pitching motion when rotating around the second axis 135 . Therefore, it can be seen that in this embodiment, the first limiting assembly and the second limiting assembly can limit the movement angle of the end tool 13 when performing a pitching motion.

[0084] See also Figure 11 and Figure 21 When the driving element 21 corresponding to the fourth rotating shaft assembly 124 rotates clockwise, the fourth rotating shaft assembly 124 and the third protrusion 1202 thereon rotate clockwise from the initial position. When the fourth rotating shaft assembly 124 rotates clockwise, the fourth driving rope is retracted and released. After the fourth driving rope is retracted and released, it drives the straight tube 12 and the end tool 13 to rotate clockwise around the symmetry axis L of the straight tube 12. When the third protrusion 1202 abuts the second limiting element 113, it prevents the fourth rotating shaft assembly 124 from continuing to rotate clockwise, and the end tool 13 and the straight tube 12 reach the maximum rotation angle in the clockwise direction. When the driving element 21 corresponding to the fourth rotating shaft assembly 124 rotates counterclockwise, the fourth rotating shaft assembly 124 and the third protrusion 1202 thereon rotate counterclockwise from the initial position. When the fourth rotating shaft assembly 124 rotates counterclockwise, the fourth driving rope is retracted. After the fourth driving rope is retracted and released, it drives the straight tube 12 and the end tool 13 to rotate counterclockwise around the symmetry axis L of the straight tube 12. When the third protrusion 1202 abuts against the first limiting element 112, it will prevent the fourth rotating shaft assembly 124 from continuing to rotate counterclockwise, and the end tool 13 and the straight tube 12 reach the maximum rotation angle in the counterclockwise direction.

[0085] It can be seen that, in the embodiment, the first limiting assembly and the second limiting assembly can limit the action angle of the end tool 13 when performing the overall rotation action.

[0086] In the above embodiment, the maximum rotation angle of the first rotation shaft assembly 121, the second rotation shaft assembly 122, the third rotation shaft assembly 123, and the fourth rotation shaft assembly 124 can be set according to the maximum action angle of the end tool 13, the proportional relationship between the rotation angle of the rotation shaft assembly 120 and the action angle of the end tool 13. For example, if the proportional relationship between the rotation angle of the rotation shaft assembly 120 and the action angle of the end tool 13 is 1:1, the maximum rotation angle of the first clamping piece 131 and the second clamping piece 132 when rotating in the counterclockwise direction and in the clockwise direction is 90°, the maximum pitch angle of the end tool 13 when pitching in the clockwise direction and in the counterclockwise direction is 90°, and the maximum rotation angle of the end tool 13 when rotating in the counterclockwise direction and in the clockwise direction is 180°, the maximum rotation angle of the first rotation shaft assembly 121 and the second rotation shaft assembly 122 when rotating in the counterclockwise direction and in the clockwise direction can be 90°, the maximum rotation angle of the third rotation shaft assembly 123 when rotating in the counterclockwise direction and in the clockwise direction can be 90°, and the maximum rotation angle of the fourth rotation shaft assembly 124 when rotating in the counterclockwise direction and in the clockwise direction can be 180°. If the proportional relationship between the rotation angle of the rotation shaft assembly 120 and the action angle of the end tool 13 is 1:1.5, and the maximum rotation angle of the end tool 13 when rotating in the counterclockwise direction and in the clockwise direction is 270°, the maximum rotation angle of the fourth rotation shaft assembly 124 when rotating in the counterclockwise direction and in the clockwise direction can be 180°. If the proportional relationship between the rotation angle of the rotation shaft assembly 120 and the action angle of the end tool 13 is 1:2, and the maximum pitch angle of the end tool 13 when pitching in the clockwise direction and in the counterclockwise direction is 90°, the maximum rotation angle of the third rotation shaft assembly 123 when rotating in the counterclockwise direction and in the clockwise direction can be 45°.

[0087] In the above embodiment, the limiting structure is arranged on the rotation shaft and the shell 110, which can alleviate the damage of the surgical robot 1 caused by the misoperation of the surgical robot 1, and protect the surgical robot 1.

[0088] The above only describes the preferred embodiments of the present application and is not used to limit the present application. Various modifications and changes can be made by those skilled in the art based on the spirit and principles of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An instrument cassette, characterized in that, The instrument box comprises: a housing; a rotating shaft assembly at least partially located in the housing, a driving rope being wound on the rotating shaft assembly, an outgoing end of the driving rope being used for connecting with an end tool; wherein a first limiting assembly is arranged on the rotating shaft assembly, and a second limiting assembly is arranged on the housing, the second limiting assembly being used for cooperating with the first limiting assembly to limit the rotating angle of the rotating shaft assembly.

2. The instrument cassette of claim 1, wherein, The first limiting assembly comprises a first protrusion, and the second limiting assembly comprises a first arc-shaped groove arranged on one side of the rotating shaft assembly and along the circumference of the rotating shaft assembly, the first protrusion being located in the first arc-shaped groove. Alternatively, the first limiting assembly comprises a second arc-shaped groove arranged along the circumference of the rotating shaft assembly, and the second limiting assembly comprises a second protrusion, the second protrusion being located in the second arc-shaped groove.

3. The instrument cassette of claim 1, wherein, The second limiting assembly comprises first limiting elements and second limiting elements arranged on one side of the rotating shaft assembly and spaced along the circumference of the rotating shaft assembly; when the rotating shaft assembly moves, the first limiting assembly moves between the first limiting elements and the second limiting elements.

4. The instrument cassette of claim 3, wherein, The first limiting assembly comprises a third protrusion, and when the rotating shaft assembly rotates, the third protrusion moves between the first limiting elements and the second limiting elements.

5. The instrument cassette of claim 4, wherein, The first limiting assembly further comprises a fourth protrusion, and the third protrusion and the fourth protrusion are spaced along the circumference of the rotating shaft assembly; when the rotating shaft assembly rotates, the fourth protrusion moves between the first limiting elements and the second limiting elements.

6. The instrument cassette of any of claims 1-5, wherein, One end of the rotating shaft assembly extends out through the bottom of the housing, the first limiting assembly is arranged at one end of the rotating shaft assembly, and the second limiting assembly is arranged on the bottom surface of the housing.

7. The instrument cassette of claim 6, wherein, The bottom of the housing is provided with an annular groove, one end of the rotating shaft assembly is located in the annular groove, and the second limiting assembly is arranged on the groove wall of the annular groove.

8. A surgical instrument, characterized by The surgical instrument further comprises a straight pipe and an end tool in addition to the instrument box as claimed in any one of claims 1-7; wherein the surgical instrument is connected with the end tool through the straight pipe.

9. A surgical robot, characterized by The surgical robot further comprises a body in addition to the surgical instrument as claimed in claim 8; wherein the instrument box is detachably connected on the body, and the body is provided with a driving element for driving the rotating shaft assembly to rotate.

10. The surgical robot of claim 9, wherein, The instrument box is provided with a plurality of connecting holes, the body is provided with a plurality of connecting pins, and when the instrument box is connected on the body, the plurality of connecting pins correspondingly cooperate with the plurality of connecting holes; and / or, the instrument box is provided with a plurality of buckle assemblies, the body is provided with a plurality of buckle connecting holes, and when the instrument box is connected on the body, the plurality of buckle assemblies correspondingly cooperate with the plurality of buckle connecting holes.

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