Instrument transmission box and surgical robot

Abstract

The utility model relates to the field of medical equipment, in particular to an instrument transmission box and a surgical robotic.The instrument transmission box comprises a box body and a transmission rod extending outwards from the interior of the box body, and a first rotating rod, a second rotating rod and an adjusting assembly are arranged in the box body; the adjusting assembly comprises a first movable pulley block and a second movable pulley block which move in opposite directions, and the axes of the first movable pulley block and the second movable pulley block and the axes of the first rotating rod and the second rotating rod are arranged to form included angles, so that the first cable and the second cable bypass the first movable pulley block; and when bypassing the second movable pulley block, the third cable and the fourth cable extend in the axial directions of the first rotating rod and the second rotating rod, so that the cables extend in the transverse direction of the box body and also extend in the longitudinal direction of the box body, the internal space of the box body is fully utilized, and the service life of the box body is prolonged. The problem that the pulley and the rotating rod are concentrated on the same plane in the box body and consequently the space of the box body is not enough is solved, and miniaturization design of the transmission box is facilitated.

Description

Technical Field

[0001] This application relates to the field of medical devices, specifically an instrument transmission box and a surgical robot. Background Technology

[0002] Existing surgical robots typically include an instrument box for actuation and an end effector to perform surgical actions. During minimally invasive surgery, the end effector usually needs to have four degrees of freedom: pitch, yaw, opening / closing, and rotation. The wrist actuation of the end effector requires three degrees of freedom: pitch, yaw, and opening / closing. These three degrees of freedom are related to the number of actuation wires. The fewer the number of actuation wires, the more compact the actuation structure of the instrument box, which is more conducive to miniaturization of the instrument and can reduce the corresponding cost.

[0003] In existing four-wire driven surgical instruments, the drive wire connects to and passes around multiple pulleys. Its yaw and opening / closing actions are coupled and accomplished through a common drive wire. Pitching is achieved by simultaneously controlling the tension and release of two sets of drive wires. However, the layout of such instrument boxes is often achieved in a planar manner, that is, multiple pulleys are located in the same planar area, which does not make full use of the longitudinal space of the instrument box, resulting in a large volume of instrument box, which is not conducive to miniaturization.

[0004] For example, in the prior art of Chinese patent CN113367796A, entitled "Rear-end Transmission Device, Medical Device, and Surgical Robot," the rear-end transmission device achieves the degrees of freedom of the instrument's end effector in pitch, yaw, and opening / closing through multiple rotating components, pulley assemblies, and four drive wires. However, most of the rotating components and pulley assemblies in its design have the same axis, so they are almost all located in the same plane. This results in the rotating components and pulley assemblies occupying most of the planar space, thus necessitating an increase in the size of the instrument box. Consequently, the internal structure and layout of the traditional instrument box are unreasonable, with low space utilization, which is not conducive to the miniaturization of surgical robots. The internal structure of the instrument box needs further improvement. Utility Model Content

[0005] To solve, or at least partially solve, the aforementioned technical problems, this application provides an instrument transmission box for motion control of a surgical robot end effector, comprising a box body and a transmission rod extending from the inside of the box body to the outside, wherein the box body contains:

[0006] The first rotating rod is wound with a first cable and a second cable, the first cable and the second cable being wound in opposite directions;

[0007] The second rotating rod is wound with a third cable and a fourth cable, the third cable and the fourth cable being wound in opposite directions;

[0008] The adjustment assembly includes a first movable pulley group and a second movable pulley group, wherein the first cable and the second cable extend through the first movable pulley group into the transmission rod, and the third cable and the fourth cable extend through the second movable pulley group into the transmission rod;

[0009] The axes of the first movable pulley group and the second movable pulley group are set at an angle to the axes of the first rotating rod and the second rotating rod, so that when the first cable and the second cable pass around the first movable pulley group, and when the third cable and the fourth cable pass around the second movable pulley group, they extend at least partially in the direction of the axis of the first rotating rod and the second rotating rod.

[0010] The first and second movable pulley groups are capable of moving in opposite directions, thereby releasing the third and fourth cables when the first and second cables are pulled closer, or releasing the first and second cables when the third and fourth cables are pulled closer.

[0011] Optionally, the box body includes a base, the first rotating rod and the second rotating rod are respectively vertically arranged on the base, and the angle formed by the axis of the first movable pulley group and the axis of the second movable pulley group with the axis of the first rotating rod and the second rotating rod is 90 degrees.

[0012] Optionally, the box body is further provided with a first fixed pulley group and a second fixed pulley group, the first fixed pulley group and the second fixed pulley group are coaxially arranged, and the axes of the first fixed pulley group and the second fixed pulley group are parallel to the axes of the first movable pulley group and the second movable pulley group.

[0013] The first fixed pulley group and the second fixed pulley group are located on the side of the first movable pulley group and the second movable pulley group that are relatively far away from the base. The first cable and the second cable pass around the first fixed pulley group, and the third cable and the fourth cable pass around the second fixed pulley group.

[0014] Optionally, the box body is further provided with a third fixed pulley group and a fourth fixed pulley group, the third fixed pulley group and the fourth fixed pulley group are coaxially arranged, and the axes of the third fixed pulley group and the fourth fixed pulley group are parallel to the axes of the first fixed pulley group and the second fixed pulley group;

[0015] The third and fourth fixed pulley groups are located on the side of the first and second movable pulley groups that are relatively away from the base, and the third and fourth fixed pulley groups are located near the transmission rod; the first and second cables pass around the third fixed pulley group, and the third and fourth cables pass around the fourth fixed pulley group.

[0016] Optionally, the transmission rod is inclined at the edge of the base, with one end of the transmission rod facing the third and fourth fixed pulley groups.

[0017] Optionally, the adjustment component includes:

[0018] A fixed base is provided with a first movable base and a second movable base, the first movable pulley group is installed on the first movable base, and the second movable pulley group is installed on the second movable base;

[0019] A first driving mechanism is connected to the first movable seat and the second movable seat. The first driving mechanism is used to drive the first movable seat and the second movable seat to slide relative to the fixed seat in opposite directions.

[0020] Optionally, the first drive mechanism includes:

[0021] A gear shaft is disposed between the first movable seat and the second movable seat, and meshes with the racks on the first movable seat and the second movable seat;

[0022] The third rotating rod is arranged parallel to the gear shaft and connected to the gear shaft through the first transmission component. The third rotating rod drives the gear shaft to rotate through the first transmission component, thereby driving the first movable seat and the second movable seat to slide.

[0023] Optionally, the first transmission component includes a fifth cable wound around the third rotating rod and the gear shaft, and the third rotating rod drives the gear shaft to rotate through the fifth cable.

[0024] Optionally, the first transmission component includes a first toothed pawl fixedly disposed on the third rotating rod and a second toothed pawl fixedly disposed on the gear shaft, wherein the first toothed pawl meshes with the second toothed pawl.

[0025] Optionally, the housing may also include a second drive mechanism, which includes a fourth rotating rod connected to the transmission rod via a second transmission component to drive the transmission rod to rotate.

[0026] Optionally, the second transmission component includes a sixth cable wound around the fourth rotating rod and the transmission rod, wherein the fourth rotating rod drives the transmission rod to rotate via the sixth cable.

[0027] Optionally, the second transmission component includes a first gear fixedly mounted on the fourth rotating rod and a second gear fixedly mounted on the transmission rod, wherein the first gear meshes with the second gear.

[0028] This application provides a surgical robot, comprising:

[0029] The instrument transmission box as described above;

[0030] The end effector is connected to the transmission rod of the instrument transmission box. The first cable, the second cable, the third cable and the fourth cable are all connected to the end effector. The end effector has at least the degrees of freedom of yaw, opening and closing and pitch.

[0031] A control device, connected to the instrument transmission box, is used to drive the first rotating rod, the second rotating rod, and the adjustment assembly of the instrument transmission box to operate.

[0032] The first and second rotating rods rotate in the same direction to achieve the yaw action of the end device, the first and second rotating rods rotate in opposite directions to achieve the opening and closing action of the end device, and the adjustment component moves to achieve the pitch action of the end device.

[0033] The instrument transmission box provided in this application sets the axes of the first and second movable pulley groups at an angle to the axes of the first and second rotating rods. This ensures that the first and second cables, when passing over the first movable pulley group, and the third and fourth cables, when passing over the second movable pulley group, extend at least in the direction of the axes of the first and second rotating rods. This allows the cables to extend both laterally and longitudinally within the box, fully utilizing the internal space and avoiding the problem of insufficient space caused by the pulleys and rotating rods being concentrated on the same plane inside the box. This facilitates the miniaturization of the transmission box design. Furthermore, the multi-directional arrangement of the pulleys and rotating rods allows the first and second movable pulley groups to move in opposite directions to achieve the pitch movement of the end effector. Compared to the unidirectional movement of the first and second movable pulley groups in the prior art, the movable pulley groups in this application have less space to move, further optimizing the volume of the transmission box and resulting in a more compact structure.

[0034] The surgical robot provided in this application realizes surgical actions by controlling the end effector through the aforementioned instrument transmission box. Based on the miniaturization advantage of the instrument transmission box as described above, the size of the surgical robot in this application is further optimized, which is beneficial to the overall shape design of the surgical robot. Attached Figure Description

[0035] To more clearly illustrate the embodiments of this application, the relevant drawings will be briefly described below. It is understood that the drawings described below are only for illustrating some embodiments of this application, and those skilled in the art can obtain many other technical features and connections not mentioned herein based on these drawings.

[0036] Figure 1 This is a schematic diagram of the structure of the transmission box of the device in this application;

[0037] Figure 2 This is a schematic diagram of the internal structure of the transmission box of the device in this application;

[0038] Figure 3 for Figure 2 A schematic diagram of the front view of the structure in direction A;

[0039] Figure 4 This is a schematic diagram of the adjustment assembly in the transmission box of the device in this application;

[0040] Figure 5 This is a schematic diagram of the structure of one embodiment of the device transmission box of this application;

[0041] Figure 6 This is a schematic diagram of the structure of one embodiment of the device transmission box of this application;

[0042] Figure 7 This is a schematic diagram of the end effector of the surgical robot of this application.

[0043] Explanation of reference numerals in the attached figures:

[0044] 11. Base; 12. Top plate; 121. Fixing bracket;

[0045] 21. First rotating rod; 22. Second rotating rod; 23. Third rotating rod; 24. Fourth rotating rod;

[0046] 30. Adjustment assembly; 301. First movable pulley group; 302. Second movable pulley group; 31. Gear shaft; 32. Fixed base; 33. First movable base; 34. Second movable base; 35. First toothed pawl; 36. Second toothed pawl;

[0047] 401. First fixed pulley group; 402. Second fixed pulley group; 403. Third fixed pulley group; 404. Fourth fixed pulley group; 405. Fifth fixed pulley group; 406. Sixth fixed pulley group;

[0048] 51. First gear; 52. Second gear;

[0049] 60. Transmission rod;

[0050] 70. Terminal device;

[0051] a. First cable; b. Second cable; c. Third cable; d. Fourth cable; e. Fifth cable; f. Sixth cable. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0053] In the description of the embodiments of this utility model, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this utility model. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0054] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model based on the specific circumstances.

[0055] The technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0056] Example 1

[0057] This embodiment provides an instrument transmission box for motion control of the end effector of a surgical robot. The input end of the instrument transmission box is connected to the control device of the surgical robot, and the output end of the instrument transmission box is connected to the end effector 70 of the surgical robot. The control device provides power to the instrument transmission box, and the instrument transmission box converts the power into surgical operation actions of the end effector 70 to realize the corresponding surgical operation.

[0058] like Figure 1 As shown, the instrument transmission box provided in this embodiment has a box body, and a transmission rod 60 extending from the inside of the box body to the outside is provided on one side of the box body. The box body is connected to the end device 70 through the transmission rod 60.

[0059] The box in this embodiment includes a base 11 and a top plate 12, and also includes an outer shell (not shown in the figure) disposed outside the base 11 and the top plate 12. The base 11 and the top plate 12 form a frame for mounting the internal components of the box.

[0060] like Figure 2 As shown, the base 11 of this embodiment is provided with a first rotating rod 21 and a second rotating rod 22. A first cable a and a second cable b are wound around the surface of the first rotating rod 21, and the first cable a and the second cable b are in opposite directions along the winding direction of the first rotating rod 21; a third cable c and a fourth cable d are wound around the surface of the second rotating rod 22, and similarly, the third cable c and the fourth cable d are in opposite directions along the winding direction of the second rotating rod 22.

[0061] In this embodiment, the first cable a and the second cable b are wound around the first rotating rod 21 in opposite directions. This means that when the first rotating rod 21 rotates, one of the first cable a and the second cable b is pulled closer, while the other is released. Based on the same principle, when the second rotating rod 22 rotates, one of the third cable c and the fourth cable d is pulled closer, while the other is released.

[0062] In one embodiment, the first cable a and the second cable b can be two independent cables or two parts of the same cable. The first cable a is located on one side of the first rotating rod 21 and the second cable b is located on the other side of the first rotating rod 21, based on the position of the cable contacting the surface of the first rotating rod 21. When the first rotating rod 21 rotates, one side of the cable on both sides of the first rotating rod 21 is pulled closer and the other side is released.

[0063] Similarly, the second rotating rod 22 is also connected to the third cable c and the fourth cable d, which will not be elaborated here.

[0064] In one embodiment, a spiral groove is provided on the surface of the first rotating rod 21, allowing the cable to be wound regularly around the first rotating rod 21 along the spiral groove, thus preventing interference or tangling between the cables. Similarly, the second rotating rod 22 is also provided with the same feature.

[0065] Please see Figure 1 and Figure 2 In this embodiment, there are also a third rotating rod 23 and a fourth rotating rod 24. The first rotating rod 21, the second rotating rod 22, the third rotating rod 23 and the fourth rotating rod 24 are respectively vertically arranged on the base 11, and these four rotating rods are respectively connected to the base 11 and the top plate 12 to form a frame structure. The base 11 and the top plate 12 are arranged in parallel. These four rotating rods are respectively arranged on the edge of the base 11 to form an accommodating space between the base 11 and the top plate 12.

[0066] The first rotating rod 21, the second rotating rod 22, the third rotating rod 23, and the fourth rotating rod 24 are rotatably connected to the base 11 and the top plate 12, respectively, and can be driven by the control device to rotate. The rotation of the third rotating rod 23 and the fourth rotating rod 24 will be further explained in the later part. The design of the four rotating rods here can ensure the stability of the box structure frame, and thus also improve the space in the height direction of the box.

[0067] like Figure 2 As shown, in this embodiment, an adjustment assembly 30 is also provided within the space enclosed by the four rotating rods, the base 11, and the top plate 12. The adjustment assembly 30 has a first movable pulley group 301 and a second movable pulley group 302. A first cable a and a second cable b extend around the first movable pulley group 301 and into the transmission rod 60, and a third cable c and a fourth cable d extend around the second movable pulley group 302 and into the transmission rod 60.

[0068] In this embodiment, the first movable pulley group 301 and the second movable pulley group 302 can move in opposite directions, thereby releasing the third cable c and the fourth cable d when the first cable a and the second cable b are pulled closer, or releasing the first cable a and the second cable b when the third cable c and the fourth cable d are pulled closer.

[0069] Specifically, such as Figure 4 As shown, the adjustment assembly 30 includes a fixed seat 32 disposed on the base 11, a first movable seat 33 and a second movable seat 34 mounted thereon, a first movable pulley group 301 mounted on the first movable seat 33, and a second movable pulley group 302 mounted on the second movable seat 34.

[0070] The adjustment assembly 30 also includes a first drive mechanism, which connects the first movable seat 33 and the second movable seat 34. The first drive mechanism is used to drive the first movable seat 33 and the second movable seat 34 to slide relative to the fixed seat 32 in opposite directions.

[0071] In one specific embodiment, the first driving mechanism may be a gear shaft 31. A rack is respectively provided on the first movable seat 33 and the second movable seat 34, and the racks on the first movable seat 33 and the second movable seat 34 are parallel. The gear shaft 31 is disposed between the first movable seat 33 and the second movable seat 34 and meshes with their racks. When the gear shaft 31 is driven to rotate, the gear shaft 31 drives the first movable seat 33 and the second movable seat 34 to move in opposite directions, thereby realizing that the first movable pulley group 301 and the second movable pulley group 302 move in opposite directions.

[0072] Of course, the first drive mechanism in this embodiment is not limited to the structure of gears and racks, but can also be other transmission modes, as long as it can satisfy the requirement that the first movable pulley group 301 and the second movable pulley group 302 can move in opposite directions.

[0073] As mentioned in the above embodiments, the third rotating rod 23 not only serves as a support for the box frame as described above, but can also be part of the first driving mechanism in this embodiment.

[0074] Please see Figure 2 and Figure 4 The third rotating rod 23 is arranged parallel to the gear shaft 31 and is connected to the gear shaft 31 through the first transmission component. The third rotating rod 23 drives the gear shaft 31 to rotate through the first transmission component, so as to drive the first moving seat 33 and the second moving seat 34 to slide.

[0075] In this embodiment, the first transmission component includes a fifth cable e wound around the third rotating rod 23 and the gear shaft 31, and the third rotating rod 23 drives the gear shaft 31 to rotate through the fifth cable e.

[0076] The specific method by which the third rotating rod 23 and the gear shaft 31 wind the fifth cable e can be referred to the structure of the first rotating rod 21 as described above, and will not be repeated here.

[0077] Therefore, based on the above structure, in this embodiment, the first cable a and the second cable b bypass the first movable pulley group 301 and extend into the transmission rod 60, connecting to the external end device 70. The third cable c and the fourth cable d bypass the second movable pulley group 302 and extend into the transmission rod 60, connecting to the external end device 70. The rotation of the first rotating rod 21, the second rotating rod 22, and the third rotating rod 23 can realize the yaw, opening and closing, and pitching movements of the end device 70. The specific transmission control principle will be explained in detail in the following embodiment.

[0078] It is worth mentioning that one of the improvements in this embodiment is that the axes of the first movable pulley group 301 and the second movable pulley group 302 are set at an angle to the axes of the first rotating rod 21 and the second rotating rod 22, so that when the first cable a and the second cable b pass around the first movable pulley group 301, and when the third cable c and the fourth cable d pass around the second movable pulley group 302, these cables extend at least in the direction of the axes of the first rotating rod 21 and the second rotating rod 22.

[0079] Preferred, such as Figure 2 As shown, the first rotating rod 21 and the second rotating rod 22 are respectively vertically arranged on the base 11, and the angle formed by the axis of the first movable pulley group 301 and the second movable pulley group 302 with the axis of the first rotating rod 21 and the second rotating rod 22 is 90 degrees.

[0080] In other words, the first rotating rod 21 and the second rotating rod 22 are perpendicular to the base 11. The first rotating rod 21 and the second rotating rod 22 extend in the height direction of the box. Thus, these cables extend at least in the height direction of the box, so that the cables extend in both the horizontal direction (width or length direction) and the vertical direction (height direction) of the box. This design makes full use of the internal space of the box and avoids the problem of insufficient box space caused by the pulleys and rotating rods being concentrated on the same plane inside the box. It is conducive to the miniaturization design of the transmission box.

[0081] Meanwhile, the arrangement of pulleys and rotating rods in multiple directions makes it easier for the first movable pulley group 301 and the second movable pulley group 302 to move in opposite directions in order to realize the pitching movement of the end device 70. Compared with the same-direction movement of the movable pulley groups in the prior art, the first movable pulley group 301 and the second movable pulley group 302 in this embodiment have a smaller movement space, which is more conducive to optimizing the volume of the transmission box and making the structure more compact.

[0082] like Figure 2 and Figure 3 As shown, another improvement in this embodiment is that a first fixed pulley group 401 and a second fixed pulley group 402 are also provided inside the box. The first fixed pulley group 401 and the second fixed pulley group 402 are coaxially arranged, and the axes of the first fixed pulley group 401 and the second fixed pulley group 402 are parallel to the axes of the first movable pulley group 301 and the second movable pulley group 302. The first fixed pulley group 401 and the second fixed pulley group 402 are located on the side of the first movable pulley group 301 and the second movable pulley group 302 that is relatively far away from the base 11. That is, it can be understood that the first fixed pulley group 401 and the second fixed pulley group 402 are located above the first movable pulley group 301 and the second movable pulley group 302. The first cable a and the second cable b pass around the first fixed pulley group 401, and the third cable c and the fourth cable d pass around the second fixed pulley group 402.

[0083] The arrangement of the first fixed pulley group 401 and the second fixed pulley group 402 allows the four cables to extend further into the height direction of the box, making use of the height space of the box while reducing the space occupied by the width space of the box, which is beneficial to the spatial arrangement of the box.

[0084] Furthermore, such as Figure 2 As shown, the box body is also equipped with a third fixed pulley group 403 and a fourth fixed pulley group 404. The third fixed pulley group 403 and the fourth fixed pulley group 404 are coaxially arranged, and the axes of the third fixed pulley group 403 and the fourth fixed pulley group 404 are parallel to the axes of the first fixed pulley group 401 and the second fixed pulley group 402.

[0085] The third fixed pulley group 403 and the fourth fixed pulley group 404 are located on the side of the first movable pulley group 301 and the second movable pulley group 302 that is relatively away from the base 11. The first cable a and the second cable b pass around the third fixed pulley group 403, and the third cable c and the fourth cable d pass around the fourth fixed pulley group 404. In this embodiment, the third fixed pulley group 403 and the fourth fixed pulley group 404 are arranged in the same way and have the same function as the first fixed pulley group 401 and the second fixed pulley group 402 to maintain the stability of the cables in the height space. The only difference is that the third fixed pulley group 403 and the fourth fixed pulley group 404 are located close to the transmission rod 60 to facilitate guiding the cables into the transmission rod 60.

[0086] like Figure 3 As shown, a fixed bracket 121 is provided on the lower surface of the top plate 12 in this embodiment. The first fixed pulley group 401 and the second fixed pulley group 402 can be installed on the fixed bracket 121 to achieve the suspended setting of the first fixed pulley group 401 and the second fixed pulley group 402. Similarly, the third fixed pulley group 403 and the fourth fixed pulley group 404 are also installed through another fixed bracket 121.

[0087] Furthermore, such as Figure 2 and Figure 3 As shown, the box body also contains a fifth fixed pulley group 405 and a sixth fixed pulley group 406. The axes of the fifth fixed pulley group 405 and the sixth fixed pulley group 406 are parallel to the axes of the first rotating rod 21 and the second rotating rod 22. The fifth fixed pulley group 405 is located between the first rotating rod 21 and the first movable pulley group 301, and the sixth fixed pulley group 406 is located between the second rotating rod 22 and the second movable pulley group 302. The fifth fixed pulley group 405 is used to guide the first cable a on the first rotating rod 21 to the first movable pulley group 301, and to achieve the transition from horizontal winding to vertical winding of the first cable a. The sixth fixed pulley group 406 is used to guide the second cable b on the second rotating rod 22 to the second movable pulley group 302, and to achieve the transition from horizontal winding to vertical winding of the second cable b.

[0088] Since the first movable pulley group 301 and the second movable pulley group 302 are concentrated at the center of the box, the fifth fixed pulley group 405 and the sixth fixed pulley group 406 also realize the function of concentrating the cables towards the center.

[0089] It should be noted that, in this embodiment, the first movable pulley group 301 and the second movable pulley group 302, the first fixed pulley group 401 and the second fixed pulley group 402, the third fixed pulley group 403 and the fourth fixed pulley group 404, as well as the fifth fixed pulley group 405 and the sixth fixed pulley group 406 mentioned above, are all pulley groups consisting of two pulleys arranged side by side, and these two pulleys can rotate freely and independently. These two side by side pulleys are used to correspond to the first cable a and the second cable b, or to correspond to the third cable c and the fourth cable d, respectively.

[0090] Based on the detailed description of the transmission box structure above, the following embodiment will further explain the principle of controlling the swing, opening and closing, and pitch of the end device 70 by the transmission box in conjunction with the accompanying drawings.

[0091] First, please refer to Figure 7 The structure of the end effector 70 is shown in the figure. The end effector 70 can be understood as a surgical clamp with degrees of freedom of yaw, opening and closing and pitch.

[0092] In the figure, the x-axis is the rotation axis of the end device 70 for realizing the yaw and opening / closing actions. In this embodiment, the yaw and opening / closing actions of the end device 70 are coupled, and both the yaw and opening / closing actions rotate around the x-axis.

[0093] In the figure, the y-axis is the rotation axis of the end effector 70 for achieving pitch motion.

[0094] In the figure, the first cable a and the second cable b are located on the same side of the end device 70, while the third cable c and the fourth cable d are located on the other side of the end device 70 (not shown in the figure). The first cable a and the second cable b are the same cable wound around the movable section of the end device 70, as are the third cable c and the fourth cable d. The first cable a and the second cable b jointly control one clamp of the end device 70, while the third cable c and the fourth cable d jointly control the other clamp of the end device 70.

[0095] When the first cable a and the second cable b are controlled to rotate along the x-axis, that is, one of them is pulled closer and the other is released, the third cable c and the fourth cable d also move in the same direction. At this time, the two clamps of the end device 70 rotate to the same side, thus realizing the swinging action of the end device 70 along the x-axis.

[0096] However, if the third cable c and the fourth cable d move in opposite directions, the two clamps of the end device 70 will move in a cross motion, thus realizing the opening and closing action of the end device 70 along the x-axis.

[0097] When the first cable a and the second cable b are pulled to rotate around the y-axis at the same time, the third cable c and the fourth cable d are also pulled to rotate around the y-axis. When the first cable a and the second cable b are pulled closer, the third cable c and the fourth cable d are released. At this time, the pitching action of the end device 70 along the y-axis is realized.

[0098] Based on the above description, this embodiment will introduce the control method for four cables.

[0099] Please refer to Figure 2 and Figure 3 The first rotating rod 21 and the second rotating rod 22 are the power sources for controlling the swing and opening / closing action of the end device 70 along the x-axis.

[0100] When the first rotating rod 21 and the second rotating rod 22 are driven to rotate in the same direction, since the first cable a and the second cable b are wound in opposite directions, the first cable a and the second cable b achieve the rotation along the x-axis as described above, that is, one of them is pulled closer and the other is released. Similarly, the third cable c and the fourth cable d are also like this. As a result, the end device 70 swings to one side along the x-axis. The swing direction of the end device 70 is determined by the direction in which the first rotating rod 21 and the second rotating rod 22 rotate simultaneously.

[0101] When the first rotating rod 21 and the second rotating rod 22 are driven to rotate in opposite directions, the first rotating rod 21 and the second rotating rod 22 also rotate along the x-axis as described above, that is, one of them is pulled closer and the other is released. However, the third cable c and the fourth cable d turn in the opposite direction to the first cable a and the second cable b, so that the two clamps of the end device 70 move in opposite directions to achieve the opening and closing action.

[0102] Please refer to Figures 2 to 4 The third lever 23 is the power source for controlling the pitch movement of the end effector 70 along the y-axis.

[0103] The third rotating rod 23 rotates, pulling the gear shaft 31 to rotate via the fifth cable e. The gear shaft 31 drives the first moving seat 33 and the second moving seat 34 to move in opposite directions, causing the first moving pulley group 301 and the second moving pulley group 302 to move in opposite directions. This releases the third cable c and the fourth cable d when the first cable a and the second cable b are pulled closer, or releases the first cable a and the second cable b when the third cable c and the fourth cable d are pulled closer, thereby causing the end device 70 to pitch along the y-axis.

[0104] Example 2

[0105] Based on the above embodiments, the design of the gear assembly extends the cable arrangement to the height space of the box. The inventors have found that when the cable extends to the height space of the box, the space at the height position of the box can be further optimized in conjunction with the inclined setting of the transmission rod 60, and the problem of the box obstructing the view of the end device 70 can also be solved.

[0106] like Figure 1 As shown, the transmission rod 60 is inclinedly positioned at the edge of the base 11, with one end of the transmission rod 60 facing the third fixed pulley group 403 and the fourth fixed pulley group 404. This design allows the third fixed pulley group 403 and the fourth fixed pulley group 404 to retract towards the center of the box, thereby reducing the space required at the height of the box.

[0107] Since the traditional transmission rod 60 is perpendicular to the box, the end device 70 at the end of the transmission rod 60 will inevitably be obscured when viewed from the side where the box is located. The inclined setting of the transmission rod 60 avoids this problem. Therefore, the cable arrangement method of this embodiment is combined with the inclined setting of the transmission rod 60, making the transmission box more compact and more practical.

[0108] Example 3

[0109] This embodiment provides an instrument transmission box, which is a further improvement of the above embodiment 2. Specifically, this embodiment provides another specific structure of the adjustment component 30 of the instrument transmission box.

[0110] like Figure 5 As shown, the wire transmission achieved by the fifth cable e mentioned in the above embodiment is changed to a gear transmission. In this embodiment, the first transmission component is a first toothed claw 35 fixedly mounted on the third rotating rod 23 and a second toothed claw 36 fixedly mounted on the gear shaft 31. The first toothed claw 35 and the second toothed claw 36 mesh with each other.

[0111] The first toothed claw 35 and the second toothed claw 36 can be understood as part of a gear. They can adopt a sector-shaped structure to achieve rotational transmission at a certain angle. Their advantage is that they are small in size. Since they are only part of a gear, they will not occupy the internal space of the box. While realizing force transmission, they are conducive to the miniaturization of the box.

[0112] Example 4

[0113] This embodiment provides a device transmission box. In addition to the degrees of freedom of yaw, opening and closing and pitch that can be realized in the above embodiment, this embodiment also has the degree of freedom of rotation of the transmission rod 60. The following embodiment will provide a structure for the transmission rod 60 to rotate.

[0114] Based on the above embodiments 1-3, the box body of this embodiment is also provided with a second driving mechanism, which is the fourth rotating rod 24 mentioned above. The fourth rotating rod 24 is connected to the transmission rod 60 through the second transmission component and is used to drive the transmission rod 60 to rotate.

[0115] Please see Figure 2 and Figure 5 In one embodiment, the second transmission component is a sixth cable f wound around the fourth rotating rod 24 and the transmission rod 60, and the fourth rotating rod 24 drives the transmission rod 60 to rotate through the sixth cable f.

[0116] The fourth rotating rod 24 has the same structure as the first rotating rod 21 or the second rotating rod 22, and can be driven to rotate by the control device. Because the transmission rod 60 is inclined, the fourth rotating rod 24 and the transmission rod 60 form a certain angle. Threaded grooves are respectively provided on the surfaces of the fourth rotating rod 24 and the transmission rod 60, and the sixth cable f is wound around these grooves. As the fourth rotating rod 24 rotates, the sixth cable f winds along the grooves, causing the transmission rod 60 to rotate. The rotation of the transmission rod 60 drives the rotation of the end effector 70, facilitating the control of the forceps head position during surgery.

[0117] Please see Figure 6 In one embodiment, the second transmission component is a first gear 51 fixedly mounted on the fourth rotating rod 24 and a second gear 52 fixedly mounted on the transmission rod 60, wherein the first gear 51 and the second gear 52 mesh with each other.

[0118] Since the transmission rod 60 is inclined and forms a certain angle with the fourth rotating rod 24, the first gear 51 and the second gear 52 in this embodiment are helical gears. As the fourth rotating rod 24 rotates, the first gear 51 rotates and drives the second gear 52 to rotate, so as to realize the rotation of the transmission rod 60.

[0119] Example 5

[0120] This embodiment provides a surgical robot, which includes the instrument transmission box mentioned in the above embodiment, and the surgical robot also has an end effector 70 and a control device.

[0121] The end effector 70 is connected to the transmission rod 60 of the instrument transmission box, and the first cable a, the second cable b, the third cable c, and the fourth cable d are all connected to the end effector 70. For example... Figure 7 As shown, the end effector 70 has at least yaw, opening and closing and pitch degrees of freedom based on the x-axis and y-axis, and also has a degree of rotation due to the rotation function of the transmission rod 60.

[0122] The control device is connected to the instrument transmission box as a power drive module. Its power output end is independently connected to the first rotating rod 21, the second rotating rod 22, the third rotating rod 23 and the fourth rotating rod 24 respectively, for driving the rotation of the first rotating rod 21, the second rotating rod 22, the third rotating rod 23 and the fourth rotating rod 24 respectively.

[0123] As mentioned above regarding the motion control principle, the first rotating rod 21 and the second rotating rod 22 rotate in the same direction to achieve the yaw action of the end effector 70, and the first rotating rod 21 and the second rotating rod 22 rotate in opposite directions to achieve the opening and closing action of the end effector 70. The third rotating rod 23 rotates to drive the adjustment component 30 to move, thereby achieving the pitch action of the end effector 70. The fourth rotating rod 24 rotates to drive the end effector 70 to rotate via the transmission rod 60. For details on the adjustment of the degrees of freedom of the end effector 70 in yaw, opening and closing, pitch, and rotation, please refer to the description of the motion control principle in Embodiment 1. This embodiment will not repeat the details.

[0124] The surgical robot provided in this embodiment achieves yaw, opening and closing, pitch and rotation of surgical movements through the instrument transmission box control end device 70. Based on the miniaturization advantage of the instrument transmission box as described above, the size of the surgical robot in this embodiment is further optimized, which is beneficial to the overall shape design of the surgical robot.

[0125] In this embodiment of the utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0126] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. An instrument transmission box, used for motion control of the end effector of a surgical robot, characterized in that, The box body comprises a base (11), and a transmission rod (60) extending from the inside of the box body to the outside, wherein the inside of the box body is provided with: a first rotating rod (21) wound with a first cable (a) and a second cable (b), the winding directions of the first cable (a) and the second cable (b) being opposite; a second rotating rod (22) wound with a third cable (c) and a fourth cable (d), the winding directions of the third cable (c) and the fourth cable (d) being opposite; an adjusting assembly (30) comprising a first movable pulley set (301) and a second movable pulley set (302), the first cable (a) and the second cable (b) extending through the first movable pulley set (301) into the transmission rod (60), and the third cable (c) and the fourth cable (d) extending through the second movable pulley set (302) into the transmission rod (60); the axes of the first movable pulley set (301) and the second movable pulley set (302) are arranged at an angle with the axes of the first rotating rod (21) and the second rotating rod (22), so that the first cable (a) and the second cable (b) extend at least partially to the direction of the axes of the first rotating rod (21) and the second rotating rod (22) when passing through the first movable pulley set (301), and the third cable (c) and the fourth cable (d) extend at least partially to the direction of the axes of the first rotating rod (21) and the second rotating rod (22) when passing through the second movable pulley set (302); the first movable pulley set (301) and the second movable pulley set (302) can move in opposite directions, so as to release the third cable (c) and the fourth cable (d) when the first cable (a) and the second cable (b) are pulled, or release the first cable (a) and the second cable (b) when the third cable (c) and the fourth cable (d) are pulled.

2. The instrument drive cassette of claim 1, wherein, The box body comprises a base (11), and a transmission rod (60) extending from the inside of the box body to the outside, wherein the inside of the box body is provided with:

3. The instrument drive cassette of claim 2, wherein, the angle formed by the axes of the first movable pulley set (301) and the second movable pulley set (302) and the axes of the first rotating rod (21) and the second rotating rod (22) is 90 degrees. The inside of the box body is further provided with a first fixed pulley set (401) and a second fixed pulley set (402), the first fixed pulley set (401) and the second fixed pulley set (402) are coaxially arranged, and the axes of the first fixed pulley set (401) and the second fixed pulley set (402) are parallel to the axes of the first movable pulley set (301) and the second movable pulley set (302); the first fixed pulley set (401) and the second fixed pulley set (402) are located on the sides of the first movable pulley set (301) and the second movable pulley set (302) far away from the base (11), the first cable (a) and the second cable (b) pass through the first fixed pulley set (401), and the third cable (c) and the fourth cable (d) pass through the second fixed pulley set (402).

4. The instrument drive cassette of claim 3, wherein, The box body is internally provided with a third fixed pulley set (403) and a fourth fixed pulley set (404), the third fixed pulley set (403) and the fourth fixed pulley set (404) are coaxially arranged, and the axes of the third fixed pulley set (403) and the fourth fixed pulley set (404) are parallel to the axes of the first fixed pulley set (401) and the second fixed pulley set (402); The third fixed pulley set (403) and the fourth fixed pulley set (404) are located on the side of the first movable pulley set (301) and the second movable pulley set (302) away from the base (11), and the third fixed pulley set (403) and the fourth fixed pulley set (404) are located close to the transmission rod (60); the first cable (a) and the second cable (b) pass through the third fixed pulley set (403), and the third cable (c) and the fourth cable (d) pass through the fourth fixed pulley set (404).

5. The instrument drive cassette of claim 4, wherein, The transmission rod (60) is obliquely arranged at the edge position of the base (11), and one end of the transmission rod (60) faces the third fixed pulley set (403) and the fourth fixed pulley set (404).

6. The instrument drive cassette of any of claims 1 to 5, wherein, The adjusting assembly (30) comprises: A fixed seat (32) is provided with a first moving seat (33) and a second moving seat (34), the first movable pulley set (301) is installed on the first moving seat (33), and the second movable pulley set (302) is installed on the second moving seat (34); A first driving mechanism is connected between the first moving seat (33) and the second moving seat (34), and is used to drive the first moving seat (33) and the second moving seat (34) to slide in opposite directions relative to the fixed seat (32).

7. The instrument drive cassette of claim 6, wherein, The first driving mechanism comprises: A gear shaft (31) is arranged between the first moving seat (33) and the second moving seat (34) and is engaged with a rack on the first moving seat (33) and the second moving seat (34); A third rotating rod (23) is arranged in parallel with the gear shaft (31) and is connected to the gear shaft (31) through a first transmission member, the third rotating rod (23) drives the gear shaft (31) to rotate through the first transmission member, so as to drive the first moving seat (33) and the second moving seat (34) to slide.

8. The instrument drive cassette of claim 7, wherein, The first transmission member comprises a fifth cable (e) wound on the third rotating rod (23) and the gear shaft (31), and the third rotating rod (23) drives the gear shaft (31) to rotate through the fifth cable (e).

9. The instrument drive cassette of claim 7, wherein, The first transmission member comprises a first pawl (35) fixedly arranged on the third rotating rod (23) and a second pawl (36) fixedly arranged on the gear shaft (31), and the first pawl (35) is engaged with the second pawl (36).

10. The instrument drive cassette of any of claims 1 to 5, wherein, The box body is internally provided with a second driving mechanism, which comprises a fourth rotating shaft (24) connected with the transmission rod (60) through a second transmission member, and used for driving the transmission rod (60) to rotate.

11. The instrument drive cassette of claim 10, wherein, The second transmission member comprises a sixth cable (f) wound on the fourth rotating shaft (24) and the transmission rod (60), and the fourth rotating shaft (24) drives the transmission rod (60) to rotate through the sixth cable (f).

12. The instrument drive cassette of claim 10, wherein, The second transmission member comprises a first gear (51) fixedly arranged on the fourth rotating shaft (24) and a second gear (52) fixedly arranged on the transmission rod (60), and the first gear (51) is engaged with the second gear (52).

13. A surgical robot, characterized by The apparatus transmission box comprises: The apparatus transmission box according to any one of claims 1 to 12; A terminal device (70) connected to the transmission rod (60) of the apparatus transmission box, wherein the first cable (a), the second cable (b), the third cable (c) and the fourth cable (d) are all connected to the terminal device (70), and the terminal device (70) has at least the action freedom degrees of yaw, opening and closing and pitching; A control device connected to the apparatus transmission box and used for driving the first rotating shaft (21), the second rotating shaft (22) and the adjusting assembly (30) of the apparatus transmission box to operate; Wherein, the first rotating shaft (21) and the second rotating shaft (22) rotate in the same direction to realize the yaw action of the terminal device (70), the first rotating shaft (21) and the second rotating shaft (22) rotate in opposite directions to realize the opening and closing action of the terminal device (70), and the adjusting assembly (30) moves to realize the pitching action of the terminal device (70).

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