Multi-degree-of-freedom instrument box and surgical robot

Abstract

The utility model relates to the field of medical equipment, in particular to a multi-degree-of-freedom instrument box and a surgical robotic.The box body of the multi-degree-of-freedom instrument box is provided with a driving rod obliquely extending out from the interior of the box body to the exterior, and the driving rod can rotate around the axis of the driving rod relative to the box body under the action of external force; the first driving device is close to and connected with the driving rod to drive the driving rod to rotate so as to drive the tail end device to rotate; the second driving device is connected with a plurality of cables, the cables extend into the driving rod, the first driving device is used for driving the cables to do reciprocating motion in the axial direction of the driving rod, and therefore deflection and other actions of the tail end device are achieved. According to the instrument box, swinging and autorotation driving of the tail end device is achieved, multi-degree-of-freedom control over the tail end device is achieved, the tail end device does not need to conduct autorotation driving with the help of external equipment, the overall structure of the surgical robot is optimized, multiple free control integration is achieved through the instrument box, the structure is compact, and operation is convenient. And the miniaturization of the surgical robot is facilitated.

Description

Technical Field

[0001] This application relates to the field of medical devices, specifically a multi-degree-of-freedom instrument 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] Existing four-wire driven surgical instrument cartridges achieve pitch, yaw, and opening / closing movements of the end effector through the relative pulling or releasing motions between the individual drive wires. However, due to size limitations and the need to meet the miniaturization requirements of surgical robots, surgical instrument cartridges typically lack the ability to rotate the end effector. This means that traditional end effectors may not have self-rotation capabilities, or they may require external devices to achieve rotation, leading to an increase in the number of components in the surgical robot and hindering its simplification. Therefore, traditional instrument cartridges, within their limited size constraints, struggle to meet the multi-degree-of-freedom control requirements of surgical robots. Utility Model Content

[0004] To solve, or at least partially solve, the aforementioned technical problems, this application provides a multi-degree-of-freedom instrument box for motion control of the end effector of a surgical robot, characterized in that it includes:

[0005] The box body and the drive rod extending obliquely outward from the inside of the box body, the drive rod being able to rotate relative to the box body about its own axis under the action of an external force;

[0006] The box body is equipped with:

[0007] A first driving device is located near and connected to the driving rod for driving the driving rod to rotate.

[0008] The second drive device is connected to multiple cables that extend into the drive rod. The first drive device is used to drive the multiple cables to reciprocate along the axial direction of the drive rod.

[0009] Optionally, the first driving device includes:

[0010] The rotating component is capable of rotating relative to the box body about its own axis under the action of external force;

[0011] The first transmission component connects the rotating component and the driving rod respectively, so as to convert the rotational motion of the rotating component into the rotational motion of the driving rod.

[0012] Optionally, the first transmission component includes a transmission belt wound between the rotating component and the driving rod, wherein the rotating component pulls the transmission belt by rotating itself to drive the rotation of the driving rod.

[0013] Optionally, the surfaces of the rotating member and the driving rod are respectively provided with corresponding wire grooves, and the transmission belt is wound around the wire grooves.

[0014] Optionally, the first transmission component includes:

[0015] The first gear is disposed on the rotating component;

[0016] The second gear is mounted on the drive rod;

[0017] The first gear meshes with the second gear.

[0018] Optionally, the drive lever includes:

[0019] The first rod is fixedly installed at the bottom of the box body;

[0020] The second rod is disposed inside the first rod and is capable of rotating relative to the first rod. One end of the second rod extends into the box and is connected to the first drive device, and the other end is connected to the end device.

[0021] Optionally, the box body includes a base and a top plate, the rotating component is vertically connected between the base and the top plate, and the drive rod is obliquely disposed at the edge of the base and forms an angle of 30-60 degrees with the rotating component.

[0022] Optionally, a bearing component is provided on the base, the bearing component is inclined to the base, and the drive rod is disposed through the bearing component.

[0023] Optionally, the second driving device includes:

[0024] 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;

[0025] 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;

[0026] A first movable pulley group and a second movable pulley group, the first cable and the second cable extending through the first movable pulley group into the drive rod, and the third cable and the fourth cable extending through the second movable pulley group into the drive rod;

[0027] The third lever connects the first movable pulley group and the second movable pulley group, and can drive the first movable pulley group and the second movable pulley group to move in opposite directions, thereby releasing the third cable and the fourth cable when the first cable and the second cable are pulled closer, or releasing the first cable and the second cable when the third cable and the fourth cable are pulled closer.

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

[0029] The multi-degree-of-freedom instrument box described above;

[0030] The end effector is connected to the drive rod of the multi-degree-of-freedom instrument box, and all the cables are connected to the end effector. The end effector has at least rotation, yaw, opening and closing and pitch degrees of freedom.

[0031] A control device, connected to the multi-degree-of-freedom instrument box, is used to drive the first and second drive devices of the multi-degree-of-freedom instrument box to move.

[0032] The first driving device is used to drive the end effector to perform yaw, opening and closing and pitching movements, and the second driving device drives the end effector to perform rotational movements.

[0033] The multi-degree-of-freedom instrument box provided in this application has a drive rod extending obliquely from the inside of the box to the outside. The drive rod can rotate relative to the box about its own axis under external force. Inside the box are a first drive device and a second drive device. The first drive device is close to and connected to the drive rod to drive the drive rod to rotate, thereby causing the end effector to rotate. The second drive device is connected to multiple cables that extend into the drive rod. The first drive device drives the multiple cables to reciprocate along the axis of the drive rod, thereby achieving actions such as yaw of the end effector. The instrument box of this application achieves the driving of the yaw and rotation of the end effector, realizing the control of multiple degrees of freedom of the end effector. The end effector does not require external equipment for rotation driving, optimizing the overall structure of the surgical robot. Furthermore, the instrument box integrates the control of multiple degrees of freedom, has a compact structure, and is conducive to the miniaturization of the surgical robot.

[0034] The surgical robot provided in this application realizes surgical actions through the aforementioned multi-degree-of-freedom instrument box control end effector. Based on the miniaturization advantage of the multi-degree-of-freedom instrument box, the surgical robot of this application has a high degree of freedom of movement, and thus high control precision, which is conducive to improving surgical efficiency. 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 multi-degree-of-freedom instrument box of this application;

[0037] Figure 2 This is a schematic diagram of the internal structure of the multi-degree-of-freedom instrument box of 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 components and bearing components in the multi-degree-of-freedom instrument box of this application;

[0040] Figure 5 This is a schematic diagram of the structure of one embodiment of the multi-degree-of-freedom instrument box of this application;

[0041] Figure 6 This is a schematic diagram of the end effector of the surgical robot of this application.

[0042] Explanation of reference numerals in the attached figures:

[0043] 11. Base; 12. Top plate; 121. Fixing bracket;

[0044] 21. First rotating rod; 22. Second rotating rod; 23. Third rotating rod; 24. Rotating component;

[0045] 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;

[0046] 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;

[0047] 50. Transmission belt; 51. First gear; 52. Second gear;

[0048] 60. Drive rod; 61. First rod body; 62. Second rod body; 601. Bearing component;

[0049] 70. Terminal device;

[0050] a. First cable; b. Second cable; c. Third cable; d. Fourth cable; e. Fifth cable. Detailed Implementation

[0051] 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.

[0052] 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.

[0053] 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.

[0054] The technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0055] Example 1

[0056] This embodiment provides a multi-degree-of-freedom instrument box for motion control of the end effector 70 of a surgical robot. The input end of the multi-degree-of-freedom instrument box is connected to the control device of the surgical robot, and the output end of the multi-degree-of-freedom instrument box is connected to the end effector 70 of the surgical robot. The control device provides power to the multi-degree-of-freedom instrument box, and the multi-degree-of-freedom instrument box converts the power into surgical operation movements of the end effector 70 to realize the corresponding surgical operation.

[0057] like Figure 1 As shown, the multi-degree-of-freedom instrument box provided in this embodiment has a box body, and a drive 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 drive rod 60.

[0058] The drive rod 60 extends obliquely from the inside of the box to the outside. The drive rod 60 has an oblique portion inside the box and an oblique portion outside the box. The drive rod 60 can rotate relative to the box about its own axis under the action of external force.

[0059] In this embodiment, a first driving device and a second driving device are provided inside the box.

[0060] The first driving device approaches and connects to the driving rod 60 to drive the driving rod 60 to rotate, thereby realizing the rotation action of the end device 70.

[0061] The second drive device is connected to multiple cables that extend into the drive rod 60. The first drive device drives the multiple cables to reciprocate along the axial direction of the drive rod 60. One end of each cable is installed in the second drive device, and the other end is connected to the end device 70. By reciprocating along the axial direction of the drive rod 60, the end device 70 can be pulled to perform corresponding actions.

[0062] For example, if one of the cables is pulled closer, the end device 70 can deflect to the pulled-close side. By coordinating the pulling and releasing operations of multiple cables, the deflection, pitch, and opening / closing actions of the end device 70 can be realized. In subsequent embodiments, the deflection, pitch, and opening / closing actions of the end device 70 driven by the second drive device through the cables will be further explained.

[0063] like Figure 1 As shown, the box body of 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 to mount the first driving device and the second driving device of the box body.

[0064] like Figure 1 and Figure 2 As shown, the first driving device in this embodiment includes a rotating member 24, which is connected to the driving rod 60 through a first transmission member and is used to drive the driving rod 60 to rotate.

[0065] Please see Figure 2 In one embodiment, the first transmission component is a transmission belt 50 wound around the rotating component 24 and the drive rod 60, and the rotating component 24 drives the drive rod 60 to rotate via the transmission belt 50.

[0066] The rotating component 24 can be a rotating rod that can be driven to rotate by a control device. Because the drive rod 60 is inclined, the rotating component 24 and the drive rod 60 form a certain angle. Wire grooves are respectively provided on the surfaces of the rotating component 24 and the drive rod 60. Since the rotating component 24 and the drive rod 60 form an angle, the wire grooves are threaded grooves, and the transmission belt 50 is wound around the grooves on the surfaces of the rotating component 24 and the drive rod 60.

[0067] As the rotating component 24 rotates, the transmission belt 50 winds around the groove, causing the drive rod 60 to rotate. The rotation of the drive rod 60 causes the end effector 70 to rotate, facilitating the control of the forceps head position during surgery.

[0068] In one embodiment, the transmission belt 50 is not only a belt structure, but can also be a cable or the like, which can also achieve the transmission effect.

[0069] Please see Figure 5 In one embodiment, the first transmission component is a first gear 51 fixedly mounted on the rotating component 24 and a second gear 52 fixedly mounted on the drive rod 60, wherein the first gear 51 and the second gear 52 mesh with each other.

[0070] Since the drive rod 60 is inclined and forms a certain angle with the rotating member 24, the first gear 51 and the second gear 52 in this embodiment are helical gears. As the rotating member 24 rotates, the first gear 51 rotates and drives the second gear 52 to rotate, so as to realize the rotation of the drive rod 60.

[0071] like Figure 1 and Figure 2 As shown, the drive rod 60 includes a first rod body 61 and a second rod body 62.

[0072] The first rod 61 is fixedly installed at the bottom of the box; the second rod 62 is installed through the first rod 61 and can rotate relative to the first rod 61. One end of the second rod 62 extends into the box and is connected to the first drive device, and the other end is connected to the end device 70.

[0073] The first rod 61 is equivalent to the outer shell of the second rod 62. It is fixedly connected to the base 11 and serves to protect the second rod 62.

[0074] In this embodiment, the rotating component 24 is vertically connected between the base 11 and the top plate 12, and the driving rod 60 is inclinedly disposed at the edge of the base 11. The inclination of the driving rod 60 is not uniquely limited. Preferably, the driving rod 60 and the rotating component 24 form an angle of 30-60 degrees.

[0075] The tilting of the drive rod 60 allows it to extend outward from the box, thus preventing the box from obstructing the view of the end device 70 at the end of the drive rod 60.

[0076] like Figure 2 and Figure 4 As shown, a bearing 601 is provided on the base 11. The bearing 601 is inclined to the base 11, and the drive rod 60 is inserted through the bearing 601. The bearing 601 ensures the stable installation of the drive rod 60.

[0077] The instrument box in this embodiment enables the swinging and rotation of the end effector 70, and realizes the control of multiple degrees of freedom of the end effector 70. The end effector 70 does not need to be driven by external equipment for rotation, which optimizes the overall structure of the surgical robot. Moreover, the instrument box realizes the integrated control of multiple degrees of freedom, has a compact structure, and is conducive to the miniaturization of the surgical robot.

[0078] Example 2

[0079] This embodiment provides a multi-degree-of-freedom instrument box for motion control of the end effector 70 of a surgical robot. Based on the above embodiment 1, this embodiment will further describe the swing operation of the end effector 70 by the second drive device.

[0080] like Figure 2 As shown, the second driving device in this embodiment includes multiple rotating rods similar to the rotating member 24. Specifically, it includes a first rotating rod 21, a second rotating rod 22, and a third rotating rod 23 vertically arranged on the base 11. 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] Please see Figure 1 and Figure 2 In this embodiment, the first rotating rod 21, the second rotating rod 22, the third rotating rod 23 and the rotating component 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, and 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.

[0086] The first rotating rod 21, the second rotating rod 22, the third rotating rod 23, and the rotating component 24 are rotatably connected to the base 11 and the top plate 12, respectively. They can be driven by the control device to rotate. The rotation of the third rotating rod 23 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.

[0087] 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 is part of the second drive device. The adjustment assembly 30 has a first movable pulley group 301 and a second movable pulley group 302. The first cable a and the second cable b extend around the first movable pulley group 301 and into the drive rod 60, and the third cable c and the fourth cable d extend around the second movable pulley group 302 and into the drive rod 60.

[0088] 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.

[0089] Specifically, such as Figure 4As 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.

[0090] The adjustment assembly 30 also includes a gear shaft 31, a first movable seat 33, and a second movable seat 34. The gear shaft 31 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.

[0091] In one specific embodiment, racks are 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. A gear shaft 31 is disposed between the first movable seat 33 and the second movable seat 34 and meshes with the racks of both. 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.

[0092] Of course, the adjustment component 30 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 first movable pulley group 301 and the second movable pulley group 302 to move in opposite directions.

[0093] 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 second transmission component. The third rotating rod 23 drives the gear shaft 31 to rotate through the second transmission component, so as to drive the first moving seat 33 and the second moving seat 34 to slide.

[0094] In this embodiment, the second 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.

[0095] 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.

[0096] 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 drive 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 drive 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.

[0097] In one embodiment, such as Figure 5 As shown, the second transmission component can be a first toothed pawl 35 disposed on the gear shaft 31 and a second toothed pawl 36 disposed on the third rotating rod 23. The first toothed pawl 35 and the second toothed pawl 36 mesh to achieve transmission.

[0098] like Figure 2 and Figure 3 As shown, in this embodiment, the box body also includes a first fixed pulley group 401 and a second fixed pulley group 402. The first fixed pulley group 401 and the second fixed pulley group 402 are coaxially arranged, and their axes 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.

[0099] 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.

[0100] 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.

[0101] 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 near the drive rod 60 to facilitate guiding the cables into the drive rod 60.

[0102] like Figure 3As 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] First, please refer to Figure 6 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.

[0108] 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.

[0109] In the figure, the y-axis is the rotation axis of the end effector 70 for achieving pitch motion.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] Based on the above description, this embodiment will introduce the control method for four cables.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] like Figure 1 As shown, the drive rod 60 is inclined at the edge of the base 11, with one end of the drive rod 60 facing the third fixed pulley group 403 and the fourth fixed pulley group 404. With this design, the third fixed pulley group 403 and the fourth fixed pulley group 404 can retract towards the center of the box, which helps to reduce the space at the height of the box.

[0121] However, since the traditional drive rod 60 is perpendicular to the box, the end device 70 at the end of the drive rod 60 will inevitably be obscured when viewed from the side where the box is located. The inclined setting of the drive rod 60 avoids this problem. Therefore, the cable arrangement in this embodiment is combined with the inclined setting of the drive rod 60, making the transmission box more compact and more practical.

[0122] Example 3

[0123] This embodiment provides a surgical robot, which includes the multi-degree-of-freedom instrument box mentioned in the above embodiment, and the surgical robot also has an end effector 70 and a control device.

[0124] The end effector 70 is connected to the drive rod 60 of the multi-degree-of-freedom instrument 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 6 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 rotation degree of freedom due to the rotation function of the drive rod 60.

[0125] The control device is connected to the multi-degree-of-freedom instrument 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 rotating component 24, respectively, to drive the rotation of the first rotating rod 21, the second rotating rod 22, the third rotating rod 23 and the rotating component 24;

[0126] 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 device 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 device 70. The rotation of the third rotating rod 23 drives the adjustment component 30 to move, thereby achieving the pitch action of the end device 70. The rotation of the rotating component 24 drives the end device 70 to rotate via the drive rod 60. For details on the adjustment of the degrees of freedom of the end device 70 in yaw, opening and closing, pitch, and rotation, please refer to the description of the motion control principle in Embodiment 2. This embodiment will not repeat it.

[0127] The surgical robot provided in this embodiment achieves yaw, opening and closing, pitch, and rotation surgical movements through the aforementioned multi-degree-of-freedom instrument box control end effector 70. Building upon the miniaturization advantage of the multi-degree-of-freedom instrument box, the size of the surgical robot in this embodiment is further optimized, which is beneficial for the overall design of the surgical robot. The surgical robot of this application has high degrees of freedom of movement, resulting in high control precision and improved surgical efficiency.

[0128] 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.

[0129] 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.

[0130] 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. A multi-degree-of-freedom instrument cassette for use in motion control of a surgical robot end effector (70), characterized by, The utility model relates to a kind of drive device, including: Box body and drive rod (60) inclinedly extended from the inside of the box body to outside, the drive rod (60) can rotate around its axis relative to the box body under external force action; The inside of the box body is provided with: First driving device, close and connect the drive rod (60), for driving the drive rod (60) rotation; Second driving device, connected with multiple cables, the cable extends to the drive rod (60), and the first driving device is used to drive the multiple cables reciprocating motion along the axial direction of the drive rod (60).

2. The multi-degree-of-freedom instrument cassette of claim 1, wherein, The first driving device includes: Rotary member (24), can rotate around its axis relative to the box body under external force action; First transmission member, connect the rotary member (24) and the drive rod (60) respectively, to convert the rotation movement of the rotary member (24) into the rotation movement of the drive rod (60).

3. The multi-degree-of-freedom instrument cassette of claim 2, wherein, The first transmission member includes transmission belt (50) wound between the rotary member (24) and the drive rod (60), and the rotary member (24) pulls the transmission belt (50) to drive the rotation of the drive rod (60) by rotation.

4. The multi-degree-of-freedom instrument cassette of claim 3, wherein, The surface of the rotary member (24) and the drive rod (60) is respectively provided with corresponding wire belt groove, and the transmission belt (50) is arranged in the wire belt groove.

5. The multi-degree-of-freedom instrument cassette of claim 2, wherein, The first transmission member includes: First gear (51) arranged on the rotary member (24); Second gear (52) arranged on the drive rod (60); The first gear (51) is engaged with the second gear (52).

6. The multi-degree-of-freedom instrument cassette of any of claims 1 to 5, wherein, The drive rod (60) includes: First rod body (61), fixedly arranged at the bottom of the box body; Second rod body (62), through arrangement in the first rod body (61), and can rotate relative to the first rod body (61), one end of the second rod body (62) extends into the box body, and is connected with the first driving device, the other end is connected with the terminal device (70).

7. The multi-degree-of-freedom instrument cassette of claim 2, wherein, The box body includes base (11) and top plate (12), the rotary member (24) is vertically connected between the base (11) and the top plate (12), and the drive rod (60) is inclinedly arranged through the edge position of the base (11) and forms an angle of 30-60 degrees with the rotary member (24).

8. The multi-degree-of-freedom instrument cassette of claim 7, wherein, The base (11) is provided with bearing member (601), and the bearing member (601) is inclinedly arranged with the base (11), and the drive rod (60) is arranged through the bearing member (601).

9. The multi-degree-of-freedom instrument cassette of any of claims 1 to 5, wherein, The second driving device includes: First rotary rod (21), wound with first cable (a) and second cable (b), and the winding directions of the first cable (a) and the second cable (b) are opposite; Second rotary rod (22), wound with third cable (c) and fourth cable (d), and the winding directions of the third cable (c) and the fourth cable (d) are opposite; a first cable (a) and a second cable (b) extend through the first movable pulley set (301) to the driving rod (60), and a third cable (c) and a fourth cable (d) extend through the second movable pulley set (302) to the driving rod (60); a third rotating rod connected to the first movable pulley set (301) and the second movable pulley set (302) and capable of driving the first movable pulley set (301) and the second movable pulley set (302) to 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.

10. A surgical robot, characterised in that, The utility model relates to a multi-degree-of-freedom instrument box, comprising: a multi-degree-of-freedom instrument box according to any one of claims 1 to 9; a terminal device (70) connected to the driving rod (60) of the multi-degree-of-freedom instrument box, wherein the cables are all connected to the terminal device (70), and the terminal device (70) has at least the movement freedom degrees of rotation, yaw, opening and closing, and pitching; a control device connected to the multi-degree-of-freedom instrument box and used for driving the first driving device and the second driving device of the multi-degree-of-freedom instrument box to move; wherein the first driving device is used for driving the terminal device (70) to make yaw, opening and closing, and pitching movements, and the second driving device is used for driving the terminal device (70) to make rotation movement.

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