Adapter and surgical assistance system
By setting an adapter between a rotatable sun gear and a rolling element on the support, the problems of high operational difficulty and radiation exposure of the sheath system are solved, improving the safety and flexibility of the operation and expanding the applicability of the instrument.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANGHAI SURGIPULSE ROBOTICS CO LTD
- Filing Date
- 2025-06-03
- Publication Date
- 2026-05-01
AI Technical Summary
In existing technologies, the operation of the sheath system is difficult when doctors perform minimally invasive mitral or tricuspid valve surgery, and medical staff are exposed to radiation for a long time, which affects the safety and health of the surgery.
An adapter is designed, comprising a bracket, first and second sun gears, and an adjustment assembly. By setting a rotatable sun gear and a rolling element on the bracket, sliding friction is reduced, the independence and control precision of the sheath system are improved, the volume is reduced, and multi-directional adjustment of the sheath is achieved through a power device.
It improves the operational independence and surgical safety of the sheath system, reduces the doctor's manual operation time, lowers the risk of radiation exposure, and expands the applicability of surgical instruments.
Smart Images
Figure CN224179831U_ABST
Abstract
Description
Adapters and Surgical Assist Systems Technical Field
[0001] This application relates to the field of medical device technology, and in particular to an adapter and surgical assistance system. Background Technology
[0002] Currently, minimally invasive surgery for mitral or tricuspid valve problems requires surgeons to manually operate the sheath system, which is technically challenging and demands a high level of skill and clinical experience. The learning curve for surgeons is lengthy, which to some extent hinders the development of surgical techniques and the clinical use of equipment. Furthermore, the procedure often involves computed tomography (CT) imaging, leading to prolonged radiation exposure for medical staff, which is detrimental to their health.
[0003] In related technologies, a sheath adapter is provided, which arranges multiple sun gears side by side along the axial direction. One sun gear drives the sheath to rotate as a whole, and another sun gear drives the sheath to bend. The sheath system can be controlled remotely, reducing the doctor's manual operation time and improving the accuracy of mitral or tricuspid valve surgery.
[0004] However, since adjacent sun gears are arranged side by side along the axial direction, adjusting the sheath system in one direction may cause misoperation in the other direction, affecting the safety of the surgery. Summary of the Invention
[0005] This application provides an adapter and surgical assistance system that can improve the independence of control over the sheath system and enhance the safety of surgery.
[0006] On one hand, embodiments of this application provide an adapter, including:
[0007] The bracket is equipped with a first adjustment component and a second adjustment component.
[0008] The first sun gear is rotatably mounted on the support around its own axis, and the first sun gear is connected to the first adjustment component in a transmission connection.
[0009] The second sun gear is rotatably mounted on the support. The second sun gear and the first sun gear are arranged side by side along the axial direction. The second sun gear is connected to the second adjustment component in a transmission manner. A first rolling element is provided on the side of either the first sun gear or the second sun gear opposite to the other. The first rolling element makes rolling contact with the other of the first sun gear and the second sun gear.
[0010] In one embodiment, a first mounting groove is provided on the side of either the first sun gear or the second sun gear opposite to the other, a first rolling element is disposed in the first mounting groove, and at least a portion of the first rolling element protrudes from the first mounting groove to make rolling contact with the other of the first sun gear and the second sun gear.
[0011] In one embodiment, the first rolling element includes a plurality of first rolling elements, which are arranged at circumferential intervals along either the first sun gear or the second sun gear.
[0012] In one embodiment, the first rolling element includes a ball that is rotatably disposed on one side of either the first sun gear or the second sun gear, opposite to the other.
[0013] In one embodiment, the stent includes:
[0014] A first limiting frame is located on the side of the first sun gear facing away from the second sun gear; a second rolling element is provided between the first limiting frame and the first sun gear, and the second rolling element rolls in contact with the first limiting frame and the first sun gear.
[0015] The second limiting frame is located on the side of the second sun gear facing away from the first sun gear; a third rolling element is provided between the second limiting frame and the second sun gear, and the third rolling element rolls in contact with the second limiting frame and the second sun gear.
[0016] In one embodiment, the first limiting frame has a first limiting protrusion on the side facing the first sun gear, the first limiting protrusion has a second mounting groove, the second rolling element is disposed in the second mounting groove, and at least a portion of the second rolling element protrudes out of the second mounting groove; the first sun gear has a first limiting recess on the side facing the first limiting frame, and the second rolling element rolls and contacts the bottom wall of the first limiting recess.
[0017] In one embodiment, the second limiting frame has a second limiting protrusion on the side facing the second sun gear, the second limiting protrusion has a third mounting groove, the third rolling element is disposed in the third mounting groove, and at least a portion of the third rolling element protrudes out of the third mounting groove; the second sun gear has a second limiting recess on the side facing the second limiting frame, and the second rolling element rolls in contact with the bottom wall of the second limiting recess.
[0018] In one embodiment, the adapter further includes:
[0019] The third sun gear is located on the side of the second limit frame facing away from the first limit frame; a fourth rolling element is provided between the third sun gear and the second limit frame, and the fourth rolling element rolls in contact with the third sun gear and the second limit frame; the third sun gear is driven by a third adjusting component.
[0020] The third limiting frame is located on the side of the third sun gear facing away from the second limiting frame. The third limiting frame is connected to the second limiting frame. A fifth rolling element is provided between the third sun gear and the third limiting frame. The fifth rolling element makes rolling contact with the third sun gear and the third limiting frame.
[0021] In one embodiment, the bracket further includes a base, and a first limiting bracket and a second limiting bracket are disposed on the base;
[0022] The base is equipped with a transmission component, the output end of which extends along the arrangement direction of the first sun gear, the second sun gear and the third sun gear, and the output end of the transmission component is connected to the first sun gear, the second sun gear and the third sun gear respectively.
[0023] In one embodiment, the transmission assembly includes:
[0024] The first drive shaft is connected to the first sun gear via a drive transmission;
[0025] The second drive shaft is connected to the second sun gear.
[0026] The third drive shaft is connected to the third sun gear.
[0027] The axes of the first drive shaft, the second drive shaft, and the third drive shaft have a height difference in the longitudinal direction.
[0028] On the other hand, embodiments of this application provide a surgical assistance system, including:
[0029] Power unit;
[0030] The adapter provided in the foregoing embodiments of this application has a power unit and a transmission component that are connected in a transmission connection.
[0031] The adapter and surgical assistance system provided in this application embodiment, by rotatably arranging a first sun gear on the support around its own axis, and the first sun gear being driven by a first adjustment component, allows the first adjustment component to be adjusted in a first direction. By rotatably arranging a second sun gear on the support around its own axis, and arranging the second sun gear alongside the first sun gear axially, the space required for the arrangement of the first and second sun gears can be reduced, facilitating a reduction in the adapter's size. The second sun gear is driven by a second adjustment component; thus, the second adjustment component can be driven by the first sun gear, allowing the second adjustment component to be adjusted in a second direction, increasing the degree of freedom in sheath adjustment and expanding the applicability of surgical instruments after the adapter is adapted to the surgical instruments. In this application embodiment, a first rolling element is arranged on the side opposite to either the first or second sun gear, and the first rolling element makes rolling contact with the other of the first and second sun gears. In this way, the sliding friction between the first sun gear and the second sun gear can be converted into rolling friction by the first rolling element, which can reduce the friction between the first rolling element and the second rolling element, thereby reducing the influence of the rotation of one of the first sun gear and the second sun gear on the other, improving the independence of control over the sheath system and enhancing surgical safety. Attached Figure Description
[0032] Figure 1 is a schematic diagram of an overall structure of an adapter provided in some embodiments of this application.
[0033] Figure 2 is a schematic diagram of another overall structure of the adapter provided in some embodiments of this application.
[0034] Figure 3 is a cross-sectional view of an adapter provided in some embodiments of this application.
[0035] Figure 4 is a magnified view of a portion of point A in Figure 3.
[0036] Figure 5 is a schematic diagram of the structure of the first sun gear in an adapter provided in some embodiments of this application.
[0037] Figure 6 is a front view of the first sun gear in an adapter provided in some embodiments of this application.
[0038] Figure 7 is a schematic diagram of another structure of the first sun gear in the adapter provided in some embodiments of this application.
[0039] Figure 8 is a cross-sectional view along line BB in Figure 6.
[0040] Figure 9 is a magnified view of part C in Figure 3.
[0041] Figure 10 is a schematic diagram of one structure of an adapter provided in some embodiments of this application.
[0042] Explanation of reference numerals in the attached figures:
[0043] 10-Adapter;
[0044] 100 - Support; 200 - First sun gear; 300 - Second sun gear; 400 - Third sun gear; 500 - Third limit bracket; 600 - Base;
[0045] 110 - First adjusting component; 120 - Second adjusting component; 130 - First limiting bracket; 140 - Second limiting bracket; 150 - Third adjusting component; 201 - First rolling element; 202 - First mounting groove; 210 - First limiting recess; 310 - Second limiting recess; 401 - Fourth rolling element; 510 - Cover; 520 - Mounting bracket; 610 - Transmission component;
[0046] 131 - Second rolling element; 132 - First limiting protrusion; 141 - Third rolling element; 142 - Second limiting protrusion;
[0047] 1321 - Second mounting groove; 1421 - Third mounting groove. Detailed Implementation
[0048] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.
[0049] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.
[0050] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0051] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0052] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via 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. Similarly, "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.
[0053] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.
[0054] Figure 1 is a schematic diagram of an overall structure of an adapter provided in some embodiments of this application. Figure 2 is a schematic diagram of another overall structure of an adapter provided in some embodiments of this application. Figure 3 is a cross-sectional view of an adapter provided in some embodiments of this application.
[0055] In some examples, referring to Figures 1-3, during mitral or tricuspid valve surgery, to reduce radiation exposure to medical staff and improve surgical outcomes, an adapter 10 is typically connected to the end-effector (e.g., a sheath system), and the adapter 10 is used to adjust the bending and rotation of the sheath system. The adapter 10 may include a support 100. The support 100 may be mounted on the power unit of the surgical assistance system. A first adjustment component 110 may be mounted on the support 100.
[0056] In some examples, the first adjustment component 110 may include a first knob. When rotated, the first knob of the first adjustment component 110 can adjust the bending of the sheath in a first direction.
[0057] In some examples, a second adjustment assembly 120 may be provided on the support 100. The second adjustment assembly 120 may include a second knob. When rotated, the second knob can adjust the bending of the sheath in a second direction.
[0058] Thus, the bending of the sheath can be adjusted in at least two directions by the first adjustment component 110 and the second adjustment component 120 on the stent 100, which increases the degree of freedom in adjusting the bending of the sheath and improves the flexibility of adjusting the sheath, making it easier to accurately insert the sheath into the mitral or tricuspid valve position for surgical operations.
[0059] In some examples, adapter 10 may include a first sun gear 200. The first sun gear 200 is rotatably mounted on the bracket 100 about its own axis. That is, the first sun gear 200 can rotate on its own axis on the bracket 100. The first sun gear 200 may be drive-connected to the first adjustment assembly 110.
[0060] In some examples, the first sun gear 200 can be driven to the first adjusting assembly 110 via a first planetary gear (not shown in the figure). A flexible drive shaft can be connected to the first planetary gear, and the flexible drive shaft is driven to the first adjusting assembly 110. That is, when the first sun gear 200 rotates relative to the support 100, the first sun gear 200 transmits power to the planetary gear, and the planetary gear transmits power to the first adjusting assembly 110 via the flexible drive shaft, thereby driving the first knob of the first adjusting assembly 110 to rotate and adjust the bending of the sheath.
[0061] In some examples, adapter 10 may include a second sun gear 300. The second sun gear 300 may be rotatably mounted on the bracket 100 about its own axis. That is, the second sun gear 300 may rotate on the bracket 100 about its own axis. The second sun gear 300 may be drive-connected to the second adjustment assembly 120.
[0062] In some examples, the second sun gear 300 can be driven to the second adjustment assembly 120 via a second planetary gear (not shown in the figure).
[0063] In some examples, the transmission connection between the second sun gear 300 and the second adjustment component 120 may be the same as, similar to or similar to the transmission connection between the first sun gear 200 and the first adjustment component 110. For details, please refer to the detailed description of the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.
[0064] In some examples, the second sun gear 300 and the first sun gear 200 can be arranged side by side along the axial direction. That is, the rotation axis of the second sun gear 300 can be coaxial or approximately coaxial with the rotation axis of the first sun gear 200. The opposite end faces of the second sun gear 300 and the first sun gear 200 can be close to each other. In this way, the space occupied by the first sun gear 200 and the second sun gear 300 can be reduced, and their positions can be made more compact, which is beneficial to the miniaturization design of the adapter 10.
[0065] In some examples, since the first sun gear 200 and the second sun gear 300 are coaxially arranged, their opposing end faces are close to each other. When one of the first sun gear 200 and the second sun gear 300 rotates, it may cause friction to the other, causing the other to also rotate. To improve the accuracy of the first sun gear 200 and the second sun gear 300 in adjusting the bending of the sheath, in some examples of embodiments of this application, a first rolling element 201 may be provided on the side of either the first sun gear 200 or the second sun gear 300 opposite to the other. The first rolling element 201 can roll in contact with the other of the first sun gear 200 and the second sun gear 300.
[0066] In some examples, the first rolling element 201 may be disposed on the end face of the first sun gear 200 facing the second sun gear 300, and the first rolling element 201 rolls in contact with the end face of the second sun gear 300 facing the first sun gear 200.
[0067] In some examples, the first rolling element 201 may be disposed on the end face of the second sun gear 300 facing the first sun gear 200, and the first rolling element 201 rolls in contact with the end face of the first sun gear 200 facing the second sun gear 300.
[0068] The adapter 10 and surgical assistance system provided in this application embodiment, by rotatably arranging a first sun gear 200 on the support 100 around its own axis, and driving the first adjustment component 110 through the first sun gear 200, allow the first adjustment component 110 to adjust the sheath in a first direction. By rotatably arranging a second sun gear 300 on the support 100 around its own axis, and arranging the second sun gear 300 and the first sun gear 200 side by side along the axial direction, the space occupied by the arrangement of the first sun gear 200 and the second sun gear 300 can be reduced, thus facilitating a reduction in the size of the adapter 10. The second sun gear 300 is driven by the second adjustment component 120; thus, the second adjustment component 120 can be driven through the first sun gear 200, allowing the second adjustment component 120 to adjust the sheath in a second direction, thereby increasing the degree of freedom in adjusting the sheath and expanding the applicability of surgical instruments after the adapter 10 is adapted to the surgical instruments. In this embodiment, a first rolling element 201 is provided on the side opposite to either the first sun gear 200 or the second sun gear 300, and the first rolling element 201 makes rolling contact with the other of the first sun gear 200 and the second sun gear 300. In this way, the sliding friction between the first sun gear 200 and the second sun gear 300 can be converted into rolling friction by the first rolling element 201, which reduces the frictional force between the first rolling element 201 and the second rolling element 131. This reduces the impact of the rotation of one of the first sun gear 200 and the second sun gear 300 on the other, improves the independence of control over the sheath system, and enhances surgical safety.
[0069] Figure 4 is a magnified view of a portion of point A in Figure 3.
[0070] In some examples, as shown in Figures 3 and 4, a first mounting groove 202 is provided on the side of either the first sun gear 200 or the second sun gear 300 opposite to the other.
[0071] In some examples of embodiments of this application, for ease of explanation, the first rolling element 201 is provided on the side of the first sun gear 200 facing the second sun gear 300 as an example.
[0072] In some examples, the first mounting groove 202 may be provided on the end face of the first sun gear 200 facing the second sun gear 300. The first mounting groove 202 may be an annular groove, which may be coaxial with the first sun gear 200.
[0073] In some examples, after the first rolling element 201 is disposed in the first mounting groove 202, at least a portion of the first rolling element 201 may protrude from the first mounting groove 202. That is, the portion of the first rolling element 201 protruding from the first mounting groove 202 may roll in contact with the end face of the second sun gear 300.
[0074] In some examples, multiple first rolling elements 201 can be provided in the annular groove, and multiple first rolling elements 201 can roll along the annular groove, thereby converting the sliding friction between the first sun gear 200 and the second sun gear 300 into rolling friction.
[0075] In some examples of embodiments of this application, a first mounting groove 202 is provided on the side of either the first sun gear 200 or the second sun gear 300 opposite to the other. A first rolling element 201 is disposed within the first mounting groove 202, with at least a portion of the first rolling element 201 protruding from the first mounting groove 202 to roll in contact with the second sun gear 300. This facilitates the installation of the first rolling element 201, improves the stability of the first rolling element 201 rolling between the first sun gear 200 and the second sun gear 300, thereby improving the relative rotational stability of the first sun gear 200 and the second sun gear 300 and enhancing the safety of the surgery.
[0076] Figure 5 is a schematic diagram of the structure of the first sun gear 200 in the adapter 10 provided in some embodiments of this application. Figure 6 is a front view of the first sun gear 200 in the adapter 10 provided in some embodiments of this application.
[0077] In some examples, referring to Figures 5 and 6, the first mounting groove 202 may include a spherical groove. Multiple first mounting grooves 202 may be provided, and these grooves may be arranged at intervals along the circumference of either the first sun gear 200 or the second sun gear 300. Alternatively, the multiple first mounting grooves 202 may be evenly spaced along the circumference of either the first sun gear 200 or the second sun gear 300.
[0078] In some examples, there may be multiple first rolling elements 201. A single first rolling element 201 may be located within a first mounting recess 202. That is, the number of first rolling elements 201 may match the number of first mounting recesses 202.
[0079] In some examples, the first mounting recess 202 may include a strip-shaped recess. The first rolling element 201 may include a roller. The roller is rotatably disposed within the first mounting recess 202.
[0080] In some examples of embodiments of this application, a plurality of first rolling elements 201 are provided. The plurality of first rolling elements 201 are arranged circumferentially along either the first sun gear 200 or the second sun gear 300. In this way, multiple rolling contact points can be formed on opposite sides of the first sun gear 200 and the second sun gear 300, which can improve the stability of the rolling contact between the first sun gear 200 and the second sun gear 300 and enhance the safety of the surgery.
[0081] In some examples, the first rolling element 201 may include a ball. The ball may be a steel ball. The ball may be embedded in the first mounting groove 202 and roll in contact with the first sun gear 200 within the first mounting groove 202.
[0082] In some examples of embodiments of this application, the first rolling element 201 is configured as a ball bearing. This facilitates connection between the rolling element and either the first sun gear 200 or the second sun gear 300. That is, it facilitates the rolling of the first rolling element 201 within the first mounting groove 202, improving the ease of setting the first rolling element 201 and saving on the manufacturing cost of the adapter 10.
[0083] Furthermore, by providing a first mounting groove 202 at an interval on one of the first sun gear 200 and the second sun gear 300, the strength of the first sun gear 200 and the second sun gear 300 can be ensured, thus ensuring surgical safety.
[0084] In some examples, referring to FIG3, the bracket 100 may include a first limiting bracket 130. The first limiting bracket 130 may be located on the side of the first sun gear 200 facing away from the second sun gear 300.
[0085] In some examples, a second rolling element 131 may be provided between the first limiting frame 130 and the first sun gear 200. The second rolling element 131 can roll in contact with the first limiting frame 130 and the first sun gear 200.
[0086] In some examples, the second scroll bar 131 may be configured in the same, similar or similar way to the first scroll bar 201. For details, please refer to the detailed description of the first scroll bar 201 in the foregoing embodiments of this application. This application will not repeat the details in the embodiments.
[0087] In some examples, referring to FIG3, the bracket 100 may include a second limiting bracket 140. The second limiting bracket 140 may be located on the side of the second sun gear 300 facing away from the first sun gear 200. The second limiting bracket 140 may be connected to the first limiting bracket 130. That is, the second limiting bracket 140 may cooperate with the first limiting bracket 130 to position the first sun gear 200 and the second sun gear 300 between the first limiting bracket 130 and the second limiting bracket 140.
[0088] In some examples, as shown in Figures 3 and 4, a third rolling element 141 is provided between the second limiting frame 140 and the second sun gear 300. The third rolling element 141 can roll in contact with the second limiting frame 140 and the second sun gear 300.
[0089] In some examples, the third scroll bar 141 may be configured in the same, similar or similar way to the first scroll bar 201. For details, please refer to the detailed description of the first scroll bar 201 in the foregoing embodiments of this application. This application will not repeat the details in this embodiment.
[0090] In some examples, to ensure the strength of the first sun gear 200 and the second sun gear 300, the second rolling element 131 may be provided on the first limiting frame 130. The third rolling element 141 may be provided on the second limiting frame 140.
[0091] In some examples of embodiments of this application, the first sun gear 200 and the second sun gear 300 are limited by the first limiting bracket 130 and the second limiting bracket 140, which ensures that the first sun gear 200 and the second sun gear 300 always rotate around their own axes, thereby improving the stability of the rotation of the first sun gear 200 and the second sun gear 300, and thus improving the stability of the bending adjustment of the sheath in the first and second directions. In addition, by limiting the first sun gear 200 and the second sun gear 300 by the first limiting bracket 130 and the second limiting bracket 140, the first sun gear 200 and the second sun gear 300 can always maintain a meshed state with the corresponding planetary gears, which ensures the effectiveness of the first sun gear 200 and the second sun gear 300 in the bending adjustment of the sheath in the first and second directions.
[0092] In addition, in some examples of embodiments of this application, a second rolling element 131 is provided between the first sun gear 200 and the first limiting frame 130, and the second rolling element 131 rolls in contact with the first limiting frame 130 and the first sun gear 200. In this way, the sliding friction between the first sun gear 200 and the first limiting frame 130 can be converted into rolling friction, which can reduce the frictional force experienced by the first sun gear 200 during rotation and improve the smoothness of the rotation of the first sun gear 200, that is, improve the flexibility of adjusting the bending of the sheath in the first direction. Similarly, a third rolling element 141 is provided between the second sun gear 300 and the second limiting frame 140, and the third rolling element 141 rolls in contact with the second limiting frame 140 and the second sun gear 300. In this way, the sliding friction between the second sun gear 300 and the second limiting frame 140 can be converted into rolling friction, which can reduce the frictional force experienced by the first sun gear 200 during rotation and improve the smoothness of the rotation of the second sun gear 300, that is, improve the flexibility of adjusting the bending of the sheath in the second direction.
[0093] Figure 7 is a schematic diagram of another structure of the first sun gear 200 in the adapter 10 provided in some embodiments of this application. Figure 8 is a cross-sectional view along line BB in Figure 6.
[0094] In some examples, as shown in Figures 3, 7 and 8, the first limiting frame 130 may have a first limiting protrusion 132 on the side facing the first sun gear 200. The first limiting protrusion 132 may extend toward the first sun gear 200 along the axial direction of the first sun gear 200.
[0095] In some examples, the first limiting protrusion 132 may be provided with a second mounting groove 1321. The setting method of the second mounting groove 1321 may be the same as, similar to or similar to the setting method of the first mounting groove 202. For details, please refer to the detailed description of the first mounting groove 202 in the foregoing embodiments of this application. The embodiments of this application will not repeat the details.
[0096] In some examples, the second rolling element 131 may be disposed within the second mounting recess 1321. At least a portion of the second rolling element 131 may protrude from the first mounting recess 202.
[0097] In some examples, as shown in Figures 3, 7 and 8, the first sun gear 200 may have an arc-shaped groove on the side facing the first limiting frame 130, and the second rolling element 131 may roll into contact with the bottom wall of the first limiting recess 210.
[0098] In some examples, to facilitate the transmission of power from the first sun gear 200 to the first adjusting assembly 110 via planetary gears, the first sun gear 200 may include a double-sided gear. That is, teeth may be provided on both the outer and inner peripheral walls of the first sun gear 200. The outer peripheral wall can be connected to the power unit of the surgical assistance system, and the teeth on the inner peripheral wall can mesh with the planetary gears, thereby transmitting power to the first adjusting assembly 110.
[0099] In some examples, the first limiting recess 210 may be formed on the side of the first sun gear 200 facing the first limiting bracket 130. Referring to Figures 3, 7 and 8, the first limiting recess 210 may communicate with the center hole of the first sun gear 200 along the radial direction of the first sun gear 200.
[0100] In some examples, as shown in FIG3, the first limiting protrusion 132 may extend to the first limiting recess 210. In this way, the first limiting protrusion 132 may cooperate with the first limiting recess 210 to limit the first sun gear 200 in the radial and axial directions.
[0101] In some examples, referring to Figures 3 and 4, the second mounting groove 1321 can be located at a corner where the first limiting protrusion 132 and the first sun gear 200 mutually limit each other. This ensures that the first mounting groove 202 has sufficient space, guarantees the strength of the first limiting protrusion 132, and ensures the effective limiting of the first sun gear 200 by the first limiting protrusion 132.
[0102] In some examples, referring to Figures 7 and 8, the corner of the first limiting recess 210 can be rounded. That is, the corner of the first limiting recess 210 can be rounded, which facilitates effective contact between the first limiting recess 210 and the second rolling element 131, improving the stability of the second rolling element 131 rolling along the first limiting recess 210. This improves the stability of the first sun gear 200 in adjusting the bending of the sheath along the first direction, thus enhancing the safety of the surgery.
[0103] In some examples, referring to FIG3, the second limiting bracket 140 may have a second limiting protrusion 142 on the side facing the second sun gear 300. The second limiting protrusion 142 may have a third mounting groove 1421. The third rolling element 141 may be disposed within the third mounting groove 1421. At least a portion of the third rolling element 141 may protrude from the third mounting groove 1421.
[0104] In some examples, the second limiting protrusion 142 may be configured in the same, similar or similar way to the first limiting protrusion 132. For details, please refer to the detailed description of the first limiting protrusion 132 in the foregoing embodiments of this application. This application will not repeat the details in the embodiments.
[0105] In some examples, the second sun gear 300 may have a second limiting recess 310 on the side facing the second limiting bracket 140. The second rolling element 131 may roll into contact with the bottom wall of the second limiting recess 310.
[0106] In some examples, the second limiting recess 310 may be configured in the same, similar or similar way to the first limiting recess 210. For details, please refer to the detailed description of the second limiting protrusion 142 in the foregoing embodiments of this application. This application is an embodiment and will not repeat the details here.
[0107] Figure 9 is a magnified view of part C in Figure 3.
[0108] In some examples, referring to FIG3, the adapter 10 may include a third sun gear 400. The third sun gear 400 may be located on the side of the second limiting frame 140 facing away from the first limiting frame 130. It is understood that the position of the third sun gear 400 in this embodiment is only shown as a specific example and is not intended to limit the specific position of the third sun gear 400. In some examples, the third sun gear 400 may be located on the side of the first limiting frame 130 facing away from the second limiting frame 140.
[0109] In some examples, referring to Figures 3 and 9, a fourth rolling element 401 may be provided between the third sun gear 400 and the second limit frame 140. The fourth rolling element 401 can roll in contact with the third sun gear 400 and the second limit frame 140.
[0110] In some examples, the fourth rolling element 401 may be located on the second limit frame 140. The fourth rolling element 401 may be located on the side of the second limit frame 140 facing the third sun gear 400.
[0111] In some examples, the fourth rolling element 401 may be located on the third sun gear 400. The fourth rolling element 401 may be located on the side of the third sun gear 400 facing the second limit frame 140.
[0112] In some examples, referring to Figures 1 and 2, the third sun gear 400 may be drivenly connected to a third adjustment assembly 150. The third adjustment assembly 150 can be used to adjust the rotation of the sheath tube around its own routing.
[0113] In some examples, as shown in FIG1, a cover 510 may be connected to the side of the third sun gear 400 facing away from the second limit frame 140, and a mounting bracket 520 bracket 100 may be provided on the side of the cover 510 facing away from the third sun gear 400, and the third adjustment component 150 may be mounted on the mounting bracket 520 bracket 100.
[0114] In some examples, the third adjustment component 150 can rotate around its own axis under the drive of the third sun gear 400, thereby causing the sheath to rotate around its own axis. That is, in the embodiments of this application, the rotation axis of the third adjustment component 150 can coincide with or approximately coincide with the rotation axis of the third sun gear 400.
[0115] In some examples, referring to FIG3, adapter 10 may include a third retaining bracket 500. The third retaining bracket 500 may be located on the side of the third sun gear 400 facing away from the second retaining bracket 140. The third retaining bracket 500 may be located between the third sun gear 400 and the cover 510.
[0116] In some examples, the third limit bracket 500 can be connected to the second limit bracket 140. The third limit bracket 500 can be fixedly connected to the second limit bracket 140.
[0117] In some examples, the outer diameter of the third sun gear 400 can be larger than the outer diameter of the third limit frame 500. The end face of the third sun gear 400 facing away from the second limit frame 140 can be fixedly connected to the cover 510, thereby driving the third adjustment component 150 on the cover 510 to rotate.
[0118] In some examples, a fifth rolling element (not shown in the figure) may be provided between the third sun gear 400 and the third limit frame 500. The fifth rolling element may have rolling contact with the third sun gear 400 and the third limit frame 500.
[0119] It is understood that the configuration of the fifth scroll bar and the fourth scroll bar 401 can refer to the configuration of the second scroll bar 131 or the third scroll bar 141 in the signed embodiment of this application, and will not be described again in this embodiment.
[0120] In some examples of embodiments of this application, a third sun gear 400 is provided, which is connected to a third adjusting assembly 150 via a transmission. This allows for rotational adjustment of the sheath via the third sun gear 400, increasing the flexibility of sheath adjustment. Furthermore, a fourth rolling element 401 is provided between the third sun gear 400 and the second limiting frame 140, and a fifth rolling element is provided between the third sun gear 400 and the third limiting frame 500. This reduces the frictional force on the third sun gear 400, improving the smoothness of its rotation and thus enhancing the stability of sheath adjustment.
[0121] Figure 10 is a schematic diagram of one structure of an adapter 10 provided in some embodiments of this application.
[0122] In some examples, as shown in FIG10, the bracket 100 may include a base 600.
[0123] In some examples, the first limit bracket 130 and the second limit bracket 140 may be located on the base 600.
[0124] In some examples, referring to FIG3, the base 600 may be provided with a transmission assembly 610. The output end of the transmission assembly 610 may extend along the arrangement direction of the first sun gear 200, the second sun gear 300, and the third sun gear 400. The output end of the transmission assembly 610 may be connected to the first sun gear 200, the second sun gear 300, and the third sun gear 400 respectively.
[0125] In some examples, the transmission assembly 610 may include a first drive shaft (not shown). The first drive shaft may be connected to the first sun gear 200. A first spur gear may be disposed at the end of the first drive shaft facing the first sun gear 200, and the first spur gear may mesh with the outer peripheral teeth of the first sun gear 200.
[0126] In some examples, the transmission assembly 610 may include a second transmission shaft (not shown in the figure). The second transmission shaft may be connected to the second sun gear 300. The length of the second transmission shaft may be greater than the length of the first transmission shaft. The transmission connection between the second transmission shaft and the second sun gear 300 may be the same as, similar to, or analogous to that of the first transmission shaft, and will not be described further in the embodiments of this application.
[0127] In some examples, transmission assembly 610 may include a third drive shaft (not shown in the figure). The third drive shaft may be connected to the third sun gear 400. The length of the third drive shaft may be greater than the length of the second drive shaft.
[0128] In some examples, the axes of the first, second, and third drive shafts can have a height difference in the longitudinal direction (e.g., the direction shown by the z-axis in Figure 3). For instance, the first and second drive shafts can have a certain height difference, the second and third drive shafts can have a different moving height, and the first and third drive shafts can be at the same height. Thus, by setting a certain height difference between the first, second, and third drive shafts in the longitudinal direction, the distance between them in the lateral direction (e.g., the direction shown by the y-axis in Figure 3) can be reduced, decreasing the space required by the first, second, and third drive shafts in the lateral direction, which is beneficial for the miniaturization design of the adapter 10.
[0129] It is understandable that, in order to improve the compactness of the adapter 10 structure and reduce its overall size, the input ends of the first, second, and third rotating shafts can be connected to the output shaft of the power unit via bevel gears (in some examples, they may also be called helical gears).
[0130] In some examples of embodiments of this application, a surgical assistance system is also provided. It includes:
[0131] The power unit and the adapter 10 provided in the foregoing embodiments of this application.
[0132] In some examples, the power unit may have multiple drive mechanisms. In the transmission assembly 610 of adapter 10, the first drive shaft, the second drive shaft, and the third drive shaft may each be driven by a drive mechanism.
[0133] It is understood that the surgical assistance system provided in this application embodiment has the same or corresponding specific technical features as the adapter 10 provided in the foregoing embodiments of this application. Therefore, it has the same or similar technical effects as the foregoing embodiments of this application, and this application embodiment will not repeat them here.
[0134] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0135] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. An adapter, characterized in that, include: A bracket (100) is provided with a first adjusting component (110) and a second adjusting component (120); a first sun gear (200) is rotatably disposed on the bracket (100) about its own axis, and the first sun gear (200) is connected to the first adjusting component (110) in a driving connection; a second sun gear (300) is rotatably disposed on the bracket (100) about its own axis, and the second sun gear (300) and the first sun gear (200) are arranged side by side along the axial direction, and the second sun gear (300) is connected to the second adjusting component (120) in a driving connection; a first rolling element (201) is provided on the side opposite to the other of the first sun gear (200) and the second sun gear (300), and the first rolling element (201) is in rolling contact with the other of the first sun gear (200) and the second sun gear (300).
2. The adapter according to claim 1, characterized in that, A first mounting groove (202) is provided on the side of either the first sun gear (200) or the second sun gear (300) opposite to the other. The first rolling element (201) is disposed in the first mounting groove (202), and at least a portion of the first rolling element (201) protrudes from the first mounting groove (202) to roll in contact with the other of the first sun gear (200) and the second sun gear (300).
3. The adapter according to claim 1, characterized in that, The first rolling element (201) includes a plurality of first rolling elements (201) arranged at intervals along the circumference of either the first sun gear (200) or the second sun gear (300).
4. The adapter according to any one of claims 1-3, characterized in that, The first rolling element (201) includes balls that are rotatably disposed on one side of either the first sun gear (200) or the second sun gear (300) opposite to the other.
5. The adapter according to any one of claims 1-3, characterized in that, The bracket (100) includes: a first limiting frame (130), which is located on the side of the first sun gear (200) facing away from the second sun gear (300); a second rolling element (131) is provided between the first limiting frame (130) and the first sun gear (200), and the second rolling element (131) rolls in contact with the first limiting frame (130) and the first sun gear (200); a second limiting frame (140), which is located on the side of the second sun gear (300) facing away from the first sun gear (200); a third rolling element (141) is provided between the second limiting frame (140) and the second sun gear (300), and the third rolling element (141) rolls in contact with the second limiting frame (140) and the second sun gear (300).
6. The adapter according to claim 5, characterized in that, The first limiting frame (130) has a first limiting protrusion (132) on the side facing the first sun gear (200), the first limiting protrusion (132) has a second mounting groove (1321), the second rolling element (131) is disposed in the second mounting groove (1321), and at least a portion of the second rolling element (131) protrudes out of the second mounting groove (1321); the first sun gear (200) has a first limiting recess (210) on the side facing the first limiting frame (130), and the second rolling element (131) rolls and contacts the bottom wall of the first limiting recess (210).
7. The adapter according to claim 5, characterized in that, The second limiting frame (140) has a second limiting protrusion (142) on the side facing the second sun gear (300), the second limiting protrusion (142) has a third mounting groove (1421), the third rolling element (141) is disposed in the third mounting groove (1421), and at least a portion of the third rolling element (141) protrudes from the third mounting groove (1421); the second sun gear (300) has a second limiting recess (310) on the side facing the second limiting frame (140), and the second rolling element (131) rolls in contact with the bottom wall of the second limiting recess (310).
8. The adapter according to claim 5, characterized in that, The adapter further includes: a third sun gear (400), the third sun gear (400) being disposed on the side of the second limiting frame (140) facing away from the first limiting frame (130); a fourth rolling element (401) is provided between the third sun gear (400) and the second limiting frame (140), the fourth rolling element (401) rollingly contacting the third sun gear (400) and the second limiting frame (140), and the third sun gear (400) being drivenly connected to a third Adjustment assembly (150); third limiting frame (500), the third limiting frame (500) is located on the side of the third sun gear (400) facing away from the second limiting frame (140), the third limiting frame (500) is connected to the second limiting frame (140), a fifth rolling element is provided between the third sun gear (400) and the third limiting frame (500), the fifth rolling element rolls in contact with the third sun gear (400) and the third limiting frame (500).
9. The adapter according to claim 8, characterized in that, The bracket (100) shown further includes: a base (600), on which the first limiting bracket (130) and the second limiting bracket (140) are disposed; the base (600) is provided with a transmission assembly (610), the output end of the transmission assembly (610) extends along the arrangement direction of the first sun gear (200), the second sun gear (300) and the third sun gear (400), and the output end of the transmission assembly (610) is respectively connected to the first sun gear (200), the second sun gear (300) and the third sun gear (400) for transmission.
10. The adapter according to claim 9, characterized in that, The transmission assembly (610) includes: a first transmission shaft, which is connected to the first sun gear (200); a second transmission shaft, which is connected to the second sun gear (300); and a third transmission shaft, which is connected to the third sun gear (400). The axes of the first transmission shaft, the second transmission shaft, and the third transmission shaft have a height difference in the longitudinal direction.
11. A surgical assistance system, characterized in that, include: Power unit; The adapter (10) according to any one of claims 1-10, wherein the power unit is connected to the transmission assembly (610) of the adapter (10).