An electrically powered minimally invasive surgical operating instrument

Abstract

The application discloses a kind of electric minimally invasive surgical operating instruments, belong to surgical operating instrument technical field, the application includes surgical instrument box A with surgical operation unit, transmission unit, fast unit, supporting component, and surgical motor box B with motor box shell:Wherein, the lower surface of supporting component is provided with the connection upper clutch of driving transmission unit execution transmission movement;Motor box shell includes the lower clutch unit for being installed at the top of motor and being used for engaging or separating with connection upper clutch:It also includes proximity switch installed at the top of motor box shell and located at the side of lower clutch unit;In the group state, motor operation drives lower clutch unit to rotate, so that the connecting column of lower clutch unit extends into the connecting hole of connection upper clutch, lower clutch unit resets and triggers proximity switch, so that the pairing of surgical motor box B and surgical instrument box A is successful, the pairing success rate is improved, it is quick, convenient to use, different instrument box can be replaced at any time, to cope with different operation requirements.

Description

Technical Field

[0001] This invention relates to the field of surgical instruments, and more particularly to an electric minimally invasive surgical instrument. Background Technology

[0002] Minimally invasive surgery refers to the treatment of lesions by surgeons through small incisions in the patient's body surface, using surgical instruments and endoscopes. Compared with traditional surgery, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. Currently, minimally invasive surgery is widely used in many medical fields such as thoracic and abdominal surgery, gynecology, and urology. In recent years, the DaVinci minimally invasive surgical robot, as a typical representative of the commercialization of medical robots, has been used in major hospitals in China; however, it is expensive and difficult to maintain.

[0003] Surgical instruments serve as tools in minimally invasive surgical procedures, enabling surgeons to perform operations such as cutting, clamping, suturing, lifting, and freeing organs and tissues. Currently, most hospitals still rely on surgeons to manually operate surgical instruments for minimally invasive surgeries, primarily using hand-controlled instruments. For example, Chinese patent CN115590598B describes a minimally invasive surgical instrument comprising an end effector, a control lever, a yaw assembly, a yaw drive assembly, and an opening / closing drive assembly. The end effector can open and clamp human tissue; the yaw assembly, located at the end of the control lever, can perform yaw movements. Yaw drive wires are connected to both sides of the yaw assembly, and the yaw drive assembly controls the tension of these wires to achieve its yaw motion. While this minimally invasive surgical instrument offers a larger working space and allows for more flexible and faster minimally invasive surgical operations, manual operation relies on the surgeon's physical strength, leading to fatigue during prolonged surgeries. Furthermore, its limited functionality restricts precise manipulation.

[0004] Existing technologies also include corresponding electric minimally invasive surgical instruments that utilize robots to replace doctors, saving effort and enabling precise operation to complete surgeries with diverse functions. For example, Chinese patent CN112370167B discloses a robotic surgical arm and a minimally invasive surgical robot suitable for various numbers of orifices. The robotic surgical arm D includes a flexible arm, a transmission device, and a drive device. Although the transmission device is detachably connected to the drive device, and the drive device provides power to the transmission device, pulling the silk rope inside the transmission device to drive the movement of each joint of the flexible arm, the robotic surgical arm and the split bedside positioning device can be flexibly deployed in different hospital departments. According to the surgical requirements, different types of surgical robots can be formed, reducing the deployment volume. Through modular combination, costs are reduced and the types of clinical applications are increased. However, the robotic surgical arm D still has drawbacks. The disassembly and assembly process of the transmission device and drive device is cumbersome, and the drive device cannot be quickly replaced at any time to meet different operational needs.

[0005] For example, Chinese patent CN114983571B discloses a convenient replaceable rigid surgical instrument for minimally invasive thoracic and abdominal surgery, which includes a drive device, a transmission device, a clutch device, a steel tube, and an end effector. The transmission device has an instrument replacement device, which can be easily replaced through the clutch device and the instrument replacement device. Different end effectors can be easily installed and replaced by simply pressing a button to meet different surgical operation needs. Although this surgical instrument optimizes the position adjustment and replacement method of the surgical instrument, there are still drawbacks. When assembling the drive device and the transmission device, it is impossible to ensure that the clutch device is correctly aligned. The clutch on the clutch device needs to be adjusted to a suitable position to be successfully matched. Summary of the Invention

[0006] The purpose of this invention is to overcome the defects of the prior art and provide an electric minimally invasive surgical instrument to solve the problem of incorrect alignment and low pairing success rate of the drive device and transmission device during assembly in the prior art.

[0007] Different instrument boxes cannot be easily replaced to meet different operational requirements.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] This invention discloses an electric minimally invasive surgical instrument, comprising:

[0010] Surgical instrument box A and surgical motor box B mounted on said surgical instrument box A;

[0011] The surgical instrument box A includes a surgical operation unit, a transmission unit, a quick-change unit, and a support component; the surgical motor box B has a motor box shell.

[0012] The lower surface of the support component is provided with a connecting clutch that drives the transmission unit to perform transmission motion.

[0013] The motor housing includes a lower clutch unit mounted on the top of the motor for engaging or disengaging with the upper clutch; it also includes...

[0014] A proximity switch is installed on the top of the motor housing, located on the side of the lower clutch unit.

[0015] In the paired state, the motor drives the lower clutch unit to rotate, so that the connecting post of the lower clutch unit extends into the connecting hole of the upper clutch. The lower clutch unit resets and triggers the proximity switch, thus successfully pairing the surgical motor box B with the surgical instrument box A.

[0016] Furthermore, the motor is installed in a motor mounting hole in the outer shell of the motor box, the proximity switch is fixedly connected to the side of the motor mounting hole, and the lower clutch unit is located on the side inside the motor mounting hole.

[0017] Furthermore, the lower clutch unit includes a lower clutch, a motor connecting sleeve fixedly connected to the motor, a limiting baffle disposed above the lower clutch, and a compression spring for driving the lower clutch to reset.

[0018] The top of the motor connecting sleeve is provided with a spring mounting hole, and the top two sides of the motor connecting sleeve are provided with guide bosses that are slidably connected to the connecting lower clutch;

[0019] The upper part of the lower clutch has two symmetrical connecting posts, and the lower part abuts against the compression spring.

[0020] The two ends of the limiting baffle are fixedly connected to the top of the guide boss.

[0021] Furthermore, the quick-change unit includes a quick-change button and a quick-change support frame fixedly connected to the support component;

[0022] The lower part of the quick-change button has a downwardly extending claw structure, which is used to engage or disengage with the quick-change slot provided at the top of the motor housing.

[0023] The quick-change button is slidably connected to the quick-change support frame on its inner side. The quick-change support frame is equipped with a reset spring to support the quick-change button to reset. The quick-change button is fixed with a limit screw away from the pressing end.

[0024] Furthermore, the transmission unit includes a wire transmission mechanism and a rotation transmission mechanism for driving the surgical operation unit to rotate.

[0025] The wire drive mechanism includes a winding shaft and a winding clamp coaxial with the winding shaft and formed above it. Both the winding shaft and the winding clamp have spiral grooves for fixing and winding steel wire, and the spiral grooves on the winding shaft and the winding clamp are arranged in opposite directions.

[0026] The self-rotation transmission mechanism includes a self-rotation shaft fixedly connected to a driving gear and a driven gear meshing with the driving gear. The self-rotation shaft is rotatably connected to the support component, and the driven gear is fixedly connected to the operating rod of the surgical operation unit.

[0027] Furthermore, the transmission unit also includes a rotation limiting mechanism for limiting the rotation angle of the surgical operation unit;

[0028] The self-rotation limiting mechanism includes a limiting sleeve and a limiting block that cooperate with the rotation of the passive gear hub;

[0029] The limiting sleeve has limiting posts both inside and outside, and the two limiting posts are on opposite sides of the same diameter of the limiting sleeve. The outer side of the passive gear hub has a protruding set screw, which is used to collide with the limiting post inside the limiting sleeve to restrict the rotation of the limiting sleeve.

[0030] The limiting block is fixedly connected to the middle support bottom surface of the supporting component and is used to collide with the outer limiting post of the limiting sleeve to restrict the rotation of the limiting sleeve.

[0031] Furthermore, the transmission unit also includes a wire guide mechanism;

[0032] The wire guiding mechanism includes a guide wheel fixing component and a guide wheel;

[0033] The guide wheel fixing component is fixedly connected to the middle support of the support component. The guide wheel fixing component has three sets of guide wheel mounting slots in the circumference, and each guide wheel mounting slot is tangent to the winding shaft and the winding clamp shaft. The guide wheel is rotatably connected to the guide wheel mounting slot through a cylindrical pin.

[0034] Furthermore, the supporting component includes a fixed base plate, a central support disposed above the fixed base plate, and an instrument box shell covering the central support; and

[0035] Bearing retaining sleeve and shaft fixing component;

[0036] Both the fixed base plate and the central support are provided with bearing mounting holes for mounting the bearings of the transmission unit;

[0037] The bearing retaining sleeve is installed below the driven gear;

[0038] The rotating shaft fixing component is fixedly connected to the top of the rotating shaft;

[0039] The instrument box shell is fixedly connected to the base plate, and the instrument box shell has square holes on both sides for engaging with the quick-change button of the quick-change unit.

[0040] Furthermore, the surgical operation unit includes an end-effector claw and an operating rod;

[0041] The top of the operating rod abuts against the middle support of the support component, and the bottom is fixedly connected to a fixing sleeve.

[0042] The end effector claw includes an upper claw page and a lower claw page, and a wrist joint rotatably connected to the upper claw page and the lower claw page, the wrist joint being rotatably connected to the fixed sleeve.

[0043] Furthermore, small claw slots are provided on the inner sides of both the upper and lower claw pages for connecting steel wires. The wrist joint has guide wheels on both the upper and lower sides to limit the position of the steel wire and ensure its tension. A wire-locking groove is provided in the middle of the wrist joint to fix the steel wire so that the wrist joint can swing.

[0044] In the above technical solution, the electric minimally invasive surgical instrument provided by the present invention has the following beneficial effects:

[0045] The electric minimally invasive surgical instrument designed in this invention includes a surgical instrument box A comprising a surgical operation unit, a transmission unit, a quick-change unit, and a support component. The lower surface of the support component is equipped with an upper clutch that drives the transmission unit to perform transmission motion. The surgical motor box B has a motor box shell, and a lower clutch unit is connected to the top of a motor installed inside the motor box shell. Compared with existing technologies, a proximity switch is installed on the side of the lower clutch unit at the top of the motor box shell. During pairing, the motor drives the lower clutch unit to rotate, adapting to the position of the lower clutch unit so that the connecting post of the lower clutch unit extends into the connecting hole of the upper clutch. The lower clutch unit resets and triggers the proximity switch, ensuring successful pairing between the surgical motor box B and the surgical instrument box A. This eliminates the need for manual or other adjustments to the upper clutch position, effectively improving pairing efficiency and connection effectiveness.

[0046] Secondly, utilizing the quick-change unit, the lower part of the quick-change button has a downward-extending claw structure, which is used to engage or disengage with the quick-change slot set on the top of the motor box housing, realizing quick-change installation. It is quick and convenient to use, and different instrument boxes can be replaced at any time to meet different operating requirements, with high connection reliability. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0048] Figure 1 This is an isometric drawing of the electric minimally invasive surgical instrument disclosed in this invention;

[0049] Figure 2 This is an isometric view of the surgical instrument box A of the electric minimally invasive surgical instrument disclosed in this invention;

[0050] Figure 3 This is a schematic diagram of the surgical operation unit structure of the electric minimally invasive surgical instrument disclosed in this invention;

[0051] Figure 4This is an exploded view of the electric minimally invasive surgical instrument box A disclosed in this invention;

[0052] Figure 5 This is a schematic diagram of the self-rotation limiting mechanism of the electric minimally invasive surgical instrument disclosed in this invention;

[0053] Figure 6 This is an exploded view of the quick-change unit of the electric minimally invasive surgical instrument disclosed in this invention;

[0054] Figure 7 This is a schematic diagram of the structure of the surgical motor box B of the electric minimally invasive surgical instrument disclosed in this invention;

[0055] Figure 8 This is a schematic diagram of the lower clutch unit structure of the electric minimally invasive surgical instrument disclosed in this invention.

[0056] Explanation of reference numerals in the attached figures:

[0057] Surgical operating unit 100; transmission unit 200; quick-change unit 300; support component 400; motor housing 500;

[0058] Upper claw 110; Small claw slot 111; Lower claw 120; Wrist joint 130; Cable slot 131; Cylindrical pin 140; Guide wheel 150; Operating rod 160; Fixing sleeve 161; Cable hole 162; Guide wheel 170;

[0059] Wire drive mechanism 210; winding shaft 211; winding clamp 212; bearing 213; rotation drive mechanism 220; rotation shaft 221; driving gear 222; driven gear 223; set screw 224; bearing 225; rotation limit mechanism 230; limit sleeve 231; limit block 232; wire guide mechanism 240; guide wheel fixing part 241; guide wheel 242; cylindrical pin 243; connecting clutch 250;

[0060] Quick-change button 310; irregularly shaped guide post 311; claw structure 312; quick-change support frame 320; irregularly shaped hole 321; upper mounting hole 322; lower mounting hole 323; limit screw 330; return spring 340;

[0061] Fixed base plate 410; central support 420; bearing fixing sleeve 430; instrument box shell 440; rotating shaft fixing component 450;

[0062] Cover plate 510; quick-change slot 511; motor mounting hole 512; motor 520; lower clutch unit 530; connecting lower clutch 531; motor connecting sleeve 532; limit stop 533; compression spring 534; set screw 535; guide boss 536; connecting post 537; proximity switch 540. Detailed Implementation

[0063] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0064] See Figure 1 , 2 As shown;

[0065] An electric minimally invasive surgical instrument is invented, comprising: a surgical instrument box A and a surgical motor box B;

[0066] Surgical instrument box A includes a surgical operation unit 100, a transmission unit 200, a quick-change unit 300, and a support component 400; surgical motor box B has a motor box shell 500.

[0067] Among them, the lower surface of the support component 400 is provided with a drive transmission unit 200 to perform transmission motion, and a connecting clutch 250 is provided;

[0068] The motor housing 500 includes a lower clutch unit 530 mounted on the top of the motor 520 for engaging or disengaging with the upper clutch 250; it also includes...

[0069] A proximity switch 540 is installed on the top of the motor housing 500, located on the side of the lower clutch unit 530.

[0070] In the paired state, the motor 520 drives the lower clutch unit 530 to rotate, so that the connecting post 537 of the lower clutch unit 530 extends into the connecting hole of the upper clutch 250. The lower clutch unit 530 resets and triggers the proximity switch 540, thus successfully pairing the surgical motor box B with the surgical instrument box A.

[0071] In this structure, when the motor 520 drives the lower clutch unit 530 to automatically adjust its posture, the connecting post 537 of the lower clutch unit 530 is positioned to connect to the connecting hole of the upper clutch 250 and extends into the connecting hole, while triggering the proximity switch 540, thus ensuring successful pairing of the surgical motor box B and the surgical instrument box A.

[0072] The surgical instrument box A is equipped with a quick-change mechanism at the bottom, which allows for quick assembly to the top of the surgical motor box B. Different instrument boxes can be replaced at any time to meet different operational requirements and to perform various complex surgical operations in narrow cavities. The surgical motor box B is connected to the robot circuit and is used to drive the surgical operation unit of the surgical instrument box A.

[0073] See Figure 7 As shown:

[0074] The surgical motor box B includes a motor box housing 500, a cover plate 510, a motor 520, a lower clutch unit 530, and a proximity switch 540.

[0075] The motor housing 500 is used to install the motor 520, the lower clutch unit 530, and the proximity switch 540. The motor housing 500 is provided with a quick-change slot 511 corresponding to the claw structure 312 of the quick-change button 310. The quick-change slot 511 can engage or disengage with the quick-change claw structure 312 at the bottom of the quick-change button 310 to achieve quick connection and disassembly. A cover plate 510 is fixedly connected to the bottom of the motor housing 500.

[0076] The motor 520 includes four motors 520, namely the upper page control motor of the claw, the lower page control motor of the claw, the wrist control motor, and the rotation control motor. The four motors 520 are respectively fixedly connected to the four motor mounting holes 512 of the motor box.

[0077] See Figure 8 As shown:

[0078] The lower clutch unit 530 includes a lower clutch 531, a motor connecting sleeve 532, a limit stop 533, a compression spring 534, and a set screw 535;

[0079] The motor connecting sleeve 532 has a D-shaped hole on the side near the motor 520 that mates with the shaft of the motor 520. It is fixedly connected to the motor 520 by a set screw 224. The side of the motor connecting sleeve 532 away from the motor 520 has a spring mounting hole for mounting a compression spring 534. The top of the motor connecting sleeve 532 has two symmetrical rectangular guide bosses 536. The lower clutch 531 has two guide holes that mate with the guide bosses 536 of the motor connecting sleeve 532, allowing the lower clutch disc 531 to slide along the guide bosses 536. The upper part of the lower clutch 531 has two symmetrical connecting posts 537 that mate with the connecting holes of the upper clutch 250. One end of the compression spring 534 presses against the bottom of the spring mounting hole of the motor connecting sleeve 532, and the other end abuts against the bottom surface of the lower clutch 531. The extension of the compression spring 534 resets the lower clutch 531. The limiting baffle 533 is fixedly connected to the top of the two guide bosses 536 of the motor connecting sleeve 532, limiting the lower clutch 531 from popping out. After the lower clutch unit 530 is fixedly connected to the motor 520, it is placed at the motor mounting hole 512 of the motor housing 500.

[0080] See Figure 8 As shown:

[0081] The proximity switch 540 is installed on the side of the lower clutch unit 530. The proximity switch 540 contains a proximity sensor. When the surgical instrument box A is installed onto the surgical motor box B, the connecting post 537 of the lower clutch unit 530 abuts against the surface of the upper clutch 250. The connecting post 537 does not mate with the mounting hole, and the compression spring 534 at the bottom of the lower clutch 531 is compressed. When the lower clutch 531 is at the bottom of the guide boss 536 of the motor connecting sleeve 532, the proximity switch 540 cannot be triggered. When the motor 520 rotates to the appropriate position, the connecting post 537 of the lower clutch 531 mates with the connecting hole of the upper clutch 250, and the return spring 340 of the lower clutch pushes the lower clutch 531 back to the top. The proximity switch 540 detects the lower clutch 531 and triggers. At this point, the surgical motor box B and the surgical instrument box A are successfully paired.

[0082] See Figure 6 As shown:

[0083] The quick-change unit 300 includes a quick-change button 310, a quick-change support bracket 320, a limit screw 330, and a return spring 340;

[0084] The quick-change button 310 has a downwardly extending claw structure 312 at its lower part. The fixed base plate 410 has a through hole through which the claw structure 312 can pass. During assembly, the claw structure 312 engages or disengages with the quick-change slot 511 at the top of the motor housing 500 through the through hole, realizing quick-change installation. The quick-change button 310 has a shaped guide post 311 on its inner side, which slides with the shaped hole 321 on the quick-change support frame 320. The return spring 340 is a compression spring, which is placed inside the shaped hole 321 of the quick-change support frame 320 to support the quick-change button 310 to return to its original position. The limit screw 330 is fixedly connected to the end of the shaped guide post 311 of the quick-change button 310 to prevent the quick-change button 310 from popping out of the shaped hole 321 of the quick-change support frame 320. The quick-change support frame 320 has mounting holes on both the upper and lower parts. The upper mounting hole 322 is used to fix and connect with the middle support 420, and the lower mounting hole 323 is used to fix and connect with the fixed base plate 410, thereby fixing the entire fixing unit to the support component 400.

[0085] See Figure 3 As shown:

[0086] The surgical operation unit 100 includes an end-effector claw and an operating rod 160;

[0087] The end effector includes an upper claw 110, a lower claw 120, a wrist joint 130, a cylindrical pin 140, a guide wheel 150, a guide wheel 170, and a cylindrical pin 180.

[0088] The upper page 110 and lower page 120 of the claw are individually controlled to open and close via two steel wires fixed in the small claw slot 111. Figure 3 As shown, a small claw slot 111 is provided on the inner side of the lower claw page 120, so each small claw can be opened and closed independently to improve the flexibility of the upper claw page 110 and the lower claw page 120. The maximum opening and closing angle can reach 180°. The surface of the gripping side of the operating claw has a pyramid-shaped texture for easy gripping. The operating claw is connected to the wrist joint 130 through a cylindrical pin 140, realizing the rotation of the upper claw page 110 and the lower claw page 120 around the cylindrical pin 140.

[0089] The wrist joint 130 has guide wheels 150 on both the upper and lower sides to limit the position of the control wire on the upper claw 110 and lower claw 120 and ensure its tension. The wrist joint 130 also has a wire-holding groove 131 in the middle. Figure 3 (As shown) A fixed steel wire is used to achieve the lateral movement of the wrist joint 130. The wrist joint 130 is connected to the fixed sleeve 161 at the end of the operating rod 160 via a cylindrical pin 180. This allows the wrist to rotate around the cylindrical pin 180. The fixed sleeve 161 has a wire hole 162 inside to fix the position of the transmission steel wire, and the fixed sleeve 161 is fixedly connected to the operating rod 160. The end of the operating rod 160 away from the operating end is connected to the self-rotation transmission mechanism 220, enabling the operating rod 160 to rotate. Therefore, the degrees of freedom of the operating end include: the rotation of the upper claw page 110 and the lower claw page 120, the lateral movement of the wrist, and the rotational degree of freedom of the fixed sleeve 161.

[0090] The operating rod 160 is designed as an 8mm outer diameter rod according to the requirements of the surgical robot. The top of the operating rod 160 abuts against the middle support 420, and the bottom is fixedly connected to the fixed sleeve 161. At the same time, it can drive the fixed sleeve 161 to achieve rotation around the axis.

[0091] See Figure 4 As shown:

[0092] The transmission unit 200 includes a wire transmission mechanism 210, a self-rotation transmission mechanism 220, a self-rotation limiting mechanism 230, a wire guiding mechanism 240, and a connecting clutch 250.

[0093] The wire drive mechanism 210 includes a winding shaft 211 and a winding clamp 212. The winding shaft 211 has a spiral groove, which can fix the steel wire to the bottom of the spiral groove and make it wound around the winding shaft 211 in a spiral pattern. The winding clamp 212 has a spiral pattern opposite to that of the winding shaft 211 and can fix the steel wire to the top of the spiral groove and fix it to the winding clamp 212 in the form of a clamp. During operation, when the winding shaft 211, which controls the opening and closing of the upper page 110 of the control claw, rotates clockwise, the steel wire fixed on the winding shaft 211 winds into the spiral groove, the steel wire controlling the opening movement of the small claw tightens, driving the end small claw to open, and the steel wire fixed on the winding clamp 212 winds out of the spiral groove, the steel wire controlling the closing movement of the small claw loosens, thereby realizing the opening movement of the end small claw. When the winding shaft 211 rotates counterclockwise, the opposite is true, realizing the closing movement of the end small claw. Similarly, the opening and closing of the other small claw and the left and right swaying of the wrist joint 130 are controlled in the same way. The winding shaft 211 is fixed to the fixed base plate 410 and the central support 420 by bearing 213.

[0094] See Figure 4 As shown, the self-rotation transmission mechanism 220 includes a self-rotation shaft 221, a driving gear 222, a driven gear 223, and a set screw 224.

[0095] The rotating shaft 221 is fixed to the fixed base plate 410 and the central support 420 by bearings 225. The driving gear 222 of the pair of rotating gears is fixed to the rotating shaft 221 by set screws 224, and the driven gear 223 is fixed to the operating rod 160 by set screws 224. By rotating the rotating shaft 221, the driving gear 222 drives the driven gear 223 to rotate, thus realizing the rotational movement of the operating rod 160.

[0096] See Figure 4 As shown, the wire guide mechanism 240 includes a guide wheel fixing component 241, a guide wheel 242, and a cylindrical pin 243.

[0097] The guide wheel fixing component 241 is fixedly connected above the central support 420. The guide wheel fixing component 241 has three sets of guide wheel mounting slots, and each slot is tangent to the winding shaft 211 and the winding clamp 212 to prevent the wire rope from being sheared. The cylindrical pin 243 is horizontally connected to each slot of the guide wheel fixing component 241, that is, the cylindrical pin 243 is set horizontally. The guide wheel 242 cooperates with the cylindrical pin 243 and can rotate around the axis of the cylindrical pin 243.

[0098] The support component 400 is used to fix the transmission unit 200, the surgical operation unit 100, and the quick-change unit 300 and to ensure the accuracy and reliability of each movement.

[0099] See Figure 4As shown, the support component 400 includes a fixed base plate 410, a central support 420, a bearing fixing sleeve 430, an instrument box shell 440, and a rotating shaft fixing component 450.

[0100] The fixed base plate 410 has bearing mounting holes for mounting the bearings involved in the transmission unit 200. The central support 420 is fixedly connected to the fixed base plate 410 and also has bearing mounting holes for intermediate reinforcement of the rotating shaft components of the transmission unit 200 and for mounting the steel wire guide structure. The bearing retaining sleeve 430 is installed below the driven gear 223 to abut against the inner ring of the bearing. The rotating shaft fixing member 450 is fixedly connected above the rotating shaft 221 to fix the rotating shaft 221 and abut against the inner ring of the bearing above it. The instrument box outer shell 440 is fixedly connected to the fixed base plate 410 to protect the internal structure. It also has square holes on both sides for housing the quick-change button 310.

[0101] The upper clutch 250 is fixedly connected to the bottom of the winding shaft 211 and the bottom of the mounting shaft of the drive gear 222. The clutch disc of the upper clutch 250 is provided with two connecting holes, which cooperate with the connecting post 537 on the lower clutch 531 on the motor box.

[0102] See Figure 5 As shown:

[0103] The self-rotation limiting mechanism 230 includes a limiting sleeve 231, a set screw, and a limiting block 232.

[0104] The limiting sleeve 231 rotates in conjunction with the hub of the driven gear 223. The limiting sleeve 231 has limiting posts both inside and outside, located on opposite sides of the same diameter. The outer side of the hub of the driven gear 223 has a protruding set screw. When the set screw collides with the limiting post inside the limiting sleeve 231, it restricts the rotation of the limiting sleeve 231. The limiting block 232 is fixedly connected to the bottom surface of the central support 420 near the fixed base plate 410. When the outer limiting post of the limiting sleeve 231 collides with the limiting block 232, it restricts the rotation of the limiting sleeve 231. Therefore, when the driven gear 223 rotates until the set screw collides with the inner limiting post of the limiting sleeve 231, the driven gear 223 drives the limiting sleeve 231 to rotate. When the outer limiting post of the limiting sleeve 231 contacts the limiting block 232, it restricts the rotation of the driven gear 223. This structure allows the driven gear 223 to rotate within ±340°.

[0105] In the above technical solution, the present invention provides an electric minimally invasive surgical instrument, and the assembly method is as follows:

[0106] First, the surgical motor box B is connected to the robot circuit. The surgical operation unit 100 of the surgical instrument box A passes through the surgical motor box B. The transmission unit 200, quick-change unit 300, and support component 400 are located above the motor box shell 500 of the surgical motor box B.

[0107] During assembly, the support component 400 is close to the top of the motor housing 500, and the connecting post 537 of the lower clutch unit 530 abuts against the surface of the upper clutch 250. The connecting post 537 does not mate with the mounting hole, and the compression spring 534 at the bottom of the lower clutch 531 is compressed. The lower clutch 531 does not trigger the proximity switch 540. When the motor 520 drives the lower clutch 531 to rotate to the adaptive position, when the connecting post 537 of the lower clutch 531 mates with the connecting hole of the upper clutch 250, the return spring 340 of the lower clutch pushes the lower clutch 531 back to the top, the proximity switch 540 detects the lower clutch 531 and triggers the proximity switch 540. At this time, the pairing of the surgical motor housing B and the surgical instrument housing A is successful, and the connection validity of the lower clutch unit 530 and the upper clutch 250 is ensured in real time.

[0108] Simultaneously, in the quick-change unit 300, pressing the quick-change button 310 causes the quick-change button 310 to retract, and the claw structure 312 at the bottom of the quick-change button 310 enters the motor box housing 500. Releasing the quick-change button 310 causes the claw structure 312 to engage with the quick-change slot 511 at the top of the motor box housing 500, achieving quick-change installation and ensuring the reliability of the connection between the surgical motor box B and the surgical instrument box A.

[0109] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An electric minimally invasive surgical instrument, comprising: Surgical instrument box A and surgical motor box B mounted on said surgical instrument box A; The surgical instrument box A includes a surgical operation unit (100), a transmission unit (200), a quick-change unit (300), and a support component (400). The surgical motor box B has a motor box shell (500). Its characteristics are: The lower surface of the support component (400) is provided with a connecting upper clutch (250) that drives the transmission unit (200) to perform transmission motion; The motor housing (500) includes a lower clutch unit (530) mounted on the top of the motor (520) for engaging or disengaging with the upper clutch (250); it also includes... A proximity switch (540) is installed on the top of the motor housing (500) on the side of the lower clutch unit (530); In the paired state, the motor (520) drives the lower clutch unit (530) to rotate, so that the connecting post (537) of the lower clutch unit (530) extends into the connecting hole of the upper clutch (250). The lower clutch unit (530) resets and triggers the proximity switch (540), thereby successfully pairing the surgical motor box B with the surgical instrument box A.

2. The electric minimally invasive surgical instrument according to claim 1, characterized in that... ； The motor (520) is installed in the motor mounting hole (512) opened in the motor housing (500). The proximity switch (540) is fixedly connected to the side of the motor mounting hole (512), and the lower clutch unit (530) is located on the side inside the motor mounting hole (512).

3. An electric minimally invasive surgical instrument according to claim 1 or 2, characterized in that... ； The lower clutch unit (530) includes a lower clutch (531), a motor connecting sleeve (532) fixedly connected to the motor (520), a limiting baffle (533) disposed above the lower clutch (531), and a compression spring (534) for driving the lower clutch (531) to reset. The top end of the motor connecting sleeve (532) is provided with a spring mounting hole, and the top two sides of the motor connecting sleeve (532) are provided with guide bosses (536) that are slidably connected to the connecting lower clutch (531); The upper part of the lower clutch (531) has two symmetrical connecting posts (537), and the lower part abuts against the compression spring (534); The two ends of the limiting baffle (533) are fixedly connected to the top of the guide boss (536).

4. An electric minimally invasive surgical instrument according to claim 1 or 2, characterized in that... ； The quick-change unit (300) includes a quick-change button (310) and a quick-change support frame (320) fixedly connected to the support component (400); The quick-change button (310) has a downwardly extending claw structure (312) at its lower part, which is used to engage or disengage with the quick-change slot (511) provided at the top of the motor housing (500); The quick-change button (310) is slidably connected to the quick-change support frame (320) on its inner side. The quick-change support frame (320) is equipped with a reset spring (340) to support the quick-change button (310) to reset. The quick-change button (310) is fixedly connected to a limit screw (330) away from the pressing end.

5. The electric minimally invasive surgical instrument according to claim 1, characterized in that... ； The transmission unit (200) includes a line transmission mechanism (210) and a rotation transmission mechanism (220) that drives the surgical operation unit (100) to rotate. The wire drive mechanism (210) includes a winding shaft (211) and a winding clamp (212) coaxial with the winding shaft (211) and formed above it. Both the winding shaft (211) and the winding clamp (212) have spiral grooves for fixing and winding steel wire, and the spiral grooves on the winding shaft (211) and the winding clamp (212) are arranged in opposite directions. The self-rotating transmission mechanism (220) includes a self-rotating shaft (221) fixedly connected to the driving gear (222) and a driven gear (223) meshing with the driving gear (222). The self-rotating shaft (221) is rotatably connected to the support component (400), and the driven gear (223) is fixedly connected to the operating rod (160) of the surgical operation unit (100).

6. The electric minimally invasive surgical instrument according to claim 5, characterized in that... ； The transmission unit (200) also includes a rotation limiting mechanism (230) for limiting the rotation angle of the surgical operation unit (100); The self-rotation limiting mechanism (230) includes a limiting sleeve (231) and a limiting block (232) that are in rotational cooperation with the hub of the passive gear (223); The limiting sleeve (231) has limiting posts inside and outside, and the two limiting posts are on opposite sides of the same diameter of the limiting sleeve (231). The outer side of the hub of the passive gear (223) has a protruding set screw, which is used to collide with the limiting post inside the limiting sleeve (231) to restrict the rotation of the limiting sleeve (231). The limiting block (232) is fixedly connected to the bottom surface of the middle support (420) of the supporting component (400) and is used to collide with the outer limiting post of the limiting sleeve (231) to restrict the rotation of the limiting sleeve (231).

7. The electric minimally invasive surgical instrument according to claim 5, characterized in that... ； The transmission unit (200) also includes a wire guide mechanism (240); The wire guiding mechanism (240) has a guide wheel fixing member (241) and a guide wheel (242); The guide wheel fixing member (241) is fixedly connected above the middle support (420) of the support member (400). The guide wheel fixing member (241) has three sets of guide wheel mounting slots in the circumferential direction, and each guide wheel mounting slot is tangent to the winding shaft (211) and the winding clamp (212). The guide wheel (242) is rotatably connected to the guide wheel mounting slot through a cylindrical pin.

8. The electric minimally invasive surgical instrument according to claim 5, Its characteristics are: The support component (400) includes a fixed base plate (410), a central support (420) disposed above the fixed base plate (410), and an instrument box shell (440) covering the outside of the central support (420); and Bearing retaining sleeve (430) and shaft fixing component (450); Both the fixed base plate (410) and the central support (420) are provided with bearing mounting holes for mounting the bearings of the transmission unit (200); The bearing retaining sleeve (430) is installed below the driven gear (223); The rotating shaft fixing member (450) is fixedly connected to the top of the self-rotating shaft (221); The instrument box shell (440) is fixedly connected to the base plate (410). The instrument box shell (440) has square holes on both sides for cooperating with the quick-change button (310) of the quick-change unit (300).

9. The electric minimally invasive surgical instrument according to claim 1, Its characteristics are: The surgical operation unit (100) includes an end-effector claw and an operating rod (160); The top of the operating rod (160) abuts against the middle support (420) of the support component (400), and the bottom is fixedly connected to a fixing sleeve (161); The end effector claw includes an upper claw page (110) and a lower claw page (120) and a wrist joint (130) rotatably connected to the upper claw page (110) and the lower claw page (120), the wrist joint (130) being rotatably connected to the fixed sleeve (161).

10. The electric minimally invasive surgical instrument according to claim 9, characterized in that... ； The upper claw page (110) and the lower claw page (120) are both provided with small claw slots (111) on their inner sides, which are used for connecting steel wires respectively. The wrist joint (130) has guide wheels on both the upper and lower sides, which are used to limit the position of the steel wire and ensure its tension. The wrist joint (130) is provided with a wire-locking groove (131) in the middle, which is used to fix the steel wire so that the wrist joint (130) can swing.

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