Drive mechanism and surgical device

Abstract

This invention provides a drive mechanism and surgical device for a laparoscopic arm. The drive mechanism includes a rotary joint assembly and a rolling assembly mounted on the laparoscopic arm. The rolling assembly includes a first friction wheel, and the rotary joint assembly is connected to the first friction wheel to drive the first friction wheel to rotate. The first friction wheel can abut against the outer wall of the rod of the surgical instrument to drive the rod of the surgical instrument to rotate and / or move axially through friction. This drive mechanism, by acting directly on the outer wall of the rod of the surgical instrument through the friction wheel, can eliminate the linear actuator and drive box at the end of the traditional laparoscopic arm, reduce the volume, weight, and moment of inertia of the end structure of the laparoscopic arm, and reduce the load requirements of the robotic arm joints and links. This is conducive to the miniaturization and weight reduction of the overall surgical device and reduces the risk of interference and collision in the surgical space.

Description

Technical Field

[0001] This utility model relates to the field of surgical robots, and in particular to a drive mechanism and surgical device. Background Technology

[0002] When performing laparoscopic surgery, surgical robots typically need to move surgical instruments or endoscopes around the puncture point on the patient's body surface to create a so-called fixed point, thereby reducing the traction of instrument movement on the patient's wound. Existing technologies generally implement fixed points in two ways: software fixed points and hardware fixed points.

[0003] In hardware fixed-point solutions, the movement of instruments or endoscopes around a fixed point is typically achieved through the structural constraints of the robotic arm itself. To achieve multi-degree-of-freedom movement of the end-effectors or endoscopes, existing hardware fixed-point robotic arms usually require two rotary mechanisms and a linear actuator, with a drive unit mounted on the linear actuator to drive the movement of the instruments.

[0004] However, linear actuators themselves occupy a large installation space, and due to their long shape and the distance between their mass distribution and the rotation axis, they increase the load and drive requirements of the robotic arm joints, resulting in a complex overall structure and large size of the robotic arm, which is not conducive to the miniaturization and lightweight design of surgical robots. Utility Model Content

[0005] Therefore, it is necessary to provide a drive mechanism and surgical device to address the aforementioned technical problems. By using a small, lightweight friction wheel drive structure that directly acts on the outer wall of the endoscope rod, the axial movement and / or rotation of the endoscope is achieved. This reduces the space occupied at the end of the end, decreases the load on the robotic arm and the risk of collision, and facilitates the miniaturization, weight reduction, and emergency evacuation of the entire device.

[0006] According to a first aspect of the present invention, a drive mechanism for a laparoscopic arm is provided, comprising: A rotary joint assembly and a rolling assembly are mounted on a laparoscopic arm; the rolling assembly includes a first friction wheel; the rotary joint assembly is connected to the first friction wheel and is used to drive the first friction wheel to rotate; the first friction wheel can abut against the outer wall of the shaft of a surgical instrument to drive the shaft of the surgical instrument to rotate and / or move axially through friction.

[0007] Optionally, the rotary joint assembly includes a first rotary joint and a second rotary joint; one end of the first rotary joint is connected to the endoscope arm, and the other end is connected to the second rotary joint; the second rotary joint is connected to the first friction wheel; the rotation axis of the second rotary joint changes position in space as the first rotary joint moves.

[0008] Optionally, the rotary joint assembly includes a first rotary joint and a second rotary joint; the rolling assembly further includes a second friction wheel; the first rotary joint is connected to the first friction wheel and provides power for the rotation of the first friction wheel; the second rotary joint is connected to the second friction wheel and provides power for the rotation of the second friction wheel; the first friction wheel and the second friction wheel are respectively capable of abutting against the outer wall of the shaft of the surgical instrument to drive the shaft of the surgical instrument to rotate and / or move axially through friction; the rotation axis of the first friction wheel and the rotation axis of the second friction wheel have an angle so that the first friction wheel and the second friction wheel can apply frictional force to the outer wall of the shaft of the surgical instrument from different directions.

[0009] Optionally, the angle between the rotation axis of the first friction wheel and the rotation axis of the second friction wheel is 90°; the first friction wheel is used to apply frictional force to the outer wall of the shaft of the surgical instrument to drive the surgical instrument to rotate; the second friction wheel is used to apply frictional force to the outer wall of the shaft of the surgical instrument to drive the surgical instrument to move along the axial direction of its shaft.

[0010] Optionally, the rolling assembly is configured to elastically press against the outer wall of the shaft of the surgical instrument.

[0011] Optionally, the rolling assembly has an anti-slip layer at the part that contacts the outer wall of the shaft of the surgical instrument and / or at the corresponding contact part of the outer wall of the shaft of the surgical instrument.

[0012] Optionally, the portion of the rolling assembly that contacts the outer wall of the shaft of the surgical instrument has an arc-shaped contact surface or a plane that is adapted to the outer wall of the shaft of the surgical instrument.

[0013] Optionally, a sterile protective sleeve is provided between the rotary joint assembly and the rolling assembly.

[0014] Optionally, the surgical instrument is an endoscope.

[0015] According to a second aspect of the present invention, a surgical device is provided, comprising a laparoscopic arm, surgical instruments, and any of the aforementioned driving mechanisms; the driving mechanism is disposed on the laparoscopic arm and is capable of abutting against the outer wall of the rod portion of the surgical instruments.

[0016] Optionally, it further includes: a position detection device; the position detection device is disposed on the laparoscopic arm and is used to detect the position and / or posture information of the surgical instruments.

[0017] Optionally, it further includes: a control terminal; the control terminal is communicatively connected to the drive mechanism, and is used to receive control commands input by the user, and control the drive mechanism to move the surgical instrument according to the control commands.

[0018] This invention eliminates the need for a linear actuator and drive box in traditional laparoscopic arm end-effectors by using a small, lightweight friction wheel drive mechanism. The friction wheel directly abuts against the outer wall of the surgical instrument's rod to drive the instrument's rotation and / or axial movement. This significantly reduces the size, weight, and rotational inertia of the end-effector structure. On one hand, this reduces the load requirements on the joints and links of the robotic arm, allowing for a smaller and lighter overall design of the surgical device. On the other hand, it reduces the laparoscopic arm's footprint in the surgical space, lowering the risk of interference or collision with other robotic arms, surgical instruments, or medical personnel. Furthermore, the more compact drive structure, located closer to the surgical instrument's working position, facilitates faster instrument retrieval in case of malfunction or emergency evacuation, improving safety and ease of operation. Attached Figure Description

[0019] Figure 1 These are schematic diagrams of some embodiments of the drive mechanism of this utility model; Figure 2 These are schematic diagrams showing some embodiments of the drive mechanism of this utility model driving surgical instruments to move axially. Figure 3 These are schematic diagrams illustrating some embodiments of the drive mechanism of this utility model when it drives a surgical instrument to rotate around its own axis. Figure 4 This is a schematic diagram of some embodiments of the drive mechanism of this utility model driving surgical instruments to perform a combined axial movement and rotation. Figure 5 This is a schematic diagram of the structure of some embodiments of the drive mechanism of this utility model, which uses a first friction wheel and a second friction wheel; Figure 6 This is a schematic diagram of some embodiments of the present invention in which the first friction wheel and the second friction wheel contact the outer wall of the rod of the surgical instrument in stages; Figure 7 This is a schematic diagram of some embodiments of the drive mechanism of this utility model with a sterile protective sleeve; Figure 8 These are schematic diagrams illustrating the structure of some embodiments of the surgical device of this utility model; Figure 9 This is a schematic diagram of the structure of some embodiments of the surgical device of this utility model in its stored state; Figure 10 These are schematic diagrams illustrating the structure of some embodiments of the position detection device of this utility model installed in a surgical device; Figure label: Drive mechanism 100; Rotary joint assembly 10; First rotary joint 11; Second rotary joint 12; First friction wheel 21; Second friction wheel 22; Friction wheel switching actuator 23; Sterile protective sleeve 40; Position detection device 60; Endoscopic arm 200; Surgical instrument 300; Rod 310; Surgical device 1000. Detailed Implementation

[0020] Embodiments of the present invention will now be described more fully with reference to the accompanying drawings, in which embodiments of the present invention are illustrated. However, the present invention may be implemented in many different forms, and the present invention should not be construed as limited to the embodiments set forth herein.

[0021] The terminology used herein is not intended to limit the invention or the claims. For example, spatially relative terms such as “below,” “under,” “down,” “above,” “over,” “near,” “far” may be used to describe the relationship of one element or feature to another, as illustrated in the figures. These spatially relative terms are intended to cover different positions and orientations of the device in use or operation, other than those shown in the figures. For example, if the device in the figures is flipped, the element described as “below” or “under” will be “above” or “over” the other element or feature. Thus, the exemplary term “below” can cover both above and below positions and orientations. The device may be oriented in other ways (rotated 90 degrees or otherwise), and the spatially relative descriptive terms used herein shall be interpreted accordingly.

[0022] Unless otherwise defined, the terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms used herein shall be interpreted as having the same meaning as they have in the context of this specification and in the relevant field, and shall not be interpreted in an idealized or overly formal sense, unless specifically defined herein.

[0023] See Figure 1 This invention provides a drive mechanism 100 for a laparoscopic arm 200, which is mounted on the laparoscopic arm 200 and used to drive the movement of a surgical instrument 300. The surgical instrument 300 can be an endoscope or other laparoscopic surgical instruments with a rod structure.

[0024] The drive mechanism 100 includes a rotary joint assembly 10 and a rolling assembly. The rotary joint assembly 10 is mounted on the laparoscopic arm 200, and the rolling assembly is connected to the rotary joint assembly 10. The rolling assembly includes a first friction wheel 21, and the rotary joint assembly 10 is connected to the first friction wheel 21 for driving the first friction wheel 21 to rotate.

[0025] The first friction wheel 21 abuts against the outer wall of the rod 310 of the surgical instrument 300. When the first friction wheel 21 rotates, it can drive the rod 310 of the surgical instrument 300 to rotate and / or move axially through the friction between the first friction wheel 21 and the outer wall of the rod 310.

[0026] Therefore, instead of using a linear actuator and drive box, a smaller and lighter friction wheel is used to drive the surgical instrument 300 directly onto the outer wall of the rod 310, thereby achieving axial movement and / or rotation around its own axis. This structure reduces the space occupied at the end of the laparoscopic arm 200, lowers the end-effector load and rotational inertia, and thus facilitates the miniaturization and lightweight design of the laparoscopic arm 200 and the entire surgical device.

[0027] In one embodiment, the rotary joint assembly 10 includes a first rotary joint 11 and a second rotary joint 12. One end of the first rotary joint 11 is connected to the endoscope arm 200, and the other end is connected to the second rotary joint 12, which is connected to a first friction wheel 21.

[0028] The first rotary joint 11 is used to adjust the position and orientation of the second rotary joint 12 and the first friction wheel 21 relative to the lever 310 of the surgical instrument 300. Since the second rotary joint 12 is connected to the output side of the first rotary joint 11, the rotation axis of the second rotary joint 12 can change position in space with the movement of the first rotary joint 11.

[0029] The second rotary joint 12 is used to drive the first friction wheel 21 to rotate. When the first friction wheel 21 abuts against the outer wall of the rod 310 of the surgical instrument 300, the friction force generated by the rotation of the first friction wheel 21 can be transmitted to the rod 310, thereby driving the surgical instrument 300 to move.

[0030] See Figure 2 In one state, the rotation axis of the first friction wheel 21 is substantially perpendicular to the axis of the surgical instrument 300. At this time, after the first friction wheel 21 contacts the outer wall of the rod 310 of the surgical instrument 300, the frictional force applied by the first friction wheel 21 to the surgical instrument 300 is mainly along the axial direction of the rod 310, causing the surgical instrument 300 to move mainly along the axial direction of its rod 310, thereby realizing the forward and backward movement of the endoscope.

[0031] See Figure 3In another configuration, the first rotary joint 11 drives the second rotary joint 12 and the first friction wheel 21 to rotate, causing the rotation axis of the first friction wheel 21 to deflect relative to the axis of the surgical instrument 300, for example, to deflect it to be approximately parallel to the axis of the surgical instrument 300. In this case, the frictional force exerted by the first friction wheel 21 on the rod 310 is mainly used to drive the surgical instrument 300 to rotate around its own axis, thereby realizing the rotational movement of the endoscope.

[0032] See Figure 4 In another state, the rotation axis of the first friction wheel 21 forms a non-zero and non-perpendicular angle with the axis of the surgical instrument 300. In this case, the frictional force exerted by the first friction wheel 21 on the outer wall of the rod 310 can be decomposed into axial and circumferential components, causing the surgical instrument 300 to simultaneously undergo axial movement and rotation around its own axis. That is, the drive mechanism 100 in this embodiment can drive the surgical instrument 300 to perform a single axial movement, a single rotation, or a combination of axial movement and rotation.

[0033] With the above structure, a single first friction wheel 21 can achieve two degrees of freedom drive with the cooperation of the first rotary joint 11 and the second rotary joint 12, which is beneficial to further reduce the number of structures and the end volume of the drive mechanism 100.

[0034] See Figure 5 In another embodiment, the rotary joint assembly 10 includes a first rotary joint 11 and a second rotary joint 12, and the rolling assembly further includes a second friction wheel 22. The first rotary joint 11 is connected to the first friction wheel 21 and provides power for the rotation of the first friction wheel 21; the second rotary joint 12 is connected to the second friction wheel 22 and provides power for the rotation of the second friction wheel 22. The first friction wheel 21 and the second friction wheel 22 are respectively capable of abutting against the outer wall of the rod 310 of the surgical instrument 300, so as to drive the rod 310 of the surgical instrument 300 to rotate and / or move axially through friction.

[0035] like Figure 5 As shown, there is an angle between the rotation axis of the first friction wheel 21 and the rotation axis of the second friction wheel 22. By making the rotation axes of the two friction wheels have an angle, the first friction wheel 21 and the second friction wheel 22 can apply frictional force to the outer wall of the rod portion 310 of the surgical instrument 300 from different directions, thereby driving the surgical instrument 300 in different directions of movement.

[0036] Further, in a preferred embodiment, the angle between the rotation axis of the first friction wheel 21 and the rotation axis of the second friction wheel 22 is 90°. The first friction wheel 21 is used to apply frictional force to the outer wall of the rod 310 of the surgical instrument 300 to drive the surgical instrument 300 to rotate about its own axis; the second friction wheel 22 is used to apply frictional force to the outer wall of the rod 310 of the surgical instrument 300 to drive the surgical instrument 300 to move along the axial direction of its rod 310.

[0037] like Figure 6 As shown, in this embodiment, the first friction wheel 21 and the second friction wheel 22 can operate in a step-by-step contact manner. Specifically, the drive mechanism 100 may include a friction wheel switching actuator 23, which is used to control the first friction wheel 21 and the second friction wheel 22 to contact the outer wall of the rod portion 310 of the surgical instrument 300, respectively. The friction wheel switching actuator 23 may be in the form of an electric actuator, an electromagnet, a motor, etc., and this utility model does not limit it to this type.

[0038] For example, when it is necessary to drive the surgical instrument 300 to rotate, the friction wheel switching actuator 23 controls the first friction wheel 21 to contact the outer wall of the rod 310 and separates the second friction wheel 22 from the outer wall of the rod 310, so that the surgical instrument 300 can be driven to rotate around its own axis through the first friction wheel 21; when it is necessary to drive the surgical instrument 300 to move axially, the friction wheel switching actuator 23 controls the second friction wheel 22 to contact the outer wall of the rod 310 and separates the first friction wheel 21 from the outer wall of the rod 310, so that the surgical instrument 300 can be driven to move axially along its rod 310 through the second friction wheel 22. Thus, the first friction wheel 21 and the second friction wheel 22 can switch between contact and separation states in a seesaw-like manner, thereby driving the rotational motion and axial motion of the surgical instrument 300 respectively, and reducing the risk of motion interference caused by both friction wheels contacting the rod 310 simultaneously.

[0039] In other embodiments, the first friction wheel 21 and the second friction wheel 22 may also act simultaneously or partially simultaneously on the outer wall of the rod 310 according to control requirements, so as to achieve the compound motion of the surgical instrument 300.

[0040] In other embodiments, the rolling assembly is configured to elastically press against the outer wall of the rod portion 310 of the surgical instrument 300. Specifically, the rolling assembly may be mounted on the rotary joint assembly 10 by means of a spring, spring sheet, elastic bracket, or other elastic structure.

[0041] Through the elastic clamping structure, the first friction wheel 21 and / or the second friction wheel 22 can abut against the outer wall of the rod 310 of the surgical instrument 300 with an appropriate clamping force. On the one hand, this ensures sufficient friction between the friction wheel and the rod 310, reducing the risk of slippage; on the other hand, it also avoids excessive clamping force that could damage the rod 310 of the surgical instrument 300 or cause excessive resistance to movement.

[0042] In some embodiments, an anti-slip layer is provided at the contact point between the rolling assembly and the outer wall of the rod 310 of the surgical instrument 300. The anti-slip layer may be disposed on the outer peripheral surface of the first friction wheel 21 and / or the second friction wheel 22. The anti-slip layer may be made of rubber, silicone, polyurethane, medical polymer materials, or other materials with a high coefficient of friction. Furthermore, an anti-slip layer or friction-enhancing structure, such as a micro-textured layer, a roughened surface, or a localized friction-enhancing coating, may also be provided at the corresponding contact point on the outer wall of the rod 310 of the surgical instrument 300. These structures improve the transmission reliability between the friction wheels and the rod 310, reducing the possibility of slippage during operation.

[0043] In one embodiment, the portion of the rolling assembly that contacts the outer wall of the rod 310 of the surgical instrument 300 has an arc-shaped contact surface adapted to the outer wall of the rod 310. The structure of this arc-shaped contact surface can be spindle-shaped, rugby ball-shaped, or similar. In another embodiment, the portion of the rolling assembly that contacts the outer wall of the rod 310 can also be a planar contact surface. Planar contact surfaces have a simple structure, are easy to manufacture and replace, and can also meet the requirements of friction drive.

[0044] See Figure 7 In some embodiments, a sterile protective sleeve 40 is fitted between the rotary joint assembly 10 and the rolling assembly. The sterile protective sleeve 40 is used to isolate the non-sterile main structure of the drive mechanism 100 from the surgical area, thereby meeting the sterility requirements of the surgical environment.

[0045] Specifically, the first friction wheel 21 and / or the second friction wheel 22 can be configured as sterile consumables, installed in their corresponding positions on the drive mechanism 100 before surgery, and removed and replaced after surgery. The rotary joint assembly 10, drive motor, transmission mechanism, and other parts of the laparoscopic arm 200 can be located inside the sterile protective sleeve 40 and isolated by the sterile protective sleeve 40.

[0046] The above settings can ensure effective contact between the friction wheel and the surgical instrument 300 while reducing the difficulty of sterilizing the entire drive mechanism 100, which helps to reduce usage costs and improve clinical ease of use.

[0047] In some specific embodiments, the surgical instrument 300 is an endoscope. The drive mechanism 100 acts directly on the outer wall of the endoscope rod 310 through the first friction wheel 21 and / or the second friction wheel 22 to drive the endoscope to move axially forward and backward and / or rotate around its own axis.

[0048] In a preferred embodiment, a cable interface is provided near the drive mechanism 100 or the endoscopic arm 200. The endoscope cable can be connected to this cable interface nearby, and the other end of the cable interface can be connected to the endoscope host built into the robot body, or it can be connected to an external endoscope host through an interface near the proximal end of the robot body. By placing the cable interface near the end of the drive mechanism 100 or the endoscopic arm 200, excessively long endoscope cables and their suspension in the air can be avoided, thereby reducing cable interference with the movement of the endoscopic arm 200, reducing the load on the end of the endoscopic arm 200, and also improving the neatness and safety of wiring at the surgical site.

[0049] See Figure 8 This embodiment also provides a surgical device 1000. The surgical device 1000 includes a laparoscopic arm 200, surgical instruments 300, and a drive mechanism 100 as described in any of the above embodiments. The drive mechanism 100 is connected to the laparoscopic arm 200 and the surgical instruments 300, respectively.

[0050] In use, the laparoscopic arm 200 drives the drive mechanism 100 and the surgical instrument 300 to the target position. The drive mechanism 100 directly drives the rod 310 of the surgical instrument 300 to move axially and / or rotate.

[0051] Compared to the traditional laparoscopic arm structure with linear actuators and drive boxes, the surgical device 1000 in this embodiment acts directly on the outer wall of the rod portion 310 of the surgical instrument 300 through the drive mechanism 100. This eliminates the need for a large linear actuator and drive box at the end of the laparoscopic arm 200, making the end structure of the laparoscopic arm 200 more compact. Because the mass and moment of inertia at the end of the laparoscopic arm 200 are reduced, the mechanical arm joints and links used to support the end load can also be scaled down accordingly, thus contributing to the overall miniaturization and weight reduction of the surgical device 1000.

[0052] See Figure 9 , Figure 9 This is a schematic diagram of the surgical device 1000 in its stowed state. Because the drive mechanism 100 eliminates the traditional linear actuator and drive box, the end structure of the laparoscopic arm 200 is more compact. Therefore, in the stowed state, the surgical device 1000 occupies less space, which helps to reduce the size and floor space of the equipment and facilitates the transportation, arrangement and storage of the equipment.

[0053] Furthermore, since the drive mechanism 100 can be positioned closer to the trocar, in the event of an irreversible malfunction or an emergency evacuation, the surgical instruments such as endoscopes can be more easily removed from the robot, which helps to improve the efficiency and safety of handling malfunctions.

[0054] See Figure 10 In one embodiment, the surgical apparatus 1000 further includes a position detection device 60. The position detection device 60 is disposed on the laparoscopic arm 200 and is used to detect the position and / or posture information of the surgical instrument 300. The position detection device 60 can be directly disposed on the drive mechanism 100, or it can be disposed on the laparoscopic arm 200 near the drive mechanism 100.

[0055] In one embodiment, the position detection device 60 is a non-contact detection device. For example, the position detection device 60 can be an optical sensor that acquires axial displacement and / or rotation angle information of the surgical instrument 300 by detecting textures, markings, engravings, or other identifying features on the outer wall of the surgical instrument 300's rod 310. In another embodiment, the position detection device 60 can be a magnetic sensor. Accordingly, detection features can be pre-processed on the metal rod 310 of the surgical instrument 300, enabling the position detection device 60 to identify displacement or posture changes of the surgical instrument 300. By setting the position detection device 60, the actual position and / or posture of the surgical instrument 300 can be detected, and the detection results can be fed back to the control system to improve the accuracy of the drive mechanism 100's motion control of the surgical instrument 300.

[0056] In some embodiments, the surgical device 1000 also includes a control terminal. The control terminal is communicatively connected to the drive mechanism 100, and is used to receive control commands input by the user, and control the drive mechanism 100 to move the surgical instrument 300 according to the control commands. The control terminal can be a mobile phone, tablet computer, handheld controller, operating table, or other smart terminal with a control application installed. The control terminal can be connected to the drive mechanism 100 or the control system of the surgical device 1000 via wired or wireless communication.

[0057] When using the surgical device, the rod 310 of the surgical instrument 300 is positioned at the action position of the first friction wheel 21 and / or the second friction wheel 22, so that the friction wheels abut against the outer wall of the rod 310. When it is necessary to drive the surgical instrument 300 to move axially, the control system controls the corresponding friction wheel to rotate, so that the friction wheel applies a frictional force in the axial direction to the rod 310, thereby driving the surgical instrument 300 forward or backward. When it is necessary to drive the surgical instrument 300 to rotate around its own axis, the control system controls the corresponding friction wheel to rotate, so that the friction wheel applies a circumferential frictional force to the rod 310, thereby driving the surgical instrument 300 to rotate around its own axis. When a combined motion is required, the angle between the friction wheel and the axis of the rod 310 can be adjusted, or multiple friction wheels can be used in combination to make the surgical instrument 300 simultaneously move axially and rotate around its own axis.

[0058] During the driving process, the position detection device 60 can detect the position and / or posture information of the surgical instrument 300 and feed the detection results back to the control system. The control system can correct the movement of the drive mechanism 100 based on the detection results to improve control accuracy.

[0059] Through the above structure, the drive mechanism 100 in this invention utilizes a friction wheel to directly act on the outer wall of the rod 310 of the surgical instrument 300, thereby achieving axial movement and / or rotation around its own axis of the surgical instrument 300. Compared to the traditional approach of setting a linear actuator and drive box at the end of the laparoscopic arm, this invention can significantly reduce the volume, weight, and moment of inertia of the end structure of the laparoscopic arm 200, and reduce the load requirements of the joints and links of the robotic arm, thus contributing to the miniaturization and weight reduction of the surgical device 1000 as a whole. Simultaneously, because the end structure of the laparoscopic arm 200 is more compact, the risk of interference and collision with other robots, surgical instruments, or medical personnel in the surgical space is reduced. Furthermore, in the event of an irreversible malfunction or the need for emergency evacuation, the drive mechanism 100 can be positioned closer to the trocar, making it easier to remove surgical instruments such as endoscopes 300, thereby improving safety and ease of operation.

[0060] This invention discloses a drive mechanism for a laparoscopic arm, which can be easily integrated into or replaced in existing surgical robot systems, such as replacing or adding to the drive end of the laparoscopic arm in a fulcrum surgical robot platform. Thanks to the compact and miniaturized structural design of this drive mechanism, the size and weight of the laparoscopic arm can be effectively reduced, simplifying the arrangement of multiple robotic arms and significantly increasing its effective movement space. The reduced overall space occupied by the machine allows for more flexible operating room layouts, especially suitable for confined or complex surgical environments. Secondly, the reduced moment of inertia of the robotic arm improves the response speed and trajectory tracking accuracy, enhancing the safety and precision of the surgery. Thirdly, the lightweight and simplified structure reduces the cost of component manufacturing, assembly, and routine maintenance, providing a feasible path for the lightweight iteration and economical promotion of high-end surgical robots, demonstrating good clinical practical value and market application prospects.

[0061] The embodiments of this utility model have now been described in detail. To avoid obscuring the concept of this utility model, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0062] Although specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A drive mechanism for a laparoscopic arm, characterized in that, include: A rotary joint assembly and a rolling assembly mounted on the laparoscopic arm; The rolling assembly includes a first friction wheel; The rotary joint assembly is connected to the first friction wheel and is used to drive the first friction wheel to rotate; The first friction wheel can abut against the outer wall of the rod of the surgical instrument to drive the rod of the surgical instrument to rotate and / or move axially through friction.

2. The driving mechanism according to claim 1, characterized in that, The rotary joint assembly includes a first rotary joint and a second rotary joint; One end of the first rotary joint is connected to the endoscope arm, and the other end is connected to the second rotary joint; The second rotary joint is connected to the first friction wheel; The rotation axis of the second rotary joint changes position in space as the first rotary joint moves.

3. The driving mechanism according to claim 1, characterized in that, The rotary joint assembly includes a first rotary joint and a second rotary joint; The rolling assembly also includes a second friction wheel; The first rotary joint is connected to the first friction wheel and provides power for the rotation of the first friction wheel; The second rotary joint is connected to the second friction wheel and provides power for the rotation of the second friction wheel; The first friction wheel and the second friction wheel can respectively abut against the outer wall of the rod of the surgical instrument, so as to drive the rod of the surgical instrument to rotate and / or move axially through friction. The rotation axis of the first friction wheel and the rotation axis of the second friction wheel are at an angle, so that the first friction wheel and the second friction wheel can apply frictional force to the outer wall of the rod of the surgical instrument from different directions.

4. The driving mechanism according to claim 3, characterized in that, The angle between the rotation axis of the first friction wheel and the rotation axis of the second friction wheel is 90°. The first friction wheel is used to apply frictional force to the outer wall of the shaft of the surgical instrument to drive the surgical instrument to rotate; The second friction wheel is used to apply frictional force to the outer wall of the shaft of the surgical instrument to drive the surgical instrument to move axially along its shaft.

5. The driving mechanism according to any one of claims 1 to 4, characterized in that, The rolling assembly is configured to elastically press against the outer wall of the shaft of the surgical instrument.

6. The driving mechanism according to any one of claims 1 to 4, characterized in that, The rolling assembly has an anti-slip layer at the part that contacts the outer wall of the shaft of the surgical instrument and / or at the corresponding contact part of the outer wall of the shaft of the surgical instrument.

7. The drive mechanism according to any one of claims 1 to 4, characterized in that, The part of the rolling assembly that contacts the outer wall of the shaft of the surgical instrument has an arc-shaped contact surface or a plane that is adapted to the outer wall of the shaft of the surgical instrument.

8. The driving mechanism according to any one of claims 1 to 4, characterized in that, A sterile protective sleeve is fitted between the rotary joint assembly and the rolling assembly.

9. The driving mechanism according to any one of claims 1 to 4, characterized in that, The surgical instrument is an endoscope.

10. A surgical device, characterized in that, Includes the drive mechanism as described in any one of claims 1 to 9; The drive mechanism is located on the laparoscopic arm and can abut against the outer wall of the rod of the surgical instrument.

11. The surgical device according to claim 10, characterized in that, Also includes: Position detection device; the position detection device is disposed on the laparoscopic arm and is used to detect the position and / or posture information of the surgical instruments.

12. The surgical device according to claim 10 or 11, characterized in that, Also includes: Control terminal; The control terminal is communicatively connected to the drive mechanism and is used to receive control commands input by the user and control the drive mechanism to move the surgical instruments according to the control commands.

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