Backend power transmission systems, medical devices, and surgical robots

Abstract

To disclose a backend transmission device, a medical device, and a surgical robot.SOLUTION: A backend transmission device includes a first turning member, a second turning member, a third turning member, a first transmission assembly, and a second transmission assembly. The first transmission assembly is connected to a first cable, a second cable, the first turning member, and the third turning member. The second transmission assembly is connected to a third cable, a fourth cable, the second turning member, and the third turning member. The first turning member can turn so as to draw one of the first cable and second cable and release the other of the first cable and second cable at the same time.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] (Cross - reference to related applications) This application cites the Chinese patent application No. 202110484481.8, titled "Backend Transmission Device, Medical Device and Surgical Robot", filed on April 30, 2021, and by this citation, the said patent is incorporated into this application.

[0002] (Field of the Invention) This application relates to the technical field of medical devices, specifically to backend transmission devices, medical devices and surgical robots.

Background Art

[0003] In robot - assisted minimally invasive surgery, the surgical instrument connected to the end of the robot enters the human body through a wound on the body surface or a natural hole and operates on the tissues inside the human body. Such surgical instruments mainly consist of an actuator or tool (such as surgical forceps, shearing tools or cautery tools) located at the front - end and attached to the wrist mechanism, a wrist mechanism that provides multiple degrees of freedom of movement at the front - end, a main pipe extending from the backend to the front - end of the device, and a power and transmission device at the backend of the device. The front - end actuator and the wrist mechanism are usually driven by a plurality of cables fixed thereto, and these cables penetrate through the main pipe of the surgical instrument and are driven by the power and transmission device at the backend.

[0004] For surgical forceps and other gripping or shearing tools, the wrist mechanism typically needs to achieve three degrees of freedom: pitching, yawing, and gripping. Combined with the extra degrees of freedom of the robot's backend, this allows for the movements necessary to complete the surgical operation. The number of drive cables required varies depending on the specific embodiment of the wrist mechanism (e.g., four or six). Typically, to achieve a wide range of motion in each joint of the wrist mechanism (e.g., -90° to 90°), extra pulleys are needed to guide the cables. However, adding extra pulleys and other components hinders miniaturization of the surgical instrument frontend. Furthermore, using more cables increases the size and cost of the instrument.

[0005] Conventional four-cable backend drive systems for wrists achieve the release of two cables and the tightening of the other two cables by the oscillation of a connecting rod or swing arm, thereby generating the wrist's pitching motion. However, this method can lead to problems such as the cables becoming too loose, creating gaps and reducing accuracy, or becoming too tight, resulting in excessive friction and accelerated wear. While limiting the rotation angle range of the pitch joint can avoid these problems, it affects the tool's functionality. Furthermore, when using such a mechanism, the rotation angle of the backend motor's output terminal and the wrist's pitch angle are non-linear, requiring extra alignment work to achieve precise position control and increasing overall workload. [Overview of the Initiative]

[0006] A simplified set of concepts is introduced in the summary portion of the present invention, which will be further described in the specific embodiments. The summary portion of this application is not intended to limit the main and necessary technical features of the claimed invention, much less to determine the scope of protection of the claimed invention.

[0007] According to various embodiments of the present application, a back-end transmission device is provided. The first moving member and, The second moving member and The third moving member and A first transmission assembly used to connect the first cable and the second cable, and connected to the first rotating member and the third rotating member, respectively, It includes, respectively, a second pivoting member and a second transmission assembly connected to the third pivoting member, which are used to connect the third cable and the fourth cable, Here, the first rotating member is configured to be rotatable so as to be able to retract one of the first cable and the second cable via the first transmission assembly, while simultaneously releasing the other of the first cable and the second cable. The second rotating member is rotatably configured to retract one of the third cable and the fourth cable via the second transmission assembly, while simultaneously releasing the other of the third cable and the fourth cable. The third rotating member is configured to be rotatable so as to enable the release of at least one of the third and fourth cables while retracting at least one of the first and second cables via the first and second transmission assemblies, or to enable the release of at least one of the first and second cables while retracting at least one of the third and fourth cables.

[0008] According to the back-end transmission device of the present embodiment, the back-end transmission device is connected to, for example, four drive cables of the wrist mechanism, causing the wrist mechanism and the back-end transmission device to work together. By retracting and releasing the drive cables (i.e., the first cable, second cable, third cable, and fourth cable), the pitch motion, yawing, and gripping of the wrist mechanism are achieved. Under this drive system, the structure is simple, the transmission is accurate, the angles of pitch, yawing, and gripping of the rotating member and the wrist mechanism are linearly related, and even if the above angles of the wrist mechanism change significantly, equal length release and / or retraction of the drive cables can be ensured.

[0009] In one embodiment, the first rotating member is rotatable about a first central axis, the second rotating member is rotatable about a second central axis, the third rotating member is rotatable about a third central axis, and the first central axis is parallel to the second central axis and also parallel to the third central axis.

[0010] In one embodiment, the first transmission assembly is A first movable pulley for connecting the first cable, A first transmission cable, wherein the first transmission cable is wound around the first movable pulley, and both ends of the first transmission cable are connected to the first rotating member and the third rotating member, respectively. It is rotatable around the second axis and has a second movable pulley for connecting the second cable, A second transmission cable, the second transmission cable around which the second movable pulley is wound, and both ends of the second transmission cable are connected to the first rotating member and the third rotating member, respectively. Here, the winding direction of the first transmission cable around the first rotating member is opposite to the winding direction of the second transmission cable around the first rotating member, and the winding direction of the first transmission cable around the third rotating member is the same as the winding direction of the second transmission cable around the third rotating member. When the first rotating member or the third rotating member rotates, the first movable pulley moves by the first transmission cable, and the second movable pulley moves by the second transmission cable.

[0011] In one embodiment, the first transmission assembly further includes a first guide wheel, wherein the portion of the first transmission cable located between the first rotating member and the first movable pulley wraps around the first guide wheel, and the portion of the first transmission cable located between the first guide wheel and the first movable pulley is parallel to the portion of the first transmission cable located between the first movable pulley and the third rotating member.

[0012] In one embodiment, the portion of the second transmission cable located between the first rotating member and the second movable pulley is parallel to the portion of the second transmission cable located between the second movable pulley and the third rotating member, and is also parallel to the portion of the first transmission cable located between the first movable pulley and the third rotating member.

[0013] In one embodiment, the second transmission assembly is A third movable pulley for connecting the third cable, A third transmission cable, wherein the third transmission cable is wound around the third movable pulley, and both ends of the third transmission cable are connected to the second and third rotating members, respectively. A fourth movable pulley is rotatable around the fourth axis and for connecting the fourth cable, The fourth transmission cable includes a fourth transmission cable around which the fourth movable pulley is wound, and both ends of the fourth transmission cable are connected to the second rotating member and the third rotating member, respectively.

[0014] In one embodiment, the winding direction of the third transmission cable around the second rotating member is opposite to the winding direction of the fourth transmission cable around the second rotating member, and the winding direction of the third transmission cable around the third rotating member and the winding direction of the fourth transmission cable around the third rotating member are opposite to the winding direction of the first transmission cable around the third rotating member and the winding direction of the second transmission cable around the third rotating member. When the second or third rotating member rotates, the third movable pulley moves via the third transmission cable, and the fourth movable pulley moves via the fourth transmission cable.

[0015] In one embodiment, the first movable pulley is rotatably connected to a first movable pulley base via a first shaft, the first movable pulley base is used to connect the first cable, the second movable pulley is rotatably connected to a second movable pulley base via a second shaft, the second movable pulley base is used to connect the second cable, the first shaft is parallel to the second shaft and parallel to the first central axis, and / or The third movable pulley is rotatably connected to a third movable pulley base via a third axis, the third movable pulley base is used to connect the third cable, the fourth movable pulley is rotatably connected to a fourth movable pulley base via a fourth axis, the fourth movable pulley base is used to connect the fourth cable, and the third axis is parallel to the fourth axis and parallel to the first central axis.

[0016] In one embodiment, the second transmission assembly further includes a second guide wheel, the portion of the fourth transmission cable located between the second rotating member and the fourth movable pulley winding around the second guide wheel, and the portion of the fourth transmission cable located between the second guide wheel and the fourth movable pulley and the portion of the fourth transmission cable located between the fourth movable pulley and the third rotating member are parallel.

[0017] In one embodiment, the portion of the third cable located between the second rotating member and the third movable pulley of the third cable is parallel to the portion of the third cable located between the third movable pulley and the third rotating member, and is also parallel to the portion of the fourth transmission cable located between the fourth movable pulley and the third rotating member.

[0018] According to various embodiments of the present application, a medical device is further provided, which includes the backend transmission device described in any of the above embodiments.

[0019] According to various embodiments of the present application, a surgical robot is further provided, which includes the medical device described in the above embodiments.

Brief Description of the Drawings

[0020] The following drawings of the present application are used here as a part of the present application to understand the present application. The drawings show embodiments of the present application and their descriptions for explaining the principle of the present application. In the drawings, [Figure 1] FIG. 1 is a diagram showing the structure of a surgical robot in an embodiment of the present application. [Figure 2] FIG. 2 is a diagram showing a local structure of the surgical robot in FIG. 1, which shows a wrist mechanism, a first cable, a second cable, a third cable, and a fourth cable. [Figure 3] FIG. 3 is a diagram showing another local structure of the surgical robot in FIG. 1, which shows a backend transmission device, a first cable, a second cable, a third cable, and a fourth cable. [Figure 4] FIG. 4 is a diagram showing a local structure of the backend transmission device of the surgical robot in FIG. 1. Explanation of Reference Numerals

[0021] 100: Surgical robot 110: Mechanical arm 111: Arm 120: Medical device 130: Wrist mechanism 131: Proximal end fixture 132: Distal end fixture 133: Actuator 134: Grip nail upper jaw 135: Grip nail lower jaw 136: First pin axis 137: Second pin axis 140: Main pipe 141: First cable 142: Second cable 143: Third cable 144: Fourth cable 150: Backend transmission device 151: First moving member 152: Second moving member 153: Third movable member 156: First movable pulley 157: Second movable pulley 158: First transmission cable 159: Second transmission cable 161: First shaft 162: Second axis 163: First guide wheel 164: 3rd moving pulley 165: 4th moving pulley 166: Third transmission cable 167: Fourth transmission cable 168: 3rd axis 169: 4th axis 171: Second guide wheel 172: Base plate 173: First drive axle 174: Second drive axle 175: Third drive axle 176: Third guide wheel set 177: Fifth axis 178: Third guide wheel 181: First movable pulley base 182: Second movable pulley base 183: Third movable pulley base 184: Fourth movable pulley base A1: 1st central axis line A2: 2nd central axis line A3: 3rd central axis [Modes for carrying out the invention]

[0022] The following description provides many specific details to give a more thorough understanding of the present application. However, it will be obvious to those skilled in the art that embodiments of the present application can be carried out without requiring one or more of these details. In other examples, some technical features that are well known in the art are omitted to avoid confusion with embodiments of the present application.

[0023] To ensure a thorough understanding of the embodiments of this application, a detailed structure is proposed in the following description. As will be clear, the implementation of the embodiments of this application is not limited to special details familiar to those skilled in the art. Furthermore, ordinal numbers such as "first" and "second" used herein are for descriptive purposes only and do not imply any other meaning, such as a specific order. Also, for example, the term "first member" itself does not imply the existence of a "second member," and the term "second member" itself does not imply the existence of a "first member." The terms "top," "bottom," "front," "back," "left," "right," and similar expressions used herein are for illustrative purposes only and are not limiting.

[0024] As shown in Figure 1, embodiments of the present application provide a back-end power transmission device 150, a medical device 120, and a surgical robot 100. The surgical robot 100 includes a movably mounted mechanical arm 110 and a medical device 120 attached to the mechanical arm 110, wherein the medical device 120 includes the back-end power transmission device 150. As is known in the art, the medical device 120 can perform many functions and includes, but is not limited to, surgical forceps or grippers of various shapes and sizes, needle drive devices, scissors or cauterization tools.

[0025] As shown in Figure 1, the surgical robot 100 mainly includes a base 180, at least one mechanical arm 110 rotatably mounted on the upper end of the base 180, and medical devices 120 attached to corresponding ports of the mechanical arm 110. Figure 1 shows only one mechanical arm 110 as an example, which includes a head-and-tail connected arm 111, and these arms 111 are rotatably mounted. If there are multiple mechanical arms 110, a medical device 120 is attached to the corresponding port of each mechanical arm 110. To facilitate the replacement or repair of the medical device 120, the medical device 120 and the mechanical arm 110 are detachably connected. The medical device 120 attached to the mechanical arm 110 can be selectively used in a specific medical program or modified to provide the clinical functions required during the medical program.

[0026] The docking port of the mechanical arm 110 typically includes a drive motor that provides mechanical power for operating the medical device 120. The docking port may also include an electrical interface connected to the medical device 120, for example, to identify the type of device at the docking port and to obtain the device's parameters.

[0027] The medical device 120 typically includes a back-end transmission unit 150, a main pipe 140 extending from the back-end transmission unit 150, and a wrist mechanism 130 at the distal end of the main pipe 140. Drive cables (specifically, a first cable 141, a second cable 142, a third cable 143, and a fourth cable 144) and conductors connected to the wrist mechanism 130 can extend through the main pipe 140 and connect to the back-end transmission unit 150. The back-end transmission unit 150 provides a mechanical connection from the drive cables to the motor drive shaft of the drive motor and operates the wrist mechanism 130 by controlling the movement and tension of the drive cables. The main pipe 140 is hollow and may be rigid or flexible.

[0028] As shown in Figure 2, the wrist mechanism 130 includes a proximal end fixture 131, a distal end fixture 132, and an actuator 133. The distal end fixture 132 is rotatably connected to the proximal end fixture 131 via a first pin shaft 136 to realize the pitching motion of the wrist mechanism 130. The actuator 133 includes a grip claw maxilla 134 and a grip claw lower jaw 135, which are rotatably connected to the distal end fixture 132 via a second pin shaft 137 to realize the gripping and yawing motion of the wrist mechanism 130. In one embodiment, the second pin shaft 137 is perpendicular to the first pin shaft 136.

[0029] The first cable 141 and the second cable 142 are connected so as to wrap around the grip claw mandible 135 of the actuator 133, that is, the first cable 141 and the second cable 142 can be formed as a continuous, one-piece cable that wraps around the grip claw mandible 135. The third cable 143 and the fourth cable 144 are connected so as to wrap around the grip claw maxillary 134 of the actuator 133, that is, the third cable 143 and the fourth cable 144 can be formed as a continuous, one-piece cable that wraps around the grip claw maxillary 134. The first cable 141, the second cable 142, the third cable 143 and the fourth cable 144 extend along the hard surfaces of the guide passages (not shown) of the actuator 133, the distal end fixture 132 and the proximal end fixture 131, and extend through the main pipe 140 back to the back-end transmission unit 150. For example, the guide passage may be a groove with a U-shaped or semicircular cross-section.

[0030] As shown in Figure 2, by pulling in the third cable 143 and the fourth cable 144 to equal lengths and simultaneously releasing the first cable 141 and the second cable 142 to equal lengths, the distal end fixture 132 rotates clockwise around the first pin axis 136 relative to the proximal end fixture 131, thereby achieving forward pitch movement of the wrist mechanism 130 (see Figure 2). Similarly, by pulling in the first cable 141 and the second cable 142 to equal lengths and simultaneously releasing the third cable 143 and the fourth cable 144 to equal lengths, the distal end fixture 132 rotates counterclockwise around the first pin axis 136 relative to the proximal end fixture 131, thereby achieving reverse pitch movement of the wrist mechanism 130.

[0031] By retracting the fourth cable 144 while releasing the third cable 143 by an equal length, the grip claw maxilla 134 rotates clockwise around the second pin axis 137 relative to the distal end fixture 132 (see Yawing 1 in Figure 2). Similarly, by retracting the third cable 143 while releasing the fourth cable 144 by an equal length, the grip claw maxilla 134 rotates counterclockwise around the second pin axis 137 relative to the distal end fixture 132. By retracting the second cable 142 while releasing the first cable 141 by an equal length, the grip claw lower jaw 135 rotates clockwise around the second pin axis 137 relative to the distal end fixture 132 (see Yawing 2 in Figure 2). Similarly, by retracting the first cable 141 while releasing the second cable 142 by the same length, the grip claw mandible 135 rotates counterclockwise around the second pin axis 137 relative to the distal end fixture 132. The combination of the movements of the grip claw maxilla 134 and the grip claw mandible 135 enables the yawing and gripping motion of the actuator 133. This will be explained in more detail later.

[0032] As shown in Figures 3 and 4, the backend transmission unit 150 mainly includes a first rotating member 151, a second rotating member 152, a third rotating member 153, a first transmission assembly, a second transmission assembly, a first rotating shaft 173, a second rotating shaft 174, a third rotating shaft 175, and a base plate 172. The first rotating shaft 173, the second rotating shaft 174, and the third rotating shaft 175 are each rotatably mounted on the base plate 172 and used to connect to their respective drive motors. The first and second transmission assemblies are both mounted on the base plate 172. The base plate 172 has an interface corresponding to the drive motors, ensuring that when the medical device 120 is properly mounted, the first rotating shaft 173, the second rotating shaft 174, and the third rotating shaft 175 are stably connected to the drive motors, enabling the transmission of rotational motion.

[0033] To make it clear, the surgical robot 100 may include at least three drive motors, where the three drive motors are connected to a first pivot axis 173, a second pivot axis 174, and a third pivot axis 175, respectively. The first pivot axis 173, the second pivot axis 174, and the third pivot axis 175 are arranged parallel to each other and are arranged in a substantially triangular shape. Note that the arrangement of the first pivot axis 173, the second pivot axis 174, and the third pivot axis 175 is not limited to this embodiment, and the first pivot axis 173, the second pivot axis 174, and the third pivot axis 175 may be arranged linearly if necessary. The first pivot shaft 173 is fixedly connected to the first rotating member 151, the second pivot shaft 174 is fixedly connected to the second rotating member 152, and the third pivot shaft 175 is fixedly connected to the third rotating member 153, thereby driving the rotation of the first rotating member 151, the second rotating member 152, and the third rotating member 153, respectively. In this embodiment, the first rotating member 151, the second rotating member 152, and the third rotating member 153 are capstans.

[0034] The first transmission assembly is used to connect the first cable 141 and the second cable 142, respectively, and is connected to the first rotating member 151 and the third rotating member 153, respectively. The first transmission assembly mainly includes a first movable pulley 156, a second movable pulley 157, a first transmission cable 158, and a second transmission cable 159. The first movable pulley 156 is rotatably connected to the first movable pulley base 181 via a first shaft 161, and the first movable pulley 156 is rotatable around the first shaft 161, and the first cable 141 is connected to the first movable pulley base 181. The second movable pulley 157 is rotatably connected to the second movable pulley base 182 via a second shaft 162, and the second movable pulley 157 is rotatable around the second shaft 162, and the second cable 142 is connected to the second movable pulley base 182.

[0035] The first transmission cable 158 wraps around the first movable pulley 156, and both ends of the first transmission cable 158 are connected to the first rotating member 151 and the third rotating member 153, respectively. The second transmission cable 159 wraps around the second movable pulley 157, and both ends of the second transmission cable 159 are connected to the first rotating member 151 and the third rotating member 153, respectively. Specifically, the first transmission cable 158 and the second transmission cable 159 are wrapped in opposite directions relative to the first rotating member 151, but in the same direction relative to the third rotating member 153. When the first rotating member 151 or the third rotating member 153 rotates, the first movable pulley 156 moves by the first transmission cable 158, and the second movable pulley 157 moves by the second transmission cable 159.

[0036] The first transmission assembly further includes a first guide wheel 163, wherein the portion of the first transmission cable 158 located between the first rotating member 151 and the first movable pulley 156 wraps around the first guide wheel 163, the portion of the first transmission cable 158 located between the first guide wheel 163 and the first movable pulley 156 and the portion of the first transmission cable 158 located between the first movable pulley 156 and the third rotating member 153 are parallel, and the absolute values ​​of the linear velocities of the portion of the first transmission cable 158 located between the first guide wheel 163 and the first movable pulley 156 and the portion of the first transmission cable 158 located between the first movable pulley 156 and the third rotating member 153 are equal, that is, the absolute values ​​of the linear velocities of the cables located on both sides of the first movable pulley 156 of the first transmission cable 158 are equal. The portion of the second transmission cable 159 located between the first rotating member 151 and the second movable pulley 157 is parallel to the portion of the second transmission cable 159 located between the second movable pulley 157 and the third rotating member 153, and is also parallel to the portion of the first transmission cable 158 located between the first movable pulley 156 and the third rotating member 153, that is, the absolute values ​​of the linear velocity of the cables on both sides of the second movable pulley 157 of the second transmission cable 159 are equal. The first guide wheel 163 may be a fixed pulley. A person skilled in the art will understand that other guide wheels may be added as needed to guide the first transmission cable 158 and the second transmission cable 159.

[0037] The first rotating member 151 is configured to rotate about a first central axis A1, thereby allowing one of the first cable 141 and the second cable 142 to be retracted via the first transmission assembly while simultaneously releasing the other of the first cable 141 and the second cable 142, and the grip claw mandible 135 can rotate clockwise or counterclockwise about a second pin axis 137 relative to the distal end fixture 132. In one embodiment, the first axis 161 is parallel to the second axis 162 and also parallel to the first central axis A1.

[0038] Specifically, while the third rotating member 153 remains stationary, the drive motor drives the first rotating shaft 173 to rotate the first rotating member 151 counterclockwise. At the same time, the second transmission cable 159 is retracted (i.e., wrapped around the first rotating member 151), and the first transmission cable 158 is released by an equal length. That is, the second cable 142 is retracted via the second movable pulley 157, and at the same time, the first cable 141 is released by an equal length via the first movable pulley 156. This causes the grip claw mandible 135 to rotate clockwise around the second pin axis 137 relative to the distal end fixture 132 (see Yawing 2 in Figure 2). While the third rotating member 153 remains stationary, the drive motor drives the first rotating shaft 173 to rotate the first rotating member 151 clockwise. At the same time, the first transmission cable 158 is retracted (i.e., wrapped around the first rotating member 151), and the second transmission cable 159 is released by an equal length. That is, the first cable 141 is retracted via the first movable pulley 156, and at the same time, the second cable 142 is released by an equal length via the second movable pulley 157. This causes the grip claw mandible 135 to rotate counterclockwise around the second pin axis 137 relative to the distal end fixture 132.

[0039] As shown in Figures 3 and 4, the second transmission assembly is used to connect the third cable 143 and the fourth cable 144, respectively, and is connected to the second pivot member 152 and the third pivot member 153, respectively. The second transmission assembly includes a third movable pulley 164, a fourth movable pulley 165, a third transmission cable 166, and a fourth transmission cable 167. The third movable pulley 164 is rotatably connected to the third movable pulley base 183 via a third shaft 168, and the third cable 143 is connected to the third movable pulley base 183. The fourth movable pulley 165 is rotatably connected to the fourth movable pulley base 184 via the fourth shaft 169, and the fourth cable 144 is connected to the fourth movable pulley base 184.

[0040] The third transmission cable 166 is wrapped around the third movable pulley 164, and both ends of the third transmission cable 166 are connected to the second rotating member 152 and the third rotating member 153, respectively. The fourth transmission cable 167 is wrapped around the fourth movable pulley 165, and both ends of the fourth transmission cable 167 are connected to the second rotating member 152 and the third rotating member 153, respectively. Specifically, the winding direction of the third transmission cable 166 and the fourth transmission cable 167 with respect to the second rotating member 152 is opposite, and the winding direction of the third rotating member 153 is opposite to the winding direction of the first transmission cable 158 and the second transmission cable 159 with respect to the third rotating member 153. When the second rotating member 152 or the third rotating member 153 rotates, the third movable pulley 164 moves via the third transmission cable 166, and the fourth movable pulley 165 moves via the fourth transmission cable 167.

[0041] The second transmission assembly further includes a second guide wheel 171, the portion of the fourth transmission cable 167 located between the second pivot member 152 and the fourth movable pulley 165, the portion of the fourth transmission cable 167 located between the second guide wheel 171 and the fourth movable pulley 165 is parallel to the portion of the fourth transmission cable 167 located between the fourth movable pulley 165 and the third pivot member 153. The portion of the third cable 143 located between the second pivot member 152 and the third movable pulley 164 is parallel to the portion of the third cable 143 located between the third movable pulley 164 and the third pivot member 153, and is also parallel to the portion of the fourth transmission cable 167 located between the fourth movable pulley 165 and the third pivot member 153. The second guide wheel 171 may be a fixed pulley. Those skilled in the art will understand that additional guide wheels may be added as needed to guide the third transmission cable 166 and the fourth transmission cable 167.

[0042] The second rotating member 152 is configured to rotate about the second central axis A2, thereby allowing one of the third cable 143 and the fourth cable 144 to be retracted via the second transmission assembly while simultaneously releasing the other of the third cable 143 and the fourth cable 144, enabling the grip claw upper jaw 134 to rotate clockwise or counterclockwise about the second pin axis 137 relative to the distal end fixture 132. In one embodiment, the third axis 168 is parallel to the fourth axis 169 and also parallel to the second central axis A2.

[0043] Specifically, when the drive motor drives the second pivot shaft 174 to rotate the second pivot member 152 counterclockwise while the third pivot member 153 remains stationary, the fourth transmission cable 167 is retracted (i.e., wrapped around the second pivot member 152), and at the same time, the third transmission cable 166 is released by an equal length, that is, the fourth cable 144 is retracted via the fourth movable pulley 165, and at the same time, the third cable 143 is released by an equal length via the third movable pulley 164, thereby enabling the grip claw upper jaw 134 to rotate clockwise around the second pin shaft 137 relative to the distal end fixture 132 (Figure 2). (See Yawing 1). With the third rotating member 153 remaining stationary, the drive motor drives the second rotating shaft 174 to rotate the second rotating member 152 clockwise, causing the third transmission cable 166 to be retracted (i.e., wrapped around the second rotating member 152) and the fourth transmission cable 167 to be released by equal length, that is, the third cable 143 is retracted via the third movable pulley 164 and the fourth cable 144 is released by equal length via the fourth movable pulley 165, thereby causing the grip claw upper jaw 134 to rotate counterclockwise around the second pin axis 137 relative to the distal end fixture 132.

[0044] The backend drive unit 150 further includes a third guide wheel set 176 (see Figure 4), which includes two parallel fifth shafts 177 and two third guide wheels 178 rotatably mounted on each of the two fifth shafts 177. The third guide wheels 178 may be fixed pulleys.

[0045] These four third guide wheels 178 can guide the first cable 141, the second cable 142, the third cable 143, and the fourth cable 144, respectively, and the portion of the first cable 141 located between the third guide wheel set 176 and the first movable pulley 156 and the portion of the first transmission cable 158 located between the first movable pulley 156 and the third rotating member 153 are parallel, and the portion of the second cable 142 located between the third guide wheel set 176 and the second movable pulley 157 and the second transmission cable The portion of cable 159 located between the second movable pulley 157 and the third rotating member 153 is parallel, the portion of cable 143 located between the third guide wheel set 176 and the third movable pulley 164 is parallel to the portion of cable 166 located between the third movable pulley 164 and the third rotating member 153, and the portion of cable 144 located between the third guide wheel set 176 and the fourth movable pulley 165 is parallel to the portion of cable 167 located between the fourth movable pulley 165 and the third rotating member 153. This enables the linear combination drive of the first rotating member 151 and the third rotating member 153 with respect to the first cable 141 and the second cable 142, and the linear combination drive of the second rotating member 152 and the third rotating member 153 with respect to the third cable 143 and the fourth cable 144.

[0046] In this embodiment, yawing and gripping motions of the actuator 133 can be achieved by controlling the rotation of the first pivot shaft 173 and the second pivot shaft 174.

[0047] Specifically, when the first and second rotation axes 173 and 174 rotate counterclockwise at equal angles while the third rotation axis 175 remains stationary, that is, when the first and second rotation members 151 and 152 rotate counterclockwise at equal angles, both the upper and lower jaws of the grip claws rotate clockwise, causing the actuator 133 to achieve forward yawing (see Figure 2). When the first and second rotation axes 173 and 174 rotate clockwise at equal angles while the third rotation axis 175 remains stationary, that is, when the first and second rotation members 151 and 152 rotate clockwise at equal angles, both the upper and lower jaws of the grip claws rotate counterclockwise, causing the actuator 133 to achieve reverse yawing (see Figure 2).

[0048] When the third rotation shaft 175 remains stationary, the first rotation shaft 173 rotates counterclockwise, and the second rotation shaft 174 rotates clockwise at the same angle; that is, when the first rotation member 151 rotates counterclockwise, and the second rotation member 152 rotates clockwise at the same angle, the lower jaw of the grip claw 135 rotates clockwise, and the upper jaw of the grip claw 134 rotates counterclockwise, realizing the gripping action of the actuator 133 (see Figure 2). When the third rotation shaft 175 remains stationary, the first rotation shaft 173 rotates clockwise, and the second rotation shaft 174 rotates counterclockwise at the same angle; that is, when the first rotation member 151 rotates clockwise, and the second rotation member 152 rotates counterclockwise at the same angle, the lower jaw of the grip claw 135 rotates counterclockwise, and the upper jaw of the grip claw 134 rotates clockwise, thereby releasing the grip of the actuator 133.

[0049] The third rotating member 153 is configured to rotate about the third central axis A3, thereby enabling the pitching motion of the wrist mechanism 130 by retracting at least one of the first cable 141 and the second cable 142 while releasing at least one of the third cable 143 and the fourth cable 144, or retracting at least one of the third cable 143 and the fourth cable 144 while releasing at least one of the first cable 141 and the second cable 142, via the first and second transmission assemblies. In one embodiment, the first central axis A1 is parallel to the second central axis A2 and parallel to the third central axis A3.

[0050] In this embodiment, when the third rotating member 153 rotates, the first cable 141 and the second cable 142 are pulled in by equal lengths via the first and second transmission assemblies while the third cable 143 and the fourth cable 144 are released by equal lengths (i.e., the length of the first cable 141 and the second cable 142 wrapped around the first rotating member 151 during the rotation of the third rotating member 153 is equal to the length of the third cable 143 and the fourth cable 144 released), or the third cable 143 and the fourth cable 144 are pulled in by equal lengths while the first cable 141 and the second cable 142 are released by equal lengths (i.e., the length of the third cable 143 and the fourth cable 144 wrapped around the second rotating member 152 during the rotation of the third rotating member 153 is equal to the length of the first cable 141 and the second cable 142 released), thereby enabling the wrist mechanism 130 to perform a pitch motion.

[0051] Specifically, while the first and second rotation shafts 173 and 174 remain stationary, the drive motor drives the third rotation shaft 175 to rotate the third rotation member 153 counterclockwise. At the same time, the first and second transmission cables 158 and 159 are released by equal lengths, while the third and fourth transmission cables 166 and 167 are retracted by equal lengths. That is, the first and second cables 141 and 142 are released by equal lengths, while the third and fourth cables 143 and 144 are retracted by equal lengths, thereby achieving forward pitch movement of the wrist mechanism 130. Similarly, when the drive motor drives the third rotation shaft 175 to rotate the third rotation member 153 clockwise while the first rotation shaft 173 and the second rotation shaft 174 remain stationary, the first transmission cable 158 and the second transmission cable 159 are retracted by equal lengths, while the third transmission cable 166 and the fourth transmission cable 167 are released by equal lengths. That is, the first cable 141 and the second cable 142 are retracted by equal lengths, while the third cable 143 and the fourth cable 144 are released by equal lengths, thereby achieving reverse pitch movement of the wrist mechanism 130.

[0052] In this embodiment, the rotation of the first rotating member 151, the second rotating member 152, and the third rotating member 153 is transmitted to the first cable 141, the second cable 142, the third cable 143, and the fourth cable 144 via the first movable pulley 156, the second movable pulley 157, the third movable pulley 164, and the fourth movable pulley 165. Therefore, the travel distance of the first cable 141, the second cable 142, the third cable 143, and the fourth cable 144 (i.e., the length of retraction or release) is correspondingly only half the travel distance of the first transmission cable 158, the second transmission cable 159, the third transmission cable 166, and the fourth transmission cable 167, which corresponds to achieving a 2:1 reduction ratio from the input side to the output side. Therefore, if there is a hysteresis error in the drive motor's reduction gear, or if there is a hysteresis error in the connection between the first rotation shaft 173, the second rotation shaft 174, and the third rotation shaft 175 and the drive motor, the impact of these hysteresis errors on the front-end wrist mechanism 130 is halved, improving the motion accuracy of the wrist mechanism 130.

[0053] According to the back-end transmission device in the embodiment of the present invention, the back-end transmission device is connected to, for example, four drive cables of the wrist mechanism, so that the wrist mechanism and the back-end transmission device work together, and the pitch motion, yawing, and grip of the wrist mechanism are realized by pulling in and releasing the drive cables (i.e., the first cable, second cable, third cable, and fourth cable) by equal lengths. Under such a drive system, the structure is simple, the transmission is accurate, the angles of pitch, yawing, and grip of the rotating member and the wrist mechanism are in a linear relationship, and even if the above angles of the wrist mechanism change significantly, it is possible to ensure equal length release and / or pull-in of the drive cables.

[0054] Unless otherwise defined, technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art. Terms used herein are for illustrative purposes only and are not intended to limit the application. Terms such as “installation” used herein may indicate that one component is directly attached to another component, or that one component is attached to another component via an intermediate component. Features described in one embodiment of the application may not apply to other embodiments, or, unless otherwise stated, may apply to other embodiments alone or in combination with other features.

[0055] Although this application has been described by the embodiments described above, these embodiments are for illustrative and explanatory purposes only and are not intended to limit this application to the scope of the embodiments described. Those skilled in the art can make many more variations and modifications based on the suggestions of this application, all of which are included within the scope of the claims of this application.

Claims

1. The first rotating member and, The second moving member and The third moving member and A first transmission assembly including a first movable pulley and a second movable pulley connected to the first rotating member and the third rotating member, and connected to a first cable and a second cable, respectively, The second transmission assembly includes a third movable pulley and a fourth movable pulley connected to the second rotating member and the third rotating member, and connected to a third cable and a fourth cable, respectively, Here, the first rotating member is configured to be rotatable so as to be able to retract one of the first cable and the second cable via the first transmission assembly, while simultaneously releasing the other of the first cable and the second cable. The second rotating member is configured to be rotatable so as to be able to retract one of the third cable and the fourth cable via the second transmission assembly, while simultaneously releasing the other of the third cable and the fourth cable. The third rotating member is, While moving at least one of the first movable pulley and the second movable pulley along the first direction, move at least one of the third movable pulley and the fourth movable pulley along the second direction opposite to the first direction. While pulling in at least one of the first cable and the second cable, release at least one of the third cable and the fourth cable, It is rotatably configured to enable pulling in at least one of the third cable and the fourth cable while releasing at least one of the first cable and the second cable, The first transmission assembly is, A first transmission cable, wherein the first transmission cable is wound around the first movable pulley, and both ends of the first transmission cable are connected to the first rotating member and the third rotating member, respectively. A second transmission cable, the second transmission cable around which the second movable pulley is wound, and both ends of the second transmission cable are connected to the first rotating member and the third rotating member, respectively. Here, the winding direction of the first transmission cable around the first rotating member is opposite to the winding direction of the second transmission cable around the first rotating member. The second transmission assembly is, A third transmission cable, wherein the third transmission cable is wound around the third movable pulley, and both ends of the third transmission cable are connected to the second and third rotating members, respectively. A fourth transmission cable, the fourth transmission cable around which the fourth movable pulley is wound, and both ends of the fourth transmission cable are connected to the second rotating member and the third rotating member, respectively. Here, the winding direction of the third transmission cable around the second rotating member is opposite to the winding direction of the fourth transmission cable around the second rotating member. A backend power transmission device characterized by the following features.

2. The rotation of the third rotating member is By moving at least one of the first and second movable pulleys toward the third rotating member, at least one of the first and second cables is retracted, while by moving at least one of the third and fourth movable pulleys toward the third rotating member, either the third or fourth cable is released, or By moving at least one of the third and fourth movable pulleys toward the third rotating member, at least one of the third and fourth cables is retracted, while by moving at least one of the first and second movable pulleys toward the third rotating member, either the first or second cable is released. The backend transmission device according to feature 1.

3. The first transmission assembly further includes a first guide wheel, wherein the portion of the first transmission cable located between the first rotating member and the first movable pulley wraps around the first guide wheel, and the portion of the first transmission cable located between the first guide wheel and the first movable pulley and the portion of the first transmission cable located between the first movable pulley and the third rotating member are parallel. The backend transmission device according to feature 1.

4. The portion of the second transmission cable located between the first rotating member and the second movable pulley is parallel to the portion of the second transmission cable located between the second movable pulley and the third rotating member. The backend transmission device according to feature 1.

5. The winding direction of the first transmission cable around the third rotating member is the same as the winding direction of the second transmission cable around the third rotating member. The winding direction of the third transmission cable around the third rotating member and the winding direction of the fourth transmission cable around the third rotating member are opposite to the winding direction of the first transmission cable around the third rotating member and the winding direction of the second transmission cable around the third rotating member. The backend transmission device according to feature 1.

6. The second transmission assembly further includes a second guide wheel, the portion of the fourth transmission cable located between the second pivot member and the fourth movable pulley winding around the second guide wheel, and the portion of the fourth transmission cable located between the second guide wheel and the fourth movable pulley and the portion of the fourth transmission cable located between the fourth movable pulley and the third pivot member are parallel. The backend transmission device according to feature 1.

7. The portion of the third transmission cable located between the second pivoting member and the third movable pulley is parallel to the portion of the third transmission cable located between the third movable pulley and the third pivoting member, and is also parallel to the portion of the fourth transmission cable located between the fourth movable pulley and the third pivoting member. The backend transmission device according to feature 1.

8. The first rotating member, the second rotating member, and the third rotating member are capstans. The backend transmission device according to feature 1.

9. A backend transmission device according to any one of claims 1 to 8, A medical device characterized by the following features.

10. A medical device comprising the medical device described in claim 9, A surgical robot characterized by the following features.

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