Instrument driving apparatus

Abstract

An instrument driving apparatus, comprising: an instrument assembly (1), a first rotation driving assembly (2), a second rotation driving assembly (3), and a push-pull driving assembly (4). The instrument assembly (1) comprises a handle (11), a plurality of operation pull rods (12), and a rotating rod (13). The operation pull rods (12) are slidably connected to the handle (11). The rotating rod (13) is rotatably connected to the handle (11). The first rotation driving assembly (2) comprises a first rotation driving mechanism (21) and a rotating base mechanism (22). The rotating base mechanism (22) is connected to the instrument assembly (1). An output end of the first rotation driving mechanism (21) is connected to the rotating base mechanism (22) to drive the instrument assembly (1) to rotate. The second rotation driving assembly (3) comprises a second rotation driving mechanism (31) and a rotating wheel mechanism (32). The rotating wheel mechanism (32) is in transmission connection with the rotating rod (13). An output end of the second rotation driving mechanism (31) is connected to the rotating wheel mechanism (32) to drive the rotating rod (13) to rotate. The push-pull driving assembly (4) comprises a push-pull driving mechanism (41) and a plurality of flexible push-pull wires (42). The plurality of flexible push-pull wires (42) and the plurality of operation pull rods (12) are in one-to-one correspondence. The push-pull driving mechanism (41) drives the flexible push-pull wires (42) to perform reciprocating motion, so as to enable the operation pull rods (12) to perform reciprocating motion. The instrument driving apparatus achieves the rotation and push-pull actions of the instrument assembly (1) by means of active driving, thereby improving the control precision over an execution apparatus and the movement stability, and thus being relatively reliable.

Description

Equipment drive device

[0001] This application claims priority to Chinese patent application number CN202311766806.7, filed on December 20, 2023, and entitled “Instrument Driving Device,” the disclosure of which is incorporated herein by reference. Technical Field

[0002] The present invention relates to the technical field of medical instruments, and in particular to an instrument driving device. Background Art

[0003] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has become increasingly widely used due to its advantages such as minimal surgical trauma, short recovery time, and reduced patient pain. Traditional passive minimally invasive surgical instruments require manual operation by the surgeon, who manually controls the movement of intermediate transmission mechanisms such as sheaths and traction ropes, thereby controlling the distal actuator to perform the surgical operation. This manual operation method has certain limitations, mainly manifested in low control accuracy, easy misoperation due to hand tremors during operation, and the difficulty of avoiding operator fatigue during manual operation. Therefore, it has a negative impact on the motion control accuracy and stability of the actuator. Summary of the Invention

[0004] The purpose of the present invention is to provide an instrument driving device that can solve the problems of existing minimally invasive surgical instruments such as low control accuracy of the actuator due to manual operation, easy misoperation due to hand tremors during operation, operator fatigue, etc., which make the actuator movement stability poor.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] Provides instrument drive devices, including:

[0007] An instrument assembly, the instrument assembly comprising a handle, at least two operating rods, and a rotating rod, the operating rods being slidably connected to the handle, and the rotating rod being rotatably connected to the handle;

[0008] a first rotary drive assembly, the first rotary drive assembly comprising a first rotary drive mechanism and a rotary seat mechanism, the rotary seat mechanism being connected to the instrument assembly, and an output end of the first rotary drive mechanism being connected to the rotary seat mechanism;

[0009] a second rotary drive assembly, the second rotary drive assembly comprising a second rotary drive mechanism and a rotary wheel mechanism, the rotary wheel mechanism being connected to the rotating rod in a transmission manner, and an output end of the second rotary drive mechanism being connected to the rotary wheel mechanism;

[0010] A push-pull drive assembly includes a push-pull drive mechanism and at least two flexible push-pull wires, wherein the flexible push-pull wires are arranged between the operating pull rod and the output end of the push-pull drive mechanism.

[0011] Optionally, the push-pull drive assembly also includes a slider connected to the operating rod; the push-pull drive mechanism includes a driving gear, a first transmission rack and a second transmission rack, the first transmission rack and the second transmission rack are respectively engaged with both sides of the driving gear and are arranged parallel to each other, the flexible push-pull line includes a first section and a second section, the two ends of the first section are respectively connected to the first transmission rack and one end of the slider, and the two ends of the second section are respectively connected to the second transmission rack and the other end of the slider.

[0012] Optionally, the push-pull drive assembly also includes a slider connected to the operating rod; the push-pull drive mechanism includes a rotatable drum, the flexible push-pull wire is wound around the drum, and the first end of the flexible push-pull wire is connected to one end of the slider, and the second end of the flexible push-pull wire is connected to the other end of the slider.

[0013] Optionally, the push-pull drive assembly further includes a tensioning mechanism, and the tensioning mechanism includes:

[0014] An adjusting bracket and a limiting bracket are arranged at intervals and are sequentially arranged between the rotating drum and the slider, and the adjusting bracket is provided with a threaded adjusting hole;

[0015] A tensioning sheath is provided between the adjusting bracket and the limiting bracket, and one end of the tensioning sheath abuts against the limiting bracket. The tensioning sheath is sleeved outside the flexible push-pull wire, and the tensioning sheath and the flexible push-pull wire are slidably connected;

[0016] An adjusting bolt is threadedly connected to the threaded adjusting hole, and the adjusting bolt abuts the other end of the tensioning sleeve away from the limit bracket. The adjusting bolt can push against one end of the tensioning sleeve, and the tensioning sleeve bends to tighten the flexible push-pull wire.

[0017] Optionally, the first rotation drive mechanism includes a rotatable rotating seat drive wheel, which is connected to the rotating seat mechanism; the second rotation drive mechanism includes a rotatable knob drive wheel, which is connected to the rotating rod; and the rotating seat drive wheel and the knob drive wheel are coaxially arranged.

[0018] Optionally, the instrument driving device further includes a supporting tailstock, the rotating seat driving wheel is rotatably arranged in the supporting tailstock, both ends of the rotating seat driving wheel are through-connected, and the knob driving wheel is arranged in the rotating seat driving wheel and is coaxially arranged.

[0019] Optionally, the first rotary drive mechanism further includes a first transmission wheel, and the second rotary drive assembly further includes a second transmission wheel. Both the first transmission wheel and the second transmission wheel are rotatably connected to the supporting tailstock and are coaxially arranged. The first transmission wheel drives the rotating seat driving wheel to rotate, and the second transmission wheel drives the knob driving wheel to rotate.

[0020] Optionally, the instrument driving device also includes a translation slide rail, which extends along the axial direction of the handle, and the supporting tailstock is slidably connected to the translation slide rail; the knob driving wheel is detachably connected to the rotating rod, and the operating pull rod is detachably connected to the rotating seat mechanism.

[0021] Optionally, the first rotation drive mechanism further includes a first driving member and a first transmission gear, wherein the first transmission gear is transmission-connected to the first transmission wheel; and / or,

[0022] The second rotation drive mechanism further includes a second driving member and a second transmission gear, and the second transmission gear is transmission-connected to the second transmission wheel.

[0023] Optionally, the instrument driving device also includes a translation slide rail, which extends axially along the handle, and the supporting tailstock is slidably connected to the translation slide rail; the first rotation drive mechanism also includes a first transmission shaft, and the second rotation drive mechanism also includes a second transmission shaft, the first transmission shaft and the second transmission shaft are both parallel to the translation slide rail, the first transmission gear can be axially slidably mounted on the first transmission shaft, and the second transmission gear can be axially slidably mounted on the second transmission shaft.

[0024] Optionally, the push-pull drive assembly further comprises a slider, the slider is slidably connected to the rotating seat mechanism, the rotating seat mechanism comprises a clamping member, the clamping member is detachably connected to the operating rod, the slider is connected to the clamping member, and the slider is fixedly connected to the flexible push-pull wire; and / or,

[0025] The rotating wheel mechanism also includes an inner sheath driving wheel and a knob sleeve. The inner sheath driving wheel is connected to the end of the rotating rod away from the handle. The knob sleeve is transmission-connected to the knob driving wheel. The inner sheath driving wheel has external meshing teeth. The inner wall of the knob sleeve is provided with internal meshing teeth. The external meshing teeth and the internal meshing teeth are meshed with each other.

[0026] Beneficial effects of the present invention:

[0027] The instrument drive device provided by the present invention comprises an instrument assembly including a handle, a plurality of operating pull rods and a rotating rod. The operating pull rods are slidably connected to the handle, and the rotating rods are rotatably connected to the handle. The movements of the handle, the operating pull rods and the rotating rods can respectively control the execution device to realize different operations. The first rotary drive mechanism of the first rotary drive assembly is connected to the rotating seat mechanism to drive the instrument assembly to rotate. The push-pull movement of the operating pull rods and the rotation movement of the rotating rods are not affected by the rotation movement of the instrument assembly, so that the instrument assembly can independently realize multiple movements or a combination of multiple movements simultaneously to meet surgical needs. The push-pull drive assembly includes a plurality of flexible push-pull wires and a plurality of operating pull rods corresponding to each other. The push-pull drive mechanism can drive the flexible push-pull wires to reciprocate so that the operating pull rods can reciprocate. The flexibility of the flexible push-pull wires is utilized to convert the movement of the driving parts such as the motor into the push-pull movement of the operating pull rods, thereby simplifying the motion transmission chain, enabling the instrument drive device to be lightweight and miniaturized, and reducing processing costs. The above-mentioned instrument driving device does not require manual operation. The push-pull movement of the operating rod, the rotation movement of the rotating rod and the overall rotation movement of the instrument assembly are all realized by the driving part, which avoids erroneous operations caused by hand tremors during manual operation, avoids manual operation fatigue, and improves the motion control accuracy of the actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] FIG1 is a structural schematic diagram of an instrument driving device provided by an embodiment of the present invention without a flexible push-pull wire;

[0029] FIG2 is a second structural diagram of the instrument driving device provided by an embodiment of the present invention without the flexible push-pull wire;

[0030] FIG3 is a schematic diagram of a partial structure of an instrument driving device provided by an embodiment of the present invention;

[0031] FIG4 is a schematic structural diagram of the rotation of an instrument assembly according to an embodiment of the present invention;

[0032] FIG5 is a schematic structural diagram of a flexible push-pull wire push-pull slider provided by an embodiment of the present invention;

[0033] 6 is a schematic structural diagram of a push-pull drive mechanism driving a flexible push-pull wire according to an embodiment of the present invention;

[0034] 7 is a schematic structural diagram of a flexible push-pull wire driven by a rotating drum according to an embodiment of the present invention;

[0035] FIG8 is a schematic structural diagram of a tensioning mechanism provided in an embodiment of the present invention.

[0036] In the figure: 1. Instrument assembly; 11. Handle; 12. Operating lever; 13. Rotating lever; 2. First rotary drive assembly; 21. First rotary drive mechanism; 211. Rotating seat drive wheel; 212. First transmission wheel; 213. First transmission gear; 214. First transmission shaft; 215. First pulley; 22. Rotating seat mechanism; 221. Clamping member; 2211. Clamping seat; 2212. Tightening screw; 222. Base; 23. Bevel gear set; 3. Second rotary drive assembly; 31. Second rotary drive mechanism; 311. Knob drive wheel; 312. Second transmission wheel; 313. Second transmission gear; 314. Second transmission shaft; 315. Second pulley; 32. Rotating wheel mechanism; 321. Knob sleeve; 322. Inner sheath driving wheel; 4. Push-pull driving assembly; 41. Push-pull driving mechanism; 411. Driving gear; 412. First transmission rack; 413. Second transmission rack; 414. Rotating drum; 42. Flexible push-pull wire; 421. First section; 422. Second section; 43. Slider; 44. Tensioning mechanism; 441. Adjusting bracket; 442. Limiting bracket; 443. Tensioning sleeve; 444. Adjusting bolt; 45. Guide rod; 5. Support tailstock; 6. Translation slide rail; 7. Mounting platform. DETAILED DESCRIPTION

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, rather than all structures.

[0038] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0039] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0040] In the description of this embodiment, terms such as "upper," "lower," "left," and "right" are used to refer to positions or locations based on those shown in the accompanying drawings. These terms are intended solely to facilitate description and simplify operation, and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0041] In the present invention, the term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "portion", "part" and "item" are used interchangeably.

[0042] In the present invention, the terms "instrument", "surgical instrument" and "surgical instrument" are used herein to describe a medical device, including an end effector, that is configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. An end effector can be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip applicators, stapling devices, imaging devices, and the like. Some instruments used in embodiments of the present application further provide an articulated support for the surgical tool so that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a knife that translates along a path. The instrument may also contain stored information that is permanent or updateable by the surgical system. Accordingly, the system can provide one-way or two-way information communication between the instrument and one or more system components.

[0043] In the present invention, the term "matching" can be broadly understood as any situation in which two or more objects are connected in a manner that allows the matched objects to operate in conjunction with each other. It should be noted that matching does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to match two or more objects. For example, objects A and B can be matched using object C. In addition, the terms "removably coupled" or "removably matched" can be interpreted as meaning a non-permanent connection or matching situation between two or more objects. This means that the objects that are detachably coupled can be uncoupled and separated so that they no longer operate in conjunction.

[0044] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B, and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition would only occur if a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0045] As shown in FIG. 1 to FIG. 8 , this embodiment first provides an instrument driving device, which is used to control an execution device (not shown in the figures). This embodiment does not limit the specific structure of the execution device.

[0046] The instrument drive device includes a drive member (such as a motor, not shown), an instrument assembly 1, a first rotary drive assembly 2, a second rotary drive assembly 3, and a push-pull drive assembly 4. The instrument assembly 1 includes a handle 11, at least two operating rods 12, and a rotating rod 13. The operating rods 12 are slidably connected to the handle 11, and the rotating rod 13 is rotatably connected to the handle 11. The movements of the handle 11, operating rods 12, and rotating rod 13 can respectively control the actuator to achieve different operations.

[0047] The first rotary drive assembly 2 includes a first rotary drive mechanism 21 and a rotary seat mechanism 22. The output end of the first rotary drive mechanism 21 is connected to the rotary seat mechanism 22. The rotary seat mechanism 22 is connected to the instrument assembly 1 to drive the instrument assembly 1 to rotate. The second rotary drive assembly 3 includes a second rotary drive mechanism 31 and a rotary wheel mechanism 32. The output end of the second rotary drive mechanism 31 is connected to the rotary wheel mechanism 32. The rotary wheel mechanism 32 is connected to the rotating rod 13 to drive the rotating rod 13 to rotate.

[0048] The push-pull drive assembly 4 includes a push-pull drive mechanism 41 and at least two flexible push-pull wires 42. The flexible push-pull wires 42 are arranged between the operating rod 12 and the output end of the push-pull drive mechanism 41. The push-pull drive mechanism 41 can drive the flexible push-pull wires 42 to reciprocate, causing the operating rod 12 to move back and forth. The flexibility of the flexible push-pull wires 42 is utilized to convert the movement of the drive components such as the motor into the push-pull movement of the operating rod 12, simplifying the motion transmission chain, enabling the instrument drive device to be lightweight and miniaturized, and reducing processing costs. The above-mentioned instrument drive device does not require manual operation. The push-pull movement of the operating rod 12, the rotation movement of the rotating rod 13, and the overall rotation movement of the instrument assembly 1 are all achieved by the drive components, avoiding malfunctions caused by hand tremors during manual operation, and also avoiding manual operator fatigue, thereby improving the motion control accuracy of the actuator. The push-pull movement of the operating rod 12 and the rotation movement of the rotating rod 13 are not affected by the rotation movement of the instrument assembly 1, allowing the instrument assembly 1 to independently achieve multiple actions or a combination of multiple actions simultaneously to meet surgical needs.

[0049] In one embodiment, the first rotation drive mechanism 21 includes a rotatable rotating seat drive wheel 211, which is connected to the rotating seat mechanism 22 to drive the rotating seat mechanism 22 to rotate; the second rotation drive mechanism 31 includes a rotatable knob drive wheel 311, which is connected to the rotating rod 13 to drive the rotating rod 13 to rotate. The rotating seat drive wheel 211 and the knob drive wheel 311 are coaxially arranged. In this way, the rotation movement of the rotating seat mechanism 22 will not affect the movement of the rotating rod 13, and the instrument assembly 1 can realize more movements.

[0050] Specifically, the rotating seat driving wheel 211 and the base 222 of the rotating seat mechanism 22 are detachably connected by screws.

[0051] In one embodiment, the instrument drive device further includes a support tailstock 5. The support tailstock 5 and the aforementioned instrument assembly 1, first rotary drive assembly 2, second rotary drive assembly 3, and push-pull drive assembly 4 are all disposed on a mounting platform 7. A rotary seat drive wheel 211 is rotatably disposed within the support tailstock 5. Both ends of the rotary seat drive wheel 211 extend through the rotary seat drive wheel 211, and the twist drive wheel 311 is coaxially disposed within the rotary seat drive wheel 211, thereby reducing axial space occupation and achieving a more compact structure for the instrument drive device.

[0052] In one embodiment, the first rotary drive mechanism 21 further includes a first transmission wheel 212, and the second rotary drive assembly 3 further includes a second transmission wheel 312. The first transmission wheel 212 and the second transmission wheel 312 are both rotatably connected to the supporting tailstock 5 and are coaxially arranged. The first transmission wheel 212 drives the rotating seat driving wheel 211 to rotate, and the second transmission wheel 312 drives the knob driving wheel 311 to rotate. The torque is transmitted by the first transmission wheel 212 and the second transmission wheel 312, and the rotating seat driving wheel 211 and the knob driving wheel 311 are respectively controlled to rotate coaxially.

[0053] In one embodiment, the instrument drive device further includes a translation rail 6 extending axially along the handle 11, and the support tailstock 5 is slidably connected to the translation rail 6. The knob drive wheel 311 is detachably connected to the rotating rod 13, and the operating pull rod 12 is detachably connected to the rotating seat mechanism 22. When the knob drive wheel 311 and the rotating rod 13 are disassembled and separated, and the operating pull rod 12 and the rotating seat mechanism 22 are disassembled and separated, the support tailstock 5 can drive the rotating seat mechanism 22 and the knob drive wheel 311 to move away from the instrument assembly 1. When the support tailstock 5 drives the rotating seat mechanism 22 and the knob drive wheel 311 to move toward the instrument assembly 1, assembly with the instrument assembly 1 can be achieved, facilitating disassembly, assembly, and maintenance. This sliding mechanism simplifies the assembly process of the instrument drive device.

[0054] In one embodiment, the first rotary drive mechanism 21 further includes a first driving member and a first transmission gear 213, wherein the first transmission gear 213 is transmission-connected to the first transmission wheel 212, and the first transmission gear 213 is used to transmit the torque of the first driving member. The first driving member adopts a motor (not shown in the figure), and the first transmission gear 213 transmits the torque of the motor to the first transmission wheel 212. In this way, the output shaft of the motor does not need to be coaxial with the first transmission wheel 212 to avoid affecting the coaxial arrangement of the first transmission wheel 212 and the second transmission wheel 312. The transmission connection between the first transmission gear 213 and the first transmission wheel 212 can be achieved by various structures. As shown in Figure 1, the first rotary drive mechanism 21 further includes a first pulley 215, which is sleeved on the outside of the first transmission gear 213 and the first transmission wheel 212.

[0055] In one embodiment, the second rotary drive mechanism 31 further includes a second driving member and a second transmission gear 313, the second transmission gear 313 being transmission-connected to the second transmission wheel 312, and the second transmission gear 313 being used to transmit the torque of the second driving member. The second driving member adopts a motor (not shown), and the second transmission gear 313 transmits the torque of the motor to the second transmission wheel 312. In this way, the output shaft of the motor does not need to be coaxially arranged with the second transmission wheel 312 to avoid affecting the coaxial arrangement of the first transmission wheel 212 and the second transmission wheel 312. Similarly, the transmission connection between the second transmission gear 313 and the second transmission wheel 312 can be realized by various structures. As shown in Figure 4, the second rotary drive mechanism 31 further includes a second pulley 315, which is sleeved on the outside of the second transmission gear 313 and the second transmission wheel 312.

[0056] In one embodiment, the first rotation drive mechanism 21 also includes a first transmission shaft 214, and the second rotation drive mechanism 31 also includes a second transmission shaft 314. The first transmission shaft 214 and the second transmission shaft 314 are both parallel to the translation rail 6. The first transmission gear 213 can be axially slidably mounted on the first transmission shaft 214. The first transmission shaft 214 is used to transmit the torque of the first driving member to the first transmission gear 213. The second transmission gear 313 can be axially slidably mounted on the second transmission shaft 314. The second transmission shaft 314 is used to transmit the torque of the second driving member to the second transmission gear 313; in this way, the first transmission gear 213 can slide axially on the first transmission shaft 214 and can also rotate with the first transmission shaft 214; the second transmission gear 313 can slide axially on the second transmission shaft 314 and can also rotate with the second transmission shaft 314. The arrangement of the first transmission shaft 214 enables the first drive member and the first transmission gear 213 to be spaced a certain distance apart, which is more flexible according to the spatial layout of the instrument drive device. Correspondingly, the second transmission shaft 314 enables the second drive member and the second transmission gear 313 to be spaced a certain distance apart, which is more flexible according to the spatial layout of the instrument drive device. Moreover, the support tailstock 5 can drive the first transmission gear 213 and the second transmission gear 313 to move axially back and forth. In this way, the first transmission gear 213 and the second transmission gear 313 can be pre-assembled with the support tailstock 5 as a module, and can be detachably connected to the instrument assembly 1 as the support tailstock 5 moves, further simplifying the assembly process.

[0057] Optionally, the first driving member and the first transmission shaft 214 can be connected by a pair of bevel gear sets 23 to achieve the mutual perpendicular arrangement of the output shaft of the first driving member and the first transmission shaft 214; similarly, the second driving member and the second transmission shaft 314 can also be connected by a pair of bevel gear sets 23 to achieve the mutual perpendicular arrangement of the output shaft of the second driving member and the second transmission shaft 314, thereby meeting various requirements of spatial layout and reducing the spatial length along the axial direction of the first transmission shaft 214.

[0058] In one embodiment, the push-pull drive assembly 4 further includes a slider 43, which is slidably connected to the base 222 of the rotating seat mechanism 22. The slider 43 is fixedly connected to the flexible push-pull wire 42, and the flexible push-pull wire 42 pushes and pulls the slider 43 to reciprocate along the axial direction of the operating rod 12. There are multiple ways to connect the flexible push-pull wire 42 and the slider 43. One of the connection structures is that a through hole is provided in the slider 43, and the through hole extends along the axial direction of the operating rod 12. The flexible push-pull wire 42 passes through the through hole and is fixedly connected to the slider 43. This structure can prevent the flexible push-pull wire 42 from detaching from the slider 43. The flexible push-pull wire 42 pulls the slider 43 along one end of the through hole to make the operating rod 12 slide forward, and the flexible push-pull wire 42 pulls the slider 43 along the other end of the through hole to make the operating rod 12 slide backward. Alternatively, the flexible push-pull wires 42 are configured as two parallel flexible wires, respectively connected to the two ends of the slider 43, and the two flexible wires respectively pull the slider 43 in two opposite directions, thereby causing the operating rod 12 to slide forward or backward. Optionally, the rotating seat mechanism 22 includes a clamping member 221, which is detachably connected to the operating rod 12, and the slider 43 is connected to the clamping member 221. The slider 43 drives the clamping member 221 to move, thereby achieving reciprocating movement of the operating rod 12.

[0059] In order to maintain the stability of the movement direction of the slider 43, the push-pull drive assembly 4 is also provided with multiple guide rods 45. The guide rods 45 are parallel to the translation rail 6. The slider 43 can be slidably mounted on the guide rods 45 to avoid deviation in the sliding direction and maintain the motion control accuracy of the flexible push-pull line 42.

[0060] Specifically, the clamping member 221 includes a clamping seat 2211 and a tightening screw 2212, as shown in Figure 5; the operating rod 12 can be inserted into the clamping seat 2211, and the operating rod 12 can be pressed by tightening the screw 2212 to achieve a detachable connection between the operating rod 12 and the clamping member 221, which is convenient for disassembly and assembly.

[0061] In one embodiment, the rotating wheel mechanism 32 further comprises an inner sheath drive wheel 322 and a knob sleeve 321. The inner sheath drive wheel 322 is connected to the end of the rotating rod 13 away from the handle 11, and the knob sleeve 321 is transmission-connected to the knob drive wheel 311. The inner sheath drive wheel 322 has external meshing teeth, and the inner wall of the knob sleeve 321 is provided with internal meshing teeth. The external and internal meshing teeth engage with each other, so that the knob sleeve 321 drives the rotating rod 13 to rotate. When the supporting tailstock 5 drives the knob sleeve 321 and, through the rotating seat mechanism 22, drives the clamping member 221 to move along the translation rail 6 and approach the instrument assembly 1 and move into position, the operating rod 12 is inserted into the clamping seat 2211 to achieve connection, and the inner sheath drive wheel 322 is inserted into the knob sleeve 321 to achieve connection, thereby completing the connection between the instrument assembly 1 and the first rotating drive assembly 2, the second rotating drive assembly 3, and the push-pull drive assembly 4, which is relatively convenient.

[0062] In one embodiment, to achieve the drive of the slider 43 by the flexible push-pull cable 42, as shown in Figure 6, the push-pull drive mechanism 41 includes a drive gear 411, a first transmission rack 412, and a second transmission rack 413. The first transmission rack 412 and the second transmission rack 413 are respectively engaged with the two sides of the drive gear 411 and are arranged parallel to each other. When the drive gear 411 rotates, it can drive the first transmission rack 412 and the second transmission rack 413 to move in opposite directions at the same time. The flexible push-pull cable 42 includes a first section 421 and a second section 422. The two ends of the first section 421 are respectively connected to the first transmission rack 412 and one end of the slider 43, and the two ends of the second section 422 are respectively connected to the second transmission rack 413 and the other end of the slider 43, so that the first section 421 pulls the slider 43 or the second section 422 pulls the slider 43. When the driving gear 411 rotates clockwise as shown in FIG6 , the first transmission rack 412 moves away from the slider 43 and the second transmission rack 413 moves toward the slider 43, the first section 421 pulls the slider 43 to drive the operating rod 12 to move away from the handle 11; correspondingly, when the driving gear 411 rotates counterclockwise as shown in FIG6 , the first transmission rack 412 moves toward the slider 43 and the second transmission rack 413 moves away from the slider 43, the second section 422 pulls the slider 43 to drive the operating rod 12 to move toward the handle 11. It can be understood that due to the flexibility of the flexible push-pull wire 42, the "push force" it applies to the slider 43 is actually achieved by a reverse pull force.

[0063] It should be noted that the aforementioned control of the direction of motion of the slider 43 by the rotation direction of the drive gear 411 is provided as an example only. Different connection locations of the first section 421 and the second section 422 of the flexible push-pull cable 42 on the first transmission rack 412, the second transmission rack 413, and the slider 43 may result in different motion direction control methods, which will not be further described in this embodiment.

[0064] In one embodiment, the push-pull drive mechanism 41 includes a rotatable drum 414, around which a flexible push-pull cable 42 is wound. A first end of the flexible push-pull cable 42 is connected to one end of a slider 43, and a second end of the flexible push-pull cable 42 is connected to the other end of the slider 43. The drum 414 rotates to cause the first end to pull the slider 43, or the drum 414 rotates in the opposite direction to cause the second end to pull the slider 43 in the opposite direction, thereby driving the operating rod 12 toward or away from the handle 11. The flexible push-pull cable 42 can be wound around the drum 414 multiple times, as shown in FIG7 . Multiple rotations of the drum 414 can achieve a longer travel for the flexible push-pull cable 42, making it suitable for use in operating conditions where the operating rod 12 requires a longer travel. Alternatively, the flexible push-pull wire 42 is only wound half a circle on the rotating drum 414, as shown in Figure 8; the rotating drum 414 rotates no more than one circle, which is suitable for working conditions where the operating pull rod 12 needs to have a smaller stroke. Moreover, this winding structure is conducive to miniaturization and lightweight, and does not require an overly long flexible push-pull wire 42. Moreover, the flexible push-pull wire 42 has a better response sensitivity.

[0065] It should be noted that the push-pull drive mechanism 41 further includes a push-pull drive motor (not shown in the figure), which controls the rotation of the drive gear 411 or the rotating drum 414.

[0066] In one embodiment, the push-pull drive assembly 4 further includes a tensioning mechanism 44 , which is used to tension the flexible push-pull wire 42 to prevent the flexible push-pull wire 42 from falling off the rotating drum 414 .

[0067] Specifically, the tensioning mechanism 44 includes an adjusting bracket 441, a limiting bracket 442, a tensioning sleeve 443 and an adjusting bolt 444. The adjusting bracket 441 and the limiting bracket 442 are spaced apart and arranged between the rotating drum 414 and the slider 43. A threaded adjustment hole is provided on the adjusting bracket 441. The tensioning sleeve 443 is arranged between the adjusting bracket 441 and the limiting bracket 442, and one end of the tensioning sleeve 443 abuts the limiting bracket 442. The tensioning sleeve 443 is made of a flexible material such as a rubber sleeve. The tensioning sleeve 443 is sleeved on the outside of the flexible push-pull wire 42, and the tensioning sleeve 443 and the flexible push-pull wire 42 are slidably connected. When the rotating drum 414 rotates and drives the flexible push-pull wire 42 to move, the tensioning sleeve 443 will not move with the flexible push-pull wire 42. The adjusting bolt 444 is threadedly connected to the threaded adjusting hole and abuts the other end of the tensioning sleeve 443 away from the limiting bracket 442. In this way, the tensioning sleeve 443 is confined between the adjusting bolt 444 and the limiting bracket 442. When the adjusting bolt 444 is rotated on the adjusting bracket 441, the adjusting bolt 444 pushes against one end of the tensioning sleeve 443, causing the tensioning sleeve 443 to bend between the adjusting bolt 444 and the limiting bracket 442. Friction is generated between the bent tensioning sleeve 443 and the flexible push-pull wire 42, thereby driving the flexible push-pull wire 42 toward the limiting bracket 442, thereby tightening the slack in the flexible push-pull wire 42 between the adjusting bracket 441 and the rotating drum 414.

[0068] It should be noted that the specific structure of the above-mentioned tensioning mechanism 44 is only an example and is not intended to be limiting.

[0069] The embodiment of the present invention also provides a surgical system, which includes the above-mentioned instrument drive device. The surgical system also includes an execution device, and the instrument drive device is connected to the execution device. The handle 11 and / or the operating rod 12 and / or the rotating rod 13 of the instrument drive device are used to drive the execution device to move. The instrument drive device uses the flexibility of the flexible push-pull wire 42 to convert the movement of the driving member such as the motor into the push-pull movement of the operating rod 12, which simplifies the motion transmission chain, enables the instrument drive device to be lightweight and miniaturized, and reduces processing costs. Moreover, the instrument drive device does not require manual operation. The push-pull movement of the operating rod 12, the rotation of the rotating rod 13, and the overall rotation of the instrument assembly 1 are all realized by the drive member, avoiding malfunctions caused by hand tremors during manual operation, and also avoiding manual operation fatigue, thereby improving the motion control accuracy of the execution device. The surgical system has both high precision and reliability.

[0070] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. Device drive device, including: An instrument assembly (1), the instrument assembly (1) comprising a handle (11), at least two operating rods (12), and a rotating rod (13), the operating rod (12) being slidably connected to the handle (11), and the rotating rod (13) being rotatably connected to the handle (11); A first rotary drive assembly (2), the first rotary drive assembly (2) comprising a first rotary drive mechanism (21) and a rotary seat mechanism (22), the rotary seat mechanism (22) being connected to the instrument assembly (1), and an output end of the first rotary drive mechanism (21) being connected to the rotary seat mechanism (22); A second rotary drive assembly (3), the second rotary drive assembly (3) comprising a second rotary drive mechanism (31) and a rotary wheel mechanism (32), the rotary wheel mechanism (32) being transmission-connected to the rotating rod (13), and an output end of the second rotary drive mechanism (31) being connected to the rotary wheel mechanism (32); A push-pull drive assembly (4), the push-pull drive assembly (4) comprising a push-pull drive mechanism (41) and at least two flexible push-pull wires (42), the flexible push-pull wires (42) being arranged between the operating pull rod (12) and the output end of the push-pull drive mechanism (41).

2. The instrument driving device according to claim 1, wherein: The push-pull drive assembly (4) also includes a slider (43) connected to the operating rod (12); the push-pull drive mechanism (41) includes a driving gear (411), a first transmission rack (412) and a second transmission rack (413), the first transmission rack (412) and the second transmission rack (413) are respectively meshed with the two sides of the driving gear (411) and are arranged parallel to each other, the flexible push-pull line (42) includes a first section (421) and a second section (422), the two ends of the first section (421) are respectively connected to the first transmission rack (412) and one end of the slider (43), and the two ends of the second section (422) are respectively connected to the second transmission rack (413) and the other end of the slider (43).

3. The instrument driving device according to claim 1, wherein: The push-pull drive assembly (4) also includes a slider (43) connected to the operating rod (12); the push-pull drive mechanism (41) includes a rotatable drum (414), the flexible push-pull wire (42) is wound around the drum (414), and the first end of the flexible push-pull wire (42) is connected to one end of the slider (43), and the second end of the flexible push-pull wire (42) is connected to the other end of the slider (43).

4. The instrument driving device according to claim 3, wherein: The push-pull drive assembly (4) further comprises a tensioning mechanism (44), wherein the tensioning mechanism (44) comprises: an adjusting bracket (441) and a limiting bracket (442), wherein the adjusting bracket (441) and the limiting bracket (442) are arranged at intervals and are sequentially arranged between the rotating drum (414) and the sliding block (43), and the adjusting bracket (441) is provided with a threaded adjusting hole; A tensioning sheath (443), wherein the tensioning sheath (443) is disposed between the adjusting bracket (441) and the limiting bracket (442), and one end of the tensioning sheath (443) abuts against the limiting bracket (442), and the tensioning sheath (443) is sleeved outside the flexible push-pull wire (42), and the tensioning sheath (443) and the flexible push-pull wire (42) are slidably connected; An adjusting bolt (444), wherein the adjusting bolt (444) is threadedly connected to the threaded adjusting hole, and the adjusting bolt (444) abuts against the other end of the tensioning sleeve (443) away from the limiting bracket (442). The adjusting bolt (444) can push against one end of the tensioning sleeve (443), and the tensioning sleeve (443) is bent to tension the flexible push-pull wire (42).

5. The apparatus driving device according to any one of claims 1 to 4, wherein: The first rotary drive mechanism (21) comprises a rotatable rotary seat drive wheel (211), wherein the rotary seat drive wheel (211) is connected to the rotary seat mechanism (22); the second rotary drive mechanism (31) comprises a rotatable knob drive wheel (311), wherein the knob drive wheel (311) is connected to the rotating rod (13); and the rotary seat drive wheel (211) and the knob drive wheel (311) are coaxially arranged.

6. The instrument driving device according to claim 5, wherein: The instrument driving device also includes a supporting tailstock (5), the rotating seat driving wheel (211) is rotatably inserted into the supporting tailstock (5), the two ends of the rotating seat driving wheel (211) are connected, and the twisting driving wheel (311) is inserted into the rotating seat driving wheel (211) and is coaxially arranged.

7. The instrument driving device according to claim 6, wherein: The first rotary drive mechanism (21) further comprises a first transmission wheel (212), and the second rotary drive assembly (3) further comprises a second transmission wheel (312). The first transmission wheel (212) and the second transmission wheel (312) are both rotatably connected to the supporting tailstock (5) and are coaxially arranged. The first transmission wheel (212) drives the rotating seat driving wheel (211) to rotate, and the second transmission wheel (312) drives the knob driving wheel (311) to rotate.

8. The instrument driving device according to claim 6, wherein: The instrument driving device also includes a translation slide rail (6), which extends axially along the handle (11), and the supporting tail stock (5) is slidably connected to the translation slide rail (6); the knob driving wheel (311) is detachably connected to the rotating rod (13), and the operating pull rod (12) is detachably connected to the rotating seat mechanism (22).

9. The instrument driving device according to claim 7, wherein: The first rotary drive mechanism (21) further comprises a first drive member and a first transmission gear (213), wherein the first transmission gear (213) is transmission-connected to the first transmission wheel (212); and / or the second rotary drive mechanism (31) further comprises a second drive member and a second transmission gear (313), wherein the second transmission gear (313) is transmission-connected to the second transmission wheel (312).

10. The instrument driving device according to claim 9, wherein: The instrument driving device also includes a translation slide rail (6), the translation slide rail (6) extends axially along the handle (11), and the supporting tailstock (5) is slidably connected to the translation slide rail (6); the first rotation driving mechanism (21) also includes a first transmission shaft (214), and the second rotation driving mechanism (31) also includes a second transmission shaft (314), the first transmission shaft (214) and the second transmission shaft (314) are both parallel to the translation slide rail (6), the first transmission gear (213) can be axially slidably mounted on the first transmission shaft (214), and the second transmission gear (313) can be axially slidably mounted on the second transmission shaft (314).

11. The instrument driving device according to any one of claims 8 to 10, wherein: The push-pull drive assembly (4) further comprises a slider (43), the slider (43) being slidably connected to the rotating seat mechanism (22), the rotating seat mechanism (22) comprising a clamping member (221), the clamping member (221) being detachably connected to the operating pull rod (12), the slider (43) being connected to the clamping member (221), and the slider (43) being fixedly connected to the flexible push-pull wire (42); and / or, The rotating wheel mechanism (32) further comprises an inner sheath driving wheel (322) and a twist sleeve (321), wherein the inner sheath driving wheel (322) is connected to the end of the rotating rod (13) away from the handle (11), and the twist sleeve (321) is transmission-connected to the twist driving wheel (311), and the inner sheath driving wheel (322) has external meshing teeth, and the inner wall of the twist sleeve (321) is provided with internal meshing teeth, and the external meshing teeth and the internal meshing teeth mesh with each other.

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