Driving apparatus for surgical robot and surgical robot

Abstract

A driving apparatus for a surgical robot, and a surgical robot. The driving apparatus comprises an assembly frame plate (10), a plurality of drive motors (20), at least one driver (30), and a controller. The assembly frame plate (10) comprises a first assembly frame plate (101) and a second assembly frame plate (102) fixedly connected to the first assembly frame plate (101). The plurality of drive motors (20) are all arranged on the first assembly frame plate (101). A power output end of each drive motor (20) is used for being connected to an external device and providing drive power for the external device. The at least one driver (30) is arranged on the second assembly frame plate (102). The at least one driver (30) is electrically and communicatively connected to the controller and the plurality of drive motors (20). The at least one driver (30) is used for enabling, according to an instruction of the controller, the plurality of drive motors (20) to respectively output corresponding power, thereby providing a plurality of drive powers for the external device. The surgical robot comprises the driving apparatus. The driving apparatus can complete the configuration of the plurality of drive motors (20) and the at least one driver (30) in a surgical robot execution apparatus with a limited space.

Description

Drive device for surgical robot and surgical robot

[0001] Cross-reference to related applications

[0002] The present application claims priority to the Chinese patent application No. CN202421987390.1, filed on August 15, 2024, entitled "Drive device for surgical robot and surgical robot", the disclosure of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present application belongs to the technical field of medical devices, and in particular relates to a drive device for a surgical robot and a surgical robot. BACKGROUND

[0004] Traditional interventional surgery usually requires a doctor to manually operate a passive medical instrument. An interventional surgery robot can remotely operate an execution device to drive a passive medical instrument, which not only liberates the doctor from tedious and / or physically exhausting manual operation, allowing him / her to focus on diagnosis and / or decision-making, but also reduces the threshold for surgery and / or reduces the radiation of the doctor to the rays. However, since the execution device and / or power cabin (drive device) of the interventional surgery robot are subject to sterile protection and / or the operation space of the passive medical instrument, the layout space of the drive device is small, wiring is difficult, heat dissipation requirements are high, and / or electromagnetic interference is severe. SUMMARY

[0005] The present application aims to solve the problems of the prior art and provides a drive device for a surgical robot and a surgical robot.

[0006] To solve the above technical problems, the present application adopts the following technical solution: a drive device for a surgical robot, comprising an assembly frame plate, a plurality of drive motors, at least one driver and a controller; wherein the assembly frame plate comprises a first assembly frame plate and a second assembly frame plate fixedly connected with the first assembly frame plate; a plurality of drive motors are arranged on the first assembly frame plate; the power output end of each drive motor is used to connect an external device and provide driving power for the external device; at least one driver is arranged on the second assembly frame plate; the driver is electrically connected and communicatively connected with the controller and the plurality of drive motors; the driver is used to make the plurality of drive motors output corresponding power respectively according to the instruction of the controller, thereby providing a plurality of driving powers for the external device.

[0007] Further, the at least one driver comprises a plurality of single-axis drivers, the number of the single-axis drivers being the same as the number of the driving motors, each of the single-axis drivers being electrically connected and communicatively connected with one of the driving motors, and the plurality of single-axis drivers being electrically connected and communicatively connected with each other.

[0008] Further, the number of the single-axis drivers and the number of the driving motors are both twelve.

[0009] Further, the at least one driver comprises a first multi-axis driver, a second multi-axis driver, and a third multi-axis driver, the first multi-axis driver, the second multi-axis driver, and the third multi-axis driver being electrically connected and communicatively connected with a plurality of the driving motors, and the first multi-axis driver, the second multi-axis driver, and the third multi-axis driver being electrically connected and communicatively connected with each other.

[0010] Further, the first multi-axis driver is electrically connected and communicatively connected with three of the driving motors, the second multi-axis driver is electrically connected and communicatively connected with three of the driving motors, and the third multi-axis driver is electrically connected and communicatively connected with six of the driving motors.

[0011] Further, the first multi-axis driver, the second multi-axis driver, and the third multi-axis driver are arranged in an upper-middle-lower three-layer arrangement inside the assembly frame plate.

[0012] Further, the assembly frame plate comprises a third assembly frame plate, the third assembly frame plate being fixedly connected with the first assembly frame plate and the second assembly frame plate, and the third assembly frame plate being provided with an opening part, the opening part comprising a mechanical arm interface, a power supply interface, a communication interface, and an air convection interface.

[0013] Further, the driving device further comprises a heat dissipation part, the heat dissipation part being arranged inside the assembly frame plate and close to a circumferential side edge.

[0014] Further, the heat dissipation part comprises a heat dissipation fan, a piston air pump, and / or a blower.

[0015] Further, the controller is provided with a holding key and / or a reset key.

[0016] Further, each of the driving motors is provided with a constant speed mode motion key, a position mode motion key, and / or a constant torque mode motion key.

[0017] Further, each of the driving motors is provided with a safety torque off key.

[0018] Further, each of the driving motors is provided with an external encoder on an output shaft thereof.

[0019] Further, the driving device is arranged in a surgical robot execution device and is connected with a mechanical arm of the surgical robot through a power cable and a communication cable.

[0020] A surgical robot comprises the surgical robot driving device.

[0021] Compared with the prior art, the surgical robot driving device has the following advantages:

[0022] 1. The surgical robot driving device comprises an assembly frame plate, a plurality of driving motors and at least one driver. The plurality of driving motors and the at least one driver are arranged in a limited space surrounded by the first assembly frame plate and the second assembly frame plate, so that the plurality of driving motors and the at least one driver can be arranged in a surgical robot execution device with limited space. The execution device can meet the functional requirements of doctors for operating passive medical instruments, and has good stability and reliability.

[0023] 2. The surgical robot driving device comprises a plurality of driving motors and at least one driver. Since the distance between the plurality of driving motors and the at least one driver is short, cable breakage, short circuit, open circuit, communication interruption and / or excessive cable impedance can be avoided, so that the control accuracy of the surgical robot can be improved, and the failure risk can be reduced. The arrangement of the plurality of driving motors and the at least one driver can meet the requirements of wiring, cabling, process, maintenance, heat dissipation and electromagnetic interference immunity.

[0024] 3. The at least one driver of the surgical robot driving device comprises a plurality of single-axis drivers. The plurality of single-axis drivers and the plurality of driving motors are one-to-one corresponding and in series communication. The limited space surrounded by the first assembly frame plate and the second assembly frame plate can be fully utilized, and the requirement for space is low. The surgical robot can be controlled to achieve precise, fast and / or predictable surgical operation purposes. If a single-axis driver fails, only the corresponding single-axis driver needs to be replaced, which is convenient and efficient, and economical.

[0025] 4. The at least one driver of the surgical robot driving device comprises a first multi-axis driver, a second multi-axis driver and a third multi-axis driver. The first multi-axis driver, the second multi-axis driver and the third multi-axis driver are respectively electrically connected and communicatively connected with the plurality of driving motors, so that the number of cables can be reduced, and the actual needs can be met.

[0026] 5. The surgical robot driving device comprises a heat dissipation part, so that the heat dissipation effect of the driving device can be improved.

[0027] 6. The surgical robot drive device of this application is provided with a third assembly frame plate, which has an opening including a power interface, a communication interface and an air convection interface. The structure is simple, easy to use and can meet the actual needs.

[0028] 7. An external encoder is installed on the output shaft of the drive motor of the surgical robot drive device of this application, which can avoid the runaway phenomenon caused by the damage of the original encoder of the motor and can make up for the lack of multi-turn feedback function of the original encoder of the motor, thus enabling precise control of multiple turns.

[0029] 8. The controller of the surgical robot drive device of this application is equipped with a hold button and / or a reset button. The hold button can be used to hold and record the current position, and the reset button can be used to return the device to the initial position with one click, which can improve the ease of use of the drive device.

[0030] 9. The drive motor of the surgical robot drive device of this application is equipped with a constant speed mode motion key, a position mode motion key and / or a constant torque mode motion key, which can select the motion mode according to actual needs, making it convenient and efficient.

[0031] 10. The drive motor of the surgical robot drive device of this application is equipped with a safety torque shutdown button, which can shut off the output torque in an emergency through the safety torque shutdown function, thereby improving the safety of the drive motor operation.

[0032] 11. The drive device for the surgical robot of this application has good stability, high reliability, and good safety. At the same time, it has a simple structure, is easy to use, and has a wide range of applications.

[0033] Other advantages of this application will be explained in more detail in conjunction with the following description and figures.

[0034] It should be understood that the above description is merely an overview of the technical solution of this application, so as to enable a general understanding of the technical means of this application and to implement it in accordance with the contents of the specification. In order to make the above and other objects, features and advantages of this application more apparent and understandable, specific embodiments of this application are illustrated below. Attached Figure Description

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. The drawings herein are incorporated into the description and form a part of the description, which show the embodiments consistent with the present application and are used to illustrate the technical solutions of the present application together with the description. It should be understood that the drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation on the protection scope, and other related drawings can also be obtained by those of ordinary skill in the art without paying creative labor on the basis of the drawings. Moreover, the same reference numerals are used to represent the same components throughout the drawings. In the drawings:

[0036] Fig. 1 shows a structural schematic diagram of one specific embodiment of the driving device for surgical robot of the present application;

[0037] Fig. 2 shows a structural schematic diagram of one specific embodiment of the driving device for surgical robot of the present application;

[0038] Fig. 3 shows a structural schematic diagram of one specific embodiment of the driving device for surgical robot of the present application;

[0039] Fig. 4 shows a structural schematic diagram of one specific embodiment of the driving device for surgical robot of the present application;

[0040] Fig. 5 shows a sectional schematic diagram of one specific embodiment of the driving device for surgical robot of the present application;

[0041] Fig. 6 shows a structural schematic diagram of one specific embodiment of the driving device for surgical robot of the present application;

[0042] Fig. 7 shows a structural schematic diagram of one specific embodiment of the driving device for surgical robot of the present application;

[0043] Fig. 8 shows a structural schematic diagram of one specific embodiment of the driving device for surgical robot of the present application;

[0044] Fig. 9 shows a structural schematic diagram of one specific embodiment of the driving device for surgical robot of the present application;

[0045] Fig. 10 shows a sectional schematic diagram of the A-A direction of Fig. 9;

[0046] Fig. 11 shows a structural schematic diagram of one specific embodiment of the driving device for surgical robot of the present application with a display screen arranged on the side;

[0047] Fig. 12 shows a structural schematic diagram of one specific embodiment of the driving device for surgical robot of the present application with a display screen arranged on the side;

[0048] Fig. 13 shows a structural schematic diagram of one embodiment of the drive device for surgical robot of the present application with a display screen arranged on the side thereof;

[0049] Fig. 14 shows a structural schematic diagram of one embodiment of the drive device for surgical robot of the present application with a display screen arranged on the side thereof;

[0050] Fig. 15 shows a sectional schematic diagram of the B-B direction of Fig. 14;

[0051] Fig. 16 shows a partial structural schematic diagram of one embodiment of the drive device for surgical robot of the present application with an external encoder arranged on the drive motor thereof;

[0052] Fig. 17 shows a structural schematic diagram of one embodiment of the drive device for surgical robot of the present application with a display screen arranged on the side thereof;

[0053] Fig. 18 shows a structural schematic diagram of one embodiment of the drive device for surgical robot of the present application connected with the transmission cabin;

[0054] Fig. 19 shows a structural schematic diagram of one embodiment of the transmission cabin of the present application;

[0055] Fig. 20 shows a structural schematic diagram of another embodiment of the drive device for surgical robot of the present application connected with the transmission cabin;

[0056] Fig. 21 shows a structural schematic diagram of one embodiment of the outer catheter, the middle catheter and the inner catheter of the present application.

[0057] In the drawings: 10 - assembly frame plate; 101 - first assembly frame plate; 102 - second assembly frame plate; 103 - third assembly frame plate; 1031 - opening part; 104 - bottom shell; 105 - top cover; 106 - connector hole; 20 - drive motor; 201 - external encoder; 30 - driver; 300 - display screen; 301 - single-axis driver; 302 - first multi-axis driver; 303 - second multi-axis driver; 304 - third multi-axis driver; 40 - outer catheter; 50 - middle catheter; 60 - inner catheter; 70 - heat dissipation part; 80 - motor assembly component; 90 - transmission cabin; 901 - input end connecting component; 902 - chassis component; 903 - first adapter transmission component; 904 - second adapter transmission component; 905 - third adapter transmission component; 906 - shaft end fixing component; 100 - driver assembly component; 110 - first adapter component; 120 - second adapter component; 130 - third adapter component. DETAILED DESCRIPTION

[0058] The present application will be further described below in connection with the embodiments shown in the drawings.

[0059] The directional terms mentioned in the present application, such as "inner", "outer" and the like, are only a way of reference to the drawings. Therefore, the directional terms used are used to illustrate and understand the present application, and not to limit the present application.

[0060] As shown in FIG. 1, FIG. 2, as shown in FIG. 5-17, the surgical robot driving device of the present application comprises an assembly frame plate 10, a plurality of driving motors 20, at least one driver 30 and a controller. Wherein,

[0061] The assembly frame plate 10 comprises a first assembly frame plate 101 and a second assembly frame plate 102 fixedly connected with the first assembly frame plate 101.

[0062] The plurality of driving motors 20 are all arranged on the first assembly frame plate 101 (as shown in FIG. 5). The power output end of each driving motor 20 is outwardly arranged out of the first assembly frame plate 101 for connecting external equipment and providing driving power for the external equipment.

[0063] The at least one driver 30 is arranged on the second assembly frame plate 102. The at least one driver 30 is electrically connected and communicatively connected with the controller and the plurality of driving motors 20. The at least one driver 30 is used to make the plurality of driving motors 20 respectively output corresponding power according to the instruction of the controller, so as to provide a plurality of driving powers for the external equipment.

[0064] The at least one driver 30 has a software program matched therewith to convert the instructions from the controller into control signals recognizable by the plurality of driving motors 20, so that the plurality of driving motors 20 respectively outputs corresponding driving power, thereby providing the external device with the plurality of driving powers. For example, the driving device can provide driving power for a surgical robot execution device, and can control the position, speed and / or torque of the surgical robot execution device. By arranging the plurality of driving motors 20 on the first assembly frame plate 101 and arranging the at least one driver 30 on the second assembly frame plate 102, the distance between the plurality of driving motors 20 and the at least one driver 30 can be short, and the plurality of driving motors 20 and the at least one driver 30 can be arranged in the limited space surrounded by the first assembly frame plate 101 and the second assembly frame plate 102, thereby realizing the configuration of the plurality of driving motors 20 and the at least one driver 30 in the surgical robot execution device (including the driving device for the surgical robot) with limited space, so that the execution device can meet the functional requirements of the doctor for operating the passive medical instrument, and has good stability and reliability. Moreover, by arranging the plurality of driving motors 20 and the at least one driver 30 in the limited space surrounded by the first assembly frame plate 101 and the second assembly frame plate 102, the electromagnetic shielding performance of the active components can be improved. At the same time, since the distance between the plurality of driving motors 20 and the at least one driver 30 is short, the cables (including power cables, communication cables and / or encoder cables) can be prevented from breaking, short-circuiting, breaking, communication interruption and / or excessive cable impedance, thereby improving the control accuracy of the surgical robot and reducing the failure risk. Moreover, the configuration of the plurality of driving motors 20 and the at least one driver 30 can meet the requirements of wiring, cabling, process, maintenance, heat dissipation and electromagnetic interference immunity.

[0065] In a specific embodiment, as shown in FIG. 1, the at least one driver 30 includes a plurality of single-axis drivers 301. The number of single-axis drivers 301 is the same as the number of driving motors 20, and each single-axis driver 301 is electrically connected and communicatively connected with one driving motor 20. The plurality of single-axis drivers 301 are electrically connected and communicatively connected. Among them, the plurality of single-axis drivers 301 and the plurality of driving motors 20 are one-to-one correspondence and serial communication, although the number of cables is increased to some extent, but the limited space surrounded by the first assembly frame plate 101 and the second assembly frame plate 102 can be fully utilized according to actual needs, and the surgical robot can be controlled to achieve precise, fast and / or predictable surgical operation purposes. At the same time, if a single-axis driver 301 fails, only the corresponding single-axis driver 301 needs to be replaced, which is simple in structure and convenient to use.

[0066] In a specific embodiment, as shown in FIG. 1, FIG. 21, the number of single-axis drivers 301 and the number of driving motors 20 are both twelve. Among them, the number of single-axis drivers 301 and the number of driving motors 20 can be set according to actual needs. For example, the outer catheter 40 in the surgical robot execution device needs to move, rotate and / or bend, at which time three driving motors 20 are needed to drive the corresponding actions. The middle catheter 50 in the surgical robot execution device needs to move and / or 2 bending actions, at which time three driving motors 20 are needed to drive the corresponding actions. The inner catheter 60 in the surgical robot execution device needs to move the handle axially, rotate the handle axially, control the locking rod, control the lifting and capture of the capture arm, and / or control the opening or closing of the large arm of the implant clip, at which time six driving motors 20 are needed to drive the corresponding actions.

[0067] In a specific embodiment, as shown in FIG. 2, FIG. 7, FIG. 12, FIG. 16, at least one driver 30 includes a first multi-axis driver 302, a second multi-axis driver 303, and a third multi-axis driver 304. The first multi-axis driver 302, the second multi-axis driver 303, and the third multi-axis driver 304 are electrically connected and in communication connection with the plurality of driving motors 20. The first multi-axis driver 302, the second multi-axis driver 303, and the third multi-axis driver 304 are electrically connected and in communication connection. Among them, the first multi-axis driver 302, the second multi-axis driver 303, and the third multi-axis driver 304 are respectively electrically connected and in communication connection with the plurality of driving motors 20, which can reduce the number of cables and meet the actual needs

[0068] In a specific embodiment, as shown in FIG. 2, FIG. 7, FIG. 12, FIG. 16, FIG. 21, the first multi-axis driver 302 is electrically connected and in communication connection with three driving motors 20, which can meet the actual needs. The second multi-axis driver 303 is electrically connected and in communication connection with three driving motors 20, which can meet the actual needs. The third multi-axis driver 304 is electrically connected and in communication connection with six driving motors 20, which can meet the actual needs. For example, the first multi-axis driver 302 is electrically connected and in communication connection with three driving motors 20, which can meet the needs of the outer catheter 40 in the surgical robot execution device to move, rotate and / or bend. The second multi-axis driver 303 is electrically connected and in communication connection with three driving motors 20, which can meet the needs of the middle catheter 50 in the surgical robot execution device to move and / or 2 bending actions. The third multi-axis driver 304 is electrically connected and in communication connection with six driving motors 20, which can meet the needs of the inner catheter 60 in the surgical robot execution device to move the handle axially, rotate the handle axially, control the locking rod, control the lifting and capture of the capture arm, and / or control the opening or closing of the large arm of the implant clip.

[0069] In a specific embodiment, as shown in FIG. 2, the first multi-axis driver 302, the second multi-axis driver 303 and the third multi-axis driver 304 are arranged in an upper-middle-lower three-layer arrangement inside the assembly frame plate 10, which can save space.

[0070] In a specific embodiment, as shown in FIG. 7, FIG. 12 and FIG. 16, the first multi-axis driver 302, the second multi-axis driver 303 and the third multi-axis driver 304 are arranged in a row on the second assembly frame plate 102, which can improve the compactness of the layout and is convenient to use.

[0071] In a specific embodiment, as shown in FIG. 1, FIG. 2 and FIG. 16, the driving device further comprises a heat dissipation part 70, which is arranged inside the assembly frame plate 10 close to the position of the peripheral side edge, which can be used to bring out the heat generated by the operation of at least one driver 30 and / or multiple driving motors 20 in the driving device, and in the mechanical arm or the mechanical arm base to inhale the cold air purified in the operating room, so as to complete the heat exchange.

[0072] In a specific embodiment, as shown in FIG. 1, FIG. 2 and FIG. 16, the heat dissipation part 70 comprises a heat dissipation fan, a piston air pump and / or a blower, which has good heat dissipation effect and simple structure and is convenient to use.

[0073] In a specific embodiment, as shown in FIG. 1 and FIG. 2, the assembly frame plate 10 comprises a third assembly frame plate 103. The third assembly frame plate 103 is fixedly connected with the first assembly frame plate 101 and the second assembly frame plate 102. The third assembly frame plate 103 is provided with an opening part 1031. The opening part 1031 comprises a mechanical arm interface, a power supply interface, a communication interface and an air convection interface. Among them, the mechanical arm interface can be used to connect the mechanical arm. The power supply interface can be used to provide power supply for at least one driver 30, multiple driving motors 20 and / or heat dissipation part 70. The communication interface can be used to provide communication signals for at least one driver 30, multiple driving motors 20 and / or heat dissipation part 70. The air convection interface can be used to provide ventilation and heat dissipation support for at least one driver 30, multiple driving motors 20 and / or heat dissipation part 70.

[0074] In a specific embodiment, as shown in FIG. 11-16, the driving device further comprises a display screen 300. The display screen 300 is arranged outside one side of the assembly frame plate 10, which can facilitate the display of relevant information and the relevant operation through touch. Among them, the display screen 300 is a bedside touch screen, which is arranged close to one side of the operating bed.

[0075] In a specific embodiment, as shown in FIG. 17, an external encoder 201 (encoder outside the motor 20, second encoder) is arranged on the output shaft of each driving motor 20, which can avoid the flywheel phenomenon caused by the damage of the original encoder (first encoder) of the motor 20; and can make up for the lack of multi-turn feedback function of the original encoder of the motor 20, so as to realize accurate control of multi-turn.

[0076] In a specific embodiment, as shown in FIGS. 1, 2, 5-17, at least one driver 30 calculates the corresponding power output of the driving motor 20 according to the position value feedback of the external encoder 201 of each driving motor 20 through internal closed-loop algorithm, so as to always control the speed, position, torque, start-stop and / or holding of the driving motor 20, with high control accuracy and good reliability.

[0077] In a specific embodiment, a holding key and / or a reset key are arranged on the controller. The holding key has the function of holding and recording the current position. The reset key has the function of returning the device to the initial position by one key.

[0078] In a specific embodiment, as shown in FIGS. 1, 2, 5-17, a constant speed mode movement key, a position mode movement key and / or a constant torque mode movement key are arranged on each driving motor 20, which can be selected according to actual needs to move in a certain mode. Each driving motor 20 can use constant speed mode movement, position mode movement or constant torque mode movement, which is convenient and efficient.

[0079] In a specific embodiment, as shown in FIGS. 1, 2, 5-17, a safety torque off button is arranged on each driving motor 20, which can turn off the output torque in an emergency through the safety torque off function, so as to improve the safety of the driving motor 20 operation.

[0080] In a specific embodiment, as shown in FIGS. 1, 2, 7, 10, 12, 15, 16, the controller is electrically connected with at least one driver 30 and establishes EtherCAT (Ethernet for Control Automation Technology) communication, CANOpen (industrial communication protocol) communication, Profinet (new generation of automation bus standard based on industrial Ethernet technology) communication or serial port protocol communication. And relying on the real-time synchronization speed of Ethernet for Control Automation Technology communication as low as microseconds or even nanoseconds for control and feedback reading, the control accuracy is high and the reliability is good.

[0081] In one specific embodiment, the driving device is arranged in the surgical robot execution device and is connected with the mechanical arm of the surgical robot through a power cable and a communication cable. As an example, as shown in FIG. 8 and FIG. 13, the driving device is connected with the mechanical arm through a plurality of plug-in holes 106 on the bottom junction box of the assembly frame plate 10.

[0082] In one specific embodiment, as shown in FIG. 1 and FIG. 2, as shown in FIG. 5-17, each driving motor 20 is a servo motor, which has fast response capability and stable operation characteristics, can meet the actual needs, and has simple structure and convenient use.

[0083] In one specific embodiment, as shown in FIG. 1, FIG. 2, FIG. 7, FIG. 10, FIG. 12, FIG. 15, and FIG. 16, at least one driver 30 is a servo driver, which has fast response speed, good stability, strong adaptability, and high precision.

[0084] In one specific embodiment, as shown in FIG. 3-5, as shown in FIG. 18-20, the surgical robot driving device comprises a motor assembly component 80, the motor assembly component 80 has an assembly frame plate 10 and a plurality of driving motors 20 (as shown in FIG. 1 and FIG. 2) mounted on the assembly frame plate 10, the output end of the driving motor 20 penetrates through the assembly frame plate 10 for coaxially detachable connection with the input end connection component 901 of the transmission cabin 90 of the surgical robot. The number of driving motors 20 is the same as the number of input end connection components 901. Among them, the driving device is in transmission connection with the transmission cabin 90, the driving device is used for generating power, and the transmission cabin 90 is used for transmitting power. Through the split design of the driving device and the transmission cabin 90, the active components and the passive components of the execution device are separated, the risk of pulling off or wearing out the cable during transmission and movement of the execution device is eliminated, the problem of loose active plug-in caused by long time work is avoided, the electromagnetic shielding performance of the active components is improved by isolating the active components inside the driving device. And by virtue of the matched connection design of the driving motor 20 and the output end of the input end connection component 901, the smooth transmission between the driving device and the transmission cabin 90 is realized, and the modular design of the driving device and the transmission cabin 90 is realized, which improves the flexibility of the execution device, and helps to expand the execution device to more surgical applications.

[0085] In one specific embodiment, as shown in FIG. 3-5, the driving device further comprises a bottom shell 104 and a top cover 105 buckled at the top end of the bottom shell 104. The bottom shell 104 and the top cover 105 enclose a containing space, the driving motor assembly component 100 and all driving motors 20 are installed in the containing space, and the driving motor assembly component 100 is in communication connection with the motor assembly component 80.

[0086] In a specific embodiment, as shown in FIGS. 18-20, the transmission cabin 90 includes a chassis assembly 902, and a first adapter transmission assembly 903, a second adapter transmission assembly 904 and a third adapter transmission assembly 905 which are movable relative to the chassis assembly 902. The first adapter transmission assembly 903 has a first transmission module detachably connected with the first adapter assembly 110. The second adapter transmission assembly 904 has a second transmission module detachably connected with the second adapter assembly 120. The third adapter transmission assembly 905 has a third transmission module detachably connected with the third adapter assembly 130. The driving device drives the first adapter assembly 110 through the first transmission module, so as to ensure that the first adapter assembly 110 can complete the predetermined action. The driving device drives the second adapter assembly 120 through the second transmission module, so as to ensure that the second adapter assembly 120 can complete the predetermined action. The driving device drives the third adapter assembly 130 through the third transmission module, so as to ensure that the third adapter assembly 130 can complete the predetermined action. Meanwhile, the first adapter transmission assembly 903, the second adapter transmission assembly 904 and the third adapter transmission assembly 905 are all driven by motors, which have good controllability and can output speed, position and even force according to needs. Meanwhile, the above structure has high flexibility, which enables the transmission cabin 90 to replace different adapter transmission assemblies according to needs, so as to meet different surgical requirements.

[0087] In a specific embodiment, the surgical robot is an interventional surgical robot, which can meet actual needs.

[0088] In a specific embodiment, as shown in FIGS. 20 and 21, the first adapter assembly 110 is used to be connected with the outer catheter 40. The second adapter assembly 120 is used to be connected with the middle catheter 50. The third adapter assembly 130 is used to be connected with the output end of the inner catheter 60. The driving device drives the outer catheter 40 to perform corresponding actions through the first adapter assembly 110. The driving device drives the middle catheter 50 to perform corresponding actions through the second adapter assembly 120. The driving device drives the inner catheter 60 to perform corresponding actions through the third adapter assembly 130. The design of driving the outer catheter 40, the middle catheter 50 and the inner catheter 60 respectively helps to improve the flexibility of the action of the mitral valve repair instrument, and facilitates fine operation of the mitral valve repair instrument. Application of the above execution device to complete the valve repair surgery can further guarantee the stability and accuracy of the surgery. The execution device drives the first adapter assembly 110, the second adapter assembly 120 and the third adapter assembly 130 respectively, which helps to improve the flexibility of the action output by the adapter assembly, facilitates fine operation required by the surgical procedure, so that the operation of the execution device is more fine, stable and safe.

[0089] The surgical robot driving device of the present application uses a plurality of driving motors 20 arranged on the first assembly frame plate 101 and at least one driver 30 arranged on the second assembly frame plate 102, so that the distance between the plurality of driving motors 20 and the at least one driver 30 is short, and the plurality of driving motors 20 and the at least one driver 30 can be placed in the limited space surrounded by the first assembly frame plate 101 and the second assembly frame plate 102, so that the configuration of the plurality of driving motors 20 and the at least one driver 30 in the limited space of the surgical robot driving device can be realized. Whether it is the simple movement of the single-axis driver 301, or the synchronization, fly saw and / or tension compensation of the first multi-axis driver 302, the second multi-axis driver 303 and the third multi-axis driver 304, the real-time movement of the plurality of driving motors 20 can meet the requirements, so as to ensure that the doctor controls the interventional surgical robot to achieve the purpose of precise, fast and / or predictable operation. And when the surgical robot driving device is used, it is installed on the right side of the transmission cabin 90. The chassis assembly 902 is located at the bottom of the transmission cabin 90, the first adapter transmission assembly 903 is installed above the chassis assembly 902, the second adapter transmission assembly 904 is installed above the first adapter transmission assembly 903, the third adapter transmission assembly 905 is installed on the right side of the second adapter transmission assembly 904, and the shaft end fixing assembly 906 is arranged on the right side of the transmission cabin 90. The shaft end fixing assembly 906 can be quickly combined with the motor assembly 80 to realize the quick combination and disassembly of the transmission cabin 90 and the driving device.

[0090] On the basis of the above-mentioned embodiments, the present application further provides a surgical robot comprising the surgical robot driving device. The driving device can ensure that the doctor controls the surgical robot to achieve the purpose of precise, fast and predictable operation.

[0091] The scope of protection of the present application is not limited to the above-mentioned embodiments. Obviously, those skilled in the art can make various modifications and changes to the present application without departing from the scope and spirit of the present application. If these modifications and changes belong to the scope of the claims of the present application and its equivalent technologies, the intention of the present application also includes these modifications and changes.

Claims

1. A drive device for a surgical robot, characterized by, The utility model relates to a kind of assembly frame plate (10), multiple drive motors (20), at least one driver (30) and controller;Wherein, The assembly frame plate (10) includes a first assembly frame plate (101) and a second assembly frame plate (102) fixedly connected with the first assembly frame plate (101); Multiple drive motors (20) are each arranged on the first assembly frame plate (101);The power output end of each drive motor (20) is outwardly exposed from the first assembly frame plate (101) for connecting external equipment and providing driving power for the external equipment; At least one driver (30) is arranged on the second assembly frame plate (102);At least one driver (30) is electrically connected and communicatively connected with the controller and multiple drive motors (20);At least one driver (30) is used to make multiple drive motors (20) output corresponding power respectively according to the instruction of the controller, so as to provide multiple driving powers for the external equipment. At least one driver (30) includes multiple single-axis drivers (301), the number of single-axis drivers (301) is the same as the number of drive motors (20), each single-axis driver (301) is electrically connected and communicatively connected with one drive motor (20), and multiple single-axis drivers (301) are electrically connected and communicatively connected.

2. The driving device for a surgical robot according to claim 1, characterized by The number of single-axis drivers (301) and the number of drive motors (20) are both twelve.

3. The driving device for a surgical robot according to claim 2, characterized by At least one driver (30) includes a first multi-axis driver (302), a second multi-axis driver (303) and a third multi-axis driver (304), the first multi-axis driver (302), the second multi-axis driver (303) and the third multi-axis driver (304) are electrically connected and communicatively connected with multiple drive motors (20), and the first multi-axis driver (302), the second multi-axis driver (303) and the third multi-axis driver (304) are electrically connected and communicatively connected.

4. The driving device for a surgical robot according to claim 1, characterized by, The first multi-axis driver (302) is electrically connected and communicatively connected with three drive motors (20), the second multi-axis driver (303) is electrically connected and communicatively connected with three drive motors (20), and the third multi-axis driver (304) is electrically connected and communicatively connected with six drive motors (20).

5. The driving device for a surgical robot according to claim 4, characterized by The first multi-axis driver (302), the second multi-axis driver (303) and the third multi-axis driver (304) are arranged inside the assembly frame plate (10) and arranged in three layers from top to bottom.

6. The driving device for a surgical robot according to claim 4, characterized by The assembly frame plate (10) includes a third assembly frame plate (103), the third assembly frame plate (103) is fixedly connected with the first assembly frame plate (101) and the second assembly frame plate (102), and the third assembly frame plate (103) is provided with an opening portion (1031), the opening portion (1031) includes a robot arm interface, a power supply interface, a communication interface and an air convection interface.

7. The driving device for a surgical robot according to claim 1, characterized by, ​ 8. The drive device for a surgical robot according to claim 1, characterized by, The driving device further comprises a heat dissipation part (70) arranged at a position close to the circumferential edge inside the assembly frame plate (10).

9. The drive device for a surgical robot according to claim 8, characterized by The heat dissipation part (70) comprises a heat dissipation fan, a piston air pump and / or a blower.

10. The driving device for a surgical robot according to claim 1, characterized by, A holding key and / or a reset key are arranged on the controller.

11. The drive device for a surgical robot according to claim 1, characterized by, A constant speed mode motion key, a position mode motion key and / or a constant torque mode motion key are arranged on each driving motor (20).

12. The drive device for a surgical robot according to claim 1, characterized by A safety torque off key is arranged on each driving motor (20).

13. The drive device for a surgical robot according to claim 1, characterized by, An external encoder (201) is arranged on the output shaft of each driving motor (20).

14. The drive device for a surgical robot according to claim 1, characterized by, The driving device is arranged in a surgical robot execution device and connected with the mechanical arm of the surgical robot through a power cable and a communication cable.

15. A surgical robot, characterised in that, The driving device is arranged in a surgical robot execution device and connected with the mechanical arm of the surgical robot through a power cable and a communication cable. The driving device is arranged in a surgical robot execution device and connected with the mechanical arm of the surgical robot through a power cable and a communication cable. The driving device is arranged in a surgical robot execution device and connected with the mechanical arm of the surgical robot through a power cable and a communication cable.

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