CN111012404A

CN111012404A - Surgical instrument for minimally invasive surgical robot

Info

Publication number: CN111012404A
Application number: CN201811169924.9A
Authority: CN
Inventors: 李耀; 凌正刚; 黄松; 罗腾蛟
Original assignee: Chengdu Borns Medical Robotics Co Ltd
Current assignee: Chengdu Borns Medical Robotics Co Ltd
Priority date: 2018-10-09
Filing date: 2018-10-09
Publication date: 2020-04-17

Abstract

The invention relates to a surgical instrument for a minimally invasive surgery robot, which comprises a power supply, a driving part and a surgical tool, wherein the power supply, the driving part and the surgical tool are sequentially connected, the surgical tool is fixed on the driving part through an instrument rod, and the driving part drives the surgical tool to perform rotary motion, deflection motion and opening and closing motion through the instrument rod. The surgical instrument of the present invention has multiple degrees of freedom, greatly increasing the flexibility and sensitivity of robotic surgery.

Description

Surgical instrument for minimally invasive surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a surgical instrument for a minimally invasive surgical robot.

Background

With the application and development of the robot technology, especially the development of the computing technology, the medical surgical robot has more and more paid attention to its clinical function. The minimally invasive surgery robot can reduce the physical labor of doctors in the surgery process, and simultaneously achieves the purpose of accurate surgery, so that patients have less trauma, less blood loss, less postoperative infection and quick postoperative recovery. Minimally invasive surgical robotic systems typically use a master-slave mode of control: when an operator operates the main hand, the hand movement of the operator drives the main hand to move along with the main hand, the sensor at the joint of the main hand can measure movement information, the movement of the main hand is mapped to the slave hand driving arm through a master-slave control algorithm, and each joint of the slave hand driving arm is passively moved to drive the surgical instrument to realize corresponding movement. The key components of the active arm of the minimally invasive surgery robot mainly comprise a remote motion center mechanism and a surgical instrument, the performance of the minimally invasive surgery robot is directly influenced by the quality of the design of the mechanical structure of the minimally invasive surgery robot, and the research and development and design of other components in the system are also restricted.

During robotically-assisted minimally invasive surgery, a surgeon performs surgical tasks with the aid of elongated minimally invasive surgical instruments. One end of the surgical instrument is arranged on the quick-change interface device at the tail end of the manipulator of the robot, and the other end of the surgical instrument is inserted into the body through a tiny incision on the surface of the human body to perform surgical operation, so that the surgical instrument is the only part which is in contact with the pathological tissue of the human body and is also the robot part which directly performs the surgical operation.

However, because the degree of freedom of the existing robot-assisted surgical instrument is low, the requirements of a doctor on the degree of freedom, flexibility and sensitivity of the surgical instrument during operation cannot be met when a complicated minimally invasive operation is performed, and a surgical instrument with high degree of freedom is urgently needed to solve the problems.

Disclosure of Invention

The invention provides a surgical instrument for a minimally invasive surgery robot, which is used for solving the technical problems in the prior art.

The surgical instrument for the minimally invasive surgery robot comprises a power supply, a driving part and a surgical tool, wherein the driving part and the surgical tool are sequentially connected, the surgical tool is fixed on the driving part through an instrument rod, and the driving part drives the surgical tool to perform rotary motion, deflection motion and opening and closing motion through the instrument rod.

In one embodiment, the driving portion includes a fixing device and a driving device, the driving device is fixed on the fixing device, the driving device includes a rotation driving device, the rotation driving device includes a first motor, a first transmission shaft, a master gear, a slave gear, the first motor is connected with the master gear through the first transmission shaft, the slave gear is connected with a rotation shaft, the rotation shaft is connected with the instrument rod, the first motor drives the master gear to drive the slave gear to rotate through the first transmission shaft, and the slave gear drives the rotation shaft to drive the instrument rod to pull the surgical tool at the first end of the instrument rod to rotate.

In an embodiment, the apparatus pole includes the outer tube and sets up inner tube of inner tube coaxial coupling, outer tube one end is provided with the rotating head, the first end setting of inner tube is in the rotating head, be provided with the catch bar with the coaxial setting of inner tube in the inner tube, the catch bar is in the axis direction along the apparatus pole removes in the apparatus pole, the first end of catch bar with first slider links to each other, the other end of catch bar is connected with the adapter, the adapter passes through the swinging arms and links to each other with the clamping head, the clamping head with the operation instrument is connected, the clamping head with the rotating head rotates and is connected the catch bar.

In one embodiment, the driving device further includes a deflection driving device, the deflection driving device includes a second motor, the second motor is connected to a second transmission shaft, the second transmission shaft is connected to a first slider, the first slider is slidably connected to the fixing device, the second motor drives the first slider to reciprocate along an axial direction of the second transmission shaft through the second transmission shaft, the first slider pulls the instrument rod to reciprocate along the axial direction of the second transmission shaft through a first lead screw, and drives the surgical tool to perform deflection motion on two sides of an axial extension line of the instrument rod with a connection position of the surgical tool and the instrument rod as a center.

In one embodiment, the driving device further includes an opening and closing driving device, the opening and closing driving device includes a third motor, the third motor is connected to a third transmission shaft, the third transmission shaft is connected to a second slider, the second slider is slidably connected to the fixing device, the third motor drives the second slider to reciprocate along an axial direction of the second transmission shaft through the third transmission shaft, the second slider pulls the instrument rod to reciprocate along the axial direction of the third transmission shaft through a second lead screw, and the linear reciprocating motion is converted into the opening and closing motion of the surgical tool at an end of the instrument rod.

In one embodiment, the fixing device comprises a driving seat, an isolation seat arranged on the driving seat and a transmission seat arranged on the isolation seat, and a first quick-release mechanism is arranged between the transmission seat and the isolation seat for connection.

In one embodiment, the first quick release mechanism includes a first elastic body, a pressing protrusion is disposed on a top surface of the first elastic body, a first accommodating cavity is disposed at a first end of the isolation seat base, the first elastic body is embedded into the first accommodating cavity, an end of the first elastic body is flush with an end of the first accommodating cavity, and after the transmission seat is mounted on the isolation seat, an end of the transmission seat abuts against the stopper portion.

In one embodiment, a second quick release mechanism is disposed between the isolation seat and the driving seat.

In one embodiment, the second quick release mechanism comprises an elastic pressing sheet arranged on the separation seat and a second elastic body arranged on the driving seat, a step hole is formed in the separation seat, the elastic pressing sheet is arranged on the step hole and is flush with the surface of the separation seat, and the second elastic body extends into the step hole from the bottom of the separation seat and is in contact with the bottom of the elastic pressing sheet.

In one embodiment, a traction rod is coaxially arranged in the push rod, the traction rod can move in the push rod along the axial direction of the push rod, two ends of the traction rod extend out of the end part of the push rod, one end of the traction rod is fixed with the second sliding block, and the other end of the traction rod penetrates through the clamping head to be connected with a surgical tool.

In one embodiment, a first locking mechanism is respectively disposed at both ends of the first slider, and the first locking mechanism is disposed on the first lead screw for controlling the rotation angle of the surgical tool.

In one embodiment, one end of the second slider is provided with a second locking mechanism for controlling the opening and closing degree of the surgical tool.

In one embodiment, the driving part further comprises a driving plate disposed on a bottom plate of the driving socket and electrically connected with the driving device.

In one embodiment, the surgical instrument is further provided with a surgical instrument recognition device, the surgical instrument recognition device can rapidly recognize surgical tools, the surgical instruments can be accurately controlled by obtaining control data of an upper control machine of the surgical robot, the real-time state of the surgical instruments can be timely obtained, the real-time data is fed back to the upper control machine, the upper control machine can know the implementation state of the surgical instruments, closed-loop control is formed by obtaining the control data and feeding back the implementation parameters, and the accuracy of controlling the surgical instruments by the mobile robot is improved. The surgical instrument recognition device can be used for independently recognizing, controlling and detecting each motor, so that the control accuracy and the detection accuracy are improved.

Compared with the prior art, the surgical instrument for the minimally invasive surgical robot has the advantages that:

the surgical instrument has multiple degrees of freedom, can perform rotary motion, deflection motion and opening and closing motion, and greatly improves the flexibility and sensitivity of the robot operation.

Drawings

The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings.

FIG. 1 is a perspective view of a surgical instrument for use in a minimally invasive surgical robot in an embodiment of the present invention;

FIG. 2 is a schematic perspective view of a surgical instrument for use in a minimally invasive surgical robot (instrument linkage not shown) in an embodiment of the present invention;

FIG. 3 is an elevation view of a first quick release structure in an embodiment of the present invention;

FIG. 4 is an exploded view of the first quick release structure shown in FIG. 3;

FIG. 5 is an exploded view (bottom view) of a second quick release structure in an embodiment of the invention;

FIG. 6 is an exploded view (top view) of a second quick release structure in an embodiment of the invention;

FIGS. 7-15 are schematic views of a third quick release mechanism and a fourth quick release mechanism in accordance with an embodiment of the present invention;

FIG. 16 is an exploded view of an instrument fixing device of the laparoscopic surgical robot in an embodiment of the present invention (the instrument connection mechanism is not shown in the drawing);

FIG. 17 is a perspective view of a transmission housing according to an embodiment of the present invention;

FIG. 18 is a perspective cross-sectional view of the drive mount shown in FIG. 17;

FIG. 19 is a perspective view of an implement attachment mechanism in an embodiment of the present invention;

FIG. 20 is a schematic perspective view of an instrument connection mechanism (outer tube not shown) in an embodiment of the invention;

FIG. 21 is a perspective view of an instrument linkage according to an embodiment of the present invention (outer and inner tubes not shown).

In the drawings, like components are denoted by like reference numerals. The figures are not drawn to scale.

Reference numerals:

1-a drive section; 2-an instrument rod; 3-surgical tools;

4-a fixing device; 5-a drive mechanism; 6-a driving seat;

7-an isolation seat; 8-a transmission seat; 21-a second coupling;

22-a fifth coupling; 23-eighth coupling; 31-a third coupling;

32-main gear; 33-a rotating shaft; 34-a slave gear;

35-a first slider; 36-a second slider; 37-a sixth coupling;

38-ninth coupling; 43-threaded sleeve; 44-a first card slot;

45-a second card slot; 46-a push rod; 47-a drawbar;

48-a third card slot; 51-a drive device; 52-a drive plate;

53-first coupling; 54-a fourth coupling; 55-a seventh coupling;

56-a first spring; 57-a second spring; 58-a third spring;

61-a first positioning portion; 62-a first positioning portion; 71-a third location portion;

72-a fourth location portion; 73-a fifth location section; 121-a first aperture;

122-a second aperture; 123-a third aperture; 211-a second recess;

212-a first card strip; 311-a second card strip; 331-positioning protrusions;

351-a first card hole; 352-a first resilient catch; 353-a first pressing part;

354-first lead screw; 355-a first runner; 356-first sliding rail;

357-rear retainer; 358-a first spring retainer;

361-second card hole; 362-a second resilient catch; 363-a second pressing part;

364-second lead screw; 365-a second chute; 366-a second slide rail;

367-a second spring limiting body; 368-circuit board;

411-outer tube; 412-rotating head; 413-a limit clip;

414-inner tube; 415-a trough body; 416-a stop collar;

417-open slots; 421-inclined holes; 461-adapter;

462-a bayonet tube; 463-a swinging lever; 464-connecting plane;

465-a clamping head; 471-fourth spring; 472-pin axis;

511-a first motor; 512-a second motor; 513 — a third motor;

531-first groove; 611-a third slide rail; 612-a third runner;

613-guide inclined plane; 621-a first receiving chamber; 622-a first elastomer;

623-clamping jaw; 624-barbs; 625-a card hole;

626-an arc-shaped guide groove; 627-conducting bar; 628-a guide;

711-a fourth runner; 712-a seventh slider; 721-a fixture block;

722-slot; 723-slotted hole; 731-pressing sheet;

732-a second elastomer; 733-stepped hole; 734-mounting holes;

735-fixing the disc; 736-ear; 737-notch;

738-cover.

Detailed Description

The invention will be described in further detail below with reference to the drawings and specific examples. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.

As shown in fig. 1 and 2, the surgical instrument for minimally invasive surgical robot of the present invention includes: a power supply, a driving part 1, an instrument rod 2 and a surgical tool 3 which are connected in sequence;

the driving part comprises a fixing device 4 and a driving device 5, the driving device 5 is fixed on the fixing device 4, the driving device 5 comprises a rotary driving device, the rotary driving device comprises a first motor 511, a first transmission shaft, a master gear 32, a slave gear 34, the first motor 511 is connected with the master gear 32 through the first transmission shaft, the slave gear 34 is connected with a rotating shaft 33, the rotating shaft 33 is connected with the instrument rod 22, the first motor 511 drives the master gear 32 to drive the slave gear 34 to rotate through the first transmission shaft, and the slave gear 34 drives the rotating shaft 33 to drive the instrument rod 2 to pull the surgical tool 3 at the first end of the instrument rod 2 to rotate.

The fixing device comprises a driving seat 6, an isolation seat 7 arranged on the driving seat 6 and a transmission seat 8 arranged on the isolation seat 7

The connection between the driving seat 6, the isolation seat 7 and the driving seat 8 will be described in detail below.

The transmission seat 8 and the isolation seat 7 are quickly connected through a first quick-release structure.

As shown in fig. 3, the first quick release structure includes a first positioning portion 61, where the first positioning portion 61 includes third sliding rails 611 disposed on two sides of the transmission seat 8 and third sliding grooves 612 disposed on the isolation seat 7, and the two third sliding rails 611 are respectively disposed in the corresponding third sliding grooves 612, so that the transmission seat 8 can slide along the length direction of the isolation seat 7.

In order to facilitate smooth introduction of the third slide rail 611 into the third slide groove 612, a guide slope 613 inclined downward is provided at an end of the third slide rail 611 to reduce resistance when the third slide rail 611 enters the third slide groove 612, thereby improving assembly efficiency.

The driving seat 8 and the isolation seat 7 are completely positioned in the Y-axis direction and the Z-axis direction by the third slide rail 611 and the third slide groove 612.

Further, the first quick release structure further includes a second positioning portion 62, wherein the second positioning portion 62 includes a first accommodating cavity 621 and a first elastic body 622 disposed in the first accommodating cavity 621. A guide part 628 is disposed at the top end of the first elastic body 622, wherein one end of the guide part 628 is a downward inclined plane, and the other end is a stop part; after the driving seat 8 is mounted on the isolation seat 7, the end of the driving seat 8 contacts with the end (i.e., the stopping portion) of the guiding portion 628, so that the driving seat 8 and the isolation seat 7 are completely positioned in the X-axis direction.

The bottom end of the first elastic body 622 is provided with at least two claws 623. For example, fig. 4 shows four claws 623, which are respectively located at four corners of the elastic seat 622 and are integrally formed with the first elastic body 622. The first receiving chamber 621 is provided therein with chucking holes 625, and the jaws 623 are respectively disposed in the corresponding chucking holes 625. The bottom of the latch 623 is provided with a barb 624, and the barb 624 catches on the bottom of the latch hole 625, so as to limit the maximum displacement amount when the first elastic body 622 moves in a direction away from the first accommodating cavity 621 (i.e., moves upward in the Z-axis direction).

At least one side wall of the first elastic body 622 is provided with an arc-shaped guide groove 626, for example, four arc-shaped guide grooves 626 are shown in fig. 4 and are respectively located on four side walls of the first elastic body 622; a semi-cylindrical guide bar 627 is disposed on an inner wall of the first receiving cavity 621, and the guide bar 627 is disposed in the arc-shaped guide groove 626 for maintaining the linear movement of the first elastic body 622 in the Z-axis direction.

The initial state of the first elastic body 622 is that the end of the first elastic body 622 is flush with the end of the first receiving cavity 621, and the guide 628 at the top end of the first elastic body 622 is higher than the end of the first receiving cavity 621; the claws 623 of the first elastic body 622 are disposed in the click holes 625, and the barbs 624 at the bottoms of the claws 623 snap into the bottoms of the click holes 625. That is, the first elastic body 622 can move downward only in the Z-axis direction when it is in the initial state.

A spring is disposed between the first elastic body 622 and the first receiving chamber 621, and the spring is used to restore the first elastic body 622 to an original state.

The installation mode of the transmission seat 8 and the isolation seat 7 is as follows:

the bottom surface of the transmission seat 8 is in contact with the upper surface of the isolation seat 7, the transmission seat 8 is pushed along the length direction (i.e. the X-axis direction) of the isolation seat 7, in the moving process of the transmission seat 8, the first end of the transmission seat 8 first contacts the first elastic body 622, when the transmission seat 8 continues to move, downward pressure is applied to the first elastic body 622, and the first elastic body 622 is forced to move downward along the Z-axis direction. In this process, the transmission seat 8 can be easily moved above the first elastic body 622 by the guide portion 628 at the top end of the first elastic body 622, so that the movement of the transmission seat 8 is not resisted.

In the process of continuing to move the transmission seat 8, the third sliding rails 611 on both sides of the transmission seat 8 smoothly enter the third sliding groove 612 through the guiding inclined surface 613, and continue to move along the third sliding groove 612 until the bottom end of the transmission seat 8 completely separates from the first elastic body 622, so that the first elastic body 622 is no longer pressed, and the first elastic body 622 moves upward along the Z-axis direction under the action of the spring and returns to the initial state. At this time, the stopping portion of the first elastic body 622 contacts the second end of the transmission seat 8, so that the transmission seat 8 cannot move backward any more.

Thus, the installation of the transmission seat 8 and the isolation seat 7 is completed.

When the transmission seat 8 is detached, the elastic seat 622 only needs to be pressed down, so that the stopping portion of the first elastic body 622 does not contact with the end portion of the transmission seat 8, and the transmission seat 8 can move in the direction opposite to the above direction, so that the transmission seat 8 is separated from the isolation seat 7.

Because the transmission seat 8 is provided with the instrument connecting mechanism 4, the transmission seat 8 and the instrument connecting mechanism 4 can be conveniently and quickly detached from the isolation seat 7 through the quick-detaching structure between the transmission seat 8 and the isolation seat 7, so that the instrument can be more conveniently replaced in an operation.

The isolation seat 7 and the driving seat 6 are quickly connected through a second quick-release structure.

As shown in fig. 5 and 6, the second quick release structure includes a third positioning portion 71, wherein the third positioning portion 71 includes a fourth sliding groove 711 disposed at the bottom of the isolation seat 7 and a seventh sliding block 712 disposed on the driving seat 6, and the seventh sliding block 712 is disposed in the fourth sliding groove 711, so that the isolation seat 7 can slide along the length direction of the driving seat 6. The driving seat 8 and the isolation seat 7 are completely positioned in the Y-axis direction by the seventh sliding block 712 and the fourth sliding groove 711.

Further, the second quick release structure includes a fourth positioning portion 72, where the fourth positioning portion 72 includes a locking block 721 disposed at a first end of the isolation seat 7 and a slot 722 disposed at a second end of the isolation seat 7, the slot 722 extends along a length direction of the isolation seat 7, a long hole 723 is disposed on the driving seat 6, after the isolation seat 7 is mounted on the driving seat 6, the locking block 721 is inserted into the long hole 723, and meanwhile, a rear end of the driving seat 6 is engaged with the slot 722, so that the driving seat 8 and the isolation seat 7 are completely positioned in the X-axis direction.

In addition, the front end of the latch 721 is provided with a downward inclined surface to facilitate insertion of the latch 721 into the long hole 723.

Further, the second quick release structure includes a fifth positioning portion 73, the fifth positioning portion 73 includes a pressing piece 731 disposed on the isolation seat 7 and a second elastic body 732 disposed on the driving seat 6, and the second elastic body 732 is disposed in a stepped hole 733 on the isolation seat 7. Specifically, the pressing piece 731 is disposed in a hole with a larger diameter in the stepped hole 733, and the second elastic body 732 is inserted into the hole with a smaller diameter in the stepped hole 733 from the bottom of the stepped hole 733 and then contacts with the bottom of the pressing piece 731, so that the top end of the pressing piece 731 is kept flush with the upper surface of the isolation seat 7, and the transmission seat 8 and the isolation seat 7 are completely positioned in the Z-axis direction.

The pressing piece 731 is a silicone membrane and has a certain elastic deformation capability.

When the pressing piece 731 is pressed, the second elastic body 732 is moved downward in the Z-axis direction, and the second elastic body 732 is disengaged from the stepped hole 733, thereby releasing the restraint of the spacer 7 and the driving seat 6 in the Z-axis direction.

In order to improve the response sensitivity of the second elastic body 732, a slope inclined downward is provided on an upper end surface of the second elastic body 732, so that the volume of the second elastic body 732 extending into the stepped hole 733 is reduced, and when the pressing piece 731 presses the second elastic body 732 downward, the elastic body 732 can be rapidly separated from the stepped hole 733.

The driving seat 6 is provided with a mounting hole 734, the mounting hole 734 is provided with a fixing plate 735, and the bottom of the fixing plate 735 is in contact with the bottom end of the driving seat 6. Ear parts 736 are arranged at the bottom of the driving seat 6, notches 737 for accommodating the ear parts 736 are arranged on the fixed disc 735, and the cover body 738 at the bottom end of the fixed disc 734 is fixedly connected with the ear parts 736, so that the fixed disc 735 and the driving seat 6 are fixed.

The second elastic body 732 is provided in the fixed disk 734, and a spring is provided between the second elastic body 732 and the cover body 738 to restore the second elastic body 732 to an original state.

In the initial state of the second elastic body 732, the top end of the second elastic body 732 protrudes outside the fixed plate 735, that is, the top end of the second elastic body 732 is higher than the upper surface of the driving seat 6.

The installation mode of the isolation seat 7 and the driving seat 6 is as follows:

the bottom surface of the isolation seat 7 is in contact with the upper surface of the driving seat 6, the isolation seat 7 is pushed along the length direction (i.e. the X-axis direction) of the driving seat 6, and in the moving process of the isolation seat 7, the fourth sliding groove 711 at the bottom end of the isolation seat 7 is matched with the seventh sliding block 712, so that the moving of the isolation seat 7 is guided.

When the isolation seat 7 continues to move, the first end of the isolation seat 7 contacts the second elastic body 732, and when the isolation seat 7 continues to move, downward pressure is applied to the second elastic body 732, and the second elastic body 732 is forced to move downward along the Z-axis direction. In this process, the isolation seat 7 can be easily moved above the second elastic body 732 by the slope of the top end of the second elastic body 732, so that the movement of the isolation seat 7 is not hindered.

Subsequently, the stepped hole 733 at the bottom end of the isolation seat 7 moves to above the second elastic body 732, and at this time, the second elastic body 732 is not pressed any more, and the second elastic body 732 moves upward in the Z-axis direction under the action of the spring to be inserted into the stepped hole 733 and returns to the initial state. At this time, the second elastic body 732 and the stepped hole 733 are engaged with each other, so that the spacer 7 cannot move any more.

Thus, the installation of the isolation seat 7 and the driving seat 6 is completed.

When detaching the isolation seat 7, the pressing piece 731 is simply pressed down to separate the second elastic body 732 from the step hole 733, so that the isolation seat 7 is moved in the direction opposite to the above direction, and the isolation seat 7 is separated from the driving seat 6.

The transmission seat 8 and the isolation seat 7 can be quickly connected through a third quick-release mechanism.

As shown in fig. 7 to 8, the third quick release mechanism includes a sixth positioning portion, wherein the sixth positioning portion includes a fifth sliding slot 31 disposed at the bottom of the transmission seat 8 and a fourth sliding block 21 disposed on the isolation seat 7. The fourth slider 21 can be accommodated in the fifth slide groove 31 and slide along the fifth slide groove 31.

The fifth link 31 is configured in two portions of unequal width, with a wider portion near one end of the implement attachment mechanism and a narrower portion away from the end of the implement attachment mechanism, with a step 32 formed between the wider and narrower portions. The first positioning blocks 22 are symmetrically arranged on both sides of the fourth sliding block 21 of the isolation seat 7, and the first positioning blocks 22 comprise inclined grooves 221 and convex parts 222 (shown in fig. 9) positioned at the ends of the inclined grooves 221. During the process of introducing the fourth slider 21 into the fifth slide groove 31, the first positioning block 22 can abut on the step 32 of the fifth slide groove 31, thereby limiting the movement range of the transmission seat 8 in the X direction. Thus, the driving seat 8 and the spacer 7 are completely positioned in the Y-axis direction and the X-direction by the fourth slider 21 and the fifth sliding groove 31.

Further, the third quick release mechanism further includes a seventh positioning portion, the seventh positioning portion includes a projection 33 disposed at one end of the fifth sliding groove 31 far from the apparatus connection mechanism (the projection 33 is located on the plane where the lower surface of the transmission seat 8 is located), a sixth groove 23 is disposed at one end of the fourth sliding block 21 far from the apparatus connection mechanism, and when the transmission seat 8 slides to a state of being assembled with the isolation seat 7, the projection 33 can be accommodated in the sixth groove 23. So that the isolation seat 7 and the transmission seat 8 are completely positioned in the Z-axis direction.

In order to facilitate the smooth introduction of the fourth slider 21 into the fifth sliding groove 321, a downwardly inclined guide slope 211 is provided at an end of the fourth slider 21 away from the mechanical connection mechanism to reduce resistance when the fourth slider 21 enters the fifth sliding groove 31, thereby improving assembly efficiency.

As shown in fig. 10 and 11, the two sides of the driving seat 8 are symmetrically provided with the first quick release assembly 34, the first quick release assembly 34 includes a button 341, a guide block 342, a stop 343 and a small cylinder 344 which are connected in sequence, and the button 341, the guide block 342, the stop 343 and the small cylinder 344 are integrally formed. The small cylinder 344 is disposed at the center of the stopper 343, and preferably, the end surface of the stopper 343 on which the small cylinder 344 is disposed is provided with a first locking groove 3441 and a first locking groove 3441 to limit unnecessary movement of the spring. The guide block 342 further includes an inclined portion 3421 (inclined upward) and a flat portion 3422, and the inclined portion 3421 allows the button start 341 to be always positioned above the side of the first positioning block 22 so as not to interfere with the first positioning block 22. A second locking hole 3423 is formed at a middle position of the flat part 3422, and a second positioning block 345 is formed at a lower surface of a position where the inclined part 3421 and the flat part 3422 are coupled. The width of the second positioning block 345 is smaller than the width of the chute 221, and when the lower surface of the transmission seat 8 contacts with the upper surface of the isolation seat 7 and slides relatively along the X axis, the second positioning block 345 is always located above the first positioning block 22. So that the second positioning block 345 can smoothly pass through the inclined groove 221 when the driving seat moves in the X-axis direction.

As shown in fig. 12, the transmission base 8 is provided with a guide groove 35 at a position corresponding to the first quick release assembly 34, and the flat portion 3422 of the guide block 342 can be received in the guide groove 35, so that the guide block 342 can move in the guide groove 35 along the Y-axis direction. The guide groove 35 is further provided with a guide post 351, and the guide post 351 can be received in the second latching hole 3423 of the planar portion 3422, so that when the button 341 is pressed, the guide block 342 is restricted and guided by the guide groove 35.

As shown in fig. 13, springs (not shown) are sleeved between the small cylinders 344 of the two first quick release assemblies 34, and the springs respectively abut against the stop 343 of each first quick release assembly 34. Preferably, the springs abut in the first catching grooves 3441 of the first catching groove 3441, respectively. When the button 341 is released, the spring can quickly reset the two first quick release assemblies 34. When the transmission base 8 and the isolation base 7 are mounted, the second positioning block 345 is clamped on the protrusion 222.

the lower surface of the transmission seat 8 is in contact with the upper surface of the isolation seat 7, the transmission seat 8 is pushed along the length direction (i.e. the X-axis direction) of the isolation seat 7, during the movement of the transmission seat 8, the second positioning block 345 on the first quick release assembly 34 enters the chute 221 of the first positioning block 22 (close to the outer side of the chute 221), and under the limiting and guiding effects of the chute 221, the spring of the first quick release assembly 34 is gradually compressed to move the second positioning block 345 towards the direction close to the fourth sliding block 21, so that the second positioning block 345 can smoothly pass through the narrow part of the chute 221. The second positioning block 345 passes through the inclined groove 221 and then is reset under the action of the spring, and at the moment, the second positioning block 345 is just clamped on the convex part 222 of the first positioning block 22, so that the transmission seat 8 is prevented from moving in the reverse direction of the X axis. And at this time, the projection 33 on the fifth sliding chute 31 and the sixth groove 23 on the fourth slider 21 are just engaged. At this time, the driving seat 8 and the isolation seat 7 are completely installed.

When the transmission seat 8 needs to be detached from the isolation seat 7, the buttons 341 on both sides are pressed simultaneously, and at this time, the second positioning block 345 is no longer limited by the protrusion 222 of the first positioning block 22, the transmission seat 8 is pushed along the X-axis negative direction, so that the second positioning block 345 passes through the chute 221, and at this time, the button 341 can be released, and the transmission seat 8 is continuously pushed along the X-axis negative direction, so that the detachment of the transmission seat 8 and the isolation seat 7 can be realized.

Returning to fig. 7 and 8, the isolation seat 7 and the driving seat 6 can also be quickly connected through a fourth quick release mechanism.

The fourth quick release mechanism comprises a third positioning portion, wherein the third positioning portion comprises a sixth sliding groove 24 formed in the bottom of the isolation seat 7 and a fifth sliding block 11 arranged on the driving seat 6, and the fifth sliding block 11 can be contained in the sixth sliding groove 24, so that the isolation seat 7 can slide along the length direction of the driving seat 6. The drive seat 6 and the isolation seat 7 are completely positioned in the Y-axis direction by the fifth slide block 11 and the sixth slide groove 24.

Further, the fourth quick release mechanism 7 further includes a fourth positioning portion, the fourth positioning portion includes a clamping block 25 disposed at one end of the bottom of the isolation seat 7 far away from the instrument connection mechanism and an insertion block 26 disposed at one end of the isolation seat 7 near the instrument connection mechanism, and the insertion block 26 extends along the length direction of the isolation seat 7. The driving seat 6 is provided with a jack 27 which is matched with the inserting block 26, when the isolation seat 7 is installed on the driving seat 6, the inserting block 26 is inserted into the jack 27, and simultaneously, the end part of the driving seat 6 far away from the instrument connecting mechanism is clamped in the clamping block 25 of the isolation seat 7, so that the transmission seat 1 and the isolation seat 7 are completely positioned in the X-axis direction and the Z-axis direction.

As shown in fig. 7 and 15, the fourth quick release mechanism 7 further includes a second quick release assembly 12, and the second quick release assembly 12 includes a slot seat 121 and a linkage block 122 capable of being accommodated in the slot seat 121 and sliding up and down along the slot seat 121. The bottom of the slot seat 121 is provided with two

guide rods

1211 and 1212, and the

guide rods

1211 and 1212 are sleeved with springs (not shown). The linkage block 122 includes a sixth slider 1221 and a pressing rod 1222 provided on the sixth slider 1221 (the pressing rod 1222 is located near one end of the instrument connection mechanism), and the pressing rod 222 is integrally formed with the sixth slider 1221. The linkage block 122 has a first cylindrical hole 1223 formed therein, the position of the first cylindrical hole 1223 corresponds to the position of the first guide rod 1211, and the first guide rod 1211 can be received in the first cylindrical hole 1223 after being sleeved with the spring. The position of the first cylindrical hole 1223 may or may not correspond to the position of the pressing rod 1222, and the sixth slider 1221 may be moved downward in the socket 121 by pressing the pressing rod 1222. The linkage block 122 is further provided with a through hole 1223, the diameter of the lower portion of the through hole 1223 is larger than that of the upper portion of the through hole 1223, the linkage button 123 is arranged in the through hole 1223, the diameter of the lower portion of the linkage button 123 is larger than that of the upper portion of the linkage button 123, the lower portion of the linkage button 123 is accommodated in the lower portion of the through hole 1223, and the upper portion of the linkage button 123 is accommodated in the upper portion of the through hole 1223. Thus, the steps formed at the upper and lower portions of the through hole 1223 are abutted against the steps formed at the upper and lower portions of the interlocking button 123. The linkage button 123 is provided inside with a second cylindrical hole 1231, the position of the second cylindrical hole 1231 corresponds to the position of the second guide rod 1212, and the second guide rod 1212 can be accommodated in the second cylindrical hole 1231 after being sleeved with a spring.

Further, referring to fig. 9 and 10 again, the second quick release assembly 12 further includes a third locking hole 28 disposed at the bottom of the isolation seat 7 (the third locking hole 28 is located at an end close to the tool connection mechanism), and when the isolation seat 7 is installed with the driving seat 6, the linkage button 123 is accommodated inside the locking hole 28.

the bottom surface of the isolation seat 7 is in contact with the upper surface of the driving seat 6, the isolation seat 7 is pushed along the length direction of the driving seat 6 (namely, the X-axis direction), and in the moving process of the isolation seat 7, the sixth sliding groove 24 at the bottom of the isolation seat 2 is matched with the fifth sliding block 11 on the upper surface of the driving seat, so that the movement of the isolation seat 7 is limited and guided.

The isolation seat 7 continues to move, the plug block 26 of the isolation seat 7 is inserted into the insertion hole 27 of the driving seat, and the end (the end far away from the instrument) of the bottom plate of the driving seat 6 is clamped in the clamping block 25 of the isolation seat 7. Meanwhile, the linkage button 123 of the second quick release assembly is just accommodated in the clamping hole 28 at the bottom of the isolation seat, so that the installation of the isolation seat 7 and the driving seat 6 is completed.

When the isolation seat 7 needs to be detached from the driving seat 6, only the pressing rod 1222 needs to be pressed, the sixth slider 1221 moves downward to drive the linkage button 123 to move downward, so that the linkage button 123 moves out of the clamping hole 28 of the isolation seat 7, and at this time, the isolation seat 7 is pushed in the direction opposite to the mounting direction, so that the isolation seat 7 is separated from the driving seat 6. When the push rod 1222 is not forced any more, the push rod 1222 and the link button 123 are reset by the spring.

The driving seat 6 comprises a base 11 fixedly connected with a sliding table of the trolley and a fixed seat 12 integrally arranged with the base 11. The base 11 is used for fixing a driving plate 52 in the driving mechanism 5, the side wall of the fixing seat 12 is used for fixing a driving device 51 of the driving mechanism 5, and the driving device 51 is electrically connected with the driving plate 52.

The instrument connecting mechanism 4 comprises an instrument rod 2, one end of the instrument rod 2 is provided with a surgical tool 3, and the other end of the instrument rod 2 penetrates through the side wall of the fixed seat 12, the side wall of the isolation seat 7 and the side wall of the transmission seat 8 in sequence and then is fixed on the transmission seat 8.

The surgical tool 3 according to the present invention comprises an instrument with three degrees of freedom, two degrees of freedom or one degree of freedom, wherein the surgical tool 3 with three degrees of freedom, such as a forceps, a scissors, etc.; a surgical tool 3 having two degrees of freedom such as a scalpel or the like; the surgical tool 3 having one degree of freedom is, for example, an endoscope or the like. A plurality of degrees of freedom of the surgical tool 3 can be realized by the instrument connection 4 and the transmission base 8, the specific realization of which is described in detail below.

According to a first aspect of the present invention, an implementation of an instrument having one degree of freedom is provided.

In a first embodiment of the invention, the surgical tool 3 has a first degree of freedom (e.g. an endoscope). The first degree of freedom of the surgical tool 3 is rotatable about the axis of the instrument bar 2 (in the X-axis direction) as a rotation axis, and the first degree of freedom of the surgical tool 3 is capable of realizing a rotational motion that simulates an arm of a human body.

In the present embodiment, the side wall of the fixed seat 12 is provided with a first hole 121, the driving device 51 includes a first motor 511, and an output shaft of the first motor 511 is disposed in the first hole 121. In order to improve the utilization of space, the axial direction of the instrument bar 2, the axial direction of the first motor 511, and the longitudinal direction of the holder 12 are the same.

The power transmission manner of the first motor 511 is as follows:

the first motor 511 is disposed on the sidewall of the fixed base 12, and an output shaft thereof passes through the first hole 121 and is fixedly connected to the first coupling 53 at an end portion of the output shaft. The side wall of the isolation seat 7 and the side wall of the transmission seat 8 are respectively provided with a second coupler 21 and a third coupler 31, the second coupler 21 is respectively connected with the first coupler 53 and the third coupler 31, and the specific connection mode will be described in detail below.

The side wall of the transmission seat 8 is further provided with a rotating shaft 33, one end of the rotating shaft 33 is provided with a driven gear 34, the end of the third coupler 31 is provided with a main gear 32, and the main gear 32 is meshed with the driven gear 34.

Therefore, when the driving plate 52 receives the command of the instrument to rotate along the X-axis, the driving plate 52 drives the first motor 511 to rotate, and the power is transmitted along the output shaft of the first motor 511, the first coupling 53, the second coupling 21, the third coupling 31, the main gear 32 and the slave gear 34, so as to drive the rotating shaft 33 to rotate. Wherein the rotation shaft 33 is a hollow shaft, and the instrument lever 2 is disposed in the rotation shaft 33 so as to rotate together with the rotation shaft 33.

The instrument rod 2 is connected with the rotating shaft 33 in the following way:

as shown in fig. 16, a positioning protrusion 331 is disposed at an end of the rotating shaft 33, a first engaging groove 44 is disposed on an outer wall of the instrument rod 2, and after the instrument rod 2 is inserted into the rotating shaft 33, the positioning protrusion 331 engages with the first engaging groove 44, so that the instrument rod 2 and the rotating shaft 33 are positioned in a radial direction.

Further, the rotating shaft 33 is provided with an external thread, the outer wall of the instrument rod 2 is provided with a threaded sleeve 43, and after the instrument rod 2 extends into the rotating shaft 33, the instrument rod 2 is fixedly connected with the rotating shaft 33 through the threaded sleeve 43, so that the instrument rod 2 and the rotating shaft 33 are positioned in the axial direction.

To this end, the shaft 33 and the instrument shaft 2 are fixed in both directions, so that when the shaft 33 is rotated, the instrument shaft 2 and the instrument 41 are rotated accordingly.

The fixed connection between the instrument shaft 2 and the rotation shaft 33 is a fixed point between the instrument shaft 2 and the transmission base 8, but because the length of the instrument shaft 2 is long, there is instability through single-point fixation. In order to improve the connection stability between the instrument rod 2 and the transmission seat 8, a first sliding block 35 is further arranged on the transmission seat 8, and the end part of the instrument rod 2 is fixed on the first sliding block 35, so that the number of fixing points between the instrument rod 2 and the transmission seat 8 is increased to two, and the connection stability of the two is improved.

In particular, the fixing between the end of the instrument bar 2 and the first slider 35 is as follows:

as shown in fig. 17 and 18, the first slider 35 is provided with a first locking hole 351 for installing the instrument bar 2, and an axis of the first locking hole 351 coincides with an axis of the rotating shaft 33. A first elastic catching plate 352 is disposed in the first catching hole 351, and the first elastic catching plate 352 is movable in a radial direction of the first catching hole 351 so that a mounting diameter of the first catching hole 351 is reduced (i.e., smaller than an actual diameter of the first catching hole 351) or the mounting diameter of the first catching hole 351 is increased (i.e., equal to the actual diameter of the first catching hole 351).

A first pressing part 353 is arranged at the end of the first slider 35, the first pressing part 353 can be a pressing rod, the first pressing part 353 is connected with the first elastic clamping plate 352, and when the first pressing part 353 is pressed down, the first elastic clamping plate 352 moves downwards to increase the installation diameter of the first clamping hole 351; when the pressure applied to the first pressing part 353 is removed, the first elastic catching plate 352 is sprung upward by the elastic member, so that the installation diameter of the first catching hole 351 is reduced.

A push rod 46 is coaxially arranged in the instrument rod 2, the push rod 46 extends out of the end part of the instrument rod 2, and relative rotation can be generated between the instrument rod 2 and the push rod 46. Be provided with second card groove 45 on the outer wall of catch bar 46, after catch bar 46 stretched into first card hole 351, the first cardboard 352 of elasticity blocked with second card groove 45 looks block, made catch bar 46 fix in first card hole 351 to fix with first slider 35.

When the instrument rod 2 needs to be detached, the first pressing portion 353 is pressed to move the first elastic clamping plate 352 along the radial direction of the first clamping hole 351, so that the installation diameter of the first clamping hole 351 is increased, and the push rod 46 can be taken out of the first clamping hole 351.

In the present embodiment, since it is necessary to rotate the surgical tool 3 in the axial direction of the instrument rod 2, it is only necessary to fix the surgical tool 3 to the end of the instrument rod 2, and thus the surgical tool 3 and the instrument rod 2 can be rotated simultaneously.

The connection of the first coupling 53, the second coupling 21, and the third coupling 31 will be described below.

The end of the first coupler 53 is provided with a first groove 531, the two ends of the second coupler 21 are respectively provided with a second groove 211 and a first clamping strip 212, and the end of the third coupler 31 is provided with a second clamping strip 311, wherein the first clamping strip 212 is arranged in the first groove 531, and the second clamping strip 311 is arranged in the second groove 211, so that the first coupler 53, the second coupler 21 and the third coupler 31 are positioned in the radial direction.

The first coupling 53, the second coupling 21 and the third coupling 31 are positioned in the axial direction by the fixed connection between the transmission seat 8, the spacer seat 7 and the drive seat 6.

Further, as shown in fig. 16, in order to improve the ease of assembly between the first coupling 53, the second coupling 21, and the third coupling 31, the first spring 56 is provided between the first coupling 53 and the first motor 511, and therefore, when the first coupling 53 is connected to the second coupling 21, the alignment of the first click strip 212 and the first groove 531 is no longer a necessary operation, in other words, the first click strip 212 on the end surface of the second coupling 21 can be brought into contact with an arbitrary position of the end surface of the second coupling 21, and when the first click strip 212 is not inserted into the first groove 531, in this case, the first coupling 53 receives the urging force of the second coupling 21, so that the first spring 56 is compressed. When the first motor 511 rotates and drives the first coupling 53 to rotate, since the first coupling 53 is not positioned in the radial direction with the second coupling 21, relative movement is generated between the first coupling 53 and the second coupling, so that the first groove 531 of the first coupling 53 rotates to a position matching with the first locking strip 212 of the second coupling 21 and is engaged with the first locking strip 212 under the pushing of the first spring 56, thereby realizing the radial positioning between the first coupling 53 and the second coupling 21.

Similarly, when the third coupling 31 is connected to the second coupling 21, the alignment of the second locking strip 311 with the second groove 211 is no longer necessary, in other words, the second locking strip 311 on the end surface of the third coupling 31 can contact with any position of the end surface of the second coupling 21, and when the second coupling 21 rotates, the second groove 211 of the second coupling 21 rotates to a position matching the second locking strip 311 of the third coupling 31 and is engaged with the second locking strip 311 under the pushing of the first spring 56, so as to achieve the radial positioning between the second coupling 21 and the third coupling 31.

In summary, in the present embodiment, the rotational motion of the first motor 511 is converted into the rotational motion of the instrument bar 2, so that the surgical tool 3 is rotated.

In a second embodiment of the invention, the surgical tool 3 has a second degree of freedom (e.g. a scalpel that performs only a finger-position cut). The second degree of freedom of the surgical tool 3 is rotatable about the Z axis (perpendicular to the axis of the instrument bar 2) as a rotation axis, and the second degree of freedom of the surgical tool 3 can realize a rotation motion that simulates a wrist joint of a human body.

In the present embodiment, the side wall of the fixed seat 12 is provided with a second hole 122, the driving device 51 includes a second motor 512, and an output shaft of the second motor 512 is disposed in the second hole 122. In order to improve the utilization rate of the space, the axial direction of the instrument bar 2, the axial direction of the second motor 512, and the length direction of the fixing base 12 are the same.

The power of the second motor 512 is transmitted to the instrument rod 2 through the screw mechanism in the following specific transmission mode:

first, the first slider 35 is disposed to be slidably connected to the driving base 8, so that when the first slider 35 makes a linear reciprocating motion, the instrument rod 2 is driven to make a linear reciprocating motion, and the linear reciprocating motion is converted into a swing motion (i.e., a rotation about the Z-axis) at the end of the instrument rod 2.

The implementation of the linear reciprocating motion of the first slider 35 will be described below:

the second motor 512 is disposed on the sidewall of the fixing base 12, and an output shaft thereof passes through the second hole 122 and is fixedly connected to the fourth coupler 54 at an end portion of the output shaft. And fifth couplers 22 and 3837 are respectively arranged on the side wall of the isolation seat 7 and the side wall of the transmission seat 8, and the fifth coupler 22 is respectively connected with the fourth coupler 54 and the sixth coupler 37.

The sixth coupling 37 is connected to the first threaded spindle 354, wherein the first threaded spindle 354 passes through the first slide 35 and forms a threaded connection with the first slide 35. The bottom of the first slide block 35 is provided with a first sliding slot 355, a first sliding rail 356 on the transmission base 8 is arranged in the first sliding slot 355, and when the first lead screw 354 rotates, the first slide block 35 moves along the axial direction of the first lead screw 354.

Further, the limit position of the rightward movement of the first slide block 35 is limited by a first spring stopper 358, as shown in fig. 17, the first spring stopper 358 is disposed on the first lead screw 354, and when the first slide block 35 moves rightward (in a direction close to the surgical tool 3) and compresses the spring to the most contracted amount, the first slide block 35 cannot move rightward any more, and the spring can prevent the first slide block 35 from colliding with the first spring stopper 358 when moving to the limit position.

Similarly, the limit position of the leftward movement of the first slider 35 is defined by a rear retainer 357, as shown in fig. 17, the rear retainer 357 is disposed on the first lead screw 354, and the first slider 35 cannot move leftward any more (in a direction away from the surgical tool 3) when it contacts the rear retainer 357.

The maximum rotation angle of the surgical tool 3 can be controlled by mechanically limiting the limit positions of the first slider 35 in both directions.

In addition, the instrument rod 2 is fixed to the transmission seat 8 in the following manner:

alternatively, the instrument shaft 2 and the transmission housing 8 may be fixed in the same manner as in the previous embodiment.

Alternatively, since in this embodiment the instrument bar 2 does not need to be rotated about the X-axis, the instrument bar 2 may also be fixed directly to the side wall of the transmission housing 8.

Moreover, the fixing manner of the pushing rod 46 and the first sliding block 35 has been described in detail in the foregoing embodiments, and is not described in detail herein.

Therefore, when the driving plate 52 receives the instruction of the instrument to rotate along the Z-axis, the driving plate 52 drives the second motor 512 to rotate, and the power is transmitted along the output shaft of the second motor 512, the fourth coupler 54, the fifth coupler 22, the sixth coupler 37, the first lead screw 354 and the first slider 35, so as to convert the rotation motion of the second motor 512 into the linear reciprocating motion of the first slider 35.

Next, the end of the instrument shaft 2 is articulated with the surgical tool 3, thereby effecting the transformation of the linear reciprocating motion into an oscillating motion (i.e., rotation about the Z-axis).

The implementation of the swinging (i.e. rotation about the Z-axis) of the surgical tool 3 will be described below:

the inside of the instrument stem 2 is provided with a push rod 46, and the push rod 46 is movable in the instrument stem 2 in the axial direction. One end of the push rod 46 is connected to the first slide block 35, and the other end is connected to the surgical tool 3, so that when the first slide block 35 moves, the push rod 46 is driven to move, thereby pulling or pushing the surgical tool 3, and the surgical tool 3 swings.

Specifically, as shown in fig. 19 and 20, the instrument rod 2 includes an outer tube 411 and an inner tube 414 coaxially disposed in the outer tube 411, a rotating head 412 is disposed at a first end of the outer tube 411, a limiting head 413 is disposed at a second end of the outer tube, a limiting ring 416 is disposed on an outer wall of the limiting head 413, and the first engaging groove 44 is disposed on the limiting ring 416 and engaged with the positioning protrusion 331 of the rotating shaft 33.

The inner tube 414 is disposed in the outer tube 411, and a first end of the inner tube 414 extends out of the outer tube 411 and enters the rotary head 412 to contact with a collar inside the rotary head 412; the second end of the inner tube 414 is disposed outside the retaining head 413 and contacts the end surface of the retaining ring 416, such that the inner tube 414 is retained between the rotating head 412 and the retaining head 413.

Since the outer diameter of the inner tube 414 is the same as the inner diameter of the outer tube 411, the inner tube 414 and the outer tube 411 are tightly fitted to each other and can rotate together.

Further, the first end of the inner tube 414 is further opened with a groove 415 extending along the axial direction of the inner tube 414, and the groove 415 is to avoid interference with a swinging lever 463 described below.

The push rod 46 is coaxially disposed inside the inner tube 414, and a first end of the push rod 46 is provided with an adapter 461, the adapter 461 being disposed in the inner tube 414.

The end connection of adapter 461 has swinging arms 463, and the other end of swinging arms articulates there is the clamping head 465, and the first end of clamping head 465 is connected with surgical tool 3, and the second end of clamping head 465 rotates with rotating head 412 to be connected, consequently receives thrust or tensile effect when swinging arms 463, and clamping head 465 drives surgical tool 3 and rotates around its junction with rotating head 412 to it is rotatory around the Z axle to realize surgical tool 3.

Specifically, the two sides of the clamping head 465 are respectively provided with a connection plane 464, the upper end of the rotating head 412 is provided with an open slot 417, the end of the clamping head 465 is disposed in the open slot 417, the connection plane 464 is in contact with the inner wall of the open slot 417, and the rotating head 412 is connected with the connection plane 464 through a pin, so that the clamping head 465 can rotate by using the axis of the pin as a rotation axis.

The second end of the pushing rod 46 passes through the inner tube 414 and the limiting head 413 in sequence, and is connected with the clamping tube 262 outside the limiting head 413. Specifically, the second end of the push rod 46 extends into the bayonet tube 462 to contact a collar inside the bayonet tube 462; the second engaging groove 45 is provided on an outer wall of the engaging tube 462, and engages with the first engaging hole 351 of the first slider 35.

Wherein, the inner diameter of the clamping tube 462 is the same as the outer diameter of the pushing rod 46, so when the first slider 35 moves and pulls the clamping tube 462 to make a linear motion, the pushing rod 46 also makes a linear motion, that is, the movement of the first slider 35 makes the pushing rod 46 make a motion along the axis thereof, so that the swinging rod 463 is under the action of pushing force or pulling force, and the clamping head 465 drives the surgical tool 3 to rotate.

In the present embodiment, the first end refers to an end close to the surgical tool 3, and the second end refers to an end far from the surgical tool 3.

It should be noted that the connection manner among the fourth coupling 54, the fifth coupling 22, and the sixth coupling 37 in this embodiment is the same as the connection manner among the first coupling 53, the second coupling 21, and the third coupling 31 in the first embodiment, wherein a second spring 57 is disposed between the fourth coupling 54 and the second motor 512, and similarly, the assembly between the three couplings can be faster by the second spring 57, and therefore, the description is omitted here.

As described above, in the present embodiment, the rotational motion of the second motor 512 is transmitted to the first lead screw 354, the rotational motion of the first lead screw 354 is converted into the linear reciprocating motion of the first slider 35, and the linear reciprocating motion is converted into the swing motion (i.e., the rotation about the Z axis) of the surgical tool 3.

In a third embodiment of the invention, the surgical tool 3 has a third degree of freedom (e.g. a surgical shears that only performs a pointed position cut). The third degree of freedom of the surgical tool 3 is capable of performing opening and closing operations, and the third degree of freedom of the surgical tool 3 can realize actions of imitating closing and opening of fingers of a human body.

In this embodiment, a third hole 123 is disposed on a side wall of the fixed base 12, the driving device 51 includes a third motor 513, and an output shaft of the third motor 513 is disposed in the third hole 123. In order to improve the utilization of space, the axial direction of the instrument bar 2, the axial direction of the third motor 513, and the longitudinal direction of the holder 12 are the same.

The power of the third motor 513 is transmitted to the instrument rod 2 through a screw mechanism in the following specific transmission mode:

first, the second slider 36 is slidably disposed on the transmission seat 8, and the instrument rod 2 is connected to the second slider 36, so that when the second slider 36 makes a linear reciprocating motion, the instrument rod 2 is driven to make a linear reciprocating motion, and the linear reciprocating motion is converted into an opening and closing motion at the end of the instrument rod 2.

The implementation of the linear reciprocating motion of the second slider 36 will be described below:

the third motor 513 is disposed on the side wall of the fixed base 12, and an output shaft thereof passes through the third hole 123 and is fixedly connected to the seventh coupling 55 at an end portion of the output shaft. The side wall of the isolation seat 7 and the side wall of the transmission seat 8 are respectively provided with an eighth coupler 23 and a ninth coupler 38, and the eighth coupler 23 is respectively connected with a seventh coupler 55 and the ninth coupler 38.

The ninth coupling 38 is connected to a second threaded spindle 364, wherein the second threaded spindle 364 passes through the second slider 36 and forms a threaded connection with the second slider 36. The bottom of the second slider 36 is provided with a second sliding slot 365, and a second sliding rail 366 on the transmission base 8 is arranged in the second sliding slot 365, so that when the second lead screw 364 rotates, the second slider 36 moves along the axial direction of the second lead screw 364.

Therefore, when the driving plate 52 receives an instruction of opening or closing the instrument, the driving plate 52 drives the third motor 513 to rotate, and power is transmitted along the output shaft of the third motor 513, the seventh coupling 55, the eighth coupling 23, the ninth coupling 38, the second lead screw 364 and the second slider 36, so that the rotary motion of the third motor 513 is converted into the linear reciprocating motion of the second slider 36.

Further, the limit position of the rightward movement of the second slider 36 is limited by a second spring limit body 367, as shown in fig. 17, the second spring limit body 367 is provided on the second lead screw 364, and when the second slider 36 moves rightward (in a direction close to the surgical tool 3) and compresses the spring to the most contracted amount, the second slider 36 cannot move rightward any more, and the spring can prevent the second slider 36 from colliding with the second spring limit body 367 when moving to the limit position.

The limit position of the leftward movement of the second slider 36 is defined by a circuit board 368, as shown in fig. 17, the circuit board 368 is disposed on the transmission base 8 and located on the left side of the second slider 36, and when the first slider 35 moves leftward (in a direction away from the surgical tool 3) to the limit position, the end thereof contacts with the end of the rear stopper 357, and then cannot move leftward any more.

By mechanically limiting the extreme positions of the second slider 36 in both directions, the maximum opening angle of the surgical tool 3 can be controlled.

Further, the fixing between the push rod 46 and the second slider 36 is as follows:

the second slider 36 is provided with a second locking hole 361 for installing the push rod 46, and the axis of the second locking hole 361 coincides with the axis of the rotating shaft 33. A second elastic catch plate 362 is disposed in the second catch hole 361, and the second elastic catch plate 362 can move along the radial direction of the second catch hole 361, so that the installation diameter of the second catch hole 361 is reduced (i.e. smaller than the actual diameter of the second catch hole 361), or the installation diameter of the second catch hole 361 is increased (i.e. equal to the actual diameter of the second catch hole 361).

A second pressing part 363 is arranged at an end of the second slider 36, the second pressing part 363 can be a pressing rod, the second pressing part 363 is connected with the second elastic clamping plate 362, and when the second pressing part 363 is pressed down, the second elastic clamping plate 362 moves downwards to increase the installation diameter of the second clamping hole 361; when the pressure applied to the second pressing part 363 is removed, the second elastic catch plate 362 bounces upward under the action of the elastic member, so that the installation diameter of the second catch hole 361 is reduced.

A pull rod 47 is coaxially provided in the push rod 46, the pull rod 47 extending beyond an end of the push rod 46, the pull rod 47 being capable of moving in the push rod 46 in an axial direction thereof.

The outer wall of the draw bar 47 is provided with a third catch groove 48, and when the draw bar 47 extends into the second catch hole 361, the elastic second catch 362 is engaged with the third catch groove 46, so that the draw bar 47 is fixed in the second catch hole 361, and is fixed with the second slider 36.

When the instrument rod 2 needs to be removed, the second pressing portion 363 is pressed down to move the second elastic clamping plate 362 along the radial direction of the second clamping hole 361, so that the installation diameter of the second clamping hole 361 is increased, and the traction rod 47 can be taken out of the second clamping hole 361.

The implementation of the opening and closing movement of the surgical tool 3 will be described below:

as shown in fig. 21, the first end of the traction rod 47 passes through the push rod 46 and the gripping head 465 in this order, and is connected to the surgical tool 3. In contact with the collar inside the clamping head 465. A fourth spring 471 is arranged between the traction rod 47 and the clamping head 465, a first end of the fourth spring 471 is connected with an inner wall of the clamping head 465, and a second end of the fourth spring 471 is connected with an inner wall of the adapter 461, so that the fourth spring 471 is limited between the clamping head 465 and the adapter 461.

The side wall of the surgical tool 3 is provided with an inclined hole 421, two sides of the first end of the traction rod 47 are provided with a pin 472, the pin 472 is arranged in the inclined hole 421, and when the traction rod 47 is under the action of pulling force or pushing force, the pin 472 is pushed to move in the inclined hole 421, so that the surgical tool 3 is opened or closed.

The outer wall of the second end of the traction rod 47 is provided with a third clamping groove 48, and the third clamping groove 48 is clamped with the second clamping hole 361 of the second slider 36, so that when the second slider 36 moves, the traction rod 47 is driven to move along the axial direction thereof, so that the pin shaft 472 moves in the inclined hole 421, and the surgical tool 3 is opened or closed.

It should be noted that the connection manner among the seventh coupling 55, the eighth coupling 23, and the ninth coupling 38 in this embodiment is the same as the connection manner among the first coupling 53, the second coupling 21, and the third coupling 31 in the first embodiment, wherein a third spring 58 is disposed between the seventh coupling 55 and the third motor 513, and similarly, the assembly among the three couplings can be faster by the third spring 58, and therefore, the description is omitted here.

As described above, in the present embodiment, the rotational motion of the third motor 513 is transmitted to the second lead screw 364, the rotational motion of the second lead screw 364 is converted into the linear reciprocating motion of the second slider 36, and the linear reciprocating motion is converted into the opening and closing motion of the surgical tool 3.

According to a second aspect of the invention, there is provided a fixation of an instrument having two degrees of freedom.

In a fourth embodiment of the invention, the surgical tool 3 has a first degree of freedom and a second degree of freedom (e.g. a scalpel).

In the present embodiment, the side wall of the fixed seat 12 is provided with a first hole 121 and a second hole 122, the driving device 51 includes a first motor 511 and a second motor 512, an output shaft of the first motor 511 is disposed in the first hole 121, and an output shaft of the second motor 512 is disposed in the second hole 122. In order to improve the utilization of space, the axial direction of the instrument rod 2, the axial directions of the first motor 511 and the second motor 512, and the length direction of the fixing base 12 are the same.

The power transmission modes of the first motor 511 and the second motor 512 are the same as those in the previous embodiment, and are not described herein again.

In this embodiment, since it is necessary to implement the rotation of the instrument rod 2 along the X axis and the rotation of the instrument rod 2 along the Z axis, the instrument rod 2 is connected to the transmission seat 8 through the rotation shaft 33 on one hand and connected to the transmission seat 8 through the first sliding block 35 on the other hand, and the connection mode is the same as the transmission mode in the foregoing embodiments, and will not be described again here.

Further, a pushing rod 46 is coaxially disposed in the instrument rod 2, and the specific manner of disposing the pushing rod 46 has been described in detail in the foregoing embodiments, and will not be described in detail herein.

In summary, in the present embodiment, the rotary motion of the first motor 511 is converted into the rotary motion of the instrument rod 2, the rotary motion of the second motor 512 is transmitted to the first lead screw 354, the rotary motion of the first lead screw 354 is converted into the linear reciprocating motion of the first slider 35, and the linear reciprocating motion is converted into the swing motion (i.e., the rotation about the Z axis) of the surgical tool 3.

In the fifth embodiment of the present invention, the surgical tool 3 has the first degree of freedom and the third degree of freedom (e.g., a surgical scissors that performs only a cut at a specified position).

In the present embodiment, the side wall of the fixed base 12 is provided with a first hole 121 and a third hole 123, the driving device 51 includes a first motor 511 and a third motor 513, an output shaft of the first motor 511 is disposed in the first hole 121, and an output shaft of the third motor 513 is disposed in the third hole 123. In order to improve the space utilization, the axial direction of the instrument bar 2, the axial direction of the first motor 511 and the third motor 513, and the length direction of the fixing base 12 are the same.

The power transmission modes of the first motor 511 and the third motor 513 are the same as those in the previous embodiment, and are not described herein again.

In the present embodiment, since it is necessary to implement both the rotation of the instrument rod 2 along the X-axis and the opening and closing movement of the surgical tool 3, the instrument rod 2 is connected to the driving seat 8 through the rotating shaft 33, and is connected to the driving seat 8 through the second sliding block 36, and the connection manner is the same as the transmission manner in the previous embodiment, and will not be described herein again.

Further, a pushing rod 46 is coaxially arranged in the instrument rod 2, a pulling rod 47 is coaxially arranged in the pushing rod 46, and the specific arrangement of the pushing rod 46 and the pulling rod 47 is described in detail in the foregoing embodiments and is not described again.

In summary, in the present embodiment, the rotational motion of the first motor 511 is converted into the rotational motion of the instrument rod 2, the rotational motion of the third motor 513 is transmitted to the second lead screw 364, the rotational motion of the second lead screw 364 is converted into the linear reciprocating motion of the second slider 36, and the linear reciprocating motion is converted into the opening and closing motion of the surgical tool 3.

In a sixth embodiment of the invention, the surgical tool 3 has a second degree of freedom and a third degree of freedom (e.g. a forceps holding a suture needle).

In the present embodiment, the side wall of the fixed base 12 is provided with a second hole 122 and a third hole 123, the driving device 51 includes a second motor 512 and a third motor 513, an output shaft of the second motor 512 is disposed in the second hole 122, and an output shaft of the third motor 513 is disposed in the third hole 123. In order to improve the space utilization, the axial direction of the instrument rod 2, the axial direction of the second motor 512 and the third motor 513 and the length direction of the fixed seat 12 are the same.

The power transmission modes of the second motor 512 and the third motor 513 are the same as those in the previous embodiment, and are not described herein again.

In this embodiment, the instrument shaft 2 is connected to the transmission seat 8 through the rotation shaft 33, and is connected to the transmission seat 8 through the first sliding block 35, and the connection manner is the same as the transmission manner in the previous embodiment, and the description thereof is omitted.

According to a third aspect of the present invention, there is provided a fixation means for an instrument having three degrees of freedom.

Wherein the surgical tool 3 has a first degree of freedom, a second degree of freedom and a third degree of freedom (e.g. a surgical scissors).

In this embodiment, the side wall of the fixed seat 12 is respectively provided with a first hole 121, a second hole 122 and a third hole 123, and the driving device 51 includes a first motor 511, a second motor 512 and a third motor 513; an output shaft of the first motor 511 is disposed in the first hole 121, an output shaft of the second motor 512 is disposed in the second hole 122, and an output shaft of the third motor 513 is disposed in the third hole 123. In order to improve the space utilization, the axial direction of the instrument rod 2, the axial direction of the second motor 512 and the third motor 513 and the length direction of the fixed seat 12 are the same.

The power transmission modes of the first motor 511, the second motor 512 and the third motor 513 are the same as those in the previous embodiment, and are not described herein again.

In the present embodiment, the instrument rod 2 is connected to the transmission seat 8 through the rotation shaft 33, and is connected to the transmission seat 8 through the first slider 35 and the second slider 36, respectively, in the same manner as in the previous embodiments, and therefore, the description thereof is omitted.

In one embodiment, the surgical instrument is further provided with a surgical instrument identification device which comprises a control unit connected with the upper control computer in a communication way, and a surgical tool identification unit respectively connected with the control unit and the transmission execution part of the surgical instrument; the surgical tool identification unit comprises a storage chip, the storage chip stores data information of a plurality of surgical tools, and after a signal that the surgical tools are successfully connected with the transmission execution part is received, the surgical tool identification unit can identify the type of the surgical tools according to the received signal and transmit the type of the surgical tools to the control unit.

The surgical instrument recognition apparatus further includes at least one group of detection driving units, and any one of the at least one group of detection driving units includes: the motor drive subunit, encoder and accumulator, namely when the surgical instrument recognition device includes 3 detection drive units, the surgical instrument recognition device includes 3 motor drive subunits, 3 encoders and 3 accumulators. Wherein the content of the first and second substances,

and the motor driving subunit is connected with the motor through a circuit and provides driving current for the rotation of the motor. After obtaining the control parameters sent by the control unit, the motor driving subunit may adjust the current of the driving motor according to the control parameters, so as to control the rotation speed, rotation direction, torque, number of rotation turns, and the like of the motor. The transmission executing part mechanically connected with the motor can be driven to move through the rotation of the motor, and the execution operation of the surgical instrument can be controlled through controlling the movement of the transmission executing part of the surgical instrument.

The encoder is connected with the motor, and according to the different grade type of encoder, both can adopt different connected mode, and the encoder can be mechanically connected in the rear end of motor, can detect the number of turns and the direction of rotation etc. of motor through the encoder.

And an accumulator, which may be connected to the control unit and the encoder, respectively, and may obtain the rotation parameters of the motor detected by the encoder and count the obtained rotation parameters of the motor to determine the number of rotation steps of the motor 005. Furthermore, the upper control machine can determine the real-time position of the transmission executing part by obtaining the counted rotating steps.

The at least one group of sensing driving units may further include a current sensing subunit, and the current sensing subunit may be connected with the control unit and the motor driving subunit, respectively. Wherein the control unit may obtain the motor current value from the current detection subunit through connection with the motor driving subunit. The current of the motor determines the torque of the motor, so that the real-time torque of the motor can be determined according to the current value of the motor.

Surgical instruments can be rapidly identified by the surgical instrument identification device, and control data of the surgical robot upper control machine are obtained, so that the surgical instruments can be accurately controlled, real-time states of the surgical instruments can be timely obtained, real-time data are fed back to the upper control machine, so that the upper control machine knows implementation states of the surgical instruments, closed-loop control is formed by obtaining the control data and feeding back implementation parameters, and the accuracy of controlling the surgical instruments by the mobile robot is improved. The surgical instrument recognition device can be used for independently recognizing, controlling and detecting each motor, so that the control accuracy and the detection accuracy are improved.

While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the features mentioned in the embodiments can be combined in any manner, as long as no structural conflict exists. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. A surgical instrument for a minimally invasive surgery robot comprises a power supply, a driving part and a surgical tool, wherein the driving part and the surgical tool are sequentially connected.

2. A surgical instrument for a minimally invasive surgical robot according to claim 1, wherein the driving part includes a fixing device and a driving device, the driving device includes a rotary driving device, the rotary driving device includes a first motor, a first transmission shaft, a master gear, a slave gear, the first motor is connected with the master gear through the first transmission shaft, the slave gear is connected with a rotary shaft, the rotary shaft is connected with the instrument rod, the first motor drives the master gear to rotate the slave gear through the first transmission shaft, and the slave gear drives the rotary shaft to pull the instrument rod to rotate the surgical tool at the first end of the instrument rod.

3. A surgical instrument for a minimally invasive surgical robot according to claim 2, wherein the driving device further includes a deflection driving device, the deflection driving device includes a second motor, the second motor is connected to a second transmission shaft, the second transmission shaft is connected to a first slider, the first slider is slidably connected to the fixing device, the second motor drives the first slider to reciprocate along an axial direction of the second transmission shaft through the second transmission shaft, the first slider pulls the instrument rod to reciprocate along the axial direction of the second transmission shaft through a first lead screw, and drives the surgical tool to perform deflection motion on two sides of an axial extension line of the instrument rod centering on a connection position of the surgical tool and the instrument rod.

4. A surgical instrument for a minimally invasive surgical robot according to claim 3, wherein the driving device further includes an opening and closing driving device, the opening and closing driving device includes a third motor, the third motor is connected to a third transmission shaft, the third transmission shaft is connected to a second slider, the second slider is slidably connected to the fixing device, the third motor drives the second slider to reciprocate along an axial direction of the second transmission shaft through the third transmission shaft, the second slider pulls the instrument rod to reciprocate along the axial direction of the third transmission shaft through a second lead screw, and the linear reciprocating motion is converted into the opening and closing motion of the surgical tool at an end of the instrument rod.

5. A surgical instrument for a minimally invasive surgical robot according to any one of claims 1 to 4, wherein the fixing device comprises a driving seat, an isolation seat arranged on the driving seat and a transmission seat arranged on the isolation seat, and a first quick-release mechanism is arranged between the transmission seat and the isolation seat for connection.

6. A surgical instrument for a minimally invasive surgical robot according to claim 5, wherein the first quick release mechanism comprises a first elastic body, a pressing protrusion is arranged on the top surface of the first elastic body, a first accommodating cavity is arranged at the first end of the isolation seat base, the first elastic body is embedded into the first accommodating cavity, the end of the first elastic body is flush with the end of the first accommodating cavity, and after the transmission seat is installed on the isolation seat, the end of the transmission seat abuts against the stopping portion.

7. The surgical instrument for the minimally invasive surgery robot according to claim 6, wherein a second quick-release mechanism is arranged between the isolation seat and the driving seat, the second quick-release mechanism comprises an elastic pressing sheet arranged on the isolation seat and a second elastic body arranged on the driving seat, a step hole is formed in the isolation seat, the elastic pressing sheet is arranged on the step hole and is flush with the surface of the isolation seat, and the second elastic body extends into the step hole from the bottom of the isolation seat and is in contact with the bottom of the elastic pressing sheet.

8. The surgical instrument for the minimally invasive surgery robot according to claim 6, wherein the instrument rod comprises an outer tube and an inner tube coaxially connected with the inner tube, a rotating head is arranged at one end of the outer tube, the first end of the inner tube is arranged in the rotating head, a push rod coaxially arranged with the inner tube is arranged in the inner tube, the push rod moves in the instrument rod along the axis direction of the instrument rod, the first end of the push rod is connected with the first sliding block, the other end of the push rod is connected with an adapter, the adapter is connected with a clamping head through a swinging rod, the clamping head is connected with the surgical tool, and the clamping head is rotatably connected with the rotating head.

9. A surgical instrument for a minimally invasive surgical robot according to claim 3, wherein first locking mechanisms are respectively provided at both ends of the first slider, the first locking mechanisms being provided on the first lead screw for controlling a rotation angle of the surgical tool.

10. A surgical instrument for a minimally invasive surgical robot according to claim 4, wherein one end of the second slider is provided with a second locking mechanism for controlling the opening and closing degree of the surgical tool.