CN115137414A - Surgical instrument and actuating device - Google Patents

Surgical instrument and actuating device Download PDF

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Publication number
CN115137414A
CN115137414A CN202110349274.1A CN202110349274A CN115137414A CN 115137414 A CN115137414 A CN 115137414A CN 202110349274 A CN202110349274 A CN 202110349274A CN 115137414 A CN115137414 A CN 115137414A
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CN
China
Prior art keywords
gear
beam tube
gear set
screw rod
tube
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Pending
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CN202110349274.1A
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Chinese (zh)
Inventor
王雨溥
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Agile Medical Technology Suzhou Co ltd
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Agile Medical Technology Suzhou Co ltd
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Application filed by Agile Medical Technology Suzhou Co ltd filed Critical Agile Medical Technology Suzhou Co ltd
Priority to CN202110349274.1A priority Critical patent/CN115137414A/en
Priority to CN202310232640.4A priority patent/CN116509467A/en
Publication of CN115137414A publication Critical patent/CN115137414A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00353—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery one mechanical instrument performing multiple functions, e.g. cutting and grasping
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A61B2017/00469—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for insertion of instruments, e.g. guide wire, optical fibre

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Transmission Devices (AREA)

Abstract

The invention relates to an actuating device of a surgical operation instrument, which adopts a transmission mode of combining a flexible beam tube and a screw rod, is driven by a plurality of gear sets, and is driven by a transmission rod mechanism to transmit power, the beam tube is utilized to change the power transmission direction, so that the internal structure of an instrument power box is more compact, the occupied space is saved, meanwhile, the screw rod in the transmission rod mechanism converts the torque power transmitted by the beam tube into axial linear motion, and an actuator is controlled to realize actions of rotation, pitching, opening and closing and the like.

Description

Surgical instrument and actuating device
Technical Field
The invention belongs to the technical field of medical instruments, and relates to a surgical instrument and an actuating device.
Background
At present, the technology of assisting minimally invasive surgery by using surgical instruments is gradually mature and widely applied. In the operation of the surgical instrument, the instrument power box is used as a driven end driving mechanism of the surgical instrument and is matched with different instructions sent by medical staff at a main end mechanism to drive an actuating mechanism to complete corresponding actions or postures, such as pitching, rotating, clamping, closing/cutting and the like, at present, the power rotation of the instrument power box is mainly completed by adopting a cable or tendon wound by a reel, and a motor is used for driving the cable to shorten or lengthen, so that the actions or postures of the actuating mechanism such as pitching and rotating are realized; or when one component is controlled to reciprocate, at least two cables are needed; or the diameter of the winding wheel is small, so that the cable is easy to break; or due to the number of cables, size limitation, radius of winding wheels and other factors, the cable can bear small force, and is difficult to realize in instruments requiring large pushing/pulling force, such as tissue excision.
Chinese patent document CN102171006B discloses an automated medical system that utilizes a passive preload system connected to a tendon wrapped around a capstan to control the slack tension in the tendon, which employs a cable or tendon wrapped around a capstan with one end fixed to the capstan and the other end extending through an elongate rod to an actuator end; different motors drive different reel wheels to rotate, so that the shortening or lengthening of each cable is realized, and the actions or postures of pitching, rotating and the like of the actuating mechanism are completed, but although the system can realize the control of the operation of the actuating mechanism, the coupling motion control among the actions is more complex, and meanwhile, because the inherent characteristics of the cables have certain limitations, for example, the cables can only bear pulling force but can not bear pushing force, when one part is controlled by the cables to do reciprocating motion, at least two cables are needed to realize the control of the actuating mechanism, but because the diameter of the winding wheel is smaller, the cables are easy to break; due to the number of cables, size limitation, radius of winding wheels and other factors, the cable can bear small capacity, and is difficult to realize the use in instruments requiring large pushing/pulling force, such as tissue excision.
Disclosure of Invention
Aiming at the problems in the prior art, the invention discloses an actuating device of a surgical operation instrument, which aims to solve the problems that in the prior art, an actuator is complex to operate and control when used, and a transmission structure has small load capacity and cannot be used in occasions with large load requirements.
The technical scheme adopted by the invention for solving the technical problems is as follows: an actuating device for a surgical instrument includes an instrument power cartridge and a drive rod mechanism including a drive rod outer tube, and first and second lead screws and a retaining nut located within the drive rod outer tube.
The instrument power box comprises a first gear set, a second gear set, a third gear set, a first beam tube, a second beam tube and a base, wherein the first gear set, the second gear set and the third gear set are all arranged on the base; one end of the second beam tube is connected with the second gear set, the other end of the second beam tube is connected with the end part of the second screw rod, and the second beam tube is used for transmitting the power of the second gear set to the second screw rod; the first beam tube and the second beam tube are respectively connected with a group of elastic tensioning mechanisms; the third gear set is fixedly connected with the head end of the outer tube of the transmission rod and is used for driving the outer tube of the transmission rod to rotate.
Further, the first gear set comprises a first motor, a first input gear and a first output gear, the first input gear is meshed with the first output gear; the first motor is fixedly arranged on the outer side of the base and used for driving the first input gear to rotate; the gear shaft of the first output gear is vertical to the gear shaft of the first input gear; one end of the first beam tube is rigidly connected with a gear shaft of the first output gear.
Further, the second gear set comprises a second motor, a second input gear and a second output gear, and the second input gear is meshed with the second output gear; the second motor is fixedly arranged on the outer side of the base and is used for driving the second input gear to rotate; the gear shaft of the second output gear is vertical to the gear shaft of the second input gear; one end of the second beam tube and the first beam tube the gear shafts of the two output gears are rigidly connected.
Further, the third gear set comprises a third motor, a third input gear and a third output gear, and the third input gear is meshed with the third output gear; the third motor is fixedly arranged on the outer side of the base and is used for driving the third input gear to rotate; the third output gear is installed on the base, a shaft hole is formed in the axis of the third output gear, the shaft hole is rigidly connected with the outer wall of the outer tube of the transmission rod, and the outer tube of the transmission rod penetrates through the base.
Further, the elastic tensioning mechanism comprises a movable pulley, a fixed pulley and a spring; the movable pulley and the fixed pulley are respectively positioned on two sides of the first gear set and the second gear set, and the fixed pulley is fixedly arranged above the third gear set; the first gear set and the second gear set are both positioned on the same side of the third gear set; the axle center of movable pulley is connected with the fixing base, spring one end with the outside of fixing base is connected, the other end of spring with the pedestal connection.
Furthermore, the head end of the first beam tube is rigidly connected with the axis of the first output gear, the tail end of the first beam tube sequentially surrounds the corresponding movable pulley and the fixed pulley, and the tail end of the first beam tube is rigidly connected with the first screw rod; the head end of the second beam tube is rigidly connected with the axle center of the second output gear, the tail end of the second beam tube sequentially surrounds the corresponding movable pulley and the fixed pulley, and the tail end of the second beam tube is rigidly connected with the second screw rod.
Furthermore, a plurality of spiral winding layers are arranged in each of the first bundling tube and the second bundling tube, the rotating directions of the adjacent winding layers are opposite, the rotating direction of the winding layer in the same direction is a loading direction, and the rotating direction of the winding layer in the same direction is an unloading direction.
Furthermore, the fixing nut is positioned inside the outer tube of the transmission rod and is rigidly connected with the outer tube of the transmission rod; the first screw rod and the second screw rod are both positioned inside the outer tube of the transmission rod, and the first screw rod and the second screw rod are respectively in threaded connection with the fixing nut.
The invention also discloses a surgical instrument which adopts the actuating device and also comprises an actuator, wherein the tail end of the transmission rod mechanism is connected with the actuator; the lower end of the first screw rod is provided with a first transmission block, the first transmission block is provided with a first connecting groove, the first connecting groove is connected with the end portion of the first screw rod, the end portion of the first screw rod freely rotates in the first connecting groove, and the first transmission block is configured to control pitching motion of the actuator.
Furthermore, a second transmission block is arranged at the lower end of the second screw rod, a second connection groove is formed in the second transmission block, the second connection groove is connected with the end portion of the second screw rod, the end portion of the second screw rod freely rotates in the second connection groove, and the second transmission block is configured to control the opening and closing of the actuator.
Compared with the prior art, the invention has the following advantages:
1) The actuating device adopts a transmission mode of combining the flexible beam tube and the screw rod, when the actuator rotates, the flexible beam tube can be twisted around the axis of the outer tube of the transmission rod to a certain degree, the length of the beam tube is increased in the twisting process, the tension is increased, and the length of the beam tube can be adjusted through the spring and the movable pulley; and because the center of the beam tube distortion is positioned at the axle center of the outer tube of the transmission rod and cannot coincide with the center of the beam tube, the torque generated by the beam tube when the actuator rotates cannot influence the screw rod structure for controlling pitching and opening and closing, and the transmission process is more stable.
2) The actuating device is provided with a plurality of gear sets, wherein part of the gear sets are respectively connected with the beam tubes, the torque of the motor is transmitted to the screw rod through the beam tubes, and the screw rod linearly converts the torque of the beam tubes into thrust or tension in a linear direction according to the rotation angle of the screw rod, so that the opening and closing and pitching operation of the actuator are realized; the bearing capacity of the screw rod is far greater than that of the cable, so that the screw rod can bear axial reaction force generated by the actuator on the screw rod and keep the stability of the execution action.
3) The actuating device is internally provided with the elastic tensioning mechanism, the beam tube is kept tensioned through the elastic tensioning mechanism, a stable transmission path of the beam tube can be ensured in the tensioning process of the beam tube, unnecessary abrasion or winding is prevented, transmission errors caused by a screw rod gap can be eliminated through the beam tube, and the transmission precision is improved.
Drawings
FIG. 1 is an overall block diagram of a surgical instrument according to an embodiment of the present invention;
FIG. 2 is an internal block diagram of the instrument power cartridge of FIG. 1 at A;
FIG. 3 is a top view block diagram of an instrument power cartridge in an embodiment of the present invention;
FIG. 4 is a side view structural view of a driving lever mechanism in the embodiment of the invention;
FIG. 5 is a cross-sectional structural view of the location B-B in FIG. 4;
FIG. 6 is a block diagram of a drive link mechanism in an embodiment of the present invention;
FIG. 7 is a schematic structural view of a bundle tube in an embodiment of the present invention;
fig. 8 is a structural view of an actuator in the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example (b):
as shown in fig. 1, in this embodiment, a surgical instrument is specifically disclosed, which includes an instrument power box 1, a transmission rod mechanism 2, and an actuator 3, where the instrument power box 1 and the transmission rod mechanism 2 form an actuating device of the surgical instrument, and the actuating device is configured to provide and transmit power to the actuator 3, so that the actuator 3 implements actions such as rotation, pitch, closing/cutting, and the like.
Specifically, as shown in fig. 4-6, the transmission rod mechanism 2 includes a transmission rod outer tube 201, a first lead screw 202, a second lead screw 203, and a fixing nut 204, wherein the fixing nut 204 is fixedly installed inside the transmission rod outer tube 201; the first screw rod 202 and the second screw rod 203 are both positioned inside the outer tube 201 of the transmission rod, and the first screw rod 202 and the second screw rod 203 are both in threaded connection with a fixing nut 204. The length of the first lead screw 202 is different from the length of the second lead screw 203, in this embodiment, the length of the first lead screw 202 is greater than the length of the second lead screw 203, and specifically, the position of the first lead screw 202 near the end is in threaded connection with the fixing nut 204; the head end position of the second screw rod 203 is in threaded connection with the fixing nut 204, and the structure can avoid interference between the screw rods when the surgical instrument rotates.
Specifically, as shown in fig. 2 and 3, the instrument power box 1 includes a first gear set, a second gear set, a third gear set, a first beam tube 105, a second beam tube 106 and a base 101, the first gear set, the second gear set and the third gear set are all mounted on the base 101, one end of the first beam tube 105 is connected with the first gear set, the other end of the first beam tube 105 is connected with the end of a first lead screw 202, and the first beam tube 105 is used for transmitting the power of the first gear set to the first lead screw 202; one end of the second beam tube 106 is connected with the second gear set, the other end of the second beam tube 106 is connected with the end of the second screw rod 203, and the second beam tube 106 is used for transmitting the power of the second gear set to the second screw rod 203; the first beam tube 105 and the second beam tube 106 are respectively connected with a group of elastic tensioning mechanisms; the third gear set is fixedly connected with the head end of the transmission rod outer pipe 201, and the third gear set is used for driving the transmission rod outer pipe 201 to rotate.
When the device works, the elastic tensioning mechanism enables the first bundle tube 105 and the second bundle tube 106 to keep certain tension, and the tension of the first bundle tube 105 and the tension of the second bundle tube 106 are respectively transmitted to the first screw rod 202 and the second screw rod 203; when the first bundle tube 105 and the second bundle tube 106 are kept tensioned, they can be ensured to be in a stable movement path, and unnecessary damage, such as abrasion or winding, can be prevented; meanwhile, the ends of the first screw rod 202 and the second screw rod 203 receive the tension in the fixed direction, so that the transmission error caused by the clearance of the screw rods can be eliminated, and the transmission precision is improved.
More specifically, the first gear set includes a first motor, a first input gear 102a and a first output gear 102b, the first input gear 102a and the first output gear 102b are engaged; the first motor is fixedly arranged on the outer side of the base 101 and is used for driving the first input gear 102a to rotate; the gear shaft of the first output gear 102b is perpendicular to the gear shaft of the first input gear 102 a; one end of the first bundle pipe 105 is rigidly connected to the gear shaft of the first output gear 102 b. The second gear set comprises a second motor, a second input gear 103a and a second output gear 103b, and the second input gear 103a is meshed with the second output gear 103 b; the second motor is fixedly arranged on the outer side of the base 101 and is used for driving the second input gear 103a to rotate; the gear shaft of the second output gear 103b is perpendicular to the gear shaft of the second input gear 103 a; one end of the second beam tube 106 is rigidly connected with the gear shaft of the second output gear 103 b.
It is expected that the first gear set and the second gear set are respectively used for controlling the opening and closing and pitching actions of the actuator 3, wherein after the first motor in the first gear set is connected with the power supply, the internal rotor generates a driving force and transmits the driving force to the first input gear 102a through the driving shaft of the motor, the first input gear 102a and the first output gear 102b are kept meshed, the power is transmitted to the first output gear 102b, the power is transmitted to the first lead screw 202 through the first beam tube 105 connected with the gear shaft, the first lead screw 202 and the fixing nut 204 are driven to rotate relatively, and then the first lead screw 202 generates displacement along the axial direction and drives the actuator 3 to perform the opening and closing actions; similarly, after the second motor in the second gear set is connected to a power supply, power is transmitted to the second lead screw 203 through the second input gear 103a, the second output gear 103b and the second beam tube 106 in sequence, and the second lead screw 203 and the fixing nut 204 rotate relatively to each other, so that the second lead screw 203 displaces in the axial direction, and thrust or tension is generated to drive the actuator 3 to perform a pitching motion. When the actuator 3 acts, a large reaction force is generated and transmitted to the lead screw, and since the lead screw and the fixing nut 204 can be self-locked and the lead screw has high rigidity, the lead screw can bear a large load without deformation or displacement, the actuator 3 acts more stably, the cutting force of the actuator 3 is large, and the application range is wide.
The third gear set comprises a third motor, a third input gear 104a and a third output gear 104b, and the third input gear 104a and the third output gear 104b are meshed; the third motor is fixedly arranged on the outer side of the base 101, and the third motor is used for driving the third input gear 104a to rotate; the third output gear 104b is mounted on the base 101, a shaft hole is formed in the axis of the third output gear 104b, and the shaft hole is rigidly connected with the outer wall of the transmission rod outer tube 201. Meanwhile, the actuator 3 can rotate, so that the actuator 3 is prevented from being rotated to influence the opening and closing or pitching execution, a third output gear 104b in a third gear set is connected with the outer tube 201 of the transmission rod, when the third output gear 104b rotates, the outer tube 201 of the transmission rod is driven to synchronously rotate, and the actuator 3 connected with the outer tube 201 of the transmission rod also rotates. In this embodiment, the lengths of the first lead screw 202 and the second lead screw 203 are different, and the positions of the corresponding beam tubes extending into the outer transmission rod tube 201 are different, and when the outer transmission rod tube 201 rotates, the beam tube with a longer extending position in the outer transmission rod tube 201 and the adjacent lead screw will be distorted, but because the beam tube is made of flexible materials, for example, the HHS beam tube made of the FORT WAYNE material, and the transmission torque center of the beam tube itself is different from the distortion center, the transmission of the beam tube itself will not be interfered when the beam tube is distorted, thereby avoiding the influence of pitching and opening and closing actions when the actuator 3 rotates, and enabling the operation of the actuator 3 to be more flexible.
In more detail, the elastic tensioning mechanism comprises a movable pulley 107a, a fixed pulley 107d and a spring 107c; the movable pulley 107a and the fixed pulley 107d are respectively positioned at two sides of the first gear set and the second gear set, and the fixed pulley 107d is fixedly arranged above the third gear set; the first gear set and the second gear set are both positioned on the same side of the third gear set; the axle center of the movable pulley 107a is connected with a fixed seat 107b, one end of the spring 107c is connected with the outer side of the fixed seat 107b, and the other end of the spring 107c is connected with the base 101. The movable pulley 107a in the elastic tensioning mechanism is used for changing the transmission direction of the beam tube and keeping the beam tube tensioned, and the fixed pulley 107d is used for changing the transmission direction of the beam tube; the specific reason is that the beam tubes in this embodiment are all provided with multiple spiral winding layers, as shown in fig. 7, and the rotation directions of the adjacent winding layers are opposite, because the actuator 3 requires different forces in different operation states during the opening and closing actions, the torque borne by the beam tubes when the beam tubes rotate in different directions is different, and when the beam tubes drive the screw rod to rotate, the position of the screw rod changes, the length of the beam tubes in the outer tube of the transmission rod changes, in order to ensure that the beam tubes are always kept in a tensioned state, the movable pulley 107a is connected by the spring 107c, and the beam tubes are kept tensioned by the elasticity of the spring 107 c.
In detail, the direction of rotation with a higher torque may be referred to as the loading direction, in which the actuator 3 performs a closing cutting action, and the direction of rotation with a lower torque may be referred to as the unloading direction, in which the actuator 3 performs an opening action. Therefore, in the present embodiment, the rotation direction with a large number of windings in the same direction is set as the loading direction, and the rotation direction with a small number of windings in the same direction is set as the unloading direction, so as to correspond to different load requirements.
The head end of the first bundle pipe 105 is rigidly connected with the axis of the first output gear 102b, and after the tail end of the first bundle pipe 105 sequentially surrounds the movable pulley 107a and the fixed pulley 107d, the tail end of the first bundle pipe 105 is rigidly connected with the first screw 202; the head end of the second bundle pipe 106 is rigidly connected to the axis of the second output gear 103b, and the tail end of the second bundle pipe 106 is rigidly connected to the second lead screw 203 after sequentially surrounding the movable pulley 107a and the fixed pulley 107 d.
The transmission rod mechanism 2 is further provided with a first transmission block 205 and a second transmission block 206, the first transmission block 205 is located at the lower end of the first screw rod 202, the first transmission block 205 is provided with a first connection groove 205a, the first connection groove 205a is connected with the end of the first screw rod 202, the end of the first screw rod 202 freely rotates in the first connection groove 205a, and the first transmission block 205 is used for controlling the pitching motion of the actuator 3. The second transmission block 206 is located at the lower end of the second screw rod 203, a second connection groove 206a is arranged on the second transmission block 206, the second connection groove 206a is connected with the end of the second screw rod 203, the end of the second screw rod 203 freely rotates in the second connection groove 206a, and the second transmission block 206 is used for controlling the opening and closing of the actuator 3.
The transmission rod mechanism 2 is used for transmitting power output from the instrument power box 1 to the actuator 3, and the actuator 3 correspondingly completes various actions or postures, in this embodiment, the transmission rod outer tube 201 is a hollow tube body, one end of the transmission rod outer tube 201 is connected to the axis of the third output gear 104b, and the outer wall of the transmission rod outer tube 201 and the base 101 are both kept axially fixed on the transmission rod outer tube 201, and meanwhile, the outer wall of the transmission rod outer tube 201 and the base 101 freely rotate in the tangential direction of the transmission rod outer tube 201; the axle center of the third output gear 104b is provided with an axle hole, the axle hole is communicated with the outer transmission rod pipe 201, the transmission direction of the first beam pipe 105 and the second beam pipe 106 is changed through the fixed pulley 107d, and the ends of the first beam pipe 105 and the second beam pipe 106 are respectively connected with a screw rod in the outer transmission rod pipe 201 through the axle hole.
It should be noted that, in the outer tube 201 of the transmission rod, because the lead screw and the fixing nut 204 are connected by screw threads, when the beam tube transmits power to the end of the lead screw, the lead screw and the fixing nut 204 will rotate relatively, and because the fixing nut 204 and the outer tube 201 of the transmission rod maintain rigid connection, the lead screw will displace axially in the outer tube 201 of the transmission rod, so as to convert the torque motion of the beam tube into linear displacement, and drive the actuator 3 connected to the end of the lead screw to generate corresponding motion or posture through the linear displacement of the lead screw.
Specifically, the end of the transmission rod mechanism 2 is connected with an actuator 3, and the actuator 3 and the transmission rod mechanism 2 adopt a snap connection mode, which is a detachable connection mode. In detail, a first connecting assembly 207 and a second connecting assembly 208 are arranged at the end of the actuator 3, the first connecting assembly 207 is used for controlling the opening and closing of the actuator 3, the second connecting assembly 208 is used for controlling the pitching of the actuator 3, the first connecting assembly 207 is fixedly connected with a first transmission block 205, and the second connecting assembly 208 is fixedly connected with a second transmission block 206; it is contemplated that the first transmission block 205 transmits the linear motion of the first lead screw 202 to the first connection assembly 207; the second transmission block 206 transmits the linear motion of the second lead screw 203 to the second connection assembly 208, and the actuator 3 can be controlled to operate differently through the transmission manner.
As shown in fig. 8, the actuator 3 includes a first clamping piece 302, a second clamping piece 303, a fixed base 301, a push-type broach 304, a connecting shaft 305 and a base rotating shaft 306, the fixed base 301 is provided with a connecting portion and a rotating portion, an end portion of the first clamping piece 302 is hinged to the connecting portion, and an end portion of the second clamping piece 303 is rigidly connected to the connecting portion of the fixed base 301; the base rotating shaft 306 and the connecting shaft 305 are both located at the rotating part of the fixed base 301, the connecting shaft 305 and the base rotating shaft 306 are arranged at a certain distance, and the connecting shaft 305 is hinged to the second connecting assembly 208; a groove 302a is formed on the first clamping piece 302 along the length direction, the push-type broach 304 is located in the groove 302a of the first clamping piece 302, and the push-type broach 304 is connected to the first connecting component 207. When the actuator 3 performs a pitching motion, the second connecting assembly 208 generates a pushing force or a pulling force on the connecting shaft 305, the base rotating shaft 306 rotates around the rotating part under the action of the force at the position of the connecting shaft 305, and the first clamping piece 302 and the second clamping piece 303 synchronously rotate along with the base rotating shaft 306 to realize the pitching motion; when the actuator 3 performs a closing action, the first connecting component 207 pushes the push-type broach 304 to linearly displace, the push-type broach 304 displaces towards the end of the first clamping piece in the groove 302a of the first clamping piece 302, the push-type broach 304 firstly pushes the first clamping piece 302 to close, the push-type broach 304 continues to displace towards the end of the first clamping piece 302, and the push-type broach 304 keeps the first clamping piece 302 clamped and performs a cutting action at the same time; when the actuator 3 performs an opening action, the first connecting assembly 207 pulls the push broach 304 to displace towards the connecting position of the first clamping piece, a clamping force is applied to the first clamping piece 302 during the displacement of the push broach 304, the first clamping piece 302 remains closed, and when the push broach 304 continues to displace to the connecting position of the first clamping piece 302, the first clamping piece 302 opens, so that the actuator 3 performs an opening action.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (10)

1. An actuating device for a surgical instrument comprising an instrument power cartridge and a drive rod mechanism, the drive rod mechanism comprising a drive rod outer tube, and a first lead screw, a second lead screw and a retaining nut located within the drive rod outer tube, characterized in that:
the instrument power box comprises a first gear set, a second gear set, a third gear set, a first beam tube, a second beam tube and a base, wherein the first gear set, the second gear set and the third gear set are all arranged on the base; one end of the second beam tube is connected with the second gear set, the other end of the second beam tube is connected with the end part of the second screw rod, and the second beam tube is used for transmitting the power of the second gear set to the second screw rod; the first beam tube and the second beam tube are respectively connected with a group of elastic tensioning mechanisms; the third gear set is fixedly connected with the head end of the outer tube of the transmission rod and is used for driving the outer tube of the transmission rod to rotate.
2. The actuating device of claim 1, wherein: the first gear set comprises a first motor, a first input gear and a first output gear, and the first input gear is meshed with the first output gear; the first motor is fixedly arranged on the outer side of the base and used for driving the first input gear to rotate; the gear shaft of the first output gear is vertical to the gear shaft of the first input gear; one end of the first beam tube is rigidly connected with a gear shaft of the first output gear.
3. The actuating device of claim 2, wherein: the second gear set comprises a second motor, a second input gear and a second output gear, and the second input gear is meshed with the second output gear; the second motor is fixedly arranged on the outer side of the base and used for driving the second input gear to rotate; the gear shaft of the second output gear is vertical to the gear shaft of the second input gear; one end of the second beam tube is rigidly connected with a gear shaft of the second output gear.
4. An actuating device as defined in claim 3, wherein: the third gear set comprises a third motor, a third input gear and a third output gear, and the third input gear is meshed with the third output gear; the third motor is fixedly arranged on the outer side of the base and is used for driving the third input gear to rotate; the third output gear is installed on the base, a shaft hole is formed in the axis of the third output gear, the shaft hole is rigidly connected with the outer wall of the outer tube of the transmission rod, and the outer tube of the transmission rod penetrates through the base.
5. An actuating device as defined in claim 4, wherein: the elastic tensioning mechanism comprises a movable pulley, a fixed pulley and a spring; the movable pulley and the fixed pulley are respectively positioned at two sides of the first gear set and the second gear set, and the fixed pulley is fixedly arranged above the third gear set; the first gear set and the second gear set are both positioned on the same side of the third gear set; the axle center of movable pulley is connected with the fixing base, spring one end with the outside of fixing base is connected, the other end of spring with the pedestal connection.
6. An actuating device as defined in claim 5, wherein: the head end of the first beam tube is rigidly connected with the axle center of the first output gear, the tail end of the first beam tube is sequentially wound around the corresponding movable pulley and the fixed pulley, and the tail end of the first beam tube is rigidly connected with the first screw rod; the head end of the second beam tube is rigidly connected with the axle center of the second output gear, the tail end of the second beam tube sequentially surrounds the corresponding movable pulley and the fixed pulley, and the tail end of the second beam tube is rigidly connected with the second screw rod.
7. The actuating device of claim 1, wherein: the first beam tube and the second beam tube are respectively provided with a plurality of spiral winding layers, the rotating directions between the adjacent winding layers are opposite, the rotating directions of the winding layers in the same direction are the loading directions, and the rotating directions of the winding layers in the same direction are the unloading directions.
8. The actuating device of claim 1, wherein: the fixing nut is positioned inside the outer tube of the transmission rod and is rigidly connected with the outer tube of the transmission rod; the first screw rod and the second screw rod are both positioned inside the outer tube of the transmission rod, and the first screw rod and the second screw rod are respectively in threaded connection with the fixing nut.
9. A surgical instrument employing the actuating device of any one of claims 1 to 8, wherein: the tail end of the transmission rod mechanism is connected with the actuator; the lower end of the first screw rod is provided with a first transmission block, the first transmission block is provided with a first connecting groove, the first connecting groove is connected with the end part of the first screw rod, and the end part of the first screw rod freely rotates in the first connecting groove, and the first transmission block is configured to control the pitching action of the actuator.
10. A surgical instrument as recited in claim 9, wherein: the lower extreme of second lead screw is equipped with second transmission block, be equipped with the second spread groove on the second transmission block, the end connection of second spread groove and second lead screw, just the tip of second lead screw is free rotation in the second spread groove, the configuration of second transmission block is for the switching action of control executor.
CN202110349274.1A 2021-03-31 2021-03-31 Surgical instrument and actuating device Pending CN115137414A (en)

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Application Number Priority Date Filing Date Title
CN202110349274.1A CN115137414A (en) 2021-03-31 2021-03-31 Surgical instrument and actuating device
CN202310232640.4A CN116509467A (en) 2021-03-31 2021-03-31 Surgical instrument and actuator thereof

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CN202110349274.1A CN115137414A (en) 2021-03-31 2021-03-31 Surgical instrument and actuating device

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CN202110349274.1A Pending CN115137414A (en) 2021-03-31 2021-03-31 Surgical instrument and actuating device

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