CN116549078A - Surgical instrument and surgical robot - Google Patents

Abstract

The present application relates to surgical instruments and surgical robots. Wherein the surgical instrument comprises a drive device and a gear assembly; the gear assembly includes a first gear assembly and a second gear assembly; the first gear assembly and the second gear assembly respectively comprise a pair of input gears and output gears which are meshed with each other, and each gear is arranged on the central shaft; the input gear of the first gear assembly is connected with the driving device and is driven by the driving device to rotate; the central shaft of the input gear of the second gear assembly is detachably coupled with the central shaft of the output gear of the first gear assembly so as to drive the central shaft of the second gear assembly to rotate; the central shaft of the output gear of the second gear assembly is provided with an instrument tool to drive the instrument tool to rotate. The surgical instrument is arranged on the mechanical arm to form a surgical robot.

Description

Surgical instrument and surgical robot

Technical Field

The present application relates to medical devices, and more particularly to a surgical device and a surgical robot.

Background

In orthopedic surgical robots, in particular spinal surgical robots, internal fixation surgery for pedicle screw placement is often involved. The general process is that a mechanical arm is firstly used for positioning an operation part, and then a doctor uses a hand drill to perform nail placement operation in bare hands, or an electric tool at the tail end of the mechanical arm is used for performing automatic nail placement operation. In the prior art, whether the surgeon manually places nails or robotically places nails, the surgical tool, such as a bone drill, is typically removed and installed into or out of the surgical instrument in its entirety in the length direction or (feed direction). The prior art surgical instruments generally comprise an electric drill and an electric drill motor for driving the electric drill to operate, i.e. the motor is directly connected with the electric drill. The whole surgical electric drill is assembled and disassembled in a way of advancing and retreating along the axis, and the drill bit moves for a long distance, so that the operation movement space at the tail end of the surgical instrument is required to be as large as possible to support the operation of the whole surgical instrument, the defects influence the miniaturization of the surgical instrument, the space requirement on an operating room is also large, and meanwhile, the interference collision between a surgical operation tool and a mechanical arm can be possibly caused.

In addition, in the orthopedic surgery such as pedicle needle placement, the lengths and diameters of the used Kirschner wires are different according to different surgery types, and at present, no surgical instrument for placing nails can be compatible with instrument tools such as Kirschner wires with different specifications.

Disclosure of Invention

The application aims at providing a surgical instrument and aims at solving the problems that the surgical instrument in the prior art is inconvenient to disassemble and assemble or the surgical operation tool is replaced, a large operation space is needed, and the like.

To achieve the above object, the present application provides a surgical instrument comprising a drive device and a gear assembly; the gear assembly includes a first gear assembly and a second gear assembly; the first gear assembly and the second gear assembly respectively comprise a pair of input gears and output gears which are meshed with each other, and each gear is arranged on the central shaft; the input gear of the first gear assembly is connected with the driving device and is driven by the driving device to rotate; the central shaft of the input gear of the second gear assembly is detachably coupled with the central shaft of the output gear of the first gear assembly so as to drive the central shaft of the second gear assembly to rotate; the central shaft of the output gear of the second gear assembly is provided with an instrument tool to drive the instrument tool to rotate.

In some embodiments, the instrument tool comprises a connecting rod with a surgical operating tool formed or attached at a front end thereof; the connecting rod is a hollow rod, and a central channel which penetrates through the length of the rod is formed in the connecting rod along the axis; the central shaft of the output gear of the second gear assembly is a hollow shaft, and a central channel which penetrates through the shaft length is formed inside the central shaft along the axis; the connecting rod is sleeved at the front end of the central shaft of the output gear of the second gear assembly and is fixedly connected relatively, and the internal central channels are communicated.

In some embodiments, the connecting rod is fixedly connected with the central shaft of the second gear assembly by a fastener; the front end of the connecting rod is detachably connected with a chuck, and a central channel with a through length is formed in the chuck along the axis and is aligned and communicated with the central channel of the connecting rod; the collet is for releasably gripping the surgical tool.

In some embodiments, the first gear assembly is disposed in a first housing, the second gear assembly is disposed in a second housing, and the first housing and the second housing are detachably and relatively fixedly connected; the central shaft of the input gear of the first gear assembly penetrates through a through hole formed in the side wall of the first box body to be connected with the driving device; the central shaft of the output gear of the second gear assembly penetrates through a through hole arranged on the side wall of the second box body and is connected with a connecting rod of the instrument tool; the first box body and the second box body are provided with a plurality of mounting holes or through holes, and two ends of a central shaft of each gear are rotatably inserted into the mounting holes or through holes of the corresponding side walls of the box bodies so as to rotatably mount each gear and the central shaft thereof in the corresponding box bodies; the instrument tool is detached integrally with the second gear assembly from the side direction of the surgical instrument by separating the central axis of the output gear of the first gear assembly from the central axis of the input gear of the second gear assembly and separating the first and second cases.

In some embodiments, the drive device comprises an output shaft and a bracket; the bracket is fixedly connected with the first box body relatively; the output shaft of the driving device is connected with the central shaft of the input gear of the first gear assembly through a bearing or a coupling; each gear is sleeved on the center of the gear and is relatively and fixedly connected; the central shaft of each gear is rotatably arranged in the mounting hole or through hole of the corresponding side wall of the box body through the bearing and the bearing seat; one end of a central shaft of an input gear of the second gear assembly penetrates through the second box body and is connected with the central shaft of an output gear of the first gear assembly through a bearing or a coupling; the driving device is a motor.

In some embodiments, the surgical instrument further comprises an actuation device, the drive device and gear assembly being mounted on and driven by the actuation device to move in unison in the spatial dimension to adjust the position or pose of the instrument tool in the spatial dimension.

In some embodiments, the actuation device comprises a drive unit that is a motor or a drive disc, wherein the drive disc is driven by an external motor or a surgical robot; the actuating device comprises a base body, a driving unit is arranged in the base body, a linear guide rail is further arranged in the base body, and a sliding block is arranged at the top of the base body; the sliding block is provided with a moving platform, and the bracket of the driving device is connected with the sliding block and/or the moving platform; the driving unit drives the sliding block to reciprocate along the linear guide rail, so that the driving device and the gear assembly are driven to integrally reciprocate.

In some embodiments, a screw assembly is disposed within the housing, the screw assembly including a ball screw and a nut; the nut is sleeved outside the ball screw; the driving unit drives the ball screw to rotate, so that the nut linearly reciprocates along the ball screw; the sliding block is connected with the nut, the nut drives the sliding block to move, and the screw nut is slidably connected with the linear guide rail; or, a linear motor is arranged in the base, the sliding block is connected with a rotor of the linear motor, and the linear motor drives the sliding block to reciprocate along the linear guide rail.

In some embodiments, the front end of the actuating device is provided with a front end bracket for supporting and positioning the front end or front end assembly of the connecting rod; the front end bracket comprises a base and a top cover; the top of the base is provided with a through hole; the top cover is connected to the top of the base through a pivot and can be turned over to cover the through hole at the top of the base; the front end or the front end component of the connecting rod passes through the through hole at the top of the base so as to support and limit; a gap is formed at one side of the top cover, and a screw is rotatably arranged on the base; the screw is rotated to be clamped into the notch to lock the top cover at the top of the base, or the screw is rotated out of the notch to enable the top cover to be overturned at the top of the base to open the through hole at the top of the base.

In some embodiments, the input gear and the output gear of the first gear assembly are a pair of intermeshing helical gears; the input gear and the output gear of the second gear assembly are a pair of intermeshing helical gears.

In some embodiments, the input gear and the output gear of the first gear assembly are a pair of bevel gears that intermesh perpendicularly to each other; the input gear and the output gear of the second gear assembly are a pair of bevel gears which are engaged with each other vertically.

In some embodiments, the drive device is a motor; the motor is powered by an external power supply; or the motor is powered by a battery, the motor and the battery are arranged in a host, a control circuit board is further arranged in the host and is electrically connected with the motor and the battery, and a switch is arranged on the host and is used for starting the motor to work; the host is a manually operated host, and a driving device in the host is connected with the central shaft of the input gear of the first gear assembly through an adapter.

The application also provides a surgical robot, its characterized in that: the surgical robot comprising a surgical instrument as described in any of the embodiments above; the surgical instrument is mounted on a mechanical arm of the surgical robot.

The beneficial effects of this application are:

the surgical instrument of this application is including two gear assemblies that can laterally separate, and one of them gear assembly is used for installing the instrument, thereby realizes the dismouting of instrument through making two gear lines separation or connection, convenient operation, and the terminal operating space of required surgical instrument is less.

Drawings

Fig. 1 is a perspective view of a surgical instrument according to an embodiment of the present application.

Fig. 2 is a partial exploded view of a surgical instrument according to an embodiment of the present application.

Fig. 3 is an exploded view of a first gear assembly according to an embodiment of the present application.

Fig. 4 is an exploded view of a second gear assembly of an embodiment of the present application.

Fig. 5 is a schematic structural view of an instrument assembly according to an embodiment of the present application.

Fig. 6 is a cross-sectional view of fig. 5 taken along line A-A.

Fig. 7 is a schematic structural view of an instrument assembly according to an embodiment of the present application.

Fig. 8 is an exploded view of a front end bracket according to an embodiment of the present application.

Fig. 9 is an exploded view of the internal structure of the actuator device of the embodiment of the present application.

Fig. 10 is a schematic structural view of a mechanical arm of the surgical robot according to the embodiment of the present application.

Detailed Description

Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless an order of performance is explicitly stated. It should also be appreciated that additional or alternative steps may be used.

Although the terms first, second, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, an element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

For ease of description, spatially relative terms, such as "inner," "outer," "lower," "below," "upper," "above," "front," "back," and the like, may be used herein to describe one element's or feature's relationship to another element's or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used herein interpreted accordingly.

Referring to fig. 1-10, the present application provides a surgical instrument 1000 and a surgical robot. Wherein the surgical instrument 1000 may be adapted for manual operation, semi-automatic operation, or fully automatic operation; or is suitable for a surgical robot, and is mounted on the mechanical arm 2000 to realize intelligent surgical operation. The surgical instrument 1000 includes an instrument assembly 100, the instrument assembly 100 including a drive, a transmission, and a clamp assembly to which the instrument tool 5 is mounted. The drive means 2 are used for driving the tool 5 in motion, typically for driving the tool 5 in rotational motion, and the transmission means are used for transmitting power generated by the drive means 2 to the tool 5. The surgical instrument 1000 suitable for semiautomatic operation or fully automatic operation or operation robot operation further comprises an actuating device 300, wherein the actuating device 300 comprises a driving unit for driving the motion of the whole instrument assembly 100 in the spatial dimension to adjust the spatial position of the instrument tool, and the actuating device 300 drives the whole instrument assembly 100 to move back and forth along the depth feeding direction (or the Z direction of the XYZ spatial coordinate system) of the surgical operation to adjust the position of the surgical operation tool in the depth direction. Surgical tools suitable for use in the present application include, but are not limited to, orthopedic instrument tools such as k-wire, guide pins, cannulas, pedicle screws, bone drills, reamers, and the like. Surgical procedures performed using the surgical instruments of the present application include, but are not limited to, needle placement, hole opening, reaming, tapping, stapling, drilling, grinding, and the like. When the surgical instrument 1000 of the present application is manual or semi-automatic, the actuator 300 may not be provided and the instrument assembly 100 may be supported by a base plate or a foot.

The drive means 2 of the instrument assembly 100 typically employs a motor for driving the instrument tool in rotation. The transmission and clamping assembly includes a gear assembly. The transmission comprises an input gear 111, the input gear 111 being coupled with the drive means 2 for driving the input gear 111 in rotation. The transmission also includes an output gear 112, the output gear 112 being geared with the input gear 111. The clamping assembly comprises an input gear 121, and the transmission device drives the input gear 121 to move, so that surgical operation tools in the clamping assembly are driven to move. The output gear 112 of the transmission device and the input gear 121 of the clamping assembly are in gear engagement transmission, or synchronous rotation is realized through the coupling of the central shafts of the gears.

The actuation device 300 provides motive force in the spatial dimension of the instrument assembly 100. The actuation device 300 is used both to support and mount the instrument assembly 100 and to mount the surgical instrument 1000 to the robotic arm 2000 (fig. 10). The actuating device 300 comprises a base 310 and a driving unit 3 in the base, wherein the driving unit 3 is a motor or other electric driving modes, and can also be a transmission disc; the drive plate is driven by a power device arranged on the robot or outside. The top of the base 310 is provided with a slider 320, and the instrument assembly 100 is connected to the slider 320. The driving unit 3 drives the sliding block 320 to drive the instrument assembly 100 to move, or the driving unit 3 is connected with the sliding block 320 through a transmission assembly and drives the sliding block to move, and the sliding block 320 drives the instrument assembly 100 to reciprocate.

The driving unit 3 is a motor, and is installed inside the housing 310. The inside of the base 310 is provided with a transmission mechanism 30, the transmission device is connected with a sliding block 320, and the sliding block 320 is driven by the driving unit 3 to reciprocate through the transmission mechanism 30. The transmission mechanism 30 is a ball screw assembly, and includes a ball screw 32 and a screw nut 31, wherein the screw nut 31 is sleeved on the ball screw 32. The ball screw 32 is coupled to an output shaft of the driving unit 3 through a bearing 36 and a coupling 35, and rotates in synchronization, and the driving unit 3 drives the ball screw 32 to rotate, thereby linearly reciprocating the screw nut 31 along the ball screw 32. A linear guide 313 is mounted on the bottom wall of the base 310 for guiding the linear movement of the screw nut 31, and the screw nut 31 is slidably connected to the linear guide 313. Limiting blocks 312 are arranged at two ends of the linear guide rail 313 and are used for limiting the movement position of the guide nut 31. The bottom wall of the base 310 is also provided with end seats 34, 37 for supporting the two ends of the ball screw 32. In other examples, a linear motor is disposed inside the housing 310 of the actuator 300, and the slider 320 is connected to a mover of the linear motor to reciprocate along a linear guide. The slider 320 drives the instrument assembly 100 to reciprocate linearly, which may be along the depth of the surgical site, to enable the surgical tool to enter or exit the surgical site.

The transmission device of the embodiment of the present application is a first gear assembly 110, and the clamping assembly is a second gear assembly 120. The two gear components are connected through a coupling shaft of the gear central shaft, and the gear central shafts are detachably or coupled, so that the purpose of mounting or dismounting the second gear component 120 and the purpose of mounting or dismounting the instrument tool 5 from the side direction integrally along with the second gear component 120 are realized. The first gear assembly 110 is connected with the driving device 2, the driving device 2 drives the first gear assembly 110 to move, the first gear assembly drives the second gear assembly 120 to move, and the transmission device and the clamping assembly respectively comprise a pair of meshed input gears and meshed output gears. Illustratively, the first gear assembly and the second gear assembly each include a pair of meshing bevel gears (or helical gears).

The driving device 2 of the instrument assembly 100 is used for driving the instrument tool 5 to rotate, and the motor is used for example, and is connected with a sliding block 320 and a moving platform 330 mounted on the actuating device 300 through a motor bracket 21, wherein the sliding block 320 is connected with the moving platform 330. The mobile platform 330 is used to support the instrument assembly 100; the slide 320 moves the movable platform and the instrument assembly 110 integrally.

The first gear assembly 110 is detachably connected to the second gear assembly 120, and the driving device 2 drives gears in the first gear assembly 110 to move. The driving device 2 is connected to the actuating device 300 and the housing 113 of the first gear assembly 110 via the motor bracket 21, and an output shaft of the driving device 2 is connected to the input shaft 1111 of the first gear assembly 110. The motor bracket 21 is attached to the moving platform 330, for example, by being attached to a fixed block without being separated from a screw, a positioning pin, or the like. The moving platform 330 is part of the slider 320 of the actuator 300 or is connected to the slider 320. The front end of the base 31 of the actuator 300 may be provided with a front end bracket 4 as required.

In this embodiment, the first gear assembly 110 as a transmission device and the second gear assembly 120 as a clamping assembly each include a pair of bevel gears engaged with each other vertically, and one bevel gear (input gear) of the two bevel gears of the first gear assembly 110 is connected to the driving device 2, and is driven to rotate by the driving device. The other bevel gear (output gear) or center shaft of the first gear assembly 110 mates with the input gear or center shaft of the second gear assembly 120, illustratively, forming a laterally separable shaft coupling therebetween, synchronous rotation. The tool is clamped on the central shaft of the output gear of the second gear assembly 120, and the input gear and the output gear of the second gear assembly 120 are in meshed transmission through bevel gears. The driving device 2 drives the input gear of the first gear assembly 110 to rotate, and drives the central shaft of the output gear of the second gear assembly 120 to rotate through the meshed transmission of the pair of bevel gears of the first gear assembly, the shaft coupling transmission between the central shaft of the output gear of the first gear assembly and the central shaft of the input gear of the second gear assembly 120 and the meshed transmission between the pair of bevel gears of the second gear assembly 120, so that the instrument tool 5 mounted on the output shaft of the second gear assembly 120 is stably rotated to perform a surgical operation.

Specifically, the two sets of gear assemblies 110, 120 each include a pair of intermeshing bevel gears 111/112, 121/122. The first gear assembly 110 and the second gear assembly 120 are detachably connected laterally to effect removal of the tool 5. Bevel gears 111/112, 121/122 are respectively arranged on the central shafts thereof through bearings, and each gear is in clamping connection with the central shaft thereof and can synchronously rotate. The first gear assembly 110 and the second gear assembly 120 are disposed within the first housing 113 and the second housing 123, respectively. The boxes 113 and 123 are capped by covers 1130, 1230, respectively; the side wall of the box body is correspondingly provided with a plurality of through holes, and the central shafts of the bevel gears 111/112, 121/122 are rotatably arranged on the first box body 113 or the second box body 123 in cooperation with bearings and bearing seats.

The first gear assembly 110 includes a pair of first and second bevel gears 111 and 112 engaged with each other vertically, wherein the first bevel gear 111 serves as an input gear of a transmission, is mounted to a gear center shaft, i.e., an input shaft 1111, through a bearing 1112, and is relatively fixedly connected to rotate in synchronization. One end of the input shaft 1111 is rotatably mounted in a through hole in the side wall of the first housing 113 via a bearing and a bearing housing, and the other end is connected to an output shaft of the driving device 2, and the driving device 2 drives the first bevel gear 111 to rotate. Specifically, one end (input end) of the input shaft 1111 of the first bevel gear 111 is rotatably mounted in the housing 113 via a bearing 1119 mounted in a through hole in a side wall of the first housing 113 and a bearing seat 1118 outside the hole and is coupled to an output shaft of the drive device 2 via a bearing 1117. Bearing support 1118 is fixedly arranged outside a through hole on the side wall of first box 113, and bearing 1117 is matched with the motor output shaft; the bearing 1119 mates with the input end of the input shaft 1111. The first bevel gear 111 is fixedly mounted to the end (output end) of the input shaft 1111 via a bearing 1112 and a stop flange 11110 at the end of the input shaft 1111, and is engaged with the second bevel gear 112.

The second bevel gear 112 is an output gear of the transmission, is meshed with the first bevel gear 111 as an input gear, is mounted on an output shaft 1121 which is a gear center shaft via a bearing 1122, and is rotated in synchronization with the clamping connection of the output shaft 1121. One end, i.e., an output end, of the output shaft 1121 of the second bevel gear 112 is coupled to the input shaft 1211 of the third bevel gear 121 of the second gear assembly 120 by a bearing 1126 mounted in a through hole formed in a sidewall of the first housing 113, and is coupled to be rotated in synchronization therewith. The other end of the output shaft 1121 is rotatably attached to the first casing 113 by a bearing 1123 attached to the other side wall of the first casing 113 in a through hole and a bearing cover 1122 attached to the outside of the through hole. The bearing cover 1122 is fixedly installed outside the through hole of the corresponding sidewall of the first housing 113.

The input gear of the clamping assembly, i.e. the second gear assembly 120, is a third bevel gear 121, which is mounted on the gear central shaft, i.e. the input shaft 1211, in a clamping connection and synchronously rotating. One end of the input shaft 1211, i.e. the input end, is connected with the output end of the output gear of the transmission device, i.e. the output end of the output shaft 1121 of the second bevel gear 112 in a shaft-connecting and synchronous rotation manner through a bearing 1213 arranged in a through hole on the corresponding side wall of the second box body 123, a bearing seat 1214 arranged outside the through hole, and a bearing 1126 in a through hole on the corresponding side wall of the first box body 113. The bearing block 1214 is fixed outside a through hole provided on a corresponding side wall (connected to the first casing 113) of the second casing 123. The other end of the input shaft 1211 is installed in the central shaft hole of the third bevel gear 121 and is tightly connected, and the end cover 1212 is combined with a fastener to fixedly connect the third bevel gear 121 with the tail end of the input shaft 1211 for synchronous rotation. Illustratively, the end of the input shaft 1211 and the end cap 1212 are provided with mounting holes, the end cap 1212 is disposed outside the central shaft hole of the third bevel gear 121, and the end cap 1212, the third bevel gear 121, and the end of the input shaft 1211 may be fixed by screws. The third bevel gear 121 is vertically meshed with the fourth bevel gear 122.

The output gear of the clamping assembly, i.e. the second gear assembly 120, is a fourth bevel gear 122, which is fastened to and rotates synchronously with its central shaft, i.e. the output shaft 1221, and the tool 5 is mounted on the output shaft 1221 and rotates synchronously with the output shaft. The rear end of the output shaft 1221 is rotatably mounted on the second box body 123 through a through hole on the corresponding side wall of the second box body 123, an in-hole bearing 1229 and an out-hole bearing cover 1228, and the bearing cover 1228 is fixedly mounted outside the through hole on the corresponding side wall of the second box body 123; the front end of the output shaft 1221 is rotatably mounted in the case 123 via a bearing 1224 mounted in a through hole in the other side wall, i.e., the front wall, of the case 123 and a bearing cover 1225 mounted outside the through hole. The output shaft 1221 of the fourth bevel gear 122 is configured as a hollow shaft, and the inside thereof is penetrated along the axial length to form a central shaft hole or central passage, and the front end thereof is connected with the connecting rod 50 of the tool 5 to drive the tool to rotate synchronously. Wherein, the inside of the connecting rod 50 forms a central through hole or a central channel along the central axis, the front end of the connecting rod 50 is connected with the chuck 51, the inside of the chuck forms a central through hole or a central channel along the central axis, the hollow output shaft 1221 is communicated with the connecting rod 50 and the central channel inside the chuck 51, and can be used for inserting Kirschner wires with different specifications. The front end of the output shaft 1221 passes through a bearing cover 1225 mounted outside the through hole on the front wall of the second casing 123 and a bearing 1224 mounted inside the hole and extends outwardly to be connected with the hollow connecting rod 50 of the instrument tool 5, and communicates with the inside. The front end of the output shaft 1221 is inserted into the central passage of the connecting rod 50 to be tightly coupled, and a fastener may be used to fixedly couple the connecting rod 50 to the output shaft 1221. The front end (thinner) of the connecting rod 50 is inserted into the central channel of the chuck 51 for tight fit connection, and the front end of the connecting rod 50 is provided with or without the chuck 51 according to specific needs. The connecting rod 50 and the collet 51 may be shaped and have a central passage that is thin at the front and large at the rear, fittingly or fixedly attached to each other, and fittingly mounted to the front end of the output shaft 1221.

The cases 113 and 123 are detachably fastened and connected, and by way of example, by providing mounting holes in the side walls of the cases, fasteners such as non-releasable screws 124 (the ends of the non-releasable screws are stuck in the object to be fastened and do not release from the mounting holes) are inserted into the mounting holes to fasten and connect. The two housings are separated by loosening the fasteners (without backing out the screws 124) and simultaneously, the central shaft of the bevel gear 121 in the second bevel gear unit 120 is removed from the bearing housing 1126 and pulled apart from the output shaft 1121 of the bevel gear 112 in the first bevel gear unit, separated from each other, and the second gear unit 120 and the tool 5 clamped to the second gear unit 120 are removed from the gear housing side of the first gear unit.

The instrument tool 5 includes a hollow connecting rod 50 and a front end assembly formed or attached to the front end of the connecting rod, for example, a collet 51 is selectively provided. For example, when the instrument 5 is a drill bit, the chuck 51 is required to clamp the guide pin 54, and the chuck 51 is configured to lock or unlock the guide pin 54 according to the prior art; when the instrument tool 5 is a power saw, the collet 51 is not provided and the front end of the connecting rod 51 forms annular teeth.

The front end of an output shaft 1221 of the fourth bevel gear (output gear) 122 passes through a through hole in the side wall of the second casing 123 to be connected to the tool 5, and the fourth bevel gear 122 drives the tool 5 to rotate. The chuck 51 of the tool 5 is connected with the front end of the connecting rod 50 in a taper manner, the connecting rod 50 is connected with the hollow output shaft 1221 of the fourth bevel gear 122, the fourth bevel gear 122 is arranged on the hollow output shaft 1221, and the two ends of the fourth bevel gear 122 are supported by bearings 1224 and 1229, so that the stable rotation of the connecting rod 50 is ensured. In this embodiment, the output shaft 1221 of the clamping assembly (the second gear assembly 120) is a hollow shaft, the guide pin 54 can penetrate from the chuck 51, the tail part passes through the connecting rod 50 and the channel in the central shaft of the output shaft 1221, and the guide pin can penetrate from the hollow output shaft 1221 to the rear, so that guide pins (k-wires) with different lengths or specifications can be used to meet the requirements of different surgical operations. The collet 51 releasably grips the surgical tool.

Referring to fig. 8, the front end of the actuator 300 is provided with a front end bracket 4, and the front end bracket 4 may be fixed to the front end of the housing 310 of the actuator 300 by using a screw 44, for example, without removing the screw 44. The front end bracket 4 is used to support a front end assembly of an instrument tool, such as a front end of a support lead cannula 55 or support connecting rod 50. The front end bracket 4 includes a base 40 and a top cover 41, the top cover 4 being rotatably mounted on top of the base 40 by a pivot 45, together defining a through hole 46. A notch 410 is formed in one side of the top cover 41 for clamping with a screw. The other side of the top of the base 40 is provided with a rotatable (swinging) screw 43, the screw 43 comprises a rod 430 and a cap 431 connected with the top of the rod 430, the rod 430 is rotatably installed in the base 4, specifically in a clamping groove 401 formed on one side of the base 4, the side wall of the clamping groove 401 is provided with a shaft hole corresponding to the shaft hole at the bottom of the rod 430, and the shaft hole is inserted by a pin 402, so that the rod 430 of the screw 43 is rotatably installed on the base 40. When the screw 43 rotates (swings) along the clamping groove 401, the cap 431 at the top of the screw 43 is rotated into the notch 410 at one side of the top cover 41 to clamp, so that the top cover 41 is locked at the top of the base 40, and the front end or the front end component of the instrument passes through the through hole 46 to be supported and limited; alternatively, cap portion 431 is rotated out of notch 410 of top cover 41, and top cover 41 is flipped open, at which point the front end or front end assembly of the instrument tool may be moved out of through-hole 46 in the top of front end bracket 4.

Illustratively, the base 40 of the front end bracket may further have mounted thereon a cross laser assembly for providing accurate surgical site or positioning. The cross laser assembly includes a linear laser pen and a cross laser mounting block. The cross laser mounting block is fixed to the front end surface of the base 40, and a mounting hole is provided therein. Two linear laser pens are arranged in the holes.

Illustratively, the instrument 5 includes a connecting rod 50 and a collet 51 at the front end of the connecting rod, the connecting rod 50 and the collet 51 being in communication along a central passage (or shaft bore) of the axis, a guide pin 54 being insertable, the front end of the guide pin 54 being inserted into a guide pin housing 55, the guide pin housing 55 being supported in position by the front end bracket 4. When the guide pin sleeve is removed, the top cover of the front end bracket 4 is opened, the guide pin can be replaced by loosening the clamping head 51, and secondary needle placement is performed. When the instrument tool 5 is a needle setting tool, a guide needle is arranged in the chuck 51; when the instrument tool is a bone drill, a drill bit is installed in the chuck 51, and the chuck 51 can be provided with a guide pin or a drill bit by adopting the structure in the prior art. When the tool 5 is a trepan, the front end (or head) of the connecting rod 50 is serrated, without the use of a collet 51, and the front end is supported in position by the front end bracket 4.

As an example, the instrument assembly 100 of the surgical instrument 1000 and the front end bracket 4 are mounted on the actuation device 300. The instrument tool is mounted to the instrument assembly 100 with the front end or front end assembly of the instrument tool 5 being supported by the front end bracket 4. The actuator 300 is mounted to the robotic arm 2000 to perform a surgical operation by a robot. The instrument assembly 100 is connected to the slider 320 of the actuator 300, and the actuator 300 drives the instrument assembly 100 to reciprocate in a linear direction in the depth direction. The driving device 2 of the instrument assembly 100 drives the instrument tool 5 mounted on the clamping assembly, i.e. the second gear assembly 120, to rotate through the transmission, i.e. the first gear assembly 110. The central shaft 1111 of the first bevel gear 111 of the first gear assembly 110 is connected with the output shaft of the driving device 2, the driving device 2 drives the first bevel gear 111 to rotate, the first bevel gear 110 is meshed with the second bevel gear 112 to drive the second bevel gear 112 to rotate, the central shaft 1121 of the second bevel gear is connected with the central shaft 1211 of the third bevel gear 121 to synchronously rotate, and the third bevel gear 121 is meshed with the fourth bevel gear 122 to drive the fourth bevel gear 122 to rotate. The tool 5 is mounted on the central shaft 1221 of the fourth bevel gear 122, and the tool 5 is rotated by the central shaft 1221. The center shaft 1221 of the fourth bevel gear 122 is a hollow shaft, and the hollow connecting rod 50 and the hollow chuck 51 are fitted to the front end thereof, and an axial passage is formed therein. The tail of the guide pin 54 is inserted into the passage in the central axis direction of the central shaft 1221 of the collet 51, the connecting rod 50, and the fourth bevel gear 122, and is gripped by the collet 51. The tip of the guide pin 54 is inserted into a sleeve 55, and the sleeve 55 is mounted on the tip holder 4. The first housing 113 is connected to the second housing 123, and the output shaft 1121 of the first gear assembly 110 is connected to the input shaft 1211 of the second gear assembly 120, thereby assembling the surgical instrument 1000. The actuation device 300 is activated to adjust the surgical tool guide pin 54 to a predetermined position, and the actuation drive device 2 is activated to drive the surgical tool to rotate for needle placement. After the first needle placement is completed, the clamping head 51 is loosened, the first box 113 is detached from the second box 123, the output shaft 1121 of the first gear assembly 110 is pulled away from the input shaft 1211 of the second gear assembly 120, so that the second gear assembly 120 can be removed from the side surface of the first gear box 113, and the clamping assembly and the clamping instrument tool 5 (the clamping head 51 and the connecting rod 50) thereof are removed from the surgical instrument 1000; the cover 41 of the front end bracket 4 is opened and the sleeve 55 is removed. The next guide pin 54 is installed in the chuck 51 to be locked, and the input shaft 1211 of the second gear assembly 120 is connected with the output shaft 1121 of the first gear assembly 110 through a bearing or a coupling again to synchronously rotate; the second gear box 123 is fixedly connected with the first gear box 113 through a fastener (without disengaging the screw 124), so that the clamping assembly and the clamping instrument tool 5 are installed in the surgical instrument 1000, and needle placement can be performed again.

Referring to fig. 10, the surgical instrument 1000 of the present application is applied to a surgical robot, and the mechanical arm 2000 thereof is mounted with the surgical instrument 1000 of the above-described embodiment. The actuation device 300 of the surgical instrument is mounted on a joint of the robotic arm 2000. The robotic control of the motion of the surgical instrument 1000 may be accomplished by sensors. The surgical robot comprises a control system, which can be designed according to the prior art, by which the drive unit of the actuating device 300 and the drive device 2 of the surgical instrument 1000 are controlled to operate.

The instrument assembly 100, the surgical instrument 1000, and the surgical robot of the above embodiments have the following advantages:

1) After the bone drilling operation is finished, the drill bit is kept at a fixed position, and the first gear assembly and the second gear assembly are separated to integrally withdraw the second gear assembly, so that the tail of the Kirschner wire is withdrawn from the side along with the clamping head and the connecting rod;

2) The clamping assembly (second gear assembly 120) may accommodate different lengths of k-wire: the output shaft of the installation instrument tool adopts a hollow design, and is matched with the hollow connecting rod and the hollow chuck, so that Kirschner wires with different lengths can be installed, and the requirements of different surgical tools on the length of the guide pin are met;

3) The automatic needle placing platform is smaller, so that the instrument and tool are prevented from colliding with the mechanical arm, the miniaturization of the tail end orthopedic surgical instrument and the miniaturization of the robot structure are facilitated, the structure is simpler, and the miniaturization of the operating room space is facilitated;

4) The structural design of the clamping assembly can be used for integrally disassembling and assembling the instrument tool, and no electronic element exists, so that the clamping assembly is not limited by the influence of electronic elements such as a sensor and the like and sterilization or sealing structures;

at this time, a drill bit is installed in the chuck 51;

the utility model provides an instrument assembly 100 when being applied to manual apparatus 1000, drive arrangement 2 installs inside the host computer casing, and the inside control circuit board and the battery of setting up of host computer casing, drive arrangement 2 and battery are connected with the control circuit board electricity, still set up control switch on the host computer. The main machine of the manual apparatus may be an existing main machine such as a main machine (handle) of a hand drill, and the control switch is manually operated to start the driving device 2 to work, so as to drive the gears in the first gear assembly and the second gear assembly and the central shaft thereof to rotate, thereby driving the apparatus tool 5 to rotate for performing operation. The driving device 2 is usually a motor, and the host and the apparatus assembly 100 can be connected through a quick-release adapter. The host machine and the quick-release adapter can be realized by adopting the existing host machine and the quick-release adapter of the existing manual instrument, the existing manual instrument can be directly modified, the instrument assembly 100 of the application is connected to the existing host machine, and the instrument tool 5 is driven by a motor in the host machine to rotate. The output shaft of the driving device is connected to the central shaft 1111 of the input gear (first gear) 111 of the first gear assembly 110 through a conventional adapter, and the main machine drives the input gear 111 to rotate. The adapter is hollow sleeve-shaped, a coupling is arranged in the adapter, the front end of the coupling is connected with a central shaft 1111 of an input gear 111 of the first gear assembly 110, the rear end of the coupling is connected with an output shaft of a host machine (driving device), the host machine (driving device) drives the input gear 111 to rotate, the input gear 111 is meshed with an output gear (second gear) 112 for transmission, and the central shaft 1121 of the output gear is driven to rotate so as to drive the instrument tool 5 to rotate. The output gear (second gear) 112 is coupled to the input shaft 1211 of the second gear assembly 120, and rotates synchronously, so as to drive the input gear (third gear) 121 of the second gear assembly 120 to rotate, the input gear (third gear) 121 is meshed with the output gear (fourth gear) 122 of the second gear assembly 120 to drive the output gear (fourth gear) 122 to rotate, and the central shaft (output shaft) 1221 of the output gear (fourth gear) 122 rotates synchronously with the output gear (fourth gear) 122, so that the connecting rod 50 and the chuck 51 of the instrument tool 5 mounted at the front end of the output shaft 1221 are driven to rotate, and the surgical operation tool mounted on the chuck 51 is driven to rotate, so that the doctor performs the surgical operation manually. The position of the instrument tool 5 in the other spatial dimension is manually adjusted.

In other embodiments, the two sets of gears 111/112/121/122 in the gear assemblies 110 and 120 may be implemented by using a spur gear or a rack, where the spur gear, the rack, and the central shaft are configured, the driving device 2 drives the first gear 111 to rotate, and the output shaft 1221 of the fourth gear 122 is finally driven to rotate by the meshing transmission of the four gears or the coupling transmission between the central shafts, so as to drive the surgical operation tool to rotate for performing the surgical operation.

In the above embodiments, the input shaft and the output shaft of the gear refer to the central shaft of the gear, and the gear and the central shaft thereof are fixedly connected to each other unless otherwise specified.

Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the spirit and scope of the present application as defined by the appended claims and their equivalents.

Claims (14)

1. A surgical instrument comprising a drive device and a gear assembly; the method is characterized in that: the gear assembly includes a first gear assembly and a second gear assembly; the first gear assembly and the second gear assembly respectively comprise a pair of input gears and output gears which are meshed with each other, and each gear is arranged on the central shaft; the input gear of the first gear assembly is connected with the driving device and is driven by the driving device to rotate; the central shaft of the input gear of the second gear assembly is detachably coupled with the central shaft of the output gear of the first gear assembly so as to drive the central shaft of the second gear assembly to rotate; the central shaft of the output gear of the second gear assembly is provided with an instrument tool to drive the instrument tool to rotate.

2. The surgical instrument of claim 1, wherein:

the instrument tool comprises a connecting rod, and the front end of the connecting rod is provided with or connected with a surgical operation tool; the connecting rod is a hollow rod, and a central channel which penetrates through the length of the rod is formed in the connecting rod along the axis;

the central shaft of the output gear of the second gear assembly is a hollow shaft, and a central channel which penetrates through the shaft length is formed inside the central shaft along the axis;

the connecting rod is sleeved at the front end of the central shaft of the output gear of the second gear assembly and is fixedly connected relatively, and the internal central channels are communicated.

3. The surgical instrument of claim 2, wherein:

the connecting rod is fixedly connected with the central shaft of the second gear assembly through a fastener;

the front end of the connecting rod is detachably connected with a chuck, and a central channel with a through length is formed in the chuck along the axis and is aligned and communicated with the central channel of the connecting rod; the collet is for releasably gripping the surgical tool.

4. The surgical instrument of claim 2, wherein:

the first gear assembly is arranged in the first box body, the second gear assembly is arranged in the second box body, and the first box body and the second box body are detachably and relatively fixedly connected;

The central shaft of the input gear of the first gear assembly penetrates through a through hole formed in the side wall of the first box body to be connected with the driving device;

the central shaft of the output gear of the second gear assembly penetrates through a through hole arranged on the side wall of the second box body and is connected with a connecting rod of the instrument tool;

the first box body and the second box body are provided with a plurality of mounting holes or through holes, and two ends of a central shaft of each gear are rotatably inserted into the mounting holes or through holes of the corresponding side walls of the box bodies so as to rotatably mount each gear and the central shaft thereof in the corresponding box bodies;

the instrument tool is detached integrally with the second gear assembly from the side direction of the surgical instrument by separating the central axis of the output gear of the first gear assembly from the central axis of the input gear of the second gear assembly and separating the first and second cases.

5. The surgical instrument of claim 4, wherein:

the driving device comprises an output shaft and a bracket;

the bracket is fixedly connected with the first box body relatively;

the output shaft of the driving device is connected with the central shaft of the input gear of the first gear assembly through a bearing or a coupling;

Each gear is sleeved on the center of the gear and is relatively and fixedly connected;

the central shaft of each gear is rotatably arranged in the mounting hole or through hole of the corresponding side wall of the box body through the bearing and the bearing seat;

one end of a central shaft of an input gear of the second gear assembly penetrates through the second box body and is connected with the central shaft of an output gear of the first gear assembly through a bearing or a coupling;

the driving device is a motor.

6. The surgical instrument of claim 5, wherein: the surgical instrument further includes an actuation device, the drive device and gear assembly being mounted on and driven by the actuation device for unitary movement in a spatial dimension to adjust the spatial position or pose of the instrument tool.

7. The surgical instrument of claim 6, wherein:

the actuating device comprises a driving unit, wherein the driving unit is a motor or a transmission disc, and the transmission disc is driven by an external motor or controlled and driven by the surgical robot;

the actuating device comprises a base body, a driving unit is arranged in the base body, a linear guide rail is further arranged in the base body, and a sliding block is arranged at the top of the base body;

the sliding block is provided with a moving platform, and the bracket of the driving device is connected with the sliding block and/or the moving platform;

The driving unit drives the sliding block to reciprocate along the linear guide rail, so that the driving device and the gear assembly are driven to integrally reciprocate.

8. The surgical instrument of claim 7, wherein:

a screw rod assembly is arranged in the base body and comprises a ball screw and a nut; the nut is sleeved outside the ball screw; the driving unit drives the ball screw to rotate, so that the nut linearly reciprocates along the ball screw; the sliding block is connected with the nut, the nut drives the sliding block to move, and the screw nut is slidably connected with the linear guide rail; or,

the linear motor is arranged in the base, the sliding block is connected with a rotor of the linear motor, and the linear motor drives the sliding block to reciprocate along the linear guide rail.

9. The surgical instrument of claim 5, wherein:

the front end of the actuating device is provided with a front end bracket for supporting and positioning the front end or the front end component of the connecting rod;

the front end bracket comprises a base and a top cover; the top of the base is provided with a through hole; the top cover is connected to the top of the base through a pivot and can be turned over to cover the through hole at the top of the base;

the front end or the front end component of the connecting rod passes through the through hole at the top of the base so as to support and limit;

A gap is formed at one side of the top cover, and a screw is rotatably arranged on the base;

the screw is rotated to be clamped into the notch to lock the top cover at the top of the base, or the screw is rotated out of the notch to enable the top cover to be overturned at the top of the base to open the through hole at the top of the base.

10. The surgical instrument of any one of claims 1-9, wherein:

the input gear and the output gear of the first gear assembly are a pair of mutually meshed helical gears;

the input gear and the output gear of the second gear assembly are a pair of intermeshing helical gears.

11. The surgical instrument of any one of claims 10, wherein:

the input gear and the output gear of the first gear assembly are a pair of bevel gears which are mutually and vertically meshed;

the input gear and the output gear of the second gear assembly are a pair of bevel gears which are engaged with each other vertically.

12. The surgical instrument of any one of claims 1-5, wherein:

the driving device is a motor; the motor is powered by an external power supply; or,

the motor is powered by a battery, the motor and the battery are installed in a host, a control circuit board is further arranged in the host and is electrically connected with the motor and the battery, and a switch is arranged on the host and is used for starting the motor to work; the host is a manually operated host, and a driving device in the host is connected with the central shaft of the input gear of the first gear assembly through an adapter. .

13. The surgical instrument of claim 12, wherein:

the input gear and the output gear of the first gear assembly are a pair of mutually meshed helical gears;

the input gear and the output gear of the second gear assembly are a pair of intermeshing helical gears.

14. A surgical robot, characterized by: the surgical robot comprising the surgical instrument of any one of claims 1-11; the surgical instrument is mounted on a mechanical arm of the surgical robot.