CN117426809B - Tensioning method and tensioning tool for rope of surgical instrument - Google Patents
Tensioning method and tensioning tool for rope of surgical instrument Download PDFInfo
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- CN117426809B CN117426809B CN202311764556.3A CN202311764556A CN117426809B CN 117426809 B CN117426809 B CN 117426809B CN 202311764556 A CN202311764556 A CN 202311764556A CN 117426809 B CN117426809 B CN 117426809B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 description 7
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 208000032544 Cicatrix Diseases 0.000 description 1
- 206010048038 Wound infection Diseases 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 230000037387 scars Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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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
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Abstract
The invention belongs to the technical field of medical instruments, and discloses a tensioning method and a tensioning tool for a rope of a surgical instrument. According to the invention, the rope is tensioned before the first driving wheel and the second driving wheel are locked to the driving shaft, and a structure for assisting tensioning is not reserved in the surgical instrument after tensioning is completed, so that the tensioning of the rope can be realized, and meanwhile, the tensioning structure does not need to be arranged in the surgical instrument in an extra occupied space, thereby being beneficial to the lightweight and miniaturized design of the surgical instrument.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a tensioning method and a tensioning tool for a rope of a surgical instrument.
Background
Compared with the traditional open surgery, the minimally invasive surgery has the advantages of reducing pain of patients, reducing wound infection risk, shortening postoperative recovery time, reducing scars, saving expenses and the like.
The surgical instrument applied to the minimally invasive surgery is characterized in that the surgical instrument is used for completing specific functions by means of an actuating mechanism, a power source of the actuating mechanism is a rope, the rope is annular, specifically, one end of the rope is fixedly connected with a first driving wheel, the other end of the rope is fixedly connected with a second driving wheel, and the rope bypasses the actuating mechanism. The first driving wheel and the second driving wheel are sleeved on the driving shaft, and the first driving wheel and the second driving wheel are locked on the driving shaft, when the driving structure drives the driving shaft to rotate bidirectionally, the rope can reciprocate bidirectionally, and therefore reciprocating motion of the executing mechanism is achieved.
In addition, the rope of the surgical instrument is an elastic rope, so the rope can be effectively transmitted after being tensioned, the rope is generally tensioned by adding a constant force tensioning structure in the surgical instrument in the prior art, and the constant pressure is applied to the rope by adding a tensioning wheel in the surgical instrument in the prior art, so that the tensioning of the rope is realized, but the adding of the constant force tensioning structure in the surgical instrument takes up additional space, so that the portable miniaturization design of the surgical instrument is not facilitated.
Therefore, the above-described problems are to be solved.
Disclosure of Invention
The invention aims to provide a tensioning method and a tensioning tool for a rope of a surgical instrument, which are used for solving the problem that adding a constant force tensioning structure in the surgical instrument needs to occupy additional space and is unfavorable for the lightweight and miniaturized design of the surgical instrument.
To achieve the purpose, the invention adopts the following technical scheme:
in one aspect, the present invention provides a method for tensioning a rope for a surgical instrument, wherein one end of the rope is fixedly connected to a first driving wheel, the other end of the rope is fixedly connected to a second driving wheel, and the first driving wheel and the second driving wheel are coaxially arranged and are both sleeved on a driving shaft, the method for tensioning the rope for the surgical instrument includes:
coaxially disposing a torque sensor with the drive shaft;
connecting the first driving wheel with one end of the torque sensor, and fixing the relative position of the first driving wheel and the torque sensor;
connecting the second driving wheel with the other end of the torque sensor, and adjusting the relative positions of the second driving wheel and the torque sensor in the circumferential direction of the driving shaft;
adjusting the relative positions of the first driving wheel and the second driving wheel in the circumferential direction of the driving shaft, and detecting the tensioning force of the rope through the torque sensor;
and locking the first driving wheel and the second driving wheel to the driving shaft when the tensioning force of the rope is equal to a preset value, and releasing the connection between the torque sensor and the first driving wheel and the second driving wheel.
Preferably, the second drive wheel is rotated about the axis of the drive shaft relative to the first drive wheel to adjust the relative positions of the first drive wheel and the second drive wheel in the circumferential direction of the drive shaft.
Preferably, the first driving wheel and the torque sensor are rotatable about the axis of the drive shaft relative to the second driving wheel when the second driving wheel rotates about the axis of the drive shaft relative to the first driving wheel, and the rotation direction of the first driving wheel is opposite to the rotation direction of the second driving wheel.
Preferably, the first drive wheel is rotated about the axis of the drive shaft relative to the second drive wheel to adjust the relative positions of the first drive wheel and the second drive wheel in the circumferential direction of the drive shaft.
Preferably, the first driving wheel is rotated about the axis of the driving shaft with respect to the second driving wheel, and the second driving wheel is rotated about the axis of the driving shaft with respect to the first driving wheel to adjust the relative positions of the first driving wheel and the second driving wheel in the circumferential direction of the driving shaft, the rotation direction of the first driving wheel being opposite to the rotation direction of the second driving wheel.
The invention also provides a tensioning tool for the rope of the surgical instrument, which is used for tensioning the rope of the surgical instrument by the tensioning method of the rope of the surgical instrument, and comprises the following steps:
a torque sensor coaxially disposed with the first and second drive wheels;
the first connecting piece is fixedly connected between one end of the torque sensor and the first driving wheel; the second connecting piece is connected between the other end of the torque sensor and the second driving wheel, the second connecting piece is fixedly connected with the second driving wheel, and the position of the second connecting piece connected with the torque sensor is adjustable.
Preferably, the other end of the torque sensor is sleeved with a first gear, the second connecting piece comprises a connecting rod and a second gear, the second gear is sleeved on the periphery of the connecting rod and meshed with the first gear, and the connecting rod is fixedly connected to the second driving wheel.
Preferably, one end of the second connecting member is fixedly connected to the second driving wheel, and the other end of the second connecting member is detachably connected to the torque sensor.
Preferably, the tensioning tool for a cable of a surgical instrument further comprises a locking device configured to lock the first and second drive wheels to the drive shaft.
Preferably, the tensioning tool for a cable of a surgical instrument further comprises a dismounting device configured to release the connection of the first connection member to the first driving wheel and the second connection member to the second driving wheel.
The invention has the beneficial effects that: according to the invention, the rope is tensioned by adjusting the relative positions of the first driving wheel and the second driving wheel in the circumferential direction of the driving shaft, the tensioning force of the rope is detected by the torque sensor until the tensioning force of the rope meets the requirement, the rope is tensioned after tensioning the rope and locking the first driving wheel and the second driving wheel to the driving shaft is completed, and then the torque sensor, the connecting structure between the torque sensor and the first driving wheel and the connecting structure between the torque sensor and the second driving wheel which are not the structures of the surgical instrument can be removed. Based on the above, the rope between the first driving wheel and the second driving wheel is tensioned before the first driving wheel and the second driving wheel are locked to the driving shaft, and the structure for assisting the tensioning is not reserved in the surgical instrument after the tensioning is completed, so that the tensioning of the rope can be realized, and meanwhile, the tensioning structure does not need to be arranged in the surgical instrument in an extra occupied space, thereby being beneficial to the lightweight and miniaturized design of the surgical instrument.
Drawings
FIG. 1 is a flow chart of a method of tensioning a cable for a surgical instrument in an embodiment of the present invention;
FIG. 2 is a schematic view of a surgical instrument and a tensioning tool for a cable of the surgical instrument according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a driving shaft, a first driving wheel, a second driving wheel, a torque sensor, a first connecting member and a second connecting member according to a first embodiment of the present invention.
In the figure:
110. a drive shaft; 120. a first drive wheel; 130. a second drive wheel; 140. a rope; 150. an actuator; 160. a guide wheel;
210. a torque sensor; 211. a first gear; 220. a first connector; 230. a second connector; 231. a connecting rod; 232. and a second gear.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are orientation or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.
Example 1
Referring to fig. 2, the surgical instrument for minimally invasive surgery includes a driving shaft 110, a first driving wheel 120, a second driving wheel 130, a rope 140 and an actuating mechanism 150, wherein one end of the rope 140 is fixedly connected to the first driving wheel 120, the other end of the rope 140 is fixedly connected to the second driving wheel 130, the first driving wheel 120 and the second driving wheel 130 are coaxially arranged and are both sleeved on the driving shaft 110, the first driving wheel 120 and the second driving wheel 130 can be locked on the driving shaft 110, the rope 140 bypasses the actuating mechanism 150, and when the driving structure (not shown) drives the driving shaft 110 to rotate bidirectionally, the rope 140 can reciprocate bidirectionally, thereby realizing the reciprocating motion of the actuating mechanism 150. In addition, the surgical instrument includes a guide pulley 160, the guide pulley 160 for steering the cable 140.
Since the rope 140 is an elastic rope 140, the rope 140 needs to be tensioned to be effectively driven, and for this purpose, as shown in fig. 1, and in combination with fig. 2 and 3, the present embodiment provides a method for tensioning a rope for a surgical instrument, which includes:
the torque sensor 210 is disposed coaxially with the drive shaft 110;
connecting the first driving wheel 120 with one end of the torque sensor 210, and fixing the relative positions of the first driving wheel 120 and the torque sensor 210;
the second driving wheel 130 is connected to the other end of the torque sensor 210, and the relative position of the second driving wheel 130 and the torque sensor 210 in the circumferential direction of the driving shaft 110 is adjustable;
adjusting the relative positions of the first driving wheel 120 and the second driving wheel 130 in the circumferential direction of the driving shaft 110, and detecting the tension of the rope 140 by the torque sensor 210;
when the tension of the rope 140 is equal to a preset value, the first and second driving wheels 120 and 130 are locked to the driving shaft 110, and the torque sensor 210 is disconnected from the first and second driving wheels 120 and 130.
It can be appreciated that the two ends of the torque sensor 210 are the detection ends of the torque sensor 210, and the tensioning force of the rope 140 can be transmitted to the two ends of the torque sensor 210, and the torque sensor 210 can detect the tensioning force on the rope 140 by detecting the torque of the rope 140 to the torque sensor. Since the relative positions of the first driving wheel 120 and the torque sensor 210 are fixed and the relative positions of the second driving wheel 130 and the torque sensor 210 in the circumferential direction of the driving shaft 110 are adjustable, the torque sensor 210 does not interfere with the movement of the first driving wheel 120 and the second driving wheel 130 in the circumferential direction of the driving shaft 110, and on the one hand, the first driving wheel 120 and the second driving wheel 130 can move in the circumferential direction of the driving shaft 110 so as to tension the rope 140, and on the other hand, the torque sensor 210 can detect the tension force of the rope 140 before and after adjusting the relative positions of the first driving wheel 120 and the second driving wheel 130 in the circumferential direction of the driving shaft 110.
Based on the above, in the present embodiment, the rope 140 is tensioned by adjusting the relative positions of the first driving wheel 120 and the second driving wheel 130 in the circumferential direction of the driving shaft 110, and the tensioning force of the rope 140 is detected by the torque sensor 210 until the tensioning force of the rope 140 satisfies the requirement, and after the tensioning of the rope 140 is completed and the first driving wheel 120 and the second driving wheel 130 are locked to the driving shaft 110, the rope 140 is kept tensioned, and thereafter, the torque sensor 210, the connection structure between the torque sensor 210 and the first driving wheel 120, and the connection structure between the torque sensor 210 and the second driving wheel 130, which are not the structures of the surgical instrument itself, can be removed. Based on the above, in this embodiment, the rope 140 between the first driving wheel 120 and the second driving wheel 130 is tensioned before the first driving wheel 120 and the second driving wheel 130 are locked to the driving shaft 110, and the structure for assisting the tensioning is not remained in the surgical instrument after the tensioning is completed, so that the tensioning of the rope 140 can be achieved, and meanwhile, the tensioning structure does not need to be arranged in the surgical instrument in an extra space, thereby being beneficial to the lightweight and miniaturized design of the surgical instrument.
Specifically, before adjusting the relative positions of the first driving wheel 120 and the second driving wheel 130 in the circumferential direction of the driving shaft 110, the second driving wheel 130 is connected at a first position of the other end of the torque sensor 210, after adjusting the relative positions of the first driving wheel 120 and the second driving wheel 130 in the circumferential direction of the driving shaft 110, the second driving wheel 130 is connected at a second position of the other end of the torque sensor 210, and the tension of the rope 140 can be transmitted to the other end of the torque sensor 210 through the second driving wheel 130 regardless of whether the second driving wheel 130 is connected at the first position or the second position, so that the torque sensor 210 can detect the tension of the rope 140 before and after adjusting the relative positions of the first driving wheel 120 and the second driving wheel 130 in the circumferential direction of the driving shaft 110.
With continued reference to fig. 2 and 3, the present embodiment further provides a tensioning device for a cable of a surgical instrument, where the tensioning device for a cable of a surgical instrument in this embodiment tensions the cable 140 of a surgical instrument by the tensioning method for a cable of a surgical instrument as described above, and based on the above, the tensioning device for a cable of a surgical instrument includes a torque sensor 210, a first connecting member 220 and a second connecting member 230, where the torque sensor 210 is coaxially disposed with the first driving wheel 120 and the second driving wheel 130, the first connecting member 220 is fixedly connected between one end of the torque sensor 210 and the first driving wheel 120, and the second connecting member 230 is fixedly connected between the other end of the torque sensor 210 and the second driving wheel 130, and the second connecting member 230 is fixedly connected with the second driving wheel 130, and at the same time, the position of the second connecting member 230 connected with the torque sensor 210 is adjustable.
Since the position of the second link 230 connected to the torque sensor 210 is adjustable, the torque sensor 210 does not affect the movement of the first and second driving wheels 120 and 130 in the circumferential direction of the driving shaft 110, and the torque sensor 210 can detect the tension of the rope 140 before and after adjusting the relative positions of the first and second driving wheels 120 and 130 in the circumferential direction of the driving shaft 110. In the present embodiment, the rope 140 between the first driving wheel 120 and the second driving wheel 130 is tensioned before the first driving wheel 120 and the second driving wheel 130 are locked to the driving shaft 110, and the torque sensor 210, the connection structure between the torque sensor 210 and the first driving wheel 120, and the connection structure between the torque sensor 210 and the second driving wheel 130, which are not the structures of the surgical instrument itself, can be removed after the tensioning is completed, so that the structure for assisting the tensioning is not preserved in the surgical instrument, and therefore, the tensioning of the rope 140 can be achieved in the present embodiment, and the additional space occupied in the surgical instrument is not required to arrange the tensioning structure, thereby facilitating the lightweight and miniaturized design of the surgical instrument.
In this embodiment, the other end of the torque sensor 210 is sleeved with the first gear 211, that is, the end of the torque sensor 210 connected to the second driving wheel 130 is sleeved with the first gear 211, the second connecting member 230 includes a connecting rod 231 and a second gear 232, the second gear 232 is sleeved on the outer circumference of the connecting rod 231 and meshed with the first gear 211, the connecting rod 231 is fixedly connected to the second driving wheel 130, and when the first driving wheel 120 and the second driving wheel 130 move in the circumferential direction of the driving shaft 110, the connecting rod 231 rotates together with the second driving wheel 130 around the axis of the driving shaft 110 and/or the torque sensor 210 rotates together with the first driving wheel 120 around the axis of the driving shaft 110, and since the connecting rod 231 can roll along the circumferential direction of the first gear 211 through the second gear 232, the relative positions of the second driving wheel 130 and the torque sensor 210 in the circumferential direction of the driving shaft 110 are adjustable, and the circumferential movement of the first driving wheel 120 and the second driving wheel 130 in the circumferential direction of the driving shaft 110 is not affected.
Before and after adjusting the relative positions of the first driving wheel 120 and the second driving wheel 130 in the circumferential direction of the driving shaft 110, since the second gear 232 is always engaged with the first gear 211, the tension of the rope 140 can be transmitted to the other end of the torque sensor 210 through the second driving wheel 130, thereby enabling the torque sensor 210 to detect the tension of the rope 140.
Based on the above, in the present embodiment, by rotating the second driving wheel 130 around the axis of the driving shaft 110 with respect to the first driving wheel 120, thereby adjusting the relative positions of the first driving wheel 120 and the second driving wheel 130 in the circumferential direction of the driving shaft 110, the connecting rod 231 rotates around the axis of the driving shaft 110 together with the second driving wheel 130 when the second driving wheel 130 rotates around the axis of the driving shaft 110 with respect to the first driving wheel 120, and the connecting rod 231 can also roll in the circumferential direction of the first gear 211 through the second gear 232.
Further, when the second driving wheel 130 rotates around the axis of the driving shaft 110 relative to the first driving wheel 120, the side of the rope 140 connected to the second driving wheel 130 is first tensioned, and since the rope 140 is ring-shaped, the side of the rope 140 connected to the second driving wheel 130 can be transferred to the side of the rope 140 connected to the first driving wheel 120, and since the first driving wheel 120 and the torque sensor 210 are fixedly connected, the first driving wheel 120 and the torque sensor 210 can rotate around the axis of the driving shaft 110 relative to the second driving wheel 130, and the rotation direction of the first driving wheel 120 is opposite to the rotation direction of the second driving wheel 130, that is, when the second driving wheel 130 rotates around the axis of the driving shaft 110 relative to the first driving wheel 120, the side of the rope 140 connected to the first driving wheel 120 can pull the first driving wheel 120 to adaptively adjust the position thereof, so that the tensioning forces on both sides of the rope 140 can be kept the same.
Based on the above, in this embodiment, only the second driving wheel 130 is rotated around the axis of the driving shaft 110 relative to the first driving wheel 120 to adjust the tension on both sides of the rope 140, and there is no need to adjust the tension on the rope 140 on the side connected to the second driving wheel 130 separately after the tension on the rope 140 is adjusted, in other words, in this embodiment, the tension on both sides of the rope 140 can be adjusted at one time, compared with the adjustment of the tension on both sides of the rope 140 separately, in this embodiment, it is ensured that the tension on both sides of the rope 140 after adjustment remains the same without deviation in the tension on both sides of the rope 140 after adjustment.
Based on the above, in the present embodiment, the tensioning tool for the rope of the surgical instrument further includes a locking device (not shown in the drawings) configured to lock the first driving wheel 120 and the second driving wheel 130 to the driving shaft 110, and the locking device in the present embodiment may be an automated device such as a robot arm, for example.
In addition, the tensioning tool for the rope of the surgical instrument further comprises a detaching device (not shown in the figure) configured to release the connection between the first connecting member 220 and the first driving wheel 120 and the connection between the second connecting member 230 and the second driving wheel 130, and the detaching device in this embodiment may be an automation device such as a manipulator.
Example two
Compared to the first embodiment, the present embodiment is different in that one end of the second link 230 is fixedly connected to the second driving wheel 130, the other end of the second link 230 is detachably connected to the torque sensor 210, that is, when the first driving wheel 120 and the second driving wheel 130 move in the circumferential direction of the driving shaft 110, the other end of the second link 230 is disconnected from the torque sensor 210, so that the second link 230 can rotate around the axis of the driving shaft 110 together with the second driving wheel 130, and after adjusting the relative positions of the first driving wheel 120 and the second driving wheel 130 in the circumferential direction of the driving shaft 110, the other end of the second link 230 is reconnected to the torque sensor 210, thereby enabling the torque sensor 210 to detect the tension of the rope 140 after adjusting the relative positions of the first driving wheel 120 and the second driving wheel 130 in the circumferential direction of the driving shaft 110.
It is understood that the disassembly structure between the second connecting member 230 and the torque sensor 210 is the prior art, and therefore, the description thereof is omitted in this embodiment.
Of course, in other alternative embodiments, the second connection member 230 may also have other structures to achieve the position adjustment of the connection member to the torque sensor 210, which is not particularly limited in this embodiment.
Example III
Compared with the second embodiment, the difference of this embodiment is that: in this embodiment, the relative positions of the first driving wheel 120 and the second driving wheel 130 in the circumferential direction of the driving shaft 110 are adjusted by rotating the first driving wheel 120 around the axis of the driving shaft 110 with respect to the second driving wheel 130, the other end of the second link 230 is disconnected from the torque sensor 210 when the first driving wheel 120 rotates around the axis of the driving shaft 110 with respect to the second driving wheel 130, so that the torque sensor 210 rotates together with the first driving wheel 120, and after the relative positions of the first driving wheel 120 and the second driving wheel 130 in the circumferential direction of the driving shaft 110 are adjusted, the other end of the second link 230 is reconnected to the torque sensor 210, so that the torque sensor 210 can detect the tension of the rope 140 after the relative positions of the first driving wheel 120 and the second driving wheel 130 in the circumferential direction of the driving shaft 110 are adjusted.
Example IV
Compared with the first embodiment, the difference of this embodiment is that: in this embodiment, the relative positions of the first driving wheel 120 and the second driving wheel 130 in the circumferential direction of the driving shaft 110 are adjusted by rotating the first driving wheel 120 about the axis of the driving shaft 110 with respect to the second driving wheel 130 and rotating the second driving wheel 130 about the axis of the driving shaft 110 with respect to the first driving wheel 120, that is, in this embodiment, the first driving wheel 120 and the second driving wheel 130 are simultaneously rotated, and the second gear 232 rolls in the circumferential direction of the first gear 211 during the rotation, thereby tensioning the rope 140.
It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of the invention. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (10)
1. A method for tensioning a rope for a surgical instrument, wherein one end of the rope (140) is fixedly connected to a first driving wheel (120), the other end of the rope (140) is fixedly connected to a second driving wheel (130), and the first driving wheel (120) and the second driving wheel (130) are coaxially arranged and are respectively sleeved on a driving shaft (110), the method for tensioning the rope for the surgical instrument is characterized by comprising the following steps:
coaxially arranging a torque sensor (210) with the drive shaft (110);
connecting the first driving wheel (120) with one end of the torque sensor (210), and fixing the relative position of the first driving wheel (120) and the torque sensor (210);
connecting the second driving wheel (130) with the other end of the torque sensor (210), and adjusting the relative position of the second driving wheel (130) and the torque sensor (210) in the circumferential direction of the driving shaft (110);
-adjusting the relative position of the first drive wheel (120) and the second drive wheel (130) in the circumferential direction of the drive shaft (110), and-detecting the tension of the rope (140) by means of the torque sensor (210);
when the tension of the rope (140) is equal to a preset value, the first driving wheel (120) and the second driving wheel (130) are locked to the driving shaft (110), and the torque sensor (210) is disconnected from the first driving wheel (120) and the second driving wheel (130).
2. The tensioning method for a rope of a surgical instrument according to claim 1, characterized in that the second drive wheel (130) is rotated about an axis of the drive shaft (110) with respect to the first drive wheel (120) to adjust a relative position of the first drive wheel (120) and the second drive wheel (130) in a circumferential direction of the drive shaft (110).
3. The tensioning method for a rope of a surgical instrument according to claim 2, characterized in that the first drive wheel (120) and the torque sensor (210) are rotatable about the axis of the drive shaft (110) relative to the second drive wheel (130) when the second drive wheel (130) rotates about the axis of the drive shaft (110) relative to the first drive wheel (120), and the direction of rotation of the first drive wheel (120) is opposite to the direction of rotation of the second drive wheel (130).
4. The tensioning method for a rope of a surgical instrument according to claim 1, characterized in that the first drive wheel (120) is rotated about an axis of the drive shaft (110) relative to the second drive wheel (130) to adjust a relative position of the first drive wheel (120) and the second drive wheel (130) in a circumferential direction of the drive shaft (110).
5. The tensioning method of a rope for a surgical instrument according to claim 1, characterized in that the first drive wheel (120) is rotated about an axis of the drive shaft (110) with respect to the second drive wheel (130), and the second drive wheel (130) is rotated about an axis of the drive shaft (110) with respect to the first drive wheel (120) to adjust a relative position of the first drive wheel (120) and the second drive wheel (130) in a circumferential direction of the drive shaft (110), a rotation direction of the first drive wheel (120) being opposite to a rotation direction of the second drive wheel (130).
6. Tensioning tool for a cable of a surgical instrument, tensioning a cable (140) of a surgical instrument by a tensioning method for a cable of a surgical instrument according to any one of claims 1 to 5, characterized in that the tensioning tool for a cable of a surgical instrument comprises:
a torque sensor (210) coaxially disposed with the first drive wheel (120) and the second drive wheel (130);
a first connecting member (220) fixedly connected between one end of the torque sensor (210) and the first driving wheel (120); and
The second connecting piece (230) is connected between the other end of the torque sensor (210) and the second driving wheel (130), the second connecting piece (230) is fixedly connected with the second driving wheel (130), and the position of the second connecting piece (230) connected with the torque sensor (210) is adjustable.
7. The tensioning tool for a rope of a surgical instrument according to claim 6, wherein a first gear (211) is sleeved at the other end of the torque sensor (210), the second connecting member (230) comprises a connecting rod (231) and a second gear (232), the second gear (232) is sleeved at the periphery of the connecting rod (231) and meshed with the first gear (211), and the connecting rod (231) is fixedly connected to the second driving wheel (130).
8. The rope tensioning tool for surgical instruments according to claim 6, wherein one end of the second link (230) is fixedly connected to the second driving wheel (130), and the other end of the second link (230) is detachably connected to the torque sensor (210).
9. The tensioning tool for a cable of a surgical instrument according to claim 6, further comprising a locking device configured to lock the first drive wheel (120) and the second drive wheel (130) to the drive shaft (110).
10. The tensioning tool for a cable of a surgical instrument according to claim 6, further comprising a dismounting device configured to release the connection of the first connection member (220) with the first drive wheel (120) and the second connection member (230) with the second drive wheel (130).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311764556.3A CN117426809B (en) | 2023-12-21 | 2023-12-21 | Tensioning method and tensioning tool for rope of surgical instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311764556.3A CN117426809B (en) | 2023-12-21 | 2023-12-21 | Tensioning method and tensioning tool for rope of surgical instrument |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117426809A CN117426809A (en) | 2024-01-23 |
| CN117426809B true CN117426809B (en) | 2024-03-15 |
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| CN202311764556.3A Active CN117426809B (en) | 2023-12-21 | 2023-12-21 | Tensioning method and tensioning tool for rope of surgical instrument |
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| CN106725859A (en) * | 2016-12-26 | 2017-05-31 | 苏州康多机器人有限公司 | The steel wire rope that a kind of part is substituted by his thing |
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| CN117426809A (en) | 2024-01-23 |
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