CN111012385A - Surgical instrument transmission mechanism - Google Patents

Abstract

The invention relates to a surgical instrument transmission mechanism, which connects a power source with a surgical instrument, wherein the power source comprises at least one motor, and the surgical instrument transmission mechanism comprises: at least one shaft coupling unit, the shaft coupling unit is including the first shaft coupling, second shaft coupling and the third shaft coupling that meet in proper order, and the output shaft of the motor in first shaft coupling and the power supply meets, is equipped with the spring between first shaft coupling and the motor, and the output shaft of motor lets in the connector and meets with first shaft coupling, the connector include with the first connecting portion of the inner wall joint of first shaft coupling and the second connecting portion that meet with the output shaft of motor, the second connecting portion seted up with output shaft complex trompil, the second connecting portion meet with first connecting portion. The surgical instrument transmission mechanism can well convert the power of the motor into the operation of the surgical instrument in the surgical process, thereby realizing the simulation of the actions of a human body in the related surgical process.

Description

Surgical instrument transmission mechanism

Technical Field

The invention relates to the technical field of medical instruments, in particular to a transmission mechanism of a surgical instrument.

Background

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

During robotically-assisted minimally invasive surgery, a surgeon performs surgical tasks with the aid of elongated minimally invasive surgical instruments. One end of the surgical instrument is arranged on the quick-change interface device at the tail end of the manipulator of the robot, and the other end of the surgical instrument is inserted into the body through a tiny incision on the surface of the human body to perform surgical operation, so that the surgical instrument is the only part which is in contact with the pathological tissue of the human body and is also the robot part which directly performs the surgical operation. In the operation implementation, in order to meet the action requirements of different operation tasks (clamping, suturing, knotting and the like), the robot needs to replace instruments matched with the requirements at any time, so that the rapid, efficient and reliable instrument replacement function is also a key factor for reflecting the overall performance level of the minimally invasive operation robot system.

In order to meet the requirements of modern minimally invasive surgery, surgical instruments meet the requirements of exquisite structure, flexible operation, various forms, suitability for medical environment and the like, and the instrument quick-change device matched with the surgical instruments is required to have the characteristics of small size, high efficiency, easiness in operation, reliability in connection and the like. Most of replacement devices of minimally invasive surgical robot systems researched and developed at home and abroad are still on a function implementation level, only can perform replacement of different instruments, and have great gap with actual surgical requirements in the aspects of operability, intelligence level, reliability and the like. Therefore, the realization of the quick and reliable replacement of the surgical instruments is of great significance for filling up the domestic blank and promoting the technical progress of the related fields.

Surgical instruments are often fixed on a mechanical arm or a sliding table of the mechanical arm by a surgical instrument fixing device, on one hand, the surgical instrument fixing device can provide operation power for the surgical instruments, and on the other hand, the surgical instrument fixing device can also control the operation mode of the surgical instruments, so that the surgical instrument fixing device is a complicated and key device, and is complicated in that the surgical instrument fixing device consists of a plurality of small parts; the key point is that the assembly and cooperation of the parts are precise, otherwise the operation of the operation is irreversibly damaged.

In the prior art, a motor serves as a power source and provides power for a surgical instrument through a transmission mechanism, the transmission mechanism is distributed in each part forming a surgical instrument fixing device, when each part is assembled, parts related to the transmission mechanism in each part need to be butted, and the butting precision among the parts of the transmission mechanism needs to be ensured.

However, the surgical instrument is a precise instrument, has many and complex parts, and is time-consuming and labor-consuming if manual butt joint is needed, and errors are easy to generate; therefore, there is a particular need for a surgical instrument transmission mechanism that can be quickly and accurately docked without manual docking

Therefore, there is a need for a transmission mechanism for surgical instruments that overcomes the deficiencies of the prior art.

Disclosure of Invention

In order to achieve the above object, the present invention provides a surgical instrument transmission mechanism, wherein the surgical instrument transmission mechanism connects a power source to a surgical instrument, the power source includes at least one motor, and the surgical instrument transmission mechanism includes:

at least one shaft coupling unit, the shaft coupling unit is including the first shaft coupling, second shaft coupling and the third shaft coupling that meet in proper order, the output shaft of the motor in first shaft coupling and the power supply meets, first shaft coupling with be equipped with the spring between the motor, the output shaft of motor let in the connector with first shaft coupling meets, the connector include with the first connecting portion of the inner wall joint of first shaft coupling and with the second connecting portion that the output shaft of motor meets, the second connecting portion seted up with output shaft complex trompil, the second connecting portion with first connecting portion meet.

The transmission mechanism for surgical instruments as described above, wherein the first connecting portion and the second connecting portion are both cylindrical, and the radial dimension of the second connecting portion is greater than the radial dimension of the first connecting portion.

The surgical instrument transmission mechanism as described above, wherein the side wall of the output shaft is provided with a connecting surface extending along the axial direction thereof, the second connecting portion is provided with a slot communicating with the opening in the radial direction thereof, and the slot is provided with a connecting member abutting against the connecting surface.

The surgical instrument transmission mechanism comprises a first coupling part, a second coupling part, a connecting body, a spring, a first shaft coupling, a second shaft coupling, a cylinder and a connecting body, wherein the connecting body further comprises the cylinder, the cylinder is arranged on the outer wall of the first coupling part, the spring is sleeved on the outer wall of the first coupling part, one end of the spring is abutted to the end face of the second coupling part, the other end of the spring is abutted to the cylinder, a first hole which is communicated along the radial direction of the first coupling part is formed in the outer wall of the first coupling part, a second hole which is communicated along the radial direction of the first coupling part is formed in the side wall of the first shaft coupling, the.

The surgical instrument transmission mechanism as described above, wherein the surgical instrument transmission mechanism further comprises an instrument transmission base, wherein the instrument transmission base comprises:

a transmission seat main body;

the sliding seat is connected with the third coupling through a lead screw, so that the sliding seat can slide on the transmission seat main body.

The surgical instrument transmission mechanism as described above, wherein the sliding seat is connected to one end of a traction rod, and the other end of the traction rod is configured to reciprocate to open and close the instrument.

The surgical instrument transmission mechanism is characterized in that the side wall of the surgical instrument is provided with an inclined hole, and two sides of the other end of the traction rod are provided with pin shafts positioned in the inclined hole.

The transmission mechanism for surgical instruments as described above, wherein the sliding seat is connected to one end of the instrument rod, and the other end of the instrument rod is hinged to the surgical instrument.

As above-mentioned surgical instruments drive mechanism, wherein, the apparatus pole includes that outer tube and cover establish inner tube in the outer tube, be equipped with the catch bar in the inner tube, being close to of outer tube surgical instruments's one end has connect the rotating head, the inner tube with the rotating head meets, the catch bar passes in proper order the inner tube with the rotating head with surgical instruments is articulated mutually.

The transmission mechanism for the surgical instrument comprises a first coupler, a second coupler, a third coupler and a fourth coupler, wherein the first coupler is arranged at the end of the first coupler, the second coupler is arranged at the end of the second coupler, the second coupler is arranged at the end of the third coupler, the third coupler is arranged at the end of the third coupler, the first coupler is arranged at the end of the third coupler, the second coupler is arranged at the end of the third coupler, the.

The surgical instrument transmission mechanism can well convert the power of the motor into the operation of the surgical instrument in the surgical process, thereby realizing the simulation of the action of a human body in the related surgical process, well assembling the instrument and the surgical instrument transmission mechanism together, having simple operation in the assembling process, and saving more manual butt joints or realizing the operation without manual butt joints in the assembling process.

Drawings

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

Fig. 1 is a perspective view illustrating an instrument fixing apparatus of a laparoscopic surgical robot according to an embodiment of the present invention;

FIG. 2 is a perspective view illustrating an instrument fixing apparatus of the laparoscopic surgical robot according to an embodiment of the present invention (instrument connection mechanism is not shown in the drawings);

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

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

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

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

FIG. 7 is an exploded view of an instrument fixing device of the laparoscopic surgical robot according to an embodiment of the present invention (instrument connection mechanism is not shown in the drawings)

FIG. 8 is a schematic perspective view of a transmission base according to an embodiment of the present invention;

FIG. 9 is a perspective cross-sectional view of the actuator mount shown in FIG. 8;

FIG. 10 is a perspective view of an implement attachment mechanism in an embodiment of the present invention;

FIG. 11 is a schematic perspective view of an instrument connection according to an embodiment of the invention (outer tube not shown);

FIG. 12 is a perspective view of an instrument linkage according to an embodiment of the present invention (outer and inner tubes not shown).

Fig. 13 is an exploded view of the first motor, first coupling and second coupling of the present invention.

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

Reference numerals:

1-a driving seat; 2-an isolation seat; 3-a transmission seat;

4-an instrument connection mechanism; 5-a drive mechanism; 6-a first quick release structure;

7-a second quick release structure; 11-a base; 12-a fixed seat;

21-a second coupling; 22-a fifth coupling; 23-eighth coupling;

31-a third coupling; 32-main gear; 33-a rotating shaft;

34-a slave gear; 35-a first seat; 36-a second seat;

37-a sixth coupling; 38-ninth coupling; 41-instrument rod;

42-an instrument; 43-threaded sleeve; 44-a first card slot;

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

48-a third card slot; 51-a power source; 52-a drive plate;

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

738-cover.

9-connector 91-first connector 92-second connector

Detailed Description

The invention will be further explained with reference to the drawings.

As shown in fig. 1 and 2, the present invention provides an instrument fixing apparatus of a laparoscopic surgery robot, which includes a driving base 1, anisolation base 2 disposed on the driving base 1, and adriving base 3 disposed on theisolation base 2. Wherein, be provided with apparatus coupling mechanism 4 on thetransmission seat 3, be fixed withactuating mechanism 5 on the drive seat 1, in addition, drive seat 1 still plays the supporting role to apparatus coupling mechanism 4.

The connection between the driving seat 1, theisolation seat 2 and thetransmission seat 3 will be described in detail.

Thetransmission seat 3 and theisolation seat 2 are quickly connected through a first quick-release structure 6.

As shown in fig. 3, the firstquick release structure 6 includes afirst positioning portion 61, where thefirst positioning portion 61 includes third slide rails 611 disposed on two sides of thetransmission seat 3 andthird slide grooves 612 disposed on theisolation seat 2, and the two third slide rails 611 are respectively disposed in the correspondingthird slide grooves 612, so that thetransmission seat 3 can slide along the length direction of theisolation seat 2.

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

The drivingseat 3 and theisolation seat 2 are completely positioned in the Y-axis direction and the Z-axis direction by thethird slide rail 611 and thethird slide groove 612.

Further, the firstquick release structure 6 further includes asecond positioning portion 62, wherein thesecond positioning portion 62 includes a firstaccommodating cavity 621 and a first elastic body disposed in the firstaccommodating cavity 621. In an embodiment, the first elastic body includes afirst latch 622 capable of moving up and down in the first receivingcavity 621 and a return spring (not shown in the figure) located between a bottom of thefirst latch 622 and a bottom wall of the first receivingcavity 621, and the pressing protrusion 353 (also referred to as the pressing portion 353) protrudes from a top of thefirst latch 622. Aguide portion 628 is disposed at the top end of thefirst latch 622, wherein one end of theguide portion 628 is a downward inclined plane, and the other end is a stopper portion; after the drivingseat 3 is mounted on theisolation seat 2, the end of the drivingseat 3 contacts with the end (i.e., the stopping portion) of the guidingportion 628, so that the drivingseat 3 and theisolation seat 2 are completely positioned in the X-axis direction.

At least two clampingclaws 623 are arranged at the bottom end of thefirst clamping block 622. For example, fig. 4 shows fourclaws 623 respectively located at four corners of theelastic seat 622 and integrally formed with thefirst latch 622. Thefirst receiving chamber 621 is provided therein with chuckingholes 625, and thejaws 623 are respectively disposed in the corresponding chucking holes 625. The bottom of thelatch 623 is provided with abarb 624, and thebarb 624 catches on the bottom of thecatch hole 625, thereby limiting the maximum displacement amount of thefirst catch 622 when moving in a direction away from the first housing cavity 621 (i.e., moving upward in the Z-axis direction).

At least one side wall of thefirst latch 622 is provided with an arc-shapedguide groove 626, for example, four arc-shapedguide grooves 626 are shown in fig. 4, which are respectively located on four side walls of thefirst latch 622; asemi-cylindrical guide 627 is provided on an inner wall of the first receivingcavity 621, and theguide 627 is provided in the arc-shapedguide 626 for maintaining the linear movement of thefirst latch 622 in the Z-axis direction.

The initial state of thefirst latch 622 is that the end of thefirst latch 622 is flush with the end of the first receivingcavity 621, and theguide portion 628 at the top end of thefirst latch 622 is higher than the end of the first receivingcavity 621; theclaws 623 of thefirst latch 622 are disposed in the latch holes 625, and thebarbs 624 at the bottoms of theclaws 623 snap into the bottoms of the latch holes 625. That is, thefirst latch 622 is in the initial state, it can move downward only in the Z-axis direction.

A spring for restoring thefirst latch 622 to an initial state is provided between thefirst latch 622 and the first receivingcavity 621.

Thetransmission seat 3 and theisolation seat 2 are installed in the following way:

the bottom surface of thetransmission seat 3 is in contact with the upper surface of theisolation seat 2, thetransmission seat 3 is pushed along the length direction (i.e. the X-axis direction) of theisolation seat 2, the first end of thetransmission seat 3 firstly contacts thefirst fixture block 622 during the movement of thetransmission seat 3, and when thetransmission seat 3 continues to move, a downward pressure is applied to thefirst fixture block 622, and thefirst fixture block 622 is forced to move downward along the Z-axis direction. In this process, theactuator socket 3 can be easily moved above thefirst latch 622 by theguide 628 at the top end of thefirst latch 622, so that the movement of theactuator socket 3 is not hindered.

In the process of continuously moving thetransmission seat 3, the third slidingrails 611 on both sides of thetransmission seat 3 smoothly enter the third slidinggroove 612 through the guidinginclined surface 613, and continuously move along the third slidinggroove 612 until the bottom end of thetransmission seat 3 completely separates from thefirst latch 622, so that thefirst latch 622 is no longer pressed, and thefirst latch 622 moves upward along the Z-axis direction under the action of the spring and returns to the initial state. At this time, the blocking portion of thefirst latch 622 contacts the second end of the drivingseat 3, so that the drivingseat 3 cannot move backward any more.

Thus, the installation of thetransmission seat 3 and theisolation seat 2 is completed.

When thetransmission seat 3 is detached, theelastic seat 622 is only required to be pressed down, the stopping portion of thefirst clamping block 622 is not in contact with the end portion of thetransmission seat 3, thetransmission seat 3 can be moved in the direction opposite to the direction, and therefore thetransmission seat 3 is separated from theisolation seat 2.

Because thetransmission seat 3 is provided with the apparatus connecting mechanism 4, thetransmission seat 3 and the apparatus connecting mechanism 4 can be conveniently and quickly detached from theisolation seat 2 through the quick-detaching structure between thetransmission seat 3 and theisolation seat 2, so that the apparatus can be more conveniently replaced in the operation.

Theisolation seat 2 is in quick connection with the driving seat 1 through a second quick-release structure 7.

As shown in fig. 5 and 6, the secondquick release structure 7 includes athird positioning portion 71, wherein thethird positioning portion 71 includes a fourth slidingslot 711 disposed at the bottom of theisolation seat 2 and a slidingblock 712 disposed on the driving seat 1, and the slidingblock 712 is disposed in the fourth slidingslot 711, so that theisolation seat 2 can slide along the length direction of the driving seat 1. Thetransmission seat 3 and theisolation seat 2 are completely positioned in the Y-axis direction by the slidingblock 712 and the fourth slidinggroove 711.

Further, the secondquick release structure 7 includes afourth positioning portion 72, where thefourth positioning portion 72 includes afastening block 721 disposed at a first end of theisolation seat 2 and aslot 722 disposed at a second end of theisolation seat 2, theslot 722 extends along a length direction of theisolation seat 2, along hole 723 is disposed on the driving seat 1, after theisolation seat 2 is mounted on the driving seat 1, thefastening block 721 is inserted into thelong hole 723, and meanwhile, a rear end of the driving seat 1 is fastened with theslot 722, so that thetransmission seat 3 and theisolation seat 2 are completely positioned in the X-axis direction.

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

Further, the secondquick release structure 7 includes afifth positioning portion 73, and thefifth positioning portion 73 includes apressing piece 731 disposed on theisolation seat 2 and a second elastic body disposed on the driving seat 1. In a specific embodiment, the second elastic body comprises arod part 732 and a return spring arranged between therod part 732 and the cover part 738 (also called a cover body 738), and therod part 732 is arranged in a steppedhole 733 on theisolation seat 2. Specifically, thepressing piece 731 is disposed in a hole with a larger diameter in the steppedhole 733, and therod portion 732 is inserted into a hole with a smaller diameter in the steppedhole 733 from the bottom of the steppedhole 733 and then contacts with the bottom of thepressing piece 731, so that the top end of thepressing piece 731 is kept flush with the upper surface of theisolation seat 2, and the driving seat 1 and theisolation seat 2 are completely positioned in the Z-axis direction.

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

When thepressing piece 731 is pressed, thelever portion 732 is moved downward in the Z-axis direction, and thelever portion 732 is disengaged from the steppedhole 733, thereby releasing the restraint of thespacer 2 and the driver 1 in the Z-axis direction.

In order to improve the response sensitivity of thelever part 732, a slope inclined downward is provided on the upper end surface of thelever part 732 so that the volume of thelever part 732 protruding into the steppedhole 733 is reduced, and thus when thepressing piece 731 presses thelever part 732 downward, theelastic body 732 is quickly separated from the steppedhole 733.

The driving seat 1 is provided with a mountinghole 734, the mountinghole 734 is provided with a fixingplate 735, and the bottom of the fixingplate 735 is in contact with the bottom end of the driving seat 1.Ear parts 736 are arranged at the bottom of the driving seat 1,notches 737 for accommodating theear parts 736 are arranged on the fixeddisc 735, and thecover body 738 at the bottom end of the fixeddisc 734 is fixedly connected with theear parts 736, so that the fixeddisc 735 and the driving seat 1 are fixed.

Stem 732 is disposed in fixingplate 735, and a spring is disposed betweenstem 732 and cover 738 to restorestem 732 to an original state.

In the initial state ofrod portion 732, the tip ofrod portion 732 protrudes outside fixeddisk 735, that is, the tip ofrod portion 732 is higher than the upper surface of driver seat 1.

The installation mode of theisolation seat 2 and the driving seat 1 is as follows:

the bottom surface of theisolation seat 2 is in contact with the upper surface of the driving seat 1, theisolation seat 2 is pushed along the length direction (i.e. the X-axis direction) of the driving seat 1, and the fourth slidinggroove 711 at the bottom end of theisolation seat 2 is matched with the slidingblock 712 in the moving process of theisolation seat 2, so as to guide the movement of theisolation seat 2.

When theisolation seat 2 continues to move, the first end of theisolation seat 2 contacts therod part 732, and when theisolation seat 2 continues to move, downward pressure is applied to therod part 732, and therod part 732 is forced to move downwards along the Z-axis direction. In this process, theisolation seat 2 can be easily moved above therod part 732 by the slope of the tip of therod part 732, so that the movement of theisolation seat 2 is not hindered.

Subsequently, the steppedhole 733 at the bottom end of theisolation seat 2 moves to above therod portion 732, and at this time, therod portion 732 is no longer pressed, and therod portion 732 moves upward in the Z-axis direction by the spring to be inserted into the steppedhole 733 and returns to the original state. At this time, therod portion 732 and the steppedhole 733 are engaged with each other, so that thespacer 2 cannot move any more.

Thus, the installation of theisolation seat 2 and the driving seat 1 is completed.

When detaching theisolation seat 2, thepressing piece 731 is simply pressed down to disengage therod portion 732 from thestep hole 733, so that theisolation seat 2 is moved in the direction opposite to the above direction, and theisolation seat 2 is separated from the driving seat 1.

The driving seat 1 comprises a base 11 fixedly connected with a sliding table of the trolley and a fixed seat 12 integrally arranged with the base 11. The base 11 is used for fixing a drivingplate 52 in thedriving mechanism 5, the side wall of the fixing seat 12 is used for fixing apower source 51 of thedriving mechanism 5, and thepower source 51 is electrically connected with the drivingplate 52.

The instrument connecting mechanism 4 comprises aninstrument rod 41, aninstrument 42 is arranged at one end of theinstrument rod 41, and the other end of theinstrument rod 41 is fixed on thetransmission seat 3 after sequentially penetrating through the side wall of the fixed seat 12, the side wall of theisolation seat 2 and the side wall of thetransmission seat 3.

Theinstruments 42 of the present invention include instruments having three degrees of freedom, two degrees of freedom, or one degree of freedom, wherein theinstruments 42 having three degrees of freedom, such as forceps, scissors, etc.; aninstrument 42 having two degrees of freedom such as a scalpel or the like; aninstrument 42 having one degree of freedom such as an endoscope or the like. Multiple degrees of freedom of implement 42 are enabled by implement coupling mechanism 4 and drivemount 3, the specific implementation of which will be described in detail below.

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

In a first embodiment of the present invention,instrument 42 has a first degree of freedom (e.g., an endoscope). The first degree of freedom of theinstrument 42 is rotatable about the axis (in the X-axis direction) of theinstrument lever 41 as a rotation axis, and the first degree of freedom of theinstrument 42 can realize a rotation motion that simulates the arm of a human body.

In the present embodiment, afirst hole 121 is disposed on a side wall of the fixed base 12, the power source 51 (also referred to as a motor power source) includes afirst motor 511, and an output shaft of thefirst motor 511 is disposed in thefirst hole 121. In order to improve the space utilization, the axial direction of theinstrument lever 41, the axial direction of thefirst motor 511, and the length direction of the holder 12 are the same.

The power transmission manner of thefirst motor 511 is as follows:

thefirst motor 511 is disposed on the sidewall of the fixed base 12, and an output shaft thereof passes through thefirst hole 121 and is fixedly connected to thefirst coupling 53 at an end portion of the output shaft. The side wall of theisolation seat 2 and the side wall of thetransmission seat 3 are respectively provided with asecond coupler 21 and athird coupler 31, thesecond coupler 21 is respectively connected with thefirst coupler 53 and thethird coupler 31, and the specific connection mode will be described in detail below.

The side wall of thetransmission seat 3 is further provided with arotating shaft 33, one end of therotating shaft 33 is provided with a drivengear 34, the end of thethird coupler 31 is provided with amain gear 32, and themain gear 32 is meshed with the drivengear 34.

Therefore, when the drivingplate 52 receives the command of the instrument to rotate along the X-axis, the drivingplate 52 drives thefirst motor 511 to rotate, and the power is transmitted along the output shaft of thefirst motor 511, thefirst coupling 53, thesecond coupling 21, thethird coupling 31, themain gear 32 and thesecondary gear 34, so as to drive the rotatingshaft 33 to rotate. Wherein therotation shaft 33 is a hollow shaft, and theinstrument lever 41 is provided in therotation shaft 33 so as to rotate together with therotation shaft 33.

Theinstrument rod 41 is connected to therotating shaft 33 in the following manner:

as shown in fig. 7, apositioning protrusion 331 is disposed at an end of therotating shaft 33, afirst locking groove 44 is disposed on an outer wall of theinstrument rod 41, and after theinstrument rod 41 is inserted into the rotatingshaft 33, thepositioning protrusion 331 is engaged with thefirst locking groove 44, so that theinstrument rod 41 and therotating shaft 33 are positioned in a radial direction.

Further, the rotatingshaft 33 is provided with an external thread, the outer wall of theinstrument rod 41 is provided with a threadedsleeve 43, and after theinstrument rod 41 extends into the rotatingshaft 33, theinstrument rod 41 is fixedly connected with the rotatingshaft 33 through the threadedsleeve 43, so that theinstrument rod 41 and therotating shaft 33 are positioned in the axial direction.

To this end, theshaft 33 and theinstrument lever 41 are fixed in both directions, so that when theshaft 33 rotates, theinstrument lever 41 and theinstrument 42 rotate accordingly.

The fixed connection between theinstrument lever 41 and therotation shaft 33 is a fixed point between theinstrument lever 41 and thetransmission base 3, but because the length of theinstrument lever 41 is long, there is instability through single-point fixation. In order to improve the stability of the connection between theinstrument rod 41 and thetransmission seat 3, afirst seat 35 is further disposed on thetransmission seat 3, and the end of theinstrument rod 41 is fixed on thefirst seat 35, so that two fixing points between theinstrument rod 41 and thetransmission seat 3 are increased, and the stability of the connection between the two fixing points is improved.

In particular, the fixing between the end of theinstrument rod 41 and thefirst seat 35 is as follows:

as shown in fig. 8 and 9, thefirst seat 35 is provided with afirst locking hole 351 for installing theinstrument lever 41, and an axis of thefirst locking hole 351 coincides with an axis of therotating shaft 33. A first elastic catchingplate 352 is disposed in the first catchinghole 351, and the first elastic catchingplate 352 is movable in a radial direction of the first catchinghole 351 so that a mounting diameter of the first catchinghole 351 is reduced (i.e., smaller than an actual diameter of the first catching hole 351) or the mounting diameter of the first catchinghole 351 is increased (i.e., equal to the actual diameter of the first catching hole 351).

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

Apush rod 46 is coaxially arranged in theinstrument rod 41, thepush rod 46 extends out of the end of theinstrument rod 41, and relative movement can be generated between theinstrument rod 41 and thepush rod 46. Be provided with second draw-ingroove 45 on the outer wall ofcatch bar 46, aftercatch bar 46 stretched intofirst card hole 351, thefirst cardboard 352 of elasticity and second draw-ingroove 45 looks block madecatch bar 46 fix infirst card hole 351 to fix withfirst seat 35.

When theinstrument rod 41 needs to be detached, the firstpressing portion 353 is pressed to move the firstelastic clamping plate 352 along the radial direction of thefirst clamping hole 351, so that the installation diameter of thefirst clamping hole 351 is increased, and thepush rod 46 can be taken out of thefirst clamping hole 351.

In the present embodiment, since it is necessary to rotate theinstrument 42 in the axial direction of theinstrument rod 41, it is only necessary to fix theinstrument 42 to the end of theinstrument rod 41 to rotate theinstrument 42 and theinstrument rod 41 at the same time.

The connection of thefirst coupling 53, thesecond coupling 21, and thethird coupling 31 will be described below.

In order to improve the convenience of assembly among thefirst coupler 53, thesecond coupler 7 and the third coupler 8, a connecting body 9 is arranged between thefirst motor 511 and thefirst coupler 53, a through hole is formed in the connecting body 9 and is in a boss shape, the second connectingportion 91 of the connecting body 9 is fixedly connected with thefirst motor 511, the first connectingportion 91 of the connecting body 9 is connected with thefirst coupler 53 in a sliding mode in the axial direction, adjusting gaps are formed in the second connectingportion 91 and a part of the first connectingportion 91 of the connecting body 9, and the connecting body 9 enables thefirst coupler 53 to rotate along with thefirst motor 511 in the radial direction and move relative to thefirst motor 511 in the axial direction.

Specifically, two symmetrical slidingholes 93 are provided on the first connectingportion 91 of the connecting body 9, the slidingholes 93 penetrate through the outer wall of the first connectingportion 91, and the length of the slidingholes 93 extends in the axial direction. The connecting body 9 is further provided with apin column 94 and afirst spring 56, thepin column 94 penetrates through the first connectingportion 91 of the connecting body 9 through two slidingholes 93, thefirst spring 56 is sleeved on the first connectingportion 91, one end of thefirst spring 56 abuts against the end surface of the second connectingportion 91, and the other end of thefirst spring 56 abuts against thepin column 94. The length of thepin column 94 is greater than the diameter of thefirst connection portion 91, therefore, two ends of thepin column 94 extend out of thefirst connection portion 91 and are fixed on two side walls of thefirst coupler 53, the length of thepin column 94 is less than or equal to the maximum radial dimension of thefirst coupler 53, and thus, thefirst coupler 53 and thefirst connection portion 91 of the connection body 9 are circumferentially limited through thepin column 94. Theslide hole 93 allows thefirst coupling 53 and thepin post 94 to compress thefirst spring 56 and allows thefirst coupling 53 to move as thepin post 94 moves axially along theslide hole 93, and the length of theslide hole 93 limits the axial movement range of thefirst coupling 53.

Further, as shown in fig. 3, thefirst coupling 53 has a cylindrical structure, one end of thefirst coupling 53 is connected to the connecting body 9, and afirst groove 61 is formed in an end surface of the other end, and thefirst groove 61 has a rectangular groove shape whose length extends in a radial direction of thefirst coupling 53. As shown in fig. 2, one end of thesecond coupler 7 is provided with afirst clamping strip 71, thesecond coupler 7 is inserted into thefirst groove 61 of thefirst coupler 53 through thefirst clamping strip 71 to realize butt joint with thefirst coupler 53, and after thefirst clamping strip 71 is clamped into the first clamping groove, the end surface of thesecond coupler 7 is in contact with the end surface of thefirst coupler 53. The other end of thesecond coupling 7 is provided with asecond groove 72, and thesecond groove 72 has a rectangular groove shape with a length extending in the radial direction of thesecond coupling 7.

As shown in fig. 2, a second locking strip 81 is disposed at one end of the third coupler 8, and the third coupler 8 is inserted into thesecond groove 72 of thesecond coupler 7 through the second locking strip 81 to realize the butt joint with thesecond coupler 7. After the second clamping strip 81 is clamped into the second clamping groove, the end surface of the third coupling 8 can be in contact with the end surface of thesecond coupling 7.

The rotor of thefirst motor 511 is inserted into the through hole of the second connectingportion 91 of the connecting body 9, and thebolt 96 is inserted into the through hole from the outer wall of one side of the second connectingportion 91, penetrates through the rotor, and is inserted into the other side of the second connectingportion 91, so that the rotor and the connecting body 9 are axially and circumferentially limited, and the connecting body 9 can rotate together with the rotation of the rotor of thefirst motor 511.

Further, in the present embodiment, as shown in fig. 2, thefirst motor 511 is fixed on the fixing plate 11 of the driving seat 1, thesecond coupler 7 is fixed on themiddle plate 21 of theisolation seat 2, and the third coupler 8 is fixed on the supportingplate 31 of thetransmission seat 3, wherein a rolling bearing (not shown in the figure) is disposed between the third coupler 8 and the supportingplate 31.

The specific process of the present invention without manual docking will be described in detail below.

The connection body 9 is provided between thefirst coupling 53 and thefirst motor 511, and therefore, when thefirst coupling 53 is connected to thesecond coupling 7, the alignment of thefirst click strip 71 and thefirst groove 61 is no longer a necessary operation, in other words, thefirst click strip 71 on the end surface of thesecond coupling 7 can be brought into contact with an arbitrary position of the end surface of thefirst coupling 53, and when thefirst click strip 71 is not inserted into thefirst groove 61, in this case, thefirst coupling 53 receives the urging force of thesecond coupling 7, so that thefirst spring 56 is compressed on thefirst connection portion 91 of the connection body 9. When thefirst motor 511 rotates and drives thefirst coupling 53 to rotate, since thefirst coupling 53 is not positioned in the radial direction with thesecond coupling 7, relative movement is generated between thefirst coupling 53 and the second coupling, so that thefirst groove 61 of thefirst coupling 53 rotates to a position matched with thefirst clamping strip 71 of thesecond coupling 7 and is clamped with thefirst clamping strip 71 under the pushing of thefirst spring 56, thereby realizing the radial positioning between thefirst coupling 53 and thesecond coupling 7.

Likewise, when the third coupling 8 is connected to thesecond coupling 7, the alignment of the second strip 81 with thesecond groove 72 is no longer necessary, in other words, the second strip 81 on the end face of the third coupling 8 can contact with any position of the end face of thesecond coupling 7, and when thesecond coupling 7 rotates, thesecond groove 72 of thesecond coupling 7 rotates to a position matching the second strip 81 of the third coupling 8 and engages with the second strip 81 under the pushing of thefirst spring 56, so as to achieve the radial positioning between thesecond coupling 7 and the second coupling 8.

In summary, compared with the prior art, the invention has the advantages that: a connecting body 9 is provided between thefirst motor 511 and thefirst coupling 53, thefirst coupling 53 is axially moved relative to thefirst motor 511 by a movement of a pin 94 (also referred to as a cylinder) of the connecting body 9 in aslide hole 93, and afirst spring 56 is provided in the first connectingportion 91 to return thefirst coupling 53. Therefore, when theisolation seat 2 is installed on the driving seat 1 and thesecond coupler 21 is butted with thefirst coupler 53, the first clamping strip can contact with any position of the end surface of thefirst coupler 53, if the first clamping strip is clamped into the first groove in the initial state, thesecond coupler 7 pushes thefirst coupler 53 to enable thefirst coupler 53 to compress thefirst spring 56 towards thefirst motor 511, and then thefirst motor 511 is only required to rotate to drive thefirst coupler 53 to rotate, so that thefirst clamping strip 212 and thefirst groove 531 can be automatically aligned and butted, thefirst spring 56 resets, and thefirst clamping strip 212 of thesecond coupler 21 is not required to be manually inserted into thefirst groove 531 of thefirst coupler 53.

Further, the rotating shaft of thefirst motor 511 is inserted into the through hole of the first connectingportion 91 of the connecting body 9, thebolt 96 is inserted into the through hole from the outer wall of one side of the first connectingportion 91 and abuts against the connectingsurface 50 which is arranged on the rotating shaft of thefirst motor 511 and extends along the axial direction of the rotating shaft, and the other side of the bolt is also provided with the correspondingbolt 96 and the corresponding connectingsurface 50, so that the rotating shaft and the connecting body 9 are limited axially and circumferentially, and the connecting body 9 can rotate together with the rotation of the rotating shaft of themotor 5.

Specifically, the end of thefirst coupler 53 is provided with afirst groove 531, the two ends of thesecond coupler 21 are respectively provided with asecond groove 211 and afirst clamping strip 212, and the end of thethird coupler 31 is provided with asecond clamping strip 311, wherein thefirst clamping strip 212 is disposed in thefirst groove 531, and thesecond clamping strip 311 is disposed in thesecond groove 211, so as to position thefirst coupler 53, thesecond coupler 21, and thethird coupler 31 in the radial direction.

Thefirst coupling 53, thesecond coupling 21 and thethird coupling 31 are positioned in the axial direction by the fixed connection between thetransmission base 3, theisolation base 2 and the drive base 1.

Further, as shown in fig. 7, in order to improve the ease of assembly between thefirst coupling 53, thesecond coupling 21, and thethird coupling 31, thefirst spring 56 is provided between thefirst coupling 53 and thefirst motor 511, and therefore, when thefirst coupling 53 is connected to thesecond coupling 21, the alignment of thefirst click strip 212 and thefirst groove 531 is no longer a necessary operation, in other words, thefirst click strip 212 on the end surface of thesecond coupling 21 can be brought into contact with an arbitrary position of the end surface of thesecond coupling 21, and when thefirst click strip 212 is not inserted into thefirst groove 531, in this case, thefirst coupling 53 receives the urging force of thesecond coupling 21, so that thefirst spring 56 is compressed. When thefirst motor 511 rotates and drives thefirst coupling 53 to rotate, since thefirst coupling 53 is not positioned in the radial direction with thesecond coupling 21, relative movement is generated between thefirst coupling 53 and the second coupling, so that thefirst groove 531 of thefirst coupling 53 rotates to a position matching with thefirst locking strip 212 of thesecond coupling 21 and is engaged with thefirst locking strip 212 under the pushing of thefirst spring 56, thereby realizing the radial positioning between thefirst coupling 53 and thesecond coupling 21.

Likewise, when thethird coupling 31 is connected to thesecond coupling 21, the alignment of thesecond locking strip 311 with thesecond groove 211 is no longer necessary, in other words, thesecond locking strip 311 on the end surface of thethird coupling 31 can contact with any position of the end surface of thesecond coupling 21, when thesecond coupling 21 rotates, thesecond groove 211 of thesecond coupling 21 rotates to a position matching thesecond locking strip 311 of thethird coupling 31, and under the pushing of thefirst spring 56, thesecond locking strip 311 is engaged, so that the radial positioning between thesecond coupling 21 and thethird coupling 31 is realized.

In summary, in the present embodiment, the rotational motion of thefirst motor 511 is converted into the rotational motion of theinstrument lever 41, so that theinstrument 42 is rotated.

In a second embodiment of the invention,instrument 42 has a second degree of freedom (e.g., a scalpel that performs only a prescribed positional cut). The second degree of freedom of theinstrument 42 is rotatable about the Z axis (perpendicular to the axis of the instrument lever 41) as a rotation axis, and the second degree of freedom of theinstrument 42 can realize a rotation motion that simulates a wrist joint of a human body.

In the present embodiment, the side wall of the fixed seat 12 is provided with asecond hole 122, thepower source 51 includes asecond motor 512, and an output shaft of thesecond motor 512 is disposed in thesecond hole 122. In order to improve the space utilization, the axial direction of theinstrument rod 41, the axial direction of thesecond motor 512, and the length direction of the fixing base 12 are the same.

The power of thesecond motor 512 is transmitted to theinstrument rod 41 through the screw mechanism in the following specific transmission mode:

first, thefirst seat 35 is configured to be slidably connected to the drivingseat 3, so that when thefirst seat 35 makes a linear reciprocating motion, theinstrument rod 41 is driven to make a linear reciprocating motion, and the linear reciprocating motion is converted into a swinging motion (i.e., a rotation about the Z-axis) at the end of theinstrument rod 41.

The implementation of the linear reciprocating motion of thefirst seat 35 will be described below:

thesecond motor 512 is disposed on the sidewall of the fixing base 12, and an output shaft thereof passes through thesecond hole 122 and is fixedly connected to thefourth coupler 54 at an end portion of the output shaft. And afifth coupler 22 and asixth coupler 37 are respectively arranged on the side wall of theisolation seat 2 and the side wall of thetransmission seat 3, and thefifth coupler 22 is respectively connected with afourth coupler 54 and thesixth coupler 37.

Thesixth coupling 37 is connected to a first lead screw 354 (shown in fig. 8), wherein the first lead screw 354 passes through thefirst seat 35 and is in threaded connection with thefirst seat 35. Thefirst slide groove 355 is disposed at the bottom of thefirst seat 35, thefirst slide rail 356 on thetransmission seat 3 is disposed in thefirst slide groove 355, and when the first lead screw 354 rotates, thefirst seat 35 moves along the axial direction of the first lead screw 354.

Further, the limit position of the rightward movement of thefirst seat 35 is limited by afirst spring stopper 358, as shown in fig. 8, thefirst spring stopper 358 is disposed on the first lead screw 354, and when thefirst seat 35 moves rightward (in the direction close to the instrument 42) and compresses the spring to the most contracted amount, the spring cannot move rightward any more, and thefirst seat 35 can be prevented from colliding with thefirst spring stopper 358 when moving to the limit position by the spring.

Similarly, the limit position of the leftward movement of thefirst seat 35 is defined by arear retainer 357, as shown in fig. 8, therear retainer 357 is disposed on the first lead screw 354, and when thefirst seat 35 moves leftward (away from the instrument 42) and contacts therear retainer 357, it cannot move leftward any more.

By mechanically limiting the extreme positions of thefirst seat 35 in both directions, the maximum rotation angle of theinstrument 42 can be controlled.

In addition, theinstrument lever 41 is fixed to thetransmission housing 3 in the following manner:

alternatively, theinstrument lever 41 may be fixed to theactuator base 3 in the same manner as in the previous embodiment.

Alternatively, since in this embodiment,instrument lever 41 need not be rotated about the X-axis,instrument lever 41 may also be secured directly to the sidewall ofdrive socket 3.

Moreover, the fixing manner of the pushingrod 46 and thefirst seat 35 has been described in detail in the foregoing embodiments, and is not described in detail herein.

Therefore, when the drivingplate 52 receives the instruction of the instrument to rotate along the Z-axis, the drivingplate 52 drives thesecond motor 512 to rotate, and the power is transmitted along the output shaft of thesecond motor 512, thefourth coupler 54, thefifth coupler 22, thesixth coupler 37, the first lead screw 354 and thefirst seat 35, so as to convert the rotation motion of thesecond motor 512 into the linear reciprocating motion of thefirst seat 35.

Second, the end of theinstrument rod 41 is articulated to theinstrument 42, thereby effecting the conversion of the linear reciprocating motion into an oscillating motion (i.e., rotation about the Z-axis).

The implementation of theinstrument 42 in oscillation (i.e., rotation about the Z-axis) will now be described:

the inside of theinstrument rod 41 is provided with apush rod 46, and thepush rod 46 is movable in theinstrument rod 41 in the axial direction. The pushingrod 46 is connected to thefirst seat 35 at one end and to theinstrument 42 at the other end, and when thefirst seat 35 moves, the pushingrod 46 is moved, so as to pull or push theinstrument 42, and theinstrument 42 is swung.

Specifically, as shown in fig. 10 and 11, theinstrument rod 41 includes anouter tube 411 and aninner tube 414 coaxially disposed in theouter tube 411, arotating head 412 is disposed at a first end of theouter tube 411, a limitinghead 413 is disposed at a second end of the outer tube, a limitingring 416 is disposed on an outer wall of the limitinghead 413, and the first engaginggroove 44 is disposed on the limitingring 416 and engaged with thepositioning protrusion 331 of therotating shaft 33.

Theinner tube 414 is disposed in theouter tube 411, and a first end of theinner tube 414 extends out of theouter tube 411 and enters therotary head 412 to contact with a collar inside therotary head 412; the second end of theinner tube 414 is disposed outside the retaininghead 413 and contacts the end surface of the retainingring 416, such that theinner tube 414 is retained between therotating head 412 and the retaininghead 413.

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

Further, the first end of theinner tube 414 is further opened with agroove 415 extending along the axial direction of theinner tube 414, and thegroove 415 is to avoid interference with a swinginglever 463 described below.

Thepush rod 46 is coaxially disposed inside theinner tube 414, and a first end of thepush rod 46 is provided with anadapter 461, theadapter 461 being disposed in theinner tube 414.

The end connection ofadapter 461 has swingingarms 463, and the other end of swinging arms articulates there is the clampinghead 465, and the first end of clampinghead 465 is connected withapparatus 42, and the second end of clampinghead 465 rotates withrotating head 412 to be connected, consequently receives thrust or tensile effect when swingingarms 463, and clampinghead 465drives apparatus 42 and rotates around its junction withrotating head 412 to it is rotatory around the Z axle to realizeapparatus 42.

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

The second end of the pushingrod 46 passes through theinner tube 414 and the limitinghead 413 in sequence, and is connected with the clamping tube 262 outside the limitinghead 413. Specifically, the second end of thepush rod 46 extends into thebayonet tube 462 to contact a collar inside thebayonet tube 462; the second engaginggroove 45 is provided on an outer wall of the engagingtube 462, and engages with the firstengaging hole 351 of thefirst seat 35.

Wherein, the inner diameter of the clampingtube 462 is the same as the outer diameter of the pushingrod 46, so when thefirst seat 35 moves and pulls the clampingtube 462 to move linearly, the pushingrod 46 also moves linearly, that is, the movement of thefirst seat 35 makes the pushingrod 46 move along the axis thereof, so that the swingingrod 463 is under the action of pushing force or pulling force, and the clampinghead 465 drives thedevice 42 to rotate.

In this embodiment, the first end refers to the end near theinstrument 42 and the second end refers to the end away from theinstrument 42.

It should be noted that, the connection manner among thefourth coupler 54, thefifth coupler 22, and thesixth coupler 37 in this embodiment is the same as the connection manner among thefirst coupler 53, thesecond coupler 21, and thethird coupler 31 in the first embodiment, wherein a connection body with the same structure can also be disposed between thefourth coupler 54 and thesecond motor 512, and the structure of the connection body is not described in detail herein, and the connection body includes thesecond spring 57, so that the assembly among the three couplers can be faster by thesecond spring 57, and therefore, the description is not repeated herein.

In summary, in the present embodiment, the rotational motion of thesecond motor 512 is transmitted to the first lead screw 354, and the rotational motion of the first lead screw 354 is converted into the linear reciprocating motion of thefirst seat 35, and the linear reciprocating motion is converted into the swing motion (i.e., the rotation about the Z axis) of theinstrument 42.

In a third embodiment of the present invention,instrument 42 has a third degree of freedom (e.g., a surgical shears that only perform a prescribed positional cut). The third degree of freedom of theinstrument 42 is to perform opening and closing operations, and the third degree of freedom of theinstrument 42 can realize actions of closing and opening fingers simulating human bodies.

In this embodiment, athird hole 123 is provided on a side wall of the fixed base 12, thepower source 51 includes athird motor 513, and an output shaft of thethird motor 513 is disposed in thethird hole 123. In order to improve the space utilization, the axial direction of theinstrument rod 41, the axial direction of thethird motor 513, and the length direction of the fixing base 12 are the same.

The power of thethird motor 513 is transmitted to theinstrument rod 41 through a screw mechanism in the following specific transmission mode:

first, thesecond seat 36 is slidably disposed on thetransmission seat 3, and theinstrument rod 41 is connected to thesecond seat 36, so that when thesecond seat 36 makes a linear reciprocating motion, theinstrument rod 41 is driven to make a linear reciprocating motion, and the linear reciprocating motion is converted into an opening and closing motion at the end of theinstrument rod 41.

The implementation of the linear reciprocating motion of thesecond seat 36 will be described below:

thethird motor 513 is disposed on the side wall of the fixed base 12, and an output shaft thereof passes through thethird hole 123 and is fixedly connected to theseventh coupling 55 at an end portion of the output shaft. The side wall of theisolation seat 2 and the side wall of thetransmission seat 3 are respectively provided with aneighth coupler 23 and aninth coupler 38, and theeighth coupler 23 is respectively connected with aseventh coupler 55 and theninth coupler 38.

Theninth coupling 38 is connected to a second threadedshaft 364, wherein the second threadedshaft 364 passes through thesecond seat 36 and is in threaded connection with thesecond seat 36. The bottom of thesecond seat 36 is provided with a second slidinggroove 365, and a second slidingrail 366 on thetransmission seat 3 is arranged in the second slidinggroove 365, so that when thesecond lead screw 364 rotates, thesecond seat 36 moves along the axial direction of thesecond lead screw 364.

Therefore, when the drivingplate 52 receives an instruction of opening or closing the apparatus, the drivingplate 52 drives thethird motor 513 to rotate, and power is transmitted along the output shaft of thethird motor 513, theseventh coupling 55, theeighth coupling 23, theninth coupling 38, thesecond lead screw 364 and thesecond seat 36, so that the rotation of thethird motor 513 is converted into the linear reciprocating motion of thesecond seat 36.

Further, the limit position of the rightward movement of thesecond seat 36 is limited by a secondspring limiting body 367, as shown in fig. 8, the secondspring limiting body 367 is disposed on thesecond lead screw 364, and when thesecond seat 36 moves rightward (in the direction close to the instrument 42) and compresses the spring to the most contracted amount, thesecond seat 36 cannot move rightward any more, and the spring can prevent thesecond seat 36 from colliding with the secondspring limiting body 367 when moving to the limit position.

The limit position of the leftward movement of thesecond seat 36 is defined by acircuit board 368, as shown in fig. 8, thecircuit board 368 is disposed on thetransmission seat 3 and located at the left side of thesecond seat 36, and when thefirst seat 35 moves leftward (in the direction away from the instrument 42) to the limit position, the end thereof can not move leftward any more after contacting with the end of therear limit body 357.

By mechanically limiting the extreme positions of thesecond seat 36 in both directions, the maximum opening angle of theinstrument 42 can be controlled.

In addition, theinstrument lever 41 is fixed to thetransmission housing 3 in the following manner:

alternatively, theinstrument lever 41 may be fixed to theactuator base 3 in the same manner as in the previous embodiment.

Alternatively, since in this embodiment,instrument lever 41 need not be rotated about the X-axis,instrument lever 41 may also be secured directly to the sidewall ofdrive socket 3.

Further, the fixing between thepush rod 46 and thesecond seat 36 is as follows:

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

A secondpressing part 363 is arranged at an end of thesecond seat 36, the secondpressing part 363 may be a pressing rod, the secondpressing part 363 is connected to the secondelastic clamping plate 362, and when the secondpressing part 363 is pressed down, the secondelastic clamping plate 362 moves downward, so that the installation diameter of thesecond clamping hole 361 is increased; when the pressure applied to the secondpressing part 363 is removed, the secondelastic catch plate 362 bounces upward under the action of the elastic member, so that the installation diameter of thesecond catch hole 361 is reduced.

Apull rod 47 is coaxially provided in thepush rod 46, thepull rod 47 extending beyond an end of thepush rod 46, thepull rod 47 being capable of moving in thepush rod 46 in an axial direction thereof.

The outer wall of thedraw bar 47 is provided with athird catch groove 48, and when thedraw bar 47 extends into thesecond catch hole 361, the elasticsecond catch 362 is engaged with thethird catch groove 48, so that thedraw bar 47 is fixed in thesecond catch hole 361, and is fixed with thesecond seat 36.

When theinstrument rod 41 needs to be detached, the secondpressing portion 363 is pressed down to move the secondelastic clamping plate 362 along the radial direction of thesecond clamping hole 361, so that the installation diameter of thesecond clamping hole 361 is increased, and thetraction rod 47 can be taken out of thesecond clamping hole 361.

The implementation of the opening and closing movement of theinstrument 42 will be described below:

as shown in FIG. 12, a first end of thepull rod 47 passes through thepush rod 46 and thegripping head 465, in that order, and is connected to the implement 42. In contact with the collar inside the clampinghead 465. Afourth spring 471 is arranged between thetraction rod 47 and the clampinghead 465, a first end of thefourth spring 471 is connected with an inner wall of the clampinghead 465, and a second end of thefourth spring 471 is connected with an inner wall of theadapter 461, so that thefourth spring 471 is limited between the clampinghead 465 and theadapter 461.

The side wall of theinstrument 42 is provided with aninclined hole 421, two sides of the first end of thetraction rod 47 are provided with apin 472, and thepin 472 is arranged in theinclined hole 421, so that when thetraction rod 47 is under the action of pulling force or pushing force, thepin 472 is pushed to move in theinclined hole 421, and theinstrument 42 is opened or closed.

The outer wall of the second end of thetraction rod 47 is provided with athird clamping groove 48, and thethird clamping groove 48 is clamped with thesecond clamping hole 361 of thesecond seat 36, so that when thesecond seat 36 moves, thetraction rod 47 is driven to move along the axial direction thereof, so that thepin 472 moves in theinclined hole 421, and theinstrument 42 is opened or closed.

In this embodiment, the first end refers to the end near theinstrument 42 and the second end refers to the end away from theinstrument 42.

It should be noted that, in this embodiment, the connection manner between theseventh coupling 55, theeighth coupling 23 and theninth coupling 38 is the same as the connection manner between thefirst coupling 53, thesecond coupling 21 and thethird coupling 31 in the first embodiment, wherein a connection body having the same structure of the connection body 9 may also be disposed between theseventh coupling 55 and thethird motor 513, and the structure of the connection body is not described in detail herein again, and thethird spring 58 is disposed in the connection body, and similarly, the assembly between the three couplings can be faster by thethird spring 58, and therefore, the description is not repeated herein again.

In summary, in the present embodiment, the rotary motion of thethird motor 513 is transmitted to thesecond lead screw 364, the rotary motion of thesecond lead screw 364 is converted into the linear reciprocating motion of thesecond base 36, and the linear reciprocating motion is converted into the opening and closing motion of theinstrument 42.

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

In a fourth embodiment of the present invention,instrument 42 has a first degree of freedom and a second degree of freedom (e.g., a scalpel).

In the present embodiment, the side wall of the fixed base 12 is provided with afirst hole 121 and asecond hole 122, thepower source 51 includes afirst motor 511 and asecond motor 512, an output shaft of thefirst motor 511 is disposed in thefirst hole 121, and an output shaft of thesecond motor 512 is disposed in thesecond hole 122. In order to improve the space utilization, the axial direction of theinstrument rod 41, the axial direction of thefirst motor 511 and thesecond motor 512, and the length direction of the fixing base 12 are the same.

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

In this embodiment, since it is necessary to realize the rotation of theinstrument lever 41 along the X axis and the rotation of theinstrument lever 41 along the Z axis, theinstrument lever 41 is connected to thetransmission seat 3 through therotation shaft 33 and thefirst seat 35, and the connection manner is the same as the transmission manner in the foregoing embodiments, and will not be described again.

Further, a pushingrod 46 is coaxially disposed in theinstrument rod 41, and the specific manner of disposing the pushingrod 46 has been described in detail in the foregoing embodiments, and will not be described again.

In summary, in the present embodiment, the rotary motion of thefirst motor 511 is converted into the rotary motion of theinstrument rod 41, the rotary motion of thesecond motor 512 is transmitted to the first lead screw 354, the rotary motion of the first lead screw 354 is converted into the linear reciprocating motion of thefirst seat 35, and the linear reciprocating motion is converted into the swing motion (i.e., the rotation about the Z axis) of theinstrument 42.

In a fifth embodiment of the present invention,instrument 42 has a first degree of freedom and a third degree of freedom (e.g., a surgical shears that only shears at a given position).

In the present embodiment, thefirst hole 121 and thethird hole 123 are provided on the sidewall of the fixing base 12, thepower source 51 includes thefirst motor 511 and thethird motor 513, the output shaft of thefirst motor 511 is provided in thefirst hole 121, and the output shaft of thethird motor 513 is provided in thethird hole 123. In order to improve the space utilization, the axial direction of theinstrument rod 41, the axial direction of thefirst motor 511 and thethird motor 513, and the length direction of the fixing base 12 are the same.

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

In this embodiment, since it is necessary to realize both the rotation of theinstrument rod 41 along the X-axis and the opening and closing movement of theinstrument 42, theinstrument rod 41 is connected to the drivingseat 3 through the rotatingshaft 33 and thesecond seat 36, and the connection manner is the same as the transmission manner in the previous embodiments, and will not be described again.

Further, a pushingrod 46 is coaxially disposed in theinstrument rod 41, a pullingrod 47 is coaxially disposed in the pushingrod 46, and the specific arrangement of the pushingrod 46 and the pullingrod 47 has been described in detail in the foregoing embodiments, and will not be described herein again.

As described above, in the present embodiment, the rotational motion of thefirst motor 511 is converted into the rotational motion of theinstrument lever 41, the rotational motion of thethird motor 513 is transmitted to thesecond lead screw 364, the rotational motion of thesecond lead screw 364 is converted into the linear reciprocating motion of thesecond base 36, and the linear reciprocating motion is converted into the opening and closing motion of theinstrument 42.

In a sixth embodiment of the present invention,instrument 42 has a second degree of freedom and a third degree of freedom (e.g., forceps holding a suture needle).

In the present embodiment, the side wall of the fixed base 12 is provided with asecond hole 122 and athird hole 123, thepower source 51 includes asecond motor 512 and athird motor 513, an output shaft of thesecond motor 512 is disposed in thesecond hole 122, and an output shaft of thethird motor 513 is disposed in thethird hole 123. In order to improve the space utilization, the axial direction of theinstrument rod 41, the axial direction of thesecond motor 512 and thethird motor 513, and the length direction of the fixing base 12 are the same.

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

In this embodiment, theinstrument rod 41 is connected to thetransmission seat 3 through therotation shaft 33 and is connected to thetransmission seat 3 through thefirst seat 35, and the connection manner is the same as the transmission manner in the previous embodiment, and will not be described again.

Further, a pushingrod 46 is coaxially disposed in theinstrument rod 41, a pullingrod 47 is coaxially disposed in the pushingrod 46, and the specific arrangement of the pushingrod 46 and the pullingrod 47 has been described in detail in the foregoing embodiments, and will not be described herein again.

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

Whereininstrument 42 has a first degree of freedom, a second degree of freedom, and a third degree of freedom (e.g., surgical scissors).

In this embodiment, the side wall of the fixing base 12 is respectively provided with afirst hole 121, asecond hole 122 and athird hole 123, and thepower source 51 includes afirst motor 511, asecond motor 512 and athird motor 513; an output shaft of thefirst motor 511 is disposed in thefirst hole 121, an output shaft of thesecond motor 512 is disposed in thesecond hole 122, and an output shaft of thethird motor 513 is disposed in thethird hole 123. In order to improve the space utilization, the axial direction of theinstrument rod 41, the axial direction of thesecond motor 512 and thethird motor 513, and the length direction of the fixing base 12 are the same.

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

In this embodiment, theinstrument rod 41 is connected to the drivingseat 3 through the rotatingshaft 33, and is connected to the drivingseat 3 through thefirst seat 35 and thesecond seat 36, respectively, in the same manner as in the previous embodiments, and therefore, the detailed description thereof is omitted.

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

Claims (10)

1. A surgical instrument drive mechanism interfacing a power source with a surgical instrument, the power source including at least one motor, the surgical instrument drive mechanism comprising:

at least one shaft coupling unit, the shaft coupling unit is including the first shaft coupling, second shaft coupling and the third shaft coupling that meet in proper order, the output shaft of the motor in first shaft coupling and the power supply meets, first shaft coupling with be equipped with the spring between the motor, the output shaft of motor let in the connector with first shaft coupling meets, the connector include with the first connecting portion of the inner wall joint of first shaft coupling and with the second connecting portion that the output shaft of motor meets, the second connecting portion seted up with output shaft complex trompil, the second connecting portion with first connecting portion meet.

2. The surgical instrument transmission mechanism of claim 1, wherein the first and second connection portions are each cylindrical, the second connection portion having a radial dimension greater than a radial dimension of the first connection portion.

3. A surgical instrument transmission mechanism according to claim 2, wherein the side wall of the output shaft is provided with a connecting surface extending in the axial direction thereof, the second connecting portion is provided with a slot in the radial direction thereof, the slot being in communication with the opening, and the slot is provided with a connecting member abutting against the connecting surface.

4. The transmission mechanism for surgical instruments according to claim 3, wherein the connecting body further includes a cylinder, the spring is sleeved on the outer wall of the first connecting portion, one end of the spring abuts against the end surface of the second connecting portion, the other end of the spring abuts against the cylinder, a first hole penetrating along the radial direction of the first connecting portion is formed in the outer wall of the first connecting portion, a second hole penetrating along the radial direction of the first coupling is formed in the sidewall of the first coupling, the first hole and the second hole are oppositely arranged to form a communication hole, and the cylinder penetrates through the communication hole to connect the first coupling and the first connecting portion.

5. A surgical instrument transmission according to any one of claims 1 to 4, further comprising an instrument transmission mount, wherein the instrument transmission mount comprises:

a transmission seat main body;

the sliding seat is connected with the third coupling through a lead screw, so that the sliding seat can slide on the transmission seat main body.

6. A surgical instrument transmission according to claim 5, wherein the slide block is attached to one end of a drawbar, the other end of the drawbar being configured to reciprocate the drawbar to cause the instrument to open and close.

7. A surgical instrument transmission mechanism as claimed in claim 6, wherein an inclined hole is provided in a side wall of the surgical instrument, and a pin shaft is provided in the inclined hole on both sides of the other end of the traction rod.

8. A surgical instrument transmission according to claim 5, wherein the sliding mount is connected to one end of an instrument bar, the other end of the instrument bar being hingedly connected to the surgical instrument.

9. The transmission mechanism for surgical instruments according to claim 8, wherein the instrument rod comprises an outer tube and an inner tube sleeved in the outer tube, a pushing rod is disposed in the inner tube, a rotating head is connected to one end of the outer tube close to the surgical instrument, the inner tube is connected to the rotating head, and the pushing rod sequentially passes through the inner tube and the rotating head to hinge with the surgical instrument.

10. A surgical instrument transmission mechanism according to any one of claims 1 to 4, wherein a first groove is formed at an end of the first coupler, a second groove and a first clamping strip matched with the first groove are respectively formed at two ends of the second coupler, and a second clamping strip matched with the second groove is formed at one end of the third coupler.

Images