CN113729968B - Surgical instrument guide apparatus and medical robot - Google Patents

Abstract

The present invention provides a guiding device for surgical instruments, which includes an active driving device, a transmission device and a driven device that are movable in sequence. A transmission ring line, a main body, and a first transmission part, a guide transmission part and a hollow guide part arranged on the main body; the first transmission part is connected to the active driving device to drive the active driving device Downward rotation; compared with the prior art, the surgical instrument guiding device of the present invention simplifies the driving mode, improves the transmission efficiency and the stability of the transmission, can flexibly adjust the posture of the surgical instrument, and reduces the X-axis of parts near the surgical instrument. The shielding effect of the rays, so as to avoid the imaging being affected by strong shielding and interference. The present invention also provides a medical robot, including the surgical instrument guiding device.

Description

Surgical instrument guidance equipment and medical robots

technical field

The invention relates to the technical field of medical instruments, in particular to a surgical instrument guiding device and a medical robot.

Background technique

In a spinal tap, a C-arm is used to guide the needle. At this time, the components near the puncture needle hope that the shielding effect on X-ray penetration should be as small as possible.

The Chinese patent with the publication number CN107647916A discloses a main arm of a surgical robot, including a fixed arm on a support, a middle arm hinged at one end of the fixed arm, a front arm hinged at the end of the middle arm away from the fixed arm, and a hinged arm at the end of the fixed arm. The front section arm is far away from the slide arm at one end of the middle section arm, the slide arm is provided with a surgical instrument with an instrument hand, the middle section arm is located at the side of the fixed arm, and the front section arm is located at the side of the middle section arm, so The middle section arm and the front section arm constitute two adjacent sides of a parallelogram, and there is an apocentric point located at the vertex of the parallelogram between the two for the instrument hand to pass through. As for the drive assembly that drives the instrument hand to swing with the apocenter as the center of the circle, this patent application realizes the movement of the surgical instrument through the hinged cooperation of the fixed arm, the middle arm, the front arm, and the sliding arm. It can be seen that the patent The driving mode in the application is relatively complicated, the transmission is not flexible, the maintenance cost is high, and it has a certain degree of shielding effect on the penetration of X-rays, which easily affects the operation process.

Therefore, it is necessary to develop a novel surgical instrument guiding device and medical robot to solve the above-mentioned problems in the prior art.

Contents of the invention

The purpose of the present invention is to provide a surgical instrument guiding device and a medical robot, which can simplify the driving mode, improve the transmission efficiency and transmission stability, flexibly adjust the posture of the surgical instrument, and reduce the X-ray impact of parts near the surgical instrument. Blocking effect, so as to avoid the image being affected by strong blocking and interference.

In order to achieve the above object, the present invention provides a surgical instrument guiding device, which includes an active driving device, a transmission device and a driven device that are arranged movable in sequence, and the driven device includes a needle-carrying part to be fixedly connected to the surgical instrument; The transmission device includes a first transmission loop, a main body, a first transmission part, a guide transmission part and a hollow guide part arranged on the main body; the first transmission part is connected to the active drive device, so that the active The driving device rotates; the guide transmission part and the hollow guide part are arranged opposite to each other along the first direction, and the first transmission ring line is sleeved behind the first transmission part, passes through the guide transmission part and is connected with the first transmission part. The guide transmission part is in sliding contact to drive the guide transmission part to rotate; after the first transmission ring line meets the guiding action of the guide transmission part, it passes through the hollow guide part along the first direction and is movably sleeved on the The driven device drives the driven device to move in a second direction, the first direction is consistent with the moving direction of the first transmission ring in the hollow guide part, and the second direction is consistent with the first direction The included angle range of the direction is greater than 0 degrees and less than 180 degrees; the part of the first transmission loop line between the first transmission part and the guide transmission part is arranged to cross.

The beneficial effect of the surgical instrument guiding device of the present invention is that: the transmission device includes a first transmission ring line, a main body part and a first transmission part, a guide transmission part and a hollow guide part arranged on the main body part, the The guide transmission part and the hollow guide part are arranged opposite to each other along the first direction. The first transmission ring wire is sleeved behind the first transmission part, passes through the guide transmission part and makes sliding contact with the guide transmission part, so as to Drive the guide transmission part to rotate; the first transmission ring line meets the guiding action of the guide transmission part, passes through the hollow guide part along the first direction, and then is movably sleeved on the driven device, thereby driving the The driven device moves along the second direction, which simplifies the driving mode, improves the transmission efficiency and the stability of the transmission, and can flexibly adjust the posture of the surgical instrument; since the first transmission loop is used for transmission, the surgical instrument is reduced. The shielding effect of nearby components on X-rays, so as to avoid the strong shielding and interference of imaging.

Preferably, the vertical distance between the first transmission part and the virtual structure formed by extending the hollow guide part along the first direction is larger than the virtual structure formed by the guide transmission part and the hollow guide part extending along the first direction the vertical distance between them. The beneficial effect is that the first transmission loop line is smoothly sleeved with the first transmission part and the guide transmission part, preventing the first transmission loop line from slipping and falling off caused by the position of the first transmission part and the guide transmission part being too close.

Preferably, the first transmission part includes a first wheel body and a second wheel body arranged in sequence along the first direction, the first transmission ring line is movably sleeved behind the first wheel body, and the One transmission line of the first transmission ring line extends to the bottom of the guide transmission part after sliding contact with the top of the second wheel body, and then extends toward the hollow guide part after sliding contact, and the other transmission line of the first transmission ring line A transmission line extends to the bottom of the guide transmission part after being in sliding contact with the top of the guide transmission part, and then extends toward the hollow guide part after achieving sliding contact. The beneficial effect is that the stability of transmission can be improved.

Preferably, the guide transmission part includes a third wheel body, a fourth wheel body and a fifth wheel body arranged in sequence along the first direction; one transmission line of the first transmission loop line passes through the second wheel After sliding contact, the top of the body extends to the bottom of the third wheel body and after sliding contact, then extends to the bottom of the fifth wheel body and realizes sliding contact and extends toward the hollow guide part; the first transmission ring line The other transmission line extends to the bottom of the fifth wheel body after being in sliding contact with the top of the fourth wheel body, and then realizes sliding contact and extends toward the hollow guide part. The beneficial effect is that the arrangement of the third wheel body, the fourth wheel body and the fifth wheel body can simultaneously stabilize the two transmission lines of the first transmission loop line and improve the stability of the transmission.

Preferably, the vertical distance between any one of the third wheel body, the fourth wheel body and the fifth wheel body and the virtual structure formed by extending the hollow guide part along the first direction is smaller than the first wheel body. The vertical distance between any one of the wheel body and the second wheel body and the virtual structure formed by extending the hollow guide portion along the first direction. Its beneficial effect is: make the first transmission ring line smoothly cover the first wheel body and the second wheel body, prevent the third wheel body, the fourth wheel body and the fifth wheel body from being too close to the first wheel body and the second wheel body. The first transmission loop caused by approaching slips and falls off.

Preferably, the third wheel body, the fourth wheel body and the fifth wheel body are all disposed opposite to the hollow guide part. The beneficial effect is that: the third wheel body, the fourth wheel body and the fifth wheel body can guide the first transmission loop to pass through the axis of the hollow guide part, without touching the hollow cantilever and causing the shifting position.

Preferably, the first wheel body is a motor driving pulley, the second wheel body, the third wheel body, the fourth wheel body and the fifth wheel body are guide wheels, and the first wheel body The wheel body, the second wheel body, the third wheel body, the fourth wheel body and the fifth wheel body are all provided with slide grooves to fit the first transmission loop. The beneficial effect is that the accuracy and precision of the transmission can be improved, the surgical instrument can be accurately moved to the target position, the transmission noise is small, the transmission loop is not easy to slip, and the transmission loop can be adjusted according to the specific rotational driving speed of the active drive device. Change the transmission speed.

Preferably, the transmission device further includes a hollow cantilever with two ends open, one open end of the hollow cantilever is arranged on the main body and opposite to the guide transmission part, and the hollow guide part is arranged on the hollow cantilever Inside, the other open end of the hollow cantilever is movably provided with a first U-shaped frame to rotate around the axis of the hollow cantilever. The beneficial effect is that: the rotation of the first U-shaped frame can change the posture of the surgical instrument guiding device, so that the surgical instrument can be moved to different positions according to requirements.

Preferably, the transmission device further includes a sixth wheel body and a seventh wheel body arranged in sequence along the first direction, and the sixth wheel body and the seventh wheel body are arranged opposite to the first U-shaped frame Inside, the first transmission loop runs through the hollow cantilever and then extends through the space defined between the sixth wheel body and the seventh wheel body, and then is movably sleeved on the driven device, and the first The transmission ring is in sliding contact with the sixth wheel body and the seventh wheel body. The beneficial effect is that the relative arrangement of the sixth wheel body and the seventh wheel body can further stabilize the first transmission loop and improve transmission stability.

Preferably, the sixth wheel body and the seventh wheel body are guide wheels, and both the sixth wheel body and the seventh wheel body are provided with slide grooves to fit the first transmission loop. The beneficial effects are: the accuracy and precision of the transmission can be improved, so that the surgical instrument can be accurately moved to the target position, the transmission noise is small, the transmission loop is not easy to slip, and the transmission loop can be driven according to the specific rotation speed of the active drive device. to change the transmission speed.

Preferably, the driven device further includes a second transmission ring, and an eighth wheel body and a ninth wheel body oppositely arranged along the second direction, and the first transmission ring and the second transmission ring are both sleeved It is arranged on the eighth wheel body, the second transmission loop line is sleeved on the eighth wheel body and the ninth wheel body, and the needle carrying part is fixedly arranged in the second transmission loop line close to the The transmission line of the needle loading part. The beneficial effect is that the arrangement of the eighth wheel body can transmit the transmission of the first transmission loop to the second transmission loop, thereby driving the surgical instrument to move.

Preferably, both the eighth wheel body and the ninth wheel body are guide wheels. The beneficial effect is that the transmission noise of the transmission wire wheel is small, so that the second transmission loop line is not easy to slip and affect the surgical operation, and at the same time, the surgical instrument can be stably moved to the target position.

Preferably, the eighth wheel body is provided with a first chute and a second chute, the first chute is used for the sleeve of the first transmission loop, and the second chute is used for the second transmission loop Sleevely, the ninth wheel body is provided with a chute adapted to the second transmission loop. The beneficial effect is that the arrangement of the first chute and the second chute prevents the first transmission loop from directly contacting the second transmission loop, preventing the first transmission loop and the second transmission loop from being mixed together due to slipping.

Preferably, the driven device further includes a hollow frame body, the structure of the driven device except the needle carrying part is arranged in the hollow frame body, and the needle carrying part is slidably arranged on the side of the hollow frame body The wall, the top of the hollow frame body and the two ends of the first U-shaped frame are flexibly connected. The beneficial effect is that: the hollow frame body and the first U-shaped frame can realize various postures of the surgical instrument guiding device, so that the needle carrying part drives the surgical instrument to move to different target positions.

In a second aspect, the present invention also provides a medical robot, which is provided with the surgical instrument guiding device.

The beneficial effect of the medical robot of the present invention is that: the medical robot is provided with the surgical instrument guiding device, which can reduce the influence of the parts of the surgical instrument guiding device on the surgery, so that the medical robot It can flexibly perform operations such as puncture surgery, biopsy surgery, and injection surgery.

Description of drawings

1 is a schematic structural view of a surgical instrument guiding device according to an embodiment of the present invention;

Fig. 2 is a schematic diagram of the assembly structure of the active driving device, the main body, the first transmission part, the guide transmission part, the hollow guide part and the first transmission loop in the embodiment of the present invention;

Fig. 3 is a schematic structural diagram of a surgical instrument guiding device according to another embodiment of the present invention;

4 is a schematic diagram of the assembly structure of the first transmission loop, the second transmission loop, the sixth wheel body, the seventh wheel body, and the eighth wheel body in the embodiment of the present invention;

Fig. 5 is a schematic structural diagram of a medical robot according to an embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. the embodiment. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by those skilled in the art to which the present invention belongs. As used herein, "comprising" and similar words mean that the elements or items appearing before the word include the elements or items listed after the word and their equivalents, without excluding other elements or items.

In order to solve the problems existing in the prior art, the embodiment of the present invention provides a surgical instrument guiding device and a medical robot including active driving devices, transmission devices and driven devices arranged in sequence, so as to reduce the number of parts near the surgical instruments Shielding effect on X-rays, so as to avoid strong shielding and interference for imaging.

Fig. 1 is a schematic structural diagram of a surgical instrument guiding device according to an embodiment of the present invention.

In some embodiments, the surgical instrument guiding device includes an active driving device, a transmission device, and a driven device that are movably arranged in sequence, and the driven device includes a needle-carrying portion for fixed connection with the surgical instrument.

In some specific embodiments, the active driving device is a motor.

In some specific embodiments, the surgical instrument is a puncture needle, which is used to assist in the puncture operation.

In some specific embodiments, the surgical instrument is a biopsy needle for retrieving a sample from a subject.

In some specific embodiments, the surgical instrument is an injection needle for targeted injection of drugs.

Referring to FIG. 1 , the transmission device is composed of a first transmission ring 13 , a main body 12 , a first transmission part 18 , a guide transmission part 19 and a hollow guide part 14 arranged on the main body 12 .

In some specific embodiments, the main body 12 is a slider with a through-hole structure on the side.

Referring to FIG. 1 , the first transmission part 18 is connected to the driving device 11 to rotate under the driving of the driving device 11 .

In some specific embodiments, referring to FIG. 1 , the main body 12 is provided with a mounting plate 110, and the mounting plate 110 is provided with a through-hole structure (not shown in the figure), and the first transmission part 18 passes through the mounting plate 110. The through-hole structure (not shown in the figure) of the board 110 is connected with the driving device 11 .

Referring to FIG. 1 , the guide transmission part 19 and the hollow guide part 14 are arranged opposite to each other along the first direction. In the embodiment of the present invention, the moving direction of the first transmission ring line 13 in the hollow guide part 14 is called the x direction. , that is, the first direction, and the direction with an angle greater than 0 degrees and less than 180 degrees with the first direction is called the y direction, that is, the second direction, and the first transmission loop line 13 is sleeved on the first transmission part After 18, it passes through the guide transmission part 19 and makes sliding contact with the guide transmission part 19 to drive the guide transmission part 19 to rotate.

After the first transmission ring line 13 meets the guiding effect of the guide transmission part 19, it passes through the hollow guide part 14 along the x direction and is movably sleeved on the driven device (not shown in the figure), thereby driving the The driven device (not shown in the figure) moves along the y direction, the x direction is consistent with the movement direction of the first transmission ring 13 in the hollow guide part 14, and the y direction is consistent with the x direction The included angle range is greater than 0 degrees and less than 180 degrees;

The part of the first transmission loop line 13 located between the first transmission part 18 and the guide transmission part 19 is arranged to cross.

In some embodiments, referring to FIG. 1 , the vertical distance between the first transmission part 18 and the virtual structure formed by extending the hollow guide part 14 along the x direction is greater than that between the guide transmission part 19 and the hollow guide part 14 The vertical distance between virtual structures formed by extending along the x-direction.

Fig. 2 is a schematic diagram of the assembly structure of the active driving device, the main body, the first transmission part, the guide transmission part, the hollow guide part and the first transmission loop in the embodiment of the present invention.

In some embodiments, referring to FIG. 1 and FIG. 2 , the first transmission part 18 includes a first wheel body 21 and a second wheel body 22 arranged in sequence along the x direction, and the first transmission ring line 13 is movably sleeved on Behind the first wheel body 21, a transmission line 26 of the first transmission ring line 13 extends to the bottom of the guide transmission part 19 after sliding contact with the top of the second wheel body 22 and then faces toward The hollow guide part 14 extends, and the other transmission line 27 of the first transmission loop line 13 extends to the bottom of the guide transmission part 19 after sliding contact with the top of the guide transmission part 19 and then moves toward the bottom of the guide transmission part 19 after sliding contact. The hollow guide part 14 extends.

In some embodiments, referring to FIG. 1 , the guide transmission part 19 includes a third wheel body 23 , a fourth wheel body 24 and a fifth wheel body 25 arranged in sequence along the x direction.

A transmission line 26 of the first transmission ring line 13 extends to the bottom of the third wheel body 23 after sliding contact with the top of the second wheel body 22 and then extends to the fifth wheel body 25 and realize sliding contact extending toward the hollow guide part 14 .

The other transmission line 27 of the first transmission ring line 13 extends to the bottom of the fifth wheel body 25 after being in sliding contact with the top of the fourth wheel body 24 , and then extends toward the hollow guide portion 14 in sliding contact.

In some embodiments, referring to FIG. 1, any one of the third wheel body 23, the fourth wheel body 24, and the fifth wheel body 25 is a virtual structure formed by extending the hollow guide portion 14 along the x direction. The vertical distance between them is smaller than the vertical distance between any one of the first wheel body 21 and the second wheel body 22 and the virtual structure formed by extending the hollow guide part 14 along the x direction.

In some embodiments, the third wheel body 23 , the fourth wheel body 24 and the fifth wheel body 25 are all disposed opposite to the hollow guide part 14 .

In some embodiments, the first wheel body 21 is a motor driving pulley, and the second wheel body 22, the third wheel body 23, the fourth wheel body 24 and the fifth wheel body 25 are Guide wheel.

In some embodiments, the first wheel body 21, the second wheel body 22, the third wheel body 23, the fourth wheel body 24 and the fifth wheel body 25 are all provided with slide grooves, To adapt to the first transmission loop line 13 , prevent the first transmission loop line 13 from greatly moving along the axial direction of any wheel body and affect the guiding effect of the first transmission loop line 13 .

Fig. 3 is a schematic structural diagram of a surgical instrument guiding device according to another embodiment of the present invention.

In some embodiments, referring to FIG. 1 and FIG. 3 , the transmission device further includes a hollow cantilever 41 with both ends open, and one open end of the hollow cantilever 41 is arranged on the main body part 12 and connected to the guide transmission part 19 In contrast, the hollow guide part 14 is arranged in the hollow cantilever 41, and the other open end of the hollow cantilever 41 is movably provided with a first U-shaped frame 42, and the first U-shaped frame 42 wraps around the hollow cantilever 41. axis rotation.

In some specific embodiments, the hollow cantilever 41 is a hollow column made of carbon fiber.

In some specific embodiments, the axis direction of the hollow cantilever 41 is the x direction.

Fig. 4 is a schematic diagram of the assembly structure of the first transmission loop, the second transmission loop, the sixth wheel body, the seventh wheel body, and the eighth wheel body in the embodiment of the present invention.

In some embodiments, referring to FIG. 1 , FIG. 3 and FIG. 4 , the transmission device further includes a sixth wheel body 31 and a seventh wheel body 32 arranged in sequence along the x direction, and the sixth wheel body 31 and the The seventh wheel body 32 is relatively arranged in the first U-shaped frame 42, and the first transmission loop 13 passes through the hollow cantilever 41 and then extends through the sixth wheel body 31 and the seventh wheel body 32. The space defined between them is movably sleeved on the driven device, and the first transmission ring 13 is in sliding contact with the sixth wheel body 31 and the seventh wheel body 32 .

In some embodiments, the sixth wheel body 31 and the seventh wheel body 32 are guide wheels. Both the sixth wheel body 31 and the seventh wheel body 32 are provided with slide grooves to match the first transmission loop 13 .

In some embodiments, referring to FIG. 1 , the driven device further includes a second transmission loop 36, and an eighth wheel body 33 and a ninth wheel body 17 oppositely arranged along the y direction, and the first transmission loop line 13 and the The second transmission ring 36 is sleeved on the eighth wheel body 33, the second transmission ring 36 is sleeved on the eighth wheel body 33 and the ninth wheel body 17, and the needle carrying part 15 The third transmission line 34 is fixedly arranged in the second transmission loop line 36 close to the needle loading part 15 .

Specifically, referring to FIG. 3 and FIG. 4, the sixth wheel body 31 is connected to the first U-shaped frame 42 through a first connecting rod 39, and the seventh wheel body 32 is connected to the first U-shaped frame 42 through a second connecting rod 310. The first U-shaped frame 42 is connected, and the eighth wheel body 33 is connected with the first U-shaped frame 42 through a third connecting rod 311 .

In some embodiments, the eighth wheel body 33 and the ninth wheel body 17 are both guide wheels.

In some specific embodiments, the first wheel body 21, the second wheel body 22, the third wheel body 23, the fourth wheel body 24, the fifth wheel body 25, the first wheel body The six-wheel body 31, the seventh wheel body 32 and the ninth wheel body 17 are provided with an annular groove structure, and the annular groove structure is adapted to the first transmission loop line 13 and the second transmission loop line 36, To position the transmission loops, the movement of the first transmission loop 13 and the second transmission loop 36 along the axis of the wheel body is restricted.

In some embodiments, referring to FIG. 1 and FIG. 4 , the eighth wheel body 33 is provided with a first chute 37 and a second chute 38 , and the first chute 37 is sleeved by the first transmission ring 13 , the second chute 38 is provided for the second transmission ring line 36 to sleeve.

In some embodiments, the ninth wheel body 17 is provided with a sliding groove adapted to the second transmission loop 36 .

In some embodiments, referring to FIG. 1 and FIG. 2 , the operating process of the surgical instrument guiding device according to the present invention to guide the downward movement of the surgical instrument 16 is as follows:

The active driving device 11 provides rotational drive to make the first wheel body 21 rotate clockwise, and the clockwise rotation of the first wheel body 21 drives the first transmission ring 13 to slide;

The first transmission loop line 13 is divided into one transmission line 26 and another transmission line 27, and the one transmission line 26 slides along the x direction, further driving the second wheel body 22 to rotate clockwise;

The one transmission line 26 slides along the bottom of the third wheel body 23 to drive the third wheel body 23 to rotate counterclockwise, and the one transmission line 26 slides through the bottom of the third wheel body 23 and extends through the Hollow guide part 14;

The one transmission line 26 slides along the bottom of the sixth wheel body 31 to drive the sixth wheel body 31 to rotate counterclockwise, and the one transmission line 26 runs along the first chute on the top of the eighth wheel body 33 37 slides and drives the eighth wheel body 33 to rotate clockwise;

Referring to FIG. 4 , the one transmission line 26 and the other transmission line 27 meet and close at the first chute 37 of the eighth wheel body 33 . The other transmission line 27 slides along the x direction through the first chute 37 at the bottom of the eighth wheel body 33;

2 and 3, the other transmission line 27 slides through the top of the seventh wheel body 32 and drives the seventh wheel body 32 to rotate counterclockwise, and the other transmission line 27 runs through the hollow cantilever 41 and the hollow guide part 14 slides through the bottom of the fifth wheel body 25, and drives the fifth wheel body 25 to rotate clockwise, and the other transmission line 27 slides through the top of the fourth wheel body 24 and drive the fourth wheel body 24 to rotate counterclockwise, and the other transmission line 27 slides through the bottom of the first wheel body 21 to further drive the first wheel body 21 to rotate clockwise;

Referring to FIG. 4 , the second transmission loop 36 is sheathed on the second chute 38 of the eighth wheel body 33 ;

Referring to Figures 1 and 2, the eighth wheel body 33 rotates clockwise to drive the second transmission ring 36 to slide, and the second transmission ring 36 is divided into a third transmission line 34 and a fourth transmission line 35. The third transmission line 34 slides through the needle carrying part 15 along the y direction and drives the needle carrying part 15 to move along the y direction, thereby driving the surgical instrument 16 to move downward. The third transmission line 34 passes through the The bottom of the ninth wheel body 17 slides to drive the ninth wheel body 17 to rotate clockwise;

The third transmission line 34 and the fourth transmission line 35 meet and close at the ninth wheel body 17, and the fourth transmission line 35 slides along the y direction through the top of the eighth wheel body 33 to further drive the The eighth wheel body 33 rotates clockwise.

In other embodiments, referring to FIG. 1 and FIG. 2 , the operating process of the surgical instrument guiding device according to the present invention to guide the upward movement of the surgical instrument 16 is as follows:

The active driving device 11 provides rotational drive to make the first wheel body 21 rotate counterclockwise, and the counterclockwise rotation of the first wheel body 21 drives the first transmission loop 13 to slide;

The first transmission loop line 13 is divided into a transmission line 26 and another transmission line 27, the other transmission line 27 slides along the x direction, slides through the top of the fourth wheel body 24 and drives the fourth wheel body 24 rotates clockwise, the other transmission line 27 slides through the bottom of the fifth wheel body 25 and drives the fifth wheel body 25 to rotate counterclockwise;

The other transmission line 27 slides through the bottom of the fifth wheel body 25 and then extends and passes through the hollow guide part 14. The other transmission line 27 further slides along the x direction, and the other transmission line 27 slides along the The bottom of the seventh wheel body 32 slides to drive the seventh wheel body 32 to rotate clockwise;

Referring to FIG. 4 , the other transmission line 27 slides along the first chute 37 at the bottom of the eighth wheel body 33 to drive the eighth wheel body 33 to rotate counterclockwise, and the other transmission line 27 and the eighth wheel body 33 Said one transmission line 26 meets and closes at said first chute 37 of said eighth wheel body 33, and said one transmission line 26 passes through said first chute 37 at the top of said eighth wheel body 33 along the x direction Sliding, the one transmission line 26 slides through the bottom of the sixth wheel body 31 and drives the sixth wheel body 31 to rotate clockwise;

2 and 3, the transmission line 26 runs through the hollow cantilever 41 and the hollow guide part 14 and then slides through the bottom of the third wheel body 23, and drives the third wheel body 23 to rotate counterclockwise , the one transmission line 26 slides through the top of the second wheel body 22, and drives the second wheel body 22 to rotate counterclockwise, and the one transmission line 26 slides through the top of the first wheel body 21 to further drive the The first wheel body 21 rotates counterclockwise and merges with the other transmission line 27 to close;

1 and 4, the second transmission loop 36 is sleeved with the second chute 38 of the eighth wheel body 33, and the eighth wheel body 33 rotates clockwise to drive the second transmission loop 36 slide;

The second transmission loop line 36 is divided into a third transmission line 34 and a fourth transmission line 35, the fourth transmission line 35 slides downward along the y direction, and the fourth transmission line 35 passes through the ninth wheel body 17 The bottom slides, thereby driving the ninth wheel body 17 to rotate counterclockwise;

The fourth transmission line 35 and the third transmission line 34 meet and close at the ninth wheel body 17, and the third transmission line 34 slides along the y direction through the needle carrying part 15 and drives the needle carrying part 15. The part 15 moves along the y direction, thereby driving the surgical instrument 16 to move upward, and the third transmission wire 34 slides through the second chute 38 on the top of the eighth wheel body 33 to further drive the eighth wheel Body 33 rotates counterclockwise.

In some embodiments, referring to FIG. 3 , the driven device further includes a hollow frame body 43, the structure of the driven device except the needle carrying part 15 is arranged in the hollow frame body 43, and the needle carrying part 15 is arranged in the hollow frame body 43. The part 15 is slidably disposed on the side wall of the hollow frame body 43 , and the top of the hollow frame body 43 is movably connected with both ends of the first U-shaped frame 42 .

Fig. 5 is a schematic structural diagram of a medical robot according to an embodiment of the present invention.

In some embodiments, referring to FIG. 5 , a medical robot is also provided, the medical robot is provided with the surgical instrument guiding device, so that the medical robot has a high degree of freedom and can realize various postures, transmission efficiency and transmission stability High reliability, low maintenance cost, can reduce the impact of the parts of the surgical instrument guiding device on the surgery, so that the medical robot can flexibly perform puncture surgery, biopsy surgery, injection surgery and other operations.

Although the embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and changes can be made to the embodiments. However, it should be understood that such modifications and changes are within the scope and spirit of the present invention described in the claims. Furthermore, the invention described herein is capable of other embodiments and of being practiced or carried out in various ways.

Claims (13)

1. The utility model provides a surgical instruments guiding apparatus, includes the initiative drive arrangement, transmission and the slave unit that the activity set up in order, its characterized in that:

the driven device comprises a needle-carrying part for fixedly connecting a surgical instrument;

the transmission device comprises a first transmission loop wire, a main body part, a first transmission part, a guide transmission part and a hollow guide part, wherein the first transmission part, the guide transmission part and the hollow guide part are arranged on the main body part;

the first transmission part is connected with the active driving device to rotate under the driving of the active driving device;

the guide transmission part and the hollow guide part are oppositely arranged along a first direction, and the first transmission loop is sleeved on the first transmission part and then passes through the guide transmission part to be in sliding contact with the guide transmission part so as to drive the guide transmission part to rotate;

after the first transmission loop line is intersected under the guiding action of the guiding transmission part, the first transmission loop line penetrates through the hollow guiding part along a first direction and then is movably sleeved on the driven device, so that the driven device is driven to move along a second direction, the first direction is consistent with the moving direction of the first transmission loop line on the hollow guiding part, and the included angle range between the second direction and the first direction is larger than 0 degree and smaller than 180 degrees;

the first transmission annular line is arranged between the first transmission part and the guide transmission part in a partially crossed manner;

the first transmission part comprises a first wheel body and a second wheel body which are sequentially arranged along the first direction, the first transmission loop line is movably sleeved on the first wheel body, one transmission line of the first transmission loop line extends to the bottom of the guide transmission part after being in sliding contact with the top of the second wheel body and extends towards the hollow guide part after being in sliding contact with the top of the second wheel body, and the other transmission line of the first transmission loop line extends to the bottom of the guide transmission part after being in sliding contact with the top of the guide transmission part and extends towards the hollow guide part after being in sliding contact with the top of the guide transmission part;

the guide transmission part comprises a third wheel body, a fourth wheel body and a fifth wheel body which are sequentially arranged along the first direction;

one transmission line of the first transmission loop line extends to the bottom of the third wheel body after being in sliding contact with the top of the second wheel body and then extends to the bottom of the fifth wheel body to realize sliding contact and extend towards the hollow guide part;

the other transmission line of the first transmission loop line extends to the bottom of the fifth wheel body after being in sliding contact with the top of the fourth wheel body and achieves sliding contact to extend towards the hollow guide portion.

2. A surgical instrument guide apparatus as recited in claim 1, wherein a vertical distance between the first transmission and a virtual structure formed by the hollow guide extending in the first direction is greater than a vertical distance between the guide transmission and a virtual structure formed by the hollow guide extending in the first direction.

3. The surgical instrument guide apparatus of claim 1, wherein a vertical distance between any one of the third wheel, the fourth wheel, and the fifth wheel and a virtual structure formed by the hollow guide portion extending in the first direction is smaller than a vertical distance between any one of the first wheel and the second wheel and a virtual structure formed by the hollow guide portion extending in the first direction.

4. A surgical instrument guide apparatus as recited in claim 1, wherein the third wheel, the fourth wheel, and the fifth wheel are each disposed opposite the hollow guide.

5. The surgical instrument guiding apparatus as defined in claim 1, wherein the first wheel body is a motor drive wheel, the second wheel body, the third wheel body, the fourth wheel body, and the fifth wheel body are guide wheels, and the first wheel body, the second wheel body, the third wheel body, the fourth wheel body, and the fifth wheel body are each provided with a slide groove to fit the first transmission loop line.

6. A surgical instrument guide apparatus according to claim 1, wherein the transmission device further includes a hollow cantilever having both ends open, one open end of the hollow cantilever being disposed in the main body portion and opposite to the guide transmission portion, the hollow guide portion being disposed in the hollow cantilever, and the other open end of the hollow cantilever being movably provided with a first U-shaped frame for rotation about an axis of the hollow cantilever.

7. The surgical instrument guiding apparatus as defined in claim 6, wherein the transmission device further includes a sixth wheel and a seventh wheel sequentially disposed along the first direction, the sixth wheel and the seventh wheel are disposed opposite to each other in the first U-shaped frame, the first transmission loop extends through a space defined between the sixth wheel and the seventh wheel after penetrating through the hollow cantilever, and then is movably sleeved on the driven device, and the first transmission loop is in sliding contact with the sixth wheel and the seventh wheel.

8. The surgical instrument guiding apparatus of claim 7, wherein the sixth wheel body and the seventh wheel body are guide wheels, and the sixth wheel body and the seventh wheel body are each provided with a slide groove to fit the first transmission loop line.

9. The surgical instrument guiding apparatus as defined in claim 7, wherein the driven device further includes a second transmission loop, and an eighth wheel and a ninth wheel oppositely disposed along the second direction, the eighth wheel is sleeved with the first transmission loop and the second transmission loop, the eighth wheel is sleeved with the second transmission loop, and the needle-carrying portion is fixedly disposed on the transmission line of the second transmission loop, which is close to the needle-carrying portion.

10. A surgical instrument guide apparatus as recited in claim 9, wherein the eighth wheel and the ninth wheel are each guide wheels.

11. A surgical instrument guide apparatus according to claim 9, wherein the eighth wheel body is provided with a first chute in which the first transmission loop is sleeved and a second chute in which the second transmission loop is sleeved, and the ninth wheel body is provided with a chute adapted to the second transmission loop.

12. A surgical instrument guide apparatus as recited in claim 6, wherein the follower further includes a hollow frame, the follower is configured to be disposed within the hollow frame except for the needle-carrying portion, the needle-carrying portion is slidably disposed on a sidewall of the hollow frame, and a top of the hollow frame is movably connected to two ends of the first U-shaped frame.

13. A medical robot comprising the surgical instrument guide apparatus of any one of claims 1-12.

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