CN114391959B - Universal surgical instrument box bottom plate, surgical instrument and minimally invasive surgical robot - Google Patents

Abstract

This application discloses a universal surgical instrument box base plate, surgical instruments and minimally invasive surgical robot, which includes a base plate main body. The base plate main body is provided with four holes for installing rotational power input, opening and closing power input, yaw power input, As the input end of the pitch power input, in the embodiment of the present application, the above-mentioned universal surgical instrument box bottom plate is used, and four trapezoidally distributed input ends provided on the main body of the bottom plate are used to output the rotation, opening and closing, deflection, and rotation of the surgical instrument. The pitching motion provides a power input port. According to the freedom requirements of different surgical output instruments, by corresponding power distribution to the four input terminals, the base plate can be applied to different surgical output instruments, that is, one base plate can be adapted to a variety of surgical output instruments. The surgical instrument box, because the power arrangement of the four input terminals can be flexibly changed, further improves the applicability of the base plate, reduces the mold opening costs of designing separate base plates for instruments with different degrees of freedom, thereby reducing surgical costs.

Description

Universal surgical instrument box bottom plate, surgical instruments and minimally invasive surgical robot

Technical field

The invention relates to the technical field of medical instruments, and in particular to a universal surgical instrument box bottom plate, surgical instruments and a minimally invasive surgical robot.

Background technique

Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscope and thoracoscope and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, in minimally invasive surgery, minimally invasive instruments are limited by the size of the incision, making the operation more difficult, and the doctor's fatigue, trembling and other movements during long-term operations will be amplified, which has become a constraint on the development of minimally invasive surgery technology. The key factor. With the development of robotic technology, a new technology in the minimally invasive medical field that can overcome shortcomings and inherit advantages - minimally invasive surgical robotic technology has emerged.

During robot-assisted minimally invasive surgery, a special channel is usually established through a cannula. The doctor uses slender minimally invasive surgical instruments to enter the special channel to perform surgical operations in the human abdominal cavity. In robot-assisted minimally invasive surgery, there are as many as twenty or thirty types of minimally invasive surgical instruments that can be used. They can be basically divided into three categories according to their end-end freedom of movement: 1. Surgical instruments with rotation and opening and closing movements, such as ultrasound Knife; 2. Surgical instruments with rotation, yaw, and pitch movements, such as electrocoagulation hooks; 3. Surgical instruments with rotation, yaw, pitch, and opening and closing movements, such as bipolar forceps, grasping forceps, surgical scissors, etc. .

The Chinese invention patent with authorization announcement number CN106659543B discloses a force transmission mechanism for surgical instruments used in minimally invasive surgical robots, which includes a worm transmission device, a lever arm and an actuating element, all of which are installed on the chassis. , the chassis in this invention is only suitable for surgical instruments with rotation, opening and closing movements (i.e. the aforementioned Category 1).

Existing surgical instruments that use other forms of drive box internal structures can only be applied to a certain type of surgical instrument as mentioned above. That is, in the existing technology, a separate driving base plate is designed for the same type of surgical instrument with freedom of movement. There is no base plate that can be applied to the above three types of surgical instruments at the same time, so it is necessary to design three different driving base plates for the above three types of surgical instruments, which leads to an increase in mold opening costs and manufacturing costs. In addition, the variety of parts increases the management cost of the enterprise. , which indirectly results in high product selling prices and high costs for patients to undergo robotic surgery. Therefore, it is desired to invent an instrument box bottom plate that can be adapted to three types of surgical instruments with different degrees of freedom of movement to reduce costs.

Contents of the invention

In view of the shortcomings of the existing technology, the present invention provides a universal surgical instrument box base plate, surgical instruments and a minimally invasive surgical robot, which solves the problem of high production costs caused by poor applicability of the base plate of the existing surgical instrument drive box.

In order to achieve the above objects, the present invention is implemented through the following technical solutions.

First, the application provides a universal surgical instrument box bottom plate, which includes a bottom plate main body. The bottom plate main body is provided with four input terminals. The input terminals can be used to install rotational power input, opening and closing power input, and deflection power input. Navigation power input and pitch power input, the main body of the base plate is also provided with instrument ends for extending surgical output instruments; the above-mentioned universal surgical instrument box base plate, wherein four of the input ends are on the main body of the base plate Trapezoidal distribution; the above-mentioned universal surgical instrument box bottom plate, wherein the instrument end is located outside the trapezoidal structure formed by the four input end centers and the instrument end center is located on the vertical line of the bottom edge of the trapezoidal structure ; The above-mentioned universal surgical instrument box bottom plate, wherein the centers of the four input ends form a trapezoidal structure, and one of the two input ends constituting the bottom edge of the trapezoidal structure is used to install rotational power input.

It is further limited that in the above-mentioned universal surgical instrument box bottom plate, the input end close to the instrument end is used for installing rotational power input.

It is further limited to the above-mentioned universal surgical instrument box base plate, wherein the top of the base plate body is fixedly provided with a limiting column for restricting the rotation angle of the rotational power input at a position corresponding to the input end where the rotational power input is installed.

It is further limited to the above-mentioned universal surgical instrument box base plate, wherein the main body of the base plate is provided with three guide wheel holes for reversing the direction of the steel wire rope during the driving process of the steel wire rope.

It is further limited that in the above-mentioned universal surgical instrument box bottom plate, the three guide wheel holes are respectively located at corresponding positions of the input ends of the three non-installed rotational power inputs.

It is further limited that the above-mentioned universal surgical instrument box base plate further includes a first installation unit for mounting an upper mounting plate on the base plate body, and the first installation unit includes:

Brackets, two are integrally formed on the top of the main body of the base plate and symmetrically provided;

Four buckle holes are respectively provided at corresponding positions on the four sides of the bottom plate body.

It is further limited that in the above-mentioned universal surgical instrument box bottom plate, the bottom of the main body of the bottom plate is provided with two process holes at corresponding positions of the two brackets, and the process holes are blind holes.

It is further limited to the above-mentioned universal surgical instrument box bottom plate, wherein the first installation unit further includes:

Two positioning holes are provided through the main body of the base plate.

It is further limited that the above-mentioned universal surgical instrument box base plate also includes a second installation unit for installing the instrument box shell on the base plate body, and the second installation unit includes:

Four shell fixing holes are provided through each of the four corners of the base plate body;

There are two shell positioning grooves on the top of the base plate body;

At least one shell pin hole is provided on the top of the base plate body.

It is further limited that the above-mentioned universal surgical instrument box base plate further includes a third installation unit for installing the base plate main body on a sterile adapter, and the third installation unit includes:

Two probe push rods are fixedly provided at the bottom of the base plate body at positions corresponding to the two brackets;

At least one alignment block is fixed at the bottom edge of the base plate body.

It is further limited that the above-mentioned universal surgical instrument box base plate also includes a fourth installation unit for installing a quick-change assembly on the base plate body, and the fourth installation unit includes:

There are two pillar mounting holes symmetrically provided on the top of the base plate body.

It is further limited that the above-mentioned universal surgical instrument box base plate also includes:

The bearing installation part is fixedly provided at the bottom of the base plate body at a position corresponding to the end of the instrument, and is used to install a bearing for the rotation of the surgical output instrument.

Secondly, this application provides a surgical instrument, which is characterized in that it adopts the universal surgical instrument box bottom plate as described in any one of the above, and also includes:

The instrument box frame is cooperatively connected to the base plate body through the installation module;

A transmission component is provided inside the driving instrument frame, and is used to transfer the power input from the input end to the surgical output instrument.

Finally, this application provides a minimally invasive surgical robot, which is characterized in that it adopts the above-mentioned surgical instruments, and also includes a main console and a slave operating device, and the slave operating device is equipped with the surgical instrument, and the The main console is used to control the slave operating device and the transmission component to realize the movement of the surgical output instrument.

The invention has the following beneficial effects:

By arranging four trapezoidally distributed input terminals on the main body of the base plate, a power input port is provided for the rotation, opening and closing, deflection, and pitching movements of surgical output instruments. According to the requirements for the degree of freedom of different surgical output instruments, four The corresponding power distribution at the input end makes the universal surgical instrument box base plate suitable for different surgical output instruments, thereby realizing a base plate that meets the use requirements of a variety of surgical instrument boxes. Since the power arrangement of the four input ends can be flexible The transformation further improves the applicability of the base plate, reduces the mold opening costs of designing separate base plates for instruments with different degrees of freedom, thereby reducing surgical costs.

Description of the drawings

Figure 1 is a schematic diagram of the specific structure of the top of the bottom plate of the universal surgical instrument box according to the embodiment of the present application;

Figure 2 is a schematic diagram of the specific structure of the top of the bottom plate of the universal surgical instrument box according to the embodiment of the present application;

Figure 3 is a schematic diagram of the position of the "buckle hole 152" on the bottom plate of the universal surgical instrument box according to the embodiment of the present application;

Figure 4 is a schematic diagram of the specific structure of the bottom of the bottom plate of the universal surgical instrument box according to the embodiment of the present application;

Figure 5 is a schematic diagram of the specific structure of the bottom of the bottom plate of the universal surgical instrument box according to the embodiment of the present application;

Figure 6 is a schematic diagram of the specific structure of the surgical instrument according to the embodiment of the present application;

Figure 7 is a schematic structural diagram of the surgical instrument according to the embodiment of the present application when the "action instrument 400" is an "ultrasonic scalpel 410";

Figure 8 is a schematic structural diagram of the surgical instrument according to the embodiment of the present application when the "action instrument 400" is an "electrocoagulation hook 420";

FIG. 9 is a schematic structural diagram of the surgical instrument according to the embodiment of the present application when the "action instrument 400" is a "bipolar forceps 430".

Reference signs

Base plate main body-100, first input terminal-110, second input terminal-120, third input terminal-130, fourth input terminal-140, shell fixing hole-150, bracket-151, buckle hole-152, positioning Hole-153, shell pin hole-154, support mounting hole-155, shell positioning groove-156, probe push rod-157, alignment block-158, bearing mounting part-159, instrument end-160, guide wheel hole- 170, limit column-180, instrument box shell-200, slender shaft-300, action instrument-400, ultrasonic scalpel-410, electrocoagulation hook-420, bipolar forceps-430.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art fall within the scope of protection of this application.

The terms "first", "second", etc. in the description and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that the figures so used are interchangeable under appropriate circumstances so that the embodiments of the present application can be practiced in orders other than those illustrated or described herein, and that "first," "second," etc. are distinguished Objects are usually of one type, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and/or" in the description and claims indicates at least one of the connected objects, and the character "/" generally indicates that the related objects are in an "or" relationship.

The server provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios.

As shown in FIGS. 1 to 5 , embodiments of the present application provide a universal surgical instrument box bottom plate, including a bottom plate main body 100 . The bottom plate main body 100 is provided with a first input end 110 , a second input end 120 , and The third input terminal 130 and the fourth input terminal 140 are distributed in a trapezoidal shape, wherein the first input terminal 110 The connection line with the center of the second input terminal 120 constitutes the long base of the ladder structure, and the connection line with the center of the third input terminal 130 and the fourth input terminal 140 forms the short base of the ladder structure. The bottom plate body 100 is also provided with an instrument end 160 for extending the surgical output instrument. The instrument end 160 is located on the vertical line of the long bottom side of the trapezoidal structure and is located outside the trapezoidal structure.

In the embodiment of the present application, the above-mentioned universal surgical instrument box bottom plate is used, and the first input end 110, the second input end 120, the third input end 130, and the fourth input end 140 are arranged in a trapezoidal structure. The position of the instrument end 160 provides space, and the trapezoidal mechanism can be used to arrange the motor for providing power input at the four corners of the drive box that matches the base plate body 100. On the one hand, it facilitates the distribution of the center of gravity of the drive box. On the other hand, it is convenient for the heat dissipation of the motor. If the first input terminal 110, the second input terminal 120, the third input terminal 130 and the fourth input terminal 140 are not distributed in a trapezoidal manner, then the remote motor is arranged at the corner. The length or width of the base plate needs to be increased, which does not meet the needs for miniaturization of the instrument box and drive box.

In a preferred embodiment, the first input terminal 110 can be used to install rotational power input, and the third input terminal 130 and the fourth input terminal 140 can both be used to install opening and closing power input, yaw power input, etc. For power input and pitch power input, the second input terminal 120 can be used to install rotation power input, opening and closing power input, yaw power input, and pitch power input.

In a preferred embodiment, a limiting post 180 for restricting the rotation angle of the rotational power input is fixedly provided on the top of the base plate body corresponding to the first input end 110 .

In a preferred embodiment, three guide wheel holes 170 are respectively formed on the bottom plate body at corresponding positions of the second input end 120 , the third input end 130 , and the fourth input end 140 . During the wire rope driving process of the guide wheel hole 170, a guide wheel shaft is installed, and a guide wheel is installed on the guide wheel shaft. The wire ropes of the second input end 120, the third input end 130, and the fourth input end 140 rotate around the guide wheel to achieve reversal, which is convenient for The wire rope can enter the instrument end 160 simultaneously.

In a preferred embodiment, two brackets 151 are symmetrically provided on the top of the base plate body 100 . The brackets 151 are integrally formed with the base plate and are used for mounting the upper mounting plate on the base plate body 100 . For supporting positioning, the bottom of the base plate body 100 is provided with two process holes at corresponding positions of the two brackets 151. The process holes are blind holes and are used to ensure the straightness of the brackets 151 during the injection molding process and to reduce the weight of the base plate body 100. Four buckle holes 152 are respectively provided at corresponding positions on the four sides of the base plate body 100. The buckle holes 152 are used to cooperate with the upper mounting plate when the base plate body 100 is installed with the upper mounting plate. The base plate body 100 Two positioning holes 153 are provided through the upper part.

In a preferred embodiment, four shell fixing holes 150 are respectively provided at the four corners of the base plate body 100. The shell fixing holes 150 are used to connect the base plate body 100 with the instrument box shell 200 when the instrument box shell 200 is installed on the base plate body 100. The instrument box shell 200 cooperates with the snap connection, and two shell positioning grooves 156 are provided on the top of the base plate body 100. The shell positioning grooves 156 are used for inserting and positioning with the instrument box shell 200 when the instrument box shell 200 is installed on the base plate body 100. A plurality of shell pin holes 154 are provided on the top of the bottom plate body 100 . The shell pin holes 154 are used to cooperate with the instrument box shell 200 for insertion and limiting when the bottom plate body 100 is installed with the instrument box shell 200 .

In a preferred embodiment, two pillar mounting holes 155 are symmetrically provided on the top of the base plate body 100 . The pillar mounting holes 155 are used to install quick-change components on the base plate body 100 . The bottom is fixed with two probe push rods 157 at corresponding positions of the two brackets 151. The probe push rods 157 are used to push the probe on the sterile adapter when the bottom of the base plate body 100 is installed on the sterile adapter, thereby identifying In the installation state of the base plate body 100 and the sterile adapter, a plurality of alignment blocks 158 are fixedly positioned on the bottom edge of the base plate body 100. The alignment blocks 158 are used to connect the bottom of the base plate body 100 to the sterile adapter when it is installed on the sterile adapter. The bacteria adapter is matched and aligned to ensure the assembly accuracy of the two.

In a preferred embodiment, a bearing mounting portion 159 is fixed at the bottom of the base plate body 100 at a position corresponding to the instrument end 160. The bearing mounting portion 159 is used to install and support the rotation of the surgical output instrument in the instrument end 160. of bearings.

As shown in Figure 6, the embodiment of the present application provides a surgical instrument, which adopts the universal surgical instrument box bottom plate as described above, and further includes an instrument box frame installed on the bottom plate body 100. The instrument box frame includes a base plate and a base plate. The upper mounting plate and the instrument box shell 200 are snap-connected to the main body 100. The upper mounting plate is located inside the instrument box shell 200 and has a transmission component between it and the bottom plate body 100. The transmission component is used to transfer power input to the surgery. Output instrument. The surgical output instrument includes an elongated shaft 300 coupled with a transmission component and an actuating instrument 400. The actuating instrument 400 is fixedly disposed on one end of the elongated shaft 300 away from the base plate body 100.

As shown in Figure 7, in a preferred embodiment, the operating instrument 400 is an ultrasonic scalpel 410. The ultrasonic scalpel 410 needs to complete rotation and opening and closing actions, and a rotation input is installed at the first input end 110. The rotational input method is gear transmission, that is, rotational power is input to the first input end 110 to drive the surgical output instrument to rotate, thereby rotating the ultrasonic scalpel 410. The limiting column 180 is inserted into the annular groove corresponding to the rotating gear to constrain the rotation. The rotation angle of the gear prevents the negative effects of the transducer circuit entanglement caused by always rotating in a certain direction. The opening and closing input is installed at the third input end 130. The opening and closing input method is lever transmission, that is, to the lever located at one end of the lever structure. The third input end 130 inputs vertical displacement to drive the surgical output instrument located at the other end of the lever structure to achieve synchronous displacement output, thereby realizing the opening and closing of the ultrasonic scalpel 410. At this time, the second input end 120 is embedded and connected to the upper mounting plate. In a balanced support frame, the fourth input end 140 is vacant, and the positioning hole 153 is vacant.

It can be understood that in this embodiment, the ultrasonic scalpel 410 can be replaced by other surgical instruments with two degrees of freedom of rotation and opening and closing.

In a preferred embodiment, the operating instrument 400 is an ultrasonic scalpel 410. The ultrasonic scalpel 410 needs to complete rotation and opening and closing actions. A rotation input is installed at the first input end 110. The rotation input method is a gear. Transmission, that is, inputting rotational power to the first input end 110 drives the surgical output instrument to rotate, thereby rotating the ultrasonic scalpel 410. The limiting column 180 is inserted into the annular groove corresponding to the rotating gear to constrain the rotation angle of the rotating gear to prevent Always rotating in a certain direction will cause the adverse effects of the transducer circuit winding. Install the opening and closing input at the fourth input terminal 140. The opening and closing input method is lever transmission, that is, input to the fourth input terminal 140 located at one end of the lever structure. The vertical displacement drives the surgical output instrument located at the other end of the lever structure to achieve synchronous displacement output, thereby realizing the opening and closing of the ultrasonic scalpel 410. At this time, the second input end 120 is vacant, and the third input end 130 is embedded and connected to the upper mounting plate. For a balanced support frame, the positioning hole 153 is left vacant.

It can be understood that in this embodiment, the ultrasonic scalpel 410 can be replaced by other surgical instruments with two degrees of freedom of rotation and opening and closing.

As shown in Figure 8, in a preferred embodiment, the operating device 400 is an electrocoagulation hook 420. The electrocoagulation hook 420 needs to complete rotation, yaw and pitch movements. At the first input end 110 Install the rotation input. The rotation input mode is gear transmission, that is, the rotation power is input to the first input end 110 to drive the surgical output instrument to rotate, thereby causing the electrocoagulation hook 420 to rotate. A pitch input is installed at the second input end 120, and the pitch input is installed at the fourth input end. The end 140 is installed with a yaw input. The yaw input and the pitch input use the driving form of a wire rope. Guide wheel shafts for wire rope guidance are respectively installed in the guide wheel holes 170 adjacent to the second input end 120 and the second input end 120. The wire rope is used to guide the yaw input. The driving structure couples the electrocoagulation hook 420 to realize the pitch and yaw of the electrocoagulation hook 420. At this time, the third input end 130 is vacant, and the positioning hole 153 is used to plug in with the upper mounting frame to achieve positioning and support. effect.

It can be understood that in this embodiment, the electrocoagulation hook 420 can be replaced by other surgical instruments with three degrees of freedom of rotation, yaw, and pitch, such as an electrocoagulation shovel.

In a preferred embodiment, the operating device 400 is an electrocoagulation hook 420. The electrocoagulation hook 420 needs to complete rotation, yaw and pitch movements. A rotation input is installed at the second input end 120. The rotation input The method is gear transmission, that is, rotating power is input to the second input end 120 to drive the surgical output instrument to rotate, thereby rotating the electrocoagulation hook 420. A pitch input is installed at the third input end 130, and a yaw input is installed at the fourth input end 140. , the yaw input and the pitch input use the drive form of the wire rope, and guide wheel shafts for wire rope guidance are respectively installed in the guide wheel holes 170 adjacent to the third input end 130 and the fourth input end 140, and the driving structure of the wire rope is used to couple the electrocoagulation The hook 420 is used to realize the pitch and yaw of the electrocoagulation hook 420. At this time, the first input end 110 is embedded in the support frame connected to the upper mounting plate and used for balance. The positioning hole 153 is used to be inserted in conjunction with the upper mounting frame. Then it plays the role of positioning and support.

It can be understood that in this embodiment, the electrocoagulation hook 420 can be replaced by other surgical instruments with three degrees of freedom of rotation, yaw, and pitch, such as an electrocoagulation shovel.

As shown in Figure 9, in a preferred embodiment, the operating instrument 400 is a bipolar forceps 430. The bipolar forceps 430 need to complete the movements of rotation, opening and closing, yaw and pitch. The input end 110 is equipped with a rotation input. The rotation input mode is gear transmission, that is, the rotation power is input to the first input end 110 to drive the surgical output instrument to rotate, thereby causing the bipolar forceps 430 to rotate. A pitch input is installed at the second input end 120. The fourth input end 140 is equipped with a yaw input. The yaw input and the pitch input are driven by a wire rope. Guide wheel shafts for wire rope guidance are installed in the guide wheel holes 170 adjacent to the second input end 120 and the fourth input end 140 respectively. , the driving structure of the wire rope is used to couple the bipolar clamp 430 to realize the pitch and yaw of the bipolar clamp 430. The opening and closing input is installed at the third input end 130. The mode of opening and closing input is lever transmission, that is, to the lever located at one end of the lever structure. The third input end 130 inputs vertical displacement to drive the surgical output instrument located at the other end of the lever structure to achieve synchronous displacement output, thereby realizing the opening and closing of the bipolar forceps 430. The positioning hole 153 is used to plug in with the upper mounting frame for positioning. , The role of support.

It can be understood that in this embodiment, the bipolar forceps 430 can be replaced by other surgical instruments with four degrees of freedom of rotation, opening and closing, yaw and pitch, such as electrocoagulation scissors, needle-holding forceps, grasping forceps, etc. .

In a preferred embodiment, the operating instrument 400 is a bipolar forceps 430. The bipolar forceps 430 need to complete the movements of rotation, opening and closing, yaw and pitch, and a rotation input is installed at the first input end 110. , the rotation input method is gear transmission, that is, the rotation power is input to the first input end 110 to drive the surgical output instrument to rotate, thereby rotating the bipolar forceps 430. A pitch input is installed at the third input end 130, and a pitch input is installed at the second input end 120. The yaw input, yaw input and pitch input use the driving form of the wire rope. Guide wheel shafts for wire rope guidance are respectively installed in the guide wheel holes 170 adjacent to the third input end 130 and the second input end 120, using the driving structure of the wire rope. The bipolar clamp 430 is coupled to realize the pitch and yaw of the bipolar clamp 430. A switching input is installed at the fourth input terminal 140. The switching input method is lever transmission, that is, input to the fourth input terminal 140 located at one end of the lever structure. The vertical displacement drives the surgical output instrument located at the other end of the lever structure to realize synchronous displacement output, thereby realizing the opening and closing of the bipolar forceps 430. The positioning hole 153 is used to cooperate with the upper mounting frame for insertion and positioning and support.

It can be understood that in this embodiment, the bipolar forceps 430 can be replaced by other surgical instruments with four degrees of freedom of rotation, opening and closing, yaw and pitch, such as electrocoagulation scissors, needle-holding forceps, grasping forceps, etc. .

The embodiment of the present application provides a minimally invasive surgical robot, which adopts the surgical instruments as described above, and further includes a main console and a slave operating device. The slave operating device is equipped with surgical instruments, and the master console is used for Control the slave operating equipment and transmission components to realize the movement of surgical output instruments.

It should be noted that, in this document, the terms "comprising", "comprises" or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or device that includes a series of elements not only includes those elements, It also includes other elements not expressly listed or inherent in the process, method, article or apparatus. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article or apparatus that includes that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, but may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. Functions may be performed, for example, the methods described may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above-mentioned specific implementations. The above-mentioned specific implementations are only illustrative and not restrictive. Those of ordinary skill in the art will Inspired by this application, many forms can be made without departing from the purpose of this application and the scope protected by the claims, all of which fall within the protection of this application.

Claims (14)

1. The universal surgical instrument box bottom plate comprises a bottom plate main body and is characterized in that four input ends are arranged on the bottom plate main body in a penetrating manner, the input ends can be used for mounting rotary power input, opening and closing power input, yaw power input and pitching power input, and instrument ends for extending out of a surgical output instrument are also arranged on the bottom plate main body in a penetrating manner; the four input ends are distributed on the bottom plate main body in a trapezoid shape; the instrument end is positioned at the outer side of a trapezoid structure formed by the centers of the four input ends, and the center of the instrument end is positioned on the middle vertical line of the bottom edge of the trapezoid structure; and in the trapezoid structure formed by the centers of the four input ends, one of the two input ends forming the bottom edge of the trapezoid structure is used for mounting rotary power input.

2. The universal surgical instrument cassette bay of claim 1, wherein the input end is configured to receive a rotational power input proximate the instrument end.

3. The universal surgical instrument box bottom plate according to claim 1, wherein a limit post for limiting the rotation angle of the rotary power input is fixedly arranged at the top of the bottom plate main body at a position corresponding to the input end for mounting the rotary power input.

4. The universal surgical instrument box bottom plate according to claim 1, wherein three guide wheel holes for reversing the steel wire rope in the driving process of the steel wire rope are formed in the bottom plate body in a penetrating manner.

5. The universal surgical instrument cassette chassis of claim 4, wherein three of said idler bores are located at respective ones of said input ends of three non-mounted rotary power inputs.

6. The universal surgical instrument cassette chassis of claim 1, further comprising a first mounting unit for mounting a mounting plate on the chassis body, the first mounting unit comprising:

the brackets are integrally formed at the top of the bottom plate main body and are symmetrically provided with two brackets;

the clamping holes are respectively communicated with four corresponding positions of four sides of the bottom plate main body.

7. The universal surgical instrument box bottom plate according to claim 6, wherein two process holes are formed in the bottom of the bottom plate main body at corresponding positions of the two brackets, and the process holes are blind holes.

8. The universal surgical instrument cassette chassis of claim 6, wherein the first mounting unit further comprises:

the positioning holes are communicated with the bottom plate main body.

9. The universal surgical instrument cassette chassis of claim 1, further comprising a second mounting unit for mounting an instrument cassette housing to the chassis body, the second mounting unit comprising:

the shell fixing holes are respectively communicated with four corner positions of the bottom plate main body;

the shell positioning grooves are formed in the top of the bottom plate main body;

and at least one shell pin hole is formed in the top of the bottom plate main body.

10. The universal surgical instrument cassette chassis of claim 1, further comprising a third mounting unit for mounting the chassis body to a sterile adapter, the third mounting unit comprising:

the probe push rod is fixedly provided with two corresponding positions of the bottom plate main body relative to the two brackets;

and the alignment block is at least fixedly arranged at the edge of the bottom plate main body.

11. The universal surgical instrument cassette chassis of claim 1, further comprising a fourth mounting unit for mounting the quick-change assembly to the chassis body, the fourth mounting unit comprising:

the pillar mounting holes are symmetrically arranged at the top of the bottom plate main body.

12. The universal surgical instrument cassette chassis of claim 1, further comprising:

the bearing mounting part is fixedly arranged at the bottom of the bottom plate main body at a position corresponding to the instrument end and is used for mounting a bearing for rotating the surgical output instrument.

13. A surgical instrument employing the universal surgical instrument cassette bay as recited in any one of claims 1 to 12, further comprising:

the instrument box frame is connected with the bottom plate main body in a matched manner through a mounting module;

and the transmission part is arranged inside the driving instrument frame and used for transmitting the power input by the input end to the operation output instrument.

14. The minimally invasive surgical robot is characterized by further comprising a main control console and a secondary operation device, wherein the surgical device is arranged on the secondary operation device, and the main control console is used for controlling the secondary operation device and the transmission part to realize the action of the surgical output device.