CN116942319A - Surgical instrument driving device and surgical robot - Google Patents
Surgical instrument driving device and surgical robot Download PDFInfo
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- CN116942319A CN116942319A CN202310933820.5A CN202310933820A CN116942319A CN 116942319 A CN116942319 A CN 116942319A CN 202310933820 A CN202310933820 A CN 202310933820A CN 116942319 A CN116942319 A CN 116942319A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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Abstract
The embodiment of the invention provides a surgical instrument driving device and a surgical robot, and relates to the technical field of medical instruments. The surgical robot comprises a surgical instrument driving device, wherein the surgical instrument driving device comprises a box body, a driving assembly and an unlocking piece. The driving assembly comprises a driving piece, a connecting shaft and an output shaft which are sequentially connected, the driving piece and the connecting shaft are arranged in the box body, the driving piece can drive the connecting shaft to rotate so as to drive the output shaft to rotate, the output shaft can move along the axis direction of the output shaft relative to the connecting shaft, one end of the output shaft is exposed out of the box body and is used for being connected with an external transmission shaft of an external structure, the unlocking piece is at least partially exposed out of the box body, and when the locking piece receives force in the direction towards the box body, the unlocking piece can drive the output shaft to move in the direction which is close to the connecting shaft. Thereby enabling the output shaft to be disengaged from the external drive shaft. So as to improve the convenience of the separation of the output shaft and the transmission shaft of the isolation plate.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a surgical instrument driving device and a surgical robot.
Background
Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like. However, the minimally invasive instrument in the minimally invasive surgery is limited by the size of the incision, so that the operation difficulty is greatly increased, and actions such as fatigue, tremble and the like of a doctor in the long-time operation process can be amplified, which becomes a key factor for restricting the development of the minimally invasive surgery technology. With the development of robot technology, a new minimally invasive medical field technology, namely minimally invasive surgery robot technology, capable of overcoming the defects and inheriting the advantages, has been developed.
A common minimally invasive surgical robot consists of a physician console, a patient side cart, and a display device, where the surgeon operates an input device and communicates input to the patient side cart that is connected to a teleoperated surgical instrument. Based on the surgeon's input at the surgeon console, the teleoperated surgical instrument is actuated at the patient side cart to operate on the patient, resulting in a master-slave control relationship between the surgeon console and the surgical instrument at the patient side cart.
With the progress of technology, minimally invasive surgical robot technology is gradually mature and widely applied. The minimally invasive surgical robot generally includes a master console for transmitting control commands to the slave operating devices according to operations of doctors to control the slave operating devices, and the slave operating devices are for responding to the control commands transmitted from the master console and performing corresponding surgical operations. Specifically, the surgical robot includes a surgical instrument drive device in which an output shaft rotates according to a control command.
When some emergency conditions are met, such as sudden power failure and the like, the surgical instrument driving device and the surgical instrument assembly are required to be disassembled, the output shaft and the external transmission shaft can be separated only after the instrument box or the isolation plate of the surgical instrument is separated from the surgical instrument driving device, the problem that the output shaft and the external transmission shaft cannot be rapidly separated exists at present, the operation is complex, and a good disassembly scheme is not provided.
Disclosure of Invention
The invention aims to provide a surgical instrument driving device which can improve the convenience of separating an output shaft from a transmission shaft of a separation plate.
Embodiments of the present invention are implemented as follows:
in a first aspect, the present invention provides a surgical instrument drive device comprising:
a case body;
the driving assembly comprises a driving piece, a connecting shaft and an output shaft which are sequentially connected, the driving piece and the connecting shaft are arranged in the box body, the driving piece can drive the connecting shaft to rotate so as to drive the output shaft to rotate, the output shaft can move along the axis direction of the output shaft relative to the connecting shaft, and one end of the output shaft is exposed out of the box body and is used for being spliced with an external transmission shaft of an external structure;
the unlocking piece is at least partially exposed out of the box body, and when the unlocking piece receives force towards the box body, the unlocking piece can drive the output shaft to move in a direction which is close to the connecting shaft.
In an alternative embodiment, the driving assembly further comprises a matching piece, the matching piece is sleeved on the output shaft, the matching piece is in butt joint with the unlocking piece, and when the unlocking piece moves along the direction close to the matching piece, the matching piece can be driven to drive the output shaft to move along the direction close to the connecting shaft.
In an alternative embodiment, the unlocking piece comprises a pressing piece and a first matching part connected with the pressing piece, the pressing piece is at least partially positioned at the outer side of the box body, and the matching piece comprises a second matching part matched with the first matching part;
the axial distance between the first matching part and the connecting shaft in the direction away from the pressing piece is gradually increased, and/or the axial distance between the second matching part and the connecting shaft in the direction away from the pressing piece is gradually increased, and the first matching part can move relative to the second matching part.
In an alternative embodiment, the number of output shafts is a plurality of and rectangular array arrangement, the number of the matching pieces is a plurality of and is arranged at intervals along the first direction, a plurality of matching holes which are arranged at intervals along the second direction and are used for exposing the output shafts are formed in each matching piece, at least one end of each matching piece along the second direction is provided with a second matching part, and the first direction and the second direction form an included angle.
In an alternative embodiment, the number of unlocking pieces is two and is arranged at intervals along the second direction, each unlocking piece comprises a plurality of first matching parts which are arranged at intervals along the first direction, the second matching parts are arranged at the two ends of each matching piece along the second direction, and the number of the first matching parts on each unlocking piece is equal to the number of the second matching parts on each matching piece.
In an alternative embodiment, the end of the first mating portion remote from the pressing member is further provided with a lap portion, and when the pressing member is not pressed, the lap portion overlaps the mating member.
In an alternative embodiment, the driving assembly further comprises a first gear and a second gear which are in transmission connection, the connecting shaft is connected with the box body, the connecting shaft is connected with the output shaft and is coaxially arranged, the driving shaft sleeve of the driving piece is provided with the first gear, and the connecting shaft sleeve is provided with the second gear.
In an alternative embodiment, the driving assembly further comprises a first gear and a second gear which are in transmission connection, the connecting shaft is connected with the output shaft and is coaxially arranged, the outer peripheral wall of the output shaft is further provided with a protruding shaft portion in a protruding mode, the driving shaft sleeve of the driving piece is provided with the first gear, the connecting shaft sleeve is provided with the second gear and the second gear abuts against the end wall of the protruding shaft portion, and the matching piece abuts against the end portion, away from the second gear, of the protruding shaft portion.
In an alternative embodiment, the drive assembly further comprises a bolt, the connecting shaft is provided with a pin slot extending in the axial direction, the output shaft is provided with a pin hole, and the bolt penetrates the pin hole and is at least partially located in the pin slot.
In an alternative embodiment, the output shaft comprises a first half shaft, a second half shaft and a fastener, the connecting shaft is provided with a pin slot extending along the axial direction, the second half shaft is provided with a limit part in sliding fit with the pin slot, and the first half shaft is connected with the second half shaft through the fastener.
In an alternative embodiment, the device further comprises an elastic piece, and two ends of the elastic piece are respectively abutted with the output shaft and the connecting shaft.
In a second aspect, the present invention provides a surgical robot comprising a cartridge, an isolation structure, and a surgical instrument drive device according to any one of the preceding embodiments, connected in sequence, the cartridge being connected to an output shaft by the isolation structure.
The embodiment of the invention has the beneficial effects that: the surgical instrument driving device provided by the embodiment of the invention comprises a box body, a driving assembly and an unlocking piece. The driving assembly comprises a driving piece, a connecting shaft and an output shaft which are sequentially connected, the driving piece and the connecting shaft are arranged in the box body, the driving piece can drive the connecting shaft to rotate so as to drive the output shaft to rotate, the output shaft can move along the axis direction of the output shaft relative to the connecting shaft, one end of the output shaft is exposed out of the box body and is used for being connected with an external transmission shaft of an external structure, the unlocking piece is at least partially positioned at the outer side of the box body, and when the locking piece receives force in the direction of the box body, the unlocking piece can drive the output shaft to move in the direction of being close to the connecting shaft. When the unlocking piece is pressed by a user and a force towards the inside of the box body is applied to the unlocking piece, the unlocking piece can drive the output shaft to move in a direction of being close to the connecting shaft, and therefore the output shaft can be separated from the external transmission shaft. The output shaft and the isolation plate transmission shaft can be separated without detaching the surgical instrument driving device from the isolation plate structure, and the convenience of separation of the output shaft and the isolation plate transmission shaft is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a part of a case of a driving device for a surgical instrument according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an explosion structure of a mating member and an unlocking member according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating an assembly structure of a connecting shaft, a second gear and an output shaft according to another embodiment of the present invention;
FIG. 4 is an exploded view of an embodiment of the present invention providing an output shaft, a second gear, and a connecting shaft;
fig. 5 is an exploded schematic view of a surgical instrument driving device, an isolation structure and an instrument box in the surgical robot according to the embodiment of the present invention.
Icon 1-surgical robot; 10-surgical instrument drive means; 100-box body; 110-a drive assembly; 111-driving member; 112-a connecting shaft; 1121-pin slots; 113-an output shaft; 1131—a first half shaft; 1132-a second half shaft; 1133-fasteners; 1134-a limit part; 1135-a male part; 114-a first gear; 115-a second gear; 116-mating element; 1161-a second mating portion; 1162-mating holes; 117-latch; 120-unlocking piece; 121-a pressing piece; 122-a first mating portion; 123-lap; 130-an elastic member; 20-isolation structures; 21-isolating the drive shaft; 30-instrument box.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The following describes in detail a specific structure of a driving device for a surgical instrument and corresponding technical effects thereof according to an embodiment of the present invention with reference to the accompanying drawings.
Referring to fig. 1-2, a surgical device driving apparatus 10 according to an embodiment of the present invention includes a case 100, a driving assembly 110 and an unlocking member 120.
The driving assembly 110 includes a driving member 111, a connecting shaft 112, and an output shaft 113, which are sequentially connected, where the driving member 111 and the connecting shaft 112 are disposed in the box body 100, the driving member 111 can drive the connecting shaft 112 to rotate so as to drive the output shaft 113 to rotate, the output shaft 113 can move along the axis direction of itself relative to the connecting shaft 112, one end of the output shaft 113 exposes out of the box body 100 and is used for connecting with an external transmission shaft of an external structure, and the unlocking member 120 is at least partially exposed out of the box body 100, when the lock receiving member receives a force towards the inside of the box body 100, the unlocking member 120 can drive the output shaft 113 to move towards a direction close to the connecting shaft 112.
When the outer structure is a spacer plate structure, the outer drive shaft is a spacer drive shaft 21 of the spacer plate structure.
It is easy to understand that when the output shaft 113 is exposed at one end of the box body 100 and is plugged with the external transmission shaft of the external structure, and when the user presses the unlocking member 120 to apply a force to the unlocking member 120 towards the interior of the box body 100, the unlocking member 120 can drive the output shaft 113 to move towards a direction approaching to the connecting shaft 112, so that the output shaft 113 can be separated from the external transmission shaft. The output shaft 113 and the isolation plate transmission shaft can be separated without detaching the surgical instrument driving device 10 from the isolation plate structure, so that the convenience of separating the output shaft 113 from the isolation plate transmission shaft is improved.
Specifically, in this embodiment, the driving assembly 110 further includes a mating member 116, the mating member 116 is sleeved on the output shaft 113, the mating member 116 abuts against the unlocking member 120, and when the unlocking member 120 moves along the direction approaching to the mating member 116, the mating member 116 can be driven to drive the output shaft 113 to move along the direction approaching to the connecting shaft 112.
It is easy to understand that by the provision of the engaging piece 116, it is possible to avoid the unlocking piece 120 from directly contacting the output shaft 113 to affect the output accuracy of the output shaft 113.
Further, the unlocking member 120 includes a pressing member and a first matching portion 122 connected with the pressing member, the pressing member is at least partially located outside the box body 100, and the matching member 116 includes a second matching portion 1161 matching with the first matching portion 122.
In the present embodiment, the first engaging portion 122 is gradually increased in axial distance from the connecting shaft 112 in a direction away from the pressing piece 121, and the second engaging portion 1161 is gradually increased in axial distance from the connecting shaft 112 in a direction away from the pressing piece 121, and the first engaging portion 122 is movable relative to the second engaging portion 1161.
It can be appreciated that when the pressing member 121 receives an external force towards the box body 100, the first matching portion 122 can be driven to approach the second matching portion 1161, during the moving process of gradually moving towards the direction away from the pressing member 121, the portion with smaller axial distance between the first matching portion 122 and the connecting shaft 112 gradually abuts against the second matching portion 1161, and the portion with larger axial distance between the first matching portion 122 and the connecting shaft 112 on the second matching portion 1161 can be gradually contacted, so that the first matching portion 122 and the second matching portion 1161 are extruded, and the second matching portion 1161 can be gradually moved towards the direction approaching the connecting shaft 112 in the axial direction, that is, the matching member 116 can drive the transmission shaft to move towards the connecting shaft 112 along the direction approaching the connecting shaft 112 in the axial direction relative to the connecting shaft 112. So that the output shaft 113 tends to shrink inwardly of the case 100.
Specifically, in the present embodiment, the first engaging portion 122 and the second engaging portion 1161 are both inclined, and the second engaging portion 1161 is parallel to the second engaging portion 1161, so that the first engaging portion 122 can slide relatively to the second engaging portion 1161 more smoothly to move the belt-driven engaging member 116 in a direction approaching the connecting shaft 112.
In other embodiments, it is also possible to provide only the first fitting portion 122 with an axial distance from the connecting shaft 112 gradually increasing in a direction away from the pressing piece 121. With this arrangement, when the first fitting portion 122 gradually approaches the second fitting portion 1161, since the portion of the first fitting portion 122 axially spaced from the connecting shaft 112 with a smaller distance gradually abuts against the second fitting portion 1161, the first fitting portion 122 presses the second fitting portion 1161, and the second fitting portion 1161 gradually approaches the connecting shaft 112.
Of course, in still other embodiments, only the second engagement portion 1161 may be provided so as to gradually increase in axial distance from the connecting shaft 112 in a direction away from the pressing piece 121. Also, with this arrangement, when the first fitting portion 122 gradually approaches the second fitting portion 1161, the first fitting portion 122 gradually approaches a portion of the second fitting portion 1161 that is axially spaced from the connecting shaft 112 by a smaller distance, and the first fitting portion 122 presses the second fitting portion 1161 and brings the second fitting portion 1161 gradually closer to the connecting shaft 112.
Referring to fig. 3, in this embodiment, the surgical device driving apparatus 10 further includes an elastic member 130, and two ends of the elastic member 130 are respectively abutted to the output shaft 113 and the connecting shaft 112. Specifically, in the present embodiment, the output shaft 113 is sleeved on the connecting shaft 112 and is coaxially disposed, the connecting shaft 112 has a protruding end surface, the elastic member 130 is sleeved on the connecting shaft 112, and two ends of the elastic member are respectively abutted against the output shaft 113 and the protruding end surface, so that it is easy to understand that, by the arrangement of the elastic member 130, after the pressing member 121 receives the external force, the output shaft 113 can be moved in the direction away from the connecting shaft 112 under the action of the elastic member 130.
It is understood that the elastic member 130 may be a structure capable of being elastically deformed, such as a spring.
Further, in the present embodiment, the driving assembly 110 further includes a first gear 114 and a second gear 115 in driving connection, the output shaft 113 is coaxially disposed on the connecting shaft 112, the outer peripheral wall of the output shaft 113 is further provided with a protruding shaft portion 1135, the driving shaft of the driving member 111 is provided with the first gear 114, the connecting shaft 112 is sleeved with the second gear 115, the second gear 115 abuts against an end wall of the protruding shaft portion 1135, and the mating member 116 abuts against an end portion of the protruding shaft portion 1135 away from the second gear 115, that is, two ends of the protruding shaft portion 1135 abut against the second gear 115 and the mating member 116, respectively.
With the above arrangement, the output speed of the output shaft 113 and the rotation axis of the output shaft 113 can be changed by the first gear 114 and the second gear 115.
In addition, by providing the protruding portion 1135, the engaging piece 116 can be prevented from directly abutting against the end face of the second gear 115, and thus the rotation of the second gear 115 can be prevented from being affected.
Of course, in other embodiments, the transmission between the driving shaft of the driving member 111 and the connecting shaft 112 may be achieved not only by the first gear 114 and the second gear 115, that is, a third gear, a fourth gear, etc. that are in transmission connection may be further disposed between the first gear 114 and the second gear 115.
In other embodiments, the first gear 114 and the second gear 115 may not be provided. I.e. the connecting shaft 112 is arranged coaxially with the driving shaft of the driving member 111 to directly drive the output shaft 113 to rotate.
Further, in some embodiments, the drive assembly 110 further includes a pin 117, the connecting shaft 112 is provided with an axially extending pin slot 1121, the output shaft 113 is provided with a pin bore, and the pin 117 extends through the pin bore and is at least partially within the pin slot 1121.
It will be readily appreciated that since the pin slot 1121 extends in an axial direction, the pin 117 is axially slidable within the pin slot 1121 and the range of axial movement of the pin 117 can be limited by the end wall of the pin slot 1121. And by providing the latch 117, it is ensured that the output shaft 113 can move only in the axial direction with respect to the connection shaft 112, and that the output shaft 113 cannot rotate with respect to the connection shaft 112, that is, that the output shaft 113 can rotate only with the rotation of the connection shaft 112. Thereby ensuring the accuracy of the surgical instrument drive device 10 in driving the instrument pod 30.
It will be readily appreciated that the pin is susceptible to damage during rotation of the output shaft 113 within the pin bore, and that the accuracy requirements for the pin, pin bore and pin slot 1121 of the pin alone are high.
Therefore, in this embodiment, referring to fig. 4, the output shaft 113 includes a first half shaft 1131, a second half shaft 1132 and a fastener 1133, the connecting shaft 112 is also provided with a pin slot 1121 extending along an axial direction, the second half shaft 1132 is provided with a limiting part 1134 slidingly engaged with the pin slot 1121, the first half shaft 1131 and the second half shaft 1132 are connected through the fastener 1133, it is understood that the limiting part 1134 is disposed in the pin slot 1121 and can move axially relative to the pin slot 1121, and the output shaft 113 can only rotate along with the rotation of the connecting shaft 112 and cannot rotate relative to the connecting shaft 112, similar to the latch 117.
And the limiting part 1134 and the second half shaft 1132 are integrally arranged, so that the strength of the limiting part 1134 can be improved, and the damage of the limiting part 1134 in the process of accompanying the rotation of the output shaft 113 is avoided. And through the arrangement, the precision requirement on the output shaft 113 can be effectively reduced, and the processing difficulty is reduced.
Further, wherein the fastener 1133 is a threaded fastener 1133, i.e., the first half shaft 1131 and the second half shaft 1132 can be screwed together by the fastener 1133 to realize the detachment.
With continued reference to fig. 1-2, further, the output shafts 113 are plural and arranged along a rectangular array, the engaging members 116 are plural and arranged at intervals along the first direction, each engaging member 116 is provided with plural engaging holes 1162 arranged at intervals along the second direction for exposing the output shafts 113, at least one end of each engaging member 116 along the second direction has a second engaging portion 1161, and the first direction forms an included angle with the second direction.
It will be readily appreciated that each engagement member 116 has a plurality of engagement holes 1162 disposed in the second direction, that is, one engagement member 116 is capable of moving a plurality of driving shafts in a direction approaching the connecting shaft 112.
Specifically, the number of the unlocking members 120 is two and the unlocking members 120 are arranged at intervals along the second direction, each unlocking member 120 includes a plurality of first matching portions 122 arranged at intervals along the first direction, two ends of each matching member 116 along the second direction are provided with second matching portions 1161, and the number of the first matching portions 122 on each unlocking member 120 is equal to the number of the second matching portions 1161 on each matching member 116.
It is easy to understand that, in this embodiment, by pressing the engaging members 116 disposed at intervals in the second direction, all the driving shaft boxes 100 can be contracted inwards, so as to reduce the control difficulty of the user.
Of course, in other embodiments, only one unlocking member 120 may be provided, that is, the engaging member 116 may be provided with the second engaging portion 1161 on the side where the unlocking member 120 is correspondingly provided.
Specifically, in the present embodiment, each of the engaging pieces 116 is provided with two second engaging portions 1161 in the first direction, and the output shaft 113 is located between the two second engaging portions 1161 in the first direction. With the above arrangement, when the pressing member 121 receives the force of the user, the engaging member 116 can be more stably driven to move in a direction approaching the connection shaft 112.
Specifically, in the present embodiment, the first direction is the longitudinal direction of the surgical device driving apparatus 10, and the second direction is the width direction of the surgical device driving apparatus 10, where the longitudinal direction, the width direction, and the axial direction are perpendicular to each other.
The term "vertical" as used herein is not intended to be limited to a strict sense, and may be at a substantially vertical angle.
Further, in the present embodiment, the end of the first engaging portion 122 away from the pressing member 121 is further provided with a bridging portion 123, and when the pressing member 121 is not pressed, the bridging portion 123 is bridged to the engaging member 116.
Referring to fig. 5, the embodiment of the present invention further provides a surgical robot 1, which includes an instrument box 30, an isolation structure 20, and the surgical instrument driving device 10 that are sequentially connected. Wherein the instrument pod 30 is coupled to the output shaft 113 via the isolation structure 20.
Specifically, the isolation structure 20 is provided with an isolation transmission shaft 21, the output shaft 113 is spliced with the isolation transmission shaft 21, and one end of the isolation transmission shaft 21 away from the output shaft 113 is in transmission connection with the instrument box 30. So that the surgical instrument drive device 10 can be drivingly connected to the instrument pod 30 through the isolation structure 20.
In summary, the surgical instrument driving device 10 and the surgical robot 1 provided in the embodiments of the present invention, the surgical robot 1 includes the surgical instrument driving device 10. The surgical instrument drive device 10 includes a housing 100, a drive assembly 110, and an unlocking member 120. The driving assembly 110 comprises a driving piece 111, a connecting shaft 112 and an output shaft 113 which are sequentially connected, the driving piece 111 and the connecting shaft 112 are arranged in the box body 100, the driving piece 111 can drive the connecting shaft 112 to rotate so as to drive the output shaft 113 to rotate, the output shaft 113 can move along the axis direction of the output shaft 113 relative to the connecting shaft 112, one end of the output shaft 113 is exposed out of the box body 100 and is used for being connected with an external transmission shaft of an external structure, the unlocking piece 120 is at least partially exposed out of the box body 100, and when the locking piece receives force facing the box body 100, the unlocking piece 120 can drive the output shaft 113 to move towards a direction close to the connecting shaft 112. When the user presses the unlocking member 120 to apply a force to the unlocking member 120 toward the inside of the box body 100, the unlocking member 120 can drive the output shaft 113 to move in a direction approaching the connecting shaft 112, so that the output shaft 113 can be separated from the external transmission shaft. The output shaft 113 and the isolation plate transmission shaft can be separated without detaching the surgical instrument driving device 10 from the isolation plate structure, so that the convenience of separating the output shaft 113 from the isolation plate transmission shaft is improved.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A surgical instrument drive device, comprising:
a case body;
the driving assembly comprises a driving piece, a connecting shaft and an output shaft which are sequentially connected, the driving piece and the connecting shaft are arranged in the box body, the driving piece can drive the connecting shaft to rotate so as to drive the output shaft to rotate, the output shaft can move along the axis direction of the output shaft relative to the connecting shaft, and one end of the output shaft is exposed out of the box body and is used for being spliced with an external transmission shaft of an external structure;
the unlocking piece is at least partially exposed out of the box body, and when the unlocking piece receives force towards the box body, the unlocking piece can drive the output shaft to move in a direction which is close to the connecting shaft.
2. A surgical instrument drive device according to claim 1, wherein:
the driving assembly further comprises a matching piece, the matching piece is sleeved on the output shaft, the matching piece is in butt joint with the unlocking piece, and when the unlocking piece moves along the direction close to the matching piece, the matching piece can be driven to drive the output shaft to move along the direction close to the connecting shaft.
3. A surgical instrument drive device according to claim 2, wherein:
the unlocking piece comprises a pressing piece and a first matching part connected with the pressing piece, the pressing piece is at least partially positioned at the outer side of the box body, and the matching piece comprises a second matching part matched with the first matching part;
the axial distance between the first matching part and the connecting shaft in the direction away from the pressing piece is gradually increased, and/or the axial distance between the second matching part and the connecting shaft in the direction away from the pressing piece is gradually increased, and the first matching part can move relative to the second matching part.
4. A surgical instrument drive according to claim 3, wherein:
the number of the output shafts is a plurality of and rectangular array arrangement, the number of the matching pieces is a plurality of and is arranged along a first direction at intervals, a plurality of matching holes which are arranged along a second direction at intervals and are used for exposing the output shafts are formed in each matching piece, each matching piece is provided with a second matching part along at least one end of the second direction, and an included angle is formed between the first direction and the second direction.
5. A surgical instrument drive device according to claim 4, wherein:
the unlocking pieces are arranged at intervals along the second direction, each unlocking piece comprises a plurality of first matching parts arranged at intervals along the first direction, the second matching parts are arranged at the two ends of each matching piece along the second direction, and the number of the first matching parts on each unlocking piece is equal to the number of the second matching parts on each matching piece.
6. A surgical instrument drive device according to claim 2, wherein:
the driving assembly further comprises a first gear and a second gear which are in transmission connection, the connecting shaft is connected with the output shaft and is coaxially arranged, a protruding shaft portion is further arranged on the outer peripheral wall of the output shaft in a protruding mode, the first gear is arranged on the driving shaft sleeve of the driving piece, the second gear is arranged on the connecting shaft sleeve in a propping mode, the second gear is propped against the end wall of the protruding shaft portion, and the matching piece is far away from the protruding shaft portion and is propped against the end portion of the second gear.
7. A surgical instrument drive device according to claim 1, wherein:
the driving assembly further comprises a bolt, the connecting shaft is provided with a pin groove extending along the axial direction, the output shaft is provided with a pin hole, and the bolt penetrates through the pin hole and is at least partially located in the pin groove.
8. A surgical instrument drive device according to claim 1, wherein:
the output shaft comprises a first half shaft, a second half shaft and a fastener, the connecting shaft is provided with a pin groove extending along the axial direction, the second half shaft is provided with a limiting part in sliding fit with the pin groove, and the first half shaft is connected with the second half shaft through the fastener.
9. A surgical instrument drive device according to claim 1, wherein:
the device also comprises an elastic piece, wherein two ends of the elastic piece are respectively abutted with the output shaft and the connecting shaft.
10. A surgical robot comprising a cartridge, an isolation structure and the surgical instrument drive device of any one of claims 1-9 connected in sequence, the cartridge being connected to the output shaft by the isolation structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310933820.5A CN116942319A (en) | 2023-07-27 | 2023-07-27 | Surgical instrument driving device and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310933820.5A CN116942319A (en) | 2023-07-27 | 2023-07-27 | Surgical instrument driving device and surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116942319A true CN116942319A (en) | 2023-10-27 |
Family
ID=88445980
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310933820.5A Pending CN116942319A (en) | 2023-07-27 | 2023-07-27 | Surgical instrument driving device and surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116942319A (en) |
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2023
- 2023-07-27 CN CN202310933820.5A patent/CN116942319A/en active Pending
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