CN120713651A - Back-end transmission and medical systems - Google Patents

Abstract

The present invention discloses a rear-end transmission device and a medical system. The rear-end transmission device is used to drive a cable, and includes: a rotating assembly, a transmission assembly, and a tensioning mechanism; the transmission assembly is drivingly connected to the rotating assembly, and the cable is wound around the transmission assembly; the tensioning mechanism includes an elastic member, and the tensioning mechanism is connected to the cable. When the cable is loose, the tensioning mechanism can undergo elastic deformation, causing the cable to produce a displacement change, thereby tensioning the cable. The present invention compensates for the growth of the cable compared to the original tensioned state by providing a tensioning mechanism, so that the cable is always in a tensioned state, thereby avoiding derailment of the cable due to relaxation during the alternating tensioning and relaxation process.

Description

Rear end drive and medical system

Technical Field

The present invention relates generally to the field of surgical robotics, and more particularly to a back-end transmission and medical system.

Background

In robot-assisted minimally invasive surgery, surgical instruments connected to the ends of a robot penetrate through a wound or a natural duct on the surface of a human body to enter the human body, and operate tissues in the human body. Such surgical instruments generally include an actuator (e.g., forceps, cutting or cauterizing tool) at the front end, a wrist, shaft and/or other joint providing multiple degrees of freedom of movement to the actuator, a main conduit extending from the rear end to the front end of the instrument, and power and transmission means at the rear end of the instrument. The front end effector and the various joints are typically driven by a plurality of cables secured thereto, which extend through the main tubing of the surgical tool and are driven by the power and transmission means at the rear end.

For forceps and other clamping or shearing type tools, the wrist joint typically needs to achieve three degrees of freedom in pitch, yaw and grip. The robot can realize the movement required by the operation by matching with the additional degree of freedom of the rear end of the robot.

The existing surgical instrument connected with the tail end of the robot has one degree of freedom to be driven by a pair of cables, wherein the cables on the driving disc (a part of the rear end transmission device) are fixedly connected with the driving disc through terminals/friction, and the cables on the actuator are fixedly connected with the actuator through terminals/friction to form a closed ring, and the ring is a generalized ring and can be turned and wound at all positions according to actual needs. When the actuator works, external resistance is applied, the driving disk continuously outputs motion, but the actuator cannot synchronously move or even stop moving due to the external resistance. At this time, the pair of cables are tensioned at one side and loosened at the other side, and the loosened cables are easily separated from the rails, so that normal use is affected.

Disclosure of Invention

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

A first aspect of the invention provides a rear end transmission for driving a cable, comprising:

a rotating assembly;

the transmission assembly is in driving connection with the rotating assembly, and the cable is wound on the transmission assembly;

The tensioning mechanism comprises an elastic piece, the tensioning mechanism is connected with the cable, and when the cable is loosened, the tensioning mechanism can be elastically deformed to enable the cable to generate displacement change so as to tension the cable.

Optionally, the elastic member is disposed on the cable, and the elastic member is elastically deformable along an axial direction of the cable, thereby tensioning the cable.

Optionally, the tensioning mechanism further comprises:

the terminal, the terminal set up in the cable and with cable fixed connection, the one end of elastic component with the terminal is connected, the elastic component pushes away or pulls the terminal, thereby produces elasticity to the cable tensioning the cable.

Optionally, the tensioning mechanism further comprises:

The cable tensioning device comprises a tensioning seat, wherein one terminal is arranged on the cable, the terminal is arranged in the tensioning seat, the first end of an elastic piece is connected with the terminal, the second end of the elastic piece is fixed, and the elastic piece is in a compressed state or a stretched state so as to tension the cable.

Optionally, the tensioning mechanism further comprises:

The cable tensioning device comprises a tensioning seat, two terminals are arranged on the cable, the two terminals are arranged in the tensioning seat, the cable is in a disconnected state between the two terminals, an elastic piece is arranged between the two terminals and is a tension spring, one of the terminals is pulled by a first end of the elastic piece, the other of the terminals is pulled by a second end of the elastic piece, and the elastic piece is in a stretched state so as to be tensioned.

Optionally, the tensioning mechanism further comprises:

The cable tensioning device comprises a tensioning seat, two terminals are arranged on the cable, the two terminals are arranged in the tensioning seat, the cable is in a disconnected state between the two terminals, two elastic pieces are arranged in the tensioning seat, the elastic pieces are respectively arranged between the terminals and the inner wall of the tensioning seat, the elastic pieces are compression springs, the first ends of the elastic pieces are propped against the terminals, the second ends of the elastic pieces are propped against the inner wall of the tensioning seat, and the elastic pieces are in a compressed state to tension the cable.

Optionally, the tensioning mechanism further comprises:

A slide block;

The sliding block is arranged on the guiding device and can slide along the guiding device, the elastic piece is arranged on the guiding device, and the elastic piece is elastically connected with the sliding block;

The first pulley is arranged on the sliding block, the first pulley is connected with the cable, and the elastic piece is in a compressed state and is used for tensioning the cable through the first pulley.

Optionally, the tensioning mechanism further comprises:

The second pulley is arranged on a path where the cable is connected with the surgical instrument, and is connected with the cable to guide the cable.

Optionally, the circumferential surfaces of the first pulley and the second pulley are provided with grooves, and the cable is arranged in the grooves.

Optionally, the tensioning mechanism includes:

at least two groups of sliding blocks, wherein the sliding blocks are arranged on the guide device;

At least two groups of elastic pieces, wherein one group of elastic pieces is elastically connected with one group of sliding blocks, and the other group of elastic pieces is arranged between the two groups of sliding blocks and is simultaneously elastically connected with the two groups of sliding blocks.

Optionally, the tensioning mechanism includes:

at least two groups of sliding blocks, wherein the sliding blocks are arranged on the guide device;

the elastic piece is arranged between the two groups of sliding blocks and is simultaneously in elastic connection with the two groups of sliding blocks.

Optionally, the tensioning mechanism further comprises:

and one end of the tightening screw is propped against one group of sliding blocks, and the displacement of the sliding blocks on the guide device is regulated by rotating the tightening screw, so that the elastic piece is in a compressed state.

Optionally, the rear end transmission further comprises:

The mounting seat, the tightening screw the guider all set up in the mounting seat, the mounting seat corresponds the tightening screw is provided with the screw hole.

Optionally, the guiding device comprises:

The guide post, the both ends of slider are provided with the guiding hole, the slider passes through the guiding hole cover is located the guide post, and can follow the guide post slides, the elastic component cover is located the guide post.

Optionally, the elastic member is a torsion spring, which bends the cable, thereby tensioning the cable.

Optionally, the torsion spring includes:

A spring main body;

a fixing arm provided at one side of the spring main body, the fixing arm being fixed;

the torsion arm is arranged on the other side of the spring body, is connected with the cable and pushes or pulls the cable so as to tension the cable.

Optionally, the transmission assembly includes:

The driving disc is wound with at least two cables simultaneously, the driving disc can rotate forward or rotate reversely, the first cable is tensioned by forward rotation, the second cable is loosened by forward rotation, and the second cable is tensioned by reverse rotation.

Optionally, the cable is a tungsten wire.

A second aspect of the invention provides a medical system comprising:

a slave operation device including at least one mechanical arm, and

The rear end transmission device according to any one of the above technical solutions, which is disposed on the mechanical arm.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the application will be apparent from the description and drawings, and from the claims.

Drawings

The following drawings of embodiments of the present invention are included as part of the invention. Embodiments of the present invention and their description are shown in the drawings to explain the principles of the invention. In the drawings of which there are shown,

FIG. 1 is a schematic view of a medical system according to an embodiment of the invention;

Fig. 2 is a schematic view of a robot beside a patient according to an embodiment of the invention;

FIG. 3 is a perspective view of an end effector assembly according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a drive line according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of the cooperation of a drive line and an end effector according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a tensioning state of a drive line according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a tensioning state of a drive line according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a tensioning state of a drive line according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of a tensioning state of a drive line according to an embodiment of the present invention;

FIG. 10 is a front view of a rear end transmission according to an embodiment of the present invention;

FIG. 11 is a top view of a rear end drive according to an embodiment of the present invention;

FIG. 12 is a front view of a rear end drive according to an embodiment of the present invention;

FIG. 13 is a top view of a rear end drive according to an embodiment of the present invention;

FIG. 14 is a schematic diagram of a tensioning state of a drive line according to an embodiment of the present invention;

fig. 15 is a schematic view showing a tension state of a driving wire according to an embodiment of the present invention.

Reference numerals illustrate:

100 surgical instrument

110 Tensioning mechanism

120 End effector assembly

140 Shaft portion

150 Rear end driving device

160 First torsion spring

161 Fixed arm

162 Torsion arm

170 Second torsion spring

103 Clamping jaw base

1035 Clamping terminal

1036 First bearing surface

1037 Second bearing surface

1038 First spring

1039 Second spring

1040 Fixed foundation

104 Wire(s)

105 Cable

1051 First drive line

1052 The second driving line

1053 First terminal

1054 Second terminal

1055 Tensioning seat

1056 Third spring

1057 Fourth spring

1058 Fifth spring

113 Slider block

114 Guiding device

115 Sixth spring

116 First pulley

117 Second pulley

118 Drive disk

119 Seventh spring

121 Mounting base

122 Screw-on screw

200 Medical System

210 Doctor console

220 Robot beside patient

221 Mechanical arm

222 Holding arm

230 Imaging apparatus

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.

In the following description, a detailed description will be given for the purpose of thoroughly understanding the present invention. It should be appreciated that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art. It will be apparent that embodiments of the invention may be practiced without limitation to the specific details that are familiar to those skilled in the art. Preferred embodiments of the present invention are described in detail below, however, the present invention may have other embodiments in addition to these detailed descriptions.

Ordinal numbers such as "first" and "second" cited in the present invention are merely identifiers and do not have any other meaning, such as a particular order or the like. Also, for example, the term "first component" does not itself connote the presence of "second component" and the term "second component" does not itself connote the presence of "first component".

It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and the like are used in the present invention for illustrative purposes only and are not limiting.

The terms "distal" and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the procedure that is distal to the operator and "proximal" refers to the end of the procedure that is proximal to the operator. In a teleoperated surgical robotic system, "operator" refers to a patient side robot that holds and brakes surgical instruments.

As used herein, "parallel"/"perpendicular" and similar expressions include absolute parallel/perpendicular relationships and generally parallel/perpendicular relationships (e.g., relationships within-5 ° to +5° of absolute parallel/perpendicular) to be equally effective.

Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings.

The medical system 200 according to an embodiment of the present invention is a surgical robotic system that can remotely manipulate a completed surgery. Referring to fig. 1, a medical system 200 may include a physician console 210, a patient side robot 220, and an imaging device 230.

The doctor console 210 has a display unit for displaying the environment of the surgical instrument, a doctor operation control mechanism, and armrests. Wherein, set up the observation window on the display element and be used for the doctor to observe, operation control mechanism constructs for its action can correspond the action of surgical instruments, and the handrail is used for placing doctor's arm. In addition, the doctor console 210 is further provided with other control switches for performing various functional operations to complete man-machine interaction.

The imaging device 230 has a display screen, an endoscope controller, system electronics, an image processor, and the like.

Referring to fig. 2, the patient side robot 220 may include at least one mechanical arm 221, where the mechanical arm 221 has several sections of connecting arms, and two adjacent sections of connecting arms relatively move with a specific degree of freedom, so that the end of the mechanical arm may reach the movement of multiple degrees of freedom (e.g. 7 degrees of freedom, different degrees of freedom may be different according to different surgical instruments), the end of the mechanical arm 221 is provided with a holding arm 222, and the surgical instrument 100 is detachably mounted on the holding arm 222. The surgical instrument 100 may be an instrument that performs a surgical operation, such as an electrocautery, a clamp, a vascular occlusion device, etc., a camera for image acquisition of a surgical field, such as an endoscope, etc., or other surgical instruments.

In some application scenarios, the robotic arm 221 may be configured to mechanically move about a remote center of motion (remote center of motion, RCM). For example, in laparoscopic surgery, RCM is defined as the port into the abdominal cavity of a patient during surgery, where the robotic arm 221 is manipulated such that the manipulator arm 222 moves the surgical instrument 100 through pitch, yaw, insertion, and rotation, and the longitudinal axis of the surgical instrument 100 remains passing through the RCM point throughout the motion to avoid non-surgical damage to the abdominal incision of the patient by the surgical instrument 100.

Surgical instrument 100 includes, in order from the proximal end to the distal end, a rear end drive 150, a shaft portion 140, and an end effector assembly 120. The rear end transmission 150 is in driving connection with a driving device arranged in the holding arm 222. The rear end actuator 150 may be coupled to the end effector 120 via a transmission member, which may include a push-pull rod, wire, rope, belt, etc., and brake the end effector 120 via the transmission member. The shaft 140 is connected between the rear end effector 150 and the end effector 120 for spacing the rear end effector 150 from the end effector 120 and for supporting the end effector 120. The end effector assembly 120 may include tools for performing surgical procedures, such as cutting tissue, such as hooks, spades, clamps, scissors, etc., or may be an endoscope lens for image acquisition, etc.

Referring to fig. 3, end effector assembly 120 includes an electric clamp and may include two jaws that are each rotatable about an axis. The clamping jaw comprises a tissue contact part, an insulating part, a clamping jaw base 103 and the like, wherein the tissue contact part is used for connecting a lead 104, the lead 104 forms an electrode after being electrified, the clamping jaw base 103 is used for connecting a cable 105, and a rear end transmission device 150 at the rear end of the instrument can brake the clamping jaw base 103 through the cable 105 so as to drive the clamping jaw to move. The insulator serves to electrically isolate the tissue contact from jaw base 103. The insulator has a through hole formed therein through which the lead 104 passes to connect with the tissue contacting portion.

Further, a joint, such as a pitch joint, a yaw joint, etc., may also be provided between the end effector 120 and the shaft 140 to increase the mobility of the end effector 120. The rear end driving device 150 can drive the joint to move through transmission parts such as push-pull rods, wires, ropes and belts. For example, the cable 105 may be a tungsten wire with high strength and low ductility, and the rear end driving device 150 is controlled by the tungsten wire to control the clamping jaw to be not easy to break and to control accurately.

However, the inventors have found that current surgical device 100 is subject to external resistance when operated, and that the drive disk of back-end transmission 150 continues to output motion but end effector 120 is not synchronized or even stopped due to external resistance. At this time, as shown in fig. 4, the transmission member is tensioned at one side and relaxed at one side, and the transmission member is increased in comparison with the original tensioned state, so that the loosened transmission member such as a cable is easily separated from the track, thereby affecting normal use.

The surgical instrument of the embodiments of the present invention may improve or solve at least one of the above problems.

As shown in fig. 4, a rear end transmission 150 according to an embodiment of the present invention is used to drive cable 105, including a rotating assembly, a transmission assembly, and a tensioning mechanism 110;

the rotating assembly can comprise a motor, a speed reducer and the like, and can provide driving force outwards to drive the transmission assembly to rotate;

The transmission assembly is in driving connection with the rotating assembly, the cable 105 is wound on the transmission assembly, when the transmission assembly is driven to rotate by the rotating assembly, the cable 105 can be driven to move, the end execution assembly 120 can be driven by the cable 105 to act, the transmission assembly is wound on at least two cables 105 at the same time, the transmission assembly can rotate forward or rotate reversely, the first cable 105 is tensioned by forward rotation to loosen the second cable 105, and the second cable 105 is tensioned by reverse rotation to loosen the first cable 105;

The tensioning mechanism 110 includes an elastic member, the tensioning mechanism 110 is connected to the cable 105, when the cable 105 is loosened, the tensioning mechanism 110 can elastically deform to change the displacement of the cable 105, so as to tension the cable 105, and the elastic deformation of the tensioning mechanism 110 can compensate the increase of the cable 105 compared with the original tensioning state, so that the cable 105 in the loosened state is changed into the tensioning state again.

The tensioning mechanism 110 can make elastic deformation at any time, and the elastic deformation amount can be adaptively adjusted according to the loosening state of the cable 105, for example, the increasing amount of the cable 105 is larger, the loosening degree is larger, the elastic deformation amount of the tensioning mechanism 110 is larger at the moment, the increasing amount of the cable 105 is smaller, the loosening degree is smaller, and the elastic deformation amount of the tensioning mechanism 110 is smaller at the moment. If the cable 105 is always in tension, no increase occurs over the original tension, and the tensioning mechanism 110 does not elastically deform.

The rear end transmission 150 in the present embodiment compensates for the increase in the cable 105 compared to the original tension by providing the tensioning mechanism 110 so that the cable 105 is always in tension, thereby avoiding derailment of the cable 105 due to slack during alternate tensioning and slackening.

In one example, the elastic member of the tensioning mechanism 110 is disposed on the cable 105, and the elastic member is capable of being elastically deformed along the axial direction of the cable 105, thereby tensioning the cable 105. For example, the elastic member may be a cylindrical spring or a conical spring, the elastic member is sleeved on the cable 105, the elastic member is coaxial with the connection portion of the cable 105, when the elastic member is elastically deformed, the cable 105 can be driven along the axial direction of the connection portion of the cable 105 to generate displacement change, so as to tension the cable 105, and the elastic deformation of the tensioning mechanism 110 can compensate the increase amount of the cable 105 compared with the original tensioning state, so that the cable 105 in a loose state is changed into a tensioning state again.

In one example, the tensioning mechanism 110 further includes:

The terminal is arranged on the cable 105 and fixedly connected with the cable 105, one end of the elastic piece is connected with the terminal, and the elastic piece pushes or pulls the terminal to generate elasticity on the cable 105 so as to tension the cable 105. For example, the terminal may be sleeved on the cable 105, the outer diameter of the terminal is larger than the outer diameter of the elastic member, the elastic member pushes or pulls the terminal, and the acting force is transmitted to the cable 105 through the terminal, so that the cable 105 in a loose state is changed into a tensioning state again.

As shown in fig. 5, the cable 105 passes through the driving disc or the jaw base 103, and under the action of various factors, the cable 105 is in a loose state in the driving disc or the jaw base 103, the first bearing surface 1036 of the clamping terminal 1035 which is originally attached together is not attached to the second bearing surface 1037 of the jaw base 103 (the driving disc is also provided with a similar second bearing surface), and a gap with a distance alpha is generated, and if the cable 105 is pulled, the cable 105 cannot normally drive the jaws of the end effector assembly 120.

As shown in fig. 6, a first spring 1038 is disposed between the clamping terminal 1035 and the clamping jaw base 103, one end of the first spring 1038 pushes the first bearing surface 1036 of the clamping terminal 1035, the other end of the first spring 1038 pushes the second bearing surface 1037 of the clamping jaw base 103, and the elastic deformation of the first spring 1038 can compensate the increase alpha of the cable 105 compared with the original tensioning state, so that the cable 105 in the loose state is changed into the tensioning state again, and if the cable 105 is pulled, the cable 105 can normally drive the clamping jaw of the end effector assembly 120.

As shown in fig. 7, a second spring 1039 is disposed between the clamping terminal 1035 and a fixed base 1040 outside the driving disc or jaw base 103, one end of the second spring 1039 pulls the clamping terminal 1035, and the other end of the second spring 1039 pulls the fixed base 1040 (the fixed base 1040 may be a structure disposed in the driving disc or jaw base 103), and the elastic deformation of the second spring 1039 may compensate for the increase α of the cable 105 compared to the original tension state, so that the cable 105 in the loose state is changed back to the tension state, and at this time, if the cable 105 is pulled, the cable 105 may normally drive the jaws of the end effector assembly 120.

In one example, the tensioning mechanism 110 further includes:

the tensioning seat is provided with a terminal on the cable 105, and the terminal sets up in the inside of tensioning seat, and the first end connection terminal of elastic component, the second end of elastic component are fixed, thereby the elastic component is in by compression state or tensile state tensioning cable 105.

As shown in fig. 6, the tensioning seat may be a clamping jaw base 103, or may be a driving disc, in this embodiment, the tensioning seat is taken as the clamping jaw base 103, and an embodiment of the driving disc may refer to the clamping jaw base 103. The clamping terminal 1035 is arranged in the clamping jaw base 103, one end of the first spring 1038 pushes the clamping terminal 1035, the other end of the first spring 1038 is fixed on the clamping jaw base 103, the first spring 1038 is in a compressed state, when the cable 105 is loosened, the first spring 1038 stretches along the axial direction of the first spring 1038 to generate elastic deformation, and the elastic deformation of the first spring 1038 can compensate the increase alpha of the cable 105 compared with the original tension state, so that the cable 105 in the loosened state is changed into the tension state again.

As shown in fig. 7, the tensioning seat may be a clamping jaw base 103, the clamping terminal 1035 is disposed in the clamping jaw base 103, one end of the second spring 1039 pulls the clamping terminal 1035, the other end of the second spring 1039 pulls the fixed base 1040, the second spring 1039 is in a stretched state, when the cable 105 is relaxed, the second spring 1039 is compressed along an axial direction of the second spring 1039 to generate elastic deformation, and the elastic deformation of the second spring 1039 can compensate for an increase alpha of the cable 105 compared with the original tensioned state, so that the cable 105 in the relaxed state is changed into the tensioned state again.

In one example, the tensioning mechanism 110 further includes:

The tensioning seat 1055 is provided with two terminals on the cable 105, the two terminals are arranged in the tensioning seat 1055, the cable 105 is in a disconnected state between the two terminals, the elastic piece is arranged between the two terminals and is a tension spring, the first end of the elastic piece pulls one of the terminals, the second end of the elastic piece pulls the other terminal, and the elastic piece is in a stretched state so as to tension the cable 105.

As shown in fig. 8, a first terminal 1053 and a second terminal 1054 are disposed in the tensioning seat 1055, the first terminal 1053 and the second terminal 1054 are movable inside the tensioning seat 1055, the cable 105 stretches into the tensioning seat 1055 after being disconnected, the third spring 1056 is fixedly connected with the first terminal 1053 and the second terminal 1054 respectively, the first end of the third spring 1056 pulls the first terminal 1053, the second end of the third spring 1056 pulls the second terminal 1054, the third spring 1056 is in a stretched state, a pulling force is always generated on the first terminal 1053 and the second terminal 1054, the acting force is transmitted to two sections of the cable 105 through the terminals, when the cable 105 is in a loose state, the third spring 1056 is compressed in a direction away from the first terminal 1053 and the second terminal 1054 along the axial direction of the third spring 1056 so as to generate elastic deformation, the elastic deformation of the third spring 1056 can compensate the increase amount of the cable 105 when compared with the original tension state, and accordingly the cable 105 is in a state of being changed again.

Since the first and second terminals 1053, 1054 are movable, the stretched state of the resilient member, the position of the first and second terminals 1053, 1054 within the tensioning mount 1055 can be automatically adapted to the slack state of the cable 105 such that the cable 105 is always in tension.

In one example, the tensioning mechanism 110 further includes:

The tensioning seat 1055 is provided with two terminals on the cable 105, the two terminals are arranged in the tensioning seat 1055, the cable 105 is in a disconnected state between the two terminals, the tensioning seat 1055 is internally provided with two elastic pieces, the elastic pieces are respectively arranged between the terminals and the inner wall of the tensioning seat 1055, the elastic pieces are compression springs, the first ends of the elastic pieces are propped against the terminals, the second ends of the elastic pieces are propped against the inner wall of the tensioning seat 1055, and the elastic pieces are in a compressed state so as to tension the cable 105.

As shown in fig. 9, a first terminal 1053 and a second terminal 1054 are disposed in the tensioning seat 1055, the first terminal 1053 and the second terminal 1054 are movable in the tensioning seat 1055, the cable 105 stretches into the tensioning seat 1055 after being disconnected, the fourth spring 1057 is fixedly connected with the first terminal 1053 and the second terminal 1054 respectively, the fourth spring 1057 is disposed between the first terminal 1053 and the inner wall of the tensioning seat 1055, the fifth spring 1058 is disposed between the second terminal 1054 and the inner wall of the tensioning seat 1055, the fourth spring 1057 is in a compressed state, a pushing force is always generated on the first terminal 1053, the fifth spring 1058 is in a compressed state, a pushing force is always generated on the second terminal 1054, the acting force is transmitted to two sections of the cable 105 through the terminals, when the cable 105 is relaxed, the fourth spring 1057 stretches along the axial direction of the fourth spring 1057 to generate elastic deformation, so that the first terminal 1053 moves towards the direction approaching the second terminal 1054, and the fifth spring 1058 stretches along the axial direction of the fifth spring 1058 to generate elastic deformation so that the fifth spring 1058 moves towards the direction approaching the second terminal 1053. The elastic deformation of the fourth and fifth springs 1057 and 1058 may compensate for the increased amount of the cable 105 compared to the original tension state, thereby allowing the cable 105 in the relaxed state to be changed back to the tensioned state.

Since the first and second terminals 1053, 1054 are movable, the compressed state of the resilient member, the position of the first and second terminals 1053, 1054 within the tensioning mount 1055 can be automatically adapted according to the slack state of the cable 105 such that the cable 105 is always in tension.

In one example, the tensioning mechanism 110 further includes:

A slider 113;

a guide 114, the slider 113 is provided to the guide 114 and is slidable along the guide 114, an elastic member is provided to the guide 114, and the elastic member is elastically connected to the slider 113;

The first pulley 116, the first pulley 116 is disposed on the slider 113, the first pulley 116 is connected with the cable 105, and the elastic member is in a compressed state to tension the cable 105 through the first pulley 116.

As shown in fig. 10 and 11, the elastic member may be a cylindrical spring or a conical spring, and is sleeved on the guiding device 114, the elastic member is in a compressed state, the elastic force of the elastic member acts on the sliding block 113 and indirectly acts on the first pulley 116, the first pulley 116 can push the cable 105 to make the cable 105 generate displacement change so as to tension the cable 105, and the elastic deformation of the elastic member can compensate the increase of the cable 105 compared with the original tension state, so that the cable 105 in a loose state is changed into a tension state again, and at the moment, if the cable 105 is pulled, the cable 105 can normally drive the end effector 120.

Since the slider 113 is slidable, the compressed state of the elastic member, the position of the slider 113 on the guide 114 can be automatically adapted according to the slack state of the cable 105, so that the cable 105 is always in a tensioned state.

In one example, the tensioning mechanism 110 further includes:

a second pulley 117, the second pulley 117 being provided on a path along which the cable 105 is connected to the surgical instrument 100, the second pulley 117 connecting the cable 105, the cable 105 being guided.

As shown in fig. 10 and 11, after the cable 105 passes around the first pulley 116 and then passes around the second pulley 117, the extending direction of the cable 105 can be changed. The second pulley 117 and the first pulley 116 simultaneously support the cable 105, and may act on the tension of the cable 105.

In one example, the circumferential surfaces of the first pulley 116 and the second pulley 117 are provided with grooves, and the cable 105 is disposed in the grooves.

As shown in fig. 10 and 11, the groove can play a limiting role on the cable 105, preventing the cable 105 from being separated from the first pulley 116 and the second pulley 117, so that the second pulley 117 and the first pulley 116 stably support the cable 105.

In one example, the tensioning mechanism 110 includes:

At least two groups of sliding blocks 113, wherein the sliding blocks 113 are arranged on the guide device 114;

At least two groups of elastic pieces, wherein one group of elastic pieces is elastically connected with one group of sliding blocks 113, and the other group of elastic pieces is arranged between the two groups of sliding blocks 113 and is elastically connected with the two groups of sliding blocks 113.

As shown in fig. 10 and 11, the two sets of sliders 113 are each provided with a first pulley 116, each first pulley 116 supports one cable 105, the two sets of sliders 113 are disposed on the same guide 114 and can slide along the guide 114, the sixth spring 115 is elastically connected with one set of sliders 113, and the seventh spring 119 is disposed between the two sets of sliders 113 and is elastically connected with the two sets of sliders 113. The sixth spring 115 and the seventh spring 119 may be compression springs, and the elastic forces of the sixth spring 115 and the seventh spring 119 act on the two groups of sliders 113 simultaneously, so that the two groups of sliders 113 can act on the cable 105 simultaneously, and by arranging the two groups of sliders 113 and the two groups of first pulleys 116, the number of supporting cables 105 can be increased, so that more complex control of the output of the rear end transmission device 150 is satisfied.

In one example, the tensioning mechanism 110 includes:

At least two groups of sliding blocks 113, wherein the sliding blocks 113 are arranged on the guide device 114;

the elastic member is disposed between the two sets of sliding blocks 113 and is elastically connected to the two sets of sliding blocks 113.

As shown in fig. 12 and 13, the two sets of sliding blocks 113 are each provided with a first pulley 116, each first pulley 116 supports one cable 105, the two sets of sliding blocks 113 are disposed on the same guiding device 114 and can slide along the guiding device 114, and a seventh spring 119 is disposed between the two sets of sliding blocks 113 and is elastically connected with the two sets of sliding blocks 113. The seventh spring 119 may be a compression spring, and the elastic force of the seventh spring 119 acts on the two groups of sliders 113 simultaneously, so that the two groups of sliders 113 can act on the cable 105 simultaneously, and by setting the two groups of sliders 113 and the two groups of first pulleys 116, the number of supporting cables 105 can be increased, so that more complex control of the output of the rear end transmission device 150 is satisfied.

In one example, the tensioning mechanism 110 further includes:

the screw 122 is turned, one end of the screw 122 abuts against one of the sliding blocks 113, and displacement of the sliding blocks 113 on the guide 114 is regulated by rotating the screw 122, so that the elastic member is in a compressed state.

As shown in fig. 12 and 13, under the pushing action of the tightening screw 122, the first pulleys 116 on the two sets of sliders 113 can maintain the supporting action of the cable 105, when the tightening screw 122 is rotated, the positions of the two sets of sliders 113 on the guiding device 114 can be adjusted, and the two sets of sliders 113 are driven to be close to each other, the elastic member is compressed at the same time, and the elastic deformation of the elastic member can compensate the increase amount of the cable 105 compared with the original tensioning state, so that the cable 105 in the loose state is changed into the tensioning state again, and if the cable 105 is pulled, the cable 105 can normally drive the end effector 120.

In one example, the rear end drive further comprises:

The mounting seat 121, the tightening screw 122 and the guide device 114 are arranged on the mounting seat 121, and the mounting seat 121 is provided with a threaded hole corresponding to the tightening screw 122.

As shown in fig. 10, 11, 12 and 13, the mounting seat 121 forms a mounting base of the tightening screw 122 and the guiding device 114, the guiding device 114 is fixed on the mounting seat 121, and can form stable guiding for the sliding block 113, the tightening screw 122 is connected with a threaded hole on the mounting seat 121, and the tightening screw 122 can axially move when the tightening screw 122 is rotated so as to adjust the pushing state of the tightening screw 122 on the sliding block 113.

In one example, the guide 114 includes:

Guide holes are formed in two ends of the sliding block 113, the sliding block 113 is sleeved on the guide post through the guide holes and can slide along the guide post, and the elastic piece is sleeved on the guide post.

As shown in fig. 10, 11, 12 and 13, two ends of the guide post are fixed on the mounting seat 121, and the mounting seat 121 may be provided with a supporting seat corresponding to the guide post, so that the guide post is separated from the surface of the mounting seat 121 by a proper distance, and the sliding of the slider 113 is not hindered. The guide 114 includes at least two guide posts arranged in parallel to support the slider 113.

The elastic member may be a cylindrical spring or a conical spring, and is sleeved on the guide post, or may slide along the guide post and be elastically connected with the slider 113.

In one example, a transmission assembly includes:

And the driving discs 118, one driving disc 118 winds at least two cables 105 at the same time, the driving disc 118 can rotate forward or rotate reversely, the forward rotation tightens the first cable 105 to loosen the second cable 105, and the reverse rotation tightens the first cable 105 to tighten the second cable 105.

As shown in fig. 10, 11, 12, and 13, the driving disk 118 winds two cables 105 at the same time, and when the driving disk 118 rotates, the two cables 105 can be wound and unwound at the same time. In order to prevent the two cables 105 from being wound and released due to random movement on the driving disc 118, a wire groove is formed in the surface of the driving disc 118, the wire groove is spiral, the cables 105 are wound in the wire groove, and the cables 105 can be wound and released along the wire groove when the driving disc 118 rotates and can be limited by the wire groove.

In one example, the elastic member is a torsion spring that bends the cable 105, thereby tensioning the cable 105.

As shown in fig. 14 and 15, torsion springs are connected to the cables 105, each torsion spring being connected to one cable 105, the elastic deformation of the torsion springs can compensate for the increase in the cable 105 compared to the original tension, so that the cable 105 in the relaxed state is changed back to the tension state, and at this time, if the cable 105 is pulled, the cable 105 can normally drive the end effector 120.

In one example, the torsion spring includes:

A spring main body;

the fixed arm is arranged on one side of the spring main body and is fixed;

the torsion arm is arranged on the other side of the spring body, and is connected with the cable 105, and the torsion arm pushes or pulls the cable 105, so that the cable 105 is tensioned.

As shown in fig. 14, the first torsion spring 160 includes a spring body, a fixing arm 161 and a torsion arm 162, the spring body is a multi-turn cylindrical spring structure, the fixing arm 161 and the torsion arm 162 are integrally formed with the spring body, extend at both sides of the spring body, the torsion arm 162 is hooked or supported with the cable 105, the first torsion spring 160 is in a compressed state, the torsion arm 162 is disposed at an inner side of the cable, when the cable 105 is loosened, the torsion arm 162 is elastically deformed, and the torsion arm 162 drives the cable 105 to displace to tension the cable 105.

As shown in fig. 15, the first torsion spring 160 includes a spring body, a fixing arm 161 and a torsion arm 162, the spring body is a multi-turn cylindrical spring structure, the fixing arm 161 and the torsion arm 162 are integrally formed with the spring body, extend at both sides of the spring body, the torsion arm 162 is hooked or supported with the cable 105, the first torsion spring is in a stretched state, the torsion arm 162 is disposed at an outer side of the cable 105 to support the cable 105, when the cable 105 is loosened, the torsion arm 162 is elastically deformed, and the torsion arm 162 is displaced to tension the cable 105.

The fixing arm 161 is fixed to a certain fixing base to fix the first torsion spring 160, and the fixing arm 161 can perform an elastic supporting function when the torsion arm 162 is elastically deformed, so that the first torsion spring 160 is integrally stored with energy.

The second torsion spring 170 has the same structure as the first torsion spring 160, and the first torsion spring 160 and the second torsion spring 170 are symmetrically arranged in the rear end transmission device 150, so that two cables 105 can be connected at the same time.

In the example of the present application, since there are two pairs of cables 105, the pitch, yaw, and open and close motions of the end effector assembly 120 can be controlled by four-wire drive. The control of the four-wire drive mode and the specific construction and operation of the rear end transmission 150 may be referred to in the prior art, such as that disclosed in chinese patent No. 113208732a or chinese patent No. 113367796a, and will not be described in detail herein.

The processes, steps described in all the preferred embodiments described above are examples only. Unless adverse effects occur, various processing operations may be performed in an order different from that of the above-described flow. The step sequence of the above-mentioned flow can also be added, combined or deleted according to the actual requirement.

In understanding the scope of the present invention, the term "comprising" and its derivatives, as used herein, are intended to be open ended terms that specify the presence of the stated features, elements, components, groups, integers, and/or steps, but do not exclude the presence of other unstated features, elements, components, groups, integers and/or steps. This concept also applies to words having similar meanings such as the terms "including", "having" and their derivatives.

The terms "attached" or "attached" as used herein include configurations in which an element is directly secured to another element by affixing the element directly to the other element, configurations in which an element is indirectly secured to another element by affixing the element to an intermediate member, which in turn is affixed to the other element, and configurations in which one element is integral with the other element, i.e., one element is substantially a part of the other element. The definition also applies to words having similar meanings such as the terms, "connected," "coupled," "mounted," "adhered," "secured" and their derivatives. Finally, terms of degree such as "substantially", "about" and "approximately" as used herein mean a deviation of the modified term such that the end result is not significantly changed.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the invention. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features unless the features are not applicable or otherwise indicated in the other embodiment.

The present invention has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the embodiments described. In addition, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, which fall within the scope of the claimed invention.

Claims (19)

1. A rear end transmission for driving a cable, comprising:

a rotating assembly;

the transmission assembly is in driving connection with the rotating assembly, and the cable is wound on the transmission assembly;

The tensioning mechanism comprises an elastic piece, the tensioning mechanism is connected with the cable, and when the cable is loosened, the tensioning mechanism can be elastically deformed to enable the cable to generate displacement change so as to tension the cable.

2. The rear end transmission according to claim 1, wherein the elastic member is provided to the cable, the elastic member being elastically deformable in an axial direction of the cable to tension the cable.

3. The rear end transmission of claim 2, wherein the tensioning mechanism further comprises:

the terminal, the terminal set up in the cable and with cable fixed connection, the one end of elastic component with the terminal is connected, the elastic component pushes away or pulls the terminal, thereby produces elasticity to the cable tensioning the cable.

4. A rear end transmission as claimed in claim 3, wherein the tensioning mechanism further comprises:

The cable tensioning device comprises a tensioning seat, wherein one terminal is arranged on the cable, the terminal is arranged in the tensioning seat, the first end of an elastic piece is connected with the terminal, the second end of the elastic piece is fixed, and the elastic piece is in a compressed state or a stretched state so as to tension the cable.

5. A rear end transmission as claimed in claim 3, wherein the tensioning mechanism further comprises:

The cable tensioning device comprises a tensioning seat, two terminals are arranged on the cable, the two terminals are arranged in the tensioning seat, the cable is in a disconnected state between the two terminals, an elastic piece is arranged between the two terminals and is a tension spring, one of the terminals is pulled by a first end of the elastic piece, the other of the terminals is pulled by a second end of the elastic piece, and the elastic piece is in a stretched state so as to be tensioned.

6. A rear end transmission as claimed in claim 3, wherein the tensioning mechanism further comprises:

The cable tensioning device comprises a tensioning seat, two terminals are arranged on the cable, the two terminals are arranged in the tensioning seat, the cable is in a disconnected state between the two terminals, two elastic pieces are arranged in the tensioning seat, the elastic pieces are respectively arranged between the terminals and the inner wall of the tensioning seat, the elastic pieces are compression springs, the first ends of the elastic pieces are propped against the terminals, the second ends of the elastic pieces are propped against the inner wall of the tensioning seat, and the elastic pieces are in a compressed state to tension the cable.

7. The rear end transmission of claim 1, wherein the tensioning mechanism further comprises:

A slide block;

The sliding block is arranged on the guiding device and can slide along the guiding device, the elastic piece is arranged on the guiding device, and the elastic piece is elastically connected with the sliding block;

The first pulley is arranged on the sliding block, the first pulley is connected with the cable, and the elastic piece is in a compressed state and is used for tensioning the cable through the first pulley.

8. The rear end transmission of claim 7, wherein the tensioning mechanism further comprises:

The second pulley is arranged on a path where the cable is connected with the surgical instrument, and is connected with the cable to guide the cable.

9. The rear end transmission of claim 8, wherein the circumferential surfaces of the first pulley and the second pulley are provided with grooves, and the cable is disposed in the grooves.

10. The rear end transmission of claim 7, wherein the tensioning mechanism comprises:

at least two groups of sliding blocks, wherein the sliding blocks are arranged on the guide device;

At least two groups of elastic pieces, wherein one group of elastic pieces is elastically connected with one group of sliding blocks, and the other group of elastic pieces is arranged between the two groups of sliding blocks and is simultaneously elastically connected with the two groups of sliding blocks.

11. The rear end transmission of claim 7, wherein the tensioning mechanism comprises:

at least two groups of sliding blocks, wherein the sliding blocks are arranged on the guide device;

the elastic piece is arranged between the two groups of sliding blocks and is simultaneously in elastic connection with the two groups of sliding blocks.

12. The rear end transmission of claim 11, wherein the tensioning mechanism further comprises:

and one end of the tightening screw is propped against one group of sliding blocks, and the displacement of the sliding blocks on the guide device is regulated by rotating the tightening screw, so that the elastic piece is in a compressed state.

13. The rear end transmission of claim 12, further comprising:

The mounting seat, the tightening screw the guider all set up in the mounting seat, the mounting seat corresponds the tightening screw is provided with the screw hole.

14. The rear end transmission of claim 7, wherein the guide means comprises:

The guide post, the both ends of slider are provided with the guiding hole, the slider passes through the guiding hole cover is located the guide post, and can follow the guide post slides, the elastic component cover is located the guide post.

15. The rear end transmission of claim 1, wherein the resilient member is a torsion spring that bends the cable, thereby tensioning the cable.

16. The rear end transmission of claim 15, wherein the torsion spring includes:

A spring main body;

a fixing arm provided at one side of the spring main body, the fixing arm being fixed;

the torsion arm is arranged on the other side of the spring body, is connected with the cable and pushes or pulls the cable so as to tension the cable.

17. The rear end transmission of claim 1, wherein the transmission assembly comprises:

The driving disc is wound with at least two cables simultaneously, the driving disc can rotate forward or rotate reversely, the first cable is tensioned by forward rotation, the second cable is loosened by forward rotation, and the second cable is tensioned by reverse rotation.

18. The rear end transmission of claim 1, wherein the cable is a tungsten wire.

19. A medical system, comprising:

a slave operation device including at least one mechanical arm, and

A rear end drive according to any one of claims 1 to 18, provided on the robotic arm.