CN120814910A - Transmission mechanism of surgical instruments and drive device of surgical robots - Google Patents
Transmission mechanism of surgical instruments and drive device of surgical robotsInfo
- Publication number
- CN120814910A CN120814910A CN202511324664.8A CN202511324664A CN120814910A CN 120814910 A CN120814910 A CN 120814910A CN 202511324664 A CN202511324664 A CN 202511324664A CN 120814910 A CN120814910 A CN 120814910A
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- rope
- wheel
- assembly
- instrument
- rod
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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
-
- 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
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种手术器械的传动机构及手术机器人的驱动装置，涉及医疗器械技术领域。手术器械的传动机构通过将两个以上绳驱组件转动设于器械座，绳驱组件通过转动能够带动缠绕于其上的绳体通过与其对应设置的变向轮组件的两个异径变向轮改变方向，以穿过器械杆与钳头连接。各个绳驱组件的绳轮的轴线平行于器械杆的轴线，缠绕于绳轮上的绳体的两端高度不同，将绳体高度较高的一端绕设较大径变向轮变向后进入器械杆，绳体高度较低的一端绕设较小径变向轮变向后进入器械杆，不仅实现了结构合理布局，缩减了器械座的体积；而且绳驱组件驱动绳体运动时绳体与绳轮、变向轮之间的倾斜角度≤预设角度，避免绳体倾斜角度过大，提升了传动效率和使用寿命。
The present invention discloses a transmission mechanism for a surgical instrument and a driving device for a surgical robot, and relates to the technical field of medical instruments. The transmission mechanism of the surgical instrument is configured by rotating two or more rope drive assemblies on an instrument base. The rope drive assemblies can drive the rope body wound thereon to change direction through two different-diameter deflection wheels of a deflection wheel assembly corresponding thereto, so as to pass through the instrument rod and connect with the forceps head. The axes of the rope wheels of each rope drive assembly are parallel to the axis of the instrument rod. The two ends of the rope body wound on the rope wheels are at different heights. The higher end of the rope body is wound around a larger-diameter deflection wheel and then changes direction before entering the instrument rod, while the lower end of the rope body is wound around a smaller-diameter deflection wheel and then changes direction before entering the instrument rod. This not only achieves a reasonable structural layout and reduces the volume of the instrument base; but also, when the rope drive assembly drives the rope body to move, the inclination angle between the rope body and the rope wheel and deflection wheel is ≤ a preset angle, thereby avoiding excessive inclination of the rope body and improving transmission efficiency and service life.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a transmission mechanism of a surgical instrument and a driving device of a surgical robot.
Background
Surgical instruments are driven into a human body by a surgical robot driving device to perform surgical operation, and most instruments often use a rope wheel driving device to drive a rope body to perform transmission due to the limitation of the size of the part of the instruments entering the human body. When the surgical robot driving device works, the rope body changes the transmission direction through the steering wheel, so that the clamp head assembly can be controlled to do pitching and swaying movement through the rope body driving device.
The transmission mechanism of the existing surgical instrument has the defects that the occupied space is large due to more parts such as a steering wheel and a rope wheel, the transmission mechanism can be connected with a clamp head only by passing through an instrument rod, but the diameter of the instrument rod is usually small, and a rope body can pass through the instrument rod after being turned for many times and is connected with the clamp head at the tail end of the instrument rod, so that the transmission performance is poor due to overlarge inclination angles of the rope body relative to the rope wheel and the steering wheel in the transmission process, and the transmission efficiency and the service life are further influenced.
Disclosure of Invention
The invention aims to provide a transmission mechanism of a surgical instrument and a driving device of a surgical robot, so as to realize compact structure, reduced volume, improved transmission efficiency and prolonged service life.
To achieve the purpose, the invention adopts the following technical scheme:
the transmission mechanism of the surgical instrument, the surgical instrument includes instrument bar and binding clip, the said binding clip is rotationally located one end of the said instrument bar, the said transmission mechanism includes:
An instrument seat;
The rope driving components are rotationally arranged on the instrument seat and comprise rope driving shafts and rope pulleys fixedly arranged on the rope driving shafts, the axes of the rope pulleys are parallel to the axes of the instrument rods, and the center heights of the rope pulleys of different rope driving components are different;
The device comprises more than two direction-changing wheel assemblies, a rope wheel assembly and a rope wheel assembly, wherein the direction-changing wheel assemblies are arranged in a one-to-one correspondence with the more than two rope wheel assemblies in height, each direction-changing wheel assembly comprises a supporting shaft and two reducing direction-changing wheels which are arranged on the supporting shaft at intervals, the axis of each supporting shaft is perpendicular to the axis of the instrument rod, the heights of the axes of the supporting shafts of each direction-changing wheel assembly are different, and the heights of the axes of the supporting shafts of the direction-changing wheel assemblies are matched with the heights of the centers of the rope wheels corresponding to the direction-changing wheel assemblies;
The two ends of each rope body are wound on the rope wheel, the higher ends of the two ends of each rope body bypass the larger-diameter turning wheel corresponding to the turning wheel assembly, and the lower ends of the rope bodies bypass the smaller-diameter turning wheel and then penetrate through the instrument rod to be connected with the clamp head;
when the rope driving component drives the rope body to move, the inclination angles of the rope body, the rope wheel and the direction-changing wheel are smaller than or equal to a preset angle.
As an alternative to the transmission mechanism of the surgical instrument, the preset angle is 3 ° to 5 °.
As an alternative to the transmission mechanism of the surgical instrument, in each group of the rope drive assembly and the direction-changing wheel assembly which are correspondingly arranged, the distance between the axis of the rope wheel and the axis of the corresponding supporting shaft is L 1, and the distance between the two direction-changing wheels is L 2, wherein the larger L 1 is, the smaller L 2 is.
As an alternative to the transmission mechanism of the surgical instrument, the cord driving assembly includes a first cord driving assembly, a second cord driving assembly, and a third cord driving assembly, the first cord driving assembly having a center height of the sheave that is higher than a center height of the sheave of the second cord driving assembly, the second cord driving assembly having a center height of the sheave that is higher than a center height of the sheave of the third cord driving assembly;
the turning wheel assembly comprises a first turning wheel assembly, a second turning wheel assembly and a third turning wheel assembly, the axial height of a supporting shaft of the first turning wheel assembly is higher than that of a supporting shaft of the second turning wheel assembly, and the axial height of a supporting shaft of the second turning wheel assembly is higher than that of a supporting shaft of the third turning wheel assembly;
The rope body comprises a first rope body, a second rope body and a third rope body, wherein the first rope body is wound on a rope wheel of the first rope drive assembly, the higher end of the first rope body is wound on a larger-diameter turning wheel of the first turning wheel assembly, the lower end of the first rope body is wound on a smaller-diameter turning wheel of the first turning wheel assembly, the second rope body is wound on a rope wheel of the second rope drive assembly, the higher end of the second rope body is wound on a larger-diameter turning wheel of the second turning wheel assembly, the lower end of the second rope body is wound on a rope wheel of the third rope drive assembly, the higher end of the third rope body is wound on a larger-diameter turning wheel of the third turning wheel assembly, and the lower end of the third rope body is wound on a smaller-diameter turning wheel of the third turning wheel assembly.
As an alternative of the transmission mechanism of the surgical instrument, the projections of the first rope driving component and the second rope driving component on the instrument seat are symmetrically arranged relative to the instrument rod, the first rope driving component and the second rope driving component jointly drive the clamp head to rotate around a first shaft, the third rope driving component drives the clamp head to rotate around a second shaft, the first shaft is perpendicular to the second shaft, and the distance from the first shaft to the instrument seat is larger than the distance from the second shaft to the instrument seat.
As an alternative scheme of the transmission mechanism of the surgical instrument, L 1 corresponding to the first rope drive component is L A1, L 2 corresponding to the first rope drive component is L A2, L 1 corresponding to the second rope drive component is L B1, L 2 corresponding to the second rope drive component is L B2, and L A1=L B1, LA2=LB2 is formed.
As an alternative to the drive mechanism of the surgical instrument, 48mm < l A1=LB1＜65mm,1.5mm＜LA2=LB2 <5mm.
As an alternative to the transmission mechanism of the surgical instrument, the corresponding L 1 of the third cord driving assembly is L C1, the corresponding L 2 is L C2, and then L C1＜L A1,LC2＞LA2.
As an alternative to the drive mechanism of the surgical instrument, 15mm < l C1＜30mm,4.5mm＜LC2 <6mm.
As an alternative to the transmission mechanism of the surgical instrument, the transmission mechanism of the surgical instrument further includes a rod driving assembly connected to the instrument rod and used for driving the instrument rod to rotate the forceps head, where the rod driving assembly includes:
The rod driving shaft drives the instrument rod to rotate through the gear set, and the steering and rotating speed of the instrument rod and the rod driving shaft are kept the same.
As an alternative to the transmission mechanism of the surgical instrument, the instrument holder includes:
a base;
The rope driving shafts of the rope driving assemblies sequentially penetrate through the base and the fixing base to be connected with the rope wheel, three mounting grooves with different heights are formed in the fixing base corresponding to the instrument rod, and three steering wheel assemblies with different heights are respectively mounted on the fixing base.
A drive device for a surgical robot comprising a drive mechanism for a surgical instrument according to any one of the above aspects.
The invention has the beneficial effects that:
According to the transmission mechanism of the surgical instrument, more than two rope drive components are rotatably arranged on the instrument seat, and the rope drive components can drive a rope body wound on the rope drive components to change direction through two different-diameter direction-changing wheels of the direction-changing wheel components correspondingly arranged on the rope drive components so as to penetrate through an instrument rod to be connected with a clamp head. Because the axis of the rope wheel of each rope driving component is parallel to the axis of the instrument rod, the heights of the two ends of the rope body wound on the rope wheel are different, one end with higher rope body height enters the instrument rod after being turned around the larger-diameter turning wheel, one end with lower rope body height enters the instrument rod after being turned around the smaller-diameter turning wheel, the two ends of each rope body enter the instrument rod through single vertical turning, and the two ends of each rope body are located at different heights along the axial direction of the instrument rod, so that reasonable structure layout is realized, the volume of an instrument seat is reduced, and the inclination angle between the rope body and the rope wheel and between the rope driving component and the turning wheel is less than or equal to the preset angle when the rope body is driven to move, transmission performance degradation caused by overlarge inclination angle of the rope body is avoided, and transmission efficiency and service life are improved.
The driving device of the surgical robot, which is provided by the invention, comprises the transmission mechanism, so that the volume of the instrument seat is reduced, and the transmission efficiency and the service life of the driving device are improved.
Drawings
FIG. 1 is a schematic view of a drive mechanism for a surgical instrument according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a connection between a binding clip and an instrument bar according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a connection structure between each cord drive assembly and its corresponding direction-changing wheel assembly according to an embodiment of the present invention;
FIG. 4 is a top view of the connection of each cord drive assembly to its corresponding reversing wheel assembly provided by an embodiment of the present invention;
fig. 5 is an exploded view of a drive mechanism for a surgical instrument provided in an embodiment of the present invention.
In the figure:
100. the device comprises an instrument rod, a connecting lug, 102, a supporting arm, 103, a first shaft, 104 and a second shaft;
200. A clamp head;
300. An instrument identification circuit board;
1. 1.1 parts of a first rope driving assembly, 1.2 parts of a first rope driving shaft and a first rope wheel;
2. 2.1 parts of a second rope driving assembly, 2.2 parts of a second rope driving shaft and a second rope wheel;
3. a third cord drive assembly; 3.1, a third rope driving shaft, 3.2, a third rope wheel;
4. the steering device comprises a first steering wheel assembly, a first supporting shaft, a first larger-diameter steering wheel, a first smaller-diameter steering wheel and a second smaller-diameter steering wheel, wherein the first supporting shaft is connected with the first supporting shaft;
5. The steering device comprises a first steering wheel assembly, a first supporting shaft, a first larger-diameter steering wheel, a second supporting shaft, a second larger-diameter steering wheel, a second smaller-diameter steering wheel and a second smaller-diameter steering wheel, wherein the first supporting shaft is connected with the first supporting shaft;
6. The steering device comprises a third steering wheel assembly, a third supporting shaft, a third larger-diameter steering wheel, a third smaller-diameter steering wheel and a third smaller-diameter steering wheel, wherein the third supporting shaft is connected with the third supporting shaft;
7. 7.1 parts of the first rope body, 7.2 parts of the first rope body, and the lower end of the first rope body;
8. the device comprises a first rope body, a second rope body, 8.1 parts of the upper end of the first rope body, 8.2 parts of the lower end of the second rope body, and a first rope body;
9. 9.1, the higher end of the third rope, 9.2, the lower end of the third rope;
10. 10.1 parts of instrument seat, 10.11 parts of base, 10.2 parts of positioning groove, 10.3 parts of fixing frame and 10.3 parts of bracket;
11. 11.1 parts of a rod driving assembly, 11.2 parts of a rod driving shaft, 11.3 parts of a first gear, 11.3 parts of a second gear, 11.4 parts of a third gear and 11.5 parts of a rotary bracket.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected or detachably connected, mechanically connected or electrically connected, directly connected or indirectly connected via an intermediate medium, or in communication between two elements or in an interaction relationship between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Unless expressly stated or limited otherwise, a first feature being "above" or "below" a second feature may include the first feature and the second feature being in direct contact, or may include the first feature and the second feature not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
The surgical instrument comprises an instrument rod and a clamp head, the clamp head is rotatably arranged at one end of the instrument rod, and a driving device of the surgical robot is used for driving the clamp head of the surgical instrument to realize multi-degree-of-freedom motion, such as opening, closing, pitching, deflection, rotation and the like, so that the fine operation of a human hand is simulated. Because of the limitation of the minimally invasive surgery access, the diameter of the instrument rod is smaller, power sources such as a motor and the like cannot be built in, and force is required to be transmitted through the traction rope body of the external rope pulley system. Because the clamp head needs to realize the movement with multiple degrees of freedom, the rope body needs to be turned for many times to pass through the instrument rod, and a clamp head connected with the tail end of the instrument rod. The rope body is bent for many times to reduce the mechanical efficiency, the torque of a motor is increased, the transmission mechanism is complex and heavy, the size is large, the inclination angle of the rope body at the rope wheel and the turning wheel is large, the lateral sliding rate is increased, the transmission efficiency is affected, and the bending stress is concentrated due to the fact that the rope body is turned for many times, fatigue fracture can occur, and the service life is affected.
In order to solve the technical problems, the embodiment provides a transmission mechanism of a surgical instrument, wherein a rope driving component and a turning wheel component in the transmission mechanism are reasonably distributed, so that ropes of all driving forceps heads can pass through an instrument rod only through one turning, the transmission efficiency and the service life of the transmission mechanism are further improved, and all the turning wheels are distributed in a layered manner along the axis direction of the instrument rod, so that the radial size of an instrument seat is reduced, and the volume is reduced.
As shown in fig. 1 to 3, the transmission mechanism of the surgical instrument provided in this embodiment includes an instrument seat 10, more than two rope drive assemblies, more than two direction-changing wheel assemblies and more than two rope bodies, and an instrument rod 100, rope drive assemblies and direction-changing wheel assemblies of the surgical instrument are all mounted on the instrument seat 10. The rope drive components are rotationally arranged on the instrument seat 10, each rope drive component comprises a rope drive shaft and a rope wheel fixedly arranged on the rope drive shaft, the axis of the rope wheel is parallel to the axis of the instrument rod 100, and the heights of the central positions of the rope wheels of different rope drive components are different.
The two or more direction-changing wheel assemblies and the two or more rope drive assemblies are arranged in a one-to-one correspondence according to the height, each direction-changing wheel assembly comprises a supporting shaft and two reducing direction-changing wheels arranged on the supporting shaft at intervals, the axis of the supporting shaft is perpendicular to the axis of the instrument rod 100, and the heights of the axes of the supporting shafts of the direction-changing wheel assemblies are different. The axial height of the supporting shaft of the direction-changing wheel assembly is matched with the central height of the rope wheel corresponding to the direction-changing wheel assembly. Namely, the turning wheel component with a higher axis of the supporting shaft corresponds to the rope drive component with a higher central height of the rope pulley, and the turning wheel component with a lower axis of the supporting shaft corresponds to the rope drive component with a lower central height of the rope pulley.
After each rope body is wound on the rope wheel, the higher end of the two ends of the rope body bypasses the larger-diameter direction-changing wheel of the corresponding direction-changing wheel assembly, and the lower end bypasses the smaller-diameter direction-changing wheel and then passes through the instrument rod 100 to be connected with the clamp head 200.
The rope driving assembly drives the rope body to move, and the inclination angle of the rope body and the rope wheel and the direction-changing wheel is smaller than or equal to a preset angle.
The axis of the rope wheel is parallel to the axis of the instrument rod 100, the rope body is wound on the two ends of the rope wheel to form a high-low height difference, the central heights of the rope wheels are matched with the layered layout, the higher ends of the rope body are wound on the direction-changing wheel with a larger diameter and the lower ends of the rope body are wound on the direction-changing wheel with a smaller diameter to vertically rotate for a single time, and then the rope body is penetrated in a layered manner along the axial direction of the instrument rod 100, so that multi-rope body interference-free transmission is realized, the inclination angles of the rope body relative to the rope wheel and the direction-changing wheel are controlled to be less than or equal to a preset angle, the volume of the instrument seat 10 is reduced, the transmission efficiency is improved, and the service life is prolonged.
In one embodiment, the predetermined angle is 3 ° to 5 °. Illustratively, the inclination angle of the rope relative to the rope wheel and the direction-changing wheel is controlled to be less than or equal to 5 degrees, the volume of the instrument seat 10 is reduced by more than 30 percent, the transmission efficiency of the transmission mechanism is improved to be more than or equal to 95 percent, and the service life is longer than 5000 times.
In one embodiment, as shown in fig. 4, in each set of the rope driving assembly and the direction-changing wheel assembly, the distance from the axis of the rope wheel to the axis of the supporting shaft corresponding to the rope wheel is L 1, and the distance between the two direction-changing wheels is L 2, wherein the larger L 1 is, the smaller L 2 is. The inclination angle between the rope body and the rope wheel is reduced when the L 1 is increased, the inclination angle between the direction-changing wheel and the rope body is reduced when the L 2 is increased, the L 1 is increased when the inclination angle between the rope body and the rope wheel is required to be restrained, and the L 2 is increased when the inclination angle between the direction-changing wheel and the rope body is required to be restrained under the limited space constraint through the reverse adjustment of the L 1 increase and the L 2 decrease, so that the reasonable distribution of space resources is realized. Moreover, the space of L 2 is limited by the diameter of the instrument bar 100, and L 2 is limited to be less than or equal to 0.4D (D is the diameter of the instrument bar 100) during adjustment. By the arrangement, in a limited space, the volume increase caused by the simultaneous increase of L 1 and L 2 is avoided, and the space utilization rate is maximized.
As shown in fig. 2, two sides of the binding clip 200 are respectively provided with a supporting arm 102, and the binding clip 200 is rotatably connected with the two supporting arms 102 through a first shaft 103, so as to realize the deflection movement of the binding clip 200 around the first shaft 103. The end of the instrument rod 100, which is close to the forceps head 200, is provided with a pair of connecting lugs 101, the two connecting lugs 101 are connected with the end, which is far away from the forceps head 200, of the two supporting arms 102 through a second shaft 104, the second shaft 104 can drive the two supporting arms 102 to drive the forceps head 200 to do pitching motion around the second shaft 104 through rotation, the first shaft 103 is perpendicular to the second shaft 104, and the second shaft 104 is closer to the instrument seat 10.
In an embodiment, as shown in fig. 3 and 5, the rope driving assembly includes a first rope driving assembly 1, a second rope driving assembly 2 and a third rope driving assembly 3, wherein the rope wheel center height of the first rope driving assembly 1 is higher than the rope wheel center height of the second rope driving assembly 2, and the rope wheel center height of the second rope driving assembly 2 is higher than the rope wheel center height of the third rope driving assembly 3.
Specifically, the first rope drive assembly 1 includes first rope drive axle 1.1 and first rope sheave 1.2, the second rope drive assembly 2 includes second rope drive axle 2.1 and second rope sheave 2.2, the third rope drive assembly 3 includes third rope drive axle 3.1 and third rope sheave 3.2, first rope drive axle 1.1, second rope drive axle 2.1 and third rope drive axle 3.1 are all connected with apparatus seat 10 rotation, the length and the wheel diameter of first rope sheave 1.2, second rope sheave 2.2 and third rope sheave 3.2 are the same, the length of first rope drive axle 1.1 is greater than the length of second rope drive axle 2.1, the length of second rope drive axle 2.1 is greater than the length of third rope drive axle 3.1, first rope sheave 1.2 sets firmly in first rope drive axle 1.1, second rope drive axle 2.2 sets firmly in second rope drive axle 2.1, third rope sheave 3.2 sets firmly in third rope drive axle 3.1, so that the height of first rope drive axle 1.2 is greater than the center height of second rope sheave 2.2.
The turning wheel assembly comprises a first turning wheel assembly 4, a second turning wheel assembly 5 and a third turning wheel assembly 6, wherein the axial height of a supporting shaft of the first turning wheel assembly 4 is higher than that of a supporting shaft of the second turning wheel assembly 5, and the axial height of the supporting shaft of the second turning wheel assembly 5 is higher than that of the supporting shaft of the third turning wheel assembly 6.
Specifically, the first direction-changing wheel assembly 4 includes a first support shaft 4.1, a first larger diameter direction-changing wheel 4.2 and a first smaller diameter direction-changing wheel 4.3, the first larger diameter direction-changing wheel 4.2 and the first smaller diameter direction-changing wheel 4.3 are fixedly arranged on the first support shaft 4.1 at a first preset interval, and the first support shaft 4.1 is rotatably connected to the instrument seat 10. The second turning wheel assembly 5 comprises a second supporting shaft 5.1, a second larger-diameter turning wheel 5.2 and a second smaller-diameter turning wheel 5.3, the second larger-diameter turning wheel 5.2 and the second smaller-diameter turning wheel 5.3 are fixedly arranged on the second supporting shaft 5.1 at a second preset interval, the second supporting shaft 5.1 is rotationally connected to the instrument seat 10, and the position of the first supporting shaft 4.1 on the instrument seat 10 is higher than the position of the second supporting shaft 5.1 on the instrument seat 10. The third turning wheel assembly 6 comprises a third supporting shaft 6.1, a third larger-diameter turning wheel 6.2 and a third smaller-diameter turning wheel 6.3, the third larger-diameter turning wheel 6.2 and the third smaller-diameter turning wheel 6.3 are fixedly arranged on the third supporting shaft 6.1 at a third preset interval, the third supporting shaft 6.1 is rotatably connected to the instrument seat 10, and the position of the second supporting shaft 5.1 on the instrument seat 10 is higher than the position of the third supporting shaft 6.1 on the instrument seat 10.
The first larger diameter direction-changing wheel 4.2, the second larger diameter direction-changing wheel 5.2 and the third larger diameter direction-changing wheel 6.2 have the same wheel diameter, and the first smaller diameter direction-changing wheel 4.3, the second smaller diameter direction-changing wheel 5.3 and the third smaller diameter direction-changing wheel 6.3 have the same wheel diameter.
The rope body comprises a first rope body 7, a second rope body 8 and a third rope body 9, wherein the first rope body 7 is wound on a rope wheel of the first rope drive assembly 1, the higher end 7.1 of the first rope body is wound on a larger-diameter direction-changing wheel of the first direction-changing wheel assembly 4, the lower end 7.2 of the first rope body is wound on a smaller-diameter direction-changing wheel of the first direction-changing wheel assembly 4, the second rope body 8 is wound on a rope wheel of the second rope drive assembly 2, the higher end 8.1 of the second rope body is wound on a larger-diameter direction-changing wheel of the second direction-changing wheel assembly 5, the lower end 8.2 of the second rope body is wound on a rope wheel of the third rope drive assembly 3, the higher end 9.1 of the third rope body is wound on a larger-diameter direction-changing wheel of the third direction-changing wheel assembly 6, and the lower end 9.2 of the third rope body is wound on a smaller-diameter direction-changing wheel of the third direction-changing wheel assembly 6.
Specifically, with continued reference to fig. 3, the first rope 7 is wound around the first sheave 1.2, the higher end 7.1 of the first rope is wound around the first larger diameter diverting pulley 4.2, the lower end 7.2 of the first rope is wound around the first smaller diameter diverting pulley 4.3, the second rope 8 is wound around the second sheave 2.2, the higher end 8.1 of the second rope is wound around the second larger diameter diverting pulley 5.2, the lower end 8.2 of the second rope is wound around the second smaller diameter diverting pulley 5.3, the third rope 9 is wound around the third sheave 3.2, the higher end 9.1 of the third rope is wound around the third larger diameter diverting pulley 6.2, and the lower end 9.2 of the third rope is wound around the third smaller diameter diverting pulley 6.3.
In an embodiment, the projections of the first rope drive assembly 1 and the second rope drive assembly 2 on the instrument holder 10 are symmetrically arranged relative to the instrument rod 100, the first rope drive assembly 1 and the second rope drive assembly 2 jointly drive the clamp head 200 to rotate around the first shaft 103, the second rope drive assembly 2 drives the clamp head 200 to rotate around the second shaft 104, the first shaft 103 is perpendicular to the second shaft 104, and the distance from the first shaft 103 to the instrument holder 10 is larger than the distance from the second shaft 104 to the instrument holder 10.
Specifically, both ends of the first rope body 7 and both ends of the second rope body 8 pass through the instrument rod 100 and are connected with the first shaft 103, the first rope body 7 and the second rope body 8 form a ring shape, and the first rope body 7 and the second rope body 8 are respectively positioned at both sides of the clamp head 200 and drive the first shaft 103 to rotate at the same time, so that the deflection movement of the clamp head 200 is realized. The two ends of the third rope body 9 penetrate through the instrument rod 100 and then are connected with the second shaft 104, limiting holes are formed in the middle portions of the two supporting arms 102 oppositely, the two ends of the third rope body 9 penetrate through the corresponding limiting holes and then are connected into a ring shape, the second shaft 104 is sleeved with the third rope body 9, the second shaft 104 is driven to rotate by the third rope body 9, and pitching motion of the clamp head 200 is achieved. By the arrangement, not only is the deflection and pitching movement of the clamp head 200 realized, but also the rope bodies are not interfered with each other in the transmission process, and the inclination angle is small.
Of course, in other embodiments, the first rope 7 and the second rope 8 may be respectively disposed on both sides of the support arm 102, connected to the second shaft 104, and jointly drive the second shaft 104 to rotate, and the third rope 9 may be connected to the first shaft 103 to drive the first shaft 103 to rotate.
In an embodiment, as shown in fig. 4, L 1 corresponding to the first cord driving component 1 is L A1, L 2 corresponding to the first cord driving component 1 is L A2, L 1 corresponding to the second cord driving component 2 is L B1, L 2 corresponding to the second cord driving component 2 is L B2, and L A1=LB1, LA2=LB2 is L. I.e., the first preset interval is L A2 and the second preset interval is L B2, the first preset interval being equal to the second preset interval. The first shaft 103 is synchronously driven by the first rope driving component 1 and the second rope driving component 2 which are symmetrically arranged, the tension deviation of the double rope bodies is still ensured to be less than 5% under the condition that the central height of the first rope wheel 1.2 is higher than that of the second rope wheel 2.2, the deflection delay or stagnation of the clamp head 200 caused by asymmetric unbalanced load is eliminated, the deflection precision is improved, the abrasion rate of the rope bodies is reduced, and the service life is prolonged.
Illustratively, 48mm < l A1=LB1＜65mm,1.5mm＜LA2=LB2 <5mm.
In an embodiment, the corresponding L 1 of the third rope driving component 3 is L C1, the corresponding L 2 is L C2, and then L C1＜LA1,LC2＞LA2. I.e. the third preset interval is L C2, which is larger than the first preset interval.
Specifically, 15mm < L C1＜30mm,4.5mm＜LC2 <6mm.
In one embodiment, as shown in fig. 4 and 5, the transmission mechanism of the surgical instrument further comprises a rod driving assembly 11 connected to the instrument rod 100 for driving the instrument rod 100 to rotate the forceps head 200. The rod drive assembly 11 includes a rod drive shaft 11.1 and a gear set, the rod drive shaft 11.1 rotates the instrument rod 100 through the gear set, and maintains the same steering and rotational speed of the instrument rod 100 and the rod drive shaft 11.1. The rotation of the instrument bar 100 can drive the forceps head 200 to integrally rotate, and the transmission efficiency is improved through gear set transmission, and meanwhile, the occupied space is reduced.
Specifically, the apparatus rod 100 is fixedly arranged in the rotary support 11.5, the rotary support 11.5 is rotationally connected with the apparatus seat 10, the gear set comprises a first gear 11.2, a second gear 11.3 and a third gear 11.4, the rod driving shaft 11.1 is rotationally arranged on the apparatus seat 10, the first gear 11.2 is fixedly arranged on the rod driving shaft 11.1, the second gear 11.3 is fixedly arranged on the periphery of the rotary support 11.5, the first gear 11.2 and the second gear 11.3 are in meshed transmission through the third gear 11.4, the number of teeth of the first gear 11.2 is identical with the number of teeth of the second gear 11.3, the steering and the rotating speed of the rod driving shaft 11.1 and the rotating support 11.5 are consistent, and the steering and the rotating speed of the apparatus rod 100 and the rod driving shaft 11.1 are kept consistent.
In one embodiment, the first and second cord drive assemblies 1, 2 are disposed side-by-side on the instrument holder 10, and the third cord drive assembly 3 and the rod drive assembly 11 are disposed side-by-side between the instrument rod 100 and the first cord drive assembly 1.
In one embodiment, the instrument holder 10 includes a base 10.1 and a fixing base, and the fixing base is disposed above the base 10.1 and detachably connected to the base 10.1. The rope drive shaft of the rope drive assembly sequentially passes through the base 10.1 and the fixed seat and then is connected with the rope wheel, and three mounting grooves with different heights are formed in the fixed seat corresponding to the instrument rod 100, and three steering wheel assemblies with different heights are respectively mounted.
Specifically, five mounting holes are respectively formed in the base 10.1 and the fixed seat, the five mounting holes are distributed in a 1-2-2 mode along the length direction of the instrument seat 10, and the first rope driving shaft 1.1, the second rope driving shaft 2.1, the third rope driving shaft 3.1, the rod driving shaft 11.1 and the rotating support 11.5 are rotationally connected with the corresponding mounting holes through bearings.
Further, the fixing seat comprises a fixing frame 10.2 and a support frame 10.3, the support frame 10.3 is connected to the upper portion of the fixing frame 10.2, a mounting groove is formed in the fixing frame 10.2 and used for mounting the third support shaft 6.1, two mounting grooves with different heights are formed in the support frame 10.3, a mounting groove with a higher height is used for mounting the first support shaft 4.1, and a mounting groove with a lower height is used for mounting the second support shaft 5.1.
The base 10.1 is detachably connected to the holder to facilitate the mounting of the swivel bracket 11.5 and the gear set.
The rotary support 11.5 and the gear set are positioned between the base 10.1 and the fixing frame 10.2, the base 10.1 and the fixing frame 10.2 are connected in a clamping manner of a hook, a hanging groove and the like, and the support 10.3 and the fixing frame 10.2 are also connected in a clamping manner of a hook, a hanging groove and the like. Of course, in other embodiments, the base 10.1 and the fixing frame 10.2, and the bracket 10.3 and the fixing frame 10.2 may be detachably connected by bolting or the like.
When the surgical instrument is installed on the surgical robot for use, an installation gap exists, and the inclination of the surgical instrument can cause the increase of one side gap and the decrease of one side gap. By providing the positioning groove 10.11 between the two rows of mounting holes of the base 10.1, the instrument identification circuit board 300 is mounted in the positioning groove 10.11, so that the problem of unstable identification caused by the existence of the mounting gap of the instrument seat 10 can be solved.
The embodiment also provides a driving device of the surgical robot, which comprises a driving mechanism and the transmission mechanism of the surgical instrument, wherein the driving mechanism drives the forceps head 200 of the surgical instrument to realize multi-degree-of-freedom motion through the transmission mechanism. Not only is the volume of the instrument holder 10 reduced, but the transmission efficiency and the service life of the driving device are improved.
The foregoing is merely exemplary of the present invention, and those skilled in the art should not be considered as limiting the invention, since modifications may be made in the specific embodiments and application scope of the invention in light of the teachings of the present invention.
Claims (12)
1. The surgical instrument comprises an instrument rod (100) and a clamp head (200), wherein the clamp head (200) is rotatably arranged at one end of the instrument rod (100), and the surgical instrument is characterized in that the transmission mechanism comprises:
An instrument holder (10);
The rope driving components are rotationally arranged on the instrument seat (10), each rope driving component comprises a rope driving shaft and a rope wheel fixedly arranged on the rope driving shaft, the axis of each rope wheel is parallel to the axis of the instrument rod (100), and the center heights of the rope wheels of different rope driving components are different;
The more than two turning wheel assemblies are arranged in one-to-one correspondence with the more than two rope driving assemblies according to the heights; the direction-changing wheel assembly comprises a supporting shaft and two reducing direction-changing wheels which are arranged on the supporting shaft at intervals, the axis of the supporting shaft is perpendicular to the axis of the instrument rod (100), the heights of the axes of the supporting shafts of the direction-changing wheel assemblies are different, and the heights of the axes of the supporting shafts of the direction-changing wheel assemblies are matched with the central heights of the rope wheels corresponding to the same;
The two rope bodies are wound on the rope wheel, the higher ends of the two ends of the rope bodies bypass the larger-diameter turning wheel corresponding to the turning wheel assembly, and the lower ends bypass the smaller-diameter turning wheel and then penetrate through the instrument rod (100) to be connected with the clamp head (200);
when the rope driving component drives the rope body to move, the inclination angles of the rope body, the rope wheel and the direction-changing wheel are smaller than or equal to a preset angle.
2. A drive mechanism for a surgical instrument according to claim 1, wherein the predetermined angle is 3 ° to 5 °.
3. A transmission mechanism of a surgical instrument according to claim 1, wherein in each set of the rope drive assembly and the direction-changing wheel assembly, which are disposed correspondingly, a distance from an axis of the rope wheel to an axis of the support shaft corresponding thereto is L 1, and a distance between the two direction-changing wheels is L 2, wherein the larger L 1 is, the smaller L 2 is.
4. A transmission mechanism of a surgical instrument according to claim 3, characterized in that the cord drive assembly comprises a first cord drive assembly (1), a second cord drive assembly (2) and a third cord drive assembly (3), the first cord drive assembly (1) having a sheave center height higher than the second cord drive assembly (2), the second cord drive assembly (2) having a sheave center height higher than the third cord drive assembly (3);
The steering wheel assembly comprises a first steering wheel assembly (4), a second steering wheel assembly (5) and a third steering wheel assembly (6), wherein the axis height of a supporting shaft of the first steering wheel assembly (4) is higher than that of a supporting shaft of the second steering wheel assembly (5), and the axis height of a supporting shaft of the second steering wheel assembly (5) is higher than that of a supporting shaft of the third steering wheel assembly (6);
The rope body comprises a first rope body (7), a second rope body (8) and a third rope body (9), wherein the first rope body (7) is wound on a rope wheel of the first rope driving assembly (1), the higher end (7.1) of the first rope body is wound on a rope wheel of the first direction-changing wheel assembly (4), the lower end (7.2) of the first rope body is wound on a rope wheel of the first direction-changing wheel assembly (4), the second rope body (8) is wound on a rope wheel of the second rope driving assembly (2), the higher end (8.1) of the second rope body is wound on a rope wheel of the second direction-changing wheel assembly (5), the lower end (8.2) of the second rope body is wound on a rope wheel of the third rope driving assembly (3), the higher end (9.1) of the third rope body is wound on a rope wheel of the third rope driving assembly (3), and the lower end (9.1) of the third rope body is wound on a rope wheel of the third rope wheel assembly (6.2).
5. A transmission mechanism of a surgical instrument according to claim 4, characterized in that the projections of the first and second cord drive assemblies (1, 2) on the instrument holder (10) are symmetrically arranged with respect to the instrument bar (100), the first and second cord drive assemblies (1, 2) jointly drive the forceps head (200) to rotate about a first axis (103), the third cord drive assembly (3) drives the forceps head (200) to rotate about a second axis (104), the first axis (103) is perpendicular to the second axis (104), and the distance from the first axis (103) to the instrument holder (10) is greater than the distance from the second axis (104) to the instrument holder (10).
6. The transmission mechanism of a surgical instrument according to claim 5, wherein the first cord drive assembly (1) has a corresponding L 1 of L A1 and a corresponding L 2 of L A2, the second cord drive assembly (2) has a corresponding L 1 of L B1 and a corresponding L 2 of L B2, and then L A1=LB1,LA2=LB2.
7. A drive mechanism for a surgical instrument according to claim 6, wherein 48mm < l A1=LB1＜65mm,1.5mm＜LA2=LB2 <5mm.
8. A transmission mechanism for a surgical instrument according to claim 6, wherein the third cord drive assembly (3) has a corresponding L 1 of L C1 and a corresponding L 2 of L C2, then L C1＜LA1,LC2＞LA2.
9. A drive mechanism for a surgical instrument according to claim 8, wherein 15mm < l C1＜30mm,4.5mm＜LC2 <6mm.
10. The surgical instrument transmission mechanism of any one of claims 1-9, further comprising a rod drive assembly (11) coupled to the instrument rod (100) for driving the instrument rod (100) to rotate the forceps head (200), the rod drive assembly (11) comprising:
the device comprises a rod driving shaft (11.1) and a gear set, wherein the rod driving shaft (11.1) drives the device rod (100) to rotate through the gear set, and the steering and rotating speed of the device rod (100) and the rod driving shaft (11.1) are kept the same.
11. A transmission mechanism for a surgical instrument according to any one of claims 3 to 9, wherein the instrument holder (10) comprises:
A base (10.1);
The rope drive shafts of the rope drive assemblies sequentially penetrate through the base (10.1) and the fixing seat to be connected with the rope wheel, and three mounting grooves (10.11) with different heights are formed in the fixing seat corresponding to the instrument rod (100) and are respectively provided with three steering wheel assemblies with different heights.
12. Drive device for a surgical robot, characterized by comprising a transmission mechanism for a surgical instrument according to any one of claims 1-11.
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| CN202511324664.8A CN120814910B (en) | 2025-09-17 | 2025-09-17 | Transmission mechanism of surgical instrument and driving device of surgical robot |
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