CN107260313B - Surgical instrument of surgical robot and surgical robot - Google Patents

Abstract

The invention provides a surgical instrument of a surgical robot and the surgical robot, the surgical instrument of the surgical robot comprises: the first driving part, the supporting shaft and the first transmission rod; the support shaft is connected with the first driving part, and a first gear is arranged on the support shaft; one end of the first transmission rod is provided with a second gear, and the other end of the first transmission rod is connected with the operation executing part through a connecting piece; the first gear is meshed with the second gear, the first driving part drives the supporting shaft to rotate, the first gear is driven to rotate, the first gear drives the second gear to rotate, the second gear drives the first transmission rod to rotate, and the operation executing part is driven to rotate. The surgical instrument of the surgical robot has a simple structure, can effectively reduce the volume of the surgical instrument, and has flexible rotation mode, so that the surgical operation can be rapidly and accurately performed by the surgical operation part in a limited space according to the instruction sent by a doctor, and the smooth operation is ensured.

Description

Surgical instruments and surgical robots for surgical robots

Technical field

The present invention relates to the technical field of medical robots, and specifically to a surgical instrument for a surgical robot and a surgical robot.

Background technique

With the development of minimally invasive surgical technology and artificial intelligence technology, robot-assisted minimally invasive surgery has gradually become one of the development trends of minimally invasive surgery. On the one hand, robot-assisted minimally invasive surgery can largely eliminate the limitations of traditional minimally invasive surgical techniques and realize functions such as remote surgery. On the other hand, the current cost of robot-assisted minimally invasive surgery is relatively high. The efficiency of surgery needs to be improved. Therefore, how to improve the flexibility and accuracy of minimally invasive surgical robot operations while improving the versatility with traditional minimally invasive surgical instruments has become one of the technical issues that need to be solved urgently in the development and popularization of robot-assisted minimally invasive surgery.

Contents of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art or related technologies.

To this end, a first aspect of the present invention proposes a surgical instrument for a surgical robot.

A second aspect of the invention proposes a surgical robot.

In view of this, the first aspect of the present invention provides a surgical instrument for a surgical robot, which is used for a minimally invasive surgical robot. The surgical instrument of the surgical robot includes: a first driving part, a support shaft and a first transmission rod; the support shaft and The first driving part is connected, and a first gear is provided on the support shaft; one end of the first transmission rod is provided with a second gear, and the other end of the first transmission rod is connected to the surgical execution part through a connecting piece; wherein, the first gear Engaging with the second gear, the first driving part drives the support shaft to rotate, thereby driving the first gear to rotate, the first gear drives the second gear to rotate, and the second gear drives the first transmission rod to rotate, thereby driving the surgery execution part to rotate.

The surgical instrument of the surgical robot provided by the present invention is connected to the surgical execution part through the first transmission rod, and drives the first transmission rod to rotate through the first driving part, thereby driving the surgical execution part to rotate; the surgical instrument of this kind of surgical robot The structure is simple, which can effectively reduce the volume of the surgical instruments of the surgical robot, and the rotation mode is flexible, so that the surgical execution part can quickly and accurately complete the instructions issued by the doctor in a limited space, ensuring the smooth progress of the operation; through the driving part The support shaft is driven to rotate, and the support shaft and the first transmission rod are driven through gears, which effectively ensures the accuracy and stability of the transmission and prevents the support shaft from idling and preventing the surgical execution part from rotating to a predetermined position; and, the first transmission rod It can be connected to a variety of surgical execution units to drive a variety of surgical execution units, effectively improving the versatility of surgical instruments of the surgical robot.

In addition, the surgical instruments of the surgical robot in the above technical solution provided by the present invention can also have the following additional technical features:

In the above technical solution, preferably, one end of the connecting member is at least partially sleeved on the first transmission rod, and a first connecting pin is inserted therein, and the other end is connected to the surgical execution part through the first pin; wherein, the third A connecting pin is inserted into the first transmission rod and the connecting piece along the radial direction of the first transmission rod to prevent the connecting piece from rotating relative to the first transmission rod.

In this technical solution, first, one end of the connecting piece is at least partially sleeved on the first transmission rod, and is radially inserted into the first connecting piece and the first transmission rod through the first pin, so that the connection is made The piece will neither rotate nor slide relative to the first transmission rod, effectively achieving the fixation of the first connecting piece; secondly, connect the other end of the connecting piece to the surgical execution part through the first pin. , realizes the transmission of the surgical execution part by the first transmission rod; due to the setting of the connecting piece, the processing amount of the first transmission rod is reduced, and the straightness of the first transmission rod is effectively ensured to ensure the stability of the transmission and ensure the operation The execution part rotates to the predetermined position.

In the above technical solution, preferably, the surgical instrument of the surgical robot further includes: a second transmission rod; the second transmission rod is embedded in the first transmission rod; the second transmission rod is connected to the surgical execution part through a transition rod to drive Surgery Execution Department.

In this technical solution, firstly, by embedding the second transmission rod in the first transmission rod, the volume of the surgical instruments of the surgical robot is reduced, thereby effectively reducing the space occupied by the robotic arm; secondly, the second transmission rod is The two transmission rods are connected to the surgical execution part through the transition rod, so as to realize the driving of the surgical execution part by the second transmission rod.

In the above technical solution, preferably, the surgical execution part is an opening and closing instrument. The opening and closing instrument includes a first body and a second body. The first body and the second body are intersectingly arranged. The intersection between the first body and the second body is The first pin is rotationally connected; the transition rod includes a first transition rod and a second transition rod, one end of the first transition rod and the second transition rod is rotationally connected with the second transmission rod, and the other end of the first transition rod is connected with the first body Rotation connection, the other end of the second transition rod is rotationally connected with the second body; wherein, the opening and closing device opens or closes with the reciprocating motion of the second transmission rod.

In this technical solution, first, the first body and the second body of the opening and closing instrument are arranged at an intersection; then, a first pin is inserted at the intersection of the first body and the second body, so that the first body and the second body are connected with each other. The first pin is rotationally connected; then, one end of the first transition rod and the second transition rod is rotationally connected to the second transmission rod; then, the other end of the first transition rod is rotationally connected to the first body, and at the same time, The other end of the second transition rod is rotationally connected to the second body, so that the first transition rod, the second transition rod, the first body and the second body form a quadrilateral; then, when the second transmission rod reciprocates, The first transition rod and the second transition rod are driven to rotate, so that the first transition rod and the second transition rod push the first body and the second body to open or close, and then drive the opening and closing instrument to open or close, realizing the opening and closing instrument. of drive.

In the above technical solution, preferably, the surgical execution part is an electric hook, and the electric hook is rotationally connected to the first pin; the transition rod includes: a third transition rod, a fourth transition rod and a fifth transition rod; the third transition rod and One end of the fourth transition rod is rotationally connected to the second transmission rod, the other end of the third transition rod is rotationally connected to the surgical execution part, the other end of the fourth transition rod is rotationally connected to one end of the fifth transition rod, and the fifth transition rod The other end is rotatably connected to the first pin; when the second transmission rod reciprocates, the electric hook is driven to rotate around the first pin.

In this technical solution, when the surgical execution part is an electric hook, the third transition rod, the fourth transition rod, the fifth transition rod and the surgical execution part form a quadrilateral, and the third transition rod and the fourth transition rod are connected with the second transmission rod. The rod is rotationally connected, and the fifth transition rod and the surgical execution part are hinged with the first pin. When the second transmission rod reciprocates, it drives the surgical execution part to rotate around the first pin, further increasing the degree of freedom of the surgical execution part. This makes the movement of the surgery execution part more flexible, thereby making it more convenient for doctors to operate the surgery execution part.

In the above technical solution, preferably, the surgical instrument of the surgical robot further includes: a screw, a second driving part and a slider; the screw is parallel to the second transmission rod; the second driving part is connected to the screw to drive the screw to rotate; The slider is sleeved on the screw, and reciprocates along the axis of the screw as the screw rotates. The slider is connected to the second transmission rod to drive the second transmission rod to reciprocate along the axis.

In this technical solution, the second driving part drives the screw to rotate, and the screw cooperates with the slider to drive the slider to reciprocate along the screw axis. The slider is connected to the second transmission rod, and the second transmission rod follows the slider. The reciprocating movement of the screw realizes the driving of the surgical execution part; the screw and the slider are connected through threads, and the rotation of the screw drives the slider to reciprocate. Every time the screw rotates once, the slider only moves one pitch distance, which is also The control of the movement of the slider is made more precise, thereby ensuring the accuracy of the control of the surgical execution part. The screw can also be replaced by a lead screw, which can achieve the same effect as the screw.

In the above technical solution, preferably, the first driving part includes: a motor, a connecting shaft and a clamping hoop; the motor is provided with an output shaft; the connecting shaft is a tubular structure, and one end of the connecting shaft is sleeved on the output shaft of the motor; wherein , one end of the connecting shaft sleeve on the output shaft has at least one opening along the axial direction of the connecting shaft; the clamping hoop is sleeved on the connecting shaft to clamp the connecting shaft on the output shaft.

In this technical solution, the connecting shaft is clamped on the output shaft of the motor through a clamping hoop, thereby realizing the connection between the connecting shaft and the output shaft, and this connection method makes the coaxiality of the connecting shaft and the output shaft good, ensuring The stability of power transmission effectively avoids vibration and noise during the transmission process, ensuring the stability of the product.

In the above technical solution, preferably, the surgical instrument of the surgical robot further includes: a first connecting disk; there are two first connecting disks, which are respectively connected to the support shaft and one end of the screw; the first driving part further includes: a second The connecting disk and the second connecting pin; the second connecting disk is sleeved on the other end of the connecting shaft; the second connecting pin passes through the second connecting disk and the connecting shaft in the radial direction of the connecting shaft; wherein, on the inner wall of the second connecting disk A slide is provided, and a second connecting pin is embedded in the slide so that the second connecting plate can slide along the axial direction relative to the connecting shaft; the second connecting plate is connected to the first connecting plate, and the second connecting plate is connected to the first connecting plate. One of them is provided with a connecting groove, and the other is provided with a connecting protrusion. The connecting groove cooperates with the connecting protrusion so that the second connecting disk drives the first connecting disk to rotate.

In this technical solution, the second connecting plate is connected to the connecting shaft, and the second connecting plate is restricted from rotating relative to the connecting shaft through the second connecting pin, so that the second connecting plate can rotate with the rotation of the connecting shaft; at the same time, The second connecting pin is embedded in the slip of the second connecting plate, so that the second connecting plate can slide along the axial direction relative to the connecting shaft; secondly, one of the second connecting plate and the first connecting plate is provided with a connecting groove, The other is provided with a connecting protrusion, and the connecting groove cooperates with the connecting protrusion so that the second connecting plate can drive the first connecting plate to rotate, and then drive the support shaft, the first screw or the second screw to rotate; this kind of connection structure It is simple, easy to connect, and easy to disassemble and install, effectively improving the versatility of the first drive part. The cross-sectional shape of the connecting protrusion can be a straight shape or a cross shape, or an irregular shape, as long as the first connecting plate can be driven to rotate through the second connecting plate.

In the above technical solution, preferably, the first driving part further includes: a first spring; the first spring is sleeved on the connecting shaft and clamped between the clamping hoop and the second connecting plate, so that the second connecting plate Can be automatically reset.

In this technical solution, by arranging the first spring on the connecting shaft and clamping it between the clamping hoop and the second connecting disk, the installation between the first connecting disk and the second connecting disk does not require manual position adjustment. , as long as the connecting protrusion cooperates with the connecting groove, under the thrust of the first spring, the second connecting plate can automatically fit with the first connecting plate, thereby driving the first connecting plate to rotate.

In the above technical solution, preferably, the second driving part is the same as the first driving part.

In this technical solution, by arranging the second driving part to be the same driving part as the first driving part, the versatility between the two driving parts is effectively improved.

In the above technical solution, preferably, the surgical instrument of the surgical robot further includes: a first bracket; the first bracket is U-shaped, and the first bracket includes a first side wall, a second side wall and a bottom wall; the first transmission rod passes through After passing through the first side wall, it is connected to the connecting piece; after one end of the screw rod passes through the first side wall, it is connected to the first connecting plate, and one end of the screw rod is rotationally connected to the second side wall; after the support shaft passes through the first side wall, Connected to the first connection pad.

In this technical solution, the first bracket supports the screw rod, the first transmission rod, and the support shaft, so that this part of the structure forms an integral transmission part. During the operation, if the operation execution part needs to be replaced, the doctor can directly replace it. The transmission part equipped with different surgical execution parts can realize the replacement of the surgery execution part, and the replacement speed is fast and the replacement method is simple.

In the above technical solution, preferably, the surgical instrument of the surgical robot further includes: a second bracket; the first driving part and the second driving part are fixed on the second bracket, and the second bracket is engaged with the first bracket, so that the second bracket One driving part drives the support shaft, and the second driving part drives the screw.

In this technical solution, by fixing the first driving part and the second driving part on the second bracket, during use of the surgical instrument of the surgical robot, the first bracket only needs to be installed on the second bracket. The connection between the transmission part and the driving part is realized, and the versatility of the first driving part and the second driving part can be further improved.

In the above technical solution, preferably, a limiting portion is provided on the second bracket. The limiting portion is L-shaped and is located at the edge of the second bracket and extends along the length direction of the second bracket. The limiting portion is in contact with the bottom wall of the second bracket. It forms a limiting groove that opens to the inside of the second bracket; the first bracket is provided with a limiting protrusion that matches the limiting groove, and the limiting protrusion is embedded in the limiting groove.

In this technical solution, the positioning in the vertical direction between the first bracket and the second bracket is achieved by cooperating with the limit groove and the limit protrusion. When the first bracket and the second bracket are assembled, the limit protrusion is moved along the The extension direction of the limit groove slides into the limit groove to realize the positioning of the first bracket. The structure is simple and convenient for doctors to install and disassemble the surgical instruments of the surgical robot; the limit groove can also be set on the first bracket. , the limiting protrusion is set on the second bracket.

In the above technical solution, preferably, the upper surface of the bottom wall of the second bracket matches the lower surface of the bottom wall of the first bracket, and the upper surface of the bottom wall of the second bracket matches the lower surface of the bottom wall of the first bracket. One of them is provided with a positioning protrusion protruding from the surface, and the other is provided with a positioning groove that matches the positioning protrusion.

In this technical solution, positioning protrusions and positioning grooves are provided, and the positioning protrusions and positioning grooves cooperate to achieve horizontal positioning between the first bracket and the second bracket, ensuring the accuracy of the position of the first bracket in the horizontal direction.

In the above technical solution, preferably, the first bracket is provided with a positioning pin, and the positioning pin is clamped on the first bracket through a second spring; the second bracket is provided with a positioning hole, and the positioning pin is embedded in the positioning hole; positioning The pin is provided with a handle, and the handle is used for pulling out and inserting the positioning pin.

In this technical solution, a positioning pin is provided on the first bracket and embedded in a positioning hole provided on the second bracket to prevent the first bracket from protruding from the limiting groove and the positioning groove, ensuring that the second bracket is aligned with the second bracket. The accuracy of the positioning of the first bracket; the positioning pin is clamped on the first bracket through a spring, so that the positioning pin always remains in the positioning hole on the second bracket when not affected by external force, preventing the positioning pin from being inserted into the positioning hole. Take it out; by setting the handle, it is convenient to remove and insert the positioning pin.

In the above technical solution, preferably, the surgical execution part includes scissors, grasping forceps, electric hooks, separation forceps, ultrasonic scalpel and needle holder; wherein the scissors, grasping forceps, separation forceps and needle holder are opening and closing instruments.

A second aspect of the present invention provides a surgical robot. The surgical robot includes the surgical instruments of the surgical robot as described in any of the above technical solutions. Therefore, the surgical robot includes the surgical instruments of the surgical robot as described in any of the above technical solutions. all beneficial effects.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of the drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

Figure 1 shows a schematic structural diagram of a surgical instrument of a surgical robot according to an embodiment of the present invention;

Figure 2 is a partial enlarged view of the surgical instrument of the surgical robot shown in Figure 1 at position A according to one embodiment of the present invention;

Figure 3 is a partial enlarged view of the surgical instrument of the surgical robot shown in Figure 1 at position B according to one embodiment of the present invention;

Figure 4 shows a schematic structural diagram of a surgical instrument of a surgical robot according to another embodiment of the present invention;

Figure 5 is a partial enlarged view of the surgical instrument of the surgical robot shown in Figure 4 at position C according to one embodiment of the present invention;

Figure 6 shows a schematic structural diagram of a surgical instrument of a surgical robot according to yet another embodiment of the present invention;

Figure 7 is a partial enlarged view of the surgical instrument of the surgical robot shown in Figure 6 at D according to an embodiment of the present invention;

Figure 8 shows a schematic structural diagram of a surgical instrument of a surgical robot according to yet another embodiment of the present invention;

Figure 9 is a cross-sectional view along E-E of the surgical instrument of the surgical robot shown in Figure 8 according to yet another embodiment of the present invention;

Figure 10 shows a schematic structural diagram of a connecting shaft according to an embodiment of the present invention;

Figure 11 shows a schematic structural diagram of a second connection pad according to an embodiment of the present invention;

Figure 12 shows a schematic structural diagram of a first connection pad according to an embodiment of the present invention;

Figure 13 shows a schematic structural diagram of a first bracket according to an embodiment of the present invention;

Figure 14 shows a schematic structural diagram of a first bracket according to an embodiment of the present invention;

Figure 15 shows a schematic diagram of a stent according to an embodiment of the present invention;

Figure 16 is a cross-sectional view along F-F of the stent shown in Figure 15 according to one embodiment of the present invention;

Among them, the corresponding relationship between the reference signs and component names in Figures 1 to 16 is:

102 first driving part, 1022 motor, 1024 connecting shaft, 10242 opening, 1026 clamping hoop, 1028 second connecting plate, 10282 slide, 10284 connecting groove, 1029 first spring, 104 support shaft, 106 first gear, 108 First transmission rod, 110 second gear, 112 connecting piece, 114 surgical execution part, 1142 first body, 1144 second body, 116 first connecting pin, 118 second transmission rod, 120 transition rod, 1202 first transition rod , 1204 second transition rod, 1206 third transition rod, 1208 fourth transition rod, 1210 fifth transition rod, 122 first pin, 124 screw, 126 second driving part, 128 slide block, 130 first connecting plate, 1302 connecting protrusion, 132 first bracket, 1322 first side wall, 1324 second side wall, 1326 bottom wall, 134 second bracket, 1342 limiting part, 1344 positioning protrusion, 1346 positioning hole, 136 handle, 138 positioning pin, 140 second spring.

Detailed ways

In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, as long as there is no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described here. Therefore, the protection scope of the present invention is not limited by the specific details disclosed below. Limitations of Examples.

The following describes surgical instruments and surgical robots of the surgical robot according to some embodiments of the present invention with reference to FIGS. 1 to 16 .

In the first embodiment of the present invention, as shown in Figures 1 and 2, the present invention provides a surgical instrument for a surgical robot, which is used for a minimally invasive surgical robot. The surgical instrument of the surgical robot includes: a first driving part 102. The support shaft 104 and the first transmission rod 108; the support shaft 104 is connected to the first driving part 102, and a first gear 106 is provided on the support shaft 104; a second gear 110 is provided at one end of the first transmission rod 108. The other end of a transmission rod 108 is connected to the surgical execution part 114 through the connecting piece 120; wherein, the first gear 106 meshes with the second gear 110, and the first driving part 102 drives the support shaft 104 to rotate, thereby driving the first gear 106 Rotate, the first gear 106 drives the second gear 110 to rotate, and the second gear 110 drives the first transmission rod 108 to rotate, thereby driving the surgery execution part 114 to rotate.

In this embodiment, the first transmission rod 108 is connected to the surgical execution part 114, and the first driving part 102 drives the first transmission rod 108 to rotate, thereby driving the operation execution part 114 to rotate; the operation of this kind of surgical robot The instrument has a simple structure, which can effectively reduce the volume of the surgical instrument of the surgical robot, and the rotation mode is flexible, so that the operation execution part 114 can quickly and accurately complete the instructions issued by the doctor in a limited space, ensuring the smooth progress of the operation; The driving part drives the support shaft 104 to rotate. The support shaft 104 and the first transmission rod 108 are driven through gears, which effectively ensures the accuracy and stability of the transmission and prevents the support shaft 104 from idling and preventing the surgical execution part 114 from rotating to a predetermined position. ; Moreover, the first transmission rod 108 can be connected to a variety of surgical execution parts 114, thereby realizing driving of a variety of surgical execution parts 114, effectively improving the versatility of the surgical instruments of the surgical robot.

In one embodiment of the present invention, as shown in FIG. 3 , preferably, one end of the connecting member 120 is at least partially sleeved on the first transmission rod 108 and is inserted with a first connecting pin 116 , and the other end passes through the first transmission rod 108 . The pin 122 is connected to the surgical execution part 114; wherein, the first connecting pin 116 is inserted into the first transmission rod 108 and the connecting member 120 along the radial direction of the first transmission rod 108 to prevent the connecting member 120 from being relative to the first transmission rod 108. The transmission rod 108 rotates.

In this embodiment, first, one end of the connecting member 120 is at least partially sleeved on the first transmission rod 108, and the first pin 122 is radially inserted into the first connecting member 120 and the first transmission rod. 108, so that the connecting piece 120 will neither rotate nor slide relative to the first transmission rod 108, effectively achieving the fixation of the first connecting piece 120; secondly, pass the other end of the connecting piece 120 through the third A pin 122 is connected to the surgical execution part 114 to realize the transmission of the first transmission rod 108 to the operation execution part 114; due to the provision of the connecting piece 120, the processing amount of the first transmission rod 108 is reduced, effectively ensuring the first The straightness of the transmission rod 108 ensures the stability of transmission and ensures that the surgical execution part 114 rotates to a predetermined position.

In one embodiment of the present invention, preferably, as shown in Figures 4 and 5, the surgical instrument of the surgical robot further includes: a second transmission rod 118; the second transmission rod 118 is embedded in the first transmission rod 108; The two transmission rods 118 are connected to the surgery execution part 114 through the transition rod 120 to drive the surgery execution part 114 .

In this embodiment, firstly, by embedding the second transmission rod 118 in the first transmission rod 108, the volume of the surgical instruments of the surgical robot is reduced, thereby effectively reducing the space occupied by the surgical instruments of the surgical robot. ; Secondly, the second transmission rod 118 is connected to the surgical execution part 114 through the transition rod 120, so as to realize the driving of the operation execution part 114 by the second transmission rod 118.

In one embodiment of the present invention, preferably, as shown in Figures 4 and 5, the surgical execution part 114 is an opening and closing instrument. The opening and closing instrument includes a first body 1142 and a second body 1144. The first body 1142 and the The two bodies 1144 are arranged crosswise, and the intersection of the first body 1142 and the second body 1144 is rotationally connected to the first pin 122; the transition rod 120 includes a first transition rod 1202 and a second transition rod 1204, and the first transition rod 1202 and the second One end of the second transition rod 1204 is rotationally connected to the second transmission rod 118, the other end of the first transition rod 1202 is rotationally connected to the first body 1142, and the other end of the second transition rod 1204 is rotationally connected to the second body 1144; wherein, the open The closing instrument opens or closes with the reciprocating movement of the second transmission rod 118.

In this embodiment, first, the first body 1142 and the second body 1144 of the opening and closing instrument are arranged at an intersection; then, the first pin 122 is inserted at the intersection of the first body 1142 and the second body 1144, so that the first body 1142 and the second body 1144 are rotationally connected to the first pin 122; then, one end of the first transition rod 1202 and the second transition rod 1204 is rotationally connected to the second transmission rod 118; then, the first transition rod 1202 The other end of the second transition rod 1204 is rotationally connected to the first body 1142, and at the same time, the other end of the second transition rod 1204 is rotationally connected to the second body 1144, so that the first transition rod 1202, the second transition rod 1204, the first body 1142 and the second The body 1144 forms a quadrilateral; then, when the second transmission rod 118 reciprocates, it drives the first transition rod 1202 and the second transition rod 1204 to rotate, so that the first transition rod 1202 and the second transition rod 1204 push the first The main body 1142 and the second body 1144 open or close, thereby driving the opening and closing instrument to open or close, thereby realizing the driving of the opening and closing instrument.

In one embodiment of the present invention, preferably, as shown in Figures 6 and 7, the surgical execution part 114 is an electric hook, and the electric hook is rotationally connected to the first pin 122; the transition rod 120 includes: a third transition rod 1206 , the fourth transition rod 1208 and the fifth transition rod 1210; one end of the third transition rod 1206 and the fourth transition rod 1208 is rotationally connected with the second transmission rod 118, and the other end of the third transition rod 1206 is rotationally connected with the surgical execution part 114 , the other end of the fourth transition rod 1208 is rotationally connected to one end of the fifth transition rod 1210, and the other end of the fifth transition rod 1210 is rotationally connected to the first pin 122; wherein, when the second transmission rod 118 makes a reciprocating motion, The electric hook is driven to rotate around the first pin 122 .

In this embodiment, when the surgical execution part 114 is an electric hook, the third transition rod 1206, the fourth transition rod 1208, the fifth transition rod 1210 and the surgical instrument 114 form a quadrilateral, and the third transition rod 1206 and the fourth transition rod 1206 The rod 1208 is rotationally connected to the second transmission rod 118. The fifth transition rod 1210 and the surgical execution part 114 are hinged with the first pin 122. When the second transmission rod 118 makes a reciprocating motion, the operation execution part 114 is driven around the first pin. 122 rotation further increases the degree of freedom of the surgery execution part 114, making the movement of the surgery execution part 114 more flexible, thereby making the operation of the surgery execution part 114 more convenient for the doctor.

In one embodiment of the present invention, preferably, as shown in Figures 8 and 9, the surgical instrument of the surgical robot further includes: a screw 124, a second driving part 126 and a slider 124; the screw 124 and the second transmission rod 118 are parallel to each other; the second driving part 126 is connected to the screw rod 124 to drive the screw rod 124 to rotate; the slider 124 is sleeved on the screw rod 124 and reciprocates along the axis of the screw 124 with the rotation of the screw rod 124; the slider 124 is connected to the second screw rod 124. The two transmission rods 118 are connected to drive the second transmission rod 118 to reciprocate along the axis direction.

In this embodiment, the second driving part 126 drives the screw 124 to rotate. The screw 124 cooperates with the slider 124 to drive the slider 124 to reciprocate along the axial direction of the screw 124. The slider 124 is connected to the second transmission rod 118. The second transmission rod 118 reciprocates with the movement of the slider 124 to drive the surgical execution part 114; the screw 124 and the slider 124 are connected through threads, and the rotation of the screw 124 drives the slider 124 to reciprocate. For each rotation of 124, the slider 124 only moves one pitch distance, which also makes the control of the movement of the slider 124 more precise, thereby ensuring the accuracy of the control of the surgical execution part 114. The screw 124 can also be replaced by a lead screw, which can achieve the same effect as the screw 124 .

In one embodiment of the present invention, preferably, as shown in Figures 8 to 10, the first driving part 102 includes: a motor 1022, a connecting shaft 1024 and a clamping hoop 1026; the motor 1022 is provided with an output shaft; the connecting shaft 1024 It has a tubular structure, and one end of the connecting shaft 1024 is sleeved on the output shaft of the motor 1022; wherein, one end of the connecting shaft 1024 sleeved on the output shaft has at least one opening 10242 along the axial direction of the connecting shaft 1024; the clamping hoop 1026 It is sleeved on the connecting shaft 1024 to clamp the connecting shaft 1024 on the output shaft.

In this embodiment, the connecting shaft 1024 is clamped on the output shaft of the motor 1022 through the clamping hoop 1026, thereby realizing the connection between the connecting shaft 1024 and the output shaft, and this connection method makes the connecting shaft 1024 and the output shaft at the same time. The good shaft angle ensures the stability of power transmission, effectively avoids vibration and noise during the transmission process, and ensures the stability of the product.

In one embodiment of the present invention, one end of the connecting shaft 1024 connected to the output shaft is provided with four openings 10242 along the axial direction. The four openings 10242 divide the end of the connecting shaft 1024 into four elastic parts. During the assembly process, when the output shaft is inserted into the connecting shaft 1024, the radial force required to elastically deform the four elastic parts is relatively small and relatively small. There is an opening 10242 between adjacent elastic parts, so it is convenient to install the output shaft into the connecting shaft 1024; during the clamping process, the clamping hoop 1026 is set at the opening 10242 of the connecting shaft 1024, because the connecting shaft 1024 has four openings 10242, when the connecting shaft 1024 is subjected to a radial force to the inside of the connecting shaft 1024, its inner diameter will shrink, so the clamping hoop 1026 can clamp the connecting shaft 1024 on the output shaft.

In one embodiment of the present invention, preferably, as shown in FIGS. 8 to 12 , the surgical instrument of the surgical robot further includes: a first connecting disk 130; there are two first connecting disks 130, which are respectively connected with the support shaft 104 and the supporting shaft 104. One end of the screw rod 124 is connected; the first driving part 102 also includes: a second connecting disk 1028 and a second connecting pin; the second connecting disk 1028 is sleeved on the other end of the connecting shaft 1024; the second connecting pin extends along the connecting shaft 1024 Radially passing through the second connecting plate 1028 and the connecting shaft 1024; wherein, a slip 10282 is provided on the inner wall of the second connecting disc 1028, and the second connecting pin is embedded in the slip 10282, so that the second connecting disc 1028 can face each other. The connecting shaft 1024 slides along the axis direction; the second connecting plate 1028 is connected to the first connecting plate 130, the first connecting plate 130 is provided with a connecting groove 10284, the second connecting plate 1028 is provided with a connecting protrusion 1302, and the connecting groove 10284 Cooperating with the connecting protrusion 1302, the second connecting plate 1028 drives the first connecting plate 130 to rotate.

In this embodiment, the second connecting plate 1028 is connected to the connecting shaft 1024, and the second connecting pin 1028 is restricted from rotating relative to the connecting shaft 1024, so that the second connecting plate 1028 can rotate along with the connecting shaft 1024. and rotate; at the same time, the second connecting pin is embedded in the slip of the second connecting plate 1028, so that the second connecting plate 1028 can slide along the axial direction relative to the connecting shaft 1024; secondly, the first connecting plate 130 is provided with a connecting Groove 10284, the second connecting plate 1028 is provided with a connecting protrusion 1302, the connecting groove 10284 cooperates with the connecting protrusion 1302, so that the second connecting plate 1028 can drive the first connecting plate 130 to rotate, thereby driving the support shaft 104 and the first connecting plate 130. The screw 124 or the second screw 124 rotates; this connection method has a simple structure, convenient connection, and is easy to disassemble and install, effectively improving the versatility of the first driving part 102. The cross-sectional shape of the protrusion can be a straight shape or a cross shape, or an irregular shape, as long as the second connecting plate 1028 can drive the first connecting plate 130 to rotate.

In one embodiment of the present invention, preferably, as shown in Figures 8 to 12, the first driving part 102 further includes: a first spring 1029; the first spring 1029 is sleeved on the connecting shaft 1024 and is engaged with the clamp. between the clamp 1026 and the second connecting plate 1028 so that the second connecting plate 1028 can automatically reset.

In this embodiment, by disposing the first spring 1029 on the connecting shaft 1024 and clamping it between the clamping hoop 1026 and the second connecting disk 1028, the first spring 1029 is disposed between the first connecting disk 130 and the second connecting disk 1028. The installation does not require manual adjustment of the position. As long as the connection protrusion 1302 cooperates with the connection groove 10284, under the thrust of the first spring 1029, the second connection disk 1028 can automatically fit with the first connection disk 130, thereby driving the first connection disk 1028. The connecting plate 130 rotates.

In one embodiment of the present invention, preferably, the second driving part 126 is the same as the first driving part 102 .

In this embodiment, by configuring the second driving part 126 to be the same driving part as the first driving part 102 , the versatility between the two driving parts is effectively improved.

In one embodiment of the present invention, preferably, as shown in Figures 13 to 16, the surgical instrument of the surgical robot further includes: a first bracket 132; the first bracket 132 is U-shaped, and the first bracket 132 includes a first side wall 1322, the second side wall 1324 and the bottom wall 1326; the first transmission rod 108 passes through the first side wall 1322 and is connected to the connecting piece 120; one end of the screw rod 124 passes through the first side wall 1322 and is connected to the first connecting plate 130 is connected, one end of the screw rod 124 is rotationally connected to the second side wall 1324; the support shaft 104 passes through the first side wall 1322 and is connected to the first connecting plate 130.

In this embodiment, the screw rod 124, the first transmission rod 108, and the support shaft 104 are supported by the first bracket 132, so that this part of the structure forms an integral transmission part. During the operation, if the operation execution part 114 needs to be replaced, The doctor can directly replace the transmission part equipped with different operation execution parts 114, thereby realizing the replacement of the operation execution part 114. The replacement speed is fast and the replacement method is simple.

In one embodiment of the present invention, preferably, as shown in Figures 13 to 16, the surgical instrument of the surgical robot further includes: a second bracket 134; the first driving part 102 and the second driving part 126 are fixed to the second bracket 134, the second bracket 134 is engaged with the first bracket 132, so that the first driving part 102 drives the support shaft 104, and the second driving part 126 drives the screw 124.

In this embodiment, by fixing the first driving part 102 and the second driving part 126 to the second bracket 134, during use of the surgical instrument of the surgical robot, the first bracket 132 only needs to be installed on the second bracket 134. The connection between the transmission part and the driving part can be realized on the bracket 134, and the versatility of the first driving part 102 and the second driving part 126 can be further improved.

In one embodiment of the present invention, preferably, as shown in Figures 13 to 16, a limiting portion 1342 is provided on the second bracket 134. The limiting portion 1342 is L-shaped and is located on the edge of the second bracket 134 along the second The bracket 134 extends in the length direction, and the limiting portion 1342 and the bottom wall 1326 of the second bracket 134 form a limiting slot that opens 10242 to the inside of the second bracket 134; the first bracket 132 is provided with a limiting slot that matches the limiting slot. The limit protrusion is embedded in the limit groove.

In this embodiment, the positioning between the first bracket 132 and the second bracket 134 in the vertical direction is achieved by cooperating with the limit groove and the limit protrusion. When the first bracket 132 and the second bracket 134 are assembled, the limit The positioning protrusion slides into the limit groove along the extension direction of the limit groove to realize the positioning of the first bracket 132. The structure is simple and convenient for doctors to install and disassemble the surgical instruments of the surgical robot; the limit groove can also be set On the first bracket 132, the limiting protrusion is provided on the second bracket 134.

In one embodiment of the present invention, preferably, as shown in FIGS. 13 to 16 , the upper surface of the bottom wall 1326 of the second bracket 134 matches the lower surface of the bottom wall 1326 of the first bracket 132 , and the second bracket One of the upper surface of the bottom wall 1326 of the first bracket 134 and the lower surface of the bottom wall 1326 of the first bracket 132 is provided with a positioning protrusion 1344 protruding from the surface, and the other is provided with a positioning protrusion 1344 that matches the positioning protrusion. groove.

In this embodiment, the positioning protrusion 1344 and the positioning groove are provided, and the positioning protrusion 1344 cooperates with the positioning groove to realize the horizontal positioning between the first bracket 132 and the second bracket 134, ensuring that the first bracket 132 is positioned in the horizontal direction. accuracy.

In one embodiment of the present invention, preferably, as shown in Figures 13 to 16, the first bracket 132 is provided with a positioning pin 138, and the positioning pin 138 is clamped on the first bracket 132 through a second spring 140; The two brackets 134 are provided with positioning holes 1346, and the positioning pins 138 are embedded in the positioning holes 1346; the positioning pins 138 are provided with handles 136, and the handles 136 are used to remove and insert the positioning pins 138.

In this embodiment, the positioning pin 138 is provided on the first bracket 132 and embedded in the positioning hole 1346 provided on the second bracket 134 to prevent the first bracket 132 from protruding from the limiting groove and the positioning groove, ensuring that The accuracy of the positioning of the first bracket 132 by the second bracket 134; the positioning pin 138 is clamped on the first bracket 132 through a spring, so that the positioning pin 138 always remains on the second bracket 134 when not affected by external force. In the positioning hole 1346, the positioning pin 138 is prevented from protruding from the positioning hole 1346; the handle 136 is provided to facilitate the removal and insertion of the positioning pin 138.

In one embodiment of the present invention, preferably, the surgical execution part 114 includes scissors, grasping forceps, electric hooks, separation forceps, ultrasonic scalpel and needle holder; wherein the scissors, grasping forceps, separation forceps and needle holder are open Combined equipment.

A second aspect of the present invention provides a surgical robot. The surgical robot includes the surgical instruments of the surgical robot as described in any of the above embodiments. Therefore, the surgical robot includes the surgical instruments of the surgical robot as described in any of the above embodiments. all beneficial effects.

In the description of the present invention, the term "plurality" refers to two or more than two. Unless otherwise clearly defined, the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on that shown in the drawings. The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention; The terms "connection", "installation", "fixing", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or through an intermediate connection. Media are indirectly connected. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

In the description of the present invention, the terms "one embodiment," "some embodiments," "specific embodiments," etc., mean that a particular feature, structure, material or characteristic described in connection with the embodiment or example is included in the present invention. in at least one embodiment or example. In the present invention, schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (10)

1. A surgical instrument for a surgical robot, characterized in that the surgical instrument for the surgical robot includes: First Drive Department; A support shaft, the support shaft is connected to the first driving part, and a first gear is provided on the support shaft; A first transmission rod, one end of which is provided with a second gear, and the other end of which is connected to the surgical execution part through a connecting piece; Wherein, the first gear meshes with the second gear, the first driving part drives the support shaft to rotate, and then drives the first gear to rotate, and the first gear drives the second gear to rotate. , the second gear drives the first transmission rod to rotate, and then drives the surgical execution part to rotate; One end of the connecting piece is at least partially sleeved on the first transmission rod, and is inserted with a first connecting pin, and the other end is connected to the surgical execution part through a first pin; Wherein, the first connecting pin is inserted into the first transmission rod and the connecting piece along the radial direction of the first transmission rod to prevent the connecting piece from rotating relative to the first transmission rod; a second transmission rod, the second transmission rod is embedded in the first transmission rod; The second transmission rod is connected to the surgical execution part through a transition rod to drive the surgical execution part; The surgical execution part is an opening and closing instrument. The opening and closing instrument includes a first body and a second body. The first body and the second body are intersectingly arranged. The distance between the first body and the second body is The intersection is rotatably connected to the first pin; The transition rod includes a first transition rod and a second transition rod. One end of the first transition rod and the second transition rod is rotationally connected to the second transmission rod. The other end of the first transition rod is connected to the second transmission rod. The first body is rotatably connected, and the other end of the second transition rod is rotatably connected with the second body; Wherein, the opening and closing instrument opens or closes with the reciprocating movement of the second transmission rod; Screw, the screw is parallel to the second transmission rod; a second driving part, the second driving part is connected with the screw to drive the screw to rotate; A slider, which is sleeved on the screw and reciprocates along the axis of the screw as the screw rotates; The slide block is connected to the second transmission rod to drive the second transmission rod to reciprocate along the axis direction; The first driving part includes: A motor, the motor is provided with an output shaft; A connecting shaft, the connecting shaft is a tubular structure, and one end of the connecting shaft is sleeved on the output shaft of the motor; Wherein, one end of the connecting shaft sleeved on the output shaft has at least one opening along the axial direction of the connecting shaft; Clamping hoop, the clamping hoop is sleeved on the connecting shaft to clamp the connecting shaft on the output shaft; The surgical instruments of the surgical robot also include: A first connecting plate, there are two first connecting plates, which are respectively connected to the support shaft and one end of the screw; The first driving part also includes: a second connecting plate, the second connecting plate is sleeved on the other end of the connecting shaft; a second connecting pin that passes through the second connecting disk and the connecting shaft along the radial direction of the connecting shaft; Wherein, a slideway is provided on the inner wall of the second connecting disk, and the second connecting pin is embedded in the slideway, so that the second connecting disk can slide along the axial direction relative to the connecting shaft; The second connection disk is connected to the first connection disk, one of the second connection disk and the first connection disk is provided with a connection groove, and the other is provided with a connection protrusion. The groove cooperates with the connecting protrusion so that the second connecting disk drives the first connecting disk to rotate. 2. The surgical instrument of the surgical robot according to claim 1, wherein the first driving part further includes: The first spring is sleeved on the connecting shaft and clamped between the clamping hoop and the second connecting plate so that the second connecting plate can automatically reset. 3. The surgical instrument of the surgical robot according to claim 2, wherein the second driving part is the same as the first driving part. 4. The surgical instrument of the surgical robot according to claim 3, further comprising: A first bracket, the first bracket is U-shaped, and the first bracket includes a first side wall, a second side wall and a bottom wall; The first transmission rod passes through the first side wall and is connected to the connecting piece; One end of the screw is connected to the first connecting plate after passing through the first side wall, and one end of the screw is rotationally connected to the second side wall; The support shaft passes through the first side wall and is connected to the first connecting plate. 5. The surgical instrument of the surgical robot according to claim 4, further comprising: The second bracket, the first driving part and the second driving part are fixed on the second bracket, and the second bracket is engaged with the first bracket so that the first driving part drives all The support shaft, the second driving part drives the screw. 6. The surgical instrument of the surgical robot according to claim 5, characterized in that, The second bracket is provided with a limiting portion. The limiting portion is L-shaped and is located at the edge of the second bracket and extends along the length direction of the second bracket. The limiting portion is in contact with the second bracket. The bottom wall forms a limiting groove that opens to the inside of the second bracket; The first bracket is provided with a limiting protrusion that matches the limiting groove, and the limiting protrusion is embedded in the limiting groove. 7. The surgical instrument of the surgical robot according to claim 5, characterized in that, The upper surface of the bottom wall of the second bracket matches the lower surface of the bottom wall of the first bracket, and the upper surface of the bottom wall of the second bracket matches the lower surface of the bottom wall of the first bracket. One is provided with a positioning protrusion protruding from the surface, and the other is provided with a positioning groove that matches the positioning protrusion. 8. The surgical instrument of the surgical robot according to claim 5, characterized in that, A positioning pin is provided on the first bracket, and the positioning pin is clamped on the first bracket through a second spring; The second bracket is provided with a positioning hole, and the positioning pin is embedded in the positioning hole; The positioning pin is provided with a handle, and the handle is used to remove and insert the positioning pin. 9. The surgical instrument of the surgical robot according to any one of claims 1 to 8, characterized in that, The surgical execution part includes scissors, grasping forceps, separating forceps and needle holder; Wherein, the scissors, the grasping forceps, the separating forceps and the needle holder are opening and closing instruments. 10. A surgical robot, characterized in that the surgical robot includes the surgical instrument of the surgical robot according to any one of claims 1 to 9.