CN119867945A

CN119867945A - Surgical instrument driving device and surgical robot

Info

Publication number: CN119867945A
Application number: CN202510133852.6A
Authority: CN
Inventors: 刘文明; 陈豪; 葛存旺; 吴钢
Original assignee: Shanghai Shujike Medical Technology Co ltd
Current assignee: Shanghai Shujike Medical Technology Co ltd
Priority date: 2025-02-06
Filing date: 2025-02-06
Publication date: 2025-04-25

Abstract

The present application relates to a surgical instrument drive device and a surgical robot, including a power mechanism for outputting torque; a transmission assembly, including a rotating part and a moving part, the rotating part is connected to the output end of the power mechanism, and the moving part is connected to the rotating part to convert the rotational motion of the rotating part into linear motion; a pulling assembly is connected to the moving part and moves linearly with the moving part; a coupling assembly is connected to the pulling assembly, and the coupling assembly is used to engage with a push button. Through the coordinated operation of the power mechanism, the transmission assembly, the pulling assembly, and the coupling assembly, the present application enables the doctor to accurately drive the control handle push button on the remote control console, breaking away from the limitation of close-range operation in the operating room in traditional surgery, greatly reducing the time the operator is exposed to radiation, and effectively protecting the operator's health.

Description

Surgical instrument driving device and surgical robot

Technical Field

The application relates to the technical field of medical instruments, in particular to a surgical instrument driving device and a surgical robot.

Background

The traditional vascular intervention operation requires that an operator operates an instrument in an operating room for a long time to complete the intervention operation treatment on a patient, so that the operator is exposed to rays for a long time to cause injury to the body of the operator, in addition, the vascular intervention operation depends on the experience of the operator to a great extent, a learning curve is long, repeated conveying operation and adjustment are required to be frequently carried out on the instrument, so that a better treatment effect is achieved, the repeated conveying and adjustment operation frequently causes the operator to be very tired, the precision of the operation often fluctuates greatly, the operation is often long, the operation is not very beneficial to the operator and the patient, serious people also cause a plurality of adverse events caused by the operation of the instrument, and a vascular intervention robot based on remote control and even combined with the assistance of an AI (artificial intelligence) is needed to solve the problems.

Vascular interventional robots typically include a tele-control console, a robotic arm, an active power pod, and a plurality of passive adapters coupled to the instrument for driving the instrument in a tele-operation. Conventional vascular interventional procedures often have operations of pushing and pulling a handle push button to realize a certain function of an instrument, such as adjusting the size of a stent, releasing and recovering the stent, delivering and retracting a catheter, adjusting the diameter of an electrode ring of an ablation catheter, delivering and retracting a balloon catheter, bending the head end of the catheter, and realizing other instrument functions which need to be satisfied, so that a vascular interventional robot driving device and a vascular interventional robot driving method aiming at the operation of the handle push button of the instrument need to be solved, and thus, the vascular interventional robot can remotely control the instrument push button to complete a certain operation of the instrument.

Disclosure of Invention

Based on the above, the embodiment of the application provides a surgical instrument driving device and a surgical robot, so that the push button action can be accurately completed through each component in a quick response manner, the instrument adjustment time is shortened, and the overall duration of the operation is obviously shortened.

The embodiment of the application firstly provides a surgical instrument driving device which is used for being coupled with a push button of a control handle to drive the push button to move, wherein the surgical instrument driving device comprises:

a power mechanism for outputting torque;

The transmission assembly comprises a rotating piece and a moving piece, wherein the rotating piece is connected with the output end of the power mechanism, and the moving piece is connected with the rotating piece so as to convert the rotation motion of the rotating piece into linear motion;

the traction component is connected with the moving piece and moves linearly along with the moving piece;

The coupling component is connected with the traction component and is used for being clamped with the push button.

In one embodiment, the rotating member is driven by the power mechanism to rotate around a first direction so as to drive the moving member to linearly move along a second direction intersecting with the first direction;

The moving piece drives the traction component to linearly move along the second direction, the coupling component is movably connected with the traction component, and the coupling component drives the push button to move along a preset track under the driving of the traction component.

In one embodiment, the surgical instrument drive device further comprises a support housing for receiving the control handle, the push button being exposed to the support housing;

The coupling assembly comprises a guide piece and a coupling piece which are connected with each other, the guide piece is in sliding connection with the support shell, and the coupling piece is used for being clamped with the push button.

In one embodiment, the mating surfaces of the support housing and the guide member are respectively provided with a guiding portion and a limiting portion, and the limiting portion is used for moving in the guiding portion, so that the coupling member drives the push button to move along the predetermined track.

In one embodiment, the limiting part comprises a limiting block arranged on one side of the guide piece, and the guide part comprises a guide groove formed on the side wall of the support shell;

Or the limit part comprises a limit groove formed on one side of the guide piece, and the guide part comprises a guide block arranged on the side wall of the support shell.

In one embodiment, an arc chute is formed on one side of the control handle, and the push button is movably arranged on the arc chute;

when the guide part is the guide groove, the guide track of the guide groove is the same as the guide track of the arc chute;

the preset track is the guiding track of the arc chute.

In one embodiment, the side wall of the support housing is further configured with a positioning channel extending along the second direction, and the positioning channel is embedded with a positioning pin;

the guide piece is provided with an avoidance groove, the avoidance groove is provided with an avoidance space extending along a third direction, and a part of the positioning pin penetrates through the avoidance groove;

the traction component is connected with the locating pin to drive the guide piece to move along the preset track when the locating pin moves along a second direction, and the third direction is intersected with the second direction.

In one embodiment, the guide piece comprises a guide plate, wherein the guide plate is positioned at the side wall of the support shell and is arranged adjacent to the side wall of the support shell where the push button is positioned;

The avoidance groove is a notch formed at one end of the guide plate, which is away from the coupling piece, and the third direction is perpendicular to the second direction.

In one embodiment, the coupling assembly further comprises an elastic member, and the elastic member connects the guide member and the coupling member, so that the coupling member is continuously clamped on the push button.

In one embodiment, the coupling piece comprises a coupling block, one surface of the coupling block, which is used for being coupled with the push button, is provided with a coupling groove, and coupling teeth meshed with the outer end surface of the push button are arranged in the coupling groove.

In one embodiment, the pulling assembly comprises a connecting part and a pulling rod, the connecting part is fixedly connected with the moving part, one end of the pulling rod is connected with the connecting part, the other end of the pulling rod is connected with the positioning pin, and the pulling rod is used for driving the positioning pin to move along the second direction.

In one embodiment, the connecting member is provided with a missing portion for avoiding the control handle.

In one embodiment, the connecting component comprises a connecting plate and a rotary supporting plate, one end of the connecting plate is fixed on the moving piece, the other end of the connecting plate is buckled with the rotary supporting plate, and the rotary supporting plate can rotate around the second direction relative to the connecting plate.

In one embodiment, the rotating member comprises a driving gear fixedly connected with the output end of the power mechanism;

the moving member includes a driven rack engaged with the driving gear.

The embodiment of the application also provides a surgical robot, which comprises:

a push button is arranged on one side of the control handle;

According to the surgical instrument driving device in the above embodiment, the coupling component is used for being clamped with the push button, and the push button is driven to move by the power mechanism, the transmission component and the traction component.

According to the surgical instrument driving device and the surgical robot, the rotating piece is driven to rotate through the power mechanism, the moving piece converts the rotating motion of the rotating piece connected with the moving piece into linear motion, and then the traction component is driven by the moving piece to linearly move, so that the coupling component clamped with the push button is driven to linearly move, the push button is driven to move, and various functional operations of the instrument are realized. By means of the cooperative operation of the power mechanism, the transmission assembly, the traction assembly and the coupling assembly, a doctor can accurately drive the control handle push button on the remote control console, the limitation that the doctor has to operate in the operating room in a near-body mode in the traditional operation is eliminated, the time of exposing the operator to rays is greatly reduced, and the physical health of the operator is effectively guaranteed. In addition, each component in the application can rapidly respond to the instruction, accurately complete the push button action, reduce the instrument adjustment time and obviously shorten the whole operation time. Moreover, the application can enable doctors to remotely and comfortably operate, does not need to manually push and pull instruments with high strength for a long time, greatly reduces the physical consumption of operators and reduces the risk of misoperation caused by fatigue. According to the scheme, through the standardized and automatic driving device, the operation flow of the instrument is simplified, a novice doctor only needs to be familiar with the instruction of the remote control console, and can quickly operate the function of the complex instrument, such as adjusting the diameter of the electrode ring of the ablation catheter, compared with the traditional mode, the learning time is greatly shortened, and the culture of specialized talents is accelerated.

Drawings

Fig. 1 is a schematic view of a portion of a surgical robot according to some embodiments of the present application.

Fig. 2 is a schematic structural view of a push button on a control handle according to some embodiments of the present application.

Fig. 3 is a schematic top view of a surgical instrument drive device according to some embodiments of the present application.

Fig. 4 is a schematic perspective view of a surgical instrument driving apparatus according to some embodiments of the present application.

Fig. 5 is a schematic side view of a support housing according to some embodiments of the present application.

Fig. 6 is a schematic structural view of a guide provided according to some embodiments of the present application.

Fig. 7 is a schematic structural view of a coupling member according to some embodiments of the present application.

Fig. 8 is a schematic structural view of a connection member according to some embodiments of the present application.

Reference numerals:

10. a control handle, 11, a push button;

210. A power mechanism;

220. The device comprises a transmission assembly, 221, a rotating piece, 222 and a moving piece;

230. Pulling assembly, 231, connecting part, 2311, connecting plate, 2312, rotary supporting plate, 2313, missing part, 232, pulling rod;

240. Coupling component 241, guide piece 2411, limit part 2412, avoiding groove 242, coupling piece 2421, coupling groove 243 and elastic piece;

250. support shell 251, guide part 252, positioning channel;

260. And (5) positioning pins.

Detailed Description

In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.

In the description of the present application, it should be understood that, if any, these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., are used herein with respect to the orientation or positional relationship shown in the drawings, these terms refer to the orientation or positional relationship for convenience of description and simplicity of description only, and do not indicate or imply that the apparatus or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.

Furthermore, the terms "first," "second," and the like, if any, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the terms "plurality" and "a plurality" if any, mean at least two, such as two, three, etc., unless specifically defined otherwise.

In the present application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly. For example, they may be fixedly connected, detachably connected or integrally formed, mechanically connected, electrically connected, directly connected or indirectly connected through an intermediate medium, and communicated between two elements or the interaction relationship between two elements unless clearly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, the meaning of a first feature being "on" or "off" a second feature, and the like, is that the first and second features are either in direct contact or in indirect contact through an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that if an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. If an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein, if any, are for descriptive purposes only and do not represent a unique embodiment.

As described in the background section, conventional vascular intervention procedures include pulsed electric field ablation (PFA, pulse Filed Ablation), which is a procedure based on mapping cardiac electrophysiology to find a lesion, then using a pulse ablation catheter to perform high-frequency discharge on the lesion, and then irreversibly perforating the lesion cells, thereby causing the lesion cells to die, and thus restoring the patient's electrocardiographic features. The conventional vascular intervention operation often has the operation of pushing and pulling the handle push button to realize a certain function of the instrument, such as the operation of pushing and pulling the push button rotating wheel to realize the adjustment of the size of the support, the release and the recovery of the support, the delivery and the retraction of the catheter, the adjustment of the diameter of an electrode ring of an ablation catheter, the delivery and the retraction of a balloon catheter, the bending of the head end of the catheter and the realization of other instrument functions which need to be satisfied, so that the driving device and the driving method of the vascular intervention robot aiming at the operation of the handle push button of the instrument need to be solved, and the remote operation of the vascular intervention robot for operating the instrument push button to complete a certain operation of the instrument can be realized.

Based on the technical problems, the inventor researches and discovers that the push button can be remotely driven to move by reasonably designing the structure of the surgical instrument driving device to be coupled with the push button of the control handle and matching with the vascular intervention robot, so that the vascular intervention robot can be remotely and accurately controlled to move, and the accuracy and stability of surgical operation are ensured.

By adopting the technical scheme, the requirement on the experience of operating surgical instruments by medical staff can be reduced, the physical consumption of the medical staff is reduced, the influence of radiation of field operation on the medical staff can be weakened, and the intelligent operation of minimally invasive surgery diagnosis and treatment can be realized. Medical staff uses the surgical instrument driving device to complete the operation, the stability and the accuracy of the operation can be guaranteed, the operation efficiency is improved, and the operation duration is shortened.

The foregoing is the core idea of the present application, and the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without making any inventive effort are intended to fall within the scope of the present application.

Referring to fig. 1 to 4, fig. 1 is a schematic view illustrating a part of a surgical robot according to some embodiments of the present application. Fig. 2 is a schematic structural view of a push button on a control handle according to some embodiments of the present application. Fig. 3 is a schematic top view of a surgical instrument drive device according to some embodiments of the present application. Fig. 4 is a schematic perspective view of a surgical instrument driving apparatus according to some embodiments of the present application. The surgical instrument driving device provided by the embodiment of the application is used for being coupled with the push button of the control handle so as to drive the push button to move, and the distal end of the instrument such as the adjustment of the size of a bracket, the release and the recovery of the bracket, the delivery and the retraction of a catheter, the adjustment of the diameter of an electrode ring of an ablation catheter, the delivery and the retraction of a balloon catheter, the bending adjustment of the head end of the catheter and other instrument functions which need to be satisfied are realized. The surgical instrument drive may include a power mechanism 210, a transmission assembly 220, a pulling assembly 230, and a coupling assembly 240.

The power mechanism 210 is used for outputting torque, the transmission assembly 220 comprises a rotating piece 221 and a moving piece 222, the rotating piece 221 is connected with an output end of the power mechanism 210, the moving piece 222 is connected with the rotating piece 221 to convert rotary motion of the rotating piece 221 into linear motion, the traction assembly 230 is connected with the moving piece 222 and moves linearly along with the moving piece 222, the coupling assembly 240 is connected with the traction assembly 230, and the coupling assembly 240 is used for being clamped with the push button 11.

It will be appreciated that to clearly describe the structure of the surgical device driving apparatus in this example, first, the field Jing Jinhang of use of the surgical device driving apparatus will be described, and before using the surgical device driving apparatus, a doctor needs to hold the control handle 10 to deliver a guide wire, a catheter, or the like to the vicinity of a lesion of a human body, then place the control handle 10 on an operation table (which may be a support housing 250 described below) in the vicinity of the human body, and ensure the coupling of the components (push button 11, bending roller, etc.) on the control handle 10 with an external driving apparatus. Finally, the surgical instrument driving device is remotely controlled by the surgical robot, so that remote control of pushing the push button 11 is realized.

More specifically, the surgical instrument driving device may be disposed on a transmission compartment supported by the mechanical arm, and one end of the transmission compartment may be provided with a power compartment, which mainly provides power for the surgical instrument driving device to indirectly drive the push button 11 coupled thereto to move. The transmission assembly 220 for outputting torque may be disposed on a transmission compartment, for example, the transmission assembly 220 may be used as a power input coupling, and the power input coupling may receive power provided by the power compartment through the transmission assembly 220 (such as a gear structure, a synchronous belt, a lead screw nut, a slide rail, a rack and pinion, etc.) in the transmission compartment, so as to provide rotational power to the rotating member 221 in the transmission assembly 220.

Because the setting of the whole device of the surgical instrument driving device needs to consider the setting position of the transmission cabin (the power output port) and the setting position of the control handle 10 (comprising the orientation of the parts such as the push button 11, the bending wheel and the like), the difficulty of position adjustment of the parts such as the transmission cabin, the control handle 10 and the like is reduced, and the probability of position conflict among the parts is reduced. The present example provides a transmission assembly 220, a pulling assembly 230 and a coupling assembly 240, while enabling efficient transfer of power to the push button 11, while also enabling a more rationalized layout of the overall surgical instrument drive to save space.

The transmission assembly 220 may be disposed at one side of the support housing 250, which converts torque transmitted from the power compartment to the transmission assembly 220 into linear motion and then drives the push button 11 to move. The specific process of driving the push button 11 to move may be that the transmission component 220 drives the rotation component 221 in the transmission component 220 to rotate, the rotation component drives the movement component 222 to linearly move, the movement component 222 drives the pulling component 230 connected with the movement component to linearly move, meanwhile, the coupling component 240 connected with the pulling component 230 is clamped with the push button 11 of the control handle 10, and the push button 11 is driven to move by the driving of the pulling component 230, so as to achieve the purpose of completing the functional operation of the apparatus for remotely controlling the push button 11.

The specific structure of the rotating member 221 and the moving member 222 may be, that is, a structure capable of converting torque into linear motion may be, a roller screw mechanism, a common screw mechanism, a rack and pinion mechanism, a timing belt mechanism, a crank block mechanism, or the like. Taking a ball screw mechanism as an example for explanation, the ball screw mainly comprises a screw (screw rod), a nut and balls, when the screw rod rotates, the balls roll in a raceway between the screw rod and the nut to drive the nut to do linear motion along the axis direction of the screw rod. In this example, the output torque of the transmission assembly 220 may be transmitted to the screw shaft of the ball screw, and the screw shaft is rotated so that the nut is linearly displaced, and thus the linear reciprocation of the mover 222 may be precisely controlled. Of course, in order to move the nut along a line, a guide bar may be provided at one side of the nut, and the nut may be threaded on the guide bar to limit the degree of freedom of the nut so that it can only move in a straight line direction.

It should be noted that, the above-mentioned transmission assembly 220 may also be directly used as a power source, for example, a high-precision brushless dc motor with stable rotation speed and precise torque output may be selected, and the motor may quickly and precisely adjust the output rotation speed according to an external command, so as to precisely control the torque, so as to adapt to the operation requirements of different instrument functions. Of course, appropriate motor parameters can be selected according to the load size and the movement speed of the handle push button 11 which are actually required to be driven, so as to ensure that the push button 11 can be stably driven to move.

In addition, the pulling component 230 provided in this example may be a wire rope, a driving belt, or a push rod, or the like, and of course, in order to ensure that the push button 11 can reciprocate, a push rod may be selected, one end of the push rod may be fixedly connected to the moving member 222, and the other end of the push rod is connected to the coupling component 240, so as to accurately transmit the pulling force or the pushing force to the coupling component 240 when the moving member 222 moves linearly.

In addition, the coupling assembly 240 may be designed to have a resilient jaw structure, which is shaped and sized to mate with the push button 11 of the control handle 10 to tightly clamp onto the push button 11. Specifically, the claw can be made of stainless steel or engineering plastic and the like to have certain elasticity and wear resistance, and a rubber pad or anti-skid patterns can be arranged on the inner side of the claw to enhance the friction force between the claw and the push button 11 and prevent the slipping phenomenon in the driving process. Of course, the structure of the coupling assembly 240 is not limited, and can be understood with specific reference to the following examples.

The overall workflow of the surgical instrument driving device provided in this example may be that a doctor places a control handle 10 used by hand on a support housing 250, and makes a coupling assembly 240 in the surgical instrument driving device located outside the support housing 250 be clamped on a push button 11 of the control handle 10, and locks the support housing 250 to avoid the control handle 10 from being pulled out from the support housing 250. Then, the doctor sends out instructions on the remote control console, the power cabin is started and transmits power to the transmission assembly 220 through the transmission cabin, the transmission assembly 220 drives the rotating piece 221 of the transmission assembly 220 to rotate, the rotating motion of the rotating piece 221 is converted into linear motion through the moving piece 222, the moving piece 222 drives the pulling assembly 230 to move, the pulling assembly 230 further pulls or pushes the coupling assembly 240, and the coupling assembly 240 drives the push button 11 of the control handle 10 to move, so that various functional operations of the instrument such as support size adjustment, support release recovery, catheter delivery recovery and the like are realized. Of course, in the whole process, the position and the motion state of the push button 11 can be monitored in real time through a sensor and the like arranged on the coupling component 240, information is fed back to the remote control console, and a doctor can adjust an operation instruction in time according to the feedback information so as to ensure accurate operation of the operation.

In the application, the power mechanism 210 drives the rotating member 221 to rotate, the moving member 222 converts the rotating motion of the rotating member 221 connected with the moving member 222 into linear motion, and then the pulling assembly 230 is driven by the moving member 222 to linearly move, so as to drive the coupling assembly 240 clamped with the push button 11 to linearly move, and drive the push button 11 to move, thereby realizing various functional operations on the instrument. The application enables doctors to accurately drive the control handle 10 push button 11 at the remote control console by virtue of the cooperative operation of the power mechanism 210, the transmission assembly 220, the traction assembly 230 and the coupling assembly 240, gets rid of the limitation that the users have to operate nearby in an operating room in the traditional operation, greatly reduces the time of exposing the users to rays, and effectively ensures the health of the users. In addition, each component in the application can rapidly respond to the instruction, accurately complete the action of the push button 11, reduce the adjustment time of the instrument and obviously shorten the whole operation time.

Moreover, the application can enable doctors to remotely and comfortably operate, does not need to manually push and pull instruments with high strength for a long time, greatly reduces the physical consumption of operators and reduces the risk of misoperation caused by fatigue. According to the scheme, through the standardized and automatic driving device, the operation flow of the instrument is simplified, a novice doctor only needs to be familiar with the instruction of the remote control console, and can quickly operate the function of the complex instrument, such as adjusting the diameter of the electrode ring of the ablation catheter, compared with the traditional mode, the learning time is greatly shortened, and the culture of specialized talents is accelerated.

The following describes a specific structure of a surgical instrument driving device according to an embodiment of the present application with reference to fig. 1 to 8. Fig. 5 is a schematic side view of a support housing according to some embodiments of the present application. Fig. 6 is a schematic structural view of a guide provided according to some embodiments of the present application. Fig. 7 is a schematic structural view of a coupling member according to some embodiments of the present application. Fig. 8 is a schematic structural view of a connection member according to some embodiments of the present application.

As shown in fig. 3, in some embodiments, the rotating member 221 is driven by the power mechanism 210 to rotate around a first direction to drive the moving member 222 to linearly move along a second direction intersecting the first direction, the moving member 222 drives the pulling member 230 to linearly move along the second direction, the coupling member 240 is movably connected with the pulling member 230, and the coupling member 240 is driven by the pulling member 230 to drive the push button 11 to move along a predetermined track.

It will be appreciated that, for convenience in describing the above-described relative positional relationship between the transmission assembly 220, the power compartment, and the push button 11 of the control handle 10, the rotary member 221 is defined to be rotated in a first direction by the driving of the power mechanism 210, that is, the power mechanism 210 (power output coupling) is rotated in the first direction, and the moving member 222 is used to convert the rotational movement of the rotary member 221 into a linear movement in a second direction, which is also the direction in which the push button 11 of the control handle 10 is moved. The moving member 222 will drive the pulling assembly 230 connected thereto to move linearly along the second direction until the driving coupling assembly 240 drives the push button 11 to move along the predetermined track.

It should be understood that, to facilitate the doctor to hold the control handle 10, the handle body of the control handle 10 is generally designed into an arc shape, that is, a manner in which the handle body tapers from the proximal end to the distal end, and the sliding direction of the push button 11 embedded in the handle body needs to be consistent with the extending direction of the handle body. In other words, the general direction in which the push button 11 moves is the second direction, but has a trajectory that deviates toward a direction perpendicular to the second direction. In order to tightly clamp the push button 11, the coupling component 240 also has a moving direction coincident with the moving track of the push button 11, and then the coupling component 240 needs to be movably connected with the pulling component 230 to adaptively adjust and deviate.

The accuracy of power transmission can be ensured by accurately designing a conversion mechanism of rotation and movement directions, so that the movement track of the push button 11 is highly controllable, and the standardization degree of operation is improved.

As shown in fig. 4, in some embodiments, the surgical device driving apparatus further includes a support housing 250, the support housing 250 is used for accommodating the control handle 10, the push button 11 is exposed out of the support housing 250, and the coupling assembly 240 includes a guide 241 and a coupling 242 connected to each other, the guide 241 is slidably connected to the support housing 250, and the coupling 242 is used for being clamped with the push button 11.

In particular, the support housing 250 may be understood as an ablation catheter support, the interior of which may be configured with a receiving cavity adapted to the control handle 10 so as to receive the control handle 10 and to carry the control handle 10 in rotation, etc. The support housing 250 in this example may be a rectangular structure having an opening on one side for the control handle 10 to enter or exit the support housing 250.

The push button 11 is located on the side of the support housing 250 with an opening, so as to be exposed to be clamped with the coupling assembly 240 outside the support housing 250.

In order to make the coupling assembly 240 have a movement track consistent with that of the push button 11, the present example implements limitation of the sliding track of the guide 241 by means of sliding engagement of the support housing 250 with the guide 241. Specifically, the guide 241 may be disposed on one side of the support housing 250 (e.g., the side adjacent to the opening), and the coupling 242 is located at the opening of the support housing 250 for being engaged with the push button 11. The side wall of the supporting housing 250 may be provided with a guiding slot adapted to the sliding track of the push button 11, and the track of the coupling piece 242 connected with the guiding piece 241 may be controlled by the adapting and inserting of the guiding piece 241 and the guiding slot, so as to highly coincide with the sliding track of the push button 11, thereby improving the clamping stability and the movement stability of the coupling piece 242 and the push button 11.

In this example, the sliding fit between the guide member 241 and the support housing 250 can further preset the movement of the coupling member 242, so as to ensure that the push button 11 is uniformly stressed, avoid deflection, for example, when the diameter of the electrode ring of the ablation catheter is adjusted, can stably and accurately change the size of the electrode ring, and improve the operation precision.

As shown in fig. 4,5 and 6, in some embodiments, the mating surfaces of the support housing 250 and the guide 241 are respectively provided with a guiding portion 251 and a limiting portion 2411, where the limiting portion 2411 is used to move in the guiding portion 251, so that the coupling piece 242 drives the push button 11 to move along a predetermined track.

Specifically, the side walls of the support housing 250 and the guide 241, which are in contact with each other, are respectively provided with a guide portion 251 and a limit portion 2411, wherein the direction of the guide portion 251 can be designed according to the actual movement track of the push button 11 on the control handle 10, and the guide 241 can move along the predetermined track through the tight fitting of the guide portion 251 and the limit portion 2411.

It should be noted that, the smoothness between the guide portion 251 and the limiting portion 2411 may be improved by the process design and the selection of the material, so as to reduce the frictional resistance. The present example provides accurate guidance for the coupling piece 242 to drive the push button 11 to move through the cooperation of the guide portion 251 and the limiting portion 2411.

In some embodiments, the stopper portion 2411 includes a stopper disposed at one side of the guide 241, and the guide portion 251 includes a guide groove formed at a sidewall of the support housing 250.

Specifically, two stoppers facing the support housing 250 may be provided on one side of the guide 241, and the two stoppers are disposed at intervals along the second direction, so as to ensure the sliding stability of the stoppers in the guide groove. The limiting block can be of a cylindrical structure, the material is not limited, and the limiting block is difficult to deform and has good self-lubricating property. The guide groove of the side wall of the support housing 250 may be formed by wire cutting at the corresponding side wall, and the groove width may be slightly larger than the diameter of the stopper to ensure smooth sliding. In addition to the above arrangement, in one example, the stopper portion 2411 includes a stopper groove formed at one side of the guide 241, and the guide portion 251 includes a guide block provided at a side wall of the support housing 250.

Specifically, the guiding block disposed on the side wall of the supporting housing 250 is strip-shaped, and has the same trend as the sliding track of the push button 11, and the limiting groove is disposed on one side of the guiding element 241 and can be engaged with the guiding block in an adapting manner, so as to slide along the trend of the guiding block.

The two limiting structures can effectively restrict the freedom degree of the movement of the guide piece 241, and the matching of the limiting block and the guide groove is simpler and more flexible, so that the push button 11 can be ensured to move without deviation.

As shown in fig. 5, in some embodiments, an arc chute is configured on one side of the control handle 10, and the push button 11 is movably disposed on the arc chute, where the guiding track of the guiding slot is the same as the guiding track of the arc chute when the guiding portion 251 is the guiding slot, and the predetermined track is the guiding track of the arc chute.

Specifically, according to the above description of the shape of the grip body of the control handle 10, the arc-shaped chute configured thereon extends substantially in the second direction, that is, the movable trajectory of the push button 11 is substantially in the second direction but has an offset toward the direction perpendicular to the second direction, and the guide trajectory of the push button 11 is an arc-shaped trajectory, for example.

According to the above-mentioned setting position of the control handle 10 in the support housing 250 and the setting position of the guide 241 outside the support housing 250, the setting position of the guide 251 on the support housing 250 can be obtained that the projection of the arc chute in the first direction is the same as the projection of the guide slot in the first direction in size and shape, and is parallel to the projection of the arc chute in the first direction. Therefore, the guide groove limits the movement track of the guide plate, namely, the movement track of the coupling piece 242 is limited, so that the movement track of the coupling piece 242 is consistent with the movement track of the push button 11, the coupling piece 242 is ensured to drive the push button 11 to slide along, and the pushing movement accuracy is improved.

As shown in fig. 4 and 5, in some embodiments, the sidewall of the support housing 250 is further configured with a positioning channel 252 extending in the second direction, the positioning channel 252 is embedded with a positioning pin 260, the guide 241 is configured with a dodging groove 2412, the dodging groove 2412 has a dodging space extending in the third direction, a portion of the positioning pin 260 is penetrated through the dodging groove 2412, the pulling assembly 230 is connected with the positioning pin 260 to drive the guide 241 to move along a predetermined track when the positioning pin 260 moves in the second direction, and the third direction intersects the second direction.

It will be appreciated that, due to the presence of the arc chute, the guide 241 does not move completely in the second direction, but has an offset toward a direction perpendicular to the second direction, and the moving direction of the pulling assembly 230 driving the coupling assembly 240 to move is the second direction, in order to ensure smooth sliding of the guide 241 in the arc chute, the guide 241 is configured with an avoidance groove 2412, and the avoidance groove 2412 has an avoidance space for the offset of the positioning pin 260.

The specific moving process of the guide 241 may be that the pulling component 230 drives the positioning pin 260 to move along the second direction in the positioning channel 252, the positioning pin 260 drives the guide 241 to move along the guiding groove, and the avoiding groove 2412 of the guide 241 can move along the third direction relative to the positioning pin 260 during the process because the guide 241 is offset along the third direction, and the positioning pin 260 is not affected to continuously drive the guide 241 to move.

The ingenious design of the locating pin 260 and the avoidance groove 2412 in this example converts the linear motion of the pulling assembly 230 into the precise track motion of the guide 241, enhances the stability of the kinematic coupling between the various assemblies, and improves the reliability of the surgery.

In some embodiments, as shown in fig. 6, the guide 241 comprises a guide plate positioned at a side wall of the support housing 250 and disposed adjacent to the side wall of the support housing 250 where the push button 11 is positioned, the relief groove 2412 is a notch configured at an end of the guide plate facing away from the coupling member 242, and the third direction is perpendicular to the second direction.

Specifically, the guide plate is disposed adjacent to the side wall of the support housing 250 where the push button 11 is located, and the avoidance groove 2412 may be a strip-shaped notch configured at an end of the guide plate facing away from the coupling member 242, where the strip-shaped notch extends along the third direction, so as to provide an avoidance space for the positioning pin 260. The guide plate structure is succinct compact, easily installs the debugging, and the lateral wall setting of support casing 250 that the next-door neighbour push button 11 is located can reduce the motion transmission loss to quick response traction assembly 230 action, accurate adjustment push button 11 position improves operation flexibility.

It should be noted that the guide groove may not extend through the sidewall of the support housing 250, and the positioning channel 252 extends through the sidewall of the housing because the positioning pin 260 is disposed in the positioning channel 252, and an end of the positioning pin 260 facing away from the guide plate is connected to the pulling assembly 230, i.e., an end of the positioning pin 260 located in the support housing 250 is connected to the pulling assembly 230. The positional relationship between the positioning pin 260 and the pulling assembly 230 can enhance the stability of the pulling assembly 230 driving the positioning pin 260 to move, and the pulling assembly 230 is disposed inside the supporting housing 250, so as to avoid interference with other external parts.

As shown in fig. 4, in some embodiments, the coupling assembly 240 further includes an elastic member 243, where the elastic member 243 connects the guide member 241 and the coupling member 242, so that the coupling member 242 is continuously clamped to the push button 11.

Specifically, the coupling piece 242 may be rotatably disposed at one end of the guide piece 241 through the rotation shaft, but in order to make the coupling piece 242 continuously clamped on the push button 11, an elastic piece 243 is disposed at the rotation joint of the coupling piece 242 and the guide piece 241, the elastic piece 243 may be a torsion spring sleeved on the rotation shaft, one end of the torsion spring abuts on the guide piece 241, the other end abuts on the coupling piece 242, and the torsion spring is pre-compressed and installed at a certain time during installation, so that the coupling piece 242 after installation always maintains an elastic force in the direction of the push button 11, ensuring tight clamping, and not separating from the push button 11 even if being slightly vibrated or disturbed by external force during operation.

As shown in fig. 7, in some embodiments, the coupling member 242 includes a coupling block, one surface of the coupling block for coupling with the push button 11 is configured with a coupling groove 2421, and coupling teeth engaged with an outer end surface of the push button 11 are provided in the coupling groove 2421.

Specifically, the coupling block may mill the coupling groove 2421, the bottom surface of the coupling groove 2421 is designed into a V shape adapted to the outer end surface of the push button 11, fine coupling teeth may be fabricated on the bottom surface of the coupling groove 2421, and the tooth shape may be precisely engaged with the tooth groove on the outer end surface of the push button 11, so as to ensure that no slip is generated in the power transmission between the coupling block and the push button 11.

It should be noted that, the two ends of the outer portion of the coupling block may be further provided with a pulling groove, which facilitates manual pulling of the coupling block, so as to place the control handle 10 in the support housing 250, and release the coupling block after being placed in place, so that the coupling block is coupled with the push button 11.

As shown in fig. 4, in some embodiments, the pulling assembly 230 includes a connection member 231 and a pulling rod 232, the connection member 231 is fixedly connected to the moving member 222, one end of the pulling rod 232 is connected to the connection member 231, the other end is connected to the positioning pin 260, and the pulling rod 232 is used to drive the positioning pin 260 to move along the second direction.

Specifically, the connection member 231 is designed to avoid the control handle 10 on one hand, so that the setting positions of the moving member 222 and the pulling rod 232 are more reasonable, and on the other hand, the connection member 231 can provide support for the rotation of the control handle 10, that is, the pulling rod 232, the coupling assembly 240, etc. are separated from the transmission assembly 220, the power mechanism 210, etc. at the other end of the connection member 231.

As shown in fig. 8, in some embodiments, the connection member 231 is provided with a missing portion 2313 for avoiding the control handle 10.

Specifically, the connecting member 231 may be U-shaped or C-shaped in configuration with a cutout 2313 or notch provided to facilitate placement of the control handle 10 within the support housing 250 (within the ablation catheter support). The arrangement of the connection members 231 in this example ensures the synchronicity and consistency of the drive assembly 220 and the coupling assembly 240 during movement. The missing portion 2313 is provided to effectively avoid the control handle 10 (specifically, guide the delivery groove provided on the tube support) to ensure that interference with the control handle 10 does not occur during installation and use.

To clearly understand the specific structure of the connection member 231 and other auxiliary functions related to the connection member 231, the function of the ablation catheter support is first described, the ablation catheter support can carry the control handle 10 and catheters, instruments and the like therein, and the ablation catheter support can be rotated under the drive of other devices, so as to achieve the purpose of driving the control handle 10 to rotate. In the surgical device driving apparatus provided in this example, the power mechanism 210 and the transmission assembly 220 are stationary (in particular, they do not rotate) relative to the transmission compartment, and the pulling rod 232 and the coupling assembly 240 need to rotate synchronously along with the control handle 10, so the connection member 231 connecting the moving member 222 and the pulling rod 232 needs to ensure that the pulling rod 232 and the coupling assembly 240 can rotate together along with the ablation catheter support on the basis of providing the motion synchronism of the moving member 222 and the pulling rod 232.

Based on this, as shown in fig. 8, in some embodiments, the connection part 231 includes a connection plate 2311 and a rotation support plate 2312, one end of the connection plate 2311 is fixed to the moving member 222, the other end is engaged with the rotation support plate 2312, and the rotation support plate 2312 can rotate around a second direction with respect to the connection plate 2311.

Specifically, one end of the connection plate 2311 is fixed on the moving member 222, the end of the connection plate 2311 far away from the moving member 222 may be C-shaped, the rotation support plate 2312 may be a C-shaped plate fastened to the C-shaped position of the connection plate 2311, the connection plate 2311 and the rotation support plate 2312 are both configured with grooves capable of being fastened, and fastening stability of the connection plate 2311 and the rotation support plate 2312 may be achieved through a cover plate with a shape adapted. The intrados of the rotating support plate 2312 is further provided with a protrusion for abutting against the outer side surface of the ablation catheter support, so that the rotating support plate 2312 is driven to rotate around the second direction when the ablation guiding adapter rotates, and the purpose of driving the traction rod 232 and the coupling assembly 240 to rotate is achieved through the rotating support plate 2312.

In some embodiments, the rotating member 221 includes a driving gear fixedly coupled to the output end of the power mechanism 210, and the moving member 222 includes a driven rack engaged with the driving gear.

Specifically, the driving gear and the output end of the power mechanism 210 may be fixedly connected by a key connection or a set screw, and of course, the driving gear and the output end of the power mechanism 210 may be connected by an expansion sleeve, so as to enhance the connection stability of the driving gear and the output end of the power mechanism 210, and ensure close fit of the driving gear and the output end of the power mechanism.

The driven rack can convert the rotation motion of the driving gear into linear motion, engineering plastics or steel with good wear resistance can be selected as the driven rack to support, the surface of the driven rack is subjected to fine processing and heat treatment, and the precision and the wear resistance of the driven rack can be improved, so that the meshing precision and the strength of the driven rack and the driving gear are improved, and the transmission efficiency and the reliability between the driven rack and the driving gear are improved.

It should be noted that, the transmission assembly 220 may further include a guide shaft, and the driven rack may be disposed through the guide block on the guide shaft, so as to limit the driven rack to the second direction.

Based on the same inventive concept, embodiments of the present application also provide a surgical robot, as shown in fig. 1, which may include a control handle 10 and the above-described surgical instrument driving device. In the surgical instrument driving device of the above embodiment, the coupling component 240 is used for being clamped with the push button 11 and driving the push button 11 to move under the driving of the power mechanism 210, the transmission component 220 and the pulling component 230.

Specifically, the surgical robot integrates the control handle 10 with the surgical instrument drive device, and the push button 11 on the control handle 10 is precisely docked with the coupling assembly 240 of the drive device. The power mechanism 210, the transmission assembly 220, the traction assembly 230 and the coupling assembly 240 in the driving device work cooperatively to receive the command of the remote control console, and drive the push button 11 to realize various instrument functions, such as bracket size adjustment, catheter delivery and retraction, and the like.

The whole surgical robot organically combines the handle with the driving device, a doctor operates through the remote control console, the accurate and convenient operation and control of surgical instruments are realized, the surgical difficulty is reduced, the surgical time is shortened, the radiation exposure is reduced, the vascular interventional surgical quality is comprehensively improved, and safer and more efficient therapeutic experience is brought to patients.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims

1. A surgical instrument drive device for coupling with a push button of a control handle to drive movement of the push button, the surgical instrument drive device comprising:

a power mechanism for outputting torque;

2. A surgical instrument drive according to claim 1, wherein the rotary member is driven by the power mechanism to rotate about a first direction to drive the movable member to move linearly in a second direction intersecting the first direction;

3. The surgical instrument drive device of claim 2, further comprising a support housing for receiving the control handle, the push button being exposed to the support housing;

4. A surgical instrument driving device according to claim 3, wherein the mating surfaces of the support housing and the guide member are respectively provided with a guiding portion and a limiting portion, the limiting portion being configured to move in the guiding portion, so that the coupling member drives the push button to move along the predetermined track.

5. A surgical instrument driving apparatus according to claim 4, wherein the stopper portion includes a stopper provided at one side of the guide member, and the guide portion includes a guide groove formed at a side wall of the support housing;

6. The surgical instrument driving device according to claim 5, wherein an arc chute is configured at one side of the control handle, and the push button is movably disposed in the arc chute;

the preset track is the guiding track of the arc chute.

7. A surgical instrument drive as recited in claim 6, wherein the side wall of the support housing is further configured with a locating channel extending in the second direction, the locating channel having a locating pin embedded therein;

8. A surgical instrument drive as recited in claim 7, wherein the guide comprises a guide plate located at a side wall of the support housing and disposed adjacent to the side wall of the support housing where the push button is located;

9. A surgical instrument drive according to any one of claims 3 to 8, wherein the coupling assembly further comprises an elastic member connecting the guide member and the coupling member such that the coupling member is continuously snap-fitted to the push button.

10. A surgical instrument drive as claimed in claim 9, wherein the coupling member comprises a coupling block, a face of the coupling block for coupling with the push button being configured with a coupling groove, and coupling teeth engaging with an outer end face of the push button being provided in the coupling groove.

11. A surgical instrument driving device according to claim 7 or 8, wherein the pulling assembly comprises a connecting member fixedly connected to the moving member, and a pulling rod having one end connected to the connecting member and the other end connected to the positioning pin, the pulling rod being adapted to drive the positioning pin to move in the second direction.

12. A surgical instrument drive device according to claim 11, wherein the connecting member is provided with a missing portion for avoiding the control handle.

13. A surgical instrument drive according to claim 12, wherein the connecting member includes a connecting plate and a rotating support plate, one end of the connecting plate being fixed to the moving member and the other end being engaged with the rotating support plate, the rotating support plate being rotatable relative to the connecting plate about the second direction.

14. A surgical instrument drive according to any one of claims 2 to 8, wherein the rotating member comprises a drive gear fixedly connected to the output of the power mechanism;

the moving member includes a driven rack engaged with the driving gear.

15. A surgical robot, comprising:

a push button is arranged on one side of the control handle;

The surgical instrument driving device according to any one of claims 1 to 14, wherein the coupling assembly is configured to be engaged with the push button, and to drive the push button to move under the driving of the power mechanism, the transmission assembly and the pulling assembly.