[go: up one dir, main page]

WO2024234311A1 - Instrument chirurgical, instrument manuel et robot chirurgical - Google Patents

Instrument chirurgical, instrument manuel et robot chirurgical Download PDF

Info

Publication number
WO2024234311A1
WO2024234311A1 PCT/CN2023/094601 CN2023094601W WO2024234311A1 WO 2024234311 A1 WO2024234311 A1 WO 2024234311A1 CN 2023094601 W CN2023094601 W CN 2023094601W WO 2024234311 A1 WO2024234311 A1 WO 2024234311A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
instrument
tool
assembly
surgical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2023/094601
Other languages
English (en)
Chinese (zh)
Inventor
朱圣晓
李振中
孙东辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Futurtec Medical Co Ltd
Original Assignee
Shenzhen Futurtec Medical Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Futurtec Medical Co Ltd filed Critical Shenzhen Futurtec Medical Co Ltd
Priority to PCT/CN2023/094601 priority Critical patent/WO2024234311A1/fr
Publication of WO2024234311A1 publication Critical patent/WO2024234311A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • the present application relates to medical instruments, in particular to a surgical instrument, a manual instrument and a surgical robot.
  • the surgical electric drill includes an electric drill head and an electric drill motor that drives the electric drill head to operate, that is, the motor is directly connected to the electric drill head.
  • the surgical electric drill is disassembled and assembled along the axis in advance and retreat, and the drill head moves a long distance. This requires that the operating movement space at the end of the surgical instrument should be as large as possible to support the overall entry and exit operation. These defects affect the miniaturization of surgical instruments, and the space requirements for the operating room are also large. At the same time, it may also cause interference and collision between the surgical operating tools and the robotic arm.
  • the main purpose of the present application is to provide a surgical instrument, aiming to solve the problems of the prior art surgical instruments such as the inconvenience of disassembling or replacing surgical operating tools and the need for a large operating space.
  • the present application provides a surgical instrument, including a driving device, a transmission device and a clamping gear for installing an instrument tool, the central axis of the clamping gear is a hollow shaft, and a central axis hole that passes through the length of the shaft is formed inside; the instrument tool can be installed on the hollow shaft in a locked or unlocked manner; the driving device drives the hollow shaft of the clamping gear and the instrument tool to rotate through the transmission device; the instrument tool can be disassembled and assembled as a whole from the side direction of the surgical instrument.
  • the transmission device includes a gear assembly, which is connected to the clamping gear through gear meshing and/or coupling between the central axes of the gears; the gear assembly is driven by the driving device to move, driving the hollow shaft of the clamping gear and the instrument tool to rotate; the instrument tool is axially connected to the hollow shaft of the clamping gear in a lockable or unlockable manner, or the instrument tool is axially installed in the central axis hole of the clamping gear in a lockable or unlockable manner.
  • the transmission device includes an input gear, which is connected to a driving device and driven by the driving device to rotate; the transmission device also includes an output gear, the input gear and the output gear are meshingly connected to each other, and the output gear and the clamping gear are meshingly connected or coupled through the center axes of the gears; or, the input gear and the clamping gear are meshingly connected; or, the input gear and the clamping gear are coupled through the center axes of the gears; the instrument tool includes a connecting rod; the front end of the connecting rod forms or connects a surgical operating tool; the connecting rod is axially connected to the hollow shaft of the clamping gear in a lockable or unlockable manner, or, the connecting rod is axially installed in the center axis hole of the clamping gear in a lockable or unlockable manner.
  • the clamping gear is an open gear
  • the open gear is provided with a side opening, which is opened inward along the outer edge of the gear and connected to the central axis hole of the open gear
  • the instrument tool can be installed in the hollow shaft in a lockable or unlocked manner
  • the instrument tool is installed in the hollow shaft of the open gear or the instrument tool is moved out of the open gear by entering and exiting from the side opening
  • the connecting rod is installed in the central axis hole of the open gear and is connected to the open gear in a lockable or unlocked manner, and rotates synchronously
  • the connecting rod moves from the side opening of the open gear into or out of the central channel in the central axis of the open gear to realize lateral disassembly and assembly of the instrument tool
  • the open gear is meshed with the output gear of the transmission device for transmission, or the open gear is meshed with the input gear of the transmission device for transmission.
  • the surgical instrument includes a shell, and the clamping gear is installed in the shell; the shell is provided with a side opening, which is compatible with the side opening of the open gear; the side opening of the open gear is located in the side opening of the shell; the center axis of the open gear is rotatably installed in the side opening of the shell; the surgical instrument also includes a flange, which is tightly connected with the open gear and rotates synchronously; the flange has a central axis hole and is provided with a side opening; the side opening of the flange is opened inward from the outer edge to communicate with the central axis hole of the flange; the configuration of the flange and the open gear: the central axis hole is aligned and connected, and the side opening is aligned and connected, thereby forming a channel of the side opening; the instrument tool moves into or out of the central axis hole of the open gear and the flange from the channel of the side opening.
  • the instrument assembly further comprises a locking member; the instrument tool is installed in the central axis hole of the open gear along the axis, and the locking member can unlock the instrument tool and the open gear to lock the connection so as to rotate synchronously.
  • the locking member includes a paddle and a limit plate; the paddle includes a side opening and claws on both sides of the side opening; the limit plate includes a side opening; the limit plate is fastened to the flange, and the side opening of the paddle and the side opening of the limit plate are aligned and connected with the central axis hole of the open gear and the flange for the instrument tool to be inserted and installed therein; the side openings of the limit plate, the flange and the open gear are connected; the paddle is rotatably mounted on the limit plate; the paddle is configured as follows: the paddle is rotated to cause the claw to rotate into a channel formed by the limit plate, the flange and the side openings of the open gear, so as to lock and limit the instrument tool; the claw is turned away from the paddle to cause the side openings of the paddle, the limit plate, the open gear and the flange to be aligned and connected for unlocking.
  • the paddle and the limiting plate are further fixedly connected to the instrument tool via a removable fastener.
  • the locking member is a button locker; a locking sleeve is fixedly installed in the flange; a mounting hole is correspondingly provided on the instrument tool, and the button locker is inserted into the locking sleeve on the flange through the mounting hole of the instrument tool; the instrument tool and the flange can be locked or loosened by pressing the button locker.
  • the transmission device and the open gear are both installed in the housing;
  • the transmission device includes an input gear and selectively includes an output gear;
  • the inner wall of the housing is provided with a mounting groove compatible with the input gear, the output gear, and the open gear, and the housing is provided with a plurality of mounting holes to install the central axis or bearing of each gear;
  • the input gear and the output gear are meshingly transmitted;
  • the output gear and the open gear are meshingly transmitted;
  • the driving device is connected to the input gear to drive the input gear to rotate, thereby realizing the rotation of the instrument tool installed in the central axis of the open gear;
  • the open gear is rotatably mounted in the housing through a plurality of universal bearings;
  • the plurality of universal bearings are arranged between the inner side surface of the housing and the front and/or back surface of the open gear to limit the axial and radial degrees of freedom of the open gear.
  • the driving device includes a mounting bracket, and the mounting bracket is tightly connected to the housing;
  • the shell includes a front shell and a rear shell, which are fastened together to form a cavity inside; the central axis of the input gear of the transmission device passes through the through hole of the shell and is connected to the output shaft of the driving device; the front and/or back of the notched gear are provided with a V-shaped groove, and the plurality of universal bearings are arranged in the V-shaped groove; a steel ball is provided at one end of the universal bearing; the steel ball of the universal bearing is in rolling contact with the wall of the V-shaped groove, and the other end of the universal bearing cooperates with the corresponding holes on the front shell and/or the rear shell to limit the axial and radial degrees of freedom of the open gear; the V-shaped groove is an annular groove arranged along the radial arc of the open gear.
  • the instrument tool includes a connecting rod, the rear end of which forms a positioning seat; a central channel is formed in the connecting rod along the axial direction; a mounting hole is provided on the positioning seat; a surgical operation tool is formed or installed on the front end of the connecting rod; the connecting rod is axially inserted into the central axis hole of the open gear and the flange to be unlockably fixedly connected; the locking member is correspondingly provided with a mounting hole, and a fastener is inserted into the mounting hole of the positioning seat and the locking member to fix the connecting rod and the locking member, and the fixed connection is unlocked by loosening the fastener; or, a locking sleeve is fixedly installed on the flange, and the locking member passes through the mounting hole of the positioning seat and is inserted into the locking sleeve to lock the connecting rod and the flange.
  • the front end of the connecting rod is connected to a chuck, and a through central channel is formed in the chuck along the axial direction; the connecting rod is connected to the central channel of the chuck for inserting a guide needle; the chuck is used to clamp surgical operating tools.
  • the surgical instrument further includes an actuating device, which includes a driving unit, and the driving unit drives the clamping gear to move in a spatial dimension to adjust the spatial position or posture of the instrument tool.
  • the driving unit is a motor or a transmission disk, wherein the transmission disk is driven by an external motor or the surgical robot controls and drives the transmission disk to move through a sensor;
  • the actuator device includes a seat body, the driving unit is arranged in the seat body, a linear guide rail is also arranged in the seat body, and a slider is arranged on the top of the seat body;
  • the slider is provided with a moving platform, and the driving device, the transmission device and the clamping gear for installing the instrument tool are connected to the slider or the moving platform;
  • the driving unit drives the slider to reciprocate along the linear guide rail, thereby driving the driving device, the transmission device and the clamping gear for installing the instrument tool to reciprocate linearly as a whole.
  • a front end bracket is provided at the front end of the actuator device, which is used to support and position the front end or front end component of the instrument tool;
  • the front end bracket includes a base and a top cover; a through hole is provided on the top of the base; the top cover is connected to the top of the base by a pivot, and can be flipped open to cover the through hole on the top of the base; the front end or front end component of the instrument tool passes through the through hole on the top of the base to be supported and limited.
  • the manual instrument includes a first gear assembly and a second gear assembly; the first and second gear assemblies each include a pair of mutually meshing input gears and output gears; the first gear assembly is the transmission device, the input gear of the first gear assembly is connected to the driving device and the input gear is driven to rotate by the driving device; the output gear of the second gear assembly is the clamping gear; the first gear assembly and the second gear assembly are detachably connected; the output gear of the first gear assembly and the input gear of the second gear assembly are detachably connected, and the detachable connection is a gear meshing connection or a coupling connection between the center axes of the gears, so that the output gear of the first gear assembly drives the hollow shaft of the clamping gear and the instrument tool to rotate; by separating or connecting the second gear assembly and the first gear assembly, the instrument tool can be disassembled and assembled as a whole from the side direction of the surgical instrument along with the second gear assembly.
  • the instrument tool includes a connecting rod, and a surgical operating tool is formed or connected to the front end of the connecting rod;
  • the connecting rod is a hollow rod, and a central channel is formed inside along the axis and passes through the length of the rod;
  • the connecting rod is sleeved on the front end of the hollow shaft of the clamping gear and is relatively fixedly connected, and the internal center channel is connected;
  • the connecting rod is relatively fixedly connected to the hollow shaft of the clamping gear;
  • a chuck is selectively installed at the front end of the connecting rod, and a central channel is formed inside the chuck along the axis and passes through the length, which is aligned and connected with the central channel of the connecting rod; the chuck is used to releasably clamp the surgical operating tool.
  • the first gear assembly is arranged in the first shell, and the second gear assembly is arranged in the second shell, and the first shell and the second shell are detachably relatively fixedly connected;
  • the central axis of the input gear of the first gear assembly passes through the through hole set on the side wall of the first shell to be connected to the driving device;
  • the hollow shaft of the clamping gear of the second gear assembly passes through the through hole set on the side wall of the second shell and is connected to the connecting rod of the instrument tool;
  • a plurality of mounting holes or through holes are set on the first shell and the second shell, and the two ends of the central axis of each gear can be rotatably inserted into the mounting holes or through holes on the corresponding side walls of the shell, so that each gear and its central axis can be rotatably installed in the corresponding shell;
  • the driving device includes an output shaft and a mounting bracket; the mounting bracket is relatively fixedly connected to the first shell; the output shaft of the driving device is connected to the central axis of the input gear of the first gear assembly via a bearing or a coupling; each gear is sleeved on its central axis and relatively fixedly connected; the central axis of each gear is rotatably mounted in the mounting hole or through hole of the corresponding side wall of the shell via a bearing and a bearing seat; one end of the central axis of the input gear of the second gear assembly passes through the second shell and is connected to the central axis of the output gear of the first gear assembly via a bearing or a coupling.
  • the input gear and the output gear of the first gear assembly are a pair of bevel gears; the input gear and the output gear of the second gear assembly are a pair of bevel gears meshing with each other.
  • the surgical instrument further includes an actuating device, and the first and second gear assemblies and the driving device are mounted on the actuating device and driven by the actuating device to move as a whole in the spatial dimension, thereby adjusting the spatial position or posture of the instrument tool.
  • the driving device is a motor; the motor is powered by an external power source; or the motor is powered by a battery, and the motor and the battery are installed in the host.
  • the driving device includes a mounting bracket, and the mounting bracket is tightly connected to the housing.
  • the present application provides a manual instrument, including a host, wherein a battery and a control mainboard are disposed inside the host, and a switch is disposed on the host; the battery and the switch are electrically connected to the control mainboard; the surgical instrument is the surgical instrument described in any of the above embodiments; the driving device is disposed inside the host, electrically connected to the control mainboard, and powered by the battery; and the driving device is started by manually operating the switch.
  • the present application provides a surgical robot, wherein the surgical robot comprises a surgical instrument as described in any of the above embodiments; the surgical instrument is mounted on a robotic arm of the surgical robot.
  • the surgical instrument of the present application realizes lateral disassembly and assembly of instruments and tools rather than overall entry and exit.
  • the moving distance of the instruments and tools is relatively small, and the operating space required at the end of the surgical instrument is small.
  • FIG. 1 is an exploded view of an instrument assembly according to a first embodiment of the present application.
  • FIG. 2 is a three-dimensional view of the locking member according to the first embodiment of the present application.
  • FIG. 3 is an exploded view of the locking member and the flange in the first embodiment of the present application.
  • Figure 4 is a schematic diagram of the structure of the instrument assembly of the first embodiment of the present application, wherein Figure (b) is a plan view, and Figure (a) is a cross-sectional view of Figure (b) along the line A-A.
  • FIG. 5 is a diagram showing the states of the instrument assembly according to the first embodiment of the present application, wherein FIG. (a) is a diagram showing an unlocked state, and FIG. (b) is a diagram showing a locked state.
  • FIG. 6 is a perspective view of an instrument tool according to an example of the present application, wherein (a) shows a drill bit and (b) shows a ring saw.
  • FIG. 7 is a cross-sectional view of the instrument assembly according to the first embodiment of the present application.
  • FIG. 8 is an exploded view of an instrument assembly according to a second embodiment of the present application.
  • 9-10 are stereoscopic views of the instrument assembly of the second embodiment of the present application from different perspectives.
  • FIG. 11 is a cross-sectional view of an instrument assembly according to a second embodiment of the present application.
  • FIG. 12 is a perspective view of the instrument assembly of the present application.
  • FIG. 13 is a stereoscopic view of the first embodiment of the surgical instrument of the present application.
  • FIG. 14 is an exploded view of FIG. 13 .
  • FIG. 15 is a schematic diagram of the internal structure of the actuator.
  • FIG. 16 is a three-dimensional view of the first mechanical arm of the robot of the present application.
  • FIG. 17 is an exploded view of the second embodiment of the surgical instrument of the present application.
  • FIG. 18 is a three-dimensional view of the main unit of the second embodiment of the surgical instrument of the present application.
  • FIG19 is a cross-sectional view along line A-A in FIG18.
  • FIG. 20 is a plan view of the adapter of the second embodiment of the surgical instrument of the present application.
  • FIG. 21 is a cross-sectional view of the adapter of the second embodiment of the surgical instrument of the present application.
  • FIG. 22 is a stereoscopic view of a surgical instrument according to a third embodiment of the present application.
  • FIG. 23 is a partial exploded view of a surgical instrument according to a third embodiment of the present application.
  • FIG. 24 is an exploded view of the first gear assembly of the third embodiment of the present application.
  • FIG. 25 is an exploded view of the second gear assembly of the third embodiment of the present application.
  • FIG. 26 is a schematic structural diagram of an instrument assembly according to a third embodiment of the present application.
  • Figure 27 is a cross-sectional view of Figure 26 along the line A-A.
  • FIG. 28 is a schematic structural diagram of an instrument assembly according to a third embodiment of the present application.
  • FIG. 29 is an exploded view of the front end bracket of the third embodiment of the present application.
  • FIG. 30 is a schematic diagram of the structure of the mechanical arm of the surgical robot of the second embodiment of the present application.
  • first, second, etc. can be used in the text to describe multiple elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates, terms such as “first”, “second” and other numerical terms do not imply order or sequence when used in the text. Therefore, the elements, components, regions, layers or sections discussed below can be referred to as second elements, components, regions, layers or sections without departing from the teachings of the example embodiments.
  • spatial relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figure, such as “inside”, “outside”, “inner side”, “outer side”, “below”, “below”, “above”, “above”, “front end”, “rear side”, etc.
  • Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as “below other elements or features” or “below other elements or features” will then be oriented as “above other elements or features” or “above other elements or features”. Therefore, the example term “below" can include both upper and lower orientations.
  • the device can be oriented otherwise (rotated 90 degrees or in other directions) and the spatial relative descriptors used in the text are interpreted accordingly.
  • the present application provides a surgical instrument 1000 and a surgical robot 2000.
  • the surgical instrument 1000 can be suitable for manual operation, semi-automatic operation or fully automatic operation; or it can be suitable for a surgical robot and installed on a mechanical arm to perform intelligent surgical operations.
  • the surgical instrument 1000 of the present application includes a driving device 2, a transmission device, and a clamping gear 10/122 for installing an instrument tool.
  • the central axis 103/1221 of the clamping gear 10/122 is a hollow axis, and a central axis hole that passes through the axis length is formed inside; the instrument tool 5 can be locked or unlocked and installed on the hollow axis 103/1221; the driving device 2 drives the hollow axis 103/1221 of the clamping gear 10/122 and the instrument tool 5 to rotate through the transmission device; the instrument tool 5 can be disassembled and assembled as a whole from the side direction of the surgical instrument 1000.
  • the driving device 2 is used to drive the instrument tool 5 to move, and is usually used to drive the instrument tool to rotate, and the transmission device is used to transmit the power generated by the driving device 2 to the instrument tool 5.
  • the surgical instrument 1000 suitable for semi-automatic operation or full-automatic operation or surgical robot operation also includes an actuator 300, and the actuator 300 includes a driving unit, and its driving unit is used to drive the movement of the instrument assembly 100 as a whole in the spatial dimension to adjust the spatial position or posture of the instrument tool 5.
  • the actuator 300 drives the instrument assembly 100 as a whole to move forward and backward along the depth direction of the surgical operation, so that the surgical operation tool 54 installed on the instrument tool 5 reaches the surgical site.
  • the instrument tool 5 applicable to this application includes but is not limited to orthopedic instrument tools such as Kirschner wires, guide needles, sleeves, pedicle screws, bone drills, reamer drills, etc.
  • the transmission device of the surgical instrument 1000 cooperates with the clamping gear 10/122 to realize that the instrument tool 5 can be moved into or out of the surgical instrument 1000 in a lateral translation.
  • the transmission device includes a gear assembly, which is connected to the clamping gear 10/1221 by gear meshing and/or by coupling between the central axes of the gears; the gear assembly is driven by the driving device 2 to move, driving the hollow shaft 103/1221 of the clamping gear 10/122 and the instrument tool 5 to rotate.
  • the instrument tool 5 is axially connected to the hollow shaft 103/1221 of the clamping gear 10/122 in a lockable or unlockable manner, or the instrument tool 5 is axially installed in the central axis hole of the clamping gear 10/122 in a lockable or unlockable manner.
  • the transmission device includes an input gear 11/111, which is connected to the driving device 2, and the driving device 2 drives the input gear 11/111 to rotate.
  • the transmission device also includes an output gear 12/112, the input gear 11/111 and the output gear 12/112 are meshed and connected with each other, and the output gear 12/112 and the clamping gear 10/122 are meshed and connected by gears or coupled by the central axes of the gears; or, the input gear 11/111 and the clamping gear 10/122 are meshed and connected; or, the input gear 11/111 and the clamping gear 10/122 are coupled by the central axes of the gears.
  • the instrument tool 5 includes a hollow connecting rod 50; the front end of the connecting rod 50 forms or connects the surgical operation tool 54.
  • the connecting rod 50 is axially connected to the hollow shaft 1221 of the clamping gear 122 in a lockable or unlockable manner, or, the connecting rod 50 is axially installed in the central axis hole 103 of the clamping gear 10 in a lockable or unlockable manner.
  • the clamping gear of the surgical instrument 1000 is an open gear 10, and the open gear 10 is provided with a side opening 101, which is opened inward along the outer edge of the gear and communicated with the central axis hole of the open gear; the instrument tool 5 can be installed in the hollow shaft 103 in a locked or unlocked manner; the instrument tool 5 is installed in the hollow shaft 103 of the open gear 10 or the instrument tool 5 is moved out of the open gear 10 by entering and exiting from the side opening.
  • the transmission device includes an input gear 11 and an output gear 12. Referring to Fig. 16, the surgical instrument 1000 of these embodiments can be used for a surgical robot, installed on a mechanical arm 2000, and the surgical robot performs the surgical operation.
  • the surgical instrument 1000 of these embodiments can be used as a manual instrument, and the instrument assembly 100 is installed on a host 20.
  • the host of an existing manual instrument can be used, and the instrument assembly 100 of the present application can be installed on the host, and the host can be directly modified.
  • the surgical instrument 1000 includes a first gear assembly 110 and a second gear assembly 120; each of the first gear assemblies 110 includes a pair of mutually meshing input gears 111 and output gears 112; each of the second gear assemblies 120 includes a pair of mutually meshing input gears 121 and output gears 122.
  • the first gear assembly 110 serves as a transmission device, and the input gear 111 of the first gear assembly 110 is connected to the driving device 2 and driven by the driving device 2 to rotate the input gear 111.
  • the output gear 122 of the second gear assembly 120 is a clamping gear.
  • the first gear assembly 110 and the second gear assembly 120 are detachably connected.
  • the output gear 112 of the first gear assembly 110 and the input gear 121 of the second gear assembly 120 are detachably connected, and the detachable connection is a gear meshing connection or a coupling connection between the central axes of the gears, so that the output gear 111 of the first gear assembly 110 drives the hollow shaft 1221 of the clamping gear 122 and the instrument tool 5 to rotate; by separating or connecting the second gear assembly 120 from the first gear assembly 110, the instrument tool 5 can be disassembled and assembled from the side direction of the surgical instrument 1000 as a whole with the second gear assembly 120.
  • the surgical instrument 1000 of these embodiments can be used in a surgical robot, installed on a robotic arm, and the surgical robot performs surgical operations.
  • the clamping gear is an open gear 10 .
  • the embodiment of the present application provides an instrument assembly 100 and a surgical instrument 1000 for installing and driving surgical operation tools for surgical operation.
  • the surgical operation tools include but are not limited to Kirschner wires, catheters, pedicle screws, bone drills, reamer drills, etc., and can also be used to install other surgical operation tools for rotating work.
  • the instrument assembly 100 includes a gear assembly 1 and a drive device 2.
  • the instrument tool 5 is installed in the gear assembly 1.
  • the gear assembly 1 includes a housing 13, the housing 13 defines a cavity inside and an input gear 11 installed in the cavity, optionally including an output gear 12, and also including an open gear 10, and the gears are meshed and transmitted.
  • the input gear 11 and the output gear 12 serve as a transmission device.
  • the input gear 11 is meshed and transmitted with the output gear 12, and the output gear 12 is meshed and transmitted with the (clamping gear) open gear 10, so that the rotation of the input gear drives the open gear 10 to rotate.
  • One or more output gears 12 can be provided so that the open gear 10 rotates stably at a predetermined speed.
  • the open gear 10 is meshed and transmitted with the input gear 11 (as a transmission device).
  • the number of output gears 12 can be configured according to the speed required for the surgical operation tool.
  • the inner wall of the housing 13 may be provided with mounting grooves adapted to the input gear 11, the output gear 12, and the open gear 10, and the housing is provided with a plurality of through holes or mounting holes to mount the central shaft or bearings of each gear.
  • the central shaft 115 of the input gear 11 is rotatably mounted in the housing 13, and the central shaft passes through the through hole on the housing to be connected to the driving device 2.
  • the output gear 12 is rotatably mounted in the housing 13 through its central shaft or bearing.
  • the housing 13 includes a front housing 130 and a rear housing 131 assembled together, and a cavity is formed inside.
  • the housing 13 (front housing and rear housing) and the mounting bracket 21 of the driving device are fixedly connected by fasteners such as screws 7 or latches, and the screws 7 can be screws that do not fall out.
  • the housing 13, i.e., the front housing 130 and the rear housing 131 are provided with a side opening 132, which is opened from the outer edge to the inside with a predetermined width, and is adapted to the side opening 101 of the open gear 10, and the side opening 101 of the open gear 10 is consistent with the side opening 132 of the housing.
  • the side opening 101 of the open gear 10 is located inside the side opening 132 of the housing 13, and the central axis 103 of the open gear 10 is rotatably installed in the side opening 132 of the housing 13.
  • the instrument tool 5 can be moved out of the side opening 101 of the open gear 10 (or the side opening 132 of the housing) or moved into its central axis hole (or the central channel in the axial direction).
  • the side of the open gear 10 is formed with a side opening 101, which is opened inward along the outer edge of the gear and connected to the central axis hole of the open gear 10.
  • the side opening 101 has a width.
  • the instrument tool 5 is installed in the central axis hole of the gear 10 or removed from the central axis in a way of moving in and out from the side opening 101, and there is no need to install or remove the instrument tool in a way of moving forward and backward as a whole along the length direction of the central axis to reduce the moving distance.
  • the central axis 103 of the open gear 10 is set as a hollow shaft, and a central channel or central axis hole is formed in the axial direction for installing the instrument tool 5.
  • the side opening 101 is connected from the outer edge of the gear to its central channel (or central axis hole).
  • the instrument tool 5 is disassembled by moving into or out of the hollow shaft 103 from the side opening 101.
  • the open gear 10 is limitedly installed by setting a universal bearing 14.
  • One end of the universal bearing 14 is a steel ball, and an annular V-shaped groove 102 is provided on the open gear 10; multiple universal bearings 14 are distributed along the annular V-shaped groove, and the steel balls are placed in the V-shaped groove 102.
  • the steel balls at one end of the universal bearing 14 are in rolling contact with the wall surface of the V-shaped groove 102, and the other end is installed in the corresponding holes on the front shell 130 and the rear shell 131, so as to limit the axial and radial freedom of the open gear 10, so that the open gear 10 can be rotatably installed in the housing 13.
  • the V-shaped groove 102 can be set on the front and/or back of the open gear 10 and along the radial arc direction of the open gear, and the universal bearing 14 is arranged along the arc in the V-shaped groove 102.
  • the instrument assembly 100 also includes a flange 60, which is fixedly connected to the open gear 10, specifically installed at the rear end of the hollow shaft 103 of the open gear 10, and is fastened to rotate synchronously.
  • the flange 60 and the rear end of the central axis of the open gear 10 are matched through a slot, and the hole walls of the central axis holes of the two are correspondingly provided with mounting holes, and fasteners such as screws 9 are inserted to fix the flange 60 to the open gear 10.
  • the flange 60 is located outside the housing 13 (rear housing 131).
  • the flange 60 is provided with a side opening 601, and the side opening 601 is connected from the outer edge of the flange 60 to its central axis hole.
  • the central axis hole is aligned and connected, and the side openings 101 and 601 are aligned and connected, thereby forming a channel 65 of the side opening.
  • the instrument tool 5 moves in and out of the central axis hole of the open gear 10 and the flange 60 from the channel 65 of the side opening to install or remove.
  • the instrument assembly 100 of the present application also includes a locking member 6.
  • the instrument tool 5 is installed in the central axis hole 103 of the open gear 10 along the axis, and the locking member 6 can unlock the locking connection between the instrument tool and the open gear to rotate synchronously.
  • the instrument assembly 100 also includes a driving device 2.
  • the driving device 2 is connected to the input gear 11 to drive the input gear 11 to rotate, thereby driving the instrument tool 5 installed in the central axis 103 of the open gear 10 to rotate.
  • the driving device 2 is a motor, and the output shaft 21 of the motor is connected to the central axis 115 of the input gear 11 to drive the input gear 11 to rotate.
  • the instrument assembly 100 includes a gear assembly 1, the gear assembly 1 includes a channel 65 with a side opening, and the instrument tool 5 can be installed in the central axis hole of the open gear and the flange in a side-entry and exit manner through the channel 65 with a side opening, or the instrument tool 5 can be removed.
  • the instrument assembly 100 also includes a locking member 6.
  • the locking member 6 includes a paddle 61 and a stop plate 62.
  • the paddle 61 and the limit plate 62 each form a side opening, which is connected to the central axis hole of the open gear 10 and the flange 60 and the side openings 101 and 601 to form a side opening channel 65.
  • the instrument tool 5 moves from the side opening channel 65 into the central axis hole of the open gear 10 and the flange 60 and is locked or unlocked by the paddle 61.
  • the paddle 61 is configured to rotate along the limit plate 62, and can also rotate relative to the central axis 103 of the open gear 10 or the connecting rod 50 of the instrument tool, and rotate to a predetermined position to lock or unlock the instrument tool 5 (connecting rod 50).
  • the locking member 6 is relatively fixedly connected to the flange 60 through the limit plate 62; for example, mounting holes are correspondingly provided on the limit plate 62 and the flange 60, and fasteners such as screws 9 are inserted into the mounting holes for fixed connection.
  • the paddle 61 forms a side opening 611 from the outer edge to the inside, and the limit plate 62 forms a side opening 621 from the outer edge to the inside.
  • the side opening 611 of the paddle 61 is set as a U-shaped opening, and the two sides of the U-shaped opening form (arc-shaped) claws 613, and the edge of the paddle 61 can form a protruding paddle portion 610 to facilitate the operation of the paddle.
  • a hole 614 is also provided on the paddle 61 for mounting a universal bearing 63.
  • a plurality of universal bearings 63 are correspondingly placed in the plurality of holes 614 on the paddle 61.
  • One end of the universal bearing 63 is a steel ball. The steel ball rolls with the hole wall of the corresponding hole provided on the limiting plate 62 to limit the axial and radial degrees of freedom of the paddle 61.
  • the hole 614 can be a through hole or a non-through hole.
  • the limiting plate 62 is provided with slideways 620 and 622 of a predetermined arc length.
  • the slideways 620 and 622 form a step, and the paddle 61 can rotate along the slideways 620 and 622.
  • the claw portion 613 of the paddle 61 is located in the slideway 620 and is limitedly slidably matched, and the arc edges cooperate with each other;
  • the protruding paddle portion 610 is located in the slideway 622 and protrudes outward and is slidably matched, so as to facilitate the paddle to be moved.
  • the paddle 61 rotates to a corresponding position along the slides 620 and 622, and the rotation position is set as follows: when the side opening 611 of the paddle 61 is aligned with the side opening 101 of the open gear 10 (located in the side opening 132 of the shell 13), the side opening 601 of the flange 60, and the side opening 621 of the limiting plate 62 to form a through side opening channel 65, the connecting rod 50 of the instrument tool is in an unlocked state within the central axis of the open gear and can be moved laterally out of the channel 65 ( Figure 5 (a)); when the paddle 61 is rotated until its claw 613 is located in the side opening channel 65 ( Figure 5 (b)), the connecting rod 50 of the instrument tool is blocked and limited by the claw 613 of the paddle 61 and locked in the channel 65; for example, when the paddle is rotated from the unlocked position by a predetermined angle, such as 60°, the instrument tool 5 is locked and cannot be removed, thereby preventing the instrument tool from being moved out.
  • a fastener can be used to further fix and install the instrument tool 5.
  • a pull pin 52 is inserted into the mounting hole provided on the connecting rod 50 of the surgical tool, passes through the mounting hole 623 provided on the limit plate 62, and is inserted into the mounting hole 612 of the paddle 61 for further fixed connection.
  • a compression spring 53 can be sleeved on the pull pin 52 to elastically press the pull pin 52 against the mounting hole 612 of the paddle to lock it.
  • the instrument tool 5 of the present application includes a connecting rod 50, wherein a central axis hole or a central channel is formed along the central axis or the length of the rod, and a positioning seat 56 with an increased outer diameter can be provided at the rear end.
  • the front end of the connecting rod 50 can be connected to a chuck 51 as required, and the chuck 51 can detachably clamp and install the front end assembly, i.e., the surgical operation tool; or, the front end assembly, i.e., the surgical operation tool, is formed at the front end of the connecting rod 50, as shown in Fig.
  • the chuck 51 can be used to clamp and install surgical operation tools such as a guide pin 54 or a drill bit.
  • the hollow connecting rod 50 is installed in the central channel of the open gear 10, and the limiting plate 62 is locked with the positioning seat 56 of the connecting rod by a fastener.
  • a slot is provided on the connecting rod 50, and the inner edge of the lateral opening of the limiting plate 62 is clamped and installed in the slot of the connector 50.
  • the positioning seat 56 is provided with a through hole (mounting hole) 560, which is aligned with the through hole (mounting hole) 623 on the limiting plate 62 and the mounting hole 612 of the paddle 61.
  • a fastener such as a pull pin 52 is inserted into the mounting holes 560, 623, and 612, thereby fixing the positioning seat 56 to the limiting plate 62 and the paddle 61.
  • the positioning seat 56 can be loosened by pulling out the pull pin 52.
  • the central axis hole and the side opening 101 (located in the side opening 132 of the housing 13) of the open gear 10 are aligned to form a side opening channel 65, and the connecting rod 50 of the instrument tool is moved laterally into the channel 65, and the front end of the chuck 51 extends out of the housing 13; the positioning seat 56 is located behind the limit plate 62.
  • the paddle 61 is moved to rotate its claw 613 into the channel 65 to lock the instrument tool, i.e., the connecting rod 50, and the positioning seat 56 is further fixedly connected to the locking member 6 by the pull pin 52.
  • the pull pin 52 is pulled out, and the paddle 61 is moved to rotate its claw 613 to leave the channel 65, and the side opening 612 of the paddle is aligned and connected with the channel 65, thereby unlocking the connecting rod 50 of the instrument tool, and the pull pin 52 is pulled out, so that the instrument tool 5 can be moved out laterally as a whole.
  • a pull pin 52 and a compression spring 53 sleeved on the pull pin 52 are configured to further fix the connection between the connecting rod 50 and the locking member 6 or the flange 60 or the open gear 10 .
  • the instrument tool 5 After the instrument tool 5 is moved from the side opening 101 into the central shaft hole of the open gear 10 and locked, it is driven by the open gear 10 to rotate synchronously.
  • the instrument tool 5 can be removed from the central shaft hole through the side opening 101.
  • the connecting rod 50 of the instrument tool 5 can be installed in the central shaft 103 in a locked or unlocked manner.
  • the connecting rod 50 is a hollow rod, and an axial hole or a central channel that passes through the length of the rod is formed in the direction of the central axis, which can be used to insert a guide needle.
  • the instrument assembly 100 includes a gear assembly 1, the open gear 10 of the gear assembly 1 is aligned with the central axis hole and the side opening of the flange 60, forming a side opening channel 65, and the instrument tool 5 (connecting rod 50) can be moved into or out of the central axis 103 of the open gear 10 from the side opening channel 65 to achieve the side disassembly and replacement of the surgical tool.
  • the instrument assembly 100 also includes a locking member 6. Compared with the first embodiment, the main difference of this embodiment is that the locking member 6 uses a locking device 64 to replace the above-mentioned limit plate 62 and the paddle 61.
  • the locking device 64 can use a quick locking device of the prior art, such as a button locking device, and the locking device sleeve 640 of the locking device 64 is fastened and installed in the mounting hole 602 set on the flange 60, and the inner side of the locking device sleeve 640 is formed with an inclined surface.
  • the button locker 64 includes a button 641, a hollow body 642, a wedge block 643, a compression spring sleeved on the wedge block, and a ball 644. A groove is formed on the wedge block 643 to accommodate the ball 644.
  • the locker 64 When locking, the locker 64 is inserted into the mounting hole 560 on the positioning seat 56 of the connecting rod 50 and the locker sleeve 640 in the flange 60, and the button 641 of the button locker is pressed down, and the ball 644 in the locker body is retracted into the groove of the wedge block.
  • the button 641 After the button locker is inserted into the quick locker sleeve, the button 641 is released, and the wedge block rebounds to make the ball pop out and press tightly on the inclined surface inside the locker sleeve 640 to lock, so that the connecting rod 50 (or the positioning seat 56) is fixedly connected to the flange 60, and the connecting rod 50 (the instrument tool 5) is locked in the central axis hole of the open gear 10 and the flange 60.
  • the button locker 64 can be pulled out from the locker sleeve 640, so that the connecting rod 50 (or the positioning seat 56) and the flange 60 are loosened, and the instrument tool 5 (including the connecting rod 50 and its front end component) can be moved out as a whole from the central axis hole of the open gear 10 and the flange 60 through the side opening channel 65, thereby realizing the side disassembly and assembly of the instrument tool 5.
  • the gear assembly 1 in this embodiment is the same as the first embodiment.
  • the input gear 11, (optionally including) the output gear 12 and the open gear 10 of the gear assembly 1 are rotatably mounted in the cavity inside the housing 13.
  • the inner wall of the housing can be provided with mounting grooves adapted to the input gear 11, the output gear 12 and the open gear 10, and the gears are meshed and driven.
  • the central axis 115 of the input gear 11 is rotatably mounted in the housing 13, and the central axis passes through the through hole on the housing and is connected to the output shaft of the rear driving device 2.
  • the central axis 103 of the open gear 10 is rotatably mounted in the side opening 132 of the housing 13.
  • the open gear 10 is axially and radially limited by providing a plurality of universal bearings 14.
  • the steel ball at one end of the universal bearing 14 rolls in contact with the wall surface of the open gear 10 provided with an annular V-shaped groove 102, thereby limiting the axial and radial freedom of the open gear 10.
  • the housing 13, i.e., the front housing 130 and the rear housing 131, are provided with side openings 132 accordingly, and the side opening 101 of the open gear 10 is located in and aligned with the side opening 132 of the housing.
  • the central axis 103 of the open gear 10 is set as a hollow shaft with a side opening, which is connected to the side opening 101 of the gear.
  • the instrument tool 5 or the connecting rod 50 moves into or out of the hollow shaft 103 from the side opening 101.
  • the connecting rod 50 of the instrument tool 5 is inserted into the central axis hole of the open gear 10 and the flange 60, and the positioning seat 56 of the connecting rod 50 is locked with the flange 60 by the locking device 64, and the instrument tool 5 is driven by the open gear 10 to rotate synchronously.
  • the connecting rod 50 is a hollow rod, and a central channel is formed along the central axis direction, and a positioning seat 56 is formed at the rear end of the connecting rod 50.
  • the central channel of the connecting rod 50 is connected to the central axis hole of the chuck 51 at the front end, and can be used to insert a guide needle.
  • the instrument assembly 100 of the present application further includes a driving device 2.
  • the driving device 2 is used to drive the instrument tool 5 to rotate.
  • the driving device 2 may be external or internal, such as internally installed in a host.
  • the driving device 2 may be connected to an external power source such as an AC power source via a cable, or may be electrically connected to a control system of a robot, and the driving device may be controlled by the control system.
  • the drive device 2 When the drive device 2 is configured in a built-in manner, it can be powered by a battery.
  • the drive device 2 is built into a host, and a battery and a control circuit board are also provided in the host, and the battery powers the drive device 2.
  • This method is generally used for surgical instruments in a manually operated manner.
  • the drive device 2 includes an output shaft 21, and the output shaft 21 is connected to the central shaft 115 of the input gear 11 of the gear assembly 1 to drive the input gear 11 to rotate.
  • the drive device 2 usually uses a motor, and the output shaft 21 of the motor is connected to the central shaft 115 of the input gear 11 of the gear assembly to drive the input gear 11 to rotate.
  • an embodiment of the surgical instrument 1000 of the present application includes an instrument assembly 100 and an actuator 300.
  • the actuator 300 includes a seat 310 and a driving unit in the seat.
  • the actuator 300 is used to drive the movement of the instrument assembly 100 in a spatial dimension, that is, to adjust the position or posture of the surgical operating tool of the instrument tool 5 in a spatial dimension.
  • the actuator 300 can also be used to support and install the instrument assembly 100 and can be used to install the surgical instrument 1000 on a robotic arm.
  • the driving device 2 of the instrument assembly 100 includes a mounting bracket 21, and the bracket 21 is connected to the housing 13 of the gear assembly 1, for example, the front housing 130, the rear housing 131 and the bracket 21 are fixedly connected by fasteners such as screws 7 that do not come out.
  • the output shaft of the driving device 2 is coupled to the central axis 115 of the input gear 11 of the gear assembly 1, or the input gear 11 is mounted on the output shaft of the driving device 2, so that the driving device 2 drives the input gear 11 to rotate.
  • the input gear 11 is meshed with the output gear 12, and the output gear 12 is meshed with the open gear 10, and the input gear 11 drives the open gear 10 to rotate through the output gear 12.
  • One or more output gears 12 may be provided as needed, or no output gear may be provided, and the input gear 12 is meshed with the open gear 10 for transmission.
  • the input gear 11, the output gear 12 cooperate with the open gear 10 to achieve continuous rotation of the open gear 10.
  • two output gears 12 are symmetrically installed between the input gear 11 and the open gear 10 in the upper and lower positions to realize the continuous rotation of the open gear 10 driven by the input gear 11, thereby driving the instrument tool 5 installed in the central axis of the open gear 10 to rotate.
  • the driving device 2 generally adopts a motor, which is connected to the housing 13 of the gear assembly via a bracket 21, and at the same time, the output shaft of the motor is connected to the input gear of the gear assembly.
  • the actuator 300 provides power for the linear motion of the instrument assembly 100, so that the instrument assembly 100 as a whole performs linear reciprocating motion; for example, the linear reciprocating motion is in the depth direction, so that the surgical operation tool feeds.
  • the actuator 300 provides power for linear motion, which can be provided by a ball screw assembly or a linear motor.
  • a drive unit 3 is installed inside the seat body 310 of the actuator 300.
  • the drive unit 3 is a motor or other electric drive form, or a transmission disc; the transmission disc is driven by a power device arranged in the robot or outside.
  • the drive unit 3 is a motor, which is installed inside the seat body 310.
  • a transmission device 30 is arranged inside the seat body 310, and the transmission device is connected to the slider 320.
  • the slider 320 is driven to reciprocate by the drive unit 3 through the transmission device 30.
  • the transmission device 30 is a ball screw assembly, including a ball screw 32 and a screw nut 31, and the screw nut 31 is sleeved on the ball screw 32.
  • the ball screw 32 is coupled and connected to the output shaft of the drive unit 3 through a bearing 36 and a coupling 35, and rotates synchronously.
  • the ball screw 32 is driven to rotate by the drive unit 3, so that the screw nut 31 reciprocates along the ball screw 32 in a straight line.
  • a linear guide 313 is installed on the bottom wall of the seat body 310 for guiding the linear motion of the lead screw nut 31, and the lead screw nut 31 is slidably connected to the linear guide 313.
  • Limiting blocks 312 are provided at both ends of the linear guide 313 for limiting the motion position of the guide nut 31.
  • End seats 34 and 37 are also installed on the bottom wall of the seat body 310 to support the two ends of the ball screw 32 respectively.
  • the instrument assembly 100 is connected to the slider 320, and the slider 320 drives the instrument assembly 100 to reciprocate linearly.
  • the linear reciprocating motion of the instrument assembly 100 can be along the depth direction of the surgical site, so that the surgical operating tool can enter or exit the surgical site.
  • the slider 320 is arranged at the top of the seat body 310 and is connected to the lead screw nut inside the seat body 310; the slider 320 is provided (or connected) with a mobile platform 330, and the instrument assembly 100 is installed on the mobile platform 330 and/or the slider 320, and the slider 320 drives the mobile platform 330, thereby driving the instrument assembly 100 to reciprocate linearly on the top of the seat body.
  • the front end of the actuator 300 is equipped with a front bracket 4, which is used to support the front end components of the instrument tool 5, such as supporting the front end of the guide needle sleeve 55 or the connecting rod 50.
  • the front end of the connecting rod 50 is installed on the chuck 51, and the connecting rod 50 is connected to the channel (or axial hole) in the direction of the central axis of the chuck, and a guide needle (Kirschner wire) 54 can be inserted.
  • the front end of the guide needle 54 is inserted into the guide needle sleeve 55, and the guide needle sleeve 55 is supported and positioned by the front bracket 4.
  • the top cover of the front bracket 4 is opened, and the chuck 51 is loosened to replace the guide needle for secondary needle placement.
  • the instrument tool 5 is a needle placement tool
  • the guide needle is installed in the chuck 51;
  • the instrument tool is a bone drill
  • the drill bit is installed in the chuck 51, and the installation of the guide needle or drill bit in the chuck 51 can be realized by adopting the structure of the prior art.
  • the instrument tool 5 is a ring saw, the front end (or head) of the connecting rod 50 is provided with saw teeth, and the chuck 51 is not required, and the front end is supported and positioned by the front bracket 4.
  • the surgical instrument 1000 of the present application the instrument tool 5 is moved from the side opening 101 into the central axis 103 installed in the open gear 10, and the locking member 6 locks the connecting rod 50.
  • the surgical instrument 1000 of the first embodiment of the present application includes an instrument assembly 100 and an actuator 300, which can be applied to a surgical robot, and the actuator 300 is installed on a robotic arm 2000.
  • the actuator 300 provides power to realize the reciprocating motion of the instrument tool along the surgical depth direction
  • the driving device 2 provides power to realize the rotational motion of the instrument tool.
  • the locking member 6 can be loosened to move the instrument tool out of the central axis 103 of the open gear 10 from the channel 65 of the side opening of the gear assembly 1.
  • an embodiment of a surgical robot of the present application is provided with a surgical instrument 1000 in the above embodiment mounted on a robotic arm 2000.
  • the actuator 300 of the surgical instrument is mounted on a joint of the robotic arm.
  • the robot can control the movement of the surgical instrument 1000 through sensors.
  • the surgical robot includes a control system, which can be designed according to the prior art, and the control system controls the driving unit of the actuator 300 and controls the operation of the driving device 2 of the surgical instrument 1000.
  • the actuator 300 is a base or a bottom plate, and the actuator 300 is not provided with a driving unit, and is only used to support and install the instrument assembly 100 .
  • the instrument assembly 100 of the present application is applied to an embodiment of a manual instrument 1000.
  • the manual instrument 1000 includes a manual host 20, and the drive device 2 is installed inside the host 20.
  • the existing host is used to replace the external power supply electric drive method of the previous embodiment, and manual operation is achieved.
  • the manual instrument 1000 of this embodiment does not need to be configured with an actuator 300.
  • the output shaft 26 of the drive device 2 is connected to the central axis 115 of the input gear 11 of the gear assembly 1 through an adapter 22 to drive the input gear 11 to rotate.
  • the input gear 11 and the output gear 12 cooperate with the open gear 10 to realize the continuous rotation of the open gear 10, thereby driving the instrument tool 5 installed in the hollow shaft 103 of the open gear 10 to rotate.
  • the main machine 20 is an existing structure, and the instrument assembly 100 of the present application is used to transform the existing hand tool.
  • a quick-release limit sleeve 27 and a sliding sleeve 28 are provided at the head of the main machine 20 and at the front end of the output shaft 26.
  • the sliding sleeve 28 is sleeved on the quick-release limit sleeve 27 and the outside of the limit sleeve 27.
  • a compression spring 25, a ball 24 and a snap ring 23 are provided between the limit sleeve 27 and the sliding sleeve 28.
  • the snap ring 23 is fixed on the quick-release limit sleeve 27 to limit the forward sliding distance of the sliding sleeve 28.
  • the compression spring 25 is sleeved on the quick-release limit sleeve 27, one end of which is fixed on the quick-release limit sleeve 27, and the other end is pressed against the sliding sleeve 28.
  • the ball 24 moves in the hole on the quick-release limit sleeve 27.
  • the adapter 22 is in the shape of a hollow sleeve, and a coupling 222 is provided inside.
  • the front end of the coupling 222 is connected to the central axis 115 of the input gear 11 of the gear assembly, and the rear end is connected to the output shaft of the main machine (driving device) 2.
  • the driving device 2 in the main machine drives the input gear 11 to rotate, so as to drive the instrument tool 5 to rotate.
  • the central axis 115 of the input gear 11 is inserted into the front end of the adapter 22.
  • the rear end of the adapter 22 is inserted into the front end of the main machine (driving device) 2.
  • the outer wall of the adapter 22 is provided with a rotation-stopping boss 220 and a matching groove 221.
  • the adapter 22 is used to quickly connect the instrument assembly 100 to the main machine (driving device) 2.
  • the adapter 22 can be an existing structure.
  • the quick-release assembly process is as follows: slide the sliding sleeve 28 backward, insert the adapter 22 into the host 20, connect the coupling 222 of the adapter to the output shaft 26 of the host 20, and connect the anti-rotation boss 220 on the adapter 22 to the corresponding notch on the quick-release limit sleeve 27 of the host 20. Then slide the sliding sleeve 28 forward, and the ball 24 will be pressed into the hole of the quick-release limit sleeve along the inclined surface of the sliding sleeve 28. Finally, a part of the ball 24 will enter the matching groove 221 of the adapter 22. At this point, the connection between the host 20 and the adapter 22 is completed.
  • the host 20 contains a drive device 2 (usually a motor), a battery, and a control circuit board for providing power.
  • the drive device 2 and the battery are electrically connected to the control circuit board.
  • a switch is provided on the host 20, and the switch is electrically connected to the control circuit board for controlling the operation of the motor.
  • the motor rotates after pressing the switch, and the motor output shaft 26 drives the central axis 115 of the gear assembly 1 to rotate.
  • the instrument tool 5 installed in the central axis hole of the open gear 10 is driven to rotate to perform surgical operations.
  • the instrument assembly 100, surgical instrument 1000 and surgical robot of the above-mentioned embodiments have the following advantages:
  • the drill bit or guide wire can be kept in place, and the tail of the Kirschner wire can be moved out from the side along with the chuck and the connecting rod. Therefore, when disassembling and replacing surgical operating tools, the moving distance of the instruments and tools is small, and the required operating space is small;
  • the instrument tool 5 can be used for Kirschner wires of different lengths: the connecting rod 50, the chuck 51 and the central axis 103 of the open gear 10 are hollow-shaped and can accommodate Kirschner wires of different lengths, so as to meet the requirements of different surgical procedures for Kirschner wires of different specifications;
  • the automatic needle placement platform is smaller and has a simpler structure:
  • the structural design of the gear assembly 1 allows the instrument to be taken out and loaded as a whole, and there are no electronic components, so it is no longer limited by electronic components such as sensors, sterilization and other sealing structures;
  • the surgical instrument using the open gear 10 is very novel in the field of medical devices. On the one hand, it can be used with an automatic needle placement module, and on the other hand, it can also be compatible with existing manual needle placement tools, which is conducive to adapting to different styles of operating habits and can also provide cost-effectiveness of the product.
  • the clamping gear is the output gear 122 of the second gear assembly 120 .
  • the surgical instrument 1000 of the third embodiment of the present application can be suitable for manual operation, semi-automatic operation or fully automatic operation; or suitable for a surgical robot, installed on a mechanical arm 2000 to realize intelligent surgical operation.
  • the surgical instrument 1000 includes an instrument assembly 100, and the instrument assembly 100 includes a drive device, a transmission device, and a clamping gear for installing an instrument tool 5.
  • the instrument assembly 100 includes a first gear assembly 110 and a second gear assembly 120.
  • the transmission device is the first gear assembly 110, and the clamping gear is arranged in the second gear assembly 120.
  • the drive device 2 is used to drive the instrument tool 5 to move, and is generally used to drive the instrument tool 5 to rotate, and the transmission device is used to transmit the power generated by the drive device 2 to the instrument tool 5.
  • the surgical instrument 1000 suitable for semi-automatic operation or fully automatic operation or surgical robot operation also includes an actuator 300 (with reference to FIG. 15), and the actuator 300 includes a driving unit, and the driving unit is used to drive the movement of the instrument assembly 100 as a whole in the spatial dimension to adjust the spatial position or posture of the instrument tool.
  • the actuator 300 drives the instrument assembly 100 as a whole to move forward and backward along the depth feed direction of the surgical operation (or the Z direction of the XYZ spatial coordinate system) to adjust the position of the surgical operation tool in the depth direction.
  • the actuator 300 may not be provided, and the instrument assembly 100 may be supported by a base plate or a base.
  • the driving device 2 of the instrument assembly 100 usually adopts a motor to drive the instrument tool to rotate.
  • the first gear assembly 110 i.e., the transmission device, includes an input gear 111, which is coupled to the driving device 2 to drive the input gear 111 to rotate.
  • the transmission device also includes an output gear 112, and the output gear 112 is driven by gear meshing with the input gear 111.
  • the second gear assembly 120 includes a pair of mutually meshing input gears 121 and output gears 122, wherein the output gear 122 is a clamping gear.
  • the instrument tool 5 is mounted on the front end of the central axis (hollow shaft) 1221 of the output gear/clamping gear 122.
  • the front end assembly of the instrument tool 5 is a surgical operation tool.
  • the driving device 2 drives the first gear assembly 110, drives the input gear 121 of the second gear assembly 120 to move, thereby driving the surgical operation tool in the clamping gear 122 to move.
  • the output gear 112 of the transmission device and the input gear 121 of the clamping gear are driven by gear meshing, or the central axis coupling of the gears realizes synchronous rotation.
  • the actuator 300 provides the motion power of the instrument assembly 100 in the spatial dimension.
  • the actuator 300 is used to support and install the instrument assembly 100, and is used to install the surgical instrument 1000 on the robot arm 2000 ( Figure 30).
  • the actuator 300 includes a seat body 310 and a drive unit 3 in the seat body.
  • the drive unit 3 is a motor or other electric drive form, and can also be a transmission disk; the transmission disk is driven by a power device set in the robot or outside.
  • a slider 320 is provided at the top of the seat body 310 of the actuator 300, and the instrument assembly 100 is connected to the slider 320.
  • the driving unit 3 drives the slider 320 to drive the instrument assembly 100 to move, or the driving unit 3 is connected to the slider 320 through the transmission assembly and drives the slider to move, and the slider 320 drives the instrument assembly 100 to move.
  • the driving unit 3 is a motor, which is installed inside the seat body 310.
  • a transmission mechanism 30 is provided inside the seat body 310, and the transmission device is connected to the slider 320, and the driving unit 3 drives the slider 320 to reciprocate through the transmission mechanism 30.
  • the transmission mechanism 30 is a ball screw assembly, including a ball screw 32 and a screw nut 31, and the screw nut 31 is sleeved on the ball screw 32.
  • the ball screw 32 is coupled to the output shaft of the drive unit 3 through the bearing 36 and the coupling 35, and rotates synchronously.
  • the ball screw 32 is driven by the drive unit 3 to rotate, so that the screw nut 31 reciprocates linearly along the ball screw 32.
  • a linear guide 313 is installed on the bottom wall of the seat body 310 to guide the linear motion of the screw nut 31, and the screw nut 31 is slidably connected to the linear guide 313.
  • a linear motor is arranged inside the seat body 310 of the actuator 300, and the slider 320 is connected to the mover of the linear motor and reciprocates along the linear guide.
  • the slider 320 drives the instrument assembly 100 to reciprocate linearly, which can be along the depth direction of the surgical site, so that the surgical operating tool can enter or exit the surgical site.
  • the transmission device of the embodiment of the present application is a first gear assembly 110, and the clamping gear 122 is set as the output gear of the second gear assembly 120.
  • the two gear assemblies 110 and 120 are connected by a coupling shaft of the gear center axis, and the gear center axes can be separated or coupled to achieve the installation or removal of the second gear assembly 120, so as to achieve the purpose of installing or removing the instrument tool 5 from the side with the second gear assembly as a whole.
  • the first gear assembly 110 is connected to the driving device 2, and the driving device 2 drives the first gear assembly 110 to move, and the first gear assembly drives the second gear assembly 120 to move.
  • the transmission device that is, the first gear assembly 110 and the second gear assembly 120, each includes a pair of meshing input gears and output gears.
  • the first gear assembly and the second gear assembly each include a pair of meshing bevel gears (or helical gears).
  • the driving device 2 of the instrument assembly 100 is used to drive the instrument tool 5 to rotate.
  • a motor is used, which is connected to the slider 320 and the mobile platform 330 installed on the actuator 300 through the motor bracket 21.
  • the slider 320 is connected to the mobile platform 330.
  • the mobile platform 330 is used to support the instrument assembly 100; the slider 320 drives the mobile platform and the instrument assembly 110 to move as a whole.
  • the first gear assembly 110 and the second gear assembly 120 are connected to each other in a side-separable manner, and the driving device 2 drives the gear in the first gear assembly 110 to move.
  • the driving device 2 is connected to the actuating device 300 and the housing 113 of the first gear assembly 110 through the motor bracket 21, and the output shaft of the driving device 2 is connected to the central axis 1111 of the first gear assembly 110.
  • the motor bracket 21 is mounted on the mobile platform 330, for example, by a non-detachable screw, a positioning pin combined with a fixed block, etc.
  • the mobile platform 330 is a part of the slider 320 of the actuating device 300 or is connected to the slider 320.
  • the front end of the base 31 of the actuating device 300 can be provided with a front end bracket 4 as needed.
  • the first gear assembly 110 as a transmission device and the second gear assembly 120 including a clamping gear each include a pair of bevel gears meshing vertically with each other.
  • One of the two bevel gears of the first gear assembly 110 (input gear) is connected to the driving device 2 and driven to rotate by the driving device.
  • the other bevel gear (output gear) or its central axis of the first gear assembly 110 cooperates with the input gear or its central axis of the second gear assembly 120.
  • a laterally separable shaft connection is formed between the central axes, and they rotate synchronously.
  • the instrument tool 5 is clamped at the front end of the central axis of the output gear (clamping gear) of the second gear assembly 120, and the input gear and the output gear of the second gear assembly 120 are meshed and driven by bevel gears.
  • the driving device 2 drives the input gear of the first gear assembly 110 to rotate, through the mutual meshing transmission of a pair of bevel gears of the first gear assembly, the shaft connection transmission between the central axis of the output gear of the first gear assembly and the central axis of the input gear of the second gear assembly 120, and the meshing transmission between a pair of bevel gears of the second gear assembly 120, to drive the central axis of the output gear of the second gear assembly 120 to rotate, so that the output gear of the second gear assembly 120, that is, the central axis 1221 of the clamping gear, is installed and the instrument tool 5 is stably rotated to perform surgery.
  • the two sets of gear assemblies 110 and 120 each include a pair of bevel gears 111/112, 121/122 that mesh with each other.
  • the first gear assembly 110 and the second gear assembly 120 can be connected to each other in a side-separable manner so as to realize the disassembly and assembly of the instrument tool 5 with the second gear assembly.
  • the bevel gears 111/112, 121/122 are respectively mounted on their central axes through bearings, and each gear is clamped and connected to its central axis and can rotate synchronously.
  • the first gear assembly 110 and the second gear assembly 120 are respectively arranged in the first housing 113 and the second housing 123.
  • the housings 113 and 123 are box bodies, with cavities formed inside, and the tops are respectively covered by covers 1130 and 1230; a number of through holes are correspondingly arranged on the side walls of the housings, and the central axes of the bevel gears 111/112, 121/122 are rotatably mounted on the first housing 113 or the second housing 123 in cooperation with bearings and bearing seats.
  • the first gear assembly 110 includes a pair of first bevel gears 111 and second bevel gears 112 that mesh vertically with each other, wherein the first bevel gear 111 is used as the input gear of the transmission device, and is installed on the central shaft 1111 of the gear through a bearing 1112, and is relatively fixedly connected to rotate synchronously.
  • One end of the central shaft 1111 is rotatably installed in the through hole of the side wall of the first housing 113 through a bearing and a bearing seat, and the other end is connected to the output shaft of the driving device 2, and the first bevel gear 111 is driven to rotate by the driving device 2.
  • one end (input end) of the central shaft 1111 of the first bevel gear 111 is rotatably installed in the housing 113 through a bearing 1119 installed in the through hole of the side wall of the first housing 113 and a bearing seat 1118 outside the hole, and is axially connected to the output shaft of the driving device 2 through a bearing 1117.
  • the bearing seat 1118 is fixedly installed outside the through hole of the side wall of the first housing 113, and the bearing 1117 is matched with the output shaft of the motor; the bearing 1119 is matched with the input end of the central shaft 1111.
  • the first bevel gear 111 is fixedly mounted on the end (output end) of the central shaft 1111 through a bearing 1112 and a limiting flange 11110 at the end of the central shaft 1111 , and meshes with the second bevel gear 112 .
  • the second bevel gear 112 is used as the output gear of the transmission device, and is meshed with the first bevel gear 111 as the input gear for transmission. It is installed on the gear center shaft 1121 through the bearing 1122, and is connected with the center shaft 1121 for synchronous rotation.
  • the other end of the center shaft 1121 is rotatably installed on the first housing 113 through a bearing 1123 installed in a through hole on the other side wall of the first housing 113 and a bearing cover 1122 outside the through hole.
  • the bearing cover 1122 is fixedly installed outside the through hole of the corresponding side wall of the first housing 113.
  • the input gear of the second gear assembly 120 is the third bevel gear 121, which is installed on the gear center shaft 1211 and rotates synchronously.
  • One end of the center shaft 1211 i.e. the input end, is connected to the output gear of the transmission device, i.e. the output end of the center shaft 1121 of the second bevel gear 112, through the bearing 1213 installed in the through hole on the corresponding side wall of the second housing 123, the bearing seat 1214 installed outside the hole, and the bearing 1126 in the through hole on the corresponding side wall of the first housing 113, so as to form a shaft-connected synchronous rotation connection.
  • the bearing seat 1214 is fixed outside the through hole set on the corresponding side wall of the second housing 123 (connected to the first housing 113).
  • the other end of the center shaft 1211 is installed in the center shaft hole of the third bevel gear 121 and is tightly connected.
  • the end cover 1212 is combined with fasteners to fix the third bevel gear 121 and the end of the center shaft 1211 and rotate synchronously.
  • mounting holes are provided on the end of the central shaft 1211 and the end cover 1212, and the end cover 1212 is covered outside the central shaft hole of the third bevel gear 121.
  • the end cover 1212, the third bevel gear 121 and the end of the central shaft 1211 can be fixed by screws.
  • the third bevel gear 121 and the fourth bevel gear 122 are vertically meshed for transmission.
  • the output gear of the second gear assembly 120 is the fourth bevel gear 122, which serves as a clamping gear and is tightly connected to the central shaft 1221 and rotates synchronously with the central shaft.
  • the instrument tool 5 is installed on the central shaft 1221 and rotates synchronously with the central shaft.
  • the rear end of the central shaft 1221 is rotatably installed in the second housing 123 through the through hole on the corresponding side wall of the second housing 123, the bearing 1229 in the hole and the bearing cover 1228 outside the hole.
  • the bearing cover 1228 is fixedly installed outside the through hole on the corresponding side wall of the second housing 123; the front end of the central shaft 1221 is rotatably installed in the housing 123 through the bearing 1224 installed in the through hole on the other side wall, i.e., the front wall of the housing 123, and the bearing cover 1225 installed outside the through hole.
  • the central shaft 1221 of the fourth bevel gear/clamping gear 122 is set as a hollow shaft, and the central shaft hole or central channel is formed inside along the shaft length. Its front end is connected to the connecting rod 50 of the instrument tool 5 to drive the instrument tool to rotate synchronously.
  • a central through hole or a central channel is formed inside the connecting rod 50 along the central axis
  • the front end of the connecting rod 50 is connected to the chuck 51
  • a central through hole or a central channel is formed inside the chuck along the central axis.
  • the central shaft 1221 is connected to the central channel inside the connecting rod 50 and the chuck 51, and can be used to insert Kirschner wires of different specifications.
  • the front end of the central shaft 1221 passes through the bearing cover 1225 installed outside the through hole on the front wall of the second shell 123 and the bearing 1224 installed in the hole to extend outward to connect with the hollow connecting rod 50 of the instrument tool 5, and the interior is connected.
  • the front end of the central shaft 1221 is inserted into the central channel of the connecting rod 50 for tight connection, and fasteners can be used to fix the connection between the connecting rod 50 and the central shaft 1221.
  • the front end (thinner) of the connecting rod 50 is inserted into the central channel of the chuck 51 for tight connection, and the front end of the connecting rod 50 is provided with or without the chuck 51 according to specific needs.
  • the shapes of the connecting rod 50 and the clamp 51 and their central passage can be set to be thin at the front end and large at the rear end, and they can be adaptively connected to each other in an expansion and fastening manner or relatively fixedly connected, and tightly installed at the front end of the central shaft 1221.
  • the housings 113 and 123 are detachably fastened and connected.
  • a mounting hole is provided on the side wall of the housing, and a fastener such as a non-slip screw 124 (the end of the non-slip screw is stuck in the fixed object such as the second housing 123 and will not slip out of the mounting hole) is inserted into the mounting hole for fastening and connection.
  • the two housings are loosened and separated by loosening the fastener (the non-slip screw 124).
  • the central axis of the bevel gear 121 in the second bevel gear assembly 120 is removed from the bearing seat 1126 and is pulled apart from the central axis 1121 of the bevel gear 112 in the first bevel gear assembly.
  • the two gear assemblies are separated, and the second gear assembly 120 and the instrument tool 5 clamped on the second gear assembly 120 are removed from the side of the gear box of the first gear assembly.
  • the instrument tool 5 includes a hollow connecting rod 50 and a front end component formed or connected to the front end of the connecting rod, for example, a chuck 51 is selectively provided.
  • a chuck 51 is selectively provided.
  • the chuck 51 needs to be provided to clamp and install the guide pin 54.
  • the structure of the chuck 51 adopts the structure of the prior art and can lock or release the guide pin 54.
  • the instrument tool 5 is an electric saw, the chuck 51 is not provided, and the front end of the connecting rod 51 forms an annular tooth.
  • the front end of the central axis 1221 of the fourth bevel gear (output gear)/clamping gear 122 passes through the through hole on the side wall of the second housing 123 and is connected to the instrument tool 5 outwardly, and the fourth bevel gear/clamping gear 122 drives the instrument tool 5 to rotate.
  • the chuck 51 of the instrument tool 5 is connected to the front end of the connecting rod 50 by a taper, and the connecting rod 50 is connected to the hollow shaft 1221 of the fourth bevel gear/clamping gear 122.
  • the fourth bevel gear/clamping gear 122 is installed on the hollow shaft 1221, and the two ends are supported by bearings 1224 and 1229, so as to ensure the stable rotation of the connecting rod 50.
  • the central axis 1221 of the clamping gear is a hollow shaft
  • the guide needle 54 can be inserted from the chuck 51, and the tail passes through the connecting rod 50 and the channel in the hollow shaft 1221, and passes out from the hollow shaft 1221 backward.
  • Guide needles (Kirschner wires) of different lengths or specifications can be used to meet the needs of different surgical operations.
  • the chuck 51 can releasably clamp the surgical operation tool.
  • the front end of the actuator 300 is provided with a front end bracket 4, which can be fixed to the front end of the seat body 310 of the brake device 300 by means of screws 44, for example, by means of screws 44 that do not come out.
  • the front end bracket 4 is used to support the front end components of the instrument tool, for example, to support the guide needle sleeve 55 or the front end of the connecting rod 50.
  • the front end bracket 4 includes a base 40 and a top cover 41, and the top cover 4 is flipably mounted on the top of the base 40 through a pivot 45, and together defines a through hole 46.
  • a notch 410 is formed on one side of the top cover 41 for clamping with the screw.
  • a rotatable (swinging) screw 43 is provided on the other side of the top of the base 40.
  • the screw 43 includes a rod portion 430 and a cap portion 431 connected to the top of the rod portion 430.
  • the rod portion 430 is rotatably installed on the base 4, specifically, installed in a clamping groove 401 formed on one side of the base 4.
  • An axial hole is provided on the side wall of the clamping groove 401, corresponding to the axial hole at the bottom of the rod portion 430.
  • the pin shaft 402 is inserted into the axial hole, so that the rod portion 430 of the screw 43 is rotatably installed on the base 40.
  • the cap portion 431 at the top of the screw 43 is rotated into the notch 410 on one side of the top cover 41 and clamped, thereby locking the top cover 41 to the top of the base 40, and the front end or front end component of the instrument tool passes through the through hole 46 to be supported and limited; or, the cap portion 431 is rotated out of the notch 410 of the top cover 41, and the top cover 41 is flipped open, at this time, the front end or front end component of the instrument tool can be moved out of the through hole 46 at the top of the front end bracket 4.
  • a cross laser assembly may be further mounted on the base 40 of the front bracket to provide accurate surgical site or positioning.
  • the cross laser assembly includes a linear laser pen and a cross laser mounting block.
  • the cross laser mounting block is fixed to the front end surface of the base 40, and a mounting hole is provided therein. Two linear laser pens are mounted in the hole.
  • the instrument tool 5 includes a connecting rod 50 and a chuck 51 at the front end of the connecting rod.
  • the connecting rod 50 and the chuck 51 are connected along the central channel (or axial hole) of the axis, and a guide pin (Kirschner wire) 54 can be inserted.
  • the front end of the guide pin 54 is inserted into the guide pin sleeve 55, and the guide pin sleeve 55 is supported and positioned by the front end bracket 4.
  • the top cover of the front end bracket 4 is opened, and the chuck 51 is loosened to replace the guide pin for secondary needle placement.
  • the guide pin is installed in the chuck 51; when the instrument tool is a bone drill, the drill bit is installed in the chuck 51, and the installation of the guide pin or drill bit in the chuck 51 can be achieved by adopting the structure of the prior art.
  • the instrument tool 5 is a ring saw, the front end (or head) of the connecting rod 50 is provided with saw teeth, and the chuck 51 is not needed. The front end is supported and positioned by the front end bracket 4.
  • the instrument assembly 100 and the front end bracket 4 of the surgical instrument 1000 are installed on the actuating device 300.
  • the instrument tool is installed on the instrument assembly 100, and the front end or the front end assembly of the instrument tool 5 is supported by the front end bracket 4.
  • the actuating device 300 is installed on the robot arm 2000, and the surgical operation is performed by the robot.
  • the instrument assembly 100 is connected to the slider 320 of the actuating device 300, and the brake device 300 drives the instrument assembly 100 to reciprocate in the depth direction.
  • the driving device 2 of the instrument assembly 100 drives the instrument tool 5 installed in the second gear assembly 120 to rotate through the transmission device, i.e., the first gear assembly 110.
  • the central axis 1111 of the first bevel gear 111 of the first gear assembly 110 is connected to the output shaft of the driving device 2, and the first bevel gear 111 is driven by the driving device 2 to rotate, the first bevel gear 110 is meshed with the second bevel gear 112 to drive the second bevel gear 112 to rotate, the central axis 1121 of the second bevel gear is connected with the central axis 1211 of the third bevel gear 121 to rotate synchronously, and the third bevel gear 121 is meshed with the fourth bevel gear 122 to drive the fourth bevel gear 122 to rotate.
  • the instrument tool 5 is installed on the central axis 1221 of the fourth bevel gear 122, and the central axis 1221 drives the instrument tool 5 to rotate.
  • the central axis 1221 of the clamping gear i.e., the fourth bevel gear 122
  • the central axis 1221 of the clamping gear is a hollow axis, and a hollow connecting rod 50 and a hollow chuck 51 are sleeved at the front end, and a channel in the axial direction is formed inside.
  • the tail of the guide pin 54 is inserted into the channel in the central axis direction of the chuck 51, the connecting rod 50 and the central axis 1221 of the fourth bevel gear 122, and is clamped by the chuck 51.
  • the front end of the guide pin 54 is inserted into the sleeve 55, and the sleeve 55 is installed on the front bracket 4.
  • the first housing 113 is connected to the second housing 123, and the central axis 1121 of the first gear assembly 110 is connected to the central axis 1211 of the second gear assembly 120, so as to assemble the surgical instrument 1000.
  • the actuator 300 is started, the surgical operating tool guide pin 54 is adjusted to a predetermined position, and the driving device 2 is started to drive the surgical operating tool to rotate for needle placement.
  • the chuck 51 is loosened, the first housing 113 and the second housing 123 are disassembled, and the central axis 1121 of the first gear assembly 110 and the central axis 1211 of the second gear assembly 120 are pulled apart and separated, so that the second gear assembly 120 can be removed from the side of the first gear box 113, and the instrument tool 5 (chuck 51 and connecting rod 50) can be removed from the surgical instrument 1000 as a whole with the second gear assembly 120.
  • the top cover 41 of the front bracket 4 is opened to remove the sleeve 55.
  • the surgical instrument 1000 of the present application is applied to a surgical robot, and the surgical instrument 1000 in the above embodiment is installed on its mechanical arm 2000.
  • the actuating device 300 of the surgical instrument is installed on the joint of the mechanical arm 2000.
  • the robot can control the action of the surgical instrument 1000 through sensors.
  • the surgical robot includes a control system, which can be designed according to the prior art, and the control system controls the driving unit of the actuating device 300 and controls the operation of the driving device 2 of the surgical instrument 1000.
  • the instrument assembly 100, surgical instrument 1000 and surgical robot of the above embodiment have the following advantages:
  • the drill bit can be kept in place, and the first gear assembly can be separated from the second gear assembly, and the second gear assembly can be withdrawn as a whole, so that the tail of the Kirschner wire can be withdrawn from the side along with the chuck and the connecting rod;
  • the clamping gear can be used for Kirschner wires of different lengths: the central axis of the installation tool adopts a hollow design, which can be used with a hollow connecting rod and a hollow chuck to install Kirschner wires of different lengths, meeting the requirements of different surgical procedures for the length of the guide wire;
  • the automatic needle placement platform is smaller, which prevents instruments from colliding with the robotic arm, is conducive to the miniaturization of terminal orthopedic surgical instruments and robot structures, has a simpler structure, and is conducive to miniaturization of operating room space;
  • clamping gear allows for the overall disassembly of the instrument and tool, and there are no electronic components, so it is no longer limited by electronic components such as sensors, sterilization or sealing structures;
  • the instrument assembly 100 (FIGS. 24-27) of the third embodiment of the present application, when applied to a manual instrument 1000, the drive device 2 is installed inside the main body housing, a control circuit board and a battery are arranged inside the main body housing, the drive device 2 and the battery are electrically connected to the control circuit board, and a control switch is also arranged on the main body.
  • the main body of the manual instrument can adopt an existing main body, such as the main body (handle) of a hand drill, and the control switch is manually operated to start the drive device 2 to drive the gears and their central axes in the first gear assembly and the second gear assembly to rotate, thereby driving the instrument tool 5 to rotate and perform surgical operations.
  • the drive device 2 is usually a motor, and the main body and the instrument assembly 100 can be connected through a quick-release adapter.
  • the main body and the quick-release adapter can both be implemented by the existing main body and quick-release connector of the existing manual instrument, and the existing manual instrument can be directly modified, and the instrument assembly 100 of the present application can be connected to the existing main body, and the motor in the main body drives the instrument tool 5 to rotate.
  • the output shaft of the drive device is connected to the central axis 1111 of the input gear (first gear) 111 of the first gear assembly 110 through an existing adapter, and the main body drives the input gear 111 to rotate.
  • the adapter is in the shape of a hollow sleeve with a coupling inside.
  • the front end of the coupling is connected to the central axis 1111 of the input gear 111 of the first gear assembly 110, and the rear end is connected to the output shaft of the main machine (driving device).
  • the main machine (driving device) drives the input gear 111 to rotate, and the input gear 111 is meshed with the output gear (second gear) 112 to drive the central axis 1121 of the output gear to rotate, thereby driving the instrument tool 5 to rotate.
  • the output gear (second gear) 112 is coupled with the central axis 1211 of the second gear assembly 120, and rotates synchronously, driving the input gear (third gear) 121 of the second gear assembly 120 to rotate.
  • the input gear (third gear) 121 is meshed with the output gear of the second gear assembly 120, i.e., the clamping gear (fourth gear) 122, and drives the output gear/clamping gear 122 to rotate.
  • the central axis 1221 of the output gear/clamping gear 122 rotates synchronously with the output gear (fourth gear) 122, thereby driving the connecting rod 50 and the chuck 51 of the instrument tool 5 installed at the front end of the hollow shaft 1221 to rotate, so that the surgical operation tool installed on the chuck 51 rotates, and the doctor manually performs the surgical operation.
  • the position of the instrument tool 5 in other spatial dimensions is adjusted manually.
  • the two groups of gears 111/112/121/122 in the gear assemblies 110 and 120 can also be implemented by spur gears or racks. Gears, racks and a central axis are configured, and the first gear 111 is driven by the driving device 2 to rotate. Through the meshing transmission of the four gears or the coupling transmission between their central axes, the central axis 1221 of the fourth gear 122 is finally driven to rotate, thereby driving the surgical operating tools to rotate and performing surgical operations.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Instrument chirurgical, instrument manuel et robot chirurgical. L'instrument chirurgical (1000) comprend un dispositif d'entraînement (2), un dispositif de transmission et un engrenage de serrage (10/122) pour installer un outil d'instrument (5); un arbre central de l'engrenage de serrage (10/122) est un arbre creux (103/1221), et un orifice d'arbre central pénétrant dans la longueur d'arbre est formé dans l'arbre central; l'outil d'instrument (5) peut être installé sur l'arbre creux (103/1221) de manière verrouillée ou déverrouillée; au moyen du dispositif de transmission, le dispositif d'entraînement (2) entraîne l'arbre creux (103/1221) de l'engrenage de serrage (10/122) et l'outil d'instrument (5) en rotation; l'outil d'instrument (5) peut être démonté et monté d'un seul bloc dans une direction de surface latérale de l'instrument chirurgical (1000); l'instrument chirurgical (1000) est installé sur une unité principale commandée manuellement pour former un instrument manuel; et l'instrument chirurgical (1000) est installé sur un bras robotisé (2000) pour former le robot chirurgical.
PCT/CN2023/094601 2023-05-16 2023-05-16 Instrument chirurgical, instrument manuel et robot chirurgical Pending WO2024234311A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2023/094601 WO2024234311A1 (fr) 2023-05-16 2023-05-16 Instrument chirurgical, instrument manuel et robot chirurgical

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2023/094601 WO2024234311A1 (fr) 2023-05-16 2023-05-16 Instrument chirurgical, instrument manuel et robot chirurgical

Publications (1)

Publication Number Publication Date
WO2024234311A1 true WO2024234311A1 (fr) 2024-11-21

Family

ID=93518525

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/094601 Pending WO2024234311A1 (fr) 2023-05-16 2023-05-16 Instrument chirurgical, instrument manuel et robot chirurgical

Country Status (1)

Country Link
WO (1) WO2024234311A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1655724A (zh) * 2002-03-19 2005-08-17 巴德都柏林Itc有限公司 真空式活组织检查装置
US20100160826A1 (en) * 2008-12-18 2010-06-24 Parihar Shailendra K Tissue Biopsy Device with Rotatably Linked Thumbwheel and Tissue Sample Holder
CN111673666A (zh) * 2020-06-28 2020-09-18 北京空间技术研制试验中心 航空接插件拆装工具
CN114614318A (zh) * 2022-03-25 2022-06-10 国网湖北省电力有限公司电力科学研究院 用于狭小复杂工况的带电作业机器人接引线系统及其作业方法
CN115040056A (zh) * 2022-08-12 2022-09-13 北京云力境安科技有限公司 一种可侧向取出镜体的软式内镜输送装置
CN115429443A (zh) * 2022-09-30 2022-12-06 上海暖阳医疗器械有限公司 一种介入手术机器人系统

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1655724A (zh) * 2002-03-19 2005-08-17 巴德都柏林Itc有限公司 真空式活组织检查装置
US20100160826A1 (en) * 2008-12-18 2010-06-24 Parihar Shailendra K Tissue Biopsy Device with Rotatably Linked Thumbwheel and Tissue Sample Holder
CN111673666A (zh) * 2020-06-28 2020-09-18 北京空间技术研制试验中心 航空接插件拆装工具
CN114614318A (zh) * 2022-03-25 2022-06-10 国网湖北省电力有限公司电力科学研究院 用于狭小复杂工况的带电作业机器人接引线系统及其作业方法
CN115040056A (zh) * 2022-08-12 2022-09-13 北京云力境安科技有限公司 一种可侧向取出镜体的软式内镜输送装置
CN115429443A (zh) * 2022-09-30 2022-12-06 上海暖阳医疗器械有限公司 一种介入手术机器人系统

Similar Documents

Publication Publication Date Title
JP7154350B2 (ja) 伸縮ノーズ機構を有する手術器具
CN110859584B (zh) 内窥镜适配器、机器人手术系统、将内窥镜安装于机械臂的方法
JP6905162B2 (ja) ロボットアームを外科用テーブルに取り付けるためのカプラ
JP7069334B2 (ja) ロボット手術システムおよび器具駆動アセンブリ
US7273488B2 (en) High-rigidity forceps tip assembly for active forceps and active forceps equipped with the same
CN105852973B (zh) 手术机器人
CN102131603B (zh) 转塔刀架
CN215192194U (zh) 手术器械夹持装置、手术器械安装装置及手术机器人
US7220084B2 (en) Power drill attachment and method for using the attachment
WO2024234312A1 (fr) Ensemble instrument, instrument chirurgical et robot chirurgical
EP0408264B1 (fr) Modification constructive de l'arbre principal de machines-outils
WO2024234311A1 (fr) Instrument chirurgical, instrument manuel et robot chirurgical
CN115252142B (zh) 手术导航定位机器人及其快速释放型末端执行器
CN116549078A (zh) 手术器械以及手术机器人
CN211583476U (zh) 竖直伸缩关节以及具有竖直伸缩关节的微创手术机器人
JP3929159B2 (ja) タレット刃物台装置
WO2022116215A1 (fr) Instrument chirurgical, mécanisme d'actionnement et robot chirurgical
WO2024234307A1 (fr) Instrument chirurgical et robot chirurgical
CN116549079A (zh) 手术器械、手动器械以及手术机器人
CN116585016A (zh) 器械组件、手术器械和手术机器人
CN219557494U (zh) 便于安拆的穿刺针夹持结构及手术导航定位机器人
CN219480273U (zh) 穿刺针夹持结构及手术导航定位机器人
US12128485B2 (en) Portable electrical drilling assembly with reversibly coupled splined shaft
CN212169065U (zh) 工作刀头可伸缩手持工具
EP4510961B1 (fr) Porte-outils chirurgicaux robotiques

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23936995

Country of ref document: EP

Kind code of ref document: A1