WO2024234312A1 - Instrument assembly, surgical instrument and surgical robot - Google Patents

Abstract

An instrument assembly (100), a surgical instrument (1000) and a surgical robot. The instrument assembly (100) comprises a housing (13) and a gear assembly (1) mounted inside the housing (13), wherein the gear assembly (1) comprises a notched gear (10); a central shaft (103) of the notched gear (10) is a hollow shaft, inside of which a central shaft hole is formed and extends through the length of the shaft; the notched gear (10) is provided with a side opening (101), which is arranged inwards along an outer edge of the notched gear (10) and is in communication with the central shaft hole of the notched gear (10); an instrument tool (5) can be mounted inside the hollow shaft in a locked or unlocked manner; the instrument tool (5) is mounted in the hollow shaft of the notched gear (10) or removed from the notched gear (10) in a manner of entering or exiting from the side opening (101); and an input gear (11) is in transmission fit with the notched gear (10), such that rotation of the input gear (11) drives the notched gear (10) and the instrument tool (5) mounted inside the central shaft (103) thereof to rotate. The instrument assembly (100) is connected to a main unit (20) to form the surgical instrument (1000), and the surgical instrument (1000) is mounted on a mechanical arm (2000) to form the surgical robot.

Description

Instrument components, surgical instruments and surgical robots Technical Field

The present application relates to a medical instrument, in particular to an instrument assembly, a surgical instrument and a surgical robot.

Background Art

In orthopedic surgical robots, especially spinal surgical robots, internal fixation surgery involving pedicle screw placement is often involved. The general process is to first use a robotic arm to locate the surgical site, and then the doctor uses a hand drill to perform the nail placement operation, or the electric tool at the end of the robotic arm performs the automatic nail placement operation. In the prior art, whether the doctor manually places the nail or the robot places the nail, the disassembly and assembly of surgical tools such as bone drills are generally along the length direction or (feed direction) to enter or exit the surgical instrument as a whole. The surgical instruments of the prior art are generally driven by a motor to directly drive the instrument tool to rotate. For example, in the patent document No. CN105848606A of the Chinese Patent Publication, 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.

In addition, in orthopedic surgeries such as pedicle screw placement, the length and diameter of the Kirschner wires used are different depending on the requirements of the different surgical procedures. Currently, there is no surgical instrument for screw placement that is compatible with Kirschner wires and other instruments and tools of different specifications.

Technical issues

The main purpose of the present application is to provide an instrument assembly and a surgical instrument, aiming to solve the problems of the prior art in that the disassembly and assembly or replacement of surgical operating tools of surgical instruments is inconvenient and requires a large operating space.

Technical Solutions

To achieve the above-mentioned purpose, the present application provides an instrument assembly, including a shell and a gear assembly installed inside the shell, the gear assembly including an open gear; the central axis of the open gear is a hollow shaft, and a central axis hole that passes through the length of the shaft is formed inside; the open gear is provided with a side opening, and the side opening is opened inward along the outer edge of the gear and is connected to the central axis hole of the open gear; the instrument tool can be installed in the hollow shaft in a locked 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 input gear and the open gear are matched with each other in transmission, and the rotation of the input gear drives the open gear and the instrument tool installed in its central axis to rotate.

In some embodiments, the shell is provided with a side opening, which is matched with the side opening of the open gear; the side opening of the open gear is located in the side opening of the shell; and the central axis of the open gear is rotatably installed in the side opening of the shell.

In some embodiments, 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; a V-shaped groove is provided on the open gear, and the plurality of universal bearings are arranged in the V-shaped groove; one end of the universal bearing is a steel ball; the steel ball of the universal bearing is in rolling contact with the wall surface of the V-shaped groove, and the other end of the universal bearing cooperates with the corresponding hole formed on the inner side surface of the housing; the V-shaped groove is an annular groove arranged along the radial arc of the open gear.

In some embodiments, the instrument assembly also includes a flange, which is tightly connected to 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 connect with the central axis hole of the flange; 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 side opening channel; the instrument tool moves into or out of the central axis hole of the open gear and the flange from the side opening channel.

In some embodiments, the central axis hole of the flange is sleeved on the central axis of the open gear; the central axis hole of the flange and the central axis of the open gear form a clamping fit between a slot and a flange; the flange and the central axis of the open gear are fastened together by fasteners; and the flange is located outside the shell.

In some embodiments, the shell includes a front shell and a rear shell, which are buckled together to form the cavity; the front shell and the rear shell are connected by fasteners, and the gear set is rotatably installed between the front shell and the rear shell; a number of universal bearings are provided between the open gear and the inner side of the front shell and/or the rear shell for rolling fit, so that the open gear can be rotatably and limitedly installed between the front shell and the rear shell; the gear assembly selectively includes an output gear; the inner wall of the shell is provided with an installation groove compatible with the input gear, the output gear, and the open gear, and the shell is provided with a number of installation 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.

In some embodiments, the instrument assembly also includes a locking piece; the instrument tool is installed in the central axis hole of the open gear along the axis, and the locking piece can unlock the instrument tool and the open gear to lock the connection so as to rotate synchronously; the instrument assembly also includes a driving device, which 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.

In some embodiments, 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, and a slideway is arranged on the limit plate; 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 can be rotatably assembled on the limit plate along the slideway; the paddle is configured as follows: the paddle is rotated to rotate the claw 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 rotated away from the paddle to align and connect the side openings of the paddle, the limit plate, the open gear and the flange for unlocking.

In some embodiments, the paddle and the limiting plate are further fixedly connected to the instrument tool via a removable fastener.

In some embodiments, 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.

In some embodiments, 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.

In some embodiments, 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.

In some embodiments, the driving device is a motor, and the output shaft of the motor is connected to the central axis of the input gear to drive the input gear to rotate; the central axis of the input gear passes through the mounting hole of the shell and is connected to the driving device outside the shell.

The present application also provides a surgical instrument, which includes a main body and an instrument assembly as described in any of the above embodiments, wherein a control circuit board, a battery electrically connected to the control circuit board, and the driving device are installed in the main body; the battery is used to provide power; the driving device is connected to the input gear to drive the input gear to rotate; a switch is provided on the main body, and the driving device is started by manually operating the switch.

In some embodiments, the main engine is connected to the central axis of the input gear via an adapter; the adapter is in the shape of a hollow sleeve with a coupling disposed inside, the front end of the coupling is connected to the central axis of the input gear, and the rear end is connected to the output shaft of the driving device in the main engine; the housing of the gear assembly and the front end of the adapter are relatively fixedly connected.

In some embodiments, a limit sleeve and a sliding sleeve are provided at the front end of the main unit; the sliding sleeve can be relatively slidably sleeved on the outside of the limit sleeve; a clamping ring is provided between the limit sleeve and the sliding sleeve, and the clamping ring is fixed on the limit sleeve to limit the forward sliding distance of the sliding sleeve; a compression spring is provided between the limit sleeve and the sliding sleeve, and the compression spring is sleeved on the limit sleeve, one end of the compression spring is fixed on the limit sleeve, and the other end is pressed against the sliding sleeve; a ball is provided between the limit sleeve and the sliding sleeve, and the ball can be rolled and embedded in the hole on the limit sleeve.

In some embodiments, the outer wall of the adapter is provided with a stop boss and a mating groove; the stop boss of the adapter is connected to the corresponding notch on the limit sleeve of the host, the ball is pressed into the hole of the limit sleeve, and a part of the ball enters the mating groove of the adapter, thereby connecting the host with the adapter; the sliding sleeve is configured as follows: when the sliding sleeve is slid backward and the adapter is inserted into the host, the coupling of the adapter is connected to the output shaft of the drive device in the host, and the stop boss on the adapter is connected to the corresponding notch on the limit sleeve of the host; by sliding the sliding sleeve forward, the ball is pressed into the hole of the limit sleeve along the inclined surface of the sliding sleeve, and a part of the ball enters the mating groove of the adapter, so as to connect the host with the adapter.

The present application also provides a surgical instrument, which includes an actuator and an instrument assembly as described in any of the above embodiments; the actuator drives the instrument assembly to move in a spatial dimension to adjust the spatial position or posture of a surgical operating tool connected to the instrument tool.

In some embodiments, the actuator includes a base body, a driving unit installed in the base body, and a slider on the top of the base body; the instrument assembly is connected to the slider through a moving platform; the driving unit drives the slider to move on the top of the actuator, and the slider drives the entire instrument assembly to move.

In some embodiments, the driving unit is a motor or a transmission disk, wherein the transmission disk is driven by an external power or controlled and driven by a surgical robot; a linear guide rail is also provided in the base body, and the driving unit drives the slider to reciprocate along the linear guide rail, thereby driving the instrument assembly and the instrument tool as a whole to reciprocate linearly; the driving unit is a linear motor, and the slider is connected to the mover of the linear motor; or, the driving unit includes a motor and a ball screw driven by the motor, and the slider is connected to the screw nut.

The present application also provides a surgical robot, which includes a surgical instrument as described in any of the above embodiments; the surgical instrument is installed on a robotic arm of the surgical robot.

Beneficial Effects

The beneficial effects of this application are:

The instrument assembly of the present application is provided with an open gear, which has a side opening and is connected to the central axis hole, so that the instrument tool can be installed or removed and replaced by a side entry and exit method rather than an overall forward and backward advance and retreat method, and the operating space required at the end of the surgical instrument is smaller.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an exploded view of the device assembly 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.

FIG. 4 is an exploded view of the instrument assembly according to the first embodiment of the present application.

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 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.

Embodiments of the present invention

The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and/or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and/or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

Although the terms 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.

For ease of description, 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.

1-17, the present application provides an instrument assembly 100 and a surgical instrument 1000 for installing and driving surgical tools for surgical operations. The surgical 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 rotating surgical tools.

Among them, the instrument assembly 100 includes a gear assembly 1 and a driving 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. Specifically, the input gear 11 is meshed and transmitted with the output gear 12, and the output gear 12 is meshed and transmitted with the 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 set so that the open gear 10 rotates stably at a predetermined speed. When the output gear 12 is not set, the open gear 10 is meshed and transmitted with the input gear 11. The number of output gears 12 can be configured according to the required rotation speed of the surgical operating 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. For example, 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.

In this embodiment, 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. For example, 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 cooperation between the open gear 10 and the flange 60: 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.

2-11, 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. For example, 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.

2-7, the first embodiment of the instrument assembly 100 of the present application includes a gear assembly 1, the gear assembly 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 from 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. In this embodiment, 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. Specifically, 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 slideways 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.

When the instrument tool 5 is locked in the gear assembly 1, a fastener can be used to further fix and install the instrument tool 5. For example, 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.

Referring to Figs. 6-7, for example, 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. Referring to Fig. 6 (a), 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. 6 (b), where an annular sawtooth is formed at the front end of the connecting rod 50. 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.

When the instrument tool 5 is installed in the instrument assembly 100, the central axis hole and the side opening 101 (located in the side opening 132 of the housing 13) of the open gear 10, the central axis hole and the side opening 601 of the flange 60, and the side opening 621 of the limit plate 62 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 .

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.

Referring to FIGS. 8-11 , the second embodiment of the instrument assembly 100 of the present application includes a gear assembly 1, wherein the open gear 10 of the gear assembly 1 is aligned with the central channel and the side opening of the flange 60 to form a side opening channel 65, and the instrument tool 5 (connecting rod 50) can be moved into or out of the central axis 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. 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. 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. When the button is pressed again, the ball 644 retracts into the groove of the wedge block to release the clamping state, and 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.

Referring to FIG. 12 , 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. In some embodiments, the driving device 2 may be external or internal, such as internally installed in a host. When the instrument assembly 100 is applied to an automatically operated surgical instrument or to an intelligent surgical system, 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.

When the drive device 2 is configured in a built-in manner, it can be powered by a battery. For example, 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.

Referring to Figures 13-15, 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 surgical operation tool of the instrument tool 5 in a spatial dimension position or posture. 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 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 input shaft 115 of the input gear 11 of the gear assembly 1, or the input gear 11 is installed on the output shaft of the driving device 2, so that the input gear 11 is driven to rotate by the driving device 2. 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. The output gear 12 can be provided with one or more as needed, or no output gear can be provided, and the input gear 12 is meshed with the open gear 10 for transmission. The input gear 11, the output gear 12 and the open gear 10 cooperate to achieve continuous rotation of the open gear 10. For example, 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.

For example, 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. For example, 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. For example, 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. For example, 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. When removing the guide needle sleeve, 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. When the instrument tool 5 is a needle placement tool, the guide needle 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 needle or drill bit in the chuck 51 can be realized by adopting the structure of the prior art. When 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.

In 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. Referring to Figures 1-15, 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. In this embodiment, the actuator 300 provides power to realize the reciprocating motion of the instrument tool along the surgical depth direction, and the driving device 2 provides power to realize the rotational motion of the instrument tool. When it is necessary to remove or replace the surgical operating 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.

Referring to FIG. 16 , the surgical robot of the present application has the surgical instrument 1000 in the above embodiment installed on its mechanical arm 2000. The actuator 300 of the surgical instrument is installed on the joint of the mechanical arm. 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 actuator 300 and controls the operation of the driving device 2 of the surgical instrument 1000.

In other embodiments, 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 .

17-21, the instrument assembly 100 of the present application is applied to a manual instrument 1000. The manual instrument 1000 includes a manual host 20, and a 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. When in use, the motor rotates after pressing the switch, and the motor output shaft 26 drives the input shaft 115 of the gear assembly 1 to rotate, and through the meshing between the input gear 11, the output gear 12 and the open gear 10, 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:

1) After orthopedic surgery such as bone drilling, the drill bit or guide pin 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 as a whole. 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;

2) 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;

3) 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 and sealing structures such as sterilization;

4) 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.

Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and the scope of protection of the present application is defined by the appended claims and their equivalents.

Claims (21)

A device assembly comprises a shell and a gear assembly installed inside the shell, wherein the gear assembly comprises an input gear; the characteristic is that the gear assembly comprises an open gear; the central axis of the open gear is a hollow axis, and a central axis hole is formed inside the open gear to pass through the length of the axis; the open gear is provided with a side opening, which is opened inward along the outer edge of the gear and is connected to the central axis hole of the open gear; the device tool can be installed in the hollow shaft in a locked or unlocked manner; the device tool can be installed in the hollow shaft of the open gear or moved out of the open gear by entering and exiting from the side opening; the input gear and the open gear are matched in transmission, and the rotation of the input gear drives the open gear and the device tool installed in its central axis to rotate. The device assembly according to claim 1, characterized in that: The shell is provided with a side opening which matches with the side opening of the open gear; the side opening of the open gear is located in the side opening of the shell; and the central axis of the open gear is rotatably installed in the side opening of the shell. The device assembly according to claim 2, characterized in that: The open gear is rotatably mounted in the housing via 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 open gear is provided with a V-shaped groove, and the plurality of universal bearings are arranged in the V-shaped groove; one end of the universal bearing is a steel ball; the steel ball of the universal bearing is in rolling contact with the wall surface of the V-shaped groove, and the other end of the universal bearing is matched with a corresponding hole formed on the inner side surface of the housing; The V-shaped groove is an annular groove arranged along the radial arc of the open gear. The device assembly according to claim 2, characterized in that: The instrument assembly further comprises a flange, which is tightly connected to the open gear and rotates synchronously; The flange has a central axial 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 is as follows: the central axis hole is aligned and connected, and the side openings are aligned and connected, thereby forming a side opening channel; the instrument tool moves into or out of the open gear and the central axis hole of the flange from the side opening channel. The device assembly according to claim 4, characterized in that: The central axis hole of the flange is sleeved on the central axis of the open gear; The central axis hole of the flange and the central axis of the open gear form a clamping groove and a flange that is tightly fitted; The flange is fastened to the central axis of the open gear by a fastener; The flange is located outside the housing. The device assembly according to claim 2, characterized in that: The housing comprises a front housing and a rear housing, and the front housing and the rear housing are buckled together to form the cavity; The front shell and the rear shell are connected by fasteners, and the gear set is rotatably installed between the front shell and the rear shell; A plurality of universal bearings are provided between the open gear and the inner side surface of the front shell and/or the rear shell for rolling fit, so that the open gear can be rotatably and positionally mounted between the front shell and the rear shell; The gear assembly selectively includes an output gear; the inner wall of the housing is provided with mounting grooves adapted to the input gear, the output gear, and the open gear, and the housing is provided with a plurality of mounting holes for mounting the central shaft or bearing of each gear; The input gear and the output gear are meshed for transmission; the output gear and the open gear are meshed for transmission. The device assembly according to any one of claims 1 to 6, characterized in that: The instrument assembly also includes 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 and connect them so as to rotate synchronously; The instrument assembly also includes a driving device, which is connected to the input gear to drive the input gear to rotate, thereby driving the instrument tool installed in the central axis of the open gear to rotate. The device assembly according to claim 7, characterized in that: The locking member includes a paddle and a limiting plate; The pick includes a side opening and claws on both sides of the side opening; The limiting plate includes a side opening, and a slideway is arranged on the limiting plate; the limiting plate is fastened to the flange, and the side opening of the paddle and the side opening of the limiting plate are aligned and connected with the central axis hole of the open gear and the flange, so that instruments and tools can be inserted and installed therein; The limiting plate, the flange and the side openings of the open gear are connected; The paddle can be rotatably mounted on the limit plate along the slide; the paddle is configured as follows: the paddle is rotated to allow the claw to enter 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; and the paddle is unlocked by allowing the side openings of the paddle, the limit plate, the open gear, and the flange to be aligned and connected, through the claw being rotated away from the paddle. The device assembly according to claim 8, characterized in that: The paddle and the limiting plate are further fixedly connected to the instrument tool via a removable fastener. The device assembly according to claim 7, characterized in that: The locking member is a button locker; a locker sleeve is fixedly installed in the flange; The instrument tool is provided with a mounting hole correspondingly, and the button locker is inserted into the locker 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 device assembly according to claim 7, characterized in that: The instrument tool comprises a connecting rod, a positioning seat is formed at the rear end of the connecting rod; 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 at the front end of the connecting rod; The connecting rod is axially inserted into the central shaft hole of the open gear and the flange to be unlockably fixedly connected; The locking member is provided with a corresponding mounting hole, and the fastener is inserted into the mounting holes 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 device 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 apparatus assembly of claim 11, wherein: 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 operation tools. The instrument assembly as described in claim 7 is characterized in that: the driving device is a motor, the output shaft of the motor is connected to the central axis of the input gear to drive the input gear to rotate; the central axis of the input gear passes through the mounting hole of the shell and is connected to the driving device outside the shell; the driving device includes a mounting bracket, and the mounting bracket is tightly connected to the shell. A surgical instrument, characterized in that: the surgical instrument includes a main body and also includes the instrument assembly according to any one of claims 1-13, wherein a control circuit board and a battery electrically connected to the control circuit board and the driving device are installed in the main body; the battery is used to provide power; the driving device is connected to the input gear to drive the input gear to rotate; a switch is provided on the main body, and the driving device is started by manually operating the switch. The surgical instrument according to claim 14, characterized in that: The main engine is connected to the central axis of the input gear via an adapter; The adapter is in the shape of a hollow sleeve, with a coupling disposed inside, the front end of the coupling being connected to the central axis of the input gear, and the rear end being connected to the output shaft of the driving device in the main engine; The front end of the adapter is relatively fixedly connected to the shell. The surgical instrument according to claim 15, characterized in that: A limit sleeve and a sliding sleeve are arranged at the front end of the main machine; the sliding sleeve can be relatively slidably sleeved on the outside of the limit sleeve; A snap ring is provided between the limit sleeve and the sliding sleeve, and the snap ring is fixed on the limit sleeve to limit the forward sliding distance of the sliding sleeve; A compression spring is arranged between the limiting sleeve and the sliding sleeve, the compression spring is sleeved on the limiting sleeve, one end of the compression spring is fixed on the limiting sleeve, and the other end is pressed against the sliding sleeve; A ball is arranged between the limiting sleeve and the sliding sleeve, and the ball can be rolled and embedded in the hole on the limiting sleeve. The surgical instrument according to claim 16, characterized in that: The outer wall of the adapter is provided with a rotation-stopping boss and a matching groove; the rotation-stopping boss of the adapter is connected with the corresponding notch on the limiting sleeve of the host, the ball is pressed into the hole of the limiting sleeve, and a part of the ball enters the matching groove of the adapter, thereby connecting the host and the adapter; The sliding sleeve is configured as follows: when the sliding sleeve is slid backward and the adapter is inserted into the host, the coupling of the adapter is connected to the output shaft of the driving device in the host, and the anti-rotation boss on the adapter is connected to the corresponding notch on the limit sleeve of the host; by sliding the sliding sleeve forward, the ball is pressed into the hole of the limit sleeve along the inclined surface of the sliding sleeve, and a part of the ball enters the matching groove of the adapter, so as to connect the host and the adapter. A surgical instrument, characterized in that: the surgical instrument includes an actuator and also includes the instrument assembly described in any one of claims 1-13; the actuator drives the instrument assembly to move in a spatial dimension to adjust the spatial position or posture of a surgical operating tool connected to the instrument tool. The surgical instrument as described in claim 18 is characterized in that: the actuator includes a seat body, a driving unit installed in the seat body, and a slider on the top of the seat body; the instrument assembly is connected to the slider through a movable platform; the driving unit drives the slider to move on the top of the actuator, and the slider drives the entire instrument assembly to move. The surgical instrument according to claim 19, characterized in that: The driving unit is a motor or a transmission disc, wherein the transmission disc is driven by an external power or controlled and driven by a surgical robot; A linear guide rail is also provided in the seat body, and the driving unit drives the slider to reciprocate along the linear guide rail, thereby driving the instrument assembly and the instrument tool as a whole to reciprocate linearly; The driving unit is a linear motor, and the slider is connected to the mover of the linear motor; or, the driving unit includes a motor and a ball screw driven by the motor, and the slider is connected to the screw nut. A surgical robot, characterized in that: the surgical robot comprises a surgical instrument as described in any one of claims 18 to 20; the surgical instrument is installed on a mechanical arm of the surgical robot.