阅读说明：本技术 用于手术机器人的手术器械组件 (Surgical instrument assembly for surgical robot ) 是由 李耀 袁源 龚俊杰 于 2019-12-17 设计创作，主要内容包括：本发明公开了一种用于手术机器人的手术器械组件,包括器械座、无菌隔离座和电机安装座,所述器械座用于安装传动装置,所述无菌隔离座用于安装无菌隔离膜,所述电机安装座用于安装驱动装置；所述器械座上设置有至少一个第一联轴节,所述无菌隔离座上设置有至少一个第二联轴节,所述电机安装座上设置有至少一个第三联轴节,且所述第一联轴节、第二联轴节和第三联轴节同轴设置；通过将驱动装置与传动装置通过三个联轴节连接,并且将位于器械座的第一联轴节、位于无菌隔离座的第二联轴节、以及位于电机安装座的第三联轴节同轴设置,大大提高了动力传送效果,并且保障了动力传送稳定性。(The invention discloses a surgical instrument assembly for a surgical robot, which comprises an instrument seat, an aseptic isolation seat and a motor mounting seat, wherein the instrument seat is used for mounting a transmission device, the aseptic isolation seat is used for mounting an aseptic isolation membrane, and the motor mounting seat is used for mounting a driving device; the sterile isolation seat is provided with at least one first coupling, the sterile isolation seat is provided with at least one second coupling, the motor mounting seat is provided with at least one third coupling, and the first coupling, the second coupling and the third coupling are coaxially arranged; the driving device is connected with the transmission device through the three shaft couplings, and the first shaft coupling located on the instrument seat, the second shaft coupling located on the sterile isolation seat and the third shaft coupling located on the motor installation seat are coaxially arranged, so that the power transmission effect is greatly improved, and the power transmission stability is guaranteed.)

1. A surgical instrument assembly for a surgical robot, comprising:

the device comprises an instrument seat used for mounting a transmission device, wherein a first coupling is arranged on the instrument seat;

the sterile isolation seat is used for mounting a sterile isolation film, and a second coupling is arranged on the sterile isolation seat;

the motor mounting seat is used for mounting a driving device and is provided with a third coupling;

wherein said instrument housing is mounted to said sterile isolation housing by engagement of said first coupling with said second coupling, said sterile isolation housing is mounted to said motor mounting by engagement of said second coupling with said third coupling, and said first coupling, said second coupling, and said third coupling are coaxially disposed.

2. A surgical instrument assembly for a surgical robot as recited in claim 1, wherein said first coupling comprises:

the first body is rotatably arranged on the instrument seat and is connected with the transmission device;

a first protrusion disposed at an end of the first body proximate to the sterile isolation seat.

3. A surgical instrument assembly for a surgical robot as recited in claim 2, wherein the second coupling includes:

a second body rotatably disposed on the aseptic isolation seat;

the first groove is arranged at the end part of the second body close to the instrument seat and is matched with the first protrusion;

and the second protrusion is arranged at the end part of the second body close to the motor mounting seat.

4. A surgical instrument assembly for a surgical robot according to claim 3, wherein the third joint comprises:

a third body rotatably disposed on the motor mount;

a second groove disposed at an end of the third body proximate to the sterile isolation seat.

5. A surgical instrument assembly for a surgical robot according to claim 4, wherein the third coupling further comprises:

one end of the connecting shaft is connected with the driving device, and the other end of the connecting shaft is connected with the third body;

one end of the elastic piece is clamped on the third body, and the other end of the elastic piece is clamped on the connecting shaft.

6. A surgical instrument assembly for a surgical robot as claimed in claim 5, wherein the resilient member comprises a spring.

7. A surgical instrument assembly for a surgical robot as claimed in claim 4, wherein the first, second and third bodies are cylindrical and are arranged coaxially.

8. A surgical instrument assembly for a surgical robot as claimed in claim 4, wherein the first and second projections are in-line projections and the first and second recesses are in-line recesses.

9. A surgical instrument assembly for a surgical robot as claimed in claim 1, wherein the first, second and third coupling members constitute a coupling group, and the surgical instrument assembly for the surgical robot includes three coupling groups.

10. A surgical instrument assembly for a surgical robot as claimed in claim 9, wherein said surgical instrument assembly for a surgical robot includes three said transmission means and three said drive means, three said transmission means being connected to three said first couplings of three said coupling groups, and three said drive means being connected to three said third couplings of said three coupling groups.

Technical Field

The invention relates to the technical field of surgical robots, in particular to a surgical instrument assembly for a surgical robot.

Background

Minimally Invasive Surgery (MIS), such as laparoscopic surgery, involves techniques aimed at reducing tissue damage during surgery. For example, laparoscopic surgery typically involves making a plurality of small incisions in a patient's body (e.g., on the abdomen) and introducing one or more tools and at least one camera into the patient's body through the incisions. The surgical procedure is then performed by using the introduced tool and the visualization assistance provided by the camera. In general, MIS provides multiple benefits, such as reducing scarring in patients, reducing pain in patients, reducing the period of recovery in patients, and reducing medical costs associated with patient recovery.

At present, in the operation process, in order to avoid the pollution of non-sterile equipment to the sterile equipment or instruments, the safety and the reliability of the operation environment are ensured, and a sterile isolation seat with a sterile isolation film is added, so that the design of the surgical instrument which is convenient for the power of a driving device on a motor mounting seat to be transmitted to a transmission device on an instrument seat through the sterile isolation seat is very necessary.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: how to efficiently and stably transmit the power provided by the driving device to the transmission device.

To solve the above technical problem, the present invention provides a surgical instrument assembly for a surgical robot, comprising:

the device comprises an instrument seat used for mounting a transmission device, wherein a first coupling is arranged on the instrument seat;

the sterile isolation seat is used for mounting a sterile isolation film, and a second coupling is arranged on the sterile isolation seat;

the motor mounting seat is used for mounting a driving device and is provided with a third coupling;

wherein said instrument housing is mounted to said sterile isolation housing by engagement of said first coupling with said second coupling, said sterile isolation housing is mounted to said motor mounting by engagement of said second coupling with said third coupling, and said first coupling, said second coupling, and said third coupling are coaxially disposed.

Further, the first coupling includes:

the first body is rotatably arranged on the instrument seat and is connected with the transmission device;

a first protrusion disposed at an end of the first body proximate to the sterile isolation seat.

Further, the second coupling includes:

a second body rotatably disposed on the aseptic isolation seat;

the first groove is arranged at the end part of the second body close to the instrument seat and is matched with the first protrusion;

and the second protrusion is arranged at the end part of the second body close to the motor mounting seat.

Further, the third coupling includes:

a third body rotatably disposed on the motor mount;

a second groove disposed at an end of the third body proximate to the sterile isolation seat.

Further, the third coupling further includes:

one end of the connecting shaft is connected with the driving device, and the other end of the connecting shaft is connected with the third body;

one end of the elastic piece is clamped on the third body, and the other end of the elastic piece is clamped on the connecting shaft.

Further, the elastic member includes a spring.

Furthermore, the first body, the second body and the third body are cylindrical and are coaxially arranged.

Further, the first protrusion and the second protrusion are both linear protrusions, and the first groove and the second groove are both linear grooves.

Further, the first coupling, the second coupling and the third coupling constitute a coupling group, and the surgical instrument assembly for the surgical robot includes three coupling groups.

Further, said surgical instrument assembly for a surgical robot includes three said transmission means and three said driving means, three said transmission means are correspondingly connected to three said first couplings of three said coupling groups, and three said driving means are correspondingly connected to three said third couplings of three said coupling groups.

Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:

according to the surgical instrument assembly for the surgical robot, the driving device and the transmission device are connected through the three shaft couplings, and the first shaft coupling located on the instrument seat, the second shaft coupling located on the sterile isolation seat and the third shaft coupling located on the motor installation seat are coaxially arranged, so that the power transmission effect is greatly improved, and the power transmission stability is guaranteed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a front, partially broken away view of a surgical instrument according to the present invention;

FIG. 2 is a schematic structural view of a first coupling of a surgical instrument assembly for a surgical robot in accordance with the present invention;

FIG. 3 is a schematic illustration of a forward configuration of a second coupling joint of a surgical instrument assembly for a surgical robot in accordance with the present invention;

FIG. 4 is an inverted schematic view of a second coupling of a surgical instrument assembly for a surgical robot in accordance with the present invention;

FIG. 5 is a schematic structural view of a third coupling for a surgical instrument assembly of a surgical robot in accordance with the present invention;

FIG. 6 is an exploded view of a surgical instrument according to the present invention in an inverted configuration;

fig. 7 is an assembled structural schematic diagram of a surgical instrument assembly for a surgical robot of a surgical instrument according to the present invention.

Reference numerals:

10-a first coupling; 20-a tool holder; 30-a sterile isolation seat; 40-a motor mounting seat; 50-a drive device; 60-surgical implement instruments; 70-a third coupling; 80-a second coupling; 90-a first coupling; 101-a first transmission; 102-a second transmission; 103-a third transmission; 501-a first driving device; 502-a second drive; 503-third driving means; 701-a third body; 703-a second groove; 705-connecting shaft; 707-an elastic member; 801-a second body; 803-second projection; 901-a first protrusion; 903-first body.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the following will describe in detail an implementation method of the present invention with reference to the accompanying drawings and embodiments, so that how to apply technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented.

In one embodiment of the present invention, as shown in fig. 1, the embodiment of the present invention provides a surgical instrument assembly for a surgical robot, including an instrument base 20, a sterile isolation base 30 and a motor mounting base 40, where the instrument base 20 is used for mounting a transmission device 10, the sterile isolation base 30 is used for mounting a sterile isolation membrane (shown in the figure), the motor mounting base 40 is used for mounting a driving device 50, where the driving device 50 includes but is not limited to a motor, and other conventional driving mechanisms are also within the protection scope of the present invention; the transmission device 10 is used for connecting the operation executing apparatus 60, so that the operation executing apparatus 60 can complete more than one degree of freedom.

In this embodiment, as shown in fig. 1, at least one first coupling 90 is disposed on the instrument mount 20, at least one second coupling 80 is disposed on the sterile isolation mount 30, and at least one third coupling 70 is disposed on the motor mount 40; wherein, the instrument seat 20 is mounted on the sterile isolation seat 30 through the matching of the first coupling 90 and the second coupling 80, the sterile isolation seat 30 is mounted on the motor mounting seat 40 through the matching of the second coupling 80 and the third coupling 70, and the first coupling 90, the second coupling 80 and the third coupling 70 are coaxially arranged; specifically, after the instrument holder 20 is mounted on the sterile isolation holder 30, the first coupling 90 is coaxial with the second coupling 80, and after the sterile isolation holder 30 is mounted on the motor mounting holder 40, the second coupling 80 is coaxial with the third coupling 70, that is, after the instrument holder 20, the sterile isolation holder 30 and the motor mounting holder 40 are positioned and mounted, the first coupling 90, the second coupling 80 and the third coupling 70 are coaxial, where coaxial refers to the coincidence of the axes.

According to the surgical instrument assembly for the surgical robot provided by the embodiment of the invention, the driving device 50 is connected with the transmission device 10 through three couplings, and the first coupling 90 positioned on the instrument seat 20, the second coupling 80 positioned on the sterile isolation seat 30 and the third coupling 70 positioned on the motor installation seat 40 are coaxially arranged, so that the power transmission effect is greatly improved, and the power transmission stability is ensured.

In this embodiment, as shown in fig. 2, the first coupling 90 comprises a first body 903 and a first protrusion 901, the first body 903 is connected with the transmission device 10, the instrument holder 20 is provided with a first through hole in rotatable fit connection with the first body 903, and the first body 903 is rotatably mounted in the first through hole; the first protrusion 901 is disposed at an end of the first body 903 close to the sterile isolation seat 30, and the first protrusion 901 has an angular shape, that is, the first protrusion 901 is non-cylindrical, and its specific shape is preferably a straight shape, a regular polygon shape, and the like, which is mainly used for transmitting power, so that the first protrusion 901 is in a shape that the first coupling 90 and the second coupling 80 do not rotate relatively.

In this embodiment, as shown in fig. 3 to 4, the second coupling 80 includes a second body 801 and a second protrusion 803, the second body 801 is rotatably disposed on the sterile isolation seat 30, the sterile isolation seat 30 is provided with a second through hole rotatably coupled to the second body 801, and the second body 801 is installed in the second through hole; the end of the second body 801 close to the instrument seat 20 is provided with a first groove 805 which is matched with the first protrusion, and the first protrusion 901 is matched with the first groove 805, so that the relative movement between the first body 903 and the second body 801, namely the relative movement between the first coupling 90 and the second coupling 80, is avoided, and the second coupling 80 transmits power to the transmission device 10 through the first coupling 90.

In this embodiment, as shown in fig. 4, the second protrusion 803 is disposed at the end of the second body 801 close to the motor mounting seat 40, and the second protrusion 803 has an angular shape, that is, the second protrusion 803 has a non-cylindrical shape, and the specific shape of the second protrusion 803 is preferably a straight shape, a regular polygon shape, or the like, which is mainly used for transmitting power, so that the second protrusion 803 is within the protection scope of the present invention as long as the second coupling 80 and the third coupling 70 do not rotate relative to each other.

In this embodiment, as shown in fig. 5, the third coupling 70 includes a third body 701, and the end of the third body 701 close to the sterile isolation seat 30 is opened with a second groove 703 engaged with a second protrusion 803, so as to prevent the second body 801 and the third body 701 from moving relatively, that is, prevent the second coupling 80 and the third coupling 70 from moving relatively, so that the third coupling 70 transmits the power provided by the driving device 50 to the transmission device 10 through the second coupling 80 and the first coupling 90.

In this embodiment, as shown in fig. 5, the third coupling 70 further includes a connecting shaft 705 and an elastic member 707, one end of the connecting shaft 705 is connected to the driving device 50, the other end of the connecting shaft 705 is connected to the third body 701, the motor mounting seat 40 is provided with a third through hole rotatably coupled to the connecting shaft 705, the connecting shaft 705 is installed in the third through hole, one end of the elastic member 707 is clamped to the third body 701, and the other end of the elastic member 707 is clamped to the connecting shaft 705; the connecting shaft 705 is stepped, the large end of the connecting shaft 705 is installed in the third through hole, the specific structure of the connecting shaft 705 is already the prior art, details are not repeated here, the elastic member 707 includes a spring, one end of the spring abuts against the third body 701, the other end abuts against the large end of the connecting shaft 705, and the thrust provided by the spring effectively ensures that the first coupling 90, the second coupling 80 and the third coupling 70 are stably matched, so that stable power transmission is realized.

In this embodiment, the first body 903, the second body 801 and the third body 701 are all cylindrical, and the first body 903, the second body 801 and the third body 701 are coaxially disposed.

In at least one embodiment, the first protrusion 901 and the second protrusion 803 are both linear protrusions, and the first groove 805 and the second groove 703 are both linear grooves, so that the protrusions and the grooves of the above structure have stable transmission, low manufacturing cost, and convenient assembly.

In this embodiment, as shown in fig. 6, the first coupling 90, the second coupling 80 and the third coupling 70 constitute a coupling group, and the surgical instrument assembly for the surgical robot includes three coupling groups. The surgical instrument assembly for a surgical robot comprises three transmissions 10 and three drives 50, the three transmissions 10 being connected to three first couplings 90 of the three coupling groups, and the three drives 50 being connected to three third couplings 70 of the three coupling groups.

Specifically, the number of the first couplings 90, the number of the second couplings 80, and the number of the third couplings 70 are three, the three first couplings 90 are coaxially disposed with the corresponding three second couplings 80, the three second couplings 80 are coaxially disposed with the corresponding three third couplings 70, the three driving devices 50 are respectively a first driving device 501, a second driving device 502, and a third driving device 503, the three transmission devices 10 are respectively a first transmission device 101, a second transmission device 102, and a third transmission device 103, and the three driving devices 50 and the corresponding three transmission devices 10 are respectively connected through the corresponding first couplings 90, the second couplings 80, and the third couplings 70, so that the surgical instrument 60 has 2.5 degrees of freedom.

In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

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

Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.