阅读说明：本技术 手术器械及手术机器人 (Surgical instrument and 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：本发明公开了一种手术器械及手术机器人,其中,所述手术器械包括执行组件、第一带动组件、第一驱动组件和连接组件,所述第一带动组件包括相互配合的第一螺杆和第一螺母滑块,所述第一驱动组件与所述第一螺杆连接,所述连接组件与所述执行组件铰接设置,所述连接组件包括分别与所述第一螺母滑块和所述执行组件连接的第一传动件,其中,所述第一螺母滑块带动所述第一传动件移动,以使所述执行组件绕铰接点转动。本发明的执行组件在腕关节处可以实现弯曲和伸直,使执行组件实现类似于人手的腕关节动作,达到手术器械和人手操作同步的效果,以及简化手术器械操作的难度。(The invention discloses a surgical instrument and a surgical robot, wherein the surgical instrument comprises an execution assembly, a first driving assembly and a connecting assembly, the first driving assembly comprises a first screw rod and a first nut slider which are matched with each other, the first driving assembly is connected with the first screw rod, the connecting assembly is hinged with the execution assembly, the connecting assembly comprises a first transmission piece which is respectively connected with the first nut slider and the execution assembly, and the first nut slider drives the first transmission piece to move so that the execution assembly rotates around a hinge point. The executing assembly can be bent and straightened at the wrist joint, so that the executing assembly can realize the action similar to the wrist joint of a human hand, the effect of synchronizing the operation of surgical instruments and the human hand is achieved, and the operation difficulty of the surgical instruments is simplified.)

1. A surgical instrument, comprising:

an execution component;

the first driving assembly comprises a first screw rod and a first nut sliding block which are matched with each other;

the first driving assembly is connected with the first screw rod, and the first driving assembly drives the first screw rod to rotate so that the first nut sliding block moves along the first screw rod;

the connecting assembly is hinged to the executing assembly and comprises a first transmission piece connected with the first nut sliding block and the executing assembly respectively, and the first nut sliding block drives the first transmission piece to move so that the executing assembly rotates around a hinge point.

2. A surgical instrument as recited in claim 1, wherein the coupling assembly further includes a second transmission, the actuation assembly being hingedly disposed to the second transmission.

3. A surgical instrument as recited in claim 1, wherein the first transmission member includes:

the first transmission rod is rotatably connected with the first nut sliding block;

and one end of the movable rod is rotationally connected with the first transmission rod, and the other end of the movable rod is rotationally connected with the execution assembly.

4. A surgical instrument as recited in claim 1, wherein the first drive assembly includes a first motor, the first motor being coupled to the first screw via a first coupling.

5. A surgical instrument as recited in claim 2, further comprising:

the second driving assembly comprises a driving gear and a driven gear which are meshed with each other;

and the second driving assembly comprises a second motor, the second motor is connected with the driving gear through a second coupling, and the driven gear sleeve is fixedly arranged on the second transmission piece.

6. A surgical instrument as recited in claim 5, wherein the second transmission member includes a second transmission rod and a connection sleeve, the second transmission rod is fixedly connected to the connection sleeve, the actuating member is hinged to the connection sleeve via a pin, and the driven gear sleeve is fixedly disposed on the second transmission rod.

7. A surgical instrument as recited in claim 1, further comprising:

the third driving assembly comprises a second screw rod and a second nut sliding block which are matched with each other;

and the third driving assembly is connected with the second screw rod, and drives the second screw rod to rotate so as to enable the second nut sliding block to move along the second screw rod.

8. A surgical instrument as recited in claim 7, wherein the coupling assembly further includes a third transmission including a third drive rod rotatably coupled to the second nut runner and a connecting rod coupling the third drive rod and the actuation assembly.

9. A surgical instrument as recited in claim 8, wherein the connecting rod is a flexible connecting rod.

10. A surgical instrument as recited in claim 8, wherein the actuation assembly includes:

the clamp comprises a first clamp body and a second clamp body, wherein the first clamp body and the second clamp body are arranged in a crossed manner, and the crossed part of the first clamp body and the second clamp body is rotationally connected through a pin shaft;

the transition piece comprises a first transition rod and a second transition rod, one end of the first transition rod and one end of the second transition rod are rotatably connected with the connecting rod, the other end of the first transition rod is rotatably connected with the first caliper body, and the other end of the second transition rod is rotatably connected with the second caliper body; wherein the actuating assembly is opened or closed with the reciprocating motion of the third driving rod.

11. A surgical instrument as recited in claim 8, wherein the second drive rod and the first drive rod are both hollow structures, the first drive rod being disposed within the second drive rod, the third drive rod being disposed within the first drive rod.

12. A surgical instrument as recited in claim 7, wherein said third drive assembly includes a third motor, said third motor being coupled to said second screw via a third coupling.

13. A surgical robot, characterized in that it comprises a surgical instrument according to any one of claims 1-12.

Technical Field

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

Background

With the development of minimally invasive surgery and artificial intelligence, robot-assisted minimally invasive surgery is becoming one of the development trends of minimally invasive surgery. On one hand, the robot-assisted minimally invasive surgery can eliminate the limitation of the traditional minimally invasive surgery technology to a great extent and realize functions such as remote surgery, and on the other hand, the operation cost of the existing robot-assisted minimally invasive surgery is higher and the operation efficiency needs to be improved. Therefore, how to improve the flexibility and accuracy of the operation of the minimally invasive surgical robot becomes one of the technical problems to be solved urgently in the development and popularization of the robot-assisted minimally invasive surgical operation.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: how to improve the flexibility and the accuracy of the operation of the minimally invasive surgical robot.

In order to solve the above technical problems, the present invention provides a surgical instrument, comprising:

an execution component;

the first driving assembly comprises a first screw rod and a first nut sliding block which are matched with each other;

the first driving assembly is connected with the first screw rod, and the first driving assembly drives the first screw rod to rotate so that the first nut sliding block moves along the first screw rod;

the connecting assembly is hinged to the executing assembly and comprises a first transmission piece connected with the first nut sliding block and the executing assembly respectively, and the first nut sliding block drives the first transmission piece to move so that the executing assembly rotates around a hinge point.

Further, coupling assembling still includes the second driving medium, the execution component articulated set up in the second driving medium.

Further, the first transmission member includes:

the first transmission rod is rotatably connected with the first nut sliding block;

and one end of the movable rod is rotationally connected with the first transmission rod, and the other end of the movable rod is rotationally connected with the execution assembly.

Further, the surgical instrument further comprises a mounting bracket, and the first screw rod is rotatably arranged on the mounting bracket.

Further, the first driving assembly comprises a first motor, and the first motor is connected with the first screw rod through a first coupling.

Further, the surgical instrument further comprises:

the second driving assembly comprises a driving gear and a driven gear which are meshed with each other;

and the second driving assembly comprises a second motor, the second motor is connected with the driving gear through a second coupling, and the driven gear sleeve is fixedly arranged on the second transmission piece.

Furthermore, the second transmission part comprises a second transmission rod and a connecting sleeve, the second transmission rod is fixedly connected with the connecting sleeve, the executing assembly is hinged to the connecting sleeve through a pin shaft, and the driven gear sleeve is fixedly arranged on the second transmission rod.

Further, the surgical instrument further comprises:

the third driving assembly comprises a second screw rod and a second nut sliding block which are matched with each other;

and the third driving assembly is connected with the second screw rod, and drives the second screw rod to rotate so as to enable the second nut sliding block to move along the second screw rod.

Further, coupling assembling still includes the third driving medium, the third driving medium include with second nut slider rotates the third transfer line of being connected, and connect the third transfer line with execute the connecting rod of subassembly.

Further, the connecting rod is a flexible connecting rod.

Further, the execution component includes:

the clamp comprises a first clamp body and a second clamp body, wherein the first clamp body and the second clamp body are arranged in a crossed manner, and the crossed part of the first clamp body and the second clamp body is rotationally connected through a pin shaft;

the transition piece comprises a first transition rod and a second transition rod, one end of the first transition rod and one end of the second transition rod are rotatably connected with the connecting rod, the other end of the first transition rod is rotatably connected with the first caliper body, and the other end of the second transition rod is rotatably connected with the second caliper body; wherein the actuating assembly is opened or closed with the reciprocating motion of the third driving rod.

Furthermore, the second transmission rod and the first transmission rod are both hollow structures, the first transmission rod is arranged in the second transmission rod, and the third transmission rod is arranged in the first transmission rod.

Further, the third driving assembly comprises a third motor, and the third motor is connected with the second screw rod through a third coupling.

A surgical robot comprising a surgical instrument as described above.

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

the executing assembly can be bent and straightened at the wrist joint, so that the executing assembly at the end part can act like the wrist joint of a human hand, the effect of synchronizing the operation of a surgical instrument and the operation of the human hand is achieved, and the operation difficulty of the surgical instrument is simplified.

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 schematic view of a surgical instrument according to the present invention;

FIG. 2 is a schematic view of a first drive assembly of a surgical instrument according to the present invention;

FIG. 3 is a schematic structural view of a second driving assembly of the surgical instrument according to the present invention;

FIG. 4 is a perspective view of a third driving assembly of the surgical instrument of the present invention;

FIG. 5 is a schematic structural view of a third driving assembly of a surgical instrument according to the present invention;

FIG. 6 is a schematic view of the engagement of an actuating assembly and a connecting assembly of a surgical instrument according to the present invention;

FIG. 7 is a schematic view of a coupling assembly of a surgical instrument according to the present invention;

FIG. 8 is a schematic structural view of a first transmission member of a surgical instrument according to the present invention;

FIG. 9 is a schematic view of the actuator assembly and the third transmission of a surgical instrument according to the present invention;

FIG. 10 is a schematic diagram of a second transmission member of a surgical instrument according to the present invention.

List of reference numerals:

10-a surgical instrument; 20-a connecting assembly; 30-an execution component;

40-a first drive assembly; 50-a first drive assembly; 60-a third driving component;

70-mounting a bracket; 80-a second drive assembly; 90-a third drive assembly;

100-a second driving component; 101-a driven gear; 103-a drive gear;

21-a second transmission member; 23-a first transmission member; 25-a third transmission member;

211-a second transmission rod; 213-connecting sleeve; 231-a first transfer lever;

233-a movable rod; 307-a third drive link; 305-a connecting rod;

309-a second caliper body; 303-a second transition bar; 301-a first caliper body;

311-a first transition bar; 401 — a first electric machine; 403-a first coupling;

501-a first nut slider; 503-a first screw; 505-a guide bar;

601-a second nut runner; 603-a second screw; 605-a limit rod;

801-a second electric machine; 803-second coupling; 901-a third motor;

903-third coupling.

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. 1-2, an embodiment of the present invention provides a surgical instrument 10 including an implement assembly 30, a first drive assembly 50, a first drive assembly 40, a mounting bracket 70, and a connecting assembly 20; the first driving assembly 50 comprises a first screw 503 and a first nut sliding block 501 which are matched with each other, namely the first nut sliding block 501 is sleeved on the first screw 503, and the first nut sliding block 501 is in threaded fit connection with the first screw 503; the first screw 503 is rotatably mounted on the mounting bracket 70, the mounting bracket 70 is provided with a guide rod 505 for limiting the rotation of the first nut slider 501, specifically, the first nut slider 501 is provided with a guide hole, the guide rod 505 passes through the guide hole and is in contact fit with the first nut slider 501, when the first screw 503 rotates in a threaded manner, because the first nut slider 501 is in threaded fit with the first screw 503 and is limited by the guide rod 505, the first nut slider 501 moves along the guide rod 505 (the first screw 503).

In this embodiment, as shown in fig. 7, the connecting assembly 20 includes a second transmission member 21 and a first transmission member 23, and the actuating assembly 30 is hinged to the second transmission member 21.

In this embodiment, as shown in fig. 8, the first transmission piece 23 includes a first transmission rod 231 connected to the first nut slider 501, and a movable rod 233 is disposed between the other end of the first transmission rod 231 and the executing assembly 30; the movable rod 233 one end with first transfer line 231 rotates to be connected, its other end with the execution module 30 rotates to be connected, the movable rod 233 respectively with first transfer line 231 with the mode that the execution module 30 rotates to be connected includes but is not limited to round pin hub connection, works as first screw 503 rotates and drives first nut slider 501 reciprocating motion, first nut slider 501 drives first transfer line 503 reciprocating motion, thereby pass through the movable rod 233 promotes the execution module 30 is in the crooked or unbend of the articulated department of execution module 30 to realize the crooked and unbend of execution module 30 in wrist joint department, make execution module 30 realize the wrist joint action similar to the staff, reach the synchronous effect of surgical instruments and staff's operation, and simplify the degree of difficulty of surgical instruments operation.

In this embodiment, as shown in fig. 2, the first driving assembly 40 includes a first motor 401, the first motor 401 is connected to the first screw 503 through a first coupling 403, the first coupling 403 is rotatably mounted on the mounting bracket 70, the first motor 401 is fixedly mounted on the mounting bracket 40, and the first motor 401 operates to rotate the first screw 503, so as to reciprocate the first nut slider 501; a protective shell is arranged outside the first motor 401, and meanwhile, the protective shell can also be used for growing bacteria.

In one embodiment of the present invention, as shown in fig. 1 and 3, the surgical device 10 further includes a second driver assembly 80 and a second driver assembly 100, the second driving assembly 100 includes a driving gear 103 and a driven gear 101 engaged with each other, the second driving assembly 80 comprises a second motor 801, the second motor 801 is connected with the driving gear 103 through a second coupling 803, the driven gear 101 is fixedly sleeved on the second transmission member 21, firstly, the driving gear 103 is driven to rotate, the driving gear 103 drives the driven gear 101 to rotate, so as to rotate the second transmission member 21 fixed on the driven gear 101, thereby driving the actuating assembly 30 to rotate, the operation executing component 30 can quickly and accurately complete the instruction sent by the doctor in the limited space, thereby ensuring the smooth operation and simultaneously improving the universality of the surgical instruments of the surgical robot.

In this embodiment, preferably, the second coupling 803 is rotatably mounted on the mounting bracket 70, and the second motor 801 is fixedly mounted on the mounting bracket 70; a protective shell is arranged outside the second motor 801, and meanwhile, the protective shell can also be used for growing bacteria.

In this embodiment, as shown in fig. 10, preferably, the second transmission member 21 includes a second transmission rod 211 and a connection sleeve 213, the second transmission rod 211 is fixedly connected to the connection sleeve 213, the actuating assembly 30 is hinged to the connection sleeve 213 through a pin shaft, so that the actuating assembly 30 can rotate along the second transmission member 21 to realize a wrist joint action, and the driven gear sleeve 101 is fixedly disposed on the second transmission rod 211.

In an embodiment of the present invention, as shown in fig. 1, 5, 7 and 9, the surgical instrument 10 further includes a third driving assembly 60 and a third driving assembly 90, the third driving assembly 60 includes a second screw 603 and a second nut slider 601, which are engaged with each other, the third driving assembly 90 is connected to the second screw 603, wherein the third driving assembly 90 drives the second screw 603 to rotate, so that the second nut slider 601 reciprocates along the second screw 603; the connecting assembly 20 further comprises a third transmission member 25, wherein the third transmission member 25 comprises a third transmission rod 307 rotatably connected with the second nut slider 601, and a connecting rod 305 connecting the third transmission rod 307 and the actuating assembly; the connecting rod 305 is a flexible connecting rod, which can bear axial force, so that the connecting rod 305 will not bend when bearing axial force, and the connecting rod 305 will bend when bearing radial force, so that the connecting rod 305 can perform reciprocating motion along the axial direction, and when the executing component 30 needs to perform wrist joint swinging motion, the connecting rod 305 can bend due to radial force.

In this embodiment, preferably, the actuating assembly 30 includes a first caliper body 301 and a second caliper body 309, the first caliper body 301 and the second caliper body 309 are arranged in an intersecting manner, and an intersection of the first caliper body 301 and the second caliper body 309 is rotatably connected by a pin, that is, the first caliper body 301 and the second caliper body 309 can rotate in an intersecting manner along the pin, so as to open and close the first caliper body 301 and the second caliper body 309.

In this embodiment, preferably, the actuating assembly 30 further includes a transition piece, the transition piece includes a first transition rod 311 and a second transition rod 303, one end of the first transition rod 311 and one end of the second transition rod 303 are rotatably connected to the connecting rod 305, the other end of the first transition rod 311 is rotatably connected to the first caliper body 301, and the other end of the second transition rod 303 is rotatably connected to the second caliper body 309; wherein the actuating assembly 30 is opened or closed in response to the reciprocating motion of the third transmission rod 307. Firstly, a first clamp body 301 and a second clamp body 309 are arranged in a crossed mode; then, inserting a pin shaft at the intersection of the first clamp body 301 and the second clamp body 309, so that the first clamp body 301 and the second clamp body 309 are rotatably connected with the pin shaft; then, one ends of the first transition rod 311 and the second transition rod 303 are rotatably connected with the connecting rod 305; then, the other end of the first transition rod 311 is rotatably connected with the first caliper body 301, and meanwhile, the other end of the second transition rod 303 is rotatably connected with the second caliper body 309, so that the first transition rod 311, the second transition rod 303, the first caliper body 301 and the second caliper body 309 form a quadrangle; then, when the third transmission rod 307 drives the connection rod 305 to reciprocate, the first transition rod 311 and the second transition rod 303 are driven to rotate, so that the first transition rod 311 and the second transition rod 303 push the first forceps body 301 and the second forceps body 309 to open or close, and further drive the surgical instrument 10 to open or close, thereby driving the surgical instrument 10.

In this embodiment, as shown in fig. 5, preferably, the second nut sliding block 601 is sleeved on the second screw 603, and the second nut sliding block 601 is in threaded fit connection with the second screw 603; the second screw 603 is rotatably mounted on the mounting bracket 70, the mounting bracket 70 is provided with a limiting rod 605 for limiting the rotation of the second nut slider 601, specifically, the second nut slider 601 is provided with a limiting hole, the limiting rod 605 passes through the limiting hole and is in contact fit with the second nut slider 601, when the second screw 603 rotates in a thread manner, the second nut slider 601 is in thread fit with the second screw 603, and is limited by the limiting rod 605, so that the second nut slider 601 moves along the limiting rod 605 (the second screw), thereby driving the third transmission rod 307 to reciprocate.

In this embodiment, as shown in fig. 4, the third driving assembly 90 includes a third motor 901, the third motor 901 is connected to the second screw 603 through a third coupling 903, the third coupling 903 is rotatably mounted on the mounting bracket 70, and the third motor 901 is fixedly mounted on the mounting bracket 70; a protective shell is arranged outside the third motor 901, and meanwhile, the protective shell can also grow bacteria.

In an embodiment of the present invention, the second transmission rod 211 and the first transmission rod 231 are both hollow structures, the first transmission rod 231 is disposed in the second transmission rod 211, and the third transmission rod 307 is disposed in the first transmission rod 231, such that the surgical instrument 10 has a simple structure, and can effectively reduce the volume of the surgical instrument of the surgical robot, such that the surgical executing component can quickly and accurately complete the command issued by the surgeon in a limited space.

In an embodiment of the present invention, a surgical robot includes the surgical instrument 10 as described above, and the surgical instrument 10 is described in detail in the foregoing, and will not be described again.

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.