阅读说明：本技术 手术器械引导设备及医疗机器人 (Surgical instrument guide apparatus and medical robot ) 是由 王少白 于 2021-09-23 设计创作，主要内容包括：本发明提供了一种手术器械引导设备,包括顺次活动设置的主动驱动装置、传动装置和从动装置,所述从动装置包括载针部,以固定连接手术器械；所述传动装置包括第一传动环线、主体部,以及设置于所述主体部的第一传动部、导向传动部和中空导向部；所述第一传动部连接所述主动驱动装置,以在所述主动驱动装置的驱动下旋转；本发明所述的手术器械引导设备相比现有技术简化了驱动模式,提高了传动效率和传动的稳定性,能够灵活调整手术器械的姿态,减小了手术器械附近零部件对X射线的遮挡作用,从而避免成像受到强烈的遮挡和干扰影响。本发明还提供了一种医疗机器人,包括所述的手术器械引导设备。(The invention provides surgical instrument guiding equipment which comprises a driving device, a transmission device and a driven device, wherein the driving device, the transmission device and the driven device are movably arranged in sequence; the transmission device comprises a first transmission loop wire, a main body part, a first transmission part, a guide transmission part and a hollow guide part, wherein the first transmission part, the guide transmission part and the hollow guide part are arranged on the main body part; the first transmission part is connected with the active driving device to rotate under the driving of the active driving device; compared with the prior art, the surgical instrument guiding device simplifies the driving mode, improves the transmission efficiency and the transmission stability, can flexibly adjust the posture of the surgical instrument, and reduces the shielding effect of parts near the surgical instrument on X-rays, thereby avoiding the imaging from being influenced by strong shielding and interference. The invention also provides a medical robot comprising the surgical instrument guiding device.)

1. The utility model provides a surgical instruments guiding apparatus, includes the initiative drive arrangement, transmission and the slave unit that the activity set up in order, its characterized in that:

the driven device comprises a needle-carrying part for fixedly connecting a surgical instrument;

the transmission device comprises a first transmission loop wire, a main body part, a first transmission part, a guide transmission part and a hollow guide part, wherein the first transmission part, the guide transmission part and the hollow guide part are arranged on the main body part;

the first transmission part is connected with the active driving device to rotate under the driving of the active driving device;

the guide transmission part and the hollow guide part are oppositely arranged along a first direction, and the first transmission loop is sleeved on the first transmission part and then passes through the guide transmission part and is in sliding contact with the guide transmission part so as to drive the guide transmission part to rotate;

after the first transmission loop line is crossed under the guiding action of the guiding transmission part, the first transmission loop line penetrates through the hollow guiding part along a first direction and then is movably sleeved on the driven device, so that the driven device is driven to move along a second direction, the first direction is consistent with the moving direction of the first transmission loop line on the hollow guiding part, and the included angle range between the second direction and the first direction is larger than 0 degree and smaller than 180 degrees;

the first transmission annular line is arranged at the part between the first transmission part and the guide transmission part in a crossing way.

2. A surgical instrument guide apparatus as recited in claim 1, wherein a vertical distance between the first transmission and a virtual structure formed by the hollow guide extending in the first direction is greater than a vertical distance between the guide transmission and a virtual structure formed by the hollow guide extending in the first direction.

3. The surgical instrument guiding apparatus according to claim 2, wherein the first transmission portion includes a first wheel body and a second wheel body sequentially arranged in the first direction, the first transmission loop is movably sleeved on the first wheel body, one transmission line of the first transmission loop extends to the bottom of the guide transmission portion after being in sliding contact with the top of the second wheel body and extends toward the hollow guide portion after being in sliding contact with the top of the second wheel body, and the other transmission line of the first transmission loop extends to the bottom of the guide transmission portion after being in sliding contact with the top of the guide transmission portion and extends toward the hollow guide portion after being in sliding contact with the top of the guide transmission portion.

4. A surgical instrument guide apparatus according to claim 3, wherein the guide transmission portion includes a third wheel, a fourth wheel, and a fifth wheel that are arranged in sequence in the first direction;

one transmission line of the first transmission loop line extends to the bottom of the third wheel body after being in sliding contact with the top of the second wheel body and then extends to the bottom of the fifth wheel body to realize sliding contact and extend towards the hollow guide part;

the other transmission line of the first transmission loop line extends to the bottom of the fifth wheel body after sliding contact is carried out on the top of the fourth wheel body, and the other transmission line of the first transmission loop line extends towards the hollow guide part in a sliding contact mode.

5. The surgical instrument guide apparatus of claim 4, wherein a vertical distance between any one of the third wheel, the fourth wheel, and the fifth wheel and a virtual structure formed by the hollow guide portion extending in the first direction is smaller than a vertical distance between any one of the first wheel and the second wheel and a virtual structure formed by the hollow guide portion extending in the first direction.

6. A surgical instrument guide apparatus as claimed in claim 4, wherein the third, fourth and fifth wheels are each disposed opposite the hollow guide.

7. A surgical instrument guiding apparatus as claimed in claim 4, wherein the first wheel body is a motor drive wheel, the second, third, fourth and fifth wheel bodies are guide wheels, and the first, second, third, fourth and fifth wheel bodies are each provided with a sliding slot to fit the first drive loop.

8. A surgical instrument guide apparatus according to claim 1, wherein the transmission device further includes a hollow cantilever having both ends open, one open end of the hollow cantilever being disposed in the main body portion and opposite to the guide transmission portion, the hollow guide portion being disposed in the hollow cantilever, and the other open end of the hollow cantilever being movably provided with a first U-shaped frame for rotation about an axis of the hollow cantilever.

9. The surgical instrument guiding apparatus as defined in claim 8, wherein the transmission device further includes a sixth wheel and a seventh wheel sequentially disposed along the first direction, the sixth wheel and the seventh wheel being disposed opposite to each other in the first U-shaped frame, the first transmission loop extends through a space defined between the sixth wheel and the seventh wheel after penetrating through the hollow cantilever, and then is movably sleeved on the driven device, and the first transmission loop is in sliding contact with the sixth wheel and the seventh wheel.

10. A surgical instrument guide apparatus according to claim 9, wherein the sixth and seventh wheels are guide wheels, the sixth and seventh wheels each being provided with a sliding slot to fit the first drive loop wire.

11. The surgical instrument guiding apparatus as defined in claim 9, wherein the driven device further includes a second transmission loop, and an eighth wheel and a ninth wheel oppositely disposed along the second direction, the first transmission loop and the second transmission loop are both sleeved on the eighth wheel, the second transmission loop is sleeved on the eighth wheel and the ninth wheel, and the needle-carrying portion is fixedly disposed on the transmission line of the second transmission loop, which is close to the needle-carrying portion.

12. A surgical instrument guide apparatus as recited in claim 11, wherein the eighth wheel and the ninth wheel are each guide wheels.

13. A surgical instrument guide apparatus according to claim 11, wherein the eighth wheel body is provided with a first chute in which the first transmission loop is sleeved and a second chute in which the second transmission loop is sleeved, and the ninth wheel body is provided with a chute adapted to the second transmission loop.

14. A surgical instrument guide apparatus according to claim 8, wherein the driven device further includes a hollow frame body, the driven device is disposed in the hollow frame body except for the needle carrying portion, the needle carrying portion is slidably disposed on a side wall of the hollow frame body, and a top of the hollow frame body is movably connected to two end portions of the first U-shaped frame.

15. A medical robot comprising the surgical instrument guide apparatus of any one of claims 1-14.

Technical Field

The invention relates to the technical field of medical instruments, in particular to surgical instrument guiding equipment and a medical robot.

Background

In spinal puncture surgery, it is necessary to perform the puncture surgery using C-arm guidance. In this case, it is preferable that the parts in the vicinity of the puncture needle be as small as possible to block the X-ray transmission.

Chinese patent publication No. CN107647916A discloses a master arm of a surgical robot, which comprises a fixed arm disposed on a support, a middle arm hinged at one end of the fixed arm, a front arm hinged at one end of the middle arm away from the fixed arm, and a sliding arm hinged at one end of the front arm away from the middle arm, wherein the sliding arm is provided with a surgical instrument with a manipulator, the middle arm is located at a lateral part of the fixed arm, the front arm is located at a lateral part of the middle arm, the middle arm and the front arm form two adjacent sides of a parallelogram, a far center point for an instrument hand to pass through is arranged between the two adjacent sides, a driving component for driving the manipulator to swing around the far center point is arranged between the support and the sliding arm, and the patent application realizes the movement of the surgical instrument by the hinged cooperation of the fixed arm, the front arm and the sliding arm, therefore, the driving mode in the patent application is complex, the transmission is not flexible, the maintenance cost is high, the X-ray penetration is shielded to a certain degree, and the operation process is easily influenced.

Therefore, there is a need to develop a new surgical instrument guide apparatus and a medical robot to solve the above problems in the prior art.

Disclosure of Invention

The invention aims to provide surgical instrument guiding equipment and a medical robot, which are used for simplifying a driving mode, improving the transmission efficiency and the transmission stability, flexibly adjusting the posture of a surgical instrument and reducing the shielding effect of parts near the surgical instrument on X rays so as to avoid strong shielding and interference influence on imaging.

In order to achieve the above object, the present invention provides a surgical instrument guiding apparatus, comprising a driving device, a transmission device and a driven device movably arranged in sequence, wherein the driven device comprises a needle carrying part for fixedly connecting a surgical instrument; the transmission device comprises a first transmission loop wire, a main body part, a first transmission part, a guide transmission part and a hollow guide part, wherein the first transmission part, the guide transmission part and the hollow guide part are arranged on the main body part; the first transmission part is connected with the active driving device to rotate under the driving of the active driving device; the guide transmission part and the hollow guide part are oppositely arranged along a first direction, and the first transmission loop is sleeved on the first transmission part and then passes through the guide transmission part and is in sliding contact with the guide transmission part so as to drive the guide transmission part to rotate; after the first transmission loop line is crossed under the guiding action of the guiding transmission part, the first transmission loop line penetrates through the hollow guiding part along a first direction and then is movably sleeved on the driven device, so that the driven device is driven to move along a second direction, the first direction is consistent with the moving direction of the first transmission loop line on the hollow guiding part, and the included angle range between the second direction and the first direction is larger than 0 degree and smaller than 180 degrees; the first transmission annular line is arranged at the part between the first transmission part and the guide transmission part in a crossing way.

The surgical instrument guide apparatus of the present invention has the beneficial effects of: the transmission device comprises a first transmission loop wire, a main body part, a first transmission part, a guide transmission part and a hollow guide part, wherein the first transmission part, the guide transmission part and the hollow guide part are arranged on the main body part, the guide transmission part and the hollow guide part are oppositely arranged along a first direction, and the first transmission loop wire is sleeved on the first transmission part and then passes through the guide transmission part and is in sliding contact with the guide transmission part so as to drive the guide transmission part to rotate; after the first transmission loop wires are crossed under the guiding action of the guiding transmission part, the first transmission loop wires penetrate through the hollow guiding part along the first direction and are movably sleeved on the driven device, so that the driven device is driven to move along the second direction, the driving mode is simplified, the transmission efficiency and the transmission stability are improved, and the posture of a surgical instrument can be flexibly adjusted; due to the fact that the first transmission loop line is adopted for transmission, the shielding effect of parts near the surgical instrument on X-rays is reduced, and imaging is prevented from being influenced by strong shielding and interference.

Preferably, a vertical distance between the first transmission part and a virtual structure formed by the hollow guide part extending along the first direction is greater than a vertical distance between the guide transmission part and a virtual structure formed by the hollow guide part extending along the first direction. The beneficial effects are that: make first transmission loop line cover smoothly establish first transmission portion and direction transmission portion, prevent that first transmission portion and direction transmission portion position are too close and the first transmission loop line that causes skids, drops.

Preferably, first transmission portion includes along first wheel body and the second wheel body that first direction set gradually, first transmission ring line movable sleeve is located behind the first wheel body, a transmission line warp of first transmission ring line extend to behind the top sliding contact of second wheel body the orientation behind the bottom of direction transmission portion and the realization sliding contact the cavity guide part extends, another transmission line warp of first transmission ring line extend to behind the top sliding contact of direction transmission portion the orientation behind the bottom of direction transmission portion and the realization sliding contact the cavity guide part extends. The beneficial effects are that: the stability of the transmission can be improved.

Preferably, the guide transmission part comprises a third wheel body, a fourth wheel body and a fifth wheel body which are sequentially arranged along the first direction; one transmission line of the first transmission loop line extends to the bottom of the third wheel body after being in sliding contact with the top of the second wheel body and then extends to the bottom of the fifth wheel body to realize sliding contact and extend towards the hollow guide part; the other transmission line of the first transmission loop line extends to the bottom of the fifth wheel body after sliding contact is carried out on the top of the fourth wheel body, and the other transmission line of the first transmission loop line extends towards the hollow guide part in a sliding contact mode. The beneficial effects are that: the third wheel body, the fourth wheel body and the fifth wheel body are arranged to stabilize two transmission lines of the first transmission ring line at the same time, so that the transmission stability is improved.

Preferably, a vertical distance between any one of the third wheel, the fourth wheel, and the fifth wheel and a virtual structure formed by the hollow guide portion extending in the first direction is smaller than a vertical distance between any one of the first wheel and the second wheel and a virtual structure formed by the hollow guide portion extending in the first direction. The beneficial effects are that: the first wheel body and the second wheel body are smoothly sleeved on the first transmission ring line, and the first transmission ring line is prevented from slipping and falling off due to the fact that the third wheel body, the fourth wheel body and the fifth wheel body are too close to the first wheel body and the second wheel body.

Preferably, the third wheel, the fourth wheel and the fifth wheel are disposed opposite to the hollow guide portion. The beneficial effects are that: the third wheel body, the fourth wheel body and the fifth wheel body can guide the first transmission loop to penetrate through the axis of the hollow guide part, and the first transmission loop cannot touch the hollow cantilever to enable the moving position to deviate.

Preferably, the first wheel body is a motor driving pulley, the second wheel body, the third wheel body, the fourth wheel body and the fifth wheel body are guide wheels, and the first wheel body, the second wheel body, the third wheel body, the fourth wheel body and the fifth wheel body are provided with sliding grooves to be matched with the first transmission loop line. The beneficial effects are that: the accuracy and precision of transmission can be improved, surgical instruments can be accurately moved to a target position, transmission noise is low, the transmission loop line is not easy to slip, and the transmission loop line is convenient to change transmission speed according to the specific rotation driving speed of the driving device.

Preferably, the transmission device further includes a hollow cantilever with two open ends, one open end of the hollow cantilever is disposed in the main body and opposite to the guide transmission portion, the hollow guide portion is disposed in the hollow cantilever, and the other open end of the hollow cantilever is movably disposed with a first U-shaped frame to rotate around the axis of the hollow cantilever. The beneficial effects are that: the rotation of the first U-shaped frame can change the posture of the surgical instrument guiding device, so that the surgical instrument can be moved to different positions according to requirements.

Preferably, the transmission device further includes a sixth wheel body and a seventh wheel body sequentially arranged along the first direction, the sixth wheel body and the seventh wheel body are oppositely disposed in the first U-shaped frame, the first transmission loop extends through the hollow cantilever and then passes through a space defined between the sixth wheel body and the seventh wheel body, and then is movably sleeved on the driven device, and the first transmission loop is in sliding contact with the sixth wheel body and the seventh wheel body. The beneficial effects are that: the relative setting of sixth wheel body and seventh wheel body can further stabilize first transmission circuit line, improves driven stability.

Preferably, the sixth wheel body and the seventh wheel body are guide wheels, and the sixth wheel body and the seventh wheel body are both provided with sliding grooves to be matched with the first transmission loop line. The beneficial effects are that: the accuracy and precision of transmission can be improved, so that the surgical instrument can be accurately moved to a target position, the transmission noise is low, the transmission loop line is not easy to slip, and the transmission rate of the transmission loop line can be conveniently changed according to the specific rotation driving rate of the active driving device.

Preferably, the driven device further includes a second transmission loop, and an eighth wheel body and a ninth wheel body which are oppositely arranged along the second direction, the first transmission loop and the second transmission loop are both sleeved on the eighth wheel body, the second transmission loop is sleeved on the eighth wheel body and the ninth wheel body, and the needle carrying portion is fixedly arranged in the second transmission loop near the transmission line of the needle carrying portion. The beneficial effects are that: the eighth wheel body can transmit the transmission of the first transmission loop line to the second transmission loop line, so that the surgical instrument is driven to move.

Preferably, the eighth wheel body and the ninth wheel body are guide wheels. The beneficial effects are that: the transmission noise of the transmission line wheel is low, so that the second transmission loop line is not easy to slip to influence the operation, and meanwhile, the surgical instrument can be stably moved to a target position.

Preferably, the eighth wheel body is provided with a first sliding groove and a second sliding groove, the first sliding groove is used for sleeving the first transmission loop, the second sliding groove is used for sleeving the second transmission loop, and the ninth wheel body is provided with a sliding groove matched with the second transmission loop. The beneficial effects are that: the first sliding groove and the second sliding groove are arranged to enable the first transmission loop line and the second transmission loop line not to be in direct contact, and the first transmission loop line and the second transmission loop line are prevented from being stirred together due to slipping.

Preferably, the driven device further comprises a hollow frame body, the driven device is arranged in the hollow frame body except the needle carrying portion, the needle carrying portion is arranged on the side wall of the hollow frame body in a sliding mode, and the top of the hollow frame body is movably connected with the two end portions of the first U-shaped frame. The beneficial effects are that: the hollow frame body and the first U-shaped frame can realize various postures of the surgical instrument guiding device, so that the needle carrying part drives the surgical instrument to move to different target positions.

In a second aspect, the present invention also provides a medical robot provided with the surgical instrument guide apparatus.

The medical robot has the beneficial effects that: through the medical robot is provided with surgical instrument guide equipment, can reduce the influence of sheltering from of surgical instrument guide equipment's spare part to the operation for medical robot can carry out operations such as puncture operation, biopsy operation and injection operation in a flexible way.

Drawings

Fig. 1 is a schematic configuration diagram of a surgical instrument guide apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic view of an assembly structure of the active driving device, the main body, the first transmission part, the guiding transmission part, the hollow guiding part and the first transmission loop line according to the embodiment of the present invention;

FIG. 3 is a schematic view of a surgical instrument guide apparatus according to another embodiment of the present invention;

FIG. 4 is a schematic view of an assembly structure of the first transmission ring line, the second transmission ring line, the sixth wheel body, the seventh wheel body, and the eighth wheel body according to the embodiment of the present invention;

fig. 5 is a schematic structural diagram of a medical robot according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the word "comprising" and similar words are intended to mean that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items.

In order to solve the problems in the prior art, embodiments of the present invention provide a surgical instrument guiding apparatus and a medical robot including a driving device, a transmission device, and a driven device, which are movably disposed in sequence, so as to reduce the shielding effect of the components near the surgical instrument on X-rays, thereby avoiding the imaging from being influenced by strong shielding and interference.

Fig. 1 is a schematic configuration diagram of a surgical instrument guide apparatus according to an embodiment of the present invention.

In some embodiments, the surgical instrument guiding apparatus includes a driving device, a transmission device and a driven device, which are movably arranged in sequence, wherein the driven device includes a needle-carrying portion to fixedly connect with a surgical instrument.

In some specific embodiments, the active driving device is a motor.

In some embodiments, the surgical instrument is a puncture needle for assisting in performing a puncture procedure.

In some specific embodiments, the surgical instrument is a biopsy needle for retrieving a sample from a target.

In some specific embodiments, the surgical instrument is an injection needle for targeted injection of a drug.

Referring to fig. 1, the transmission device is composed of a first transmission loop 13, a main body 12, and a first transmission part 18, a guide transmission part 19, and a hollow guide part 14 provided to the main body 12.

In some specific embodiments, the main body 12 is a slider with a through hole structure on the side.

Referring to fig. 1, the first transmission part 18 is connected to the active driving device 11 to rotate under the driving of the active driving device 11.

In some embodiments, referring to fig. 1, the main body 12 is provided with a mounting plate 110, the mounting plate 110 is provided with a through hole structure (not shown), and the first transmission part 18 is connected to the active driving device 11 through the through hole structure (not shown) of the mounting plate 110.

Referring to fig. 1, the guide transmission portion 19 and the hollow guide portion 14 are disposed opposite to each other along a first direction, in an embodiment of the present invention, a moving direction of the first transmission loop 13 in the hollow guide portion 14 is referred to as an x direction, that is, a first direction, and a direction having an included angle greater than 0 degree and less than 180 degrees with respect to the first direction is referred to as a y direction, that is, a second direction, and after the first transmission loop 13 is sleeved on the first transmission portion 18, the first transmission loop passes through the guide transmission portion 19 and is in sliding contact with the guide transmission portion 19 to drive the guide transmission portion 19 to rotate.

After the first transmission loop line 13 is intersected under the guiding action of the guiding transmission part 19, the first transmission loop line penetrates through the hollow guiding part 14 along the x direction and then is movably sleeved on the driven device (not shown in the figure), so that the driven device (not shown in the figure) is driven to move along the y direction, the x direction is consistent with the moving direction of the first transmission loop line 13 in the hollow guiding part 14, and the included angle range between the y direction and the x direction is larger than 0 degree and smaller than 180 degrees;

the first transmission loop 13 is disposed to cross a portion between the first transmission part 18 and the guide transmission part 19.

In some embodiments, referring to fig. 1, a vertical distance between the first transmission part 18 and a virtual structure formed by the hollow guide part 14 extending in the x direction is greater than a vertical distance between the guide transmission part 19 and a virtual structure formed by the hollow guide part 14 extending in the x direction.

Fig. 2 is a schematic view of an assembly structure of the active driving device, the main body portion, the first transmission portion, the guide transmission portion, the hollow guide portion and the first transmission loop line according to the embodiment of the present invention.

In some embodiments, referring to fig. 1 and 2, the first transmission portion 18 includes a first wheel body 21 and a second wheel body 22 sequentially arranged along the x direction, the first transmission loop 13 is movably sleeved behind the first wheel body 21, one transmission line 26 of the first transmission loop 13 extends to the bottom of the guide transmission portion 19 after being in sliding contact with the top of the second wheel body 22 and extends toward the hollow guide portion 14 after being in sliding contact with the top, and the other transmission line 27 of the first transmission loop 13 extends to the bottom of the guide transmission portion 19 after being in sliding contact with the top of the guide transmission portion 19 and extends toward the hollow guide portion 14 after being in sliding contact with the top of the guide transmission portion 19.

In some embodiments, referring to fig. 1, the guiding transmission portion 19 includes a third wheel 23, a fourth wheel 24 and a fifth wheel 25 sequentially arranged along the x direction.

One transmission line 26 of the first transmission ring 13 extends to the bottom of the third wheel 23 after sliding contact with the top of the second wheel 22, and then extends to the bottom of the fifth wheel 25 to realize sliding contact with the hollow guide portion 14.

The other transmission line 27 of the first transmission loop 13 extends to the bottom of the fifth wheel body 25 after sliding contact with the top of the fourth wheel body 24 and extends toward the hollow guide portion 14 in sliding contact.

In some embodiments, referring to fig. 1, a vertical distance between any one of the third wheel 23, the fourth wheel 24, and the fifth wheel 25 and a virtual structure formed by the hollow guide portion 14 extending in the x direction is smaller than a vertical distance between any one of the first wheel 21 and the second wheel 22 and a virtual structure formed by the hollow guide portion 14 extending in the x direction.

In some embodiments, the third wheel body 23, the fourth wheel body 24 and the fifth wheel body 25 are disposed opposite to the hollow guiding portion 14.

In some embodiments, the first wheel 21 is a motor driving pulley, and the second wheel 22, the third wheel 23, the fourth wheel 24 and the fifth wheel 25 are guide wheels.

In some embodiments, the first wheel body 21, the second wheel body 22, the third wheel body 23, the fourth wheel body 24 and the fifth wheel body 25 are provided with sliding grooves to fit the first transmission ring line 13, so as to prevent the first transmission ring line 13 from moving greatly along the axial direction of any one wheel body to affect the guiding function of the first transmission ring line 13.

Fig. 3 is a schematic structural view of a surgical instrument guide apparatus according to another embodiment of the present invention.

In some embodiments, referring to fig. 1 and 3, the transmission device further includes a hollow cantilever 41 with two open ends, one open end of the hollow cantilever 41 is disposed on the main body 12 and opposite to the guide transmission part 19, the hollow guide part 14 is disposed in the hollow cantilever 41, the other open end of the hollow cantilever 41 is movably disposed with a first U-shaped frame 42, and the first U-shaped frame 42 rotates around the axis of the hollow cantilever 41.

In some embodiments, the hollow cantilever 41 is a hollow column made of carbon fiber.

In some specific embodiments, the axial direction of the hollow cantilever 41 is the x direction.

Fig. 4 is an assembly structure diagram of the first transmission ring line, the second transmission ring line, the sixth wheel body, the seventh wheel body, and the eighth wheel body according to the embodiment of the present invention.

In some embodiments, referring to fig. 1, 3 and 4, the transmission device further includes a sixth wheel 31 and a seventh wheel 32 sequentially arranged along the x direction, the sixth wheel 31 and the seventh wheel 32 are oppositely arranged in the first U-shaped frame 42, the first transmission loop 13 extends through the hollow cantilever 41 and then passes through a space defined between the sixth wheel 31 and the seventh wheel 32, and then is movably sleeved on the driven device, and the first transmission loop 13 is in sliding contact with the sixth wheel 31 and the seventh wheel 32.

In some embodiments, the sixth wheel body 31 and the seventh wheel body 32 are guide wheels. The sixth wheel body 31 and the seventh wheel body 32 are both provided with a slide groove to fit the first transmission ring line 13.

In some embodiments, referring to fig. 1, the driven device further includes a second transmission loop 36, and an eighth wheel body 33 and a ninth wheel body 17 that are oppositely disposed along the y direction, the first transmission loop 13 and the second transmission loop 36 are both sleeved on the eighth wheel body 33, the second transmission loop 36 is sleeved on the eighth wheel body 33 and the ninth wheel body 17, and the needle carrying portion 15 is fixedly disposed on a third transmission line 34 of the second transmission loop 36 that is close to the needle carrying portion 15.

Specifically, referring to fig. 3 and 4, the sixth wheel 31 is connected to the first U-shaped frame 42 through a first connecting rod 39, the seventh wheel 32 is connected to the first U-shaped frame 42 through a second connecting rod 310, and the eighth wheel 33 is connected to the first U-shaped frame 42 through a third connecting rod 311.

In some embodiments, the eighth wheel body 33 and the ninth wheel body 17 are guide wheels.

In some specific embodiments, the first wheel body 21, the second wheel body 22, the third wheel body 23, the fourth wheel body 24, the fifth wheel body 25, the sixth wheel body 31, the seventh wheel body 32 and the ninth wheel body 17 are provided with an annular groove structure, and the annular groove structure is matched with the first transmission loop line 13 and the second transmission loop line 36 to position the transmission loop lines and limit the first transmission loop line 13 and the second transmission loop line 36 to move along the axial direction of the wheel bodies.

In some embodiments, referring to fig. 1 and 4, the eighth wheel body 33 is provided with a first sliding slot 37 and a second sliding slot 38, the first sliding slot 37 is used for the first transmission loop 13 to be sleeved, and the second sliding slot 38 is used for the second transmission loop 36 to be sleeved.

In some embodiments, the ninth wheel 17 is provided with a sliding groove adapted to the second transmission loop 36.

In some embodiments, referring to fig. 1 and 2, the guiding of the surgical instrument 16 by the surgical instrument guiding apparatus of the present invention is performed as follows:

the driving device 11 provides a rotational drive to rotate the first wheel body 21 clockwise, and the first wheel body 21 rotates clockwise to drive the first transmission ring line 13 to slide;

the first transmission loop 13 is divided into a transmission line 26 and another transmission line 27, the transmission line 26 slides along the x direction to further drive the second wheel body 22 to rotate clockwise;

the transmission line 26 slides along the bottom of the third wheel body 23 to drive the third wheel body 23 to rotate counterclockwise, and the transmission line 26 slides through the bottom of the third wheel body 23 and then extends through the hollow guide portion 14;

the transmission line 26 slides along the bottom of the sixth wheel 31 to drive the sixth wheel 31 to rotate counterclockwise, and the transmission line 26 slides along the first sliding slot 37 at the top of the eighth wheel 33 to drive the eighth wheel 33 to rotate clockwise;

with reference to fig. 4, the one drive line 26 and the other drive line 27 meet and close at the first link 37 of the eighth wheel 33. The other transmission line 27 slides along the x direction through the first sliding slot 37 at the bottom of the eighth wheel body 33;

referring to fig. 2 and 3, the other transmission line 27 slides through the top of the seventh wheel body 32 and drives the seventh wheel body 32 to rotate counterclockwise, the other transmission line 27 passes through the hollow cantilever 41 and the hollow guiding portion 14 and then slides through the bottom of the fifth wheel body 25 and drives the fifth wheel body 25 to rotate clockwise, the other transmission line 27 slides through the top of the fourth wheel body 24 and drives the fourth wheel body 24 to rotate counterclockwise, and the other transmission line 27 further drives the first wheel body 21 to rotate clockwise through the bottom of the first wheel body 21;

referring to fig. 4, the second transmission loop 36 is sleeved on the second sliding groove 38 of the eighth wheel 33;

referring to fig. 1 and 2, the eighth wheel body 33 rotates clockwise to drive the second transmission loop 36 to slide, the second transmission loop 36 is divided into a third transmission line 34 and a fourth transmission line 35, the third transmission line 34 slides along the y direction, passes through the needle carrying portion 15, and drives the needle carrying portion 15 to move along the y direction, so as to drive the surgical instrument 16 to move downward, and the third transmission line 34 slides through the bottom of the ninth wheel body 17 to drive the ninth wheel body 17 to rotate clockwise;

the third transmission line 34 and the fourth transmission line 35 intersect and close at the ninth wheel 17, and the fourth transmission line 35 slides along the y direction and further drives the eighth wheel 33 to rotate clockwise through the top of the eighth wheel 33.

In other embodiments, referring to fig. 1 and 2, the guiding of the surgical instrument 16 by the surgical instrument guiding apparatus of the present invention is performed as follows:

the driving device 11 provides a rotation drive to rotate the first wheel body 21 counterclockwise, and the first wheel body 21 rotates counterclockwise to drive the first transmission ring line 13 to slide;

the first transmission loop 13 is divided into a transmission line 26 and another transmission line 27, the another transmission line 27 slides along the x direction, slides through the top of the fourth wheel body 24 and drives the fourth wheel body 24 to rotate clockwise, and the another transmission line 27 slides through the bottom of the fifth wheel body 25 and drives the fifth wheel body 25 to rotate counterclockwise;

the other transmission line 27 extends through the hollow guide part 14 after sliding at the bottom of the fifth wheel body 25, the other transmission line 27 further slides along the x direction, and the other transmission line 27 slides along the bottom of the seventh wheel body 32 to drive the seventh wheel body 32 to rotate clockwise;

referring to fig. 4, the other transmission line 27 slides along the first slide slot 37 at the bottom of the eighth wheel body 33 to drive the eighth wheel body 33 to rotate counterclockwise, the other transmission line 27 and the one transmission line 26 meet and close at the first slide slot 37 of the eighth wheel body 33, the one transmission line 26 slides along the x direction through the first slide slot 37 at the top of the eighth wheel body 33, and the one transmission line 26 slides through the bottom of the sixth wheel body 31 to drive the sixth wheel body 31 to rotate clockwise;

referring to fig. 2 and 3, after penetrating through the hollow cantilever 41 and the hollow guiding portion 14, the one transmission line 26 slides through the bottom of the third wheel 23 and drives the third wheel 23 to rotate counterclockwise, the one transmission line 26 slides through the top of the second wheel 22 and drives the second wheel 22 to rotate counterclockwise, and the one transmission line 26 slides through the top of the first wheel 21 and further drives the first wheel 21 to rotate counterclockwise and to intersect with the other transmission line 27 to close;

referring to fig. 1 and 4, the second transmission loop 36 is sleeved on the second sliding slot 38 of the eighth wheel body 33, and the eighth wheel body 33 rotates clockwise to drive the second transmission loop 36 to slide;

the second transmission loop line 36 is divided into a third transmission line 34 and a fourth transmission line 35, the fourth transmission line 35 slides downwards along the y direction, and the fourth transmission line 35 slides through the bottom of the ninth wheel body 17, so as to drive the ninth wheel body 17 to rotate anticlockwise;

the fourth transmission line 35 and the third transmission line 34 intersect and close at the ninth wheel body 17, the third transmission line 34 slides along the y direction, passes through the needle carrying portion 15 and drives the needle carrying portion 15 to move along the y direction, so as to drive the surgical instrument 16 to move upwards, and the third transmission line 34 slides through the second sliding groove 38 at the top of the eighth wheel body 33, so as to further drive the eighth wheel body 33 to rotate anticlockwise.

In some embodiments, referring to fig. 3, the follower further includes a hollow frame body 43, the follower is disposed inside the hollow frame body 43 except for the needle-carrying portion 15, the needle-carrying portion 15 is slidably disposed on a side wall of the hollow frame body 43, and a top of the hollow frame body 43 is movably connected to two end portions of the first U-shaped frame 42.

Fig. 5 is a schematic structural diagram of a medical robot according to an embodiment of the present invention.

In some embodiments, referring to fig. 5, a medical robot is further provided, where the medical robot is provided with the surgical instrument guide device, so that the medical robot has a high degree of freedom, can realize multiple postures, has high transmission efficiency and transmission stability, has low maintenance cost, can reduce the influence of shielding of parts of the surgical instrument guide device on a surgery, and can flexibly perform operations such as a puncture operation, a biopsy operation, and an injection operation.

Although the embodiments of the present invention have been described in detail hereinabove, it is apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it is to be understood that such modifications and variations are within the scope and spirit of the present invention as set forth in the following claims. Moreover, the invention as described herein is capable of other embodiments and of being practiced or of being carried out in various ways.