阅读说明：本技术 手术机器人、手术器械和力传递装置 (Surgical robot, surgical instrument, and force transmission device ) 是由 翟少朋 朱国征 何裕源 蒋友坤 何超 袁帅 于 2021-10-15 设计创作，主要内容包括：本发明涉及一种手术机器人、手术器械和力传递装置,手术机器人包括机械臂、动力系统和力传递装置,动力系统设置在机械臂上并与力传递装置传动连接,手术器械包括伸缩杆、末端执行器和力传递装置,伸缩杆近端连接力传递装置,力传递装置用于驱动伸缩杆平移,以致动末端执行器运动；力传递装置包括驱动模块、力传递模块和致动模块；力传递模块与驱动模块连接,并能够在驱动模块的驱动下执行预定运动；致动模块与力传递模块连接,并能够在力传递模块的驱动下执行目标运动,且致动模块用于与手术器械刚性接触,并用于致动手术器械的伸缩杆平移。本发明能够提高力传递效率,改善运动控制精度,并简化力传递结构,降低力传递的装配和制造难度。(The invention relates to a surgical robot, a surgical instrument and a force transmission device, wherein the surgical robot comprises a mechanical arm, a power system and the force transmission device, the power system is arranged on the mechanical arm and is in transmission connection with the force transmission device, the surgical instrument comprises a telescopic rod, an end effector and the force transmission device, the near end of the telescopic rod is connected with the force transmission device, and the force transmission device is used for driving the telescopic rod to translate so as to actuate the end effector to move; the force transmission device comprises a driving module, a force transmission module and an actuating module; the force transmission module is connected with the driving module and can execute preset movement under the driving of the driving module; the actuating module is connected with the force transmission module and can perform target motion under the driving of the force transmission module, and the actuating module is used for being in rigid contact with the surgical instrument and actuating the telescopic rod of the surgical instrument to translate. The invention can improve the force transmission efficiency, improve the motion control precision, simplify the force transmission structure and reduce the assembly and manufacture difficulty of force transmission.)

1. A force transfer device for a surgical instrument, comprising:

a drive module;

the force transmission module is connected with the driving module and can perform preset movement under the driving of the driving module; and the number of the first and second groups,

the actuating module is connected with the force transmission module and can perform target motion under the driving of the force transmission module, and the actuating module is used for being in rigid contact with the surgical instrument and actuating a telescopic rod of the surgical instrument to translate along a first direction.

2. The force transmission apparatus of claim 1, wherein the driving module comprises a driving shaft and a moving member connected, the driving shaft being capable of rotating to drive the moving member to move; the force transmission module is connected with the moving member and can execute the preset movement under the driving of the moving member, the preset movement comprises movement or rotation, and the first direction is parallel to the rotation axis of the driving shaft.

3. The force transmission apparatus of claim 2, wherein the drive shaft is in rigid or flexible contact with the mover, the force transmission module is in flexible or rigid contact with the mover, and the force transmission module is in rigid contact with the actuation module.

4. The force transmission apparatus of claim 2, wherein the target motion comprises one of:

a translation in a first direction;

an oscillation about a second direction and a translation along a first direction, the oscillation about the second direction being capable of actuating the translation along the first direction;

opening and closing around a first direction; and the number of the first and second groups,

rotation about a second direction;

wherein the second direction is perpendicular to the first direction.

5. The force transmission apparatus of claim 4, wherein the target motion comprises translation in a first direction;

the force transmission module can be driven by the moving member to perform translation along a first direction and drive the actuating module to translate along the first direction.

6. The force transmission device of claim 5, wherein the drive shaft is a lead screw and the moving member is a nut that is cooperatively coupled with the lead screw;

the force transmission module comprises a transmission rod, one end of the transmission rod is fixedly connected with the nut, and the other end of the transmission rod is fixedly connected with the actuating module;

the nut is driven by the rotation motion of the lead screw to move along a first direction, the transmission rod is driven by the nut to move along the first direction, and the actuating module is driven by the transmission rod to translate along the first direction.

7. The force transmission device of claim 6, further comprising an instrument box, wherein the force transmission module further comprises a restraint shaft and a guide bar; the transmission rod is provided with a limiting groove;

one end of the limiting shaft is fixed on the bottom of the instrument box, and the other end of the limiting shaft penetrates through the limiting groove; the limiting groove can limit the transmission rod to rotate around the first direction;

the bottom of the instrument box is also provided with a guide block, and the guide block is provided with a guide groove extending along a first direction; the guide rod penetrates through the transmission rod, and the two opposite ends of the guide rod respectively move in the corresponding guide grooves.

8. The force transmission device according to claim 7, wherein both end portions of the guide bar are respectively provided with a guide portion having a first guide slope, and each of the guide grooves has a second guide slope cooperating with the first guide slope; or, the two end parts of the guide rod are respectively provided with a bearing, and the bearings are matched with the plane of the guide groove to slide relative to the plane.

9. The force transmission device of claim 6, wherein the actuation module comprises two actuation members;

the other end of the transmission rod is provided with an accommodating groove, and the accommodating groove is used for accommodating the near end of the telescopic rod; the two actuating pieces are symmetrically arranged in the accommodating groove, one ends of the two actuating pieces are fixedly connected with the transmission rod, and the other ends of the two actuating pieces are axially limited on the near end of the telescopic rod; the telescopic rod can rotate relative to the actuating module.

10. The force transmission device of claim 4, wherein the target motion comprises a swing about a second direction and a translation along a first direction;

the force transmission module can perform translation along a third direction under the driving of the moving member, and drive the actuating module to swing around a second direction and translate along a first direction; the third direction, the second direction and the first direction are perpendicular to each other.

11. The force transmission apparatus of claim 10, wherein the moving member is a connecting rod, one end of which is fixedly connected to the driving shaft; the force transfer device further comprises an instrument cartridge;

the force transfer module comprises a slider; the other end of the connecting rod is connected with the sliding block in a sliding way;

the actuating module comprises a driving rod and a parallelogram structure; the parallelogram structure comprises a driven rod and a swinging rod; the two swing rods are arranged in parallel, one end of each swing rod is hinged with the driven rod, and the other end of each swing rod is hinged with the bottom of the instrument box; one end of the driving rod is fixedly connected with the sliding block, and the other end of the driving rod is slidably connected with the driven rod;

the rotary motion of the driving shaft drives the sliding block to translate along a third direction through the connecting rod, the sliding block drives the driving rod to translate along the third direction, the driving rod drives the two swinging rods to synchronously swing around a second direction, and the two swinging rods drive the driven rod to translate along a first direction.

12. The force transmission apparatus of claim 11, wherein the force transmission module further comprises a first latch and a second latch, both fixedly disposed on the slide; the other end of the connecting rod is connected with the first bolt in a sliding mode, and one end of the driving rod is fixedly connected with the second bolt.

13. The force transmission device of claim 11, wherein the actuation module comprises two symmetrically disposed parallelogram structures, two of the driven rods of the two parallelogram structures are arranged in a U-shaped configuration and snap-fit with the proximal end of the telescoping rod, and the telescoping rod is further rotatable relative to the actuation module.

14. The force transmission apparatus of claim 4, wherein the target motion comprises opening and closing about a first direction;

the force transmission module can perform translation along a third direction under the driving of the moving element and drive the actuating module to open and close around the first direction; the first direction, the second direction and the third direction are perpendicular to each other.

15. The force transmission apparatus of claim 14, wherein the moving member is a connecting rod; one end of the connecting rod is fixedly connected with the driving shaft;

the force transmission module comprises a sliding block, and two opposite sides of the sliding block are respectively provided with a first inclined plane;

the actuating module comprises two rotating arms arranged oppositely, a first elastic structure and a second elastic structure; the two rotating arms can be opened and closed around a first direction; the first elastic structure is connected between the two rotating arms; the second elastic structure is connected with the near end of the telescopic rod; a second inclined surface and a third inclined surface are arranged on one opposite side of each rotating arm, and the second inclined surface and the third inclined surface are respectively arranged at two ends of each rotating arm;

the other end of the connecting rod is connected with the sliding block in a sliding way; the first inclined planes on the two opposite sides of the sliding block are matched with the second inclined planes of the two rotating arms; the third inclined planes of the two rotating arms are matched with the inclined planes on the telescopic rod;

the rotary motion of the driving shaft drives the sliding block to translate along a third direction through the connecting rod, and the sliding block drives the two rotating arms to rotate oppositely or reversely around the first direction so as to realize opening and closing.

16. The force transmission device of claim 15, wherein the actuation module further comprises a rotation shaft about which the two rotation arms are rotatable.

17. The force transmission device of claim 4, wherein the target motion comprises rotation about a second direction;

the force transmission module can rotate around the second direction under the driving of the moving member and drive the actuating module to rotate around the second direction.

18. The force transmission apparatus of claim 17, wherein the moving member comprises two drive wires; the force transfer module comprises a rotating rod;

one ends of the two driving wires are fixed on the driving shaft, the other ends of the two driving wires are fixed on the rotating rod, and the two driving wires are wound on the driving shaft in opposite directions;

the rotating motion of the driving shaft drives the rotating rod to rotate around a second direction through the two driving wires.

19. The force transfer device of claim 18, wherein the force transfer module further comprises a shaft, one end of the rotating rod is rotatably sleeved on the shaft, and an axis of the shaft is aligned with the second direction.

20. The force transmission device of claim 18, further comprising a plurality of guide wheels, wherein two of the drive wires are respectively guided by different guide wheels.

21. The force transmission device of any one of claims 1-3, further comprising an instrument cartridge, wherein the drive module, the force transmission module, and the actuation module are all disposed within the instrument cartridge.

22. A surgical instrument comprising a telescoping rod, an end effector, and the force transfer device of any of claims 1-21, wherein an end of the telescoping rod is coupled to the end effector, and a proximal end of the telescoping rod is coupled to the force transfer device, the force transfer device configured to drive the telescoping rod in translation to actuate movement of the end effector.

23. A surgical robot comprising a robotic arm, a power system and a force transfer device as claimed in any one of claims 1 to 21, the power system being disposed on the robotic arm and in driving connection with the force transfer device.

Technical Field

The invention relates to the technical field of medical instruments, in particular to a surgical robot, a surgical instrument and a force transmission device.

Background

Minimally invasive surgery has less patient trauma, less blood loss, and faster recovery time than traditional open incision surgery, and is therefore a widely used surgical approach. Whereas current minimally invasive surgery is typically performed by teleoperated surgical systems (e.g., systems that operate surgical instruments at least partially with computer assistance, such as instruments that operate with robotics). Compared to manual minimally invasive surgery, teleoperated surgical systems allow surgeons to perform surgical procedures with more intuitive control and higher precision, with higher surgical success rates and surgical efficiencies. To perform the actions directed by the surgeon, one or more actuation elements may be used to move the surgical instrument. Conventional surgical instruments include a drive system for moving the surgical instrument in more than one degree of freedom, which may actuate a telescoping rod of the surgical instrument in translation, which in turn actuates opening and closing of an effector at an end of the surgical instrument. However, in the existing translation driving mode, the translation driving mode is mostly realized through wire transmission, and the problems of low motion control precision, low force transmission efficiency, complex transmission structure, high assembly and manufacturing difficulty and the like exist.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a surgical robot, a surgical instrument and a force transmission device, which can improve the motion control precision and the force transmission efficiency, simplify the force transmission structure and reduce the assembly and manufacturing difficulty.

To achieve the above object, according to a first aspect of the present invention, there is provided a force transmission device for a surgical instrument, comprising:

a drive module;

the force transmission module is connected with the driving module and can perform preset movement under the driving of the driving module; and the number of the first and second groups,

the actuating module is connected with the force transmission module and can perform target motion under the driving of the force transmission module, and the actuating module is used for being in rigid contact with the surgical instrument and actuating a telescopic rod of the surgical instrument to translate along a first direction.

Optionally, the driving module comprises a driving shaft and a moving member which are connected, and the driving shaft can rotate to drive the moving member to move; the force transmission module is connected with the moving member and can execute the preset movement under the driving of the moving member, the preset movement comprises movement or rotation, and the first direction is parallel to the rotation axis of the driving shaft.

Optionally, the drive shaft is in rigid or flexible contact with the mover, the force transfer module is in flexible or rigid contact with the mover, and the force transfer module is in rigid contact with the actuation module.

Optionally, the target motion comprises one of the following motions:

a translation in a first direction;

an oscillation about a second direction and a translation along a first direction, the oscillation about the second direction being capable of actuating the translation along the first direction;

opening and closing around a first direction; and the number of the first and second groups,

rotation about a second direction;

wherein the second direction is perpendicular to the first direction.

Optionally, the target motion comprises translation in a first direction;

the force transmission module can be driven by the moving member to perform translation along a first direction and drive the actuating module to translate along the first direction.

Optionally, the driving shaft is a lead screw, the moving member is a nut, and the nut is connected with the lead screw in a matching manner;

the force transmission module comprises a transmission rod, one end of the transmission rod is fixedly connected with the nut, and the other end of the transmission rod is fixedly connected with the actuating module;

the force transfer device is configured such that rotational movement of the lead screw drives the nut to move in a first direction, the nut drives the drive link to move in the first direction, and the drive link drives the actuator module to translate in the first direction.

Optionally, the force transfer device further comprises an instrument box, and the force transfer module further comprises a limiting shaft and a guide rod; the transmission rod is provided with a limiting groove;

one end of the limiting shaft is fixed on the bottom of the instrument box, and the other end of the limiting shaft penetrates through the limiting groove; the limiting groove can limit the transmission rod to rotate around the first direction;

the bottom of the instrument box is also provided with a guide block, and the guide block is provided with a guide groove extending along a first direction; the guide rod penetrates through the transmission rod, and the two opposite ends of the guide rod respectively move in the corresponding guide grooves.

Optionally, the end parts of the two ends of the guide rod are respectively provided with a guide part, the guide part is provided with a first guide inclined plane, and each guide groove is provided with a second guide inclined plane matched with the first guide inclined plane; or, the two end parts of the guide rod are respectively provided with a bearing, and the bearings are matched with the plane of the guide groove to slide relative to the plane.

Optionally, the actuation module comprises two actuation members;

the other end of the transmission rod is provided with an accommodating groove, and the accommodating groove is used for accommodating the near end of the telescopic rod; the two actuating pieces are symmetrically arranged in the accommodating groove, one ends of the two actuating pieces are fixedly connected with the transmission rod, and the other ends of the two actuating pieces are axially limited on the near end of the telescopic rod; the telescopic rod can rotate relative to the actuating module.

Optionally, the target motion comprises a swing about a second direction and a translation along a first direction;

the force transmission module is configured to be capable of performing translation along a third direction under the driving of the moving member and driving the actuating module to swing around a second direction and translate along a first direction; the third direction, the second direction and the first direction are perpendicular to each other.

Optionally, the moving member is configured as a connecting rod, and one end of the connecting rod is fixedly connected with the driving shaft; the force transfer device further comprises an instrument cartridge;

the force transfer module comprises a slider; the other end of the connecting rod is connected with the sliding block in a sliding way;

the actuating module comprises a driving rod and a parallelogram structure; the parallelogram structure comprises a driven rod and a swinging rod; the two swing rods are arranged in parallel, one end of each swing rod is hinged with the driven rod, and the other end of each swing rod is hinged with the bottom of the instrument box; one end of the driving rod is fixedly connected with the sliding block, and the other end of the driving rod is slidably connected with the driven rod;

the force transmission device is configured that the rotary motion of the driving shaft drives the sliding block to translate along the third direction through the connecting rod, the sliding block drives the driving rod to translate along the third direction, the driving rod drives the two swinging rods to synchronously swing around the second direction, and the two swinging rods drive the driven rod to translate along the first direction.

Optionally, the force transmission module further includes a first latch and a second latch, both of which are fixedly disposed on the slider; the other end of the connecting rod is connected with the first bolt in a sliding mode, and one end of the driving rod is fixedly connected with the second bolt.

Optionally, the actuating module comprises two symmetrically arranged parallelogram structures, two driven rods of the two parallelogram structures are arranged into a U-shaped structure and clamped with the proximal end of the telescopic rod, and the telescopic rod can also rotate relative to the actuating module.

Optionally, the target motion comprises opening and closing about a first direction;

the force transmission module is configured to be capable of performing translation along a third direction under the driving of the moving member and driving the actuating module to open and close around a first direction; the first direction, the second direction and the third direction are perpendicular to each other.

Optionally, the moving member is configured as a link; one end of the connecting rod is fixedly connected with the driving shaft;

the force transmission module comprises a sliding block, and two opposite sides of the sliding block are respectively provided with a first inclined plane;

the actuating module comprises two rotating arms arranged oppositely, a first elastic structure and a second elastic structure; the two rotating arms can be opened and closed around a first direction; the first elastic structure is connected between the two rotating arms; the second elastic structure is connected with the near end of the telescopic rod; a second inclined surface and a third inclined surface are arranged on one opposite side of each rotating arm, and the second inclined surface and the third inclined surface are respectively arranged at two ends of each rotating arm;

the other end of the connecting rod is connected with the sliding block in a sliding way; the first inclined planes on the two opposite sides of the sliding block are matched with the second inclined planes of the two rotating arms; the third inclined planes of the two rotating arms are matched with the inclined planes on the telescopic rod;

the force transmission device is configured in such a way that the rotary motion of the driving shaft drives the sliding block to translate along the third direction through the connecting rod, and the sliding block drives the two rotating arms to rotate towards or away from each other around the first direction so as to realize opening and closing.

Optionally, the actuation module further comprises a rotation shaft, about which the two rotation arms are rotatable.

Optionally, the target motion comprises rotation about a second direction;

the force transmission module is configured to be capable of rotating around a second direction under the driving of the moving member and driving the actuating module to rotate around the second direction.

Optionally, the moving member comprises two drive wires; the force transfer module comprises a rotating rod;

one ends of the two driving wires are fixed on the driving shaft, the other ends of the two driving wires are fixed on the rotating rod, and the two driving wires are wound on the driving shaft in opposite directions;

the force transmission device is configured such that the rotational movement of the drive shaft drives the rotation lever to rotate about a second direction via the two drive wires.

Optionally, the force transmission module further comprises a rotating shaft, one end of the rotating rod is rotatably sleeved on the rotating shaft, and the axis of the rotating shaft is consistent with the second direction.

Optionally, the force transmission device further comprises a plurality of guide wheels, and the two driving wires are respectively guided by different guide wheels.

Optionally, the force transfer device further comprises an instrument cartridge, the drive module, the force transfer module and the actuation module all being disposed within the instrument cartridge.

In order to achieve the above object, according to a second aspect of the present invention, there is provided a surgical instrument, comprising a telescopic rod, an end effector, and any one of the force transmission devices, wherein an end of the telescopic rod is connected to the end effector, a proximal end of the telescopic rod is connected to the force transmission device, and the force transmission device is configured to drive the telescopic rod to translate so as to actuate the end effector to move.

In order to achieve the above object, according to a third aspect of the present invention, there is provided a surgical robot, comprising a mechanical arm, a power system and any one of the force transmission devices, wherein the power system is disposed on the mechanical arm and is in transmission connection with the force transmission device.

In the surgical robot, the force transmission device and the surgical instrument, the driving module drives the force transmission module to execute a predetermined motion, and finally the force transmission module drives the actuating module to execute a target motion, and the actuating module is used for being in rigid contact with the surgical instrument and actuating a telescopic rod of the surgical instrument to translate through the target motion; the force transmission efficiency of the force transmission mode is high, the motion control precision is high, meanwhile, the force transmission mode can be realized through a simpler structure, the assembly and manufacturing difficulty is reduced, and the cost is reduced.

In the above surgical robot, force transmission device and surgical instrument, the driving module preferably includes a driving shaft and a moving member connected to each other, and the driving force transmission module is moved or rotated by the moving member by converting the rotation of the driving shaft into the movement of the moving member, so as to simplify the structure of the force transmission device.

In the above surgical robot, force transmission device and surgical instrument, the driving shaft is in rigid contact or flexible contact with the moving member, the force transmission module is in flexible contact or rigid contact with the moving member, the force transmission module is in rigid contact with the actuation module, preferably, the driving shaft is in rigid contact with the moving member, the force transmission module is in rigid contact with the moving member, and the force transmission module is in rigid contact with the actuation module.

Among above-mentioned surgical robot, power transmission device and surgical instruments, the drive module is preferably screw nut subassembly, and not only simple structure, convenient assembling, the preparation technology degree of difficulty is low, can realize the geometric transmission moreover, and power transmission efficiency is high, and motion control is accurate, and the bearing capacity is big.

Among above-mentioned surgical robot, power transmission device and surgical instrument, the preferred slider that is preferred to power transmission module, actuating module is preferred to include the parallelogram structure for the rotary motion of drive shaft can convert the translation motion of slider into, and then by the translation drive parallelogram structure swing of slider, this power transmission mode's transmission efficiency is high, and bearing capacity is strong moreover, and the motion precision can obtain better assurance.

In above-mentioned surgical robot, power transmission device and surgical instrument, actuating module preferred includes the swinging boom of cross arrangement, drives the telescopic link translation through opening and shutting of swinging boom, and this mode structure is simpler, and the assembly is also convenient, still has great bearing capacity simultaneously.

Among above-mentioned surgical robot, power transmission device and surgical instruments, drive module is preferred to include two drive silks, power transmission module is preferred to include the rotary rod, drives the telescopic link translation through the rotation of two drive silks drive rotary rod, and this power transmission mode's structure is also simple, and it is also convenient to assemble, and the drive silk has elasticity simultaneously for power transmission process is more steady.

Drawings

The features, nature, and advantages of embodiments of the invention will be described with reference to the accompanying drawings, in which:

FIG. 1 is a schematic view of the slave end of the surgical robotic system of the preferred embodiment of the present invention;

FIG. 2 is a schematic diagram of the power input and power output of the force transfer device in accordance with a preferred embodiment of the present invention;

FIG. 3 is a schematic view showing the internal structure of a force transmission device according to a first preferred embodiment of the present invention;

FIG. 4 is a schematic top view of a force transfer device in accordance with a first preferred embodiment of the present invention;

fig. 5 and 6 are schematic structural views illustrating the engagement of a guide bar and a guide groove of a force transmission device according to a first preferred embodiment of the present invention, respectively;

FIG. 7 is a schematic view of the actuator module of the force transfer device of the first preferred embodiment of the present invention cooperating with the proximal end of the telescoping rod and the drive rod, respectively;

FIG. 8 is a schematic view showing the internal structure of a force transmission device according to a second preferred embodiment of the present invention;

FIG. 9 is a schematic top view of a force transfer device in accordance with a second preferred embodiment of the present invention;

FIG. 10 is a front view of a force transfer device in accordance with a second preferred embodiment of the present invention;

FIG. 11 is a schematic view of the parallelogram structure of the actuating module of the force-transmitting device in accordance with the second preferred embodiment of the present invention in cooperation with the telescopic rod;

FIG. 12 is a schematic view showing the internal structure of a force transmission device according to a third preferred embodiment of the present invention;

FIG. 13 is a schematic top view of a force transfer device in accordance with a third preferred embodiment of the present invention;

FIG. 14 is a schematic view of the structure of the actuation module of the third preferred embodiment of the present invention engaged with a telescopic rod;

FIG. 15 is an enlarged view of a portion of the structure of FIG. 14;

fig. 16 is a schematic internal structural view of a force transmission device according to a fourth preferred embodiment of the present invention;

FIG. 17 is a schematic top view of a force transfer device in accordance with a fourth preferred embodiment of the present invention;

fig. 18 is a front view schematically showing the structure of a force transmission device according to a fourth preferred embodiment of the present invention.

In the figure: 100-a surgical robot; 101-a robotic arm; 102-a surgical trolley;

200-a surgical instrument; 201-telescopic rod; 202-an end effector;

300-a force transfer device; 301-lead screw nut assembly; 3011-lead screw; 3012-a nut; 302-a transmission rod; 3021-an accommodating tank; 303-an actuating member; 304-a limiting shaft; 305-a limiting groove; 306-a guide bar; 3061-a guide; 3062-bearings; 307-a rotating assembly; 3071. 3181-a drive shaft; 3072-connecting rod; 3073-sliding groove; 308. 313-a slider; 309-drive rod; 310-a parallelogram structure; 3111-driven lever; 3112-a swing lever; 311-a first bolt; 312-a second latch; 314-a rotating arm; 315-a first elastic structure; 316-a second elastic structure; 317-rotation axis; 318-a wire drive assembly; 3182-drive wire; 319-rotating lever; 320-a rotating shaft; 321-a guide wheel; 400-an instrument box; 401-a guide block; 402-a guide groove; 403-fixing part.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

The invention is described in further detail below with reference to the figures and specific examples. In this application, for ease of understanding, terms such as "proximal" and "distal" are used, which terms refer to the relative orientation, position, orientation of elements or actions with respect to one another as viewed from the perspective of a clinician using the medical device. "proximal" and "distal" are not limiting, but "proximal" or "rear" generally refers to the end of the member that is closer to the operator during normal operation, while "distal" or "tip" or "front" generally refers to the end that is further from the operator. As used in this specification, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise.

As used in this specification, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise. As used in this specification, the terms "plurality," "plurality," and "a number" are generally employed in a sense including "two or more," unless the content clearly dictates otherwise. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or at least two of the feature.

In this context, "rigid contact" means that, between two connecting members, when a first connecting member is displaced, a second connecting member connected to the first connecting member is displaced correspondingly, but the displacement of the second connecting member is irrelevant to the structural deformation of the first connecting member itself, and in this case, it can be understood that both connecting members are rigid members, and the structure of the rigid members hardly deforms without losing the power transmitted by the force; herein, "flexible contact" means that when a first connecting member is displaced, a second connecting member connected to the first connecting member is displaced, but the displacement of the second connecting member is related to the structural deformation of the first connecting member itself, that is, the structural deformation of the first connecting member itself affects the displacement of the second connecting member, and in this case, it can be understood that at least one of the two connecting members is a flexible component. Herein, "rigid member" means that the structure is not deformed or is deformed little by an external force; "Flexible member" is used in contrast to a "rigid member" and refers to a structure that deforms under an external force and is capable of recovering shape after the external force is removed.

The invention will be described in more detail below with reference to the accompanying drawings and preferred embodiments. In the following embodiments, features of the embodiments can be supplemented with each other or combined with each other without conflict.

Fig. 1 shows a structure of a slave end of a surgical robot system according to a preferred embodiment of the present invention. As shown in fig. 1, a preferred embodiment of the present invention provides a surgical robot system including a master, a control and a slave communicating with each other; the main end and the control end are not shown in the figure; wherein the master end comprises an operation unit and the slave end comprises a surgical robot 100; the control end is in communication connection with the operation unit and the surgical robot 100 respectively, so as to control the surgical robot 100 to move according to the received motion information of the operation unit and a preset master-slave mapping relation. For example, the control terminal controls the surgical robot 100 to drive the surgical instrument to move according to the acquired moving speed of the operation unit, and controls the surgical robot 100 to drive the surgical instrument to rotate according to the acquired rotation angle or rotation speed of the operation unit. The operator and master end are preferably located in different rooms from the slave end to achieve physical isolation of the operator from the patient. The master end and the slave end can also be respectively arranged in different hospitals and different regions and are in communication connection through the remote communication technology. Thus, for example, in the diagnosis and treatment of respiratory diseases, the operator performs a desired surgical operation in another room, another hospital or another city based on image information acquired by the endoscope, and the surgical robot 100 reproduces all actions of the operator, thereby achieving physical isolation of the operator from the patient during the surgical operation. The present invention is not particularly limited to the location of the control end, and the control end may be provided on the master end or in a room where the master end is located, may be provided on the slave end or in a room where the slave end is located, or may be provided in a separate room.

Further, the operation unit is used for receiving a position instruction and/or a speed instruction and feeding back position information and/or speed information to the control end. The control end is configured to perform master-slave mapping calculation on the received position information and/or speed information to calculate a desired position and/or speed of the distal end of the surgical instrument, and accordingly control the surgical robot 100 to drive the surgical instrument to move according to the desired speed and/or to a desired position, so that the distal end of the surgical instrument reaches a desired pose in a human body. The present application does not limit the type of surgical instrument, and may be an instrument for performing a surgical operation or an endoscope for acquiring an in vivo image.

In one example, the operating unit may include an operating handle including a housing and an operating member movable relative to the housing. The operation members are used for teleoperation of the surgical robot 100, that is, the control end controls the surgical robot 100 to move according to the received motion information (such as speed, angle, etc.) of the operation members relative to the housing and a preset master-slave mapping relation. The operating member may be one or more. The manipulator, when one, has three degrees of freedom, such as a ball joint, for establishing a mapping relationship with the three joints of the surgical robot 100. The number of the operating parts can also be two, namely a rotating control part and a moving control part. The rotational control element includes two degrees of freedom, such as a hooke's joint, a trackball, or a joystick, that respectively establish a mapping relationship with the rotation joint and the rotation joint of the surgical robot 100. The movement control establishes a mapping relationship with the movement joints of the surgical robot 100. The number of the manipulation members may be three, and the three manipulation members are used to establish mapping relationships with three joints of the surgical robot 100, respectively.

In another example, the operation unit includes a human-computer interaction device, and the human-computer interaction device includes various controls, and can control any one or more of movement, bending, deflection, rotation, pitching, opening and closing of the surgical instrument. The control end controls the operation robot 100 to move according to preset motion information (such as speed, angle and the like) corresponding to each control on the man-machine interaction device and a preset master-slave mapping relation. In this embodiment, the control may be an entity button or a virtual button.

Further, the main terminal also comprises a display unit. The display unit is in communication connection with the control end and comprises a main end interface used for displaying. The man-machine interaction device is arranged on the main-end interface. In addition, the main interface can also display operation images. Correspondingly, the control end also comprises the image signal processing and transmitting module, and the image signal processing and transmitting module is in communication connection with the endoscope to receive image signals from the endoscope about the operation environment (such as a surgical instrument, a target lesion, a tissue organ and surrounding tissue organs thereof, and blood vessels), and perform image processing such as noise elimination and sharpening on the image signals. Further, the image signal processing and transmitting module is also in communication connection with the display unit so that the display unit displays images according to the processed image signals, and therefore an operator can perform the next operation based on the image signals captured by the endoscope. The slave terminal also comprises an auxiliary display unit which is used for being in communication connection with the control terminal. The auxiliary display unit includes a slave interface for display. The control end transmits image information collected by the endoscope and/or interactive software prompts to the slave end interface. The auxiliary display unit is arranged in an operating room and is located in one room from the end.

Referring to fig. 1, the surgical robot 100 of the present invention includes a robot arm 101, and a distal end of the robot arm 101 is configured to detachably connect a surgical instrument to drive the surgical instrument to move, so as to adjust a position and a posture of the surgical instrument to insert the surgical instrument into a human body at a proper angle. After the surgical instrument is inserted into a human body, a certain working space is realized through the swinging of the mechanical arm 101 and the swinging of the tail end of the surgical instrument, so that the surgical operation on the focus of a patient on the surgical bed is realized. However, the number of the robot arms 101 is not limited in the present application, and the number of the robot arms 101 should be set according to the surgical needs, for example, in this embodiment, a plurality of robot arms 101 can respectively carry a surgical instrument to perform a surgical operation.

Generally, the surgical robot 100 may further include a surgical cart 102, and all the robot arms 101 are provided on the surgical cart 102. The operation trolley 102 can realize the large-scale movement of the operation robot 100 in the operating room, so that the operation process is more convenient.

In addition, as shown in fig. 2, a force transmission device 300 is further provided at the end of the robot arm 101, so as to control the opening and closing of the end effector 202 of the surgical instrument 200 through the force transmission device 300. In addition, the surgical robot 100 further includes a power system disposed on the arm 101, generally disposed at the end of the arm 101, and the power system provides a driving force to the force transmission device 300, the power system generally includes a motor assembly, the motor assembly drives the force transmission device 300 to move by the rotation of the motor, and the power system and the force transmission device 300 are in transmission connection through a transmission interface, so as to achieve the transmission of power therebetween.

Fig. 2 shows the principle of power input and power output of the force transmission device 300 according to the preferred embodiment of the present invention. As shown in fig. 2, the surgical instrument 200 specifically includes a telescopic rod 201 and an end effector 202; an end effector 202 is connected to the end of the telescopic rod 201, and the end effector 202 includes, but is not limited to, a device capable of opening and closing. Wherein the proximal end of the telescopic rod 201 is connected with a force transmission device 300, and the force transmission device 300 is used for controlling the translation of the telescopic rod 201 and actuating the end effector 202 to open and close through the translation of the telescopic rod 201.

In this embodiment, the force transmission device 300 specifically includes a driving module, a force transmission module, and an actuating module. The force transmission module is connected with the driving module and can perform a preset motion under the driving of the driving module, and the preset motion preferably comprises movement or rotation; the actuating module is connected with the force transmission module, can perform target motion under the driving of the force transmission module, and is used for being in rigid contact with a surgical instrument and actuating the telescopic rod 201 to translate along a first direction. In a preferred embodiment, the driving module comprises a driving shaft and a moving member which are connected; the driving shaft can rotate to drive the moving member to move, and the first direction is parallel to the rotation axis of the driving shaft, but the first direction is not limited to a vertical direction.

In the prior art, the movement of the telescopic rod of the surgical instrument is mainly actuated through wire transmission, and the transmission wire has certain elasticity, large friction force and can not bear large force, so that the force transmission efficiency of the wire transmission is low, and the motion control precision is also low. At least part of the structures of the force transmission device 300 of the present invention are in rigid contact, for example, at least the actuator module needs to be in rigid contact with the surgical instrument, so as to improve the force transmission efficiency between the actuator module and the surgical instrument, and to make the motion control more accurate, and finally to improve the accuracy of the operation, to shorten the operation time, and to achieve the force transmission through a simpler structure, and to reduce the assembly and manufacturing difficulty of the force transmission.

In addition, in a preferred embodiment, the moving part in the driving module and the driving shaft can be in rigid contact or flexible contact, and preferably in rigid contact, so that the force transmission efficiency is higher, and the motion control is more accurate. In addition, the force transmission module can be in flexible contact or rigid contact with the moving part, and preferably rigid contact is adopted, so that the force transmission efficiency is higher, and the motion control is more accurate. Furthermore, a rigid contact between the force transmission module and the actuation module is preferred. Any combination of these embodiments is possible. And through more rigid contact between structures, the force transmission efficiency is higher, and the motion control is more accurate.

In a preferred embodiment, the moving member of the driving module is in rigid contact with the driving shaft, the force transmission module is in rigid contact with the moving member, the force transmission module is in rigid contact with the actuating module, all structures in the force transmission device 300 are in rigid contact without any flexible contact, the force transmission efficiency is better, the motion control is more accurate, and compared with flexible transmission, the force transmission can be realized through a simpler mechanical structure, and the assembly and manufacturing difficulty of the force transmission is further reduced.

In addition, a preferred embodiment of the present invention further provides a surgical instrument 200, which comprises, in addition to the above telescopic rod 201 and the end effector 202, a force transmission device 300, wherein the force transmission device 300 is used for driving the telescopic rod 201 to translate so as to actuate the end effector 202 to move, and the movement of the end effector 202 is not limited to opening and closing movement.

Next, a preferred embodiment of the force transmission device 300 for controlling the telescopic rod 201 to translate according to the present invention will be further described. In the following description, the driving module including the driving shaft and the moving member is schematically illustrated, but the structure of the driving module in the present application is not limited thereto.

< first embodiment >

Fig. 3 shows an internal structural view of the force transmission device according to the first preferred embodiment of the present invention, and fig. 4 shows a top structural view of the force transmission device according to the first preferred embodiment of the present invention.

In a first preferred embodiment of the present invention, a force transmission device is provided, wherein the target motion of the actuating module comprises a translation in a first direction, and the force transmission module is capable of performing the translation in the first direction under the driving of the moving member, and drives the actuating module to translate in the first direction, and finally drives the telescopic rod 201 to translate in the first direction. In this way, the force transmission device is in rigid contact as a whole, that is, the force transmission device is a rigid component as a whole, so that the power transmission loss between the drive shaft and the surgical instrument is small, the force transmission efficiency is high, the motion control is more accurate, the structure of the force transmission is simpler, and the assembly and the manufacture are easier in structure.

It should be understood that the present application is not particularly limited to the specific implementation manner in which the force transmission module can perform the translation along the first direction under the driving of the moving member, and drive the actuating module to translate along the first direction. In the following description, the driving module may be other structures capable of converting a rotary motion into a linear motion, such as a rack and pinion system transmission, a worm and gear system transmission, etc., besides the lead screw nut assembly, that is, a person skilled in the art should know how to implement the driving module based on the disclosure of the present application.

As shown in fig. 3 and 4, in a specific embodiment, the driving module includes a lead screw nut assembly 301, wherein a lead screw 3011 of the lead screw nut assembly 301 is a driving shaft, a nut 3012 of the lead screw nut assembly 301 is a moving member, and the nut 3012 is connected to the lead screw 3011 in a matching manner. The force transfer module comprises a transmission rod 302 and the actuation module comprises an actuation member 303. One end of the transmission rod 302 is fixedly connected with the nut 3012, and the other end is fixedly connected with the actuating piece 303. The actuating member 303 is in rigid contact with the proximal end of the telescopic rod 201, i.e. the actuating member 303 is a rigid member, while the telescopic rod 201 may be a rigid member or a flexible member, e.g. the telescopic rod 201 may be a flexible shaft. The present application is not particularly limited as to the manner of fixing the transmission rod 302 to the nut 3012 and the actuator 303. In this embodiment, one end of the transmission rod 302 and the nut 3012 are fastened and fixed by screws.

In particular use, the force transmission device of the present embodiment is configured to: the lead screw 3011 receives a driving force output by a power system, so that the lead screw 3011 performs a self-rotation motion as indicated by an arrow a1, and a rotation axis of the lead screw 3011 is parallel to a first direction b 1; the nut 3012 moves in a first direction b1 driven by the lead screw 301, the first direction b1 being understood to include a reciprocating motion; meanwhile, under the driving of the nut 3012, the transmission rod 302 moves synchronously along the first direction b1, and drives the actuating member 303 and the telescopic rod 201 to translate along the first direction b1, and finally the translation of the telescopic rod 201 actuates the end effector 202 to perform an opening and closing motion as indicated by an arrow a 2.

Preferably, the force transmission device further comprises a cartridge 400, and the drive module, the force transmission module and the actuation module are all arranged in the cartridge 400. The instrument cassette 400 is detachably provided at the tip of the robot arm 101. And for ease of understanding, only the base of the cartridge 400 is shown, but the construction of the cartridge 400 is prior art and one skilled in the art would know how to obtain a complete cartridge 400.

Preferably, the force transmission module further includes a limiting structure for limiting the rotation of the transmission rod 302 along with the nut 3012. More preferably, the limiting structure comprises a limiting shaft 304 and a limiting groove 305, one end of the limiting shaft 304 is fixed on the bottom (i.e. the base) of the instrument box 400, and the other end passes through the limiting groove 305; the limiting groove 305 can limit the rotation of the transmission rod 302 around the first direction b 1. The shape of the limiting groove 305 is not limited in the present application, and is not limited to the illustrated kidney-shaped hole.

Preferably, the force transmission module further comprises a guide bar 306 for guiding the moving direction of the transmission bar 302 to ensure the movement accuracy. The guide bars 306 are generally two in number and are spaced apart in the first direction b 1. In addition, a guide block 401 is further disposed on the bottom of the instrument box 400, and the guide block 401 has a guide groove 402 extending in the first direction; the guide bar 306 passes through the transmission bar 302, and opposite ends of the guide bar 306 move in corresponding ones of the guide slots 402, respectively.

As shown in fig. 5, in one example, both end portions of the guide bar 306 are respectively provided with guide portions 3061 having first guide slopes, and each guide groove 402 has a second guide slope cooperating with the first guide slope. Therefore, the guide bar 306 is guided by the slope to reduce the resistance to movement.

As shown in fig. 6, in another example, both end portions of the guide bar 306 are respectively provided with bearings 3062 such as rolling bearings, sliding bearings, and the bearings 3062 are engaged with the flat surfaces of the guide grooves 402, so that the bearings 3062 slide relative to the flat surfaces to reduce the movement resistance.

As shown in fig. 7 in combination with fig. 4, in a specific embodiment, the actuating module comprises two actuating members 303, and the other end of the transmission rod 302 is provided with a receiving groove 3021, and the receiving groove 3021 is used for receiving the proximal end of the telescopic rod 201; two actuating members 303 are symmetrically arranged in the accommodating groove 3021, one end of each actuating member 303 is fixedly connected with the transmission rod 302, and the other end of each actuating member 303 is axially limited on the proximal end of the telescopic rod 201 and is in rigid contact with the proximal end of the telescopic rod 201, but the telescopic rod 201 can rotate relative to the actuating modules, that is, the actuating members 303 only keep relative rest with the telescopic rod 201 in the axial direction, but the actuating members 303 do not limit the rotation motion of the telescopic rod 201. In this embodiment, an annular groove (not labeled) is formed at the proximal end of the telescopic rod 201, and one end of the actuating member 303 is engaged in the annular groove. However, the shape of the actuator 303 is not limited, as the actuator 303 may alternatively be a cylindrical structure. Therefore, the annular groove can allow the actuating member 303 to drive the telescopic rod 201 to translate, and the actuating member 303 does not interfere with the rotation of the telescopic rod 201.

In the embodiment, the force transmission is realized through the screw nut component 301 and the transmission rod 302, the structure is simple, the assembly is convenient, the manufacturing process difficulty is low, the equal-ratio transmission can be realized, the force transmission efficiency is high, the motion control is accurate, and the bearing capacity is large.

< second embodiment >

Fig. 8 is a schematic view showing an internal structure of a force transmission device according to a second preferred embodiment of the present invention, fig. 9 is a schematic view showing a top structure of the force transmission device according to the second preferred embodiment of the present invention, and fig. 10 is a schematic view showing a front structure of the force transmission device according to the second preferred embodiment of the present invention.

In a second preferred embodiment of the invention, a force transmission device is provided, wherein the targeted movement of the actuation module comprises an oscillation about the second direction and a translation along the first direction, said oscillation about the second direction being able to actuate said translation along the first direction, and said force transmission module being able to perform a translation along the third direction under the drive of said moving member and to drive said actuation module to oscillate about the second direction and to translate along the first direction; the third direction, the second direction and the first direction are perpendicular to each other. In the mode, the whole force transmission device is in rigid contact, namely the whole force transmission device is a rigid component, so that the power transmission loss between the driving shaft and the surgical instrument is small, the force transmission efficiency is high, the force transmission structure is simple, only the rotary motion is converted into the translational motion of the sliding block, the parallelogram structure is driven to move through the translational motion of the sliding block, and finally the telescopic rod is actuated to move through the parallelogram structure.

It should also be understood that the present application is not limited to the specific implementation manner in which the force transmission module can perform the translation along the third direction under the driving of the moving member, and drive the actuating module to swing around the second direction and translate along the first direction. As described below, in addition to the driving rod and the parallelogram structure, other structures capable of converting the linear movement of the slider into the swing movement and converting the swing movement into the linear movement, such as a cam mechanism, a link mechanism, etc., may be adopted, that is, those skilled in the art should know how to implement the force transmission module based on the disclosure of the present application.

As shown in fig. 8 to 10, in an embodiment, the driving module includes a rotating assembly 307, the rotating assembly 307 includes a driving shaft 3071 and a connecting rod 3072, and the connecting rod 3072 is a moving member. One end of the connecting rod 3072 is fixedly connected with the driving shaft 3071. The force transfer module includes a slider 308, and the other end of the link 3072 is slidably connected to the slider 308. The actuation module comprises a drive bar 309 and a parallelogram structure 310; the parallelogram structure 310 includes a driven lever 3111 and a swing lever 3112; the two swing rods 3112 are arranged in parallel, and one end of each swing rod 3112 is hinged to the driven rod 3111, and the other end of each swing rod 3112 is hinged to the bottom of the instrument box 400; one end of the driving rod 309 is fixedly connected with the slider 308, and the other end is slidably connected with the driven rod 3111; driven rod 3111 is adapted for rigid contact with the proximal end of the surgical instrument.

In particular use, the force transfer device is configured to: the driving shaft 3071 receives the power output by the power system, so that the driving shaft 3071 performs self-rotation motion as shown by an arrow a3, and the self-rotation axis of the driving shaft 3071 is parallel to the first direction b 1; the link 3072 can move only by being rotationally constrained by the drive shaft 3071; and the slider 308 moves in a third direction b2 driven by the link 3072, the third direction b2 being perpendicular to the second direction and the first direction b1, the third direction being understood to include reciprocating motion; at the same time, under the driving of the slider 308, the driving rod 309 also moves along the third direction b2, and drives the two swing rods 3112 to swing synchronously around the second direction as indicated by arrow a4, and finally the two swing rods 3112 drive the driven rod 3111 to translate along the first direction b 1.

Further, the force transmission module further includes a first latch 311 and a second latch 312, both of which are fixedly disposed on the slider 308. The other end of the link 3072 is slidably connected to the first pin 311, and one end of the driving rod 309 is fixedly connected to the second pin 312. Optionally, the other end of the link 3072 is provided with a sliding groove 3073, and the first latch 311 is inserted into the sliding groove 3073.

In a particular embodiment, as shown in fig. 11, the actuating module comprises two symmetrically arranged parallelogram structures 310, two driven rods 3111 of the two parallelogram structures 310 are arranged in a U-shaped configuration and snap-fit to the proximal end of the telescopic rod 201, and the telescopic rod 201 is also capable of rotating with respect to the actuating module. More specifically, the parallelogram structures 310 are symmetrically disposed on two opposite sides of the telescopic rod 201, and the driven rod 3111 of each parallelogram structure 310 is clamped into the i-shaped annular groove at the proximal end of the telescopic rod 201 to be in rigid contact with the telescopic rod, so as to drive the telescopic rod 201 to translate without interfering the telescopic rod 201 to rotate. Similarly, in this embodiment, the telescopic rod 201 may be a rigid component or a flexible component, for example, the telescopic rod 201 may be a flexible shaft.

In this embodiment, the sliding block 308 drives the parallelogram structure 310 to swing, which has high force transmission efficiency and large bearing capacity, and can effectively ensure the motion control precision.

< third embodiment >

Fig. 12 is a schematic view showing an internal structure of a force transmission device according to a third preferred embodiment of the present invention, fig. 13 is a schematic view showing a top structure of the force transmission device according to the third preferred embodiment of the present invention, fig. 14 is a schematic view showing a structure in which an actuating module according to the third preferred embodiment of the present invention is engaged with a telescopic rod, and fig. 15 is a partially enlarged view of the structure of fig. 14.

In a third preferred embodiment of the present invention, there is provided a force transmission device, wherein the target movement of the actuating module comprises opening and closing about the first direction, and the force transmission module is configured to be able to perform translation along the third direction under the driving of the moving member and to drive the actuating module to open and close about the first direction; the first direction, the second direction and the third direction are perpendicular to each other. In this way, the force transmission device is also in rigid contact as a whole, i.e., the force transmission device is a rigid component as a whole, so that the power transmission loss between the drive shaft and the surgical instrument is small, the force transmission efficiency is high, the motion control is more accurate, and the force transmission is simple in structure and easy to assemble and manufacture in structure. Particularly, as long as the rotary motion is converted into the removal of slider to drive the structure through the removal of slider and open and shut, and the motion of opening and shutting finally actuates the telescopic link and carries out the translation, wherein the bearing capacity of the structure of opening and shutting is good.

It should also be understood that the present application is not limited to the specific implementation manner in which the force transmission module can perform the translation along the third direction under the driving of the moving member, and drive the actuating module to open and close around the first direction. As described below, the rotating arm can be driven to open and close by another connecting rod besides the sliding block, and the rotating arm is not limited to driving the telescopic rod to move by an inclined plane, such as a push-pull rod, so that a person skilled in the art should know how to open and close the mechanism and convert the opening and closing motion into a linear motion according to the known technology.

As shown in fig. 12 to 15, in a specific embodiment, the driving module includes a rotating assembly 307, the rotating assembly 307 includes a driving shaft 3071 and a connecting rod 3072, and the connecting rod 3072 is a moving member. One end of the connecting rod 3072 is fixedly connected with the driving shaft 3071. Unlike the second preferred embodiment, the structure of the sliding block 313 in the force transmission module of this embodiment is improved, wherein the other end of the connecting rod 3072 is slidably connected with the sliding block 313, and the two opposite sides of the sliding block 313 are respectively provided with a first inclined surface (not labeled). The actuation module comprises two oppositely arranged rotating arms 314, a first resilient structure 315 and a second resilient structure 316. The two rotating arms 314 can be opened and closed around a first direction b, namely, along the direction shown by an arrow a 5; a first elastic structure 315 is connected between the two rotating arms 314, and the first elastic structure 315 can provide elastic force to realize opening and closing reset of the rotating arms 314; the second elastic structure 316 is connected to the proximal end of the telescopic rod 201, and the second elastic structure 316 can provide an elastic force to achieve the moving and resetting of the telescopic rod 201. A second inclined surface and a third inclined surface are arranged on one opposite side of each rotating arm 314, and the second inclined surface and the third inclined surface are respectively arranged at two ends of each rotating arm 314; the rotating arm 314 is in rigid contact with the proximal end of the telescopic rod 201.

When the sliding mechanism is used specifically, the first inclined surfaces on the two opposite sides of the sliding block 313 are matched with the second inclined surfaces of the two rotating arms 314, so that the rotating arms 314 are driven to open and close through the matching of the second inclined surfaces and the first inclined surfaces. In addition, the third inclined surfaces of the two rotating arms 314 are matched with the inclined surfaces on the telescopic rod 201, so that the telescopic rod 201 is driven to translate along the first direction b1 by the rigid contact of the third inclined surfaces and the inclined surfaces at the proximal end of the telescopic rod 201.

In this embodiment, the driving shaft 3071 receives the power output by the power system, so that the driving shaft 3071 performs a rotation motion, and the rotation axis of the driving shaft 3071 is parallel to the first direction; the link 3072 can move only by being rotationally constrained by the drive shaft 3071; and under the drive of the link 3072, the slider 313 moves along a third direction b2, the third direction b2 is perpendicular to the second direction and the first direction b1, and the third direction can be understood to include reciprocating motion; meanwhile, under the driving of the sliding block 313, the two rotating arms 314 rotate in the first direction in the opposite direction or in the opposite direction to realize opening and closing, and finally, the telescopic rod 201 is driven to translate along the first direction b 1.

In more detail, when the slider 313 moves in the forward direction of the third direction b2, the two rotating arms 314 are driven to close, and the first elastic structure 315 compresses and stores elastic potential energy; when the slider 313 moves in the third direction b2 in the negative direction, the first elastic structure 315 releases the elastic potential energy to open the two rotating arms 314. It should be understood that the closing or opening of the rotating arm 314 actually cooperates with the second elastic structure 316 to drive the telescopic rod 201 to translate. When the two rotating arms 314 move in a closing manner, the telescopic rod 201 is driven to move vertically upwards, and the first elastic structure 315 and the second elastic structure 316 are compressed; conversely, when the two rotating arms 314 are opened, the first elastic structure 315 and the second elastic structure 316 release elastic potential energy, and drive the telescopic rod 201 to move vertically and downwards.

Further, the actuating module further includes a rotating shaft 317, the two rotating arms 314 can rotate around the rotating shaft 317 in different directions, and an axis of the rotating shaft 317 is parallel to the first direction.

Optionally, a mounting portion is disposed on an opposite side of each rotating arm 314 for receiving the first elastic structure 315. In addition, a fixing portion 403 may be disposed on the bottom of the instrument box 400, the second elastic structure 316 is disposed at the proximal end of the telescopic rod 201, and one end of the second elastic structure 316 is fixed on the fixing portion 403, and the other end may be connected to or abut against an end surface of the telescopic rod 201. The first and second resilient structures 315 and 316 are preferably springs.

In this embodiment, the output of translational motion is realized through two crossed rotating arms, and the device is simple in structure, convenient to assemble and manufacture, high in force transmission efficiency, good in motion control precision and large in bearing capacity.

< fourth embodiment >

Fig. 16 is a schematic view showing an internal structure of a force transmission device according to a fourth preferred embodiment of the present invention, fig. 17 is a schematic view showing a top structure of the force transmission device according to the fourth preferred embodiment of the present invention, and fig. 18 is a schematic view showing a front structure of the force transmission device according to the fourth preferred embodiment of the present invention.

In a fourth preferred embodiment of the present invention, there is provided a force transmission device, wherein the target motion of the actuating module includes rotation about the second direction, and the force transmission module is configured to be capable of performing the rotation about the second direction by the driving of the moving member and driving the actuating module to rotate about the second direction. In this embodiment, one part of the force transmission device is in rigid contact and the other part is in flexible contact, that is, one part of the force transmission device is in a rigid structure and one part of the force transmission device is in a flexible structure. Specifically, the moving member is a flexible component, and the rest are rigid components, so that the moving stability can be improved while the sufficient force transmission efficiency and the motion control precision are ensured, and meanwhile, the assembly and manufacturing difficulty of the structure can be reduced. Specifically, the rotating motion is converted into the movement of the wire, the structure is driven to swing through the movement of the wire, and the swinging motion finally actuates the telescopic rod to translate.

As shown in fig. 16 to 18, in a specific embodiment, the driving module includes a wire transmission assembly 318, and the wire transmission assembly 318 includes a driving shaft 3181 and a driving wire 3182, where the driving wire 3182 is a moving member. Unlike the above-described embodiment, the force transmission module of the present embodiment includes the rotating rod 319. One end of each of the two drive wires 3182 is fixed to the drive shaft 3181, and the other end is fixed to the rotating rod 319. Two drive wires 3182 are wound around the drive shaft 3181 in opposite directions. And two driving wires 3182 are symmetrically arranged at opposite sides of rotating rod 319, where the two driving wires are fixedly connected to rotating rod 319, so as to be capable of driving rotating rod 319 to rotate around the second direction.

In this embodiment, the driving shaft 3181 receives the power output by the power system, so that the driving shaft 3181 performs a rotation motion, and the rotation axis of the driving shaft 3181 is parallel to the first direction; under the driving of the driving shaft 3181, the two driving wires 3182 are tightened and loosened one by one, and the rotating rod 319 is pulled to rotate around the second direction in the direction indicated by the arrow a 6; rotation of rotating lever 319 also simultaneously rotates actuator 303 about the second direction, but since rotation of actuator 303 about the second direction is constrained, actuator 303 can only translate instrument rod 201 in first direction b 1.

Further, the force transmission module further includes a rotating shaft 320, one end of the rotating rod 319 is rotatably sleeved on the rotating shaft 320, and the axis of the rotating shaft 320 is consistent with the second direction. Further, the force transmission device further comprises a plurality of guide wheels 321, and the two driving wires 3082 are guided by the different guide wheels 321 respectively, so that the two driving wires 3082 extend along different directions, and meanwhile, tensioning in the transmission process is achieved through the guide wheels 321.

Further, the actuating member 303 of the actuating module is preferably snapped into an annular groove at the proximal end of the telescopic rod 201 for rigid contact, so as to drive the telescopic rod 201 to move without interfering with the rotation of the telescopic rod 201.

In this embodiment, the two driving wires 3182 drive the rotation rod 319 to rotate so as to drive the telescopic rod 201 to translate, the structure of the force transmission mode is simpler, the assembly and the manufacture are more convenient, and meanwhile, the driving wires 3182 have elasticity, so that the force transmission process is more stable.

It should be understood that the above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way and in any way, and that the innovation of the present invention is derived from the end effector being an opening and closing motion, but those skilled in the art will appreciate that the force-transmitting device of the present invention can also be applied to drive the end effector to move in pitch, yaw, etc.

It should be noted that, for a person skilled in the art, several modifications and additions can be made without departing from the method of the invention, which should also be considered as a protection scope of the invention. Those skilled in the art can make various changes, modifications and equivalent arrangements, which are equivalent to the embodiments of the present invention, without departing from the spirit and scope of the present invention, and which may be made by utilizing the techniques disclosed above; meanwhile, any changes, modifications and variations of the above-described embodiments, which are equivalent to those of the technical spirit of the present invention, are within the scope of the technical solution of the present invention.