WO2021121331A1 - 一种外科手术器械及手术机器人 - Google Patents

一种外科手术器械及手术机器人 Download PDF

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Publication number
WO2021121331A1
WO2021121331A1 PCT/CN2020/137277 CN2020137277W WO2021121331A1 WO 2021121331 A1 WO2021121331 A1 WO 2021121331A1 CN 2020137277 W CN2020137277 W CN 2020137277W WO 2021121331 A1 WO2021121331 A1 WO 2021121331A1
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WO
WIPO (PCT)
Prior art keywords
coupling
surgical instrument
seat
rod
instrument according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/137277
Other languages
English (en)
French (fr)
Inventor
李耀
袁源
龚俊杰
刘通
陈建平
王鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chengdu Borns Medical Robotics Co Ltd
Original Assignee
Chengdu Borns Medical Robotics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201911303337.9A external-priority patent/CN111685885A/zh
Priority claimed from CN201911304704.7A external-priority patent/CN111685886A/zh
Priority claimed from CN201911303313.3A external-priority patent/CN111685875A/zh
Priority claimed from CN201911304691.3A external-priority patent/CN112274247A/zh
Priority claimed from CN201911304702.8A external-priority patent/CN111685878A/zh
Priority claimed from CN201911303341.5A external-priority patent/CN111685876A/zh
Priority to AU2020404307A priority Critical patent/AU2020404307A1/en
Priority to US17/428,069 priority patent/US12343096B2/en
Priority to EP20901870.4A priority patent/EP4088680A4/en
Application filed by Chengdu Borns Medical Robotics Co Ltd filed Critical Chengdu Borns Medical Robotics Co Ltd
Publication of WO2021121331A1 publication Critical patent/WO2021121331A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • A61B17/3201—Scissors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2902—Details of shaft characterized by features of the actuating rod
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2948—Sealing means, e.g. for sealing the interior from fluid entry

Definitions

  • the invention relates to the technical field of surgical robots, and relates to a surgical instrument and a surgical robot including the surgical instrument.
  • the surgeon In computer-assisted telerobot surgery, the surgeon usually operates the main controller to control the surgery from a location that may be far away from the patient (for example, through the operating room, in a different room, or in a completely different building from the patient) Movement of the instrument on the surgical site.
  • the main controller typically includes one or more input devices that are coupled to surgical instruments using servo motors for articulating the instruments at the surgical site.
  • Servo motors are generally electromechanical devices or surgical manipulators (“slave devices") that support and control surgical instruments that have been directly introduced into an open surgical site or introduced into a body cavity (such as a patient's abdominal cavity) through a trocar sleeve. )a part of.
  • the surgical manipulator provides mechanical articulation and control of various surgical instruments (such as tissue graspers, needle drivers, electrosurgical cautery probes, etc.), each surgical instrument performs various functions for the surgeon , Such as holding or driving a needle, grasping a blood vessel, or dissecting, cauterizing, or coagulating tissue.
  • surgical instruments such as tissue graspers, needle drivers, electrosurgical cautery probes, etc.
  • each surgical instrument performs various functions for the surgeon , Such as holding or driving a needle, grasping a blood vessel, or dissecting, cauterizing, or coagulating tissue.
  • Computer-assisted surgery through remote manipulation reduces the size and number of incisions required in surgical operations to improve the patient's recovery rate, and at the same time help to reduce patient trauma and discomfort.
  • Surgical instruments are set on the sliding table through a mounting frame.
  • the mounting frame includes an instrument seat, a sterile isolation seat, and a motor mounting seat.
  • instrument seat a sterile isolation seat
  • motor mounting seat a sterile isolation seat
  • the present invention is proposed to solve the deficiencies in the prior art.
  • the purpose of the present invention is to provide an instrument base, a sterile isolation base, and a motor mounting base that are easy to disassemble and assemble, and improve the performance of the instrument base, aseptic isolation base, and motor mounting base.
  • Installation efficiency capable of efficiently and stably transmitting the power of the driving device to the transmission; providing an actuator and a control component with at least three degrees of freedom, so that the actuator can be bent or straightened at the wrist joint, and can be stretched at the knuckles
  • a surgical instrument assembly that opens or closes and executes the assembly to achieve a greater rotation angle, thereby improving the flexibility and accuracy of the surgical operation of the minimally invasive surgical robot, and a surgical robot including the surgical instrument assembly.
  • a surgical instrument which is characterized by comprising: an executive component; a control component connected with the executive component to control the opening, closing, rotation and deflection movement of the executive component;
  • An instrument seat for installing a transmission device the instrument seat is provided with a first coupling; a sterile isolating seat for installing a sterile isolation membrane, which is provided with a second coupling, the aseptic isolating seat and The instrument seat is fixedly connected;
  • the motor mounting seat for installing the drive device is provided with a third coupling, and the sterile isolation seat is fixedly connected to the motor mounting seat; wherein, the instrument seat passes through the The first coupling and the second coupling are installed on the aseptic isolating seat through the cooperation of the second coupling and the third coupling. Installed on the motor mounting seat, and the first coupling, the second coupling and the third coupling are coaxially arranged.
  • the power of the driving device mounted on the motor mount can be efficiently and stably transmitted to the control assembly driving the surgical execution assembly, thereby controlling the movement of the execution assembly .
  • Figure 1 is a split view of the forward structure of a surgical instrument provided by the present invention
  • FIG. 2 is a schematic structural diagram of a first coupling of a surgical instrument for a surgical robot provided by the present invention
  • FIG. 3 is a schematic diagram of the forward structure of the second coupling of the surgical instrument for the surgical robot provided by the present invention
  • FIG. 4 is a schematic diagram of the reverse structure of the second coupling of the surgical instrument for the surgical robot provided by the present invention.
  • Fig. 5 is a schematic structural diagram of a third coupling of a surgical instrument for a surgical robot provided by the present invention.
  • Figure 6 is a split view of the reverse structure of a surgical instrument provided by the present invention.
  • FIG. 7 is a schematic diagram of the assembled structure of a surgical instrument for a surgical robot provided by the present invention.
  • Figure 8 is a schematic structural view of the surgical instrument mounting frame provided by the present invention.
  • Fig. 9 is a schematic diagram of the parts of the card slot part on the instrument holder provided by the present invention.
  • Figure 10 is a schematic diagram of the clamping block component provided by the present invention on the aseptic isolation seat
  • Figure 11 is a schematic diagram of the structure of the stop block
  • Figure 12 is a schematic structural diagram of a surgical instrument connection device provided by the present invention.
  • Figure 13 is a schematic diagram of the components of the card slot component on the aseptic isolation seat provided by the present invention.
  • Figure 14 is a schematic diagram of the clamping block component provided by the present invention on the motor mounting seat.
  • FIG. 15 is a schematic structural diagram of a surgical instrument provided by the present invention.
  • FIG. 16 is a schematic structural diagram of a first driving component of a surgical instrument provided by the present invention.
  • Figure 17 is a schematic structural view of a second driving component of a surgical instrument provided by the present invention.
  • FIG. 18 is a perspective schematic view of a third driving component of a surgical instrument provided by the present invention.
  • FIG. 19 is a schematic structural diagram of a third driving component of a surgical instrument provided by the present invention.
  • FIG. 20 is a schematic diagram of cooperation between an executive component and a control component of a surgical instrument provided by the present invention.
  • Figure 21 is a schematic structural diagram of a control assembly of a surgical instrument provided by the present invention.
  • Figure 22 is a schematic structural diagram of a first transmission member of a surgical instrument provided by the present invention.
  • FIG. 23 is a schematic structural diagram of an executive component and a third transmission member of a surgical instrument provided by the present invention.
  • Fig. 24 is a schematic structural diagram of a second transmission member of a surgical instrument provided by the present invention.
  • Figure 25 is a schematic structural diagram of a needle holder control assembly provided by the present invention.
  • Figure 26 is a schematic diagram of a bayonet structure of a needle holder provided by the present invention.
  • Figure 27 is a partial schematic diagram of a bayonet structure of a needle holder provided by the present invention.
  • Fig. 28 is a structural schematic diagram of a bayonet sleeve of a bayonet structure of a needle holder provided by the present invention.
  • Figure 29 is a schematic structural diagram of a surgical instrument provided by the present invention.
  • Figure 30 is a structural schematic diagram of an opening and closing control assembly of a surgical instrument provided by the present invention.
  • Figure 31 is a schematic structural diagram of a deflection control assembly of a surgical instrument provided by the present invention.
  • Fig. 32 is a schematic structural diagram of a rotation control assembly of a surgical instrument provided by the present invention.
  • the embodiment of the present invention provides a surgical instrument assembly for a surgical robot, including an instrument seat 20, a sterile isolation seat 30, and a motor mounting seat 40.
  • the seat 20 is used to install the transmission device 10
  • the aseptic isolation seat 30 is used to install a sterile isolation membrane (not shown in the figure)
  • the motor mounting seat 40 is used to install the drive device 50.
  • the drive device 50 here includes but Not limited to the motor, other conventional drive mechanisms are also within the scope of the present invention; the transmission device 10 is connected to the operation execution assembly 100 through the control assembly 60, so that, according to the control of the surgeon, the power from the drive device 50 The transmission device 10 transmitted to the instrument holder 20 enables the operation execution assembly 100 to complete more than one degree of freedom.
  • the instrument holder 20 is provided with at least one first coupling 90, the sterile isolation seat 30 is provided with at least one second coupling 80, and the motor mounting seat 40 is provided There is at least one third coupling 70; wherein the instrument holder 20 is mounted on the aseptic isolation seat 30 through the cooperation of the first coupling 90 and the second coupling 80, and the aseptic isolation seat 30 passes through the second
  • the coupling 80 and the third coupling 70 are fitted to the motor mounting base 40 in cooperation, and the first coupling 90, the second coupling 80 and the third coupling 70 are coaxially arranged; Therefore, when the instrument holder 20 is installed on the aseptic isolating seat 30, the first coupling 90 and the second coupling 80 are coaxial, and when the aseptic isolating seat 30 is installed After the motor mounting base 40 is mounted, the second coupling 80 is coaxial with the third coupling 70, that is, when the instrument base
  • the surgical instrument assembly for the surgical robot connects the driving device 50 and the transmission device 10 through three couplings, and connects the first coupling 90 of the instrument holder 20 to the aseptic isolation
  • the second coupling 80 of the seat 30 and the third coupling 70 of the motor mounting seat 40 are coaxially arranged, which greatly improves the power transmission effect and ensures the stability of power transmission.
  • the first coupling 90 includes a first body 903 and a first protrusion 901.
  • the first body 903 is connected to the transmission device 10, and the instrument holder 20 is provided with a first
  • the body 903 can be rotatably fitted with a first through hole, the first body 903 can be rotatably installed in the first through hole;
  • the first protrusion 901 is provided at the end of the first body 903 close to the aseptic isolation seat 30, the first
  • the protrusion 901 has edges and corners, that is, the first protrusion 901 is a non-cylindrical shape, and its specific shape is preferably a straight shape, a regular polygon shape, etc., and it is mainly used to transmit power. Therefore, the first protrusion 901 only needs to make the first protrusion 901
  • the shapes of the coupling 90 and the second coupling 80 that do not rotate relative to each other are within the protection scope of the present invention.
  • the second coupling 80 includes a second body 801 and a second protrusion 803.
  • the second body 801 is rotatably disposed on the aseptic isolation seat 30, and the aseptic isolation seat 30 is provided with a second through hole that is rotatably connected with the second body 801, and the second body 801 is installed in the second through hole; the end of the second body 801 close to the instrument holder 20 is provided with a first protrusion.
  • the mating first groove 805 is matched with the first groove 805 through the first protrusion 901, so as to avoid relative movement between the first body 903 and the second body 801, that is, to prevent the first coupling 90 and the second coupling 90 from moving relative to each other.
  • the shaft joint 80 undergoes relative movement, so that the second shaft joint 80 transmits power to the transmission device 10 through the first shaft joint 90.
  • the second protrusion 803 is provided at the end of the second body 801 close to the motor mounting seat 40, and the second protrusion 803 has edges and corners, that is, the second protrusion 803 is not Cylindrical shape, its specific shape is preferably inline, regular polygonal shape, etc., which is mainly used to transmit power, so the second protrusion 803 only makes the second coupling 80 and the third coupling 70 not face each other.
  • the shape of the rotation is within the protection scope of the present invention.
  • the third coupling 70 includes a third body 701, and the end of the third body 701 close to the aseptic isolating seat 30 is provided with a second protrusion 803 that cooperates with the second protrusion 803.
  • the two grooves 703 are matched with the second groove 703 through the second protrusion 803, so as to avoid relative movement between the second body 801 and the third body 701, that is, to avoid the second coupling 80 and the third coupling 70 Relative movement occurs so that the third coupling 70 transmits the power provided by the driving device 50 to the transmission device 10 through the second coupling 80 and the first coupling 90.
  • the third coupling 70 further includes a connecting shaft 705 and an elastic member 707.
  • One end of the connecting shaft 705 is connected to the driving device 50 and the other end is connected to the third body 701.
  • the motor is installed
  • the base 40 is provided with a third through hole that is rotatably connected to the connecting shaft 705.
  • the connecting shaft 705 is installed in the third through hole.
  • One end of the elastic member 707 is clamped to the third body 701, and the other end is clamped to the connecting shaft 705.
  • the connecting shaft 705 is stepped, and the large end of the connecting shaft 705 is installed in the third through hole.
  • the specific structure of the connecting shaft 705 is already in the prior art and will not be described in detail here.
  • the elastic member 707 includes a spring, and one end of the spring resists On the third body 701, the other end abuts against the large end of the connecting shaft 705, and the thrust provided by the spring effectively guarantees the stable cooperation of the first coupling 90, the second coupling 80 and the third coupling 70 , So as to achieve stable power transmission.
  • first body 903, the second body 801, and the third body 701 are all cylindrical, and the first body 903, the second body 801 and the third body 701 are coaxially arranged. Please note that the first body The cylindrical shape of 903, the second body 801 and the third body 701 is also within the protection scope of the present invention.
  • the first protrusion 901 and the second protrusion 803 are both straight-shaped protrusions, and the first groove 805 and the second groove 703 are both straight-shaped grooves. Therefore, the projections and grooves of the above-mentioned structure have stable transmission, low manufacturing cost, and convenient assembly.
  • the first coupling 90, the second coupling 80, and the third coupling 70 constitute a coupling group
  • the surgical instrument assembly for the surgical robot includes three couplings. Shaft section group.
  • the surgical instrument assembly for a surgical robot includes three transmission devices 10 and three driving devices 50.
  • the three transmission devices 10 are correspondingly connected to the three first couplings 90 in the three coupling groups, and the three driving devices 50 is correspondingly connected with three third couplings 70 in the three coupling groups.
  • first couplings 90 there are three first couplings 90, second couplings 80, and third couplings 70
  • the three first couplings 90 are coaxially arranged with the corresponding three second couplings 80
  • the three second couplings 80 are coaxially arranged with the corresponding three third couplings 70
  • the three driving devices 50 are the first driving device 501, the second driving device 502, and the third driving device 503, respectively.
  • the two transmission devices 10 are respectively the first transmission device 101, the second transmission device 102 and the third transmission device 103.
  • the three drive devices 50 and the corresponding three transmission devices respectively pass through the corresponding first coupling 90 and second coupling.
  • the shaft joint 80 is connected with the third shaft joint 70, so as to transmit the power from the driving device to the transmission device, thereby realizing the movement of the surgical execution assembly 100 in at least 3 degrees of freedom.
  • the instrument holder 20 is provided with a slot part 201
  • the aseptic isolation seat 30 is provided with a locking block part 301 that is locked into the slot part 201.
  • the slot component 201 is arranged on the aseptic isolation seat 30, and the locking block component 301 is arranged on the instrument seat 20. This way is also within the protection scope of the present invention.
  • the clip part 301 is clipped into the slot part 201 to limit the freedom of the instrument holder 20 in 6 directions, where the freedom of the 6 directions refers to up, down, left, right, front, The latter 6 degrees of freedom; that is, the snap-in parts of the instrument holder 20 of the present invention and the aseptic isolator seat 30 cooperate with each other to achieve a fixed connection between the instrument holder 20 and the aseptic isolator seat 30, thereby realizing the alignment of the instrument seat 20 Quick installation and removal.
  • the slot component 201 is provided on the instrument holder 20 and the locking block component 301 is provided on the sterile isolation seat 30 for detailed description.
  • the card slot component 201 includes a limiting slot 2013.
  • the limiting slot 2013 includes a closed end 2021 and an open end 2022 extending from one edge of the instrument holder 20.
  • the instrument holder 20 has a bottom surface 2020 and a first side surface 2021.
  • the bottom surface 2020 of the instrument holder is provided with a first raised edge 2019, a second raised edge 2018 and a third raised edge 2023.
  • the first raised edge 2019, the second raised edge 2018 and the third raised edge 2023 are connected in sequence
  • a limit slot 2013 with an opening is formed.
  • the aseptic isolation seat 30 is in an L shape, and the aseptic isolation seat 30 has an upper surface 3010 and an inner side surface 3017;
  • the block component 301 includes a boss 3015, which is arranged on the upper surface of the aseptic isolation seat 3010, the cross-sectional area of the boss 3015 is smaller than the area of the upper surface 3010 of the aseptic isolation seat, and the boss 3015 and the upper surface 3010 of the aseptic isolation seat form a step.
  • the cross-section of the boss 3015 is rectangular. It should be specially noted that the cross-sectional shape here is based on that the boss 3015 can extend from the opening of the limit slot 2013 into the limit slot 2013. By definition, as long as the cross-sectional shape of the boss 3015 can realize that the boss 3015 can extend from the opening of the limit slot 2013 into the limit slot 2013, it belongs to the protection scope of the present invention.
  • the three sides of the boss 3015 abut against the third convex edge 2023, the second convex edge 2018 and the first convex edge 2019 respectively, that is, the boss 3015 snaps into In the limiting groove 2013, the third raised edge 2023 and the first raised edge 2019 are used to limit the freedom of the boss 2015 in the front and rear directions, thereby restricting the freedom of the instrument holder 20 in the front and rear directions, that is, avoiding the instrument holder 20 is displaced back and forth relative to the aseptic isolation seat 30.
  • the card slot component also includes a card bit block 2015.
  • the card bit block 2015 is provided on the second raised edge 2018 on the side close to the limit slot 2013, that is, the card bit block 2015 is located at the closed end of the limit slot.
  • the clamping block component 301 also includes a protrusion 3013, which is protrudingly arranged at one end of the protrusion 3015 away from the inner side surface 3017 of the aseptic isolation seat, and is between the protrusion 3013 and the upper surface 3010 of the aseptic isolation seat There is a gap therebetween, and a second locking slot 3018 is formed between the protrusion 3013 and the upper surface 3010 of the aseptic isolation seat.
  • the distance between the clamping block 2015 and the bottom surface 2020 of the instrument holder is equal to the thickness of the protrusion 3013, and the distance between the protrusion 3013 and the upper surface 3010 of the aseptic isolation seat is equal to the clamping block 2015 thickness.
  • the card slot component 201 includes a through slot 2011, which is opened on the first side surface 2021 of the instrument holder and is located above the open end 2022; the card block component 301 also includes a limiting block 3016 arranged on the The inner surface 3017 of the bacteria isolation seat, the limiting block 3016 and the instrument seat 20 contact and cooperate with the inner wall of the through groove 2011.
  • the limiting block 3016 is locked into the through groove 2011, the protrusion 3013 is locked into the first locking slot 2107, and the locking block 2015 is locked into the second locking slot.
  • the degree of freedom of the instrument seat 20 or the aseptic isolation seat 30 in the up and down direction is restricted, that is, the up and down displacement of the instrument seat 20 relative to the aseptic isolation seat 30 is avoided.
  • the side of the first raised edge 2019 that is close to the third raised edge 2023 is stepped, and the side of the third raised edge 2023 that is close to the first raised edge 2019 is also stepped, that is, the first
  • the limiting groove 2013 formed by the convex edge 2019, the second convex edge 2018 and the third convex edge 2023 includes a front limit groove 2013b and a rear limit groove 2013a, the first convex edge 2019 and the third convex edge
  • the distance between 2023 at the front limit slot 2013b is greater than the distance at the rear limit slot 2013a
  • the opening of the limit slot 2013 is located at the front limit slot 2013b
  • the junction of 2013a forms a stepped surface (not marked in the figure).
  • the slot component 201 also includes two stoppers 2014, the two stoppers 2014 are arranged on the bottom surface 2020 of the instrument holder, the two stoppers 2014 are respectively arranged in the front limit groove 2013b, and the two stoppers 2014 are respectively connected with A stop groove 2012 is formed between the corresponding step surfaces (not marked in the figure).
  • the two stoppers 2014 are located on both sides of the rear limit groove 2013a, and the distance between the two stoppers 2014 is greater than between the first raised edge 2019 and the third raised edge 2023 The distance at the rear limit slot 2013a.
  • the block component 301 further includes two stop blocks 3014, and the two stop blocks 3014 are respectively disposed on the two sides of the boss 3015 that are in contact with the third raised edge 2023.
  • the two stop blocks 3014 are respectively clamped into the corresponding stop slots 2012, and one end of the stop block 3014 is in contact with the step surface (not marked in the figure), and the other end It contacts and cooperates with the stopper 2014 to limit the degree of freedom of the instrument base 20 or the sterile isolation base 30 in the left and right directions, that is, to avoid the displacement of the instrument base 20 relative to the sterile isolation base 30 in the left and right directions.
  • the distance between the two stoppers 2014 is greater than the distance between the first raised edge 2019 and the third raised edge 2023 at the rear limit groove 2013a, so as to facilitate the boss 2015 It is inserted into the rear limit groove 2013a; the thickness of the stop block 2014 is smaller than the depth of the limit groove 3013, so that the stop block 3014 can be inserted into the stop groove 2012.
  • the stopper 3014 includes a connecting block 3015.
  • the bottom plate 3014a, the bottom plate 3014a is provided with a side plate 3014b, the side plate 3014b and the boss 3015 form an angle, that is, the side plate 3014b and the boss 3015 form a bell mouth, so that the side plate 3014b can be inserted into the stop groove 2012 from the channel .
  • the bottom surface 2020 of the instrument holder is provided with a plurality of communication interface copper blocks 2016, and a plurality of communication interface copper blocks 2016 are located in the limit slot 2013; the aseptic isolation seat 30 is provided on the boss 3015 corresponding to the communication interface copper blocks 2016 The multiple contacts 3012.
  • the bump 3013 is provided with a guide groove 3011, so that the communication interface copper block 2016 slides to the contact 3012 along the guide groove 3011, effectively avoiding damage to the communication interface copper block 2016.
  • the instrument base 20 and the sterile isolation base 30 can be easily detachably connected, and electrical connection can be realized at the same time as the mechanical connection.
  • connection structure of the aseptic isolation seat and the motor mounting seat is third, the connection structure of the aseptic isolation seat and the motor mounting seat
  • a quick installation structure is provided between the aseptic isolation seat 30 and the motor mounting seat 40 to transmit the power of the motor set on the motor mounting seat to the transmission device 10 through the couplings 70, 80, and 90.
  • the instrument seat 20 Electrical connection is realized between the aseptic isolation seat 30 and the motor mounting seat 40.
  • the aseptic isolation seat 30 is provided with a slot part 302 on its lower side, and the motor mounting seat 40 is provided with a locking block part that is locked into the slot part 302. It is worth noting that the slot part 302
  • the arrangement on the motor mounting seat 40 and the block components on the aseptic isolation seat 30 are also within the protection scope of the present invention.
  • the slot component is provided on the aseptic isolation seat 30 and the locking block component is provided on the motor mounting seat 40 for detailed description.
  • the clip part 401 is clipped into the slot part 302 to limit the freedom of the aseptic isolation seat 30 in 6 directions, where the freedom of the 6 directions means up, down,
  • the degree of freedom in the six directions: left, right, front, and rear; that is, the snap-in parts of the motor mounting seat 40 of the present invention and the aseptic isolating seat 30 cooperate with each other to realize the aseptic isolating seat 30 is fixed to the motor mounting seat 40 , So as to realize the rapid installation and disassembly of the aseptic isolation seat 30.
  • the slot component 302 includes a limiting groove 3021, which includes a closed end 3020 and an open end 3022 extending from one edge of the aseptic isolating seat 30; the aseptic isolating seat 30 has a bottom surface 3023 , The bottom surface 3023 of the aseptic isolation seat is provided with a first raised edge 3024, a second raised edge 3025 and a third raised edge 3026, the first raised edge 3024, the second raised edge 3025 and the third raised edge 3026 is sequentially connected to form a limiting slot 3027 with openings.
  • the clamping block component includes a boss 4011.
  • the motor mounting seat 40 has an upper surface 4010.
  • the boss 4011 is fixed on the upper surface 4010 of the motor mounting seat.
  • the cross-sectional area of the boss 4011 is smaller than the upper surface of the motor mounting seat. With an area of 4010, the boss 4011 and the upper surface 4010 of the motor mounting seat form a step.
  • the cross section of the boss 4011 is rectangular. It should be specially noted that the cross section shape here is based on the boss 4011 being able to extend from the opening of the limit slot 3011 into the limit slot 3011. By definition, as long as the cross-sectional shape of the boss 4011 can realize that the boss 4011 can extend from the opening of the limit slot 3027 into the limit slot 3011, it belongs to the protection scope of the present invention.
  • the three sides of the boss 4011 respectively abut the first raised edge 3024, the second raised edge 3025 and the third raised edge 3026, that is, the boss 4011 is locked Into the limiting groove 3027, the first raised edge 3024 and the third raised edge 3026 are used to limit the freedom of the boss 4011 in the front and rear directions, thereby restricting the freedom of the aseptic isolation seat 30 in the front and rear directions, namely Avoid displacement of the aseptic isolation seat 30 relative to the motor mounting seat 40 back and forth.
  • the slot component 302 further includes at least one L-shaped retaining block 3028, the L-shaped retaining block 3028 is disposed on the second raised edge 3025, that is, the L-shaped retaining block 3028 is close to the end 3020 of the closed end;
  • a first locking slot 3030 is formed between the L-shaped locking block 3028 and the second protruding edge 3025, and the opening of the first locking slot 3030 faces the limiting slot 3027.
  • the clamping block component 401 also includes a bottom plate 4015 of the motor mounting seat; after the aseptic isolation seat 30 and the motor mounting seat 40 are installed, the bottom plate 4015 of the motor mounting seat is clamped into the first locking slot 3017, that is, the motor The bottom plate 4015 of the mounting seat is in contact and fit with the L-shaped locking block 3028 and the second raised edge 3025 respectively.
  • the card slot component 302 also includes two second locking blocks 3031.
  • the two second locking blocks 3031 are respectively arranged on the first raised edge 3024 and the third raised edge 3026.
  • the two second locking blocks 3031 are arranged on the first raised edge 3024 and the third raised edge 3026.
  • the second locking block 3031 is located at an end of the first raised edge 3024 or the third raised edge 3026 close to the opening of the limiting slot 3027.
  • the clamping block component 401 also includes two limiting plates 4012.
  • the two limiting plates 4012 are respectively fixed on both sides of the boss 4011.
  • the two limiting plates 4012 are both connected to the upper surface 4010 of the motor mounting seat.
  • a second card slot 4013 is formed therebetween.
  • the second locking block 3031 is locked into the second locking slot 4013, and the motor mounting seat 40 is locked into the first locking slot 3030 to restrict the aseptic isolating seat 30
  • the two degrees of freedom up and down are to prevent the aseptic adapter 20 from moving up and down relative to the motor mounting base 40.
  • the block component 401 further includes an L-shaped barb 4014, the L-shaped barb 4014 is disposed on the motor mounting seat 40, and the L-shaped barb 4014 is located above the boss 4011.
  • the card slot component 302 also includes an L-shaped barb groove 3032.
  • the bottom surface 3023 of the aseptic isolating seat 30 is provided with a mounting groove (not marked in the figure) at the opening of the limiting groove 3027.
  • the aseptic isolating seat A protrusion (not marked in the figure) is provided in the installation groove to form an L-shaped barb groove 3032.
  • a plurality of communication interface copper blocks 4016 are provided on the boss 4011, and the plurality of communication interface copper blocks 4016 are evenly spaced.
  • the aseptic isolation seat 30 is provided with a communication interface copper in the limit slot 3027.
  • a plurality of contacts 3029 corresponding to the block 4016; the aseptic isolation seat 30 is provided with a guide groove 3033 on the bottom surface of the limiting groove 3011, so that the communication interface copper block 4016 slides to the contact along the guide groove 3033 At point 3029, the mechanical and electrical connection between the aseptic isolation seat 30 and the motor mounting seat 40 is realized.
  • the instrument holder 20 includes a housing 200 and a first driving assembly 202 arranged in the housing.
  • the first driving assembly 202 receives power transmitted from the driving device through the couplings 70, 80, and 90.
  • the first driving assembly 202 includes mutual The first screw 203 and the first nut slider 204 are matched, that is, the first nut slider 204 is sleeved on the first screw 203, and the first nut slider 204 is threaded with the first screw 203 Matching connection;
  • the first screw 203 can be rotatably mounted on a bracket 207, the bracket 207 is provided with a guide limit rod 205 that restricts the rotation of the first nut slider 204, specifically, the first nut slider 204 is provided with a guide hole.
  • the guide limit rod 205 passes through the guide hole and is in contact with the first nut slider 204.
  • the first screw 203 thread rotates, the first nut slider 204 is threadedly matched with the first screw 203 and is restricted by the guide limit rod 205, so that the first nut slider 204 moves along the guide limit rod 205 (the first screw 203).
  • the control assembly 60 includes a second transmission part 601 and a first transmission part 603, and the execution assembly 100 is hingedly arranged on the second transmission part 601.
  • the first transmission member 603 includes a first transmission rod 6031 connected to the first nut slider 204, and the other end of the first transmission rod 6031 is connected to the A movable rod 6033 is provided between the actuator 100; one end of the movable rod 6033 is rotatably connected with the first transmission rod 6031, and the other end is rotatably connected with the actuator 100, and the movable rod 6033 is respectively connected to the first transmission rod 6031.
  • the rotational connection of a transmission rod 6031 and the actuator 100 includes, but is not limited to, a pin connection.
  • the first screw 203 rotates, the first nut slider 204 is driven to move back and forth, and the first nut slider 204 drives the first transmission rod 203 to reciprocate, thereby pushing the actuator 100 to bend or straighten at the hinge joint of the actuator 100 through the movable rod 6033, so as to realize the bending and bending of the actuator 100 at the wrist joint.
  • Straightening enables the actuator 100 to achieve a wrist joint motion similar to a human hand, achieving the effect of synchronizing the operation of the surgical instrument and the human hand, and simplifying the difficulty of the operation of the surgical instrument.
  • the first drive assembly 50A includes a first motor 501A, and a first coupling 70A and a second motor 501A pass between the first motor 501A and the first screw 203.
  • the coupling 80A is connected to the third coupling 90A.
  • the first coupling 90A is rotatably mounted on the mounting bracket 207, and the first motor 501A is fixedly mounted on the motor mounting bracket 40.
  • the operation of the first motor 501A drives the first screw 203 to rotate, thereby causing the first nut slider 204 to reciprocate; a protective shell is provided outside the first motor 501A, and the protective shell can also grow bacteria.
  • the instrument holder 20 further includes a second driving assembly 208 and a second driving assembly 50B, and the second driving assembly 208 includes mutually meshing driving gears 2083 and A passive gear 2081.
  • the second drive assembly 50B includes a second motor 501B.
  • the second motor 501B and the driving gear 2083 pass through a first coupling 70B, a second coupling 80B, and a third coupling 90B Connected, the driven gear 2081 is set and fixed on the second transmission member 601, and the driving gear 2083 is first driven to rotate.
  • the driving gear 2083 drives the driven gear 2081 to rotate, so that the driven gear 2081 is fixed on the driven gear 2081.
  • the second transmission member 601 rotates to drive the execution assembly 100 to rotate, so that the operation execution assembly 100 can quickly and accurately complete the instructions issued by the doctor in a limited space, ensuring the smooth progress of the operation, and also improving The versatility of surgical instruments of surgical robots.
  • the second coupling 90B is rotatably mounted on the mounting bracket 507, and the second motor 501B is fixedly mounted on the motor mounting bracket 40; the second motor A protective shell is provided outside the 501B, and the protective shell can also grow bacteria.
  • the second transmission member 601 includes a second transmission rod 6011 and a connecting sleeve 6013, and the second transmission rod 6011 is fixedly connected to the connecting sleeve 6013, so The actuator 100 and the connecting sleeve 6013 are hinged through a pin, so that the actuator 100 can rotate along the second transmission member 601 to achieve wrist joint action.
  • the passive gear sleeve 2081 is fixedly arranged on the second transmission member 601. Transmission rod 6011.
  • the surgical instrument further includes a third driving component 206 and a third driving component 50C, and the third driving component 206 includes a second cooperating component.
  • the third drive assembly 50C is connected to the second screw 2063.
  • the third drive assembly 50C drives the second screw 2063 to rotate so as to make the first screw 2063 rotate.
  • the two nut sliders 2061 reciprocate along the second screw 2063;
  • the control assembly 60 also includes a third transmission member 605, and the third transmission member 605 includes a second nut slider 2061 that is rotatably connected to the second nut slider 2061.
  • the connecting rod 6305 is a flexible connecting rod, which can bear axial force, so when the connecting rod 6305 bears the axial force When the connecting rod 6305 bears radial force, it will bend. Therefore, the connecting rod 6305 can realize the reciprocating movement in the axial direction.
  • the connecting rod 6305 can be affected by Bending due to radial force.
  • the executive assembly 100 includes a first pliers body 1001 and a second pliers body 1009, the first pliers body 1001 and the second pliers body 1009 are arranged crosswise, and the first pliers body The intersection of the body 1001 and the second pliers body 1009 is pivotally connected by a pin shaft, that is, the first pliers body 1001 and the second pliers body 1009 can cross-rotate along the pin shaft to realize the first pliers body 1001 is opened and closed with the second clamp body 1009.
  • the executive assembly 100 further includes a transition piece, the transition piece includes a first transition rod 1011 and a second transition rod 1003, the first transition rod 1011 and the second transition rod One end of 1003 is rotatably connected with the connecting rod 6305, the other end of the first transition rod 1011 is rotatably connected with the first pliers body 1001, and the other end of the second transition rod 1003 is rotatably connected with the second pliers body 1009 is connected in rotation; wherein, the actuator 100 is opened or closed with the reciprocating movement of the third transmission rod 6307.
  • first pliers body 1001 and the second pliers body 1009 First, set the first pliers body 1001 and the second pliers body 1009 to cross; then, insert the pin at the intersection of the first pliers body 1001 and the second pliers body 1009 to make the first pliers body 1001 and the second pliers body 1009 and
  • the pin shaft is rotationally connected; then, one end of the first transition rod 1011 and the second transition rod 1003 is rotationally connected to the connecting rod 6305; then, the other end of the first transition rod 1011 is rotationally connected to the first pliers body 1001,
  • the other end of the second transition rod 1003 is rotatably connected with the second pliers body 1009, so that the first transition rod 1011, the second transition rod 1003, the first pliers body 1001 and the second pliers body 1009 form a quadrilateral;
  • the third transmission rod 6307 drives the connecting rod 6305 to reciprocate, it drives the first transition rod 1011 and the second transition rod 1003 to rotate,
  • the second nut slider 2061 is sleeved on the second screw 2063, and the second nut slider 2061 is threaded with the second screw 2063.
  • the second screw 2063 can be rotatably mounted on the mounting bracket 207, and the mounting bracket 207 is provided with a guide limit rod 2065 that restricts the rotation of the second nut slider 2061.
  • the first The two nut sliders 2061 are provided with a limiting hole.
  • the guide limiting rod 2065 passes through the limiting hole and is in contact with the second nut slider 2061.
  • the third drive assembly 50C includes a third motor 501C, and the third motor 501C and the second screw 2063 pass through a first coupling 70C, a second The coupling 80C is connected to the third coupling 90C, the third coupling 90C is rotatably mounted on the mounting bracket 207, and the third motor 501C is fixedly mounted on the motor mounting bracket 40;
  • a protective shell is provided outside the third motor 501C, and the protective shell can also grow bacteria.
  • the second transmission rod 6011 and the first transmission rod 6031 are both hollow structures, the first transmission rod 6031 is arranged in the second transmission rod 6011, and the third transmission rod The 6307 is arranged in the first transmission rod 6031.
  • the surgical instrument 100 has a simple structure and can effectively reduce the volume of the surgical instrument of the surgical robot, so that the surgical execution component can quickly and accurately complete the instructions issued by the doctor in a limited space.
  • the embodiment of the present invention provides a bayonet structure, including a nut slider 2061, a bearing 120, a connecting rod 130, and a bayonet sleeve 140; the bearing 120 It is installed on the slider 110; one end of the connecting rod 130 is connected with the transmission rod 605 or 6307 of the surgical execution assembly 100, and the other end is provided with an annular groove in the circumferential direction; at least part of the bayonet sleeve 140 The inner wall surface is engaged with the annular groove, and the outer wall surface of the bayonet sleeve 140 is fixedly connected to the inner wall surface of the bearing 120.
  • the bayonet structure of the needle holder of the present invention has the following effects: 1. When the nut slider 2061 reciprocates linearly, the nut slider 2061 drives the bearing 120, the bayonet sleeve 140 and the connecting rod 130 mounted on it to do the same It moves in a straight line to realize the opening and closing control of the needle holder 640; 2. When the transmission rod 605 rotates, the bearing 120 can allow the bayonet sleeve to realize a rotational movement, thereby reducing friction.
  • the bayonet sleeve 140 includes two semicircular sleeves, and the two semicircular sleeves are spliced to form the bayonet sleeve 140, in order to facilitate the snapping of the snap sleeve 140 into the place.
  • the bayonet sleeve 140 is designed as two semicircles, and then pieced together to form the bayonet sleeve 140; it is worth noting that, in order to facilitate installation, the snap sleeve 140 is made of A patchwork of multiple arc-shaped sleeves is also within the protection scope of the present invention.
  • the bayonet structure further includes a fixing sleeve 150, the second end of the bayonet sleeve 140 extends out of the bearing 120, and the outer wall surface of the second end of the bayonet sleeve 140 is provided with
  • the external thread is threadedly connected with the fixed sleeve 150 to realize the splicing of the two semicircular sleeves, that is, the fixed sleeve 150 is provided with internal threads, and the fixed sleeve 150 and the bayonet sleeve 140 are connected by a threaded fit After the annular protrusion of the bayonet sleeve 140 formed by the two semicircular sleeves is clamped into the annular groove, the two semicircular sleeves need to be fixed to prevent the two semicircular sleeves from falling
  • one end of the fixing sleeve 150 abuts against the first side end surface of the bearing 120 away from the connecting rod 130 to prevent the bearing 120 from falling off in one direction; 120 is equipped with a baffle 160 which abuts against the second side end surface of the bearing 120 close to the connecting rod 130.
  • the baffle 160 is fixed on the nut slider 2061 and passes through the baffle 160.
  • the bearing 120 is restricted to prevent the bearing 120 from falling off from the other direction.
  • the fixing sleeve 150 abuts against the small ring of the bearing 120
  • the baffle 160 abuts against the bearing 120 in the other direction.
  • the large ring of the bearing 120 that is, the two sides of the bearing 120 are respectively restricted by the fixing sleeve 150 and the baffle 160, which effectively prevents the bearing 120 from falling off.
  • the inner hole of the bayonet sleeve 140 is stepped, and the bayonet sleeve 140 includes a first stepped hole 1401 at the first end of the bayonet sleeve 140 and a first stepped hole 1401 at the first end of the bayonet sleeve 140.
  • the diameter of the second stepped hole 1403 at both ends is larger than the diameter of the first stepped hole 1401, the first stepped hole 1401 is formed by the annular protrusion, and the annular groove is connected to the annular
  • the protrusion is snap-fitted;
  • the cross-sectional area of the second stepped hole 1403 of the bayonet sleeve is equal to or greater than the cross-sectional area of the connecting shaft 130, and a portion of the bayonet sleeve 140 corresponding to the second stepped hole 1403 extends out of the bearing 120;
  • the inner surface of the bayonet sleeve 140 at the first stepped hole 1401 is in contact with the inner surface of the connecting rod 130 at the annular groove, so that part of the bayonet sleeve 140 is snapped into In the annular groove, when the nut slider 2061 reciprocates linearly, the nut slider 2061 drives the bearing 120 to move, and the bearing 120 drives the bayonet sleeve 140 to move.
  • the mouth sleeve 140 is clamped into the annular groove, that is, the bayonet sleeve 140 drives the connecting shaft 130 to move, and the connecting shaft 130 drives the needle holder 640 to realize the opening and closing of the needle holder 640 control.
  • the connecting rod 130 and the transmission rod 605 are detachably connected by threaded fitting, which facilitates the replacement of the transmission rod 605.
  • the detachable connection means that the connection method of the connecting rod 130 and the transmission rod 605 is detachable, including threaded connection, screw connection or other detachable connection should be in this Within the scope of protection of the invention.
  • the nut slider 2061 is provided with a mounting hole that matches with the bearing 120, and the outer wall surface of the bearing 120 and the inner wall surface of the nut slider 2061 at the mounting hole
  • the mounting method of the bearing 120 is already a mature technology in the art, and will not be described in detail here.
  • a control assembly includes the bayonet structure described above, and the control assembly further includes a driving device connected with the nut slider 2061 to enable The nut slider 2061 moves linearly;
  • the driving device includes a screw rod 2062 and a motor 501B, the screw rod 2062 is threadedly connected with the nut slider 2061, and the motor 50 and the screw rod 2062 are connected by a coupling ,
  • the motor 501B drives the screw rod 2062 to rotate so that the nut slider 2061 moves linearly;
  • the control assembly further includes an instrument seat 20, and the screw rod 2062 is rotatably mounted on the instrument seat 20 on.
  • the instrument holder 110 is provided with a guide limit rod (not marked in the figure) that restricts the rotation of the slider.
  • the nut slider 2061 is provided with a guide hole, and the guide limit rod passes through the guide hole, And it contacts and cooperates with the nut slider 2061.
  • the screw rod 2061 is threaded
  • the nut slider 2061 is threaded with the screw rod 2061 and is restricted by the guide limit rod, so that the The nut slider 2061 moves along the guide limit rod (the screw rod 2062).
  • the motor 50 drives the screw rod 2061 to rotate in the forward and reverse directions.
  • the screw rod 2061 rotates, the nut slider 2061 drives the nut slider 2061 to reciprocate linearly.
  • the nut slider 2061 drives the bearing 120 to move, and the bearing 120 drives the card.
  • the mouth sleeve 140 moves. Because part of the bayonet sleeve 140 is clamped into the annular groove, that is, the bayonet sleeve 140 drives the connecting shaft 130 to move, and the connecting shaft 130 drives the transmission rod to realize Control the opening and closing of the operating components.
  • the embodiment of the present invention provides a surgical instrument, including a surgical execution assembly 100, an opening and closing control assembly 1050, a rotation control assembly 1040, and a deflection control assembly 1020;
  • the opening and closing control component 1050 is connected to the execution component 100;
  • the rotation control component 1040 is articulated with the opening and closing control component 1050;
  • the deflection control component 1020 includes a first transmission connected to the opening and closing control component 1050 Wherein, the first transmission member is pushed and pulled to move, so that the opening and closing control assembly 1050 drives the execution assembly 100 to deflect around the hinge point.
  • the first transmission member includes a first transmission rod 6031 and a movable rod 6033.
  • One end of the movable rod 6033 is rotatably connected with the first transmission rod 6031, and the other end is connected with the first transmission rod 6031.
  • the opening and closing control assembly 1050 is rotatably connected, and the movable rod 6033 is respectively rotatably connected with the first transmission rod 6031 and the opening and closing control assembly 1050 including but not limited to pin connection.
  • the rod 6031 reciprocates, so that the opening and closing control assembly 1050 is pushed to bend or straighten at the hinge joint by the movable rod 6033, and the opening and closing control assembly 1050 drives the execution assembly 100 to bend or straighten, thereby achieving
  • the bending and straightening of the actuator 100 at the wrist joint enables the actuator 100 to achieve a wrist joint motion similar to that of a human hand, achieve the effect of synchronizing the operation of the surgical instrument and the human hand, and simplify the difficulty of the operation of the surgical instrument.
  • the rotation control assembly 1040 includes a second transmission member, and the opening and closing control assembly 1050 is hingedly arranged on the second transmission member; the second transmission member includes a second transmission member.
  • the transmission rod 6401 and the connecting sleeve 6403, the second transmission rod 6401 and the connecting sleeve 6403 are fixedly connected, the opening and closing control assembly 1050 and the connecting sleeve 6403 are hinged by a pin; the rotation control assembly 1040 is driven to rotate ,
  • the rotation control assembly 1040 drives the opening and closing control assembly 1050 to rotate, and the opening and closing control assembly 1050 drives the execution assembly 100 to rotate, so that the operation execution assembly 100 realizes the rotation action, ensuring the smooth progress of the operation, and also lifting The versatility of surgical instruments for surgical robots.
  • the executive component 100 includes surgical scissors; the executive component 100 includes a first forceps body 1001 and a second forceps body 1009, the first forceps body 1001 and the first forceps body 1001 and the second forceps body 1009.
  • the two pliers body 1009 are arranged crosswise, and the intersection of the first pliers body 1001 and the second pliers body 1009 is rotatably connected by a pin, and the first pliers body 1001 and the second pliers body 1009 can be rotatably crossed
  • the opening and closing actions of the execution component 100 can be realized.
  • the opening and closing control assembly 1050 includes a transition piece, the transition piece includes a first transition rod 1011 and a second transition rod 1003, one end of the first transition rod 1011 and The first pliers body 1003 is rotatably connected, and one end of the second transition rod 1003 is rotatably connected with the second pliers body 1009.
  • the opening and closing control assembly 1050 further includes a third transmission member, the third transmission member includes a third transmission rod 6307 and a connecting rod 6305; one end of the connecting rod 6305 Connected with the third transmission rod 6307, the other ends of the first transition rod 1011 and the second transition rod 1003 are respectively rotatably connected with the other end of the connecting rod 6305, wherein the actuator 100 follows the first transition rod 6305.
  • the third transmission member includes a third transmission rod 6307 and a connecting rod 6305; one end of the connecting rod 6305 Connected with the third transmission rod 6307, the other ends of the first transition rod 1011 and the second transition rod 1003 are respectively rotatably connected with the other end of the connecting rod 6305, wherein the actuator 100 follows the first transition rod 6305.
  • the reciprocating movement of the three transmission rod 6307 opens or closes; the specific method is: first, the first pliers body 1001 and the second pliers body 1009 are arranged crosswise; then, the first pliers body 1001 and the second pliers body 1009 are inserted at the intersection of the first pliers body 1001 and the second pliers body 1009.
  • the pin shaft connects the first pliers body 1001 and the second pliers body 1009 to the pin shaft in rotation; then, connect one end of the first transition rod 6305 and the second transition rod 1003 to the connecting rod 6305 in rotation;
  • the other end of a transition rod 1011 is rotatably connected with the first pliers body 1001, and at the same time, the other end of the second transition rod 1003 is rotatably connected with the second pliers body 1009, so that the first transition rod 1011, the second transition rod 1003, and the second transition rod 1003 are rotatably connected to each other.
  • a pliers body 1001 and a second pliers body 1009 form a quadrilateral; then, when the third transmission rod 6307 drives the connecting rod 6305 to reciprocate, it drives the first transition rod 1011 and the second transition rod 1003 to rotate, thereby making the first transition rod 1011 and the second transition rod 1003 rotate.
  • the transition rod 1011 and the second transition rod 1003 push the first forceps body 1001 and the second forceps body 1009 to open or close, thereby driving the surgical instrument 100 to open or close, thereby realizing the driving of the surgical instrument 100.
  • the connecting rod 6305 is a flexible connecting rod, which can bear axial force. Therefore, when the connecting rod 6305 bears the axial force, it will not bend. When the connecting rod 6305 bears the radial force, it will produce Bending, so the connecting rod 6305 can realize reciprocating movement in the axial direction. When the opening and closing control assembly 1050 and the actuator 100 need to make a wrist joint swing movement, the connecting rod 6305 can be bent due to a radial force.
  • the opening and closing control assembly 1050 includes a mounting seat 10509, and the mounting seat 10509 of the opening and closing control assembly 1050 and the connecting sleeve 6403 are hinged by a pin; the movable rod The two ends of 6033 are respectively rotatably connected with the first transmission rod 6031 and the mounting seat 10509 of the opening and closing control assembly, and the specific method includes but not limited to pin connection.
  • the second transmission rod 6401 and the first transmission rod 603 are both hollow structures, and the first transmission rod 603 is arranged in the second transmission rod 6401,
  • the third transmission rod 605 is arranged in the first transmission rod 603.
  • the overall structure of the surgical instrument is simple, which can effectively reduce the volume of the surgical instrument of the surgical robot, so that the surgical execution components can be quickly executed in a limited space. Accurately complete the instructions given by the doctor.
  • a surgical robot includes the surgical instrument as described above.
  • the surgical instrument has been described in detail in the above content, and will not be repeated here.
  • the term “plurality” refers to two or more than two, unless clearly defined otherwise, the orientation or positional relationship indicated by the terms “upper” and “lower” are based on the attached drawings.
  • the orientation or positional relationship is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a reference to the present utility model.
  • the terms “connected”, “installed”, “fixed”, etc. should be understood in a broad sense.
  • connection can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or Can be indirectly connected through an intermediary.
  • connection can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or Can be indirectly connected through an intermediary.

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Abstract

一种外科手术器械，包括：执行组件（100）；控制组件，其与执行组件（100）连接，以控制执行组件（100）的开合、旋转和偏转运动；用于安装传动装置（10）的器械座（20），器械座（20）设置有第一联轴节（90）；用于安装无菌隔离膜的无菌隔离座（30），其设置有第二联轴节（80），无菌隔离座（30）与器械座（20）固定连接；用于安装驱动装置（50）的电机安装座（40），其设置有第三联轴节（70），无菌隔离座（30）与电机安装座（40）固定连接；其中，器械座（20）通过第一联轴节（90）和第二联轴节（80）的配合而安装于无菌隔离座（30），无菌隔离座（30）通过第二联轴节（80）和第三联轴节（70）的配合而安装于电机安装座（40），且第一联轴节（90）、第二联轴节（80）和第三联轴节（70）同轴设置。

Description

一种外科手术器械及手术机器人 技术领域
本发明涉及手术机器人技术领域，涉及一种外科手术器械及包括该手术器械的手术机器人。
背景技术
在计算机辅助遥控机器人外科手术中，外科医生通常操作主控制器以从可能远离患者的位置(例如，穿过手术室、在不同的房间中或者在与患者完全不同的建筑物中)控制外科手术器械在外科手术部位的运动。主控制器通常包括一个或更多个输入设备，该一个或更多个输入设备利用伺服马达耦接到外科手术器械，用于在外科手术部位处铰接器械。伺服马达通常为支撑和控制已经被直接引入敞开的外科手术部位或通过套管针套筒引入体腔(诸如，患者的腹腔)的外科手术器械的机电设备或外科手术操纵器(“从动设备”)的一部分。在手术期间，外科手术操纵器提供各种外科手术器械(诸如，组织抓握器、针驱动器、电外科烧灼探针等)的机械铰接和控制，每个外科手术器械为外科医生执行各种功能，例如保持或驱动针、抓握血管，或者解剖、烧灼或凝固组织。通过远程操纵的计算机辅助外科手术减小了外科手术中所需的切口的尺寸和数量以提高患者康复率，同时也有助于减少患者创伤和不适。
外科手术器械通过安装架设置在滑台上，安装架包括器械座、无菌隔离座和电机安装座，但是在目前的外壳手术器械方面仍存在多个需要改进的地方。
发明内容
本发明是为了解决现有技术中的不足而提出，本发明的目的在于提供一种器械座、无菌隔离座和电机安装座容易拆装、提高器械座、无菌隔离座和电机安装座的安装效率、能够将驱动装置的动力高效稳定地传递到传动装置；提供一种执行组件和至少三个自由度 的控制组件，实现执行组件在腕关节处可以弯曲或伸直、在指关节可以张开或闭合、执行组件可以实现更大的旋转角度，从而提高微创外科手术机器人手术操作的灵活性与准确度的手术器械组件以及包括该手术器械组件的手术机器人。
根据本发明的一个方面，提供了一种外科手术器械，其特征在于，包括：执行组件；控制组件，其与所述执行组件连接，以控制所述执行组件的开合、旋转和偏转运动；用于安装传动装置的器械座，所述器械座设置有第一联轴节；用于安装无菌隔离膜的无菌隔离座，其设置有第二联轴节，所述无菌隔离座与所述器械座固定连接；用于安装驱动装置的电机安装座，其设置有第三联轴节，所述无菌隔离座与所述电机安装座固定连接；其中，所述器械座通过所述第一联轴节和所述第二联轴节的配合而安装于所述无菌隔离座，所述无菌隔离座通过所述第二联轴节和所述第三联轴节的配合而安装于所述电机安装座，且所述第一联轴节、所述第二联轴节和所述第三联轴节同轴设置。
通过同轴设置第一、第二和第三联轴节，可以将安装在电机安装座上的驱动装置的动力高效稳定地传递到驱动手术执行组件的控制组件，从而控制所述执行组件的运动。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图，图中：
图1为本发明提供的一种手术器械的正向结构拆分图；
图2为本发明提供的用于手术机器人的手术器械的第一联轴节的结构示意图；
图3为本发明提供的用于手术机器人的手术器械的第二联轴节的正向结构示意图；
图4为本发明提供的用于手术机器人的手术器械的第二联轴节的反向结构示意图；
图5为本发明提供的用于手术机器人的手术器械的第三联轴节的结构示意图；
图6为本发明提供的一种手术器械的反向结构拆分图；
图7为本发明提供的一种手术器械的用于手术机器人的手术器械的组装后的结构示意图；
图8为本发明提供的手术器械安装架的结构示意图；
图9为本发明提供的卡槽部件在器械座上的部件示意图；
图10为本发明提供的卡块部件在无菌隔离座上的部件示意图；
图11为挡位块的结构示意图；
图12为本发明提供的外科手术器械连接装置的结构示意图；
图13为本发明提供的卡槽部件在无菌隔离座上的部件示意图；
图14为本发明提供的卡块部件在电机安装座上的部件示意图。
图15为本发明提供的一种手术器械的结构示意图；
图16为本发明提供的一种手术器械的第一带动组件的结构示意图；
图17为本发明提供的一种手术器械的第二带动组件的结构示意图；
图18为本发明提供的一种手术器械的第三带动组件的立体示意图；
图19为本发明提供的一种手术器械的第三带动组件的结构示意图；
图20为本发明提供的一种手术器械的执行组件与控制组件的配合示意图；
图21为本发明提供的一种手术器械的控制组件的结构示意图；
图22为本发明提供的一种手术器械的第一传动件的结构示意图；
图23为本发明提供的一种手术器械的执行组件和第三传动件的结构示意图；
图24为本发明提供的一种手术器械的第二传动件的结构示意图。
图25为本发明提供的一种持针器控制组件的结构示意图；
图26为本发明提供的一种持针器的卡口结构的示意图；
图27为本发明提供的一种持针器的卡口结构的局部示意图；
图28为本发明提供的一种持针器的卡口结构的卡口套的结构示意图。
图29为本发明提供的一种外科手术器械的结构示意图；
图30为本发明提供的一种外科手术器械的开合控制组件的结构示意图；
图31为本发明提供的一种外科手术器械的偏转控制组件的结构示意图；
图32为本发明提供的一种外科手术器械的旋转控制组件的结构示意图。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，以下将结合附图及实施例来详细说明本发明的实施方法，借此对本发明如何应用技术手段来解决技术问题，并达成技术效果的实现过程能充分理解并据以实施。
在本发明一个实施例中，如图1所示，本发明实施例提供了一种用于手术机器人的手术器械组件，包括器械座20、无菌隔离座30和电机安装座40，所述器械座20用于安装传动装置10，所述无菌隔离座30用于安装无菌隔离膜(图中未显示)，所述电机安装座40用于安装驱动装置50，这里的驱动装置50包括但不限于电机，其他常规驱动机构也在本发明的保护范围内；所述传动装置10通过 控制组件60与用于手术执行组件100连接，由此，根据手术医生的控制，来自驱动装置50的动力传递到器械座20的传动装置10，使手术执行组件100完成一个以上的自由度。
一、动力传递机构
为了将驱动装置50的动力传递到器械座20的传动装置10，设置了联轴机构。如图1所示，所述器械座20上设置有至少一个第一联轴节90，所述无菌隔离座30上设置有至少一个第二联轴节80，所述电机安装座40上设置有至少一个第三联轴节70；其中，所述器械座20通过第一联轴节90和第二联轴节80的配合而安装于无菌隔离座30，无菌隔离座30通过第二联轴节80和第三联轴节70的配合而安装于电机安装座40，且所述第一联轴节90、第二联轴节80和第三联轴节70同轴设置；具体方式为，当所述器械座20安装在所述无菌隔离座30上后，所述第一联轴节90与所述第二联轴节80同轴，当所述无菌隔离座30安装在所述电机安装座40上后，所述第二联轴节80与所述第三联轴节70同轴，也就是说，当器械座20、无菌隔离座30与电机安装座40三者定位安装完成后，第一联轴节90、第二联轴节80和第三联轴节70要同轴，这里的同轴是指轴心重合。
本发明实施例提供的用于手术机器人的手术器械组件，通过将驱动装置50与传动装置10通过三个联轴节连接，并且将位于器械座20的第一联轴节90、位于无菌隔离座30的第二联轴节80、以及位于电机安装座40的第三联轴节70同轴设置，大大提高了动力传送效果，并且保障了动力传送稳定性。
在该实施例中，如图2所示，第一联轴节90包括第一本体903和第一凸起901，所述第一本体903与传动装置10连接，器械座20开设有与第一本体903可转动配合连接的第一通孔，第一本体903可转动安装在第一通孔内；第一凸起901设置在第一本体903的靠近无菌隔离座30的端部，第一凸起901具有棱角，即第一凸起901为非圆柱状，其具体形状优选为一字状、正多边形状等等，其 主要用于传递动力，因此第一凸起901只要是使第一联轴节90与第二联轴节80不发生相对转动的形状都在本发明的保护范围内。
在该实施例中，如图3-4所示，第二联轴节80包括第二本体801和第二凸起803，第二本体801可转动设置于无菌隔离座30，无菌隔离座30开设有与第二本体801可转动配合连接的第二通孔，第二本体801安装在第二通孔内；第二本体801的靠近器械座20的端部开设有与第一凸起相配合的第一凹槽805，通过第一凸起901与第一凹槽805相配合，从而避免第一本体903与第二本体801发生相对运动，即避免第一联轴节90与第二联轴节80发生相对运动，以使第二联轴节80将动力通过第一联轴节90传递给所述传动装置10。
在该实施例中，如图4所示，第二凸起803设置在第二本体801的靠近电机安装座40的末端，所述第二凸起803具有棱角，即第二凸起803为非圆柱状，其具体形状优选为一字状、正多边形状等等，其主要用于传递动力，因此第二凸起803只要是使第二联轴节80与第三联轴节70不发生相对转动的形状都在本发明的保护范围内。
在该实施例中，如图5所示，第三联轴节70包括第三本体701，第三本体701的靠近无菌隔离座30的端部开设有与第二凸起803相配合的第二凹槽703，通过第二凸起803与第二凹槽703相配合，从而避免第二本体801与第三本体701发生相对运动，即避免第二联轴节80与第三联轴节70发生相对运动，以使第三联轴节70将驱动装置50提供的动力通过第二联轴节80和第一联轴节90传递给所述传动装置10。
在该实施例中，如图5所示，第三联轴节70还包括连接轴705和弹性件707，连接轴705其一端与驱动装置50连接，另一端与第三本体701连接，电机安装座40开设有与连接轴705可转动配合连接的第三通孔，连接轴705安装在第三通孔内，弹性件707其一端卡接于第三本体701，另一端卡接于连接轴705；连接轴705为阶梯状，连接轴705的大端安装在第三通孔内，连接轴705的具体 结构已是现有技术，此处不再详细赘述，弹性件707包括弹簧，弹簧一端抵在第三本体701上，另一端抵在所述连接轴705的大端，通过弹簧提供的推力有效保障了第一联轴节90、第二联轴节80和第三联轴节70稳定配合，从而实现动力传送稳定。
在该实施例中，第一本体903、第二本体801和第三本体701均为圆柱状，且第一本体903、第二本体801与第三本体701同轴设置，请注意，第一本体903、第二本体801和第三本体701为圆筒状也在本发明的保护范围内。
至少在一个实施例中，所述第一凸起901和第二凸起803均为一字状凸起，且所述第一凹槽805和第二凹槽703均为一字状的凹槽，上述结构的凸起和凹槽传动稳定、制造方成本低、且装配方便。
在该实施例中，如图6所示，第一联轴节90、第二联轴节80和第三联轴节70构成联轴节组，用于手术机器人的手术器械组件包括三个联轴节组。用于手术机器人的手术器械组件包括三个传动装置10和三个驱动装置50，三个传动装置10与三个联轴节组中的三个第一联轴节90对应连接，三个驱动装置50与三个联轴节组中的三个第三联轴节70对应连接。具体地，第一联轴节90、第二联轴节80和第三联轴节70均为三个，三个第一联轴节90与对应的三个第二联轴节80同轴设置，三个第二联轴节80与对应的三个第三联轴节70同轴设置，三个驱动装置50分别为第一驱动装置501、第二驱动装置502和第三驱动装置503，三个传动装置10分别为第一传动装置101、第二传动装置102和第三传动装置103，三个驱动装置50与对应的三个传动装置分别通过对应的第一联轴节90、第二联轴节80和第三联轴节70连接，从而将来自驱动装置的动力传递到传动装置，进而实现手术执行组件100在至少3个自由度运动。
二、器械座20与无菌隔离座30的安装结构
为了将器械座与无菌隔离座配合并从而将设置在器械座上的第一联轴节90与设置在无菌隔离座上的第二联轴节80联接，在器械座和无菌隔离座之间设置了快速安装结构。
在本发明一个实施例中，如图8-11所示，器械座20设有卡槽部件201，无菌隔离座30设有卡入卡槽部件201的卡块部件301，值得注意的是，卡槽部件201设置在所述无菌隔离座30上，以及所述卡块部件301设置在所述器械座20上，这种方式也在本发明的保护范围内。
在该实施例中，卡块部件301卡入卡槽部件201内，以限制器械座20在6个方向的自由度，这里6个方向的自由度是指上、下、左、右、前、后这6个方向的自由度；即本发明的器械座20与无菌隔离座30的卡扣式部件相互配合以实现将器械座20与无菌隔离座30固定连接，从而实现对器械座20的快速安装和拆卸。
在以下实施例中，以所述卡槽部件201设置在所述器械座20、以及所述卡块部件301设置在所述无菌隔离座30进行详细阐述。
如图9所示，卡槽部件201包括限位槽2013，限位槽2013包括封闭端2021和延伸出器械座20的一边沿的开口端2022，器械座20具有底面2020和第一侧面2021，器械座的底面2020设有第一凸起边沿2019、第二凸起边沿2018和第三凸起边沿2023，第一凸起边沿2019、第二凸起边沿2018和第三凸起边沿2023依次连接形成带有开口的限位槽2013。
如图10所示，无菌隔离座30为L形状，无菌隔离座30具有上表面3010和内侧面3017；卡块部件301包括凸台3015，凸台3015设置在无菌隔离座的上表面3010，凸台3015的横截面面积小于无菌隔离座上表面3010的面积，凸台3015与无菌隔离座上表面3010形成台阶。
在一些实施例的优选方案中，凸台3015的横截面为矩形，需要特殊说明的是，这里的横截面形状是根据凸台3015能从限位槽2013的开口伸入限位槽2013内来定义的，凸台3015的横截面形状 只要能够实现凸台3015能从限位槽2013的开口伸入限位槽2013内都属于本发明的保护范围。
器械座20与无菌隔离座30安装后，凸台3015的三个侧面分别与第三凸起边沿2023、第二凸起边沿2018和第一凸起边沿2019相抵接，即凸台3015卡入限位槽2013内，通过第三凸起边沿2023和第一凸起边沿2019以限制凸台2015在前后两个方向的自由度，从而限制器械座20在前后方向的自由度，即避免器械座20相对于无菌隔离座30前后位移。
如图9所示，卡槽部件还包括卡位块2015，卡位块2015设在第二凸起边沿2018在靠近限位槽2013的一侧，即卡位块2015位于限位槽的封闭端2021，卡位块2015与器械座的底面2020之间有间隙，卡位块2015与器械座的底面2020之间形成第一卡位槽2107。
如图10所示，卡块部件301还包括凸块3013，凸块3013凸出设置在凸台3015远离无菌隔离座内侧面3017的一端，凸块3013与无菌隔离座的上表面3010之间有间隙，凸块3013与所述无菌隔离座的上表面3010之间形成第二卡位槽3018。
在一些实施例的优选方案中，卡位块2015与器械座的底面2020之间的距离等于凸块3013的厚度，凸块3013与无菌隔离座的上表面3010之间的距离等于卡位块2015的厚度。
如图9-10所示，卡槽部件201包括通槽2011，通槽2011开设在器械座的第一侧面2021，并位于开口端2022上方；卡块部件301还包括限位块3016设置在无菌隔离座的内侧面3017，限位块3016与器械座20在通槽2011的内壁接触配合。
器械座20与无菌隔离座30安装后，限位块3016卡入所述通槽2011内，凸块3013卡入第一卡位槽2107内，且卡位块2015卡入第二卡位槽3018内，以限制器械座20或无菌隔离座30在上下方向的自由度，即避免器械座20相对于无菌隔离座30上下方向位移。
如图9所示，第一凸起边沿2019靠近第三凸起边沿2023的一侧为台阶状，第三凸起边沿2023靠近第一凸起边沿2019的一侧也 为台阶状，即第一凸起边沿2019、第二凸起边沿2018和第三凸起边沿2023形成的限位槽2013包括前段限位槽2013b和后段限位槽2013a，第一凸起边沿2019与第三凸起边沿2023之间在前段限位槽2013b处的距离大于其在后段限位槽2013a处的距离，限位槽2013的开口位于前段限位槽2013b处，前段限位槽2013b与后段限位槽2013a的连接处形成台阶面(图中未标注)。
卡槽部件201还包括两个挡块2014，两个挡块2014设置在器械座的底面2020，两个挡块2014分别设置在前段限位槽2013b内，且所述两个挡块2014分别与对应的所述台阶面(图中未标注)之间形成挡位槽2012。
在一些实施例的优选方案中，两个挡块2014位于后段限位槽2013a的两侧，两个挡块2014之间的距离大于第一凸起边沿2019与第三凸起边沿2023之间在在后段限位槽2013a处的距离。
如图10所示，卡块部件301还包括两个挡位块3014，两个挡位块3014分别设置在凸台3015在与第三凸起边沿2023接触的两侧面。器械座20与无菌隔离座30安装后，两个挡位块3014分别卡入对应的挡位槽2012内，且挡位块3014一端与台阶面(图中未标注)接触配合，其另一端与挡块2014接触配合，以限制所述器械座20或所述无菌隔离座30在左右2个方向的自由度，即避免器械座20相对于无菌隔离座30左右方向位移。
在一些实施例的优选方案中，两个挡块2014之间的距离大于第一凸起边沿2019与第三凸起边沿2023之间在在后段限位槽2013a处的距离，便于凸台2015卡入后段限位槽2013a内；挡块2014的厚度小于限位槽3013的深度，便于挡位块3014卡入所述挡位槽2012内。
如图9-11所示，第一凸起边沿2019和第三凸起边沿2023分别与对应的挡块2014之间有通道(图中未标注)，挡位块3014包括与凸台3015连接的底板3014a，底板3014a上设有侧板3014b，侧板3014b与凸台3015形成夹角，即侧板3014b与凸台3015形成喇叭口，便于侧板3014b从通道卡入所述挡位槽2012内。
器械座的底面2020设有多个通信接口铜块2016，多个通信接口铜块2016位于所述限位槽2013内；无菌隔离座30在凸台3015上设有与通信接口铜块2016对应的多个触点3012。
在一些实施例的优选方案中，凸块3013设有导向槽3011，以使通信接口铜块2016沿导向槽3011滑到所述触点3012，有效避免损坏通信接口铜块2016。
由此，通过上述结构，器械座20和无菌隔离座30可以容易地可拆卸连接，并在机械连接的同时实现电气连接。
三、无菌隔离座与电机安装座的连接结构
在无菌隔离座30和电机安装座40之间设置快速安装结构，以将电机安装座上设置的电机的动力通过联轴节70、80和90传递到传动装置10，另一方面在器械座20、无菌隔离座30和电机安装座40之间实现电联接。
如图12-14所示，无菌隔离座30在其下侧设有卡槽部件302，电机安装座40设有卡入卡槽部件302的卡块部件，值得注意的是，卡槽部件302设置在电机安装座40上，以及卡块部件设置在无菌隔离座30上，这种方式也在本发明的保护范围内。
在以下实施例中，以卡槽部件设置在无菌隔离座30上、以及卡块部件设置在电机安装座40上进行详细阐述。
在该实施例中，所述卡块部件401卡入卡槽部件302内，以限制所述无菌隔离座30在6个方向的自由度，这里6个方向的自由度是指上、下、左、右、前、后这6个方向的自由度；即本发明的电机安装座40与无菌隔离座30的卡扣式部件相互配合以实现将无菌隔离座30固定于电机安装座40，从而实现对无菌隔离座30的快速安装和拆卸。
如图13所示，卡槽部件302包括限位槽3021，限位槽3021包括封闭端3020和延伸出所述无菌隔离座30的一边沿的开口端3022；无菌隔离座30具有底面3023，无菌隔离座的底面3023设有第一凸起边沿3024、第二凸起边沿3025和第三凸起边沿3026，第 一凸起边沿3024、第二凸起边沿3025和第三凸起边沿3026依次连接形成带有开口的限位槽3027。
如图14所示，卡块部件包括凸台4011，电机安装座40具有上表面4010，凸台4011固定在电机安装座的上表面4010，凸台4011的横截面面积小于电机安装座的上表面4010的面积，凸台4011与电机安装座的上表面4010形成台阶。
在一些实施例的优选方案中，凸台4011的横截面为矩形，需要特殊说明的是，这里的横截面形状是根据凸台4011能从限位槽3011的开口伸入限位槽3011内来定义的，凸台4011的横截面形状只要能够实现凸台4011能从限位槽3027的开口伸入限位槽3011内都属于本发明的保护范围。
无菌隔离座30与电机安装座40安装后，凸台4011的三个侧面分别与第一凸起边沿3024、第二凸起边沿3025和第三凸起边沿3026相抵接，即凸台4011卡入限位槽3027内，通过第一凸起边沿3024和第三凸起边沿3026以限制凸台4011在前后两个方向的自由度，从而限制无菌隔离座30在前后方向的自由度，即避免无菌隔离座30相对于电机安装座40前后位移。
如图13所示，卡槽部件302还包括至少一个L形卡位块3028，L形卡位块3028设置在第二凸起边沿3025，即L形卡位块3028靠近封闭端的端部3020；L形卡位块3028与第二凸起边沿3025之间形成第一卡位槽3030，第一卡位槽3030的开口朝向限位槽3027。
如图14所示，卡块部件401还包括电机安装座的底板4015；无菌隔离座30与电机安装座40安装后，电机安装座的底板4015卡入第一卡位槽3017内，即电机安装座的底板4015分别与L形卡位块3028和第二凸起边沿3025接触配合。
如图13所示，卡槽部件302还包括两个第二卡位块3031，两个第二卡位块3031分别设置在第一凸起边沿3024和第三凸起边沿3026上，两个第二卡位块3031位于第一凸起边沿3024或者第三凸起边沿3026靠近限位槽3027开口的一端。
如图14所示，卡块部件401还包括两个限位板4012，两个限位板4012分别固定于凸台4011的两侧，两个限位板4012均与电机安装座的上表面4010之间形成第二卡位槽4013。无菌隔离座30与电机安装座40安装后，第二卡位块3031卡入第二卡位槽4013内，电机安装座40卡入第一卡位槽3030内，以限制无菌隔离座30上下2个方向的自由度，即避免无菌适配器20相对于电机安装座40上下方向位移。如图3所示，卡块部件401还包括L形倒钩4014，所述L形倒钩4014设置于电机安装座40上，且L形倒钩4014位于凸台4011的上方。
如图13所示，卡槽部件302还包括L形倒钩槽3032，无菌隔离座30的底面3023在限位槽3027的开口处开设有安装槽(图中未标注)，无菌隔离座在安装槽内设有凸起(图中未标注)，以形成L形倒钩槽3032。无菌隔离座30与电机安装座40安装后，L形倒钩4014卡入L形倒钩槽3032内，从而限制无菌隔离座30在前后方向的自由度，即避免无菌隔离座30相对于电机安装座40左右位移。
如图13-14所示，凸台4011上设有多个通信接口铜块4016，多个通信接口铜块4016均匀间隔设置，无菌隔离座30在限位槽3027内设有与通信接口铜块4016对应的多个触点3029；所述无菌隔离座30在所述限位槽3011的底面开设有导向槽3033，以使所述通信接口铜块4016沿所述导向槽3033滑到触点3029，实现了无菌隔离座30和电机安装座40之间的机械和电气连接。
四、手术执行组件100的驱动
器械座20包括壳体200以及设置在壳体内的第一带动组件202，第一带动组件202接收通过联轴节70、80和90从驱动装置传递的动力，所述第一带动组件202包括相互配合的第一螺杆203和第一螺母滑块204，即所述第一螺母滑块204套设在所述第一螺杆203，且所述第一螺母滑块204与所述第一螺杆203螺纹配合连接；所述第一螺杆203可转动安装在支架207上，所述支架207设有限 制所述第一螺母滑块204转动的导向限位杆205，具体地，所述第一螺母滑块204开设有导向孔，所述导向限位杆205穿过导向孔，且与所述第一螺母滑块204接触配合，当所述第一螺杆203螺纹转动时，由于所述第一螺母滑块204与所述第一螺杆203螺纹配合，且通过所述导向限位杆205限制，使所述第一螺母滑块204沿所述导向限位杆205(所述第一螺杆203)移动。
在该实施例中，如图21所示，所述控制组件60包括第二传动件601和第一传动件603，所述执行组件100铰接设置于所述第二传动件601。在该实施例中，如图8所示，所述第一传动件603包括与所述第一螺母滑块204连接的第一传动杆6031，所述第一传动杆6031的另一端与所述执行组件100之间设有活动杆6033；所述活动杆6033一端与所述第一传动杆6031转动连接，其另一端与所述执行组件100转动连接，所述活动杆6033分别与所述第一传动杆6031和所述执行组件100转动连接的方式包括但不限于销轴连接，当所述第一螺杆203转动时带动所述第一螺母滑块204往复移动，所述第一螺母滑块204带动所述第一传动杆203往复移动，从而通过所述活动杆6033推动所述执行组件100在所述执行组件100铰接处弯曲或伸直，从而实现执行组件100在腕关节处的弯曲和伸直，使执行组件100实现类似于人手的腕关节动作，达到手术器械和人手操作同步的效果，以及简化手术器械操作的难度。
在该实施例中，如图16所示，所述第一驱动组件50A包括第一电机501A，所述第一电机501A与所述第一螺杆203之间通过第一联轴节70A、第二联轴节80A和第三联轴节90A连接，所述第一联轴节90A可转动安装在所述安装支架207上，所述第一电机501A固定安装在所述电机安装支架40上，通过所述第一电机501A工作带动所述第一螺杆203转动，从而使所述第一螺母滑块204往复移动；所述第一电机501A外设置有保护壳，同时保护壳还能细菌的生长。
在本发明一个实施例中，如图15和17所示，所述器械座20还包括第二带动组件208和第二驱动组件50B，所述第二带动组件 208包括相互啮合的主动齿轮2083和被动齿轮2081，所述第二驱动组件50B包括第二电机501B，所述第二电机501B与所述主动齿轮2083通过第一联轴节70B、第二联轴节80B和第三联轴节90B连接，所述被动齿轮2081套固定设在所述第二传动件601，首先驱动所述主动齿轮2083转动，所述主动齿轮2083带动所述被动齿轮2081转动，从而使固定在所述被动齿轮2081的所述第二传动件601转动，从而带动所述执行组件100转动，使得手术执行组件100在有限的空间内可快速准确的完成医生所发出的指令，确保手术的顺利进行，同时也提升了手术机器人的手术器械的通用性。
在该实施例中，优选地，所述第二联轴节90B可转动安装在所述安装支架507上，所述第二电机501B固定安装在所述电机安装支架40上；所述第二电机501B外设置有保护壳，同时保护壳还能细菌的生长。
在该实施例中，如图24所示，优选地，所述第二传动件601包括第二传动杆6011和连接套6013，所述第二传动杆6011与所述连接套6013固定连接，所述执行组件100与所述连接套6013通过销轴铰接，以使所述执行组件100可沿述第二传动件601转动，实现腕关节动作，所述被动齿轮套2081固定设在所述第二传动杆6011。
在本发明一个实施例中，如图15、19、21和23所示，所述手术器械还包括第三带动组件206和第三驱动组件50C，所述第三带动组件206包括相互配合的第二螺杆2063和第二螺母滑块2061，所述第三驱动组件50C与所述第二螺杆2063连接，其中，所述第三驱动组件50C驱动所述第二螺杆2063转动，以使所述第二螺母滑块2061沿所述第二螺杆2063做往复移动；所述控制组件60还包括第三传动件605，所述第三传动件605包括与所述第二螺母滑块2061转动连接的第三传动杆6307、以及连接所述第三传动杆6307和所述执行组件的连接杆6305；所述连接杆6305为柔性连接杆，其可承受轴向力，因此当连接杆6305承受轴向力时不会弯曲，当连接杆6305承受径向力会产生弯曲，因此连接杆6305可以实现沿轴向做往 复运动，当所述执行组件100需要做腕关节摆动运动时，连接杆6305可因受径向力而弯曲。
在该实施例中，优选地，所述执行组件100包括第一钳体1001和第二钳体1009，所述第一钳体1001与所述第二钳体1009交叉设置，所述第一钳体1001与所述第二钳体1009的交叉处通过销轴转动连接，即所述第一钳体1001和所述第二钳体1009可沿销轴处交叉转动，实现所述第一钳体1001与所述第二钳体1009开合。
在该实施例中，优选地，所述执行组件100还包括过渡件，所述过渡件包括第一过渡杆1011和第二过渡杆1003，所述第一过渡杆1011和所述第二过渡杆1003的一端与所述连接杆6305转动连接，所述第一过渡杆1011的另一端与所述第一钳体1001转动连接，所述第二过渡杆1003的另一端与所述第二钳体1009转动连接；其中，所述执行组件100随所述第三传动杆6307的往复运动而打开或关闭。首先，将第一钳体1001与第二钳体1009交叉设置；然后，在第一钳体1001与第二钳体1009交叉处插入销轴，使第一钳体1001和第二钳体1009与销轴转动连接；再后，将第一过渡杆1011和第二过渡杆1003的一端与连接杆6305转动连接；再后，将第一过渡杆1011的另一端与第一钳体1001转动连接，同时，将第二过渡杆1003的另一端与第二钳体1009转动连接，使得第一过渡杆1011、第二过渡杆1003、第一钳体1001和第二钳体1009组成一个四边形；再后，当第三传动杆6307带动连接杆6305做往复运动时，带动第一过渡杆1011和第二过渡杆1003转动，从而使第一过渡杆1011和第二过渡杆1003推动第一钳体1001和第二钳体1009打开或闭合，进而带动手术器械100打开或闭合，实现了对手术器械100的驱动。
在该实施例中，如图19所示，优选地，所述第二螺母滑块2061套设在所述第二螺杆2063，且所述第二螺母滑块2061与所述第二螺杆2063螺纹配合连接；所述第二螺杆2063可转动安装在所述安装支架207上，所述安装支架207设有限制所述第二螺母滑块2061转动的导向限位杆2065，具体地，所述第二螺母滑块2061开 设有限位孔，所述导向限位杆2065穿过限位孔，且与所述第二螺母滑块2061接触配合，当所述第二螺杆2063螺纹转动时，由于所述第二螺母滑块2061与所述第二螺杆2063螺纹配合，且通过所述导向限位杆2063限制，使所述第二螺母滑块2061沿所述导向限位杆2065(所述第二螺杆)移动，从而带动所述第三传动杆6307的往复运动。
在该实施例中，如图18所示，所述第三驱动组件50C包括第三电机501C，所述第三电机501C与所述第二螺杆2063之间通过第一联轴节70C、第二联轴节80C和第三联轴节90C连接，所述第三联轴节90C可转动安装在所述安装支架207上，所述第三电机501C固定安装在所述电机安装支架40上；所述第三电机501C外设置有保护壳，同时保护壳还能细菌的生长。
在本发明一个实施例中，所述第二传动杆6011和第一传动杆6031均为空心结构，所述第一传动杆6031设置在所述第二传动杆6011内，所述第三传动杆6307设置在所述第一传动杆6031内，该手术器械100结构简单，可有效减小手术机器人的手术器械体积，使得手术执行组件在有限的空间内可快速准确的完成医生所发出的指令。
五、卡口结构及控制组件
在本发明一个实施例中，如图26-27所示，本发明实施例提供了一种卡口结构，包括螺母滑块2061、轴承120、连接杆130和卡口套140；所述轴承120其安装在所述滑块110上；所述连接杆130的一端与手术执行组件100的传动杆605或6307连接，另一端沿圆周方向开设有环形卡槽；所述卡口套140的至少部分内壁面与所述环形卡槽卡合连接，所述卡口套140外壁面与所述轴承120内壁面固定连接。
本发明的一种持针器的卡口结构具有如下效果：1、螺母滑块2061往复直线运动时，螺母滑块2061带动安装在其上面的轴承120、卡口套140和连接杆130做同向直线运动，从而实现对持针器 640的开合控制；2、当传动杆605转动时，轴承120可以允许卡口套实现旋转运动，从而降低摩擦。
在未示出的实施例中，优选的，所述卡口套140包括两个半圆套，两个所述半圆套拼接成所述卡口套140，为了便于所述卡扣套140卡入所述连接杆的环形卡槽内，因此将所述卡口套140设计为两个半圆状，然后拼凑形成所述卡口套140；值得注意的是，为了方便安装，所述卡扣套140由多个弧形套拼凑而成，其也在本发明的保护范围内。
在该实施例中，优选的，所述卡口套140的第一端的内壁形成环形凸起，所述环形凸起卡入所述环形卡槽内。在该实施例中，优选的，所述卡口结构还包括固定套150，所述卡口套140的第二端伸出所述轴承120，且卡口套140的第二端的外壁面设有外螺纹，以与所述固定套150螺纹连接，实现两个所述半圆套的拼接，即所述固定套150设有内螺纹，所述固定套150与所述卡口套140通过螺纹配合连接，将两个半圆套拼成的所述卡口套140的环形凸起卡入所述环形卡槽内后，需要对两个半圆套进行固定，避免两个半圆套脱落，因此通过固定套150可实现对所述拼凑形成的卡口套140进行固定，然后将固定好的卡口套140安装在所述轴承120上。
在该实施例中，优选的，所述固定套150一端抵靠在所述轴承120的远离所述连接杆130的第一侧端面上，以防止所述轴承120从一个方向脱落；所述轴承120配置有挡板160，挡板160抵靠所述轴承120的靠近所述连接杆130的第二侧端面，所述挡板160固定在所述螺母滑块2061上，通过所述挡板160限制所述轴承120，以防止所述轴承120从另一个方向脱落，具体方式为，所述固定套150抵在所述轴承120的小圈，所述挡板160在另一个方向抵在所述轴承120的大圈，即所述轴承120的两侧分别通过所述固定套150和所述挡板160限制，有效的防止所述轴承120脱落。
在该实施例中，优选的，所述卡口套140的内孔为阶梯状，所述卡口套140包括位于卡口套140第一端的第一阶梯孔1401以及位于卡口套140第二端的第二阶梯孔1403，第二阶梯孔1403的直径大 于所述第一阶梯孔1401的直径，所述第一阶梯孔1401由所述环形凸起形成，所述环形卡槽与所述环形凸起卡合连接；所述卡口套的第二阶梯孔1403的截面面积等于或大于连接轴130的截面面积，且所述第二阶梯孔1403对应的部分卡口套140伸出所述轴承120；所述卡口套140在所述第一阶梯孔1401处的内表面与所述连接杆130在所述环形卡槽处的内表面接触配合，因此实现部分所述卡口套140卡入所述环形卡槽内，在所述螺母滑块2061往复直线移动时，所述螺母滑块2061带动所述轴承120移动，所述轴承120带动所述卡口套140移动，由于部分所述卡口套140卡入所述环形卡槽内，即所述卡口套140带动所述连接轴130移动，所述连接轴130驱动所述持针器640，从而实现对持针器640的开合控制。
在该实施例中，优选的，所述连接杆130与所述传动杆605通过螺纹配合可拆卸连接，方便更换所述传动杆605。请注意，可拆卸连接在意味着所述所述连接杆130与所述传动杆605的连接方式是可拆除的，其中包括螺纹连接、螺钉连接或者以其他方式而可拆卸连接的都应当在本发明的保护范围内。
在该实施例中，优选的，所述螺母滑块2061开设有与所述轴承120配合的安装孔，所述轴承120的外壁面与所述螺母滑块2061在所述安装孔处的内壁面接触配合，其轴承120的安装方式在本领域中已是现有成熟技术，此处不再详细赘述。
在本发明一个实施例中，如图25-27所示，一种控制组件，包括上述所述卡口结构，所述控制组件还包括驱动装置，其与所述螺母滑块2061连接，以使螺母滑块2061直线移动；所述驱动装置包括丝杆2062和电机501B，所述丝杆2062与所述螺母滑块2061螺纹配合连接，所述电机50与所述丝杆2062通过联轴节连接，其中，所述电机501B驱动所述丝杆2062转动，以使所述螺母滑块2061直线移动；所述控制组件还包括器械座20，所述丝杆2062可转动安装在所述器械座20上。所述器械座110设有限制所述滑块转动的导向限位杆(图中未标识)，具体地，所述螺母滑块2061开设有导向孔，所述导向限位杆穿过导向孔，且与所述螺母滑块2061接 触配合，当所述丝杆2061螺纹转动时，由于所述螺母滑块2061与所述丝杆2061螺纹配合，且通过所述导向限位杆限制，使所述螺母滑块2061沿所述导向限位杆(所述丝杆2062)移动。电机50驱动丝杆2061正反向转动，所述丝杆2061转动时带动所述螺母滑块2061往复直线移动，所述螺母滑块2061带动所述轴承120移动，所述轴承120带动所述卡口套140移动，由于部分所述卡口套140卡入所述环形卡槽内，即所述卡口套140带动所述连接轴130移动，所述连接轴130驱动所述传动杆，从而实现对手术执行组件的开合控制。
六、手术执行组件100
在本发明一个实施例中，如图29所示，本发明实施例提供了一种外科手术器械，包括手术执行组件100、开合控制组件1050、旋转控制组件1040、偏转控制组件1020；所述开合控制组件1050与所述执行组件100连接；所述旋转控制组件1040与所述开合控制组件1050铰接设置；所述偏转控制组件1020包括与所述开合控制组件1050连接的第一传动件，其中，推拉所述第一传动件移动，以使所述开合控制组件1050带动所述执行组件100绕铰接点偏转。
在该实施例中，如图30所示，所述第一传动件包括第一传动杆6031和活动杆6033，所述活动杆6033的一端与所述第一传动杆6031转动连接，另一端与所述开合控制组件1050转动连接，所述活动杆6033分别与所述第一传动杆6031和所述开合控制组件1050转动连接的方式包括但不限于销轴连接，当所述第一传动杆6031往复移动，从而通过所述活动杆6033推动所述所述开合控制组件1050在铰接处弯曲或伸直，所述开合控制组件1050带动所述执行组件100弯曲或伸直，从而实现执行组件100在腕关节处的弯曲和伸直，使执行组件100实现类似于人手的腕关节动作，达到外科手术器械和人手操作同步的效果，以及简化外科手术器械操作的难度。
在该实施例中，如图2所示，所述旋转控制组件1040包括第二传动件，所述开合控制组件1050铰接设置于所述第二传动件；所 述第二传动件包括第二传动杆6401和连接套6403，所述第二传动杆6401与所述连接套6403固定连接，所述开合控制组件1050与所述连接套6403通过销轴铰接；驱动所述旋转控制组件1040转动，所述旋转控制组件1040带动所述开合控制组件1050转动，所述开合控制组件1050带动所述执行组件100转动，使得手术执行组件100实现旋转动作，确保手术的顺利进行，同时也提升了手术机器人的手术器械的通用性。
在该实施例中，如图30所示，所述执行组件100包括手术剪；所述执行组件100包括第一钳体1001和第二钳体1009，所述第一钳体1001与所述第二钳体1009交叉设置，所述第一钳体1001与所述第二钳体1009的交叉处通过销轴转动连接，通过所述第一钳体1001与所述第二钳体1009可转动交叉设置，可以实现所述执行组件100的开合动作。
在该实施例中，如图30所示，所述开合控制组件1050包括过渡件，所述过渡件包括第一过渡杆1011和第二过渡杆1003，所述第一过渡杆1011的一端与所述第一钳体1003转动连接，所述第二过渡杆1003的一端与所述第二钳体1009转动连接。
在该实施例中，如图30所示，所述开合控制组件1050还包括第三传动件，所述第三传动件包括第三传动杆6307和连接杆6305；所述连接杆6305的一端与所述第三传动杆6307连接，所述第一过渡杆1011和第二过渡杆1003的另一端分别与所述连接杆6305的另一端转动连接，其中，所述执行组件100随所述第三传动杆6307的往复运动而打开或关闭；具体方式为：首先，将第一钳体1001与第二钳体1009交叉设置；然后，在第一钳体1001与第二钳体1009交叉处插入销轴，使第一钳体1001和第二钳体1009与销轴转动连接；再后，将第一过渡杆6305和第二过渡杆1003的一端与连接杆6305转动连接；再后，将第一过渡杆1011的另一端与第一钳体1001转动连接，同时，将第二过渡杆1003的另一端与第二钳体1009转动连接，使得第一过渡杆1011、第二过渡杆1003、第一钳体1001和第二钳体1009组成一个四边形；再后，当第三传动杆 6307带动连接杆6305做往复运动时，带动第一过渡杆1011和第二过渡杆1003转动，从而使第一过渡杆1011和第二过渡杆1003推动第一钳体1001和第二钳体1009打开或闭合，进而带动外科手术器械100打开或闭合，实现了对外科手术器械100的驱动。
在该实施例中，优选地，所述连接杆6305为柔性连接杆，其可承受轴向力，因此当连接杆6305承受轴向力时不会弯曲，当连接杆6305承受径向力会产生弯曲，因此连接杆6305可以实现沿轴向做往复运动，当所述开合控制组件1050和所述执行组件100需要做腕关节摆动运动时，连接杆6305可因受径向力而弯曲。
在该实施例中，如图30所示，所述开合控制组件1050包括安装座10509，所述开合控制组件1050的安装座10509与所述连接套6403通过销轴铰接；所述活动杆6033的两端分别与所述第一传动杆6031和所述开合控制组件的安装座10509转动连接，其具体方式包括但不限于销轴连接。
在该实施例中，如图31和32所示，所述第二传动杆6401和第一传动杆603均为空心结构，所述第一传动杆603设置在所述第二传动杆6401内，所述第三传动杆605设置在所述第一传动杆603内，该外科手术器械整体结构简单，可有效减小外科手术机器人的外科手术器械体积，使得手术执行组件在有限的空间内可快速准确的完成医生所发出的指令。
在本发明一个实施例中，一种外科手术机器人，所述外科手术机器人包括如上述所述的外科手术器械，上述内容中已对外科手术器械作出了详细的描述，此处不再赘述。
在本实用新型的描述中，术语“多个”则指两个或两个以上，除非另有明确的限定，术语“上”、“下”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本实用新型和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本实用新型的限制；术语“连接”、“安装”、“固定”等均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地 连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本实用新型中的具体含义。
在本实用新型的描述中，术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本实用新型的至少一个实施例或示例中。在本实用新型中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
虽然本发明所公开的实施方式如上，但所述的内容只是为了便于理解本发明而采用的实施方式，并非用以限定本发明。任何本发明所属技术领域内的技术人员，在不脱离本发明所公开的精神和范围的前提下，可以在实施的形式上及细节上作任何的修改与变化，但本发明的保护范围，仍须以所附的权利要求书所界定的范围为准。

Claims (23)

  1. 一种外科手术器械，其特征在于，包括：
    执行组件；
    控制组件，其与所述执行组件连接，以控制所述执行组件的开合、旋转和偏转运动；
    用于安装传动装置的器械座，所述器械座设置有第一联轴节；
    用于安装无菌隔离膜的无菌隔离座，其设置有第二联轴节，所述无菌隔离座与所述器械座固定连接；
    用于安装驱动装置的电机安装座，其设置有第三联轴节，所述无菌隔离座与所述电机安装座固定连接；
    其中，所述器械座通过所述第一联轴节和所述第二联轴节的配合而安装于所述无菌隔离座，所述无菌隔离座通过所述第二联轴节和所述第三联轴节的配合而安装于所述电机安装座，且所述第一联轴节、所述第二联轴节和所述第三联轴节同轴设置。
  2. 根据权利要求1所述的外科手术器械，其特征在于，所述控制组件包括：
    开合控制组件，其与所述执行组件连接，以控制所述执行组件的打开或关闭；
    旋转控制组件，其包括与所述开合控制组件铰接的第二传动件，以控制所述执行组件的旋转；
    偏转控制组件，其包括与所述开合控制组件连接的第一传动件，推拉所述第一传动件，以使所述开合控制组件带动所述执行组件绕铰接点偏转。
  3. 根据权利要求2所述的外科手术器械，其特征在于，所述传动装置包括：
    第一带动组件，其设置有相互配合的第一螺杆和第一螺母滑块；
    第二带动组件，其包括相互啮合的主动齿轮和被动齿轮；
    第三带动组件，包括相互配合的第二螺杆和第二螺母滑块。
  4. 根据权利要求3所述的外科手术器械，其特征在于，所述驱动装置包括：
    第一驱动组件，其包括第一电机，所述第一电机与所述第一螺杆连接，其中所述第一驱动组件驱动所述第一螺杆转动，以使所述第一螺母滑块沿所述第一螺杆移动；
    第二驱动组件，其包括第二电机，所述第二电机与所述主动齿轮通过第二联轴节连接，所述被动齿轮套固定设在所述第二传动件；
    第三驱动组件，其包括第三电机，所述第三电机与所述第二螺杆连接，其中，所述第三驱动组件驱动所述第二螺杆转动，以使所述第二螺母滑块沿所述第二螺杆转动。
  5. 根据权利要求4所述的外科手术器械，其特征在于，所述偏转控制组件包括：第一传动件，其包括第一传动杆，所述第一传动杆与所述第一螺母滑块可转动连接；活动杆，其一端与所述第一传动杆转动连接，另一端与所述第一驱动组件转动连接。
  6. 根据权利要求5所述的外科手术器械，其特征在于，所述旋转控制组件包括：
    第二传动件，其包括第二传动杆和连接套，所述第二传动杆与所述连接套固定连接，所述开合控制组件与所述连接套通过销轴铰接。
  7. 根据权利要求6所述的外科器械，其特征在于，所述开合控制组件包括：
    第三传动件，其包括第三传动杆和连接杆，所述连接杆的一端与所述第三传动杆连接，另一端沿圆周方向开设有环形卡槽，其中，所述执行组件随所述第三传动杆的往复运动而打开或关闭。
  8. 根据权利要求7所述的外科手术器械，其特征在于，所述执行组件包括：
    第一钳体和第二钳体，所述第一钳体与所述第二钳体交叉设置，所述第一钳体与所述第二钳体的交叉处通过销轴转动连接；
    过渡件，其包括第一过渡杆和第二过渡杆，所述第一过渡杆的一端与所述第一钳体转动连接，所述第二过渡杆与所述第二钳体转动连接，所述第一过渡杆与所述第二过渡杆的另一端与所述连接杆的另一端转动连接。
  9. 根据权利要求7所述的外科手术器械，其特征在于，所述第一传动杆和所述第二传动杆均为空心结构，所述第一传动杆设置在所述第二传动杆内，所述第三传动杆设置在所述第一传动杆内。
  10. 根据权利要求7所述的外科手术器械，其特征在于，所述连接杆为柔性连接杆。
  11. 根据权利要求1所述的外科手术器械，其特征在于，所述第一联轴节包括：第一本体，其能够转动地设置于所述器械座上并与所述传动装置连接；第一凸起，其设置在所述第一本体的靠近所述无菌隔离座的端部。
  12. 根据权利要求11所述的外科手术器械，其特征在于，所述第二联轴节包括：第二本体，其能够转动地设置于所述无菌隔离座上；第一凹槽，其设置在所述第二本体的靠近所述器械座的端部，以与所述第一凸起相配合；第二凸起，其设置在第二本体的靠近所述电机安装座的端部。
  13. 根据权利要求12所述的外科手术器械，其特征在于，所述第三联轴节包括：
    第三本体，其能够转动地设置于所述电机安装座上；
    第二凹槽，其设置于所述第三本体的靠近所述无菌隔离座的端部；
    连接轴，其一端与所述驱动装置连接，另一端与所述第三本体连接；
    弹性件，其一端卡接于所述第三本体，另一端卡接于所述连接轴。
  14. 根据权利要13所述的外科手术器械，其特征在于，所述第一本体、所述第二本体和所述第三本体同轴设置，使所述第一联轴节、所述第二联轴节和所述第三联轴节构成联轴节组。
  15. 根据权利要求14所述的外科手术器械，其特征在于，所述用于手术机器人的手术器械包括三个所述联轴节组，三个所述传动装置和三个所述驱动装置，其中，三个所述传动装置与三个所述联轴节组中的三个所述第一联轴节对应连接，三个所述驱动装置与三个所述联轴节组中的三个所述第三联轴节对应连接。
  16. 根据权利要求1所述的外科手术器械，其特征在于，所述器械座包括：
    卡槽部件，其与所述无菌隔离座固定连接。
  17. 根据权利要求16所述的外科手术器械，其特征在于，所述无菌隔离座包括：
    卡块部件，所述卡块部件用于卡入所述卡槽部件，以使所述器械座与所述无菌隔离座固定连接。
  18. 根据权利要求17所述的外科手术器械，其特征在于，所述卡槽部件包括：
    限位槽，其包括封闭端和延伸出所述器械座的一边沿的开口端，前段限位槽和后段限位槽，所述前段限位槽的宽度大于所述后段限位槽的宽度，所述前段限位槽与所述后段限位槽的连接处形成台阶结构；
    卡位块，其设置在限位槽的封闭端，且所述卡位块与所述限位槽的底面之间形成第一卡位槽，所述卡位块与设置在所述电机安装座上的倒钩连接；
    通槽，其设置在所述器械座远离所述卡位块的侧面，位于所述开口端上方；
    挡块，所述挡块设置在所述前段限位槽，且所述挡块与所述台阶结构之间形成档位槽。
  19. 根据权利要求18所述的外科手术器械，其特征在于，所述卡块部件包括：
    凸台，其用于卡入所述后段限位槽内；
    凸块，其凸出设置在所述凸台的一个端部，以卡入所述第一卡位槽内；
    限位块，其用于卡入所述通槽内；
    设置在所述凸台侧面的档位块，所述档位块与所述凸台形成夹角，以便于所述档位块卡入所述档位槽内。
  20. 根据权利要求19所述的外科手术器械，其特征在于，所述器械座在所述限位槽内设有通信接口铜块，所述无菌隔离座在所述凸台上设有与所述通信接口铜块对应的触点，所述凸块设有导向槽，以使所述通信接口铜块沿所述导向槽滑到所述触点。
  21. 根据权利要求1所述的外科手术器械，其特征在于，所述外科手术器械还包括：
    轴承，其安装在所述第二螺母滑块上；
    卡口套，其与所述轴承固定连接，所述卡扣套至少部分内壁面与所述环形卡槽卡合连接；
    固定套，所述卡口套的第二端伸出所述轴承，且所述第二端的外避面设有螺纹，以与所述固定套螺纹连接。
  22. 根据权利要求21所述的外科手术器械，其特征在于，所述卡口套包括：
    两个半圆套，所述两个半圆套拼接成所述开口套；
    所述卡口套的第一端的内壁面形成环形凸起，所述环形凸起卡入所述环形卡槽内；
    位于所述第一端的第一阶梯孔，以及位于所述第二端的第二阶段孔，所述第二阶梯孔的截面面积大于所述连接杆的截面面积；
    挡板，其固定在所述第二螺母滑块上并抵靠所述轴承的靠近所述连接杆的第二侧端面。
  23. 一种手术机器人，其特征在于，所述手术机器人包括如权利要求1-22中任一项所述的外科手术器械。
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