WO2025130977A1 - 器械驱动装置 - Google Patents

器械驱动装置 Download PDF

Info

Publication number
WO2025130977A1
WO2025130977A1 PCT/CN2024/140584 CN2024140584W WO2025130977A1 WO 2025130977 A1 WO2025130977 A1 WO 2025130977A1 CN 2024140584 W CN2024140584 W CN 2024140584W WO 2025130977 A1 WO2025130977 A1 WO 2025130977A1
Authority
WO
WIPO (PCT)
Prior art keywords
pull
driving
transmission
push
wheel
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.)
Pending
Application number
PCT/CN2024/140584
Other languages
English (en)
French (fr)
Inventor
葛存旺
吴钢
陈豪
卫雪婷
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.)
Shanghai Surgipulse Robotics Co Ltd
Robgenix Medical Pte Ltd
Original Assignee
Shanghai Surgipulse Robotics Co Ltd
Robgenix Medical Pte 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
Application filed by Shanghai Surgipulse Robotics Co Ltd, Robgenix Medical Pte Ltd filed Critical Shanghai Surgipulse Robotics Co Ltd
Priority to EP24873902.1A priority Critical patent/EP4603031A4/en
Priority to US19/068,475 priority patent/US12426975B2/en
Publication of WO2025130977A1 publication Critical patent/WO2025130977A1/zh
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms

Definitions

  • the present invention relates to the technical field of medical instruments, and in particular to an instrument driving device.
  • the purpose of the present invention is to provide an instrument driving device that can solve the problems of existing minimally invasive surgical instruments such as low control accuracy of the actuator due to manual operation, easy misoperation due to hand tremor during operation, operator fatigue, etc., which leads to poor movement stability of the actuator.
  • the present invention adopts the following technical solutions:
  • instrument drive devices including:
  • An instrument assembly comprising a handle, at least two operating rods, and a rotating rod, wherein the operating rod is slidably connected to the handle, and the rotating rod is rotatably connected to the handle;
  • a first rotary drive assembly comprising a first rotary drive mechanism and a rotary seat mechanism, the rotary seat mechanism being connected to the instrument assembly, and an output end of the first rotary drive mechanism being connected to the rotary seat mechanism;
  • a second rotary drive assembly comprising a second rotary drive mechanism and a rotary wheel mechanism, the rotary wheel mechanism being connected to the rotating rod in a transmission manner, and an output end of the second rotary drive mechanism being connected to the rotary wheel mechanism;
  • a push-pull drive assembly comprises a push-pull drive mechanism and at least two flexible push-pull wires, wherein the flexible push-pull wires are arranged between the operating pull rod and the output end of the push-pull drive mechanism.
  • the push-pull drive assembly also includes a slider connected to the operating rod;
  • the push-pull drive mechanism includes a driving gear, a first transmission rack and a second transmission rack, the first transmission rack and the second transmission rack are respectively engaged with both sides of the driving gear and are arranged parallel to each other, and the flexible push-pull line includes a first section and a second section, the two ends of the first section are respectively connected to the first transmission rack and one end of the slider, and the two ends of the second section are respectively connected to the second transmission rack and the other end of the slider.
  • the push-pull drive assembly also includes a slider connected to the operating rod;
  • the push-pull drive mechanism includes a rotatable drum, the flexible push-pull wire is wound around the drum, and the first end of the flexible push-pull wire is connected to one end of the slider, and the second end of the flexible push-pull wire is connected to the other end of the slider.
  • the push-pull drive assembly further includes a tensioning mechanism, and the tensioning mechanism includes:
  • An adjusting bracket and a limiting bracket wherein the adjusting bracket and the limiting bracket are arranged at intervals and are sequentially arranged between the rotating drum and the sliding block, and the adjusting bracket is provided with a threaded adjusting hole;
  • a tensioning sheath wherein the tensioning sheath is disposed between the adjusting bracket and the limiting bracket, and one end of the tensioning sheath abuts against the limiting bracket, the tensioning sheath is sleeved outside the flexible push-pull wire, and the tensioning sheath and the flexible push-pull wire are slidably connected;
  • An adjusting bolt is threadedly connected to the threaded adjusting hole, the adjusting bolt abuts against the other end of the tensioning sleeve away from the limiting bracket, the adjusting bolt can push against one end of the tensioning sleeve, and the tensioning sleeve is bent to tighten the flexible push-pull line.
  • the first rotation drive mechanism includes a rotatable rotating seat drive wheel, the rotating seat drive wheel is connected to the rotating seat mechanism, the second rotation drive mechanism includes a rotatable knob drive wheel, the knob drive wheel is connected to the rotating rod, and the rotating seat drive wheel and the knob drive wheel are coaxially arranged.
  • the instrument driving device also includes a supporting tailstock, the rotating seat driving wheel is rotatably inserted into the supporting tailstock, both ends of the rotating seat driving wheel are connected, and the twist driving wheel is inserted into the rotating seat driving wheel and is coaxially arranged.
  • the first rotary drive mechanism further includes a first transmission wheel
  • the second rotary drive assembly further includes a second transmission wheel.
  • Both the first transmission wheel and the second transmission wheel are rotatably connected to the supporting tailstock and are coaxially arranged.
  • the first transmission wheel drives the rotating seat driving wheel to rotate
  • the second transmission wheel drives the knob driving wheel to rotate.
  • the instrument driving device also includes a translation slide rail, which extends along the axial direction of the handle, and the supporting tail stock is slidably connected to the translation slide rail; the knob driving wheel is detachably connected to the rotating rod, and the operating pull rod is detachably connected to the rotating seat mechanism.
  • the first rotary drive mechanism further includes a first driving member and a first transmission gear, wherein the first transmission gear is transmission-connected to the first transmission wheel; and/or,
  • the second rotation drive mechanism further includes a second driving member and a second transmission gear, and the second transmission gear is transmission-connected to the second transmission wheel.
  • the instrument driving device also includes a translation slide rail, which extends axially along the handle, and the supporting tail stock is slidably connected to the translation slide rail;
  • the first rotation drive mechanism also includes a first transmission shaft
  • the second rotation drive mechanism also includes a second transmission shaft, the first transmission shaft and the second transmission shaft are both parallel to the translation slide rail, the first transmission gear can be axially slidably mounted on the first transmission shaft, and the second transmission gear can be axially slidably mounted on the second transmission shaft.
  • the push-pull drive assembly further comprises a slider, the slider is slidably connected to the rotating seat mechanism, the rotating seat mechanism comprises a clamping member, the clamping member is detachably connected to the operating pull rod, the slider is connected to the clamping member, and the slider is fixedly connected to the flexible push-pull wire; and/or,
  • the rotating wheel mechanism also includes an inner sheath driving wheel and a knob sleeve, wherein the inner sheath driving wheel is connected to the end of the rotating rod away from the handle, and the knob sleeve is transmission-connected to the knob driving wheel, the inner sheath driving wheel has external meshing teeth, and the inner wall of the knob sleeve is provided with internal meshing teeth, and the external meshing teeth and the internal meshing teeth are meshed with each other.
  • the instrument driving device comprises an instrument assembly including a handle, a plurality of operating pull rods and a rotating rod, the operating pull rods are slidably connected to the handle, the rotating rods are rotatably connected to the handle, and the actions of the handle, the operating pull rods and the rotating rods can respectively control the execution device to realize different operations.
  • the first rotating driving mechanism of the first rotating driving assembly is connected to the rotating seat mechanism to drive the instrument assembly to rotate, and the push-pull movement action of the operating pull rods and the rotating action of the rotating rods are not affected by the rotating action of the instrument assembly, so that the instrument assembly can independently realize multiple actions or a combination of multiple actions simultaneously to meet the surgical needs;
  • the push-pull driving assembly comprises a plurality of flexible push-pull wires and a plurality of operating pull rods corresponding to each other, and the push-pull driving mechanism can drive the flexible push-pull wires to reciprocate so that the operating pull rods can reciprocate, and the flexibility of the flexible push-pull wires is utilized to convert the actions of the driving parts such as the motor into the push-pull action of the operating pull rods, thereby simplifying the motion transmission chain, so that the instrument driving device can be lightweight and miniaturized, and the processing cost is reduced.
  • the above-mentioned instrument driving device does not require manual operation.
  • the push-pull movement of the operating rod, the rotation movement of the rotating rod and the overall rotation movement of the instrument assembly are all realized by the driving part, which avoids erroneous operations caused by hand tremors during manual operation, avoids manual operation fatigue, and improves the motion control accuracy of the actuator.
  • FIG1 is a schematic diagram of the structure of the instrument driving device provided by an embodiment of the present invention without the flexible push-pull wire;
  • FIG2 is a second structural schematic diagram of the instrument driving device provided by an embodiment of the present invention without the flexible push-pull wire;
  • FIG3 is a partial structural diagram of an instrument driving device provided by an embodiment of the present invention.
  • FIG4 is a schematic structural diagram of the rotation of an instrument assembly provided by an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a flexible push-pull wire push-pull slider provided in an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a push-pull drive mechanism driving a flexible push-pull wire according to an embodiment of the present invention
  • FIG. 7 is a schematic diagram of the structure of a flexible push-pull wire driven by a rotary drum provided in an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a tensioning mechanism provided in an embodiment of the present invention.
  • Push-pull driving assembly 41. Push-pull driving mechanism; 411. Driving gear; 412. First transmission rack; 413. Second transmission rack; 414. Rotating drum; 42. Flexible push-pull wire; 421. First section; 422. Second section; 43. Sliding block; 44. Tensioning mechanism; 441. Adjusting bracket; 442. Limiting bracket; 443. Tensioning sleeve; 444. Adjusting bolt; 45. Guide rod; 5. Support tailstock; 6. Translation slide rail; 7. Mounting platform.
  • connection should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements.
  • connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements.
  • a first feature being “above” or “below” a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them.
  • a first feature being “above”, “above” and “above” a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature.
  • a first feature being “below”, “below” and “below” a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.
  • the terms “upper”, “lower”, “left”, “right” and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention.
  • the terms “first” and “second” are only used to distinguish in the description and have no special meaning.
  • object generally refers to a component or a group of components.
  • object generally refers to a component or a group of components.
  • component generally refers to a component or a group of components.
  • portion generally refers to a component or a group of components.
  • instrument In the present invention, the terms "instrument”, “surgical instrument” and “surgical instrument” are used herein to describe a medical device, including an end effector, that is configured to be inserted into a patient's body and used to perform a surgical or diagnostic procedure.
  • the end effector can be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip applicators, stapling devices, imaging devices, and the like.
  • Some instruments used in embodiments of the present application further provide an articulated support for the surgical tool so that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument axis.
  • end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a knife that translates along a path.
  • the instrument may also contain stored information that is permanent or updateable by the surgical system. Accordingly, the system can provide one-way or two-way information communication between the instrument and one or more system components.
  • the term "matching" can be broadly understood as any situation in which two or more objects are connected in a manner that allows the matched objects to operate in conjunction with each other. It should be noted that matching does not require direct connection (e.g., direct physical or electrical connection), but many objects or components can be used to match two or more objects. For example, objects A and B can be matched by using object C.
  • the term "detachably connected” or “detachably matched” can be interpreted as meaning a non-permanent connection or matching situation between two or more objects. This means that the objects that are detachably connected can be unconnected and separated so that they no longer operate in conjunction.
  • this embodiment first provides an instrument driving device, which is used to control an execution device (not shown in the figures). This embodiment does not limit the specific structure of the execution device.
  • the instrument driving device includes a driving member (such as a motor, not shown in the figure), an instrument assembly 1, a first rotary driving assembly 2, a second rotary driving assembly 3 and a push-pull driving assembly 4.
  • the instrument assembly 1 includes a handle 11, at least two operating rods 12, and a rotating rod 13.
  • the operating rod 12 is slidably connected to the handle 11, and the rotating rod 13 is rotatably connected to the handle 11.
  • the actions of the handle 11, the operating rod 12 and the rotating rod 13 can respectively control the execution device to realize different operations.
  • the first rotary drive assembly 2 includes a first rotary drive mechanism 21 and a rotary seat mechanism 22, wherein the output end of the first rotary drive mechanism 21 is connected to the rotary seat mechanism 22, and the rotary seat mechanism 22 is connected to the instrument assembly 1 to drive the instrument assembly 1 to rotate;
  • the second rotary drive assembly 3 includes a second rotary drive mechanism 31 and a rotary wheel mechanism 32, wherein the output end of the second rotary drive mechanism 31 is connected to the rotary wheel mechanism 32, and the rotary wheel mechanism 32 is transmission-connected to the rotary rod 13 to drive the rotary rod 13 to rotate.
  • the push-pull drive assembly 4 includes a push-pull drive mechanism 41 and at least two flexible push-pull wires 42.
  • the flexible push-pull wires 42 are arranged between the operating pull rod 12 and the output end of the push-pull drive mechanism 41.
  • the push-pull drive mechanism 41 can drive the flexible push-pull wires 42 to reciprocate so that the operating pull rod 12 moves back and forth.
  • the action of the driving member such as the motor is converted into the push-pull action of the operating pull rod 12, which simplifies the motion transmission chain, enables the instrument driving device to be lightweight and miniaturized, and reduces the processing cost.
  • the above-mentioned instrument driving device does not require manual operation.
  • the push-pull movement action of the operating pull rod 12, the rotation action of the rotating rod 13, and the overall rotation action of the instrument assembly 1 are all realized by the driving member, avoiding the malfunction caused by hand tremor during manual operation, and also avoiding manual operation fatigue, and improving the motion control accuracy of the actuator.
  • the push-pull movement action of the operating pull rod 12 and the rotation action of the rotating rod 13 are not affected by the rotation action of the instrument assembly 1, so that the instrument assembly 1 can independently realize multiple actions or a combination of multiple actions at the same time to meet the surgical needs.
  • the first rotating drive mechanism 21 includes a rotatable rotating seat driving wheel 211, which is connected to the rotating seat mechanism 22 to drive the rotating seat mechanism 22 to rotate;
  • the second rotating drive mechanism 31 includes a rotatable knob driving wheel 311, which is connected to the rotating rod 13 to drive the rotating rod 13 to rotate, and the rotating seat driving wheel 211 and the knob driving wheel 311 are coaxially arranged, so that the rotation movement of the rotating seat mechanism 22 will not affect the movement of the rotating rod 13, and the instrument assembly 1 can realize more movements.
  • the rotating seat driving wheel 211 and the base 222 of the rotating seat mechanism 22 are detachably connected by screws.
  • the instrument driving device further comprises a supporting tailstock 5, and the supporting tailstock 5 and the above-mentioned instrument assembly 1, the first rotating driving assembly 2, the second rotating driving assembly 3 and the push-pull driving assembly 4 are all arranged on the mounting platform 7.
  • the rotating seat driving wheel 211 is rotatably arranged in the supporting tailstock 5, and the two ends of the rotating seat driving wheel 211 are connected, and the twist driving wheel 311 is arranged coaxially in the rotating seat driving wheel 211, which reduces the occupation of the axial space, so that the structure of the instrument driving device is relatively compact.
  • the first rotary drive mechanism 21 also includes a first transmission wheel 212
  • the second rotary drive assembly 3 also includes a second transmission wheel 312.
  • the first transmission wheel 212 and the second transmission wheel 312 are both rotatably connected to the supporting tailstock 5 and are coaxially arranged.
  • the first transmission wheel 212 drives the rotating seat driving wheel 211 to rotate
  • the second transmission wheel 312 drives the knob driving wheel 311 to rotate.
  • the torque is transmitted by the first transmission wheel 212 and the second transmission wheel 312, and the rotating seat driving wheel 211 and the knob driving wheel 311 are respectively controlled to rotate coaxially.
  • the instrument drive device further includes a translation slide rail 6, which extends along the axial direction of the handle 11, and the support tailstock 5 is slidably connected to the translation slide rail 6.
  • the knob driving wheel 311 is detachably connected to the rotating rod 13, and the operating pull rod 12 is detachably connected to the rotating seat mechanism 22.
  • the support tailstock 5 can drive the rotating seat mechanism 22 and the knob driving wheel 311 to move in a direction away from the instrument assembly 1.
  • the support tailstock 5 drives the rotating seat mechanism 22 and the knob driving wheel 311 to move in a direction close to the instrument assembly 1, the assembly with the instrument assembly 1 can be realized, which is convenient for disassembly, assembly and maintenance.
  • This sliding mechanism simplifies the assembly process of the instrument drive device.
  • the first rotary drive mechanism 21 further includes a first drive member and a first transmission gear 213, the first transmission gear 213 is transmission-connected to the first transmission wheel 212, and the first transmission gear 213 is used to transmit the torque of the first drive member.
  • the first drive member adopts a motor (not shown in the figure), and the first transmission gear 213 transmits the torque of the motor to the first transmission wheel 212, so that the output shaft of the motor does not need to be coaxially arranged with the first transmission wheel 212, so as to avoid affecting the coaxial arrangement of the first transmission wheel 212 and the second transmission wheel 312.
  • the transmission connection between the first transmission gear 213 and the first transmission wheel 212 can be realized by a variety of structures.
  • the first rotary drive mechanism 21 further includes a first pulley 215, and the first pulley 215 is sleeved on the outside of the first transmission gear 213 and the first transmission wheel 212.
  • the second rotary drive mechanism 31 further includes a second drive member and a second transmission gear 313, the second transmission gear 313 is transmission-connected to the second transmission wheel 312, and the second transmission gear 313 is used to transmit the torque of the second drive member.
  • the second drive member adopts a motor (not shown in the figure), and the second transmission gear 313 transmits the torque of the motor to the second transmission wheel 312, so that the output shaft of the motor does not need to be coaxially arranged with the second transmission wheel 312, so as to avoid affecting the coaxial arrangement of the first transmission wheel 212 and the second transmission wheel 312.
  • the transmission connection between the second transmission gear 313 and the second transmission wheel 312 can be realized by a variety of structures.
  • the second rotary drive mechanism 31 further includes a second pulley 315, and the second pulley 315 is sleeved on the outside of the second transmission gear 313 and the second transmission wheel 312.
  • the first rotation drive mechanism 21 also includes a first transmission shaft 214
  • the second rotation drive mechanism 31 also includes a second transmission shaft 314.
  • the first transmission shaft 214 and the second transmission shaft 314 are both parallel to the translation rail 6.
  • the first transmission gear 213 can be axially slidably mounted on the first transmission shaft 214, and the first transmission shaft 214 is used to transmit the torque of the first driving member to the first transmission gear 213.
  • the second transmission gear 313 can be axially slidably mounted on the second transmission shaft 314, and the second transmission shaft 314 is used to transmit the torque of the second driving member to the second transmission gear 313; in this way, the first transmission gear 213 can slide axially on the first transmission shaft 214 and can also rotate with the first transmission shaft 214; the second transmission gear 313 can slide axially on the second transmission shaft 314 and can also rotate with the second transmission shaft 314.
  • the first transmission shaft 214 is provided so that the first drive member and the first transmission gear 213 can be arranged at a certain distance, which is more flexible according to the spatial layout of the instrument drive device; accordingly, the second transmission shaft 314 enables the second drive member and the second transmission gear 313 to be arranged at a certain distance, which is more flexible according to the spatial layout of the instrument drive device.
  • the support tailstock 5 can drive the first transmission gear 213 and the second transmission gear 313 to move axially back and forth, so that the first transmission gear 213 and the second transmission gear 313 can be pre-assembled into a module with the support tailstock 5, and the detachable connection with the instrument assembly 1 is completed as the support tailstock 5 moves, further simplifying the assembly process.
  • first driving member and the first transmission shaft 214 can be connected by a pair of bevel gear sets 23 to achieve the mutual vertical arrangement of the output shaft of the first driving member and the first transmission shaft 214; similarly, the second driving member and the second transmission shaft 314 can also be connected by a pair of bevel gear sets 23 to achieve the mutual vertical arrangement of the output shaft of the second driving member and the second transmission shaft 314, thereby meeting various requirements of spatial layout and reducing the spatial length along the axial direction of the first transmission shaft 214.
  • the push-pull drive assembly 4 further includes a slider 43, which is slidably connected to the base 222 of the rotating seat mechanism 22.
  • the slider 43 is fixedly connected to the flexible push-pull wire 42, and the flexible push-pull wire 42 pushes and pulls the slider 43 to reciprocate along the axial direction of the operating rod 12.
  • There are many ways to connect the flexible push-pull wire 42 and the slider 43 one of which is that a through hole is provided in the slider 43, and the through hole extends along the axial direction of the operating rod 12.
  • the flexible push-pull wire 42 passes through the through hole and is fixedly connected to the slider 43. This structure can prevent the flexible push-pull wire 42 from detaching from the slider 43.
  • the flexible push-pull wire 42 pulls the slider 43 along one end of the through hole to make the operating rod 12 slide forward, and the flexible push-pull wire 42 pulls the slider 43 along the other end of the through hole to make the operating rod 12 slide backward.
  • the flexible push-pull wire 42 is configured as two parallel flexible wires, respectively connected to the two ends of the slider 43, and the two flexible wires respectively pull the slider 43 in two opposite directions, thereby realizing the forward or backward sliding of the operating rod 12.
  • the rotating seat mechanism 22 includes a clamping member 221, the clamping member 221 is detachably connected to the operating rod 12, the slider 43 is connected to the clamping member 221, and the slider 43 drives the clamping member 221 to move, thereby realizing the reciprocating movement of the operating rod 12.
  • the push-pull drive assembly 4 is also provided with a plurality of guide rods 45.
  • the guide rods 45 are parallel to the translation rail 6.
  • the slider 43 can be slidably mounted on the guide rods 45 to avoid deviation in the sliding direction and maintain the movement control accuracy of the flexible push-pull line 42.
  • the clamping member 221 includes a clamping seat 2211 and a tightening screw 2212, as shown in Figure 5; the operating rod 12 can be inserted into the clamping seat 2211, and the operating rod 12 is pressed by tightening the screw 2212 to achieve a detachable connection between the operating rod 12 and the clamping member 221, which is convenient for disassembly and assembly.
  • the rotating wheel mechanism 32 further comprises an inner sheath driving wheel 322 and a twisting sleeve 321, wherein the inner sheath driving wheel 322 is connected to the end of the rotating rod 13 away from the handle 11, and the twisting sleeve 321 is connected to the twisting driving wheel 311 in a transmission manner, wherein the inner sheath driving wheel 322 has external meshing teeth, and the inner wall of the twisting sleeve 321 is provided with internal meshing teeth, and the external meshing teeth and the internal meshing teeth mesh with each other so that the twisting sleeve 321 drives the rotating rod 13 to rotate.
  • the supporting tailstock 5 drives the twisting sleeve 321 and drives the clamping member 221 to move along the translation slide rail 6 through the rotating seat mechanism 22 and approaches the instrument assembly 1 and moves to a position
  • the operating rod 12 is inserted into the clamping seat 2211 to realize the connection
  • the inner sheath driving wheel 322 is inserted into the twisting sleeve 321 to realize the connection
  • the connection between the instrument assembly 1 and the first rotating driving assembly 2, the second rotating driving assembly 3, and the push-pull driving assembly 4 can be completed, which is more convenient.
  • the push-pull driving mechanism 41 includes a driving gear 411, a first transmission rack 412 and a second transmission rack 413.
  • the first transmission rack 412 and the second transmission rack 413 are respectively engaged with the two sides of the driving gear 411, and are arranged parallel to each other.
  • the driving gear 411 rotates, the first transmission rack 412 and the second transmission rack 413 can be driven to move in the opposite direction at the same time.
  • the flexible push-pull wire 42 includes a first section 421 and a second section 422, and the two ends of the first section 421 are respectively connected to the first transmission rack 412 and one end of the slider 43, and the two ends of the second section 422 are respectively connected to the second transmission rack 413 and the other end of the slider 43, so that the first section 421 pulls the slider 43 or the second section 422 pulls the slider 43.
  • control of the movement direction of the slider 43 by the rotation direction of the driving gear 411 is only an example.
  • connection positions of the first section 421 and the second section 422 of the flexible push-pull wire 42 on the first transmission rack 412, the second transmission rack 413 and the slider 43 are different, there will be different movement direction control methods, which will not be described in detail in this embodiment.
  • the push-pull drive mechanism 41 includes a rotatable drum 414, a flexible push-pull wire 42 is wound around the drum 414, and a first end of the flexible push-pull wire 42 is connected to one end of a slider 43, and a second end of the flexible push-pull wire 42 is connected to the other end of the slider 43.
  • the drum 414 rotates so that the first end pulls the slider 43, or the drum 414 rotates in the opposite direction so that the second end pulls the slider 43 in the opposite direction, thereby driving the operating rod 12 to move toward the direction close to the handle 11 or away from the handle 11.
  • the flexible push-pull wire 42 can be wound around the drum 414 for multiple turns, as shown in FIG.
  • the drum 414 rotates for multiple turns so that the flexible push-pull wire 42 has a larger stroke, which is suitable for working conditions where the operating rod 12 needs to have a larger stroke.
  • the flexible push-pull wire 42 is only wound half a circle on the rotating drum 414, as shown in Figure 8; the rotating drum 414 rotates no more than one circle, which is suitable for working conditions where the operating pull rod 12 needs to have a smaller stroke.
  • this winding structure is conducive to miniaturization and lightweight, does not require an excessively long flexible push-pull wire 42, and the flexible push-pull wire 42 has a better response sensitivity.
  • the push-pull driving mechanism 41 further includes a push-pull driving motor (not shown in the figure), and the rotation of the driving gear 411 or the rotating drum 414 is controlled by the push-pull driving motor.
  • the push-pull drive assembly 4 further includes a tensioning mechanism 44 , which is used to tension the flexible push-pull wire 42 to prevent the flexible push-pull wire 42 from falling off the rotating drum 414 .
  • the tensioning mechanism 44 includes an adjusting bracket 441, a limiting bracket 442, a tensioning sleeve 443 and an adjusting bolt 444.
  • the adjusting bracket 441 and the limiting bracket 442 are arranged at intervals and arranged between the rotating drum 414 and the slider 43, and a threaded adjustment hole is provided on the adjusting bracket 441.
  • the tensioning sleeve 443 is arranged between the adjusting bracket 441 and the limiting bracket 442, and one end of the tensioning sleeve 443 abuts against the limiting bracket 442.
  • the tensioning sleeve 443 is made of a flexible material such as a rubber sleeve.
  • the tensioning sleeve 443 is sleeved on the outside of the flexible push-pull wire 42, and the tensioning sleeve 443 and the flexible push-pull wire 42 are slidably connected.
  • the adjusting bolt 444 is threadedly connected to the threaded adjusting hole, and the adjusting bolt 444 abuts against the other end of the tensioning sheath 443 away from the limiting bracket 442, so that the tensioning sheath 443 is limited between the adjusting bolt 444 and the limiting bracket 442.
  • the adjusting bolt 444 When the adjusting bolt 444 is rotated on the adjusting bracket 441, the adjusting bolt 444 can push against one end of the tensioning sheath 443, so that the tensioning sheath 443 is bent between the adjusting bolt 444 and the limiting bracket 442, and there is friction between the bent tensioning sheath 443 and the flexible push-pull wire 42, thereby driving the flexible push-pull wire 42 to move toward the limiting bracket 442, thereby tightening the flexible push-pull wire 42 that is loose between the adjusting bracket 441 and the rotating drum 414.
  • the embodiment of the present invention also provides a surgical system, which includes the above-mentioned instrument drive device.
  • the surgical system also includes an execution device, and the instrument drive device is connected to the execution device.
  • the handle 11 and/or the operating pull rod 12 and/or the rotating rod 13 of the instrument drive device are used to drive the execution device to move.
  • the instrument drive device uses the flexibility of the flexible push-pull wire 42 to convert the action of the driving parts such as the motor into the push-pull action of the operating pull rod 12, which simplifies the motion transmission chain, enables the instrument drive device to be lightweight and miniaturized, and reduces the processing cost.
  • the instrument drive device does not require manual operation, and the push-pull movement action of the operating pull rod 12, the rotation action of the rotating rod 13, and the overall rotation action of the instrument assembly 1 are all realized by the drive part, which avoids the malfunction caused by hand tremor during manual operation, and also avoids manual operation fatigue, improves the motion control accuracy of the execution device, and the surgical system has both high precision and reliability.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Transmission Devices (AREA)

Abstract

一种器械驱动装置，包括：器械组件（1）、第一旋转驱动组件（2）、第二旋转驱动组件（3）和推拉驱动组件（4），器械组件（1）包括手柄（11）、多个操作拉杆（12）和转动杆（13），操作拉杆（12）可滑动地连接于手柄（11），转动杆（13）可转动地连接于手柄（11）；第一旋转驱动组件（2）包括第一旋转驱动机构（21）和旋转座机构（22），旋转座机构（22）连接于器械组件（1），第一旋转驱动机构（21）输出端连接旋转座机构（22）以带动器械组件（1）转动；第二旋转驱动组件（3）包括第二旋转驱动机构（31）和旋转轮机构（32），旋转轮机构（32）传动连接转动杆（13），第二旋转驱动机构（31）输出端连接旋转轮机构（32）以带动转动杆（13）转动；推拉驱动组件（4）包括推拉驱动机构（41）和多根柔性推拉线（42），多根柔性推拉线（42）和多个操作拉杆（12）一一对应，推拉驱动机构（41）带动柔性推拉线（42）往复运动以使操作拉杆（12）往复移动。该器械驱动装置通过有源驱动实现器械组件（1）转动和推拉动作，提高对执行装置的控制精度和运动稳定性，较为可靠。

Description

器械驱动装置
本申请要求于2023年12月20日提交的、申请号为CN202311766806.7、标题为“器械驱动装置”的中国专利申请的优先权，该中国专利申请的公开内容以引用的方式并入本文。
技术领域
本发明涉及医疗器械技术领域，尤其涉及器械驱动装置。
背景技术
随着医疗器械、计算机技术及控制技术的不断发展，微创手术以其手术创伤小、康复时间短、患者痛苦少等优点得到了越来越广泛的应用。传统的无源微创手术器械在使用时需要医生手动操作，医生手动控制中间传动机构如鞘管、牵引绳等动作，从而控制远端的执行件进行手术操作。这种手动操作方式具有一定的局限性，主要表现为控制精度较低、操作时手部震颤容易产生误动作、手动操作难以避免操作疲劳等，因此，对执行件的运动控制精度和运动稳定性均有不利影响。
发明内容
本发明的目的在于提供器械驱动装置，能够解决现有微创手术器械由于手动操作导致对执行件的控制精度较低、操作时手部震颤容易产生误动作、操作疲劳等而使执行件运动稳定性较差的问题。
为达此目的，本发明采用以下技术方案：
提供器械驱动装置，包括：
器械组件，所述器械组件包括手柄、至少两个操作拉杆、转动杆，所述操作拉杆可滑动地连接于所述手柄，所述转动杆可转动地连接于所述手柄；
第一旋转驱动组件，所述第一旋转驱动组件包括第一旋转驱动机构和旋转座机构，所述旋转座机构连接于所述器械组件，所述第一旋转驱动机构的输出端连接所述旋转座机构；
第二旋转驱动组件，所述第二旋转驱动组件包括第二旋转驱动机构和旋转轮机构，所述旋转轮机构传动连接所述转动杆，所述第二旋转驱动机构的输出端连接所述旋转轮机构；
推拉驱动组件，所述推拉驱动组件包括推拉驱动机构和至少两根柔性推拉线，所述柔性推拉线设置于所述操作拉杆和所述推拉驱动机构的输出端之间。
可选地，所述推拉驱动组件还包括连接于所述操作拉杆的滑块；所述推拉驱动机构包括驱动齿轮、第一传动齿条和第二传动齿条，所述第一传动齿条和所述第二传动齿条分别啮合于所述驱动齿轮的两侧，且相互平行设置，所述柔性推拉线包括第一段和第二段，所述第一段的两端分别连接所述第一传动齿条和所述滑块的一端，所述第二段的两端分别连接所述第二传动齿条和所述滑块的另一端。
可选地，所述推拉驱动组件还包括连接于所述操作拉杆的滑块；所述推拉驱动机构包括可转动的转筒，所述柔性推拉线卷绕于所述转筒，且所述柔性推拉线的第一端连接所述滑块的一端，所述柔性推拉线的第二端连接所述滑块的另一端。
可选地，所述推拉驱动组件还包括张紧机构，所述张紧机构包括：
调节支架和限位支架，所述调节支架和所述限位支架间隔设置，且依次设置于所述转筒和所述滑块之间，所述调节支架开设有螺纹调节孔；
张紧护套，所述张紧护套设置于所述调节支架和所述限位支架之间，且一端抵接所述限位支架，所述张紧护套套装于所述柔性推拉线外，所述张紧护套和所述柔性推拉线之间可滑动地连接；
调节螺栓，所述调节螺栓螺纹连接于所述螺纹调节孔，所述调节螺栓抵接所述张紧护套远离所述限位支架的另一端，所述调节螺栓能够推抵所述张紧护套的一端，所述张紧护套产生弯折以张紧所述柔性推拉线。
可选地，所述第一旋转驱动机构包括可转动的旋转座驱动轮，所述旋转座驱动轮连接所述旋转座机构，所述第二旋转驱动机构包括可转动的旋扭驱动轮，所述旋扭驱动轮连接所述转动杆，所述旋转座驱动轮和所述旋扭驱动轮同轴设置。
可选地，所述器械驱动装置还包括支撑尾座，所述旋转座驱动轮可转动地穿设于所述支撑尾座内，所述旋转座驱动轮两端贯通，所述旋扭驱动轮穿设于所述旋转座驱动轮内且同轴设置。
可选地，所述第一旋转驱动机构还包括第一传动轮，所述第二旋转驱动组件还包括第二传动轮，所述第一传动轮和所述第二传动轮均可转动地连接于所述支撑尾座且同轴设置，所述第一传动轮驱动所述旋转座驱动轮转动，所述第二传动轮驱动所述旋扭驱动轮转动。
可选地，所述器械驱动装置还包括平移滑轨，所述平移滑轨沿所述手柄的轴向延伸，所述支撑尾座可滑动地连接于所述平移滑轨；所述旋扭驱动轮可拆卸地连接于所述转动杆，所述操作拉杆可拆卸地连接于所述旋转座机构。
可选地，所述第一旋转驱动机构还包括第一驱动件和第一传动齿轮，所述第一传动齿轮传动连接于所述第一传动轮；和/或，
所述第二旋转驱动机构还包括第二驱动件和第二传动齿轮，所述第二传动齿轮传动连接于所述第二传动轮。
可选地，所述器械驱动装置还包括平移滑轨，所述平移滑轨沿所述手柄的轴向延伸，所述支撑尾座可滑动地连接于所述平移滑轨；所述第一旋转驱动机构还包括第一传动轴，所述第二旋转驱动机构还包括第二传动轴，所述第一传动轴和所述第二传动轴均平行于所述平移滑轨，所述第一传动齿轮可轴向滑动地套装于所述第一传动轴上，所述第二传动齿轮可轴向滑动地套装于所述第二传动轴上。
可选地，所述推拉驱动组件还包括滑块，所述滑块可滑动地连接于所述旋转座机构，所述旋转座机构包括夹持件，所述夹持件可拆卸连接于所述操作拉杆，所述滑块连接于所述夹持件，且所述滑块固定连接于所述柔性推拉线；和/或，
所述旋转轮机构还包括内鞘驱动轮和旋扭套筒，所述内鞘驱动轮连接于所述转动杆远离所述手柄的末端，所述旋扭套筒传动连接于所述旋扭驱动轮，所述内鞘驱动轮具有外啮合齿，所述旋扭套筒的内壁设置有内啮合齿，所述外啮合齿和所述内啮合齿相互啮合。
本发明的有益效果：
本发明所提供的器械驱动装置，器械组件包括手柄、多个操作拉杆和转动杆，操作拉杆可滑动地连接于手柄，转动杆可转动地连接于手柄，手柄、操作拉杆和转动杆的动作能够分别控制执行装置实现不同操作。第一旋转驱动组件的第一旋转驱动机构连接旋转座机构，以带动器械组件转动，操作拉杆的推拉移动动作和转动杆的转动动作不受器械组件旋转动作的影响，使器械组件可以分别独立地实现多个动作或者同时进行多个动作的组合，满足手术需求；推拉驱动组件包括多根柔性推拉线和多个操作拉杆一一对应，推拉驱动机构能够带动柔性推拉线往复运动以使操作拉杆往复移动，利用柔性推拉线的柔性，将电机等驱动件的动作转化为操作拉杆的推拉动作，简化了运动传递链，使得器械驱动装置能够实现轻量化和小型化，降低加工成本。上述器械驱动装置不需要手动操作，操作拉杆的推拉移动动作、转动杆的转动动作以及器械组件的整体旋转动作均由驱动件实现，避免了人工操作时手部震颤引起的误动作，也避免了人工操作疲劳，提升了对执行装置的运动控制精度。
附图说明
图1是本发明实施例提供的器械驱动装置去除柔性推拉线的结构示意图一；
图2是本发明实施例提供的器械驱动装置去除柔性推拉线的结构示意图二；
图3是本发明实施例提供的器械驱动装置的部分结构示意图；
图4是本发明实施例提供的器械组件转动的结构示意图；
图5是本发明实施例提供的柔性推拉线推拉滑块的结构示意图；
图6是本发明实施例提供的推拉驱动机构驱动柔性推拉线的结构示意图；
图7是本发明实施例提供的转筒驱动柔性推拉线的结构示意图；
图8是本发明实施例提供的张紧机构的结构示意图。
图中：
1、器械组件；11、手柄；12、操作拉杆；13、转动杆；
2、第一旋转驱动组件；21、第一旋转驱动机构；211、旋转座驱动轮；
212、第一传动轮；213、第一传动齿轮；214、第一传动轴；215、第一皮带轮；22、旋转座机构；221、夹持件；2211、夹持座；2212、拧紧螺钉；222、底座；23、锥齿轮组；
3、第二旋转驱动组件；31、第二旋转驱动机构；311、旋扭驱动轮；
312、第二传动轮；313、第二传动齿轮；314、第二传动轴；315、第二皮带轮；32、旋转轮机构；321、旋扭套筒；322、内鞘驱动轮；4、推拉驱动组件；41、推拉驱动机构；411、驱动齿轮；412、第一传动齿条；413、第二传动齿条；414、转筒；42、柔性推拉线；421、第一段；422、第二段；43、滑块；44、张紧机构；441、调节支架；442、限位支架；443、张紧护套；444、调节螺栓；45、导向杆；5、支撑尾座；6、平移滑轨；7、安装平台。
具体实施方式
下面结合附图和实施例对本发明作进一步地详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。
在本发明的描述中，除非另有明确的规定和限定，术语“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本实施例的描述中，术语“上”、“下”、“左”、“右”等方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述和简化操作，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发明的限制。此外，术语“第一”、“第二”仅仅用于在描述上加以区分，并没有特殊的含义。
在本发明中，术语“对象”一般指的是一个部件或一组部件。在整个说明书和权利要求书中，术语“对象”、“部件”、“部分”、“零件”和“件”可互换使用。
在本发明中，术语“器械”、“手术器械”和“外科手术器械”在此用于描述被配置成插入到患者体内并且用于执行外科手术或诊断程序的医疗装置，包括末端执行器。末端执行器可以是与一个或多个外科手术任务相关的外科手术工具，诸如钳子、持针器、剪刀、双极烧灼器、组织稳定器或牵开器、施夹器、吻合装置、成像装置等等。本申请的实施例使用的一些器械进一步提供了用于外科手术工具的铰接支撑件，使得可以相对于器械轴以一个或多个机械自由度操纵末端执行器的位置和定向。进一步地，许多末端执行器包括功能性机械自由度，诸如打开或闭合的钳口或沿着路径平移的刀子。器械也可包含永久或可由外科手术系统更新的存储信息。相应地，该系统可提供器械与一个或多个系统部件之间的单向或双向信息通信。
在本发明中，术语“配合”可以广义上被理解为两个或更多对象以允许配合的对象彼此结合操作的方式连接的任何情形。应注意，配合不要求直接连接(例如，直接物理或电气连接)，而是许多对象或部件可以用于配合两个或更多对象。例如，对象A和B可以通过使用对象C配合。此外，术语“可拆卸地联接”或“可拆卸地配合”可以被解释为，意味着两个或更多对象之间的非永久的联接或配合情形。这意味着可拆卸地联接的对象可以未联接并且分开，使得它们不再结合地操作。
最后，在此使用的术语“或”和“和/或”应当被解释为包容性的或者意味着任何一个或任何组合。因此，“A、B或C”或“A、B和/或C”意味着以下各项的任何一项：A；B；C；A和B；A和C；B和C；A、B和C。这种定义的例外将仅出现在元件、功能、步骤或动作的组合是以某种方式内在地相互排斥时。
如图1至图8所示，本实施例首先提供一种器械驱动装置，器械驱动装置用于控制执行装置(图中未示出)，本实施例不对执行装置的具体结构进行限制。
器械驱动装置包括驱动件(如电机，图中未示出)、器械组件1、第一旋转驱动组件2、第二旋转驱动组件3和推拉驱动组件4。器械组件1包括手柄11、至少两个操作拉杆12、转动杆13，操作拉杆12可滑动地连接于手柄11，转动杆13可转动地连接于手柄11，手柄11、操作拉杆12和转动杆13的动作能够分别控制执行装置实现不同操作。
第一旋转驱动组件2包括第一旋转驱动机构21和旋转座机构22，第一旋转驱动机构21的输出端连接旋转座机构22，旋转座机构22连接于器械组件1，以带动器械组件1转动；第二旋转驱动组件3包括第二旋转驱动机构31和旋转轮机构32，第二旋转驱动机构31的输出端连接旋转轮机构32，旋转轮机构32传动连接转动杆13以带动转动杆13转动。
推拉驱动组件4包括推拉驱动机构41和至少两根柔性推拉线42，柔性推拉线42设置于操作拉杆12和推拉驱动机构41的输出端之间，推拉驱动机构41能够带动柔性推拉线42往复运动以使操作拉杆12往复移动。利用柔性推拉线42的柔性，将电机等驱动件的动作转化为操作拉杆12的推拉动作，简化了运动传递链，使得器械驱动装置能够实现轻量化和小型化，降低加工成本。上述器械驱动装置不需要手动操作，操作拉杆12的推拉移动动作、转动杆13的转动动作以及器械组件1的整体旋转动作均由驱动件实现，避免了人工操作时手部震颤引起的误动作，也避免了人工操作疲劳，提升了对执行装置的运动控制精度。操作拉杆12的推拉移动动作和转动杆13的转动动作不受器械组件1旋转动作的影响，使器械组件1可以分别独立地实现多个动作或者同时进行多个动作的组合，满足手术需求。
一实施例中，第一旋转驱动机构21包括可转动的旋转座驱动轮211，旋转座驱动轮211连接旋转座机构22，带动旋转座机构22转动；第二旋转驱动机构31包括可转动的旋扭驱动轮311，旋扭驱动轮311连接转动杆13，带动转动杆13转动，旋转座驱动轮211和旋扭驱动轮311同轴设置，这样，旋转座机构22的转动动作不会影响转动杆13的动作，器械组件1可实现的动作更多。
具体地，旋转座驱动轮211和旋转座机构22的底座222通过螺钉可拆卸连接。
一实施例中，器械驱动装置还包括支撑尾座5，支撑尾座5及上述的器械组件1、第一旋转驱动组件2、第二旋转驱动组件3和推拉驱动组件4均设置于安装平台7上。旋转座驱动轮211可转动地穿设于支撑尾座5内，旋转座驱动轮211两端贯通，旋扭驱动轮311穿设于旋转座驱动轮211内以同轴设置，减少了轴向空间的占用，这样，器械驱动装置的结构较为紧凑。
一实施例中，第一旋转驱动机构21还包括第一传动轮212，第二旋转驱动组件3还包括第二传动轮312，第一传动轮212和第二传动轮312均可转动地连接于支撑尾座5且同轴设置，第一传动轮212驱动旋转座驱动轮211转动，第二传动轮312驱动旋扭驱动轮311转动，通过第一传动轮212和第二传动轮312实现转矩的传动，分别控制旋转座驱动轮211和旋扭驱动轮311同轴转动。
一实施例中，器械驱动装置还包括平移滑轨6，平移滑轨6沿手柄11的轴向延伸，支撑尾座5可滑动地连接于平移滑轨6。旋扭驱动轮311可拆卸连接于转动杆13，操作拉杆12可拆卸连接于旋转座机构22，当旋扭驱动轮311和转动杆13拆卸分离，操作拉杆12和旋转座机构22拆卸分离，支撑尾座5能够带动旋转座机构22和旋扭驱动轮311朝向远离器械组件1方向运动。当支撑尾座5带动旋转座机构22和旋扭驱动轮311朝向靠近器械组件1方向运动，就能实现和器械组件1的装配，便于进行拆装、维修，这种滑动机构简化了器械驱动装置的组装工艺。
一实施例中，第一旋转驱动机构21还包括第一驱动件和第一传动齿轮213，第一传动齿轮213传动连接于第一传动轮212，第一传动齿轮213用于传递第一驱动件的转矩。第一驱动件采用电机(图中未示出)，第一传动齿轮213将电机的转矩传递给第一传动轮212，这样，电机的输出轴不需要跟第一传动轮212同轴设置，避免影响第一传动轮212和第二传动轮312的同轴设置。第一传动齿轮213和第一传动轮212之间的传动连接可通过多种结构实现，如图1所示，第一旋转驱动机构21还包括有第一皮带轮215，第一皮带轮215套装在第一传动齿轮213和第一传动轮212外侧。
一实施例中，第二旋转驱动机构31还包括第二驱动件和第二传动齿轮313，第二传动齿轮313传动连接于第二传动轮312，第二传动齿轮313用于传递第二驱动件的转矩。第二驱动件采用电机(图中未示出)，第二传动齿轮313将电机的转矩传递给第二传动轮312，这样，电机的输出轴不需要跟第二传动轮312同轴设置，避免影响第一传动轮212和第二传动轮312的同轴设置。同样地，第二传动齿轮313和第二传动轮312之间的传动连接可通过多种结构实现，如图4所示，第二旋转驱动机构31还包括有第二皮带轮315，第二皮带轮315套装在第二传动齿轮313和第二传动轮312外侧。
一实施例中，第一旋转驱动机构21还包括第一传动轴214，第二旋转驱动机构31还包括第二传动轴314，第一传动轴214和第二传动轴314均平行于平移滑轨6，第一传动齿轮213可轴向滑动地套装于第一传动轴214上，第一传动轴214用于向第一传动齿轮213传递第一驱动件的转矩，第二传动齿轮313可轴向滑动地套装于第二传动轴314上，第二传动轴314用于向第二传动齿轮313传递第二驱动件的转矩；这样，第一传动齿轮213可在第一传动轴214上轴向滑动，也能随第一传动轴214转动；第二传动齿轮313可在第二传动轴314上轴向滑动，也能随第二传动轴314转动。第一传动轴214的设置使得第一驱动件和第一传动齿轮213能够间隔一定的距离设置，根据器械驱动装置的空间布局布置，更加灵活；相应地，第二传动轴314使得第二驱动件和第二传动齿轮313能够间隔一定的距离设置，根据器械驱动装置的空间布局布置，更加灵活。而且，支撑尾座5能够带动第一传动齿轮213和第二传动齿轮313轴向往复移动，这样，第一传动齿轮213、第二传动齿轮313能够和支撑尾座5预装配为一个模块，随支撑尾座5移动而完成与器械组件1的可拆卸连接，进一步简化装配工艺。
可选地，第一驱动件和第一传动轴214可通过一对锥齿轮组23传动连接，实现第一驱动件的输出轴和第一传动轴214的相互垂直设置；同样，第二驱动件和第二传动轴314也可通过一对锥齿轮组23传动连接，实现第二驱动件的输出轴和第二传动轴314的相互垂直设置，满足空间布置的多种需求，减少沿第一传动轴214轴向方向的空间长度。
一实施例中，推拉驱动组件4还包括滑块43，滑块43可滑动地连接于旋转座机构22的底座222。且滑块43固定连接于柔性推拉线42，柔性推拉线42推拉滑块43沿操作拉杆12的轴向往复运动。柔性推拉线42和滑块43的连接方式有多种，其中一种连接结构是在滑块43内设置有贯穿的通孔，通孔沿操作拉杆12的轴向延伸，柔性推拉线42穿过通孔并固定连接滑块43，这种结构能够避免柔性推拉线42脱离滑块43，柔性推拉线42沿通孔的一端拉动滑块43可使操作拉杆12向前滑动，柔性推拉线42沿通孔的另一端拉动滑块43可使操作拉杆12向后滑动。或者，柔性推拉线42设置为并列的两条柔性线，从而分别连接滑块43的两端，两条柔性线分别实现对滑块43在两个相反方向的拉动，进而实现操作拉杆12向前滑动或者向后滑动。可选地，旋转座机构22包括夹持件221，夹持件221可拆卸连接于操作拉杆12，滑块43连接于夹持件221，滑块43带动夹持件221移动，进而实现操作拉杆12的往复移动。
为保持滑块43运动方向的稳定性，推拉驱动组件4还设置有多个导向杆45，导向杆45平行于平移滑轨6，滑块43可滑动地套装在导向杆45，避免滑动方向产生偏差，保持柔性推拉线42的运动控制精度。
具体而言，夹持件221包括夹持座2211和拧紧螺钉2212，如图5所示；操作拉杆12能插设于夹持座2211内，并通过拧紧螺钉2212压紧操作拉杆12，实现操作拉杆12和夹持件221的可拆卸连接，拆装方便。
一实施例中，旋转轮机构32还包括内鞘驱动轮322和旋扭套筒321，内鞘驱动轮322连接于转动杆13远离手柄11的末端，旋扭套筒321传动连接于旋扭驱动轮311，内鞘驱动轮322具有外啮合齿，旋扭套筒321的内壁设置有内啮合齿，外啮合齿和内啮合齿相互啮合以使旋扭套筒321带动转动杆13旋转。当支撑尾座5带动旋扭套筒321并通过旋转座机构22带动夹持件221沿平移滑轨6移动而靠近器械组件1并运动到位时，将操作拉杆12插装在夹持座2211内实现连接，内鞘驱动轮322插装在旋扭套筒321内实现连接，即可完成器械组件1和第一旋转驱动组件2、第二旋转驱动组件3、推拉驱动组件4的连接，较为方便。
一实施例中，为实现柔性推拉线42对滑块43的驱动，如图6所示，推拉驱动机构41包括驱动齿轮411、第一传动齿条412和第二传动齿条413。第一传动齿条412和第二传动齿条413分别啮合于驱动齿轮411的两侧，且相互平行设置，当驱动齿轮411转动，能够带动第一传动齿条412和第二传动齿条413同时反向移动。柔性推拉线42包括第一段421和第二段422，第一段421的两端分别连接第一传动齿条412和滑块43的一端，第二段422的两端分别连接第二传动齿条413和滑块43的另一端，以使第一段421拉动滑块43或者第二段422拉动滑块43。当驱动齿轮411如图6所示顺时针转动，第一传动齿条412朝向远离滑块43的方向移动而第二传动齿条413朝向靠近滑块43的方向移动时，第一段421拉动滑块43以带动操作拉杆12朝向远离手柄11方向运动；相应地，当驱动齿轮411如图6所示逆时针方向转动，第一传动齿条412朝向靠近滑块43的方向移动而第二传动齿条413朝向远离滑块43的方向移动时，第二段422拉动滑块43以带动操作拉杆12朝向靠近手柄11方向运动。可以理解，由于柔性推拉线42的柔性，其对滑块43施加的“推力”实际是反向拉力实现的。
需要说明的是，上述驱动齿轮411转动方向对滑块43运动方向的控制，仅作为示例。当柔性推拉线42的第一段421和第二段422在第一传动齿条412、第二传动齿条413以及滑块43上的连接位置不同时，会有不同的运动方向控制方式，本实施例不再进行赘述。
一实施例中，推拉驱动机构41包括可转动的转筒414，柔性推拉线42卷绕于转筒414，且柔性推拉线42的第一端连接滑块43的一端，柔性推拉线42的第二端连接滑块43的另一端。转筒414转动以使第一端拉动滑块43，或者转筒414反向转动以使第二端反向拉动滑块43，进而实现带动操作拉杆12朝向靠近手柄11方向或者而远离手柄11方向运动。柔性推拉线42可在转筒414上卷绕多圈，如图7所示；转筒414转动多周可以实现柔性推拉线42具有较大的行程，适用于操作拉杆12需要具有较大行程的工况中。或者，柔性推拉线42仅在转筒414上卷绕半圈，如图8所示；转筒414转动不大于一周，适用于操作拉杆12需要具有较小行程的工况中，而且，这种卷绕结构利于实现小型化和轻量化，不需要过长的柔性推拉线42，而且，柔性推拉线42的响应灵敏度较好。
需要说明的是，推拉驱动机构41还包括推拉驱动电机(图中未示出)，通过推拉驱动电机控制驱动齿轮411或者转筒414的转动。
一实施例中，推拉驱动组件4还包括张紧机构44，张紧机构44用于张紧柔性推拉线42，避免紧柔性推拉线42从转筒414上脱落。
具体而言，张紧机构44包括调节支架441、限位支架442、张紧护套443和调节螺栓444。调节支架441和限位支架442间隔设置，且设置于转筒414和滑块43之间，调节支架441上开设有螺纹调节孔。张紧护套443设置于调节支架441和限位支架442之间，且张紧护套443的一端抵接限位支架442。张紧护套443采用橡胶护套等具有柔性的材料制成。张紧护套443套装于柔性推拉线42外，张紧护套443和柔性推拉线42之间可滑动地连接。当转筒414转动而带动柔性推拉线42移动时，张紧护套443不会随柔性推拉线42移动。调节螺栓444螺纹连接于螺纹调节孔，调节螺栓444抵接张紧护套443远离限位支架442的另一端，这样，张紧护套443就被限制在调节螺栓444和限位支架442之间。当在调节支架441上旋转调节螺栓444时，调节螺栓444能够推抵张紧护套443的一端，使张紧护套443在调节螺栓444和限位支架442之间产生弯折，弯折的张紧护套443和柔性推拉线42之间具有摩擦力，从而带动柔性推拉线42向限位支架442移动，进而张紧调节支架441和转筒414之间松弛的柔性推拉线42。
需要说明的是，上述张紧机构44的具体结构仅作为示例，不作为限制。
本发明实施例同时还提供一种手术系统，手术系统包括上述的器械驱动装置。手术系统还包括执行装置，器械驱动装置连接于执行装置，器械驱动装置的手柄11和/或操作拉杆12和/或转动杆13用于驱动执行装置动作。器械驱动装置利用柔性推拉线42的柔性，将电机等驱动件的动作转化为操作拉杆12的推拉动作，简化了运动传递链，使得器械驱动装置能够实现轻量化和小型化，降低加工成本。而且，器械驱动装置不需要手动操作，操作拉杆12的推拉移动动作、转动杆13的转动动作以及器械组件1的整体旋转动作均由驱动件实现，避免了人工操作时手部震颤引起的误动作，也避免了人工操作疲劳，提升了对执行装置的运动控制精度，手术系统兼具高精度和可靠性。
显然，本发明的上述实施例仅仅是为了清楚说明本发明所作的举例，而并非是对本发明的实施方式的限定。对于所属领域的普通技术人员来说，能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。这里无需也无法对所有的实施方式予以穷举。凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明权利要求的保护范围之内。

Claims (11)

  1. 器械驱动装置，包括：
    器械组件(1)，所述器械组件(1)包括手柄(11)、至少两个操作拉杆(12)、转动杆(13)，所述操作拉杆(12)可滑动地连接于所述手柄(11)，所述转动杆(13)可转动地连接于所述手柄(11)；
    第一旋转驱动组件(2)，所述第一旋转驱动组件(2)包括第一旋转驱动机构(21)和旋转座机构(22)，所述旋转座机构(22)连接于所述器械组件(1)，所述第一旋转驱动机构(21)的输出端连接所述旋转座机构(22)；
    第二旋转驱动组件(3)，所述第二旋转驱动组件(3)包括第二旋转驱动机构(31)和旋转轮机构(32)，所述旋转轮机构(32)传动连接所述转动杆(13)，所述第二旋转驱动机构(31)的输出端连接所述旋转轮机构(32)；
    推拉驱动组件(4)，所述推拉驱动组件(4)包括推拉驱动机构(41)和至少两根柔性推拉线(42)，所述柔性推拉线(42)设置于所述操作拉杆(12)和所述推拉驱动机构(41)的输出端之间。
  2. 根据权利要求1所述的器械驱动装置，其中，所述推拉驱动组件(4)还包括连接于所述操作拉杆(12)的滑块(43)；所述推拉驱动机构(41)包括驱动齿轮(411)、第一传动齿条(412)和第二传动齿条(413)，所述第一传动齿条(412)和所述第二传动齿条(413)分别啮合于所述驱动齿轮(411)的两侧，且相互平行设置，所述柔性推拉线(42)包括第一段(421)和第二段(422)，所述第一段(421)的两端分别连接所述第一传动齿条(412)和所述滑块(43)的一端，所述第二段(422)的两端分别连接所述第二传动齿条(413)和所述滑块(43)的另一端。
  3. 根据权利要求1所述的器械驱动装置，其中，所述推拉驱动组件(4)还包括连接于所述操作拉杆(12)的滑块(43)；所述推拉驱动机构(41)包括可转动的转筒(414)，所述柔性推拉线(42)卷绕于所述转筒(414)，且所述柔性推拉线(42)的第一端连接所述滑块(43)的一端，所述柔性推拉线(42)的第二端连接所述滑块(43)的另一端。
  4. 根据权利要求3所述的器械驱动装置，其中，所述推拉驱动组件(4)还包括张紧机构(44)，所述张紧机构(44)包括：
    调节支架(441)和限位支架(442)，所述调节支架(441)和所述限位支架(442)间隔设置，且依次设置于所述转筒(414)和所述滑块(43)之间，所述调节支架(441)开设有螺纹调节孔；
    张紧护套(443)，所述张紧护套(443)设置于所述调节支架(441)和所述限位支架(442)之间，且一端抵接所述限位支架(442)，所述张紧护套(443)套装于所述柔性推拉线(42)外，所述张紧护套(443)和所述柔性推拉线(42)之间可滑动地连接；
    调节螺栓(444)，所述调节螺栓(444)螺纹连接于所述螺纹调节孔，所述调节螺栓(444)抵接所述张紧护套(443)远离所述限位支架(442)的另一端，所述调节螺栓(444)能够推抵所述张紧护套(443)的一端，所述张紧护套(443)产生弯折以张紧所述柔性推拉线(42)。
  5. 根据权利要求1至4中任一所述的器械驱动装置，其中，所述第一旋转驱动机构(21)包括可转动的旋转座驱动轮(211)，所述旋转座驱动轮(211)连接所述旋转座机构(22)，所述第二旋转驱动机构(31)包括可转动的旋扭驱动轮(311)，所述旋扭驱动轮(311)连接所述转动杆(13)，所述旋转座驱动轮(211)和所述旋扭驱动轮(311)同轴设置。
  6. 根据权利要求5所述的器械驱动装置，其中，所述器械驱动装置还包括支撑尾座(5)，所述旋转座驱动轮(211)可转动地穿设于所述支撑尾座(5)内，所述旋转座驱动轮(211)两端贯通，所述旋扭驱动轮(311)穿设于所述旋转座驱动轮(211)内且同轴设置。
  7. 根据权利要求6所述的器械驱动装置，其中，所述第一旋转驱动机构(21)还包括第一传动轮(212)，所述第二旋转驱动组件(3)还包括第二传动轮(312)，所述第一传动轮(212)和所述第二传动轮(312)均可转动地连接于所述支撑尾座(5)且同轴设置，所述第一传动轮(212)驱动所述旋转座驱动轮(211)转动，所述第二传动轮(312)驱动所述旋扭驱动轮(311)转动。
  8. 根据权利要求6所述的器械驱动装置，其中，所述器械驱动装置还包括平移滑轨(6)，所述平移滑轨(6)沿所述手柄(11)的轴向延伸，所述支撑尾座(5)可滑动地连接于所述平移滑轨(6)；所述旋扭驱动轮(311)可拆卸地连接于所述转动杆(13)，所述操作拉杆(12)可拆卸地连接于所述旋转座机构(22)。
  9. 根据权利要求7所述的器械驱动装置，其中，所述第一旋转驱动机构(21)还包括第一驱动件和第一传动齿轮(213)，所述第一传动齿轮(213)传动连接于所述第一传动轮(212)；和/或，所述第二旋转驱动机构(31)还包括第二驱动件和第二传动齿轮(313)，所述第二传动齿轮(313)传动连接于所述第二传动轮(312)。
  10. 根据权利要求9所述的器械驱动装置，其中，所述器械驱动装置还包括平移滑轨(6)，所述平移滑轨(6)沿所述手柄(11)的轴向延伸，所述支撑尾座(5)可滑动地连接于所述平移滑轨(6)；所述第一旋转驱动机构(21)还包括第一传动轴(214)，所述第二旋转驱动机构(31)还包括第二传动轴(314)，所述第一传动轴(214)和所述第二传动轴(314)均平行于所述平移滑轨(6)，所述第一传动齿轮(213)可轴向滑动地套装于所述第一传动轴(214)上，所述第二传动齿轮(313)可轴向滑动地套装于所述第二传动轴(314)上。
  11. 根据权利要求8至10中任一项所述的器械驱动装置，其中，所述推拉驱动组件(4)还包括滑块(43)，所述滑块(43)可滑动地连接于所述旋转座机构(22)，所述旋转座机构(22)包括夹持件(221)，所述夹持件(221)可拆卸连接于所述操作拉杆(12)，所述滑块(43)连接于所述夹持件(221)，且所述滑块(43)固定连接于所述柔性推拉线(42)；和/或，
    所述旋转轮机构(32)还包括内鞘驱动轮(322)和旋扭套筒(321)，所述内鞘驱动轮(322)连接于所述转动杆(13)远离所述手柄(11)的末端，所述旋扭套筒(321)传动连接于所述旋扭驱动轮(311)，所述内鞘驱动轮(322)具有外啮合齿，所述旋扭套筒(321)的内壁设置有内啮合齿，所述外啮合齿和所述内啮合齿相互啮合。
PCT/CN2024/140584 2023-12-20 2024-12-19 器械驱动装置 Pending WO2025130977A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP24873902.1A EP4603031A4 (en) 2023-12-20 2024-12-19 INSTRUMENT DRIVE DEVICE
US19/068,475 US12426975B2 (en) 2023-12-20 2025-03-03 Instrument drive apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202311766806.7A CN120284344A (zh) 2023-12-20 2023-12-20 器械驱动装置
CN202311766806.7 2023-12-20

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US19/068,475 Continuation US12426975B2 (en) 2023-12-20 2025-03-03 Instrument drive apparatus

Publications (1)

Publication Number Publication Date
WO2025130977A1 true WO2025130977A1 (zh) 2025-06-26

Family

ID=96136423

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2024/140584 Pending WO2025130977A1 (zh) 2023-12-20 2024-12-19 器械驱动装置

Country Status (2)

Country Link
CN (1) CN120284344A (zh)
WO (1) WO2025130977A1 (zh)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106456256A (zh) * 2014-05-13 2017-02-22 柯惠Lp公司 机器人手术系统和器械驱动单元
CN107257669A (zh) * 2015-02-26 2017-10-17 柯惠Lp公司 包含导螺杆轨道的器械驱动单元
CN107735044A (zh) * 2015-05-11 2018-02-23 柯惠Lp公司 耦合器械驱动单元和机器人手术器械
US20200129255A1 (en) * 2018-10-25 2020-04-30 Ethicon Llc Surgical tools with opposing translating gears
CN112022239A (zh) * 2020-08-28 2020-12-04 中国科学院沈阳自动化研究所 一种微创手术机器人用模块化形变驱动装置
CN116269546A (zh) * 2023-05-17 2023-06-23 中国科学院自动化研究所 一种基于锥形柔性体的微创手术器械
CN116919482A (zh) * 2022-04-08 2023-10-24 上海澳华内镜股份有限公司 内窥镜器械控制设备

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106456256A (zh) * 2014-05-13 2017-02-22 柯惠Lp公司 机器人手术系统和器械驱动单元
CN107257669A (zh) * 2015-02-26 2017-10-17 柯惠Lp公司 包含导螺杆轨道的器械驱动单元
CN107735044A (zh) * 2015-05-11 2018-02-23 柯惠Lp公司 耦合器械驱动单元和机器人手术器械
US20200129255A1 (en) * 2018-10-25 2020-04-30 Ethicon Llc Surgical tools with opposing translating gears
CN112022239A (zh) * 2020-08-28 2020-12-04 中国科学院沈阳自动化研究所 一种微创手术机器人用模块化形变驱动装置
CN116919482A (zh) * 2022-04-08 2023-10-24 上海澳华内镜股份有限公司 内窥镜器械控制设备
CN116269546A (zh) * 2023-05-17 2023-06-23 中国科学院自动化研究所 一种基于锥形柔性体的微创手术器械

Also Published As

Publication number Publication date
CN120284344A (zh) 2025-07-11

Similar Documents

Publication Publication Date Title
JP6945683B2 (ja) ロボット外科手術アセンブリ
CN109452976B (zh) 一种柔性手术工具系统
EP3903711B1 (en) Double-curved flexible surgical tool system
CN112998862B (zh) 柔性手术工具和柔性手术工具系统
US6991627B2 (en) Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
CN106456264B (zh) 手术器械、器械驱动单元及其手术组件
WO2019137380A1 (zh) 多用途的柔性手术工具系统
CN107997824B (zh) 一种可混合驱动远端结构体的柔性手术工具系统
CN113813050A (zh) 外科手术器械和手术机器人
CN112022239A (zh) 一种微创手术机器人用模块化形变驱动装置
US12426975B2 (en) Instrument drive apparatus
US11324560B2 (en) Surgical instrument
CN116269802B (zh) 手术器械及手术机器人
US20240341886A1 (en) Surgical robotic system and surgical instrument thereof
CN120284344A (zh) 器械驱动装置
CN118267581A (zh) 导管或鞘管驱动控制装置
CN116269801B (zh) 手术器械及手术机器人
CN111012395A (zh) 一种微创手术器械
CN111012405A (zh) 一种微创手术器械

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 2024873902

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2024873902

Country of ref document: EP

Effective date: 20250411

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 24873902

Country of ref document: EP

Kind code of ref document: A1

WWP Wipo information: published in national office

Ref document number: 2024873902

Country of ref document: EP