Transmission assembly, driving assembly, sterile assembly, instrument box assembly, operative instrument system, and operative robot

Abstract

The invention relates to a transmission assembly, a driving assembly, a sterile assembly, an instrument box assembly, an operative instrument system, and an operative robot. Guiding faces are arrangedon a transmission disc constituting the transmission assembly, thus jointing parts can be accurately positioned and jointed through the guiding faces, thus quick and accurate jointing of the operative instrument system is achieved, the coupling failure phenomenon is avoided, and safety and effectiveness of the operative robot are improved.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a transmission, a drive, a sterile instrument box assembly, a surgical instrument system, and a robot. Background technique [0002] In recent years, with the application and development of robot technology, especially the development of computing technology, the role of medical robots in clinical practice has been paid more and more attention. On the one hand, the minimally invasive surgical robot can reduce the physical exertion of doctors during the operation, and on the other hand, it can also achieve the purpose of precise surgery, which has the advantages of minimal trauma, less blood loss, less postoperative infection, and faster recovery for patients. [0003] Surgical instruments used in surgery usually need to be sterilized, but the surgical robot cannot be sterilized as a whole because there are many parts (such as motors, sensors, etc.) that are not suitab...

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Problems solved by technology

[0004] Chinese patent application CN106102640A mentions a method for engaging a housing instrument with a remote-operated actuator, which realizes the connection between the transmission interface through the rotational coupling of the carriage driver in the instrument manipulator and the instrument driver of the surgical instrument, This design has the following disadvantages: (1) This kind of structure provides axial force to the carriage driver through the elastic element, so that the carriage driver can realize axial displacement, and the carriage driver with axial movement must exist relative to the input drive shaft. (2) In this scheme, the carriage driver is frictionally coupled to the corresponding instrument driver, and when the turntable is in some special positions, the problem of coupling failure is prone to occur

(see patent CN106102641A, paragraph [0006] for details); (3) In order to realize that the elastic element applies axial force to the carriage driver, it is necessary to set static parts, relative sliding parts, limit parts and precision chute in the whole device. , resulting in a complex structure of the device

Moreover, in order to ensure the stability of the carriage driver, the instrument also needs to have sufficient axial dimensions, which leads to a larger volume of the instrument; (4) in this scheme, a complex control program is required to realize the corresponding functions

[0005] Chinese patent application CN103533908A mentions an instrument interface, which realizes the drive of the instrument through friction transmission in a conical structure. This design has the following disadvantages: (1) The interface can be docked with the drive motor at any position of the drive turntable, The initial position of the end of the instrument cannot be judged, and the robot system cannot obtain the absolute position information of the end of the instrument, which is not conducive to ensuring the safety during the operation; (2) There is a risk of slipping when using friction transmission. Once slipping occurs, the Can cause accuracy errors and adversely affect surgical operations

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