CN112472161B

CN112472161B - Surgical instruments and surgical robots

Info

Publication number: CN112472161B
Application number: CN202011509620.XA
Authority: CN
Inventors: 查传兵; 高元倩; 王建辰
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2020-12-19
Filing date: 2020-12-19
Publication date: 2025-06-06
Anticipated expiration: 2040-12-19
Also published as: CN112472161A

Abstract

The invention discloses a surgical instrument device and a surgical robot, wherein the surgical instrument device comprises a main control box and a driving box connected with the main control box, the main control box comprises a shell and a rotating part connected with one end of the shell, which is close to the driving box, and is rotatable relative to the shell, the driving box comprises a box body and an extending part extending from the periphery of the box body to the direction of the main control box, the rotating part is used for being matched with the extending part to fix the main control box on the driving box when rotating relative to the shell in a first direction, and the rotating part is also used for being separated from the extending part to separate the main control box from the driving box when rotating relative to the shell in a second direction opposite to the first direction. The invention can solve the technical problem that the existing surgical instrument device is easy to be damaged in the sterilization process and cannot be used normally.

Description

Surgical instrument device and surgical robot

Technical Field

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

Background

Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.

With the progress of technology, minimally invasive surgical robot technology is gradually mature and widely applied. The minimally invasive surgical robot generally includes a master console for transmitting control commands to the slave operating devices according to operations of doctors to control the slave operating devices, and the slave operating devices are for responding to the control commands transmitted from the master console and performing corresponding surgical operations.

The slave operating device generally includes a robot arm for adjusting a position of an instrument, a power mechanism provided on the robot arm for extending into a body and performing a surgical operation, and a surgical instrument for driving an end instrument of the surgical instrument to perform a corresponding operation. End instruments include endoscopes for viewing a surgical field and end effectors (e.g., jaws, scissors, needle holders, etc.) that perform surgical procedures. These surgical instruments, because of the proximity to the patient's focal area, require separate sterilization. However, the surgical instruments include structures such as motors, sensors, encoders, and electrical connectors, and thus cannot be sterilized by steam, heat, pressure, or chemicals, and thus, the surgical instruments are damaged during the sterilization process, and thus cannot be used normally.

Disclosure of Invention

The invention mainly aims to provide a surgical instrument device and a surgical robot, and aims to solve the technical problem that the existing surgical instrument is easy to damage in the sterilization process and cannot be used normally.

In order to achieve the above object, the invention provides a surgical instrument device, comprising a main control box and a driving box connected with the main control box,

The main control box comprises a shell and a rotating part which is connected with one end of the shell close to the driving box and can rotate relative to the shell,

The driving box comprises a box body and an extension part extending from the periphery of the box body to the direction of the main control box,

The rotating part is used for being matched with the extending part to fix the main control box on the driving box when rotating in a first direction relative to the shell, and is also used for being separated from the extending part to separate the main control box from the driving box when rotating in a second direction opposite to the first direction relative to the shell.

Preferably, the extending part is concavely provided with a limit groove towards the first direction, and the inner side wall of the rotating part is convexly provided with a protruding part;

the protruding portion is used for being clamped into the limiting groove to fix the main control box on the driving box when the rotating portion rotates relative to the shell in the first direction, and is separated from the limiting groove when the rotating portion rotates relative to the shell in the second direction opposite to the first direction, so that the main control box is separated from the driving box.

Preferably, the main control box further comprises a connecting part arranged in the rotating part, the shell comprises a chassis fixedly connected with the connecting part, the rotating part is inwards convexly provided with a bearing part at one side far away from the driving box, the main control box further comprises a fixing part used for bearing on the bearing part, the fixing part is inwards convexly provided with a plurality of mounting parts along the circumferential direction, the chassis is provided with a plurality of matching parts at positions corresponding to the fixing part,

The mounting portion is configured to cooperate with the cooperation portion so that the rotation portion rotates between the fixing portion and the chassis.

Preferably, the main control box further comprises an elastic part arranged between the bearing part and the chassis, and the elastic part is used for propping against the bearing part and the chassis respectively.

Preferably, the main control box further comprises a connecting part arranged in the rotating part, a first bump is convexly arranged on the outer side wall of the connecting part, a second bump is convexly arranged on the inner side wall of the extending part, and the first bump is used for being buckled with the second bump to fixedly connect the connecting part with the box body.

Preferably, the housing includes a chassis for connecting with the connection portion, the chassis is provided with one or more protruding rib portions along the periphery outwards, and the protruding rib portions are used for abutting against the top wall of the extension portion facing the housing after the first protruding block is buckled with the second protruding block, so as to limit the connection portion to move further towards the housing.

Preferably, the main control box further comprises a connecting part arranged in the rotating part, a sliding block is further convexly arranged on the outer side wall of the connecting part, a sliding groove is concavely arranged on the extending part in the direction away from the main control box at the position corresponding to the sliding block, and the sliding block is used for being matched with the sliding groove to limit the connecting part to rotate relative to the main control box in the first direction or the second direction.

Preferably, the main control box further comprises a connecting part arranged in the rotating part, a positioning part is convexly arranged on the connecting part towards the direction of the shell, the shell comprises a chassis used for being connected with the connecting part, a through groove is concavely arranged on the periphery of the chassis, and the positioning part is used for being matched with the through groove so as to fix the shell with the connecting part.

Preferably, the main control box further comprises a connecting part arranged in the rotating part, the shell comprises a chassis used for being connected with the connecting part, and a body extending from the chassis to a direction away from the driving box, and the two operating parts are positioned on two opposite sides of the body.

Preferably, the surgical instrument device further comprises a connector connected with the driving box, the driving box further comprises a box body connected with the main control box, a base arranged in the box body, a support fixedly arranged on the base and a control piece pivoted on the support, the control piece comprises a propping part far away from one side of the main control box and a control part with one end extending out of the driving box and positioned on one side of the main control box, the other end of the control part is connected with the propping part and pivoted on the support, the connector is provided with a fastener, the fastener is used for penetrating through the base and buckling with the base, and the control part is used for driving the propping part to prop against the fastener when one end of the driving box is acted, so that the propping part is separated from the base, and the driving box is separated from the connector.

Preferably, the control part comprises an operation part extending out of the driving box and positioned at one side of the main control box, and a reversing part pivoted on the bracket, one end of the reversing part is movably connected with the operation part, the other end of the reversing part is movably connected with the propping part, and the operation part is used for driving the reversing part to move when being operated so as to drive the propping part to prop against the fastening piece, so that the fastening piece is separated from the base.

Preferably, the operation part comprises a first rotating shaft pivoted on the bracket, a pressing part arranged opposite to the first rotating shaft and a main driving shaft; the reversing part comprises a second rotating shaft pivoted on the bracket, a driven shaft arranged opposite to the second rotating shaft and a first movable end provided with a first movable groove, and the propping part comprises a third rotating shaft pivoted on the bracket, a propping part arranged opposite to the third rotating shaft and a second movable end provided with a second movable groove;

The main driving shaft is used for being movably connected in the first movable groove, the auxiliary driving shaft is used for being movably connected in the second movable groove, and the abutting part is used for abutting against the fastening piece;

The pressing part is used for driving the main driving shaft to rotate outwards relative to the first rotating shaft to drive the first movable end to rotate outwards when acting force is applied, so that the auxiliary driving shaft rotates inwards relative to the second rotating shaft to drive the second movable end to rotate inwards, and the abutting part abuts against the fastener outwards relative to the third rotating shaft.

Preferably, the reversing part further comprises a middle part pivoted on the second rotating shaft, one end of the middle part is connected with the secondary driving shaft, the other end of the middle part is connected with the first movable end, the secondary driving shaft is parallel to the first movable end, the middle part is parallel to the base,

The middle part is used for rotating relative to the base when the secondary driving shaft rotates inwards relative to the second rotating shaft, so that the secondary driving shaft rotates inwards relative to the second rotating shaft.

Preferably, the first axis of rotation is parallel to the base, the second axis of rotation is perpendicular to the base, and the third axis of rotation is parallel to the base.

Preferably, the driving box has a symmetrical center line and a center point located on the symmetrical center line, a line between a position of the propping part projected to the base and the center point is a first line, a line between a position of the operating part projected to the base and the center point is a second line, an included angle between the first line and the symmetrical center line is an acute angle, and the second line is perpendicular to the symmetrical center line.

Preferably, the main control box further comprises a through hole arranged on the shell, and the through hole is used for enabling one end of the control part to extend out.

Preferably, the connector is provided with two upright posts which are arranged oppositely in a protruding mode in the direction of the driving box, a connecting line of the two upright posts on the connector is a limiting line, the box body is provided with a limiting part in a protruding mode in the direction of the connector, and the limiting part is used for being clamped between the two upright posts and is abutted to the two upright posts so as to limit the box body to move relative to the connector along the limiting line.

Preferably, the surgical instrument device further includes a link connected to the drive cassette and penetrating the connector, and an image pickup section connected to the link.

To achieve the above object, the present invention also provides a surgical robot including the surgical instrument device as described above.

In the surgical instrument device and the surgical robot according to the present invention, the rotation portion rotatable with respect to the housing of the main control box and the extension portion extending from the peripheral edge of the box body of the drive box in the direction of the main control box are provided, so that the main control box is fixed to the drive box in cooperation with the extension portion when the rotation portion rotates in the first direction with respect to the housing, and the rotation portion is separated from the extension portion when the rotation portion rotates in the second direction opposite to the first direction with respect to the housing, thereby enabling the main control box to be separated from the drive box. In this way, the main control box is disassembled in a rotating mode, and the surgical instrument device with the disassembled main control box is sterilized, so that various structures in the main control box of the surgical instrument device can be prevented from being damaged in the sterilization process, and the normal use of the surgical instrument device can be ensured.

Drawings

FIG. 1-1 is a schematic view of a surgical robot according to an embodiment of the present invention;

FIGS. 1-2 are schematic diagrams of a surgical instrument of the present invention suitable for handheld applications;

FIG. 2 is a schematic view of an embodiment of a surgical instrument according to the present invention;

FIG. 3 is a schematic view of the assembly process of the driving box and the connector according to the present invention;

FIG. 4 is a schematic view of a partially exploded view of the surgical instrument assembly of the present invention;

FIG. 5 is a schematic diagram of the signal processing module in FIG. 4;

FIG. 6 is a schematic diagram of a portion of the explosion structure of the master control box in FIG. 4;

FIG. 7 is a schematic diagram of an assembled structure of the drive cassette of FIG. 4;

FIG. 8 is a schematic diagram of an assembled structure of the master control box in FIG. 4;

FIG. 9 is a schematic view of the rotary part in FIG. 4;

FIG. 10 is a schematic view of the structure of FIG. 3 with the master control cartridge and cartridge body removed;

FIG. 11 is a schematic view of the control member of FIG. 10;

FIG. 12 is a schematic view of the drive cassette of the present invention prior to assembly with a connector;

fig. 13 is a schematic view of the structure of fig. 2 from the top view.

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear are used in the embodiments of the present invention) are merely for explaining the relative positional relationship, movement conditions, and the like between the components in a certain specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicators are changed accordingly.

In the present invention, unless explicitly specified and limited otherwise, the terms "connected," "fixed," and the like are to be construed broadly, and for example, "fixed" may be fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements or in an interaction relationship between two elements, unless otherwise explicitly specified. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

As shown in fig. 1 to 1, the present invention provides a surgical robot 1000, the surgical robot 1000 including a master console 200 and a slave operating device 300, the master console 200 being configured to transmit a control command to the slave operating device 300 according to an operation of a doctor to control the slave operating device 300, and the slave operating device 300 being configured to respond to the control command transmitted from the master console 200 and perform a corresponding surgical operation. The slave operation device 300 includes a robot arm 301, a power mechanism (not shown in the figure) provided on the robot arm 301, a surgical instrument device (not shown in the figure), an image master 302, and an image display 303. The surgical instrument device is used for extending into a body under the driving action of the power mechanism, performing surgical operation through the end effector positioned at the far end, acquiring an image signal in the body through the image acquisition part positioned at the far end, and transmitting the acquired image signal to the image host 302. The image host 302 is configured to perform analysis processing on the received image signal, for example, perform decoding processing on the received image signal, and then output a video signal to the image display 303 for display. Of course, the image host 302 may also perform noise reduction, white balance, and other processes on the received image signal to obtain an image with higher picture quality. The main console is also used for displaying images acquired by the endoscope.

As shown in fig. 1-2, the surgical instrument 100 is also suitable for a handheld application scenario, so the surgical instrument 100 provided in this embodiment may be suitable for an application scenario for controlling a surgical robot to perform a surgery, and may also be suitable for an application scenario for performing a surgery through a handheld device.

The present invention provides a surgical instrument 100, which may be an endoscopic instrument for viewing a surgical field or an instrument having an end effector for performing a surgical procedure. The following description will be given by taking an instrument having an endoscope as an example. The surgical instrument may be of a flexible or non-flexible construction. It will be appreciated that the surgical instrument may be an instrument suitable for single-hole surgery or a surgical instrument suitable for multi-hole surgery, as will be described in detail below.

As shown in fig. 2 and 3, the surgical instrument 100 for single hole surgery includes a main control box 1, a driving box 2 connected to the main control box 1, and an image acquisition unit 5 connected to the driving box 2. Wherein, the drive box 2 is detachably connected with the connector 4, and the surgical instrument 100 and the connector 4 form a surgical instrument device. The image acquisition part 5 further comprises a connecting rod 51 connected with the driving box 2 and penetrating through the connector 4, and an image acquisition part 5 arranged at the tail end of the connecting rod 51, wherein the image acquisition part 5 is used for acquiring image signals of a focus area of a patient, and the image signals can specifically comprise a target tissue image of the focus area and an operation process image of the end effector for performing an operation.

Further, the main control box 1 is used for accommodating a motor, an encoder, a signal processing module, an electrical connector and other structures. As shown in fig. 4, the main control box 1 includes a housing 11, a connection portion 21 fixedly connected to the housing 11, a rotation portion 22 connected to an end of the housing 11 near the driving box 2 and rotatable with respect to the housing 11, and an elastic portion 23 located between the rotation portion 22 and the housing 11, and a signal processing module 15 accommodated in the housing. The housing 11 and the connecting portion 21 may be fixed by a snap connection or by a screw connection. The connection portion 21 is provided in the rotation portion 22.

Further, the housing 11 includes a chassis 12 fixedly connected to the connecting portion 21, and a body 13 extending from the chassis 12 in a direction away from the connector 4. The shape of the chassis 12 may be circular, and the body 13 may be rectangular or square. When the body 13 is rectangular in shape, the length of the body 13 may be smaller than the diameter of the chassis 12. The shape and size of the body 13 may be adjusted according to the size of the structure such as the signal processing module 15 accommodated in the body 13. It will be appreciated that the connection portion 21 and the housing 11 enclose an accommodating space (not shown in the figure) for accommodating the structures such as the signal processing module 15, that is, the body 13 accommodates a part of the structures such as the signal processing module 15, and the connection portion 21 accommodates another part of the structures such as the signal processing module 15.

Further, the signal processing module 15, upon receiving the image signal transmitted from the image capturing section 5, converts the image signal into a target signal and transmits the target signal to the image host 302. Wherein the transmission distance of the target signal is greater than the transmission distance of the image signal. In this way, the image signal acquired by the image acquisition unit 5 is prevented from being attenuated in the process of being transmitted to the image host 302, so that the situation that the picture displayed on the image display 303 is distorted is avoided, and the picture quality of the operation area is improved.

In one embodiment, the signal processing module 15 includes a first processing unit (not shown in the figure), a second processing unit (not shown in the figure), and a third processing unit (not shown in the figure) connected in sequence. The first processing unit is configured to convert the image signal into a low-voltage differential signal and send the low-voltage differential signal to the second processing unit, the second processing unit is configured to decode the received low-voltage differential signal and perform optical signal encoding on the decoded low-voltage differential signal to obtain an optical encoded signal, and the third processing unit is configured to receive the optical encoded signal transmitted by the second processing unit and convert the optical encoded signal into an optical signal, so as to transmit the optical signal as the target signal to the image host 302. It will be appreciated that the image host 302, upon receiving the optical signal, converts the optical signal into an electrical signal for further analysis processing, etc. The present embodiment is applicable to a treatment method conducted through an optical cable. By converting the image signal into an optical signal and transmitting the optical signal to the image host 302 through an optical cable, signal attenuation during transmission to the image host 302 can be avoided.

In another embodiment, the signal processing module 15 includes a first processing unit, a second processing unit, and a third processing unit, which are sequentially connected in the main control box, where the first processing unit 251 is configured to convert the image signal into a low-voltage differential signal and send the low-voltage differential signal to the second processing unit 252, the second processing unit 252 is configured to decode the received low-voltage differential signal and perform SDI (SERIAL DIGITAL INTERFACE, digital component serial interface) signal encoding on the decoded low-voltage differential signal to obtain an SDI encoded signal, and the third processing unit 253 is configured to receive the SDI encoded signal transmitted by the second processing unit and convert the SDI encoded signal into an SDI signal, so as to transmit the SDI signal as the target signal to the image host 302. At this time, the SDI signal may also be subjected to addition processing to make the signal quality transmitted to the image host 302 higher. It will be appreciated that this embodiment applies to a treatment by cable conduction. By converting the image signal into the SDI signal and transmitting the SDI signal to the image host 302 through a cable, signal attenuation during transmission to the image host 302 can be avoided.

As shown in fig. 5, the first processing unit includes a first PCB 254 disposed in the main control box and a first chip (not shown in the drawing) disposed on the first PCB 254, the second processing unit includes a second PCB 255 disposed in the main control box and a second chip (not shown in the drawing) disposed on the second PCB, the third processing unit includes a third PCB 256 disposed in the main control box and a third chip (not shown in the drawing) disposed on the third PCB 256, and the first PCB 254, the second PCB 255 and the third PCB 256 are stacked in sequence in a direction away from the image acquisition portion. It will be appreciated that the invention is not limited to the number of processing units and PCB boards, and that the specific number is primarily dependent on the size of the structure of the master control box. Specifically, the number of the processing units and the number of the PCB boards may be only 1 according to the structural size of the main control box, and in other embodiments, may be 2, or the like.

Further, as shown in fig. 4, the rotating portion 22 may have a hollow shell-like structure, and the rotating portion 22 is provided with a bearing portion 221 protruding inward on a side away from the connector 4. The main control box 1 further comprises a fixing portion 24 for being carried on the carrying portion 221, the fixing portion 24 is provided with 1 or more mounting portions 240 in a protruding manner along a circumferential direction, and the chassis 12 is provided with a plurality of matching portions 121 at positions corresponding to the fixing portion 24. The mounting portion 240 is configured to cooperate with the cooperation portion 121 to rotate the rotation portion 22 between the fixing portion 24 and the chassis 12. The mounting portion 240 and the mating portion 121 may be fixed by a snap connection or may be fixed by a screw connection or the like. In this embodiment, the bearing portion 221 may be a complete ring-shaped structure protruding along the periphery of the rotating portion 22, or may be one or more segments of protruding ribs protruding along the periphery of the rotating portion 22. Correspondingly, the fixing portion 24 may be a complete ring-shaped structure made of metal, a complete ring-shaped structure made of plastic, or a rib-shaped structure made of other materials. When the connector is mounted, the body 13 passes through the rotating portion 22 until the bearing portion 221 abuts against the chassis 12, specifically, a stop wall (not shown) on a side of the rotating portion 22 near the connector 4 abuts against an abutting wall (not shown) on a side of the chassis 12 far from the connector 4. At this time, the rotating portion 22 covers the connecting portion 21. That is, the rotating portion 22 may rotate relative to the chassis 12.

Further, in an embodiment, as shown in fig. 6, the mounting portion 240 and the mating portion 121 are both in a hole structure, the connecting portion 21 is also provided with a mounting hole 210 at a position corresponding to the mounting portion 240 and the mating portion 121, and the main control box 1 may further include a stud (not shown in the drawing), where the stud sequentially passes through the mounting portion 240, the mating portion 121, and the mounting hole 210 and is fixed on the connecting portion 21, so as to fix the rotating portion 22, the housing 11, and the connecting portion 21. The connecting portion 21 may have a positioning portion 211 protruding toward the housing 11, and the chassis 12 may have a through groove 122 along a periphery thereof, which is adapted to the positioning portion 211. Since the body 13 needs to accommodate a part of the structure such as the signal processing module 15, and the connecting portion 21 needs to accommodate another part of the structure such as the signal processing module 15, the direction of the accommodating space of the body 13 and the direction of the accommodating space of the connecting portion 21 need to be consistent, and the operator can directly install the device through the guiding function of the positioning portion 211, without finding out the mismatch of positions after the housing 11 is installed on the connecting portion 21, and also needing the adjustment step, thereby improving the installation efficiency. In the mounting, the positioning portion 211 may be engaged with the through groove 122 to match the positions of the mounting portion 240 and the fitting portion 121, and the housing 11 may be fixed to the connecting portion 21 in a predetermined direction when the mounting portion 240 is fitted to the fitting portion 121.

Further, the elastic portion 23 is located between the carrying portion 221 and the chassis 12, and when the fixing portion 24 fixes the carrying portion 221 between the fixing portion 24 and the chassis 12, a side wall of the elastic portion 23 on a side far away from the connector 4 abuts against the carrying portion 221, and a side wall of the elastic portion 23 on a side near the connector 4 abuts against the chassis 12. It will be appreciated that the installation direction may be a direction in which the surgical instrument 100 is sequentially stacked toward the connector 4, or may be a direction in which the surgical instrument is sequentially stacked away from the connector 4.

Optionally, the side wall of the rotating portion 22 has a corrugated shape, so as to increase the friction between the hand of the operator and the rotating portion 22, thereby facilitating the rotation of the rotating portion 22 and avoiding the occurrence of slipping.

Optionally, a plurality of heat dissipation holes (not shown) are formed on the side wall of the rotating portion 22 to reduce the heat of the signal processing module 15 and other structures in the connecting portion 21.

As shown in fig. 4, the driving box 2 includes a box body 31 connected to the main control box 1, an extension portion 32 extending from a peripheral edge of the box body 31 toward the main control box 1, a base 33 disposed in the box body 31, a bracket 34 fixedly disposed on the base 33, and a control member 35 pivotally connected to the bracket 34. It is understood that the box body 31 may be directly connected to the master box 1 or may be indirectly connected to the master box 1. In this embodiment, the box body 31 is indirectly connected to the main control box 1, specifically, the box body 31 is connected to the rotating portion 22 of the main control box 1 through the extending portion 32.

Further, as shown in fig. 6, the outer sidewall of the connecting portion 21 is convexly provided with a first bump 212 and a slider 213, which may or may not be adjacent to each other. The inner side wall of the extension portion 32 is provided with a second protrusion 321 adapted to the first protrusion 212, and a chute 322 is concavely disposed at a position corresponding to the slider 213 toward the connector 4. The chassis 12 is provided with one or more ribs 123 protruding outwards along the periphery. In the mounting, the slider 213 may be slid into the slide groove 322, so that the connection portion 21 may be guided to be fixed to the driving case 2 in a predetermined direction. Then, the first bump 212 is snapped with the second bump 321 to fixedly connect the connecting portion 21 with the case 31. After the first protrusion 212 is snapped with the second protrusion 321, the protruding portion 123 abuts against the top wall 110 of the extension portion 32 facing the housing 11, so as to limit the continuous movement of the connection portion 21 in the direction of the housing 11.

It will be appreciated that the mating of the electrical connector interfaces is also involved, since signal transmission is also required between the master cartridge 1 and the drive cartridge 2. Specifically, as shown in fig. 7, the drive cassette further includes an electrical connector 39 having a plurality of contact pins 390 disposed within the cassette. As shown in fig. 8, the signal processing module 15 is provided with an electrical connector seat 257 having a plurality of pins 258 on a side facing the image capturing section 5. The contact pin 390 of the electrical connector 39 is configured to be inserted into the pin seat 258 of the electrical connector seat 257 so that the image signal collected by the image collecting part 5 is transmitted into the main control box through the driving box. As shown in fig. 4, the main control box is provided with an interface 120 at a side of the housing facing the driving box, the box body is provided with an opposite interface 320 at a position corresponding to the interface 120, and a contact pin 390 of the electric connector 39 is used to sequentially pass through the opposite interface 320 and the interface 120 and insert into a needle seat 258 of the electric connector seat 257, so that an image signal collected by the image collecting portion 5 is transmitted into the main control box through the driving box. The shape of the mating interface 120 and/or the mating interface 320 corresponds to the array of contact pins 390. The array of contact pins 390 may be rectangular, square, circular, cross-shaped, T-shaped, etc., and the shape of the mating interface 120 and/or the mating interface 320 may be rectangular, square, circular, cross-shaped, T-shaped, etc. It will be appreciated that the array of the plurality of pins 258 on the electrical connector mount 257 is also correspondingly rectangular, square, circular, cross-shaped, T-shaped.

Therefore, the connection portion 21 needs to be fixed on the driving box 2 in a predetermined direction, so that the interface of the electrical connector is correctly aligned, and the operator can directly install the electrical connector, without the step of finding out that the positions of the connection portion 21 are not matched and also need to be adjusted after the connection portion 21 is installed on the box 31, thereby improving the installation efficiency.

Further, the extending portion 32 is concavely provided with a limiting groove 323 toward the first direction, and as shown in fig. 9, the inner side wall of the rotating portion 22 is convexly provided with a protruding portion 223. When the rotating part 22 rotates in the first direction relative to the housing 11, the protruding part 223 is engaged with the limit groove 323 and abuts against the extending part 32 to fix the main control box 1 to the driving box 2, and when the rotating part 22 rotates in the second direction opposite to the first direction relative to the housing 11, the protruding part 223 is disengaged from the limit groove 323 to separate the main control box 1 from the driving box 2. The first direction may be a direction in which the rotating part 22 rotates clockwise, and the second direction may be a direction in which the rotating part 22 rotates counterclockwise.

Further, the housing 11 is further provided with a through hole 124, and the through hole 124 may be specifically located at the top of the body 13, or may be located at a position of the chassis 12 near the body 13.

As shown in fig. 10, the control member 35 includes a supporting portion 38 away from the main control box 1, one end of the control member extends out of the driving box 2 and is located at one side of the main control box 1, and the other end of the control member is connected to the supporting portion 38 and pivotally connected to the control portion 350 on the bracket 34. The control portion 350 may further include an operation portion 35 extending out of the through hole 124 and located at one side of the main control box 1, and a reversing portion 37 with one end movably connected to the control portion 350 and the other end movably connected to the propping portion 38. The control portion 350 may be pivotally connected to the bracket 34, and the abutting portion 38 and the operating portion 35 are not limited to be pivotally connected to the bracket 34.

The connector 4 has a fastener 41 corresponding to the position of the abutment 38, the fastener 41 being adapted to be snapped into the base 33 through the base 33. When the operator kneads the operation part 35, the operation part 35 drives the reversing part 37 to move, so as to drive the propping part 38 to prop against the fastening piece 41, so that the propping part 38 is separated from the base 33, and the driving box 2 is separated from the connector 4. The two operation parts 35 are located on opposite sides of the body 13 in the longitudinal direction. In this way, the span of the operator's hand operation is reduced, so that the two operation portions 35 can be pinched with one hand. It will be appreciated that in other embodiments, the reversing portion 37 may be omitted if the structure of the drive cassette 2 is relatively small, and 1 or more reversing portions 37 may be omitted if the structure of the drive cassette 2 is relatively large. The abutment portion 38 is located at a predetermined position of the bracket 34, the operating portion 35 is located at a target position of the bracket 34, and the reversing portion 37 is configured to transmit a force of the operating portion 35 located at the target position to the abutment portion 38 located at the predetermined position. Wherein the predetermined position is typically a position specified based on structural constraints or design requirements, and the target position is an ergonomically adjusted position to accommodate operator operation habits and to improve operational comfort.

Further, the operation portion 35, the reversing portion 37 and the propping portion 38 respectively have a first rotating shaft 361, a second rotating shaft 371 and a third rotating shaft 381 pivoted on the bracket 34, wherein the first rotating shaft 361 is parallel to the base 33, the second rotating shaft 371 is perpendicular to the base 33, and the third rotating shaft 381 is parallel to the base 33.

As shown in fig. 11, the operation portion 35 includes a pressing portion 362 and a main driving shaft 363 disposed opposite to the first rotation shaft 361, the reversing portion 37 includes a middle portion 375 pivotally connected to the second rotation shaft 371, a first movable end 374 having a first movable groove 372 disposed opposite to the second rotation shaft 371, and a secondary driving shaft 373, and the abutting portion 38 includes a second movable end 384 having a second movable groove 382 disposed opposite to the third rotation shaft 381, and an abutting portion 383. Wherein one end of the middle portion 375 is connected to the secondary driving shaft 373, the other end is connected to the first movable end 374, the secondary driving shaft 373 is parallel to the first movable end 374, the middle portion 375 is parallel to the base 33, and the middle portion 375 is configured to rotate relative to the base 33 when the secondary driving shaft 373 rotates inward relative to the second rotating shaft 371, so that the secondary driving shaft 373 rotates inward relative to the second rotating shaft 371. That is, the shape of the reversing portion 37 is Z-shaped, but other shapes are possible in other embodiments. Specifically, the first movable groove 372 is concavely formed at the end of the reversing portion 37 movably connected to the main driving shaft 363, and the second movable groove 382 is concavely formed at the end of the abutting portion 38 movably connected to the sub driving shaft 373. The main driving shaft 363 is movably coupled to the first movable groove 372, the sub driving shaft 373 is movably coupled to the second movable groove 382, and the abutting portion 383 is abutted against the fastening member 41. It is understood that the first movable slot 372 and/or the second movable slot 382 may be a closed slot or an open slot.

When the operator squeezes the operation portion 35, the pressing portion 362 is forced inward, so as to drive the main driving shaft 363 to rotate outward relative to the first rotating shaft 361 and drive the first movable end 374 to rotate outward, so that the sub driving shaft 373 rotates inward relative to the second rotating shaft 371 and drives the second movable end 384 to rotate inward, and the abutting portion 383 abuts against the fastening member 41 outward relative to the third rotating shaft 381.

Further, as shown in fig. 12, two upright posts 42 are provided in the connector 4 in a protruding manner in the direction of the driving box 2, a connection line between the two upright posts 42 on the connector 4 is a limit line M, and the box body 31 is provided with a limit portion 310 in a protruding manner in the direction of the connector 4. When the connector is installed, the limiting part 310 can be clamped between the two stand columns 42, and the two side surfaces of the limiting part 310 are respectively abutted against the two stand columns 42, so that the two stand columns 42 can guide the limiting part 310 to enter, the installation between the driving box 2 and the connector 4 is facilitated, in addition, the box body 31 can be limited to move along the limiting line M relative to the connector 4, and the installation tightness between the driving box 2 and the connector 4 is improved.

As shown in fig. 13, the driving box 2 has a symmetry center line K and a center point O located on the symmetry center line K, a connection line between the predetermined position and the center point O is a first connection line A-A, a connection line between the target position and the center point O is a second connection line B-B, an included angle between the first connection line A-A and the symmetry center line K is an acute angle, and the second connection line B-B is perpendicular to the symmetry center line K. The fastener 41 is located on the first line A-A based on structural constraints, and accordingly, if the operating portion 35 is also located on the first line A-A, an operator will generally be accustomed to operating at the position of the second line B-B due to the presence of other structures (such as X as indicated in the figure) of the surgical instrument 100, which is more compatible with the operator's operating habits. Therefore, in this embodiment, by deflecting the position of the operation portion 35 corresponding to the position of the fastener 41 from the position of the first connecting line A-A to the position of the second connecting line B-B, the operation by the operator can be more convenient, and the user experience can be improved.

In this embodiment, by providing the control member 35 pivotally connected to the bracket 34 of the driving box 2 on the bracket 34, the propping portion 38 of the control member 35 is away from the main control box 1, and one end of the control portion 350 extends out of the driving box 2 and is located at one side of the main control box 1, and at the same time, the fastener 41 of the connector 4 passes through the base 33 and is buckled with the base 33. In this way, when one end of the driving box 2 is acted on, the propping portion 38 is driven to prop against the fastening piece 41, so that the propping portion 38 is separated from the base 33, and the driving box 2 is separated from the connector 4. In this way, the operator can operate the control member 35 with one hand, so that the separation of the driving box 2 from the connector 4 can be realized, thereby improving the operation experience of the operator.

In this embodiment, the rotation part 22 rotatable with respect to the housing 11 of the main control box 1 and the extension part 32 extending from the peripheral edge of the box body 31 of the drive box 2 in the direction of the main control box 1 are provided, so that the main control box 1 is fixed to the drive box 2 by cooperating with the extension part 32 when the rotation part 22 rotates with respect to the housing 11 in the first direction, and the rotation part 22 is separated from the extension part 32 when the rotation part 22 rotates with respect to the housing 11 in the second direction opposite to the first direction, thereby separating the main control box 1 from the drive box 2. In this way, the main control box 1 is disassembled in a rotating manner, and the surgical instrument 100 of which the main control box 1 is disassembled is sterilized, so that various structures in the main control box 1 of the surgical instrument 100 can be prevented from being damaged in the sterilization process, and the normal use of the surgical instrument 100 can be ensured.

The foregoing description is only of the optional embodiments of the present invention, and is not intended to limit the scope of the invention, and all the equivalent structural changes made by the description of the present invention and the accompanying drawings or the direct/indirect application in other related technical fields are included in the scope of the invention.

Claims

1. The surgical instrument device is characterized by comprising a main control box and a driving box connected with the main control box, wherein the main control box and the driving box perform signal transmission, and the main control box is positioned at the proximal end;

The driving box comprises a box body connected with the main control box and an extension part extending from the periphery of the box body to the direction of the main control box,

The rotary part is used for being matched with the extension part to fix the main control box on the driving box when rotating in a first direction relative to the shell, and is also used for being separated from the extension part to separate the main control box from the driving box when rotating in a second direction opposite to the first direction relative to the shell;

The surgical instrument device further comprises a connector connected with the driving box, the driving box further comprises a base arranged in the box body, a support fixedly arranged on the base and a control piece pivoted on the support, the control piece comprises a propping part far away from one side of the main control box and a control part with one end extending out of the driving box and located on one side of the main control box, the other end of the control part is connected with the propping part and pivoted on the support, the connector is provided with a fastening piece, the fastening piece is used for penetrating through the base and being buckled with the base, and the control part is used for driving the propping part to prop against the fastening piece when one end of the driving box is subjected to acting force, so that the propping part is separated from the base, and the driving box is separated from the connector.

2. The surgical instrument device according to claim 1, wherein the extending portion is concavely provided with a limit groove in the first direction, and an inner side wall of the rotating portion is convexly provided with a protruding portion;

3. The surgical instrument device according to claim 1, wherein the main control box further includes a connection portion provided in the rotation portion, the housing includes a chassis for fixedly connecting with the connection portion, the rotation portion is provided with a bearing portion protruding inward at a side away from the driving box, the main control box further includes a fixing portion for bearing on the bearing portion, the fixing portion is provided with a plurality of mounting portions protruding inward in a circumferential direction, the chassis is provided with a plurality of engaging portions at positions corresponding to the fixing portion,

4. The surgical instrument device of claim 3, wherein the master control cartridge further comprises an elastic portion disposed between the carrier portion and the chassis, the elastic portion being configured to abut the carrier portion and the chassis, respectively.

5. The surgical instrument device according to claim 1, wherein the main control box further comprises a connecting portion disposed in the rotating portion, a first bump is disposed on an outer side wall of the connecting portion in a protruding manner, a second bump is disposed on an inner side wall of the extending portion in a protruding manner, and the first bump is used for being buckled with the second bump to fixedly connect the connecting portion with the box body.

6. The surgical instrument device according to claim 5, wherein the housing includes a chassis for connection with the connection portion, the chassis having one or more protruding ribs protruding outwardly along a periphery thereof for abutting against a top wall of the extension portion facing the housing after the first protrusion is engaged with the second protrusion, thereby restricting continued movement of the connection portion in a direction of the housing.

7. The surgical instrument device according to claim 1, wherein the main control box further comprises a connecting portion disposed in the rotating portion, a sliding block is further protruding on an outer side wall of the connecting portion, a sliding groove is concavely formed in the extending portion in a direction away from the main control box at a position corresponding to the sliding block, and the sliding block is used for being matched with the sliding groove to limit the connecting portion to rotate in the first direction or the second direction relative to the main control box.

8. The surgical instrument device according to claim 1, wherein the main control box further comprises a connecting portion arranged in the rotating portion, the connecting portion is provided with a positioning portion protruding toward the housing, the housing comprises a chassis for connecting with the connecting portion, the chassis is provided with a through groove along the periphery in a concave manner, and the positioning portion is used for being matched with the through groove to fix the housing with the connecting portion.

9. The surgical instrument device according to claim 1, wherein the control portion includes an operating portion extending out of the drive cassette and located on one side of the main control cassette, the main control cassette further includes a connecting portion provided in the rotating portion, the housing includes a chassis for connection with the connecting portion, and a body extending from the chassis in a direction away from the drive cassette, and the two operating portions are located on opposite sides of the body.

10. The surgical instrument device according to claim 1, wherein the control portion includes an operation portion extending out of the driving box and located at one side of the main control box, and a reversing portion pivotally connected to the support, one end of the reversing portion is movably connected to the operation portion, the other end of the reversing portion is movably connected to the propping portion, and the operation portion is configured to drive the reversing portion to move when operated, so as to drive the propping portion to prop against the fastening member, and separate the fastening member from the base.

11. The surgical instrument device according to claim 10, wherein the operating portion includes a first shaft pivotally coupled to the bracket, a pressing portion disposed opposite the first shaft, and a main driving shaft, the reversing portion includes a second shaft pivotally coupled to the bracket, a secondary driving shaft disposed opposite the second shaft, and a first movable end having a first movable slot;

12. The surgical instrument device of claim 11, wherein the reversing segment further comprises an intermediate segment pivotally coupled to the second shaft, wherein one end of the intermediate segment is coupled to the secondary drive shaft and the other end is coupled to the first movable end, wherein the secondary drive shaft is parallel to the first movable end, wherein the intermediate segment is parallel to the base,

13. The surgical instrument device of claim 11, wherein the first axis of rotation is parallel to the base, the second axis of rotation is perpendicular to the base, and the third axis of rotation is parallel to the base.

14. The surgical instrument device according to claim 10, wherein the drive cassette has a center line of symmetry and a center point located on the center line of symmetry, a line between a position of the abutment projected onto the base and the center point is a first line, a line between a position of the operation portion projected onto the base and the center point is a second line, an included angle between the first line and the center line of symmetry is an acute angle, and the second line is perpendicular to the center line of symmetry.

15. The surgical instrument device of claim 1, wherein the master control cartridge further comprises a through hole provided in the housing, the through hole configured to allow one end of the control portion to protrude.

16. The surgical instrument device according to claim 1, wherein the connector is provided with two opposite upright posts protruding in a direction of the driving box, a connecting line of the two upright posts on the connector is a limit line, the box body is provided with a limit portion protruding in a direction of the connector, and the limit portion is used for being clamped between the two upright posts and abutting against the two upright posts so as to limit the box body to move along the limit line relative to the connector.

17. The surgical instrument device of claim 1, further comprising a link coupled to the drive cassette and passing through the connector, and an image acquisition portion coupled to the link.

18. A surgical robot comprising a surgical instrument device according to any one of claims 1 to 17.