Patent Description:
In robot-assisted minimally invasive surgery, surgical instruments connected at the end of the robot enter the human body through wounds on the surface of the human body or natural canals of the human body, to be operated on tissues in the human body. The surgical instrument mainly includes an effector or tool (such as a pair of surgical forceps, a cutting tool, or a cauterizing tool) mounted to a wrist mechanism at a front end of the instrument, the wrist mechanism providing multiple degrees of freedom for movement of the front end, a main shaft extending from a rear end of the instrument to the front end, and a power and transmission device at the rear end of the instrument. The effector at the front end and the wrist mechanism are generally driven by multiple cables fixed thereto, and the cables run through the main shaft of the surgical instrument and are driven by the power and transmission device at the rear end.

For surgical forceps and other holding or cutting tools, the wrist mechanism is generally required to realize three degrees of freedom: pitch, yaw, and grip. Cooperated with extra degrees of freedom of the rear end of the robot, the wrist mechanism can realize the movement required to perform surgical operations. According to specific implementation of the wrist mechanism, the number of driving cables required for the wrist mechanism varies, for example, there are generally <NUM> or <NUM> cables configured for the wrist mechanism. In addition, in order to realize a large-scale movement (for example, rotation of -<NUM>° to <NUM>°) of each joint of the wrist mechanism, it is necessary to arrange extra pulleys on the wrist mechanism to guide cables. However, addition of the extra pulleys may hinder the miniaturization of the front end of the surgical instrument, and the use of more cables may also increase the size and cost of the instrument.

The existing rear-end transmission device for driving the <NUM>-cable wrist mechanism realizes release of two cables and pulling in of other two cables through swing of a connecting rod or a rocker arm, thereby realizing the pitch of the wrist mechanism. In this way, with the change of a pitch angle, a length of a pulled-in cable is not equal to a length of a released cable, which may lead to a change in tension of the cables, and then lead to problems such as reduced accuracy due to a transmission error caused by loosened cables, or accelerated wear due to excessive frictional resistance caused by over-tensioned cables. To avoid such problems, one method is to limit a range of a rotation angle of a pitch joint, but this method may affect the function of the instrument. In addition, when using this mechanism, a rotation angle of an output terminal of the motor at the rear end has a nonlinear relationship with the pitch angle of the wrist mechanism, which requires extra calibration to achieve accurate position control and thus increases extra workload.

<CIT> relates to a surgical instrument, slave operation equipment applying the surgical instrument, and a surgical robot provided with the slave operation equipment. An end effector of the surgical instrument includes a first bracket, a second bracket and a clamping portion, the first bracket is mounted on the first bracket, the clamping portion is mounted on the second bracket. The surgical instrument further comprises a first pair of cables and a second pair of cables which are used for manipulating the movements of opening, closing, yawing and pitching of the end effector, and two pulley blocks used for guiding the first pair of cables and the second pair of cables are arranged on the first bracket.

<CIT> relates to a surgical instrument, a slave operation device using the surgical instrument, and a surgical robot having the slave operation device, the surgical instrument comprising an end effector and a drive device, the drive device comprising a first drive unit and a second drive unit, the driving device comprises a first driving unit, a second driving unit, a third driving unit and a pitching mechanism, wherein the first driving unit and the second driving unit respectively control a first pair of cables and a second pair of cables to control opening, closing and yawing movement of an end effector; and the third driving unit drives the pitching mechanism to move along a straight line.

<CIT> relates to a surgical instrument, slave operation equipment applying the surgical instrument and a surgical robot with the slave operation equipment. The surgical instrument comprises an end effector, a driving device and cables, and the cables comprise a first driving cable, a first pair of cables and a second pair of cables; and the driving device is used for driving the end executor to execute pitching motion through the first pair of cables and the first driving cable, and driving the end executor to execute yawing motion through the first pair of cables and the second pair of cables.

<CIT> relates to a wrist, an end effector, a cable pair, and a transmission. A proximal wrist portion is coupled to a distal end portion of a shaft. Actuation of the wrist moves a distal wrist portion relative to the proximal wrist portion. The end effector is coupled to the distal wrist portion, and can be actuated to move relative to the wrist. The transmission is coupled to a proximal end portion of the shaft, and can move an end of the cable pair to actuate the end effector. The end of the cable pair is routed through a transmission cable path within the transmission.

<CIT> relates to a surgical instrument, a slave operation apparatus using the surgical instrument, and a surgical robot providing the slave operation apparatus. The surgical instrument comprises a drive device and an end effector, the driving device comprises a plurality of drive units and drive cables, the drive units manipulates movement of the end effector through the drive cables, the driving cables for manipulating yawing motion of the end effector has a coupling relation with the drive cables for manipulating the end effector on one side of the end effector, the drive device further comprises a decoupling mechanism for releasing the coupling relationship, and the decoupling mechanism is configured to change the length of the end effector yawing motion driving cables in the driving device at the same time to release the coupling relation.

A series of simplified concepts have been introduced in this section, which will be further elaborated in the detailed description. The section of the disclosure does not mean attempting to limit key features and essential technical features of the claimed technical solution, nor does it mean attempting to determine the scope of protection of the claimed technical solution.

Embodiments of the disclosure provide a rear-end transmission device and includes a first rotating member, a second rotating member, a first pulley assembly, a second pulley assembly, and a position adjusting assembly. The first rotating member is connected to a first cable and a second cable, where the first cable and the second cable wrap around the first rotating member in opposite directions. The second rotating member is connected to a third cable and a fourth cable, where the third cable and the fourth cable wrap around the second rotating member in opposite directions. The first pulley assembly includes a first movable pulley, where each of the first cable and the second cable extends from the first rotating member and rides on the first movable pulley. The second pulley assembly includes a second movable pulley, where each of the third cable and the fourth cable extends from the second rotating member and rides on the second movable pulley. The position adjusting assembly is connected to the first movable pulley and the second movable pulley, and configured to concurrently adjust positions of the first movable pulley and the second movable pulley, to pull in the first cable and the second cable while releasing the third cable and the fourth cable, or to pull in the third cable and the fourth cable while releasing the first cable and the second cable.

According to an embodiment of the present disclosure, the rear-end transmission device is connected to four driving cables of the wrist mechanism, such that the wrist mechanism works cooperatively with the rear-end transmission device to achieve pitch, yaw, and grip of the wrist mechanism by pulling in or releasing the driving cables, which is simple in structure and accurate in transmission. In addition, a rotation angle of the rotating member is linearly related to a pitch angle, a yaw angle, or a grip angle of the wrist mechanism, and therefore, equal-length release and/or pulling-in of the driving cables can be ensured even when the above-mentioned angles of the wrist mechanism vary in a wide range.

In some embodiments, the first rotating member is rotatable around a first central axis of the first rotating member to perform via the first pulley assembly: pulling in one of the first cable and the second cable while releasing another of the first cable and the second cable; and the second rotating member is rotatable around a second central axis of the second rotating member to perform via the second pulley assembly: pulling in one of the third cable and the fourth cable while releasing another of the third cable and the fourth cable.

In some embodiments, the first central axis is parallel to the second central axis, each of the first movable pulley and the second movable pulley is rotatable around a respective axis parallel to the first central axis, and the axis of the first movable pulley and the axis of the second movable pulley are spaced apart from each other.

In some embodiments, the first pulley assembly further includes a first guide pulley and a third guide pulley, each of the first guide pulley and the third guide pulley is rotatable around a respective axis parallel to the first central axis, and each of the first cable and the second cable extends from the first rotating member and sequentially rides on the first guide pulley, the first movable pulley, and the third guide pulley.

In some embodiments, the second pulley assembly further includes a second guide pulley and a fourth guide pulley, each of the second guide pulley and the fourth guide pulley is rotatable around a respective axis parallel to the second central axis, and each of the third cable and the fourth cable extends from the second rotating member and sequentially rides on the second guide pulley, the second movable pulley, and the fourth guide pulley.

In some embodiments, the position adjusting assembly includes a third rotating member, and the third rotating member is rotatable around a third central axis of the third rotating member parallel to the first central axis, to concurrently adjust the positions of the first movable pulley and the second movable pulley.

In some embodiments, the position adjusting assembly further includes a slider, each of the first movable pulley and the second movable pulley is rotatably connected to the slider, and the third rotating member is configured to directly or indirectly adjust a position of the slider.

In some embodiments, the position adjusting assembly further includes a first transmission cable, a second transmission cable, a fifth guide pulley, and a sixth guide pulley. The first transmission cable rides on the fifth guide pulley; and the second transmission cable rides on the sixth guide pulley, where the first transmission cable and the second transmission cable each have one end connected to the third rotating member and wrap around the third rotating member in opposite directions, and the first transmission cable has another end connected to one end of the slider and the second transmission cable has another end connected to another end of the slider.

In some embodiments, the fifth guide pulley and the sixth guide pulley each are rotatable around a respective axis parallel to the third central axis, and the axis of the fifth guide pulley and the axis of the sixth guide pulley are spaced apart from each other.

In some embodiments, the position adjusting assembly further includes a first transmission cable, a second transmission cable, and a rotating assembly. The first transmission cable and the second transmission cable each have one end connected to the third rotating member and wrap around the third rotating member in opposite directions; the first transmission cable and the second transmission cable each have another end connected to the rotating assembly and wrap around the rotating assembly in opposite directions; and the rotating assembly is meshed with the slider, and the slider is linearly movable with a rotation of the rotating assembly.

In some embodiments, the rotating assembly is rotatable around an axis parallel to the third central axis, the rotating assembly includes a gear, and the slider is a rack meshed with the gear.

In some embodiments, the position adjusting assembly includes a pair of sliders disposed in parallel, each of the first movable pulley and the second movable pulley is rotatably connected to a respective one of the pair of sliders, and the rotating assembly is disposed between the pair of sliders and is meshed with the pair of sliders, to enable the pair of sliders to move in opposite directions.

Embodiments of the disclosure further provide a medical device including the rear-end transmission device described in any embodiment of the disclosure.

Embodiments of the disclosure further provide a surgical robot including the medical device described in any embodiment of the disclosure.

The following drawings of the disclosure are herein used as a part of the disclosure for understanding the disclosure. Embodiments of the present disclosure are described with reference to the accompanying drawings to explain the principles of the present disclosure, in which:.

Reference numbers are illustrated as follows:.

Detailed illustration is given in the following description to provide a more thorough understanding of the disclosure. However, it will be apparent to those skilled in the art that embodiments of the present disclosure may be practiced without one or more of these details. In other examples, some technical features well known in the art are not described in order to avoid confusion with embodiments of the present disclosure.

In order to fully understand the embodiments of the present disclosure, detailed structures will be set forth in the following description. Apparently, the implementation of the embodiments of the present disclosure is not limited to particular details familiar to those skilled in the art. It is to be noted that ordinal numbers such as "first" and "second" referenced in the disclosure are merely identifiers and do not have any other meaning, e.g., does not represent a specific order. In addition, for example, the term "first component/member" does not imply the existence of a "second component/member", and the term "second component/member" does not imply the existence of the "first component/member". The terms "up", "down", "front", "back", "left", "right", and similar expressions used in the disclosure are merely intended to explain the disclosure rather than limit the disclosure.

Embodiments of the present disclosure provide a rear-end transmission device, a medical device, and a surgical robot. The surgical robot includes a movable robotic arm and a medical device mounted to the robotic arm. The medical device includes the rear-end transmission device. As known in the art, the medical device can achieve a number of functions and includes but is not limited to a pair of surgical forceps or grippers of different shapes and sizes, a needle driver, a pair of scissors, or a cauterizing tool.

A surgical robot <NUM> according to the first embodiment of the present disclosure will be described in detail below with reference to <FIG>.

As shown in <FIG>, the surgical robot <NUM> mainly includes a base <NUM>, at least one robotic arm <NUM> rotatably disposed at an upper end of the base <NUM>, and at least one medical device <NUM>. Each medical device <NUM> is mounted to a port of a respective robotic arm <NUM>. Merely one robotic arm <NUM> is exemplarily shown in <FIG>, the robotic arm <NUM> includes a plurality of links <NUM> connected sequentially, and each of the plurality of links <NUM> is rotatable. In a case where the surgical robot <NUM> includes multiple robotic arms <NUM>, each robotic arm <NUM> is provided with a respective medical device <NUM> which is mounted to a port of the robotic arm <NUM>. Each medical device <NUM> is detachably coupled to the respective robotic arm <NUM>, to facilitate replacement or repairment of the medical device <NUM>. Therefore, the medical device <NUM> mounted to the respective robotic arm <NUM> may be used for a particular medical procedure or may be changed during the medical procedure to provide a desired clinical function.

The robotic arm <NUM> includes at least one docking port. The at least one docking port generally includes an output of a driving motor configured to provide mechanical power for operation of the medical device <NUM>. The at least one docking port may further include an electrical interface to which the medical device <NUM> is coupled, to identify a type of a device coupled to the docking port and to obtain parameters of the device.

The medical device <NUM> generally includes the rear-end transmission device <NUM>, a main shaft <NUM> extending from the rear-end transmission device <NUM>, and a wrist mechanism <NUM> at a distal end of the main shaft <NUM>. Driving cables (specifically including a first cable <NUM>, a second cable <NUM>, a third cable <NUM>, and a fourth cable <NUM>) and an electrical conductor that are connected to the wrist mechanism <NUM> run through the main shaft <NUM> and are connected to the rear-end transmission device <NUM>. The rear-end transmission device <NUM> is configured to provide mechanical coupling between the above-described driving cables and a motor driving shaft of the driving motor, so as to operate the wrist mechanism <NUM> by controlling movement and tension of the driving cables. The main shaft <NUM> is hollow and may be rigid or flexible.

As shown in <FIG>, the wrist mechanism <NUM> includes a proximal clevis <NUM>, a distal clevis <NUM>, and an effector <NUM>. The distal clevis <NUM> is pivotably connected to the proximal clevis <NUM> via a first bolt <NUM>, such that pitch of the wrist mechanism <NUM> is realized through rotation of the distal clevis <NUM> relative to the proximal clevis <NUM>. The effector <NUM> includes an upper claw <NUM> and a lower claw <NUM>. Each of the upper claw <NUM> and the lower claw <NUM> is pivotably connected to the distal clevis <NUM> via a second bolt <NUM>, such that grip and yaw of the wrist mechanism <NUM> are realized through rotation of the claws <NUM>, <NUM> relative to the distal clevis <NUM>. In some embodiments, the second bolt <NUM> is perpendicular to the first bolt <NUM>. Alternatively, the second bolt <NUM> may not be perpendicular to the first bolt <NUM> as desired.

The first cable <NUM> and the second cable <NUM> are attached to the lower claw <NUM> of the effector <NUM> and each are wound at least half a turn. The third cable <NUM> and the fourth cable <NUM> are attached to the upper claw <NUM> of the effector <NUM> and each are wound at least half a turn. The first cable <NUM>, the second cable <NUM>, the third cable <NUM>, and the fourth cable <NUM> are extended along hard surfaces of guide passages (not shown) defined by the effector <NUM>, the distal clevis <NUM>, and the proximal clevis <NUM>, and then reach the rear-end transmission device <NUM> along the main shaft <NUM>. The guide passage may be a groove having a U-shaped or semicircular cross section.

Continuing with reference to <FIG>, by pulling in the third cable <NUM> and the fourth cable <NUM> in equal lengths while releasing the first cable <NUM> and the second cable <NUM> in equal lengths, the distal clevis <NUM> is rotated clockwise around the first bolt <NUM> relative to the proximal clevis <NUM>, to achieve pitch of the wrist mechanism <NUM> in a direction (referring to <FIG>). Similarly, by pulling in the first cable <NUM> and the second cable <NUM> in equal lengths while releasing the third cable <NUM> and the fourth cable <NUM> in equal lengths, the distal clevis <NUM> is rotated counterclockwise around the first bolt <NUM> relative to the proximal clevis <NUM>, to achieve pitch of the wrist mechanism <NUM> in a reverse direction.

The upper claw <NUM> is rotated clockwise around the second bolt <NUM> relative to the distal clevis <NUM> by pulling in the fourth cable <NUM> and releasing the third cable <NUM> concurrently in equal lengths (referring to yaw <NUM> in <FIG>). Similarly, the upper claw <NUM> is rotated counterclockwise around the second bolt <NUM> relative to the distal clevis <NUM> by pulling in the third cable <NUM> and releasing the fourth cable <NUM> concurrently in equal lengths. The lower claw <NUM> is rotated clockwise around the second bolt <NUM> relative to the distal clevis <NUM> by pulling in the second cable <NUM> and releasing the first cable <NUM> concurrently in equal lengths (referring to yaw <NUM> in <FIG>). Similarly, the lower claw <NUM> is rotated counterclockwise around the second bolt <NUM> relative to the distal clevis <NUM> by pulling in the first cable <NUM> and releasing the second cable <NUM> concurrently in equal lengths. The effector <NUM> can achieve yaw and grip through aggregate motion of the upper claw <NUM> and the lower claw <NUM>, which is described in detail below.

As shown in <FIG>, the rear-end transmission device <NUM> mainly includes a first rotating member <NUM>, a second rotating member <NUM>, a first pulley assembly, a second pulley assembly, a position adjusting assembly, a first rotating shaft <NUM>, a second rotating shaft <NUM>, and a third rotating shaft <NUM>. Each of the first rotating shaft <NUM>, the second rotating shaft <NUM>, and the third rotating shaft <NUM> is connected to a respective driving motor at a respective docking port of the robotic arm <NUM>. The robotic arm <NUM> may be provided with at least three driving motors each being mounted to a respective docking port. The three driving motors are connected to the first rotating shaft <NUM>, the second rotating shaft <NUM>, and the third rotating shaft <NUM>, respectively. The first rotating shaft <NUM>, the second rotating shaft <NUM>, and the third rotating shaft <NUM> are arranged parallel to each other. The first rotating shaft <NUM>, the second rotating shaft <NUM>, and the third rotating shaft <NUM> are arranged at three tips of a substantial triangle. It shall be understood that there is no restriction on arrangement of the first rotating shaft <NUM>, the second rotating shaft <NUM>, and the third rotating shaft <NUM>. The first rotating shaft <NUM>, the second rotating shaft <NUM>, and the third rotating shaft <NUM> may also be arranged in a straight line as required. The position adjusting assembly further includes a third rotating member <NUM>. The first rotating shaft <NUM> is fixedly connected to the first rotating member <NUM> to drive rotation of the first rotating member <NUM>. The second rotating shaft <NUM> is fixedly connected to the second rotating member <NUM> to drive rotation of the second rotating member <NUM>. The third rotating shaft <NUM> is fixedly connected to the third rotating member <NUM>, to drive rotation of the third rotating member <NUM>.

The first rotating member <NUM> is connected to the first cable <NUM> and the second cable <NUM>. The first cable <NUM> and the second cable <NUM> wrap around the first rotating member <NUM> in opposite directions. The second rotating member <NUM> is connected to the third cable <NUM> and the fourth cable <NUM>. The third cable <NUM> and the fourth cable <NUM> wrap around the second rotating member <NUM> in opposite directions. In embodiments of the disclosure, each of the first rotating member <NUM> and the second rotating member <NUM> is a winch.

The first pulley assembly includes a first guide pulley <NUM>, a first movable pulley <NUM>, and a third guide pulley <NUM>. Each of the first cable <NUM> and the second cable <NUM> extends from the first rotating member <NUM> and rides on the first guide pulley <NUM>, the first movable pulley <NUM>, and the third guide pulley <NUM> sequentially. The first rotating member <NUM> is rotatable around a first central axis A1 of the first rotating member <NUM> to be able to perform via the first pulley assembly: pulling in one of the first cable <NUM> and the second cable <NUM> and releasing the other of the first cable <NUM> and the second cable <NUM> in equal lengths concurrently, to achieve clockwise or counterclockwise rotation of the lower claw <NUM> relative to the distal clevis <NUM> around the second bolt <NUM>. In an embodiment, each of the first guide pulley157, the first movable pulley <NUM>, and the third guide pulley <NUM> is rotatable around a respective axis parallel to the first central axis A1. The axis of the first guide pulley157, the axis of the first movable pulley <NUM>, and the axis of the third guide pulley <NUM> are spaced apart from one another. Each of the first guide pulley <NUM> and the third guide pulley <NUM> is a fixed pulley.

Specifically, during stationary of the first movable pulley <NUM>, when the first rotating shaft <NUM> is controlled by the driving motor to drive the first rotating member <NUM> to rotate counterclockwise, the second cable <NUM> is pulled in for a length and the first cable <NUM> is released for the length concurrently, thereby realizing the clockwise rotation of the lower claw <NUM> relative to the distal clevis <NUM> around the second bolt <NUM> (see yaw <NUM> in <FIG>). During stationary of the first movable pulley <NUM>, when the first rotating shaft <NUM> is controlled by the driving motor to drive the first rotating member <NUM> to rotate clockwise, the first cable <NUM> is pulled in and the second cable <NUM> is released in equal lengths concurrently, thereby realizing the counterclockwise rotation of the lower claw <NUM> relative to the distal clevis <NUM> around the second bolt <NUM>.

The second pulley assembly includes a second guide pulley <NUM>, a second movable pulley <NUM>, and a fourth guide pulley <NUM>. Each of the third cable <NUM> and the fourth cable <NUM> extends from the second rotating member <NUM> and rides on the second guide pulley <NUM>, the second movable pulley <NUM>, and the fourth guide pulley <NUM> sequentially. The second rotating member <NUM> is rotatable around a second central axis A2 of the second rotating member <NUM> to be able to perform via the second pulley assembly: pulling in one of the third cable <NUM> and the fourth cable <NUM> and releasing the other of the third cable <NUM> and the fourth cable <NUM> in equal lengths concurrently, to achieve clockwise or counterclockwise rotation of the upper claw <NUM> relative to the distal clevis <NUM> around the second bolt <NUM>. In an embodiment, the first central axis A1 is parallel to the second central axis A2. Each of the second guide pulley <NUM>, the second movable pulley <NUM>, and the fourth guide pulley <NUM> is rotatable around a respective axis parallel to the second central axis A2. The axis of the second guide pulley <NUM>, the axis of the second movable pulley <NUM>, and the axis of the fourth guide pulley <NUM> are spaced apart from one another. The second guide pulley <NUM> and the fourth guide pulley <NUM> each are a fixed pulley.

Specifically, during stationary of the second movable pulley <NUM>, when the second rotating shaft <NUM> is controlled by the driving motor to drive the second rotating member <NUM> to rotate counterclockwise, the fourth cable <NUM> is pulled in and the third cable <NUM> is released in equal lengths concurrently, so that the upper claw <NUM> rotates clockwise around the second bolt <NUM> with respect to the distal clevis <NUM> (referring to yaw <NUM> in <FIG>). During stationary of the second movable pulley <NUM>, when the second rotating shaft <NUM> is controlled by the driving motor to drive the second rotating member <NUM> to rotate clockwise, the third cable <NUM> is pulled in and the fourth cable <NUM> is released in equal lengths concurrently, so that the upper claw <NUM> rotates counterclockwise around the second bolt <NUM> relative to the distal clevis <NUM>.

In embodiments of the disclosure, by controlling rotation of the first rotating shaft <NUM> and the second rotating shaft <NUM>, yaw and grip of the effector <NUM> can be realized.

Specifically, when both the first rotating shaft <NUM> and the second rotating shaft <NUM> rotate counterclockwise at equal angles, that is, when both the first rotating member <NUM> and the second rotating member <NUM> rotate counterclockwise at equal angles, both the upper claw <NUM> and the lower claw <NUM> rotate clockwise, thereby realizing yaw of the effector <NUM> in a direction (referring to <FIG>). When both the first rotating shaft <NUM> and the second rotating shaft <NUM> rotate clockwise at equal angles, that is, when both the first rotating member <NUM> and the second rotating member <NUM> rotate clockwise at equal angles, both the upper claw <NUM> and the lower claw <NUM> rotate counterclockwise, thereby realizing yaw of the effector <NUM> in a reverse direction.

When the first rotating shaft <NUM> rotates counterclockwise and the second rotating shaft <NUM> rotates clockwise concurrently at equal angles, that is, when the first rotating member <NUM> rotates counterclockwise and the second rotating member <NUM> rotates clockwise concurrently at equal angles, the lower claw <NUM> rotates clockwise and the upper claw <NUM> rotates counterclockwise, to realize grip of the effector <NUM> (referring to <FIG>). When the first rotating shaft <NUM> rotates clockwise and the second rotating shaft <NUM> rotates counterclockwise at equal angles concurrently, that is, when the first rotating member <NUM> rotates clockwise and the second rotating member <NUM> rotates counterclockwise concurrently at equal angles, the lower claw <NUM> rotates counterclockwise and the upper claw <NUM> rotates clockwise, to realize releasing of the grip of the effector <NUM>.

The position adjusting assembly is connected to the first movable pulley <NUM> and the second movable pulley <NUM>, and is configured to concurrently adjust positions of the first movable pulley <NUM> and the second movable pulley <NUM>, so as to pull in the first cable <NUM> and the second cable <NUM> in equal lengths while releasing the third cable <NUM> and the fourth cable <NUM> in equal lengths, or to pull in the third cable <NUM> and the fourth cable <NUM> in equal lengths while releasing the first cable <NUM> and the second cable <NUM> in equal lengths. Therefore, the distal clevis <NUM> rotates counterclockwise or clockwise around the first bolt <NUM> relative to the proximal clevis <NUM> to achieve pitch of the wrist mechanism <NUM>.

As described above, the position adjusting assembly further includes the third rotating member <NUM>. The third rotating member <NUM> is rotatable around a third central axis A3, of the third rotating member <NUM>, parallel to the first central axis A1, to concurrently adjust the positions of the first movable pulley <NUM> and the second movable pulley <NUM>. In embodiments of the disclosure, the third rotating member <NUM> is a winch.

The position adjusting assembly further includes a slider <NUM>. The slider <NUM> may be configured as a strip-shaped plate. The first movable pulley <NUM> and the second movable pulley <NUM> each mounted to the slider <NUM> via a respective rotating shaft, such that each of the first movable pulley <NUM> and the second movable pulley <NUM> is rotatably connected to the slider <NUM>. The first movable pulley <NUM> and the second movable pulley <NUM> are spaced apart from each other and provided on a same side of the slider <NUM>. In an embodiment, the rotating shaft of the first movable pulley <NUM> is parallel to the rotating shaft of the second movable pulley <NUM> and is perpendicular to the slider <NUM>. The third rotating member <NUM> can directly or indirectly adjust a position of the slider <NUM>.

The position adjusting assembly further includes a first transmission cable <NUM>, a second transmission cable <NUM>, a fifth guide pulley <NUM>, and a sixth guide pulley <NUM>. The first transmission cable <NUM> rides on the fifth guide pulley <NUM>, and the second transmission cable <NUM> rides on the sixth guide pulley <NUM>. The first transmission cable <NUM> and the second transmission cable <NUM> each have one end connected to the third rotating member <NUM> and wrap around the third rotating member <NUM> in opposite directions. The first transmission cable <NUM> has the other end connected to one end of two opposite ends of the slider <NUM>, and the second transmission cable <NUM> has the other end connected to the other end of the two opposite of the slider <NUM>. In an embodiment, each of the fifth guide pulley <NUM> and the sixth guide pulley <NUM> is rotatable around a respective axis parallel to the third central axis A3, and the axis of the fifth guide pulley <NUM> and the axis of the sixth guide pulley <NUM> are spaced apart from each other. The fifth guide pulley <NUM> and the sixth guide pulley <NUM> each may be a fixed pulley.

The fifth guide pulley <NUM> and the sixth guide pulley <NUM> serve as guides for the cables, such that a portion of the first transmission cable <NUM> located between the fifth guide pulley <NUM> and the slider <NUM> is parallel to a portion of the second transmission cable <NUM> located between the sixth guide pulley <NUM> and the slider <NUM> and parallel to a moving direction of the slider <NUM>. The arrows in <FIG> show moving directions D1 and D2 of the slider <NUM>, where the moving direction D2 is opposite to the moving direction D1. In an embodiment, the moving directions D1 and D2 of the slider <NUM> are horizontal. It shall be understood that the moving direction of the slider <NUM> may be selected as required. For example, the moving directions D1 and D2 of the slider <NUM> may also be vertical or may also be at an angle with the horizontal.

In one embodiment, the portion of the first transmission cable <NUM> located between the fifth guide pulley <NUM> and the slider <NUM> and the portion of the second transmission cable <NUM> located between the sixth guide pulley <NUM> and the slider <NUM> are arranged in a same straight line. It shall be understood that additional guide pulleys may be employed as needed to guide the first transmission cable <NUM> and the second transmission cable <NUM>.

Furthermore, in an embodiment, the first guide pulley <NUM> and the third guide pulley <NUM> are configured to guide the first cable <NUM> and the second cable <NUM>, such that a portion of each respective cable of the first cable <NUM> and the second cable <NUM> located between the first guide pulley <NUM> and the first movable pulley <NUM> is parallel to a portion of the respective cable of the first cable <NUM> and the second cable <NUM> located between the first movable pulley <NUM> and the third guide pulley <NUM>. The second guide pulley <NUM> and the second movable pulley <NUM> are configured to guide the third cable <NUM> and the fourth cable <NUM>, so that a portion of each respective cable of the third cable <NUM> and the fourth cable <NUM> located between the second guide pulley <NUM> and the second movable pulley <NUM> is parallel to a portion of the respective cable of the third cable <NUM> and the fourth cable <NUM> located between the second movable pulley <NUM> and the fourth guide pulley <NUM>. Therefore, when the first movable pulley <NUM> and the second movable pulley <NUM> move with the slider <NUM>, the first cable <NUM>, the second cable <NUM>, the third cable <NUM>, and the fourth cable <NUM> apply no additional force and torque to the slider <NUM> except the forces in the moving direction of the slider <NUM> and the torques caused by the forces. It shall be understood that additional guide pulleys may be employed as needed to guide the first cable <NUM>, the second cable <NUM>, the third cable <NUM>, and the fourth cable <NUM>.

Specifically, when the third rotating shaft <NUM> is controlled by the driving motor to drive the third rotating member <NUM> to rotate counterclockwise, the first transmission cable <NUM> is pulled in and the second transmission cable <NUM> is released in equal lengths concurrently, to pull the slider <NUM>, the first movable pulley <NUM>, and the second movable pulley <NUM> to move in the direction D1. Therefore, the first cable <NUM> and the second cable <NUM> are released in equal lengths and the third cable <NUM> and the fourth cable <NUM> are pulled in in equal lengths concurrently, where a total length of released portions of the first cable and the second cable is equal to a total length of pulled-in portions of the third cable and the fourth cable, thereby realizing the pitch of the wrist mechanism <NUM> in a direction. Similarly, when the third rotating shaft <NUM> is controlled by the driving motor to drive the third rotating member <NUM> to rotate clockwise, the first transmission cable <NUM> is released and the second transmission cable <NUM> is pulled in in equal lengths concurrently, to pull in the slider <NUM>, the first movable pulley <NUM>, and the second movable pulley <NUM> to move in the direction D2. Therefore, the first cable <NUM> and the second cable <NUM> are pulled in in equal lengths and the third cable <NUM> and the fourth cable <NUM> are released in equal lengths concurrently, where a total length of pulled-in portions of the first cable and the second cable is equal to a total length of released portions of the third cable and the fourth cable, thereby realizing the pitch of the wrist mechanism <NUM> in a reverse direction.

The rear-end transmission device of the surgical robot according to the second embodiment of the present disclosure will be described in detail below with reference to <FIG> and <FIG>. The rear-end transmission device according to the second embodiment has substantially the same structure as the rear-end transmission device150 according to the first embodiment, in which structures having the same or similar functions are given similar reference numerals.

Similar to the first embodiment, as shown in <FIG> and <FIG>, the rear-end transmission device of the second embodiment also includes a first rotating member <NUM>, a second rotating member <NUM>, a first pulley assembly, a second pulley assembly, a position adjusting assembly, a first rotating shaft <NUM>, a second rotating shaft <NUM>, and a third rotating shaft <NUM>. The first pulley assembly also includes a first guide pulley <NUM>, a first movable pulley <NUM>, and a third guide pulley <NUM>. The second pulley assembly also includes a second guide pulley <NUM>, a second movable pulley <NUM>, and a fourth guide pulley (e.g., fixed pulley) <NUM>. The position adjusting assembly also includes a third rotating member <NUM>. Details of those may be referred to the above description of the first embodiment and will not be repeated hereafter for the sake of brevity.

The rear-end transmission device includes a chassis <NUM>. Each of the first rotating shaft <NUM>, the second rotating shaft <NUM>, and the third rotating shaft <NUM> is rotatably mounted to the chassis <NUM>. The first pulley assembly, the second pulley assembly, and the position adjusting assembly are mounted to the chassis <NUM>. The chassis <NUM> has at least one interface, and each of the at least one interface corresponds to a respective port of the robotic arm, which may ensure that each of the first rotating shaft <NUM>, the second rotating shaft <NUM>, and the third rotating shaft <NUM> can be stably connected to the driving motor at a corresponding docking port of the robotic arm when the medical device is properly mounted, so as to realize the transmission of rotational motion.

Different from the first embodiment, in the second embodiment, the position adjusting assembly further includes a first transmission cable <NUM>, a second transmission cable <NUM>, and a rotating assembly <NUM>. The first transmission cable <NUM> and the second transmission cable <NUM> each have one end connected to the third rotating member <NUM> and have the other end connected to the rotating assembly <NUM>. The first transmission cable <NUM> and the second transmission cable <NUM> wrap around the third rotating member <NUM> in opposite directions, and wrap around the rotating assembly <NUM> in opposite directions. The rotating assembly <NUM> can be meshed with the slider <NUM>, and the slider <NUM> is linearly movable with a rotation of the rotating assembly <NUM>. The arrows in <FIG> show moving directions D3 and D4 of the slider <NUM>, where the direction D4 is opposite to the direction D3. In an embodiment, the moving directions D3 and D4 of the slider <NUM> are horizontal. It shall be understood that the moving direction of the slider <NUM> may be selected as desired. For example, the moving directions D3 and D4 of the slider <NUM> may also be vertical or may also be at an angle to the horizontal.

Specifically, the rotating assembly <NUM> is rotatable around an axis parallel to the third central axis A3. The rotating assembly <NUM> includes a gear <NUM> and a pulley <NUM> that is synchronously rotated with the gear <NUM>. The other end of the first transmission cable <NUM> and the other end of the second transmission cable <NUM> are connected to the pulley <NUM>, respectively. The first transmission cable <NUM> and the second transmission cable <NUM> wrap around the pulley <NUM> in opposite directions. The slider <NUM> is a rack meshed with the gear <NUM>.

When the third rotating shaft <NUM> is controlled by the driving motor to drive the third rotating member <NUM> to rotate counterclockwise, the first transmission cable <NUM> is pulled in and the second transmission cable <NUM> is released in equal lengths concurrently, to pull the slider <NUM>, the first movable pulley <NUM>, and the second movable pulley <NUM> to move in the direction D3. Therefore, the first cable <NUM> and the second cable <NUM> are released in equal lengths and the third cable <NUM> and the fourth cable <NUM> are pulled in in equal lengths concurrently, where a total length of released portions of the first cable and the second cable is equal to a total length of pulled-in portions of the third cable and the fourth cable, thereby realizing pitch of the wrist mechanism in a direction. Similarly, when the third rotating shaft <NUM> is controlled by the driving motor to drive the third rotating member <NUM> to rotate clockwise, the first transmission cable <NUM> is released and the second transmission cable <NUM> is pulled in in equal lengths concurrently, to pull the slider <NUM>, the first movable pulley <NUM>, and the second movable pulley <NUM> to move in the direction D4. Therefore, the first cable <NUM> and the second cable <NUM> are pulled in in equal lengths and the third cable <NUM> and the fourth cable <NUM> are released in equal lengths concurrently, where a total length of pulled-in portions of the first cable and the second cable is equal to a total length of released portions of the third cable and the fourth cable, thereby realizing the pitch of the wrist mechanism in a reverse direction.

The rear-end transmission device of the surgical robot according to the third embodiment of the present disclosure will be described in detail below with reference to <FIG>. The rear-end transmission device according to the third embodiment has substantially the same structure as the rear-end transmission device according to the second embodiment, in which structures having the same or similar functions are given similar reference numerals.

Similar to the second embodiment, as shown in <FIG>, the rear-end transmission device of the third embodiment also includes a first rotating member <NUM>, a second rotating member <NUM>, a first pulley assembly, a second pulley assembly, a position adjusting assembly, a first rotating shaft <NUM>, a second rotating shaft <NUM>, and a third rotating shaft <NUM>. The position adjusting assembly also includes a third rotating member <NUM>. Details of those may also be referred to the above description of the first and the second embodiments and will not be elaborated hereafter for the sake of brevity.

Different from the second embodiment, the first pulley assembly of the third embodiment includes a first guide pulley <NUM> and a first movable pulley <NUM>. Each of a first cable <NUM> and a second cable <NUM> extends from the first rotating member <NUM> and rides on the first guide pulley <NUM> and the first movable pulley <NUM> sequentially. The second pulley assembly includes a second guide pulley <NUM> and a second movable pulley <NUM>. Each of a third cable <NUM> and a fourth cable <NUM> extends from the second rotating member <NUM> and rides on the second guide pulley <NUM> and the second movable pulley <NUM> sequentially.

In the embodiments of the disclosure, the position adjusting assembly includes a pair of sliders <NUM> arranged in parallel and spaced apart from each other. Each of the first movable pulley <NUM> and the second movable pulley <NUM> is rotatably connected to a respective one of the pair of sliders <NUM>. A rotating assembly <NUM> is provided and disposed between the pair of sliders <NUM> and is meshed with the pair of sliders <NUM> in such a way that the pair of sliders <NUM> can move in opposite directions. Arrows in <FIG> show moving directions D5 and D6 of each of the sliders <NUM>, where the direction D6 is opposite to the direction D5. In an embodiment, the moving directions D5 and D6 of the slider <NUM> are horizontal. It shall be understood that the moving direction of the slider <NUM> may be selected as required. For example, the moving directions D5 and D6 of the slider <NUM> may also be vertical or may also be at an angle to the horizontal.

When the third rotating shaft <NUM> is controlled by the driving motor to drive the third rotating member <NUM> to rotate counterclockwise, the first transmission cable <NUM> is pulled in and the second transmission cable <NUM> is released in equal lengths concurrently, so that one slider <NUM> on which the first movable pulley <NUM> is disposed is moved in the direction D5, and the other slider <NUM> on which the second movable pulley <NUM> is disposed is moved in the direction D6. Therefore, the first cable <NUM> and the second cable <NUM> are released in equal lengths and the third cable <NUM> and the fourth cable <NUM> are pulled in in equal lengths concurrently, where a total length of released portions of the first cable and the second cable is equal to a total length of pulled-in portions of the third cable and the fourth cable, thereby realizing pitch of the wrist mechanism in a direction. Similarly, when the third rotating shaft <NUM> is controlled by the driving motor to drive the third rotating member <NUM> to rotate clockwise, the first transmission cable <NUM> is released and the second transmission cable <NUM> is pulled in in equal lengths concurrently, so that the one slider <NUM> on which the first movable pulley <NUM> is disposed is moved in the direction D6, and the other slider <NUM> on which the second movable pulley <NUM> is disposed is moved in the direction D5. Therefore, the first cable <NUM> and the second cable <NUM> are pulled in in equal lengths and the third cable <NUM> and the fourth cable <NUM> are released in equal lengths concurrently, where a total length of pulled-in portions of the first cable and the second cable is equal to a total length of released portions of the third cable and the fourth cable, thereby realizing pitch of the wrist mechanism in a reverse direction.

According to embodiments of the present disclosure, the rear-end transmission device is connected to four driving cables (i.e., the first cable, the second cable, the third cable, and the fourth cable) of the wrist mechanism, such that the wrist mechanism works cooperatively with the rear-end transmission device, to achieve pitch, yaw, and grip of the wrist mechanism by pulling in or releasing the driving cables. The rotation of the lower claw and the upper claw, i.e., the yaw and the grip of the effector of the wrist mechanism, can be realized by reversely driving the two driving cables (i.e., the first cable and the second cable) connected to the lower claw of the effector of the wrist mechanism in equal lengths and reversely driving the two driving cables (i.e., the third cable and the fourth cable) connected to the upper claw in equal lengths. The pitch of the wrist mechanism can be realized by reversely driving the two driving cables (i.e., pulling in or releasing the first cable and the second cable concurrently) connected to the lower claw and the two driving cables (i.e., releasing or pulling in the third cable and the fourth cable concurrently) connected to the upper claw respectively in equal lengths. The linear-combination driving is realized by means of a plurality of movable pulleys (i.e., the first movable pulley and the second movable pulley), three driving shafts (i.e., the first rotating shaft, the second rotating shaft, and the third rotating shaft), and three rotating members (i.e., the first rotating member, the second rotating member, and the third rotating member), which is accurate in transmission. Furthermore, a rotation angle of the rotating member is linearly related to a pitch angle, a yaw angle, and a grip angle of the wrist mechanism respectively, and therefore, equal-length release and/or pulling-in of the driving cables can be ensured even when the above-mentioned angles of the wrist mechanism vary in a wide range.

Claim 1:
A rear-end transmission device (<NUM>) for a robotic surgical manipulator, comprising:
a first rotating member (<NUM>) connected to a first cable (<NUM>) and a second cable (<NUM>), wherein the first cable (<NUM>) and the second cable (<NUM>) wrap around the first rotating member (<NUM>) in opposite directions;
a second rotating member (<NUM>) connected to a third cable (<NUM>) and a fourth cable (<NUM>), wherein the third cable (<NUM>) and the fourth cable (<NUM>) wrap around the second rotating member (<NUM>) in opposite directions;
a first pulley assembly including a first movable pulley (<NUM>), wherein each of the first cable (<NUM>) and the second cable (<NUM>) extends from the first rotating member (<NUM>) and rides on the first movable pulley (<NUM>);
a second pulley assembly including a second movable pulley (<NUM>), wherein each of the third cable (<NUM>) and the fourth cable (<NUM>) extends from the second rotating member (<NUM>) and rides on the second movable pulley (<NUM>); and characterized by comprising:
a position adjusting assembly comprising two sliders (<NUM>) disposed in parallel and a rotating assembly (<NUM>) disposed between the two sliders (<NUM>) and meshing both the two sliders (<NUM>), wherein each of the first movable pulley (<NUM>) and the second movable pulley (<NUM>) is rotatably connected to a respective one of the two sliders (<NUM>);
wherein with a rotation of the rotating assembly (<NUM>), the two sliders (<NUM>) move linearly in opposite directions to concurrently adjust positions of the first movable pulley (<NUM>) and the second movable pulley (<NUM>), to pull in the first cable (<NUM>) and the second cable (<NUM>) while releasing the third cable (<NUM>) and the fourth cable (<NUM>), or to pull in the third cable (<NUM>) and the fourth cable (<NUM>) while releasing the first cable (<NUM>) and the second cable (<NUM>).