CN110772334B

CN110772334B - Surgical instrument

Info

Publication number: CN110772334B
Application number: CN201910338545.6A
Authority: CN
Inventors: 王建辰; 高元倩; 徐桂银; 姚雪峰; 李由
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2019-04-25
Filing date: 2019-04-25
Publication date: 2023-11-10
Anticipated expiration: 2039-04-25
Also published as: CN110772334A

Abstract

A surgical instrument, comprising: the device comprises an end instrument, a connecting component and an end driving part, wherein the connecting component is connected with the end instrument; the terminal driving part is provided with a soft rod and a driving wire, the driving wire penetrates through the soft rod and is connected with the terminal instrument, and the soft rod is provided with a bending opening to assist the soft rod to bend.

Description

Surgical instrument

Technical Field

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

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, surgical instruments for minimally invasive surgery are becoming mature and widely used. Current surgical instruments typically have a linkage assembly that adjusts the pose and position of the end instrument during surgery by bending and moving the linkage assembly to adjust the pose and position of the end instrument to cause the end instrument to perform a surgical procedure at a desired location. Because the connection assembly is required to be bent frequently during the operation, the driving of the end instrument becomes a design difficulty in the operation instrument, and a better solution is required to solve the driving problem of the end instrument.

Disclosure of Invention

Based on this, it is necessary to provide a surgical instrument with better driving performance.

A surgical instrument, comprising:

a distal instrument;

a connection assembly connected to the end instrument;

the tail end driving part is provided with a soft rod and a driving wire, the driving wire penetrates through the soft rod and is connected with the tail end instrument, and the soft rod is provided with a bending opening to assist the soft rod to bend.

Drawings

FIG. 1 is a schematic view of a configuration of an embodiment of a surgical robot;

FIGS. 2 and 3 are partial schematic views of various embodiments of a surgical robot;

FIG. 4 is a schematic view of an embodiment of a surgical instrument;

FIGS. 5-32 and 34 are partial schematic views of various embodiments of a surgical instrument;

fig. 33 is a partial enlarged view at fig. 32A.

Detailed Description

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment. The terms "distal" and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the procedure that is distal to the operator and "proximal" refers to the end of the procedure that is proximal to the operator.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1, the surgical robot includes a master console 1 and a slave operating device 2. Wherein the master console 1 is used for transmitting control commands to the slave operation device 2 according to the operation of a doctor to control the slave operation device 2, and is also used for displaying images acquired by the slave operation device 2. The slave operation device 2 is used for responding to a control command sent from the master operation panel 1 and performing a corresponding operation, and the slave operation device 2 is also used for acquiring an in-vivo image.

The slave operation device 2 includes a robot arm 21, a power mechanism 22 provided on the robot arm 21, a surgical instrument 23 provided on the power mechanism 22, and a sleeve 24 that houses the surgical instrument 23. The robotic arm 21 is used to adjust the position of the surgical instrument 23; the power mechanism 22 is used for driving the surgical instrument 23 to perform corresponding operation; the surgical instrument 23 is configured to extend into the body and perform surgical procedures and/or acquire in-vivo images via its distal instrument located distally. Specifically, as shown in fig. 2 and 3, the surgical instrument 23 is inserted through the cannula 24, and the distal instrument 100 thereof is extended out of the cannula 24 and driven to perform an operation by the power mechanism 22. In fig. 2, the region of the surgical device 23 within the cannula 24 is a rigid region; in fig. 3, the region of the surgical device 23 within the cannula 24 is a flexible region, with which the cannula bends. The sleeve 24 may also be omitted.

As shown in fig. 4 and 5, the surgical instrument 23 includes: the distal instrument 100, the connection assembly 200, the linkage rod 300, the drive housing 400, and the distal drive 500. The end instrument 100, the connection assembly 200, the link 300, and the driving housing 400 are sequentially connected, and the end driving part 500 is partially disposed in the driving housing and connected to the end instrument 100 for driving the end instrument to perform a surgical operation, for example, driving the end instrument to open and close when the end instrument is a holder. Other embodiments may omit the connecting rod and drive housing.

The connection assembly 200 includes a plurality of connection units 210 connected in sequence. The plurality of connecting units can be directly connected, for example, the connecting units are provided with connecting shafts, and two adjacent connecting units are rotationally connected through the connecting shafts; it may also be connected to each other by other components, for example, a plurality of connection units connected to each other by connection unit driving wires for driving the connection components 200. The specifications and structures of the plurality of connection units may be the same or different. In other embodiments, the connection assembly may have other structures.

The distal driving part 500 includes a flexible shaft 510 and a driving wire 520 penetrating the flexible shaft 510, the driving wire 520 being connected to the distal instrument 100 for driving the distal instrument 100, the flexible shaft 510 being used for restricting movement of the driving wire 520. The rigidity of the driving wire is larger than that of the soft rod, the driving wire can be bent along with the connecting assembly, and the clamping jaw can be driven to open and close. For example 65N/mm stiffness. When the driving wire moves in the direction from the proximal end to the distal end to drive the terminal instrument, the soft rod can limit the bending of the terminal instrument, so that the terminal instrument can move more accurately. The friction coefficient between the driving wire and the soft rod is smaller than that between the driving wire and the connecting component, so that the driving wire is directly arranged in the connecting component without the soft rod, the soft rod can reduce friction during driving, the service life of the driving wire is prolonged, and the driving accuracy is further improved.

In one embodiment, the soft rod 510 is located in the axial region of the connection assembly 200 and extends along the connection assembly 200. I.e. the flexible rod is located in the middle region of the connection assembly and extends along the connection assembly. The soft rod 510 and the connecting assembly 200 have a gap therebetween, so that the soft rod 510 can swing relative to the connecting assembly 200, and friction therebetween is reduced. For example, the gap is 0.1 to 3mm; for another example, the gap is 0.2mm. In other embodiments, the soft rod 510 may not be located in the middle region of the connection assembly 200, e.g., the soft rod may be located in the edge region of the connection assembly and extend along the connection assembly. For example, the connecting unit may be provided with a plurality of receiving holes at intervals, and the flexible rod is located in one of the receiving holes, so that the flexible rod can be selectively installed according to the requirement.

As shown in fig. 6, the soft rod 510 is provided with a threading hole 511, and the driving wire 520 is threaded through the threading hole 511. In one embodiment, the threading hole 511 is located in the axial region of the soft rod 510 and extends along the soft rod 510, i.e., the driving wire 520 is located in the middle region of the soft rod 510. In other embodiments, the threading aperture may be located in other areas, for example, where the threading aperture is located adjacent to the axis of the flexible shaft 510 and extends along the flexible shaft 510, i.e., where the drive wire 520 is offset from the central area of the flexible shaft 510. For another example, a plurality of threading holes are provided at intervals, and the driving wire 520 is positioned in one or a part of the threading holes. Wherein, a gap is arranged between the driving wire 520 and the inner wall of the threading hole. For example, the gap is 0.05 to 0.5mm; for another example, the gap is 0.2mm.

In one embodiment, the flexible shaft 510 extends through the connection assembly 200 with at least one end being a free end. The free end refers to an end part of which the end direction can be changed according to the stress condition, so that when the soft rod 510 is stressed and bent, the deformation of the soft rod 510 can be reduced, the position of the driving wire 520 penetrating through the soft rod 510 is more accurate, and the driving accuracy of the instrument is further ensured. In the embodiment shown in fig. 6 and 7, the free end is an unfixed end of the flexible rod 510, which is limited in position by a blocking layer 220 on the connection assembly 200, as will be described later. In one embodiment, the free end is an end portion of the flexible rod 510 disposed on the connection unit through a universal structure, so that the free end can change the direction of the end portion according to the stress condition, and the stretching of the flexible rod 510 is reduced. In other embodiments, the free end may be restrained in place by other structures, so long as it is ensured that it reduces deformation when subjected to a force. It should be noted that, in other embodiments, the soft rod may not have a free end, and its ends are all fixedly disposed.

When the soft rod 510 has two ends, it may have either one or both free ends. When the soft rod 510 has a free end, the other end is fixedly disposed, for example, the distal end of the soft rod 510 is a free end, and the proximal end of the soft rod 510 is fixedly coupled to at least one of the connection assembly 200, the link 300, and the driving housing 400. The fixed arrangement can be either non-detachable connection or detachable connection. When having two free ends, the two free ends of the soft rod 510 correspond to and are disposed adjacent to the structures that restrict the positions thereof, respectively. For example, two free ends are respectively disposed corresponding to the two barrier layers 220. For another example, one of the two free ends corresponds to the barrier layer and the other corresponds to the gimbal structure. When the soft rod 510 is a soft rod 510 having a plurality of ends, the number of free ends may be configured according to actual needs, for example, the proximal end of the soft rod 510 has one end, the distal end has two ends, and both ends of the distal end may be free ends.

As shown in fig. 6 and 7, when the free end passes through the blocking layer 220 to limit the position, the connection unit 210 is provided with a receiving hole 211, and the soft rod 510 passes through the receiving hole 211. At least one of the connection units is provided with a blocking layer 220, a blocking portion receiving hole 211 for blocking the free end of the soft rod 510 to limit the displacement of the free end. Wherein a connection unit of the blocking layer 220 is provided, which does not close the receiving hole 211, so that the driving wire 520 can be connected with the end instrument 100 through the receiving hole 211. The blocking layer 220 and the receiving hole 211 form a receiving cavity to receive the free end of the soft rod 510. When the connecting component comprises two connecting units with barrier layers, the two barrier layers and the containing holes of the connecting units between the two barrier layers form a containing cavity to contain the soft rod. The plurality of connection units may have the same or different specifications of the receiving holes.

The barrier layer may have a variety of structures. For example, in the embodiment shown in fig. 6 and 7, the barrier layer 220 is a continuous area, i.e., only the passage of the driving wire 520 is left on the barrier layer 220, and the rest of the receiving hole 211 is closed. As another example, in the embodiment shown in FIG. 8, the barrier layer 220 is a mesh structure, and the drive wires 520 extend from the mesh openings of the mesh structure, or the drive wires 520 extend from the openings formed in the barrier layer. As another example, in the embodiment shown in fig. 9, the surface of the blocking layer 220 for blocking the driving rod is a cambered surface, and at this time, the soft rod 510 may have a cambered surface corresponding to the cambered surface. It should be noted that the barrier layer may be formed integrally with the connection unit, or may be a detachable structure, for example, detachably connected to the connection unit.

The fixing end of the flexible rod 510 may be connected in various manners, as in the embodiment shown in fig. 10, the fixing end of the flexible rod 510 extends to form a clamping edge 512, and the clamping edge 512 is clamped with the connecting component. Specifically, the connection unit 210 is provided with a blocking layer 220, the clamping edge 512 is clamped with the blocking layer 220, and the connection assembly is provided with a blocking cover 230 matched with the blocking layer 220 to be clamped, so that the clamping edge 512 is located between the blocking cover 230 and the blocking layer 220, and further, the end of the soft rod 510 is fixed. In other embodiments, the blocking layer may be omitted, and the clamping edge clamps the edge region of the connecting component. Alternatively, the blocking cover may be omitted, in which case the blocking edge may be snapped through an adjacent structure, for example, through an adjacent connection unit. In other embodiments, the soft rod may be secured by other means, such as adhesive, etc.

In one embodiment, the position of the flexible shaft 510 and the drive wire 520 may also be limited by limiting the position of the central region of the flexible shaft 510. In the embodiment shown in fig. 11, the accommodating hole 211 has a first accommodating hole 211A and a second accommodating hole 211B, and the diameter of the second accommodating hole 211B is smaller than that of the first accommodating hole 211A, so that the gap between the soft rod 510 and the inner wall of the first accommodating hole 211A is larger than the gap between the soft rod and the inner wall of the second accommodating hole 211B. The soft rod can swing relative to the second accommodating hole, namely a larger gap is formed between the soft rod and the second accommodating hole, and the soft rod can move at Kong Nabai, or can be fixed relative to the second accommodating hole, namely no gap or a smaller gap is formed between the soft rod and the second accommodating hole, so that the second soft rod is basically fixed relative to the second accommodating hole, or the soft rod and the connecting assembly are mutually fixed through a fixing structure. When the soft rod is basically fixed relative to the second accommodating hole, the connecting unit provided with the second accommodating hole can be of a splicing structure so as to facilitate the installation of the soft rod. The second accommodating hole can reduce the swing of the soft rod, so that the control of the terminal instrument is more accurate.

When the connecting assembly is provided with a plurality of second accommodating holes, the plurality of second accommodating holes are arranged at intervals, namely, at most one of the two adjacent connecting units is provided with the second accommodating holes. This reduces the deformation of the soft rod during bending. It should be noted that the second receiving hole may be located in a middle region of the soft rod, or may be located at a proximal end or a distal end of the soft rod.

It should be noted that, the position of the soft rod may be limited by making different areas of the soft rod have different sizes so that the gaps between the different areas and the accommodating holes of the same specification are different. Alternatively, the gap between the soft rod and the accommodating hole is adjusted by the size of the soft rod and the size of the accommodating hole. The gap distribution between the soft rod and the receiving hole may be the same as in the above embodiment, and will not be repeated here. In addition, the connecting component can swing according to the stress condition like the free end without limiting the swing of the middle area of the soft rod, so that the deformation of the soft rod during bending can be reduced.

In the embodiment shown in fig. 4 to 16, a gap 240 is provided between two adjacent connection units 210 of the connection assembly 200, so that the connection units can move relative to each other, and the soft rod 510 covers at least a portion of the gap 240 in the connection assembly 200. When the soft rod 510 covers the gap 240, the soft rod 510 can limit the bending of the driving wire 520 in the gap area, thereby reducing the bending of the driving wire 520 and making the driving precision better.

The soft rod may cover either each void in the connection assembly or only a portion of the void in the connection assembly. When covering only a part of the voids in the connection assembly, the covered voids of the connection assembly are substantially evenly distributed along the connection assembly or the voids between the connection units having a relatively large movement are covered, so that bending of the driving wire can be minimized. In one embodiment, the uncovered interspace is arranged at a distance from the covered interspace, wherein the two covered interspaces can have either one uncovered interspace or a plurality of uncovered interspaces. It should be noted that the connection units in the connection assembly may also be structurally different, for example, there is no gap between some of the connection units.

The covered gaps can be either closed by the soft bars, i.e. the gaps are covered, or partially closed by the soft bars, i.e. the gaps are not covered entirely by the soft bars. When the gap is covered by the soft rod portion, it can limit bending of the drive wire, and in one embodiment, the height of the area where the gap is not closed is 1-4 mm.

In the embodiment shown in fig. 12, the soft rod 510 is located in the region of the gap 240, and is not accommodated in the accommodating hole 211, but only the bending of the driving wire 520 is blocked at the gap. At this time, the diameter of the receiving hole is set according to the driving wire 520, which may be slightly larger than the diameter of the driving wire 520 to limit the bending of the driving wire 520, or may leave a larger moving space for the driving wire 520 to reduce friction. The soft rods 510 may be multiple, and are disposed on the corresponding connection units and cover the corresponding gaps.

The flexible rod may also be threaded through at least part of the connection unit. In the embodiment shown in fig. 13, the soft rod 510 is accommodated in the accommodating hole 211 and covers the gap 240, wherein at least one end of the soft rod 510 is accommodated in the connecting unit 210 forming the gap, i.e. the end of the soft rod 510 is not in the gap region. For example, both end portions of the soft lever are correspondingly accommodated in the accommodating hole of the connecting unit forming the gap. In other embodiments, the soft rod may also be threaded through the complete connection units, for example, the soft rod is threaded through three connection units sequentially arranged. For another example, the soft rod is threaded through a connection unit, and a portion of the soft rod is threaded through a connection unit adjacent to the connection unit. In other embodiments, the ends of the soft rod may also be located in the void region, e.g., the free ends of the soft rod are located in the void region. The position limiting manner and the fixing manner of the soft rod can refer to the above embodiments, and will not be repeated here.

In the embodiment shown in fig. 14, a plurality of soft rods 510 are provided, the plurality of soft rods 510 are sequentially arranged along the extending direction of the connection assembly 200, and the driving wires 520 sequentially penetrate the plurality of soft rods 510. Wherein the plurality of soft rods 510 are spaced apart from each other, i.e., the ends of the plurality of soft rods 510 are not connected to each other, and the ends of adjacent two soft rods 510 do not interfere with each other when they rotate with the connection assembly 200. When the connection assembly 200 is bent, the plurality of soft rods 510 are less deformed than one soft rod 510, thereby making the control more accurate.

In this embodiment, the adjacent ends of the two soft rods 510 are located within the connection unit 210. In other embodiments, the critical ends of the two soft rods may be located in the region of the void, e.g., in the same void, and, for example, in different voids.

In one embodiment, each soft rod covers at least one void. For example, each soft rod covers only one void. For another example, each soft rod covers a plurality of voids. Wherein each soft rod can cover the gap completely or partially

In one embodiment, the plurality of soft rods 510 are the same length. In other embodiments, at least two soft rods 510 are different in length. For example, the plurality of soft rods 510 are each different in length. For another example, the soft rod 510 of the often bent portion of the connection assembly 200 is shorter in length and the less bent area is longer in length. As another example, the length of the soft shaft 510 at the distal end is less than the length of the soft shaft 510 at the proximal end.

In an embodiment, the gaps between the plurality of soft rods and the accommodating holes can be set according to requirements. For example, the gaps between at least two soft rods and the corresponding receiving holes are different. For another example, the gaps between the plurality of soft rods and the corresponding receiving holes are the same. The gap specification can be limited by the sizes of different areas of the soft rod and the size of the accommodating hole.

In one embodiment, the cross-sectional specifications of the plurality of soft rods are the same, and at this time, the soft rods have a columnar structure, and the cross-sectional specifications are the same everywhere, wherein the specifications include shapes and sizes, and the cross-section of the soft rod can have various shapes, such as a circle, an ellipse, a triangle, a polygon, and the like. In other embodiments, the cross-sectional specifications of at least two of the soft rods are different. For example, the cross-sectional dimension of the distal soft rod is smaller than the cross-sectional dimension of the proximal soft rod such that the gap between the distal soft rod and the receiving hole is greater than the gap between the proximal soft rod and the receiving hole. For another example, the soft rod of the frequently curved portion of the connection assembly is smaller in size than the soft rod of the less curved region such that the gap between the soft rod of the frequently curved portion and the receiving hole is greater than the gap between the soft rod of the less curved region and the receiving hole. As another example, the cross section of the soft rod includes two sizes with different sized soft rods spaced apart.

The cross-section of the same flexible shaft may also vary in size in different areas, e.g., the cross-sectional dimension of the flexible shaft at the proximal end is smaller than the cross-sectional dimension at the distal end. As another example, the cross-sectional shape of the soft rod in the proximal region is different from the cross-sectional shape in the distal region.

When the cross section specifications of the soft rods are different, the gaps between the soft rods and the accommodating holes are different, the soft rods in the areas with larger gaps are more flexible when bent along with the connecting assembly, and the soft rods can reduce the movement of the soft rods in the accommodating holes when the gaps are smaller, so that the positions of the driving wires are better limited.

The rigidity of the plurality of soft rods can also be set according to the needs. For example, the plurality of soft bars are all the same stiffness. For another example, the stiffness of at least two of the soft rods is different. As another example, soft rods located in areas where the connection assembly is often bent are less stiff and areas where bending is less stiff.

It should be noted that, in other embodiments, the soft rod may be located in the connection unit, which does not cover the gap, or covers a part of the gap. The specific arrangement, structure and connection manner may be the same as those of the above embodiments, and will not be repeated here.

In one embodiment, the soft rod 510 is provided with a bending opening 513 to assist bending of the soft rod 510, so as to further reduce deformation of the soft rod 510 during bending. The bending openings can have various distribution modes. In the embodiment shown in fig. 15, the plurality of bending openings 513 are all located at one side of the center line of the soft rod 510. In the embodiment shown in fig. 16, the bending openings 513 are located on opposite sides of the center line of the soft rod 510. In this embodiment, the bending openings 513 on two sides are staggered along the soft rod 510, and the staggered arrangement means that the bending openings on the first side 11 are between the bending openings on the two second sides 12, where the bending openings on the first side may be disposed adjacent to the bending openings on the two second sides or may be disposed non-adjacent to the bending openings on the two second sides, for example, three bending openings on the first side are disposed between the bending openings on the two second sides, and three bending openings on the first side are sequentially disposed. It should be noted that the bending openings at two sides of the staggered arrangement can be staggered regularly or irregularly. In the embodiment shown in fig. 17, the soft rod 510 has a plurality of bending ports 513, and the plurality of bending ports 513 are distributed along the circumference of the soft rod 510 in the extending direction of the soft rod 510. In the embodiment shown in fig. 18, the plurality of bending openings 513 are distributed stepwise along the extending direction of the soft rod 510.

It should be noted that the bending port may be located in the void area of the connection assembly 200, or may be located in the connection unit of the connection assembly 200, or may be located in part in the void area, or may be located in part in the connection unit.

The bending opening can have various shapes, for example, the bending opening is a strip-shaped opening. For another example, the bending opening is a strip tangent, i.e., the bending opening is a notch on the soft rod 510. For another example, the bending opening is wavy

As shown in fig. 19 to 22, the inner wall of the accommodating hole 211 and/or the soft rod 510 has an abutting area, so that the soft rod 510 is partially abutted with the accommodating hole 211, i.e. when the soft rod and the connecting assembly are all extended along a straight line and the soft rod is located at one side in the connecting assembly, the soft rod is abutted with the accommodating hole through the abutting area, and one side of the soft rod, which is not the accommodating hole, is abutted with the soft rod. In this way, the abutting region makes the partial region of the soft rod 510 abut against the connection assembly 200, reducing the contact area with the connection assembly 200, and further reducing friction.

The abutment region may have various structures, wherein the abutment region may be a cambered surface, a plane, or the like. In the embodiment shown in fig. 19, the receiving hole 211 is a tapered hole, and the contact area is a region with a smaller diameter of the tapered hole. I.e. the abutment region is an open region with a smaller diameter of the tapered bore. It should be noted that the connection unit having the tapered hole may also be used to limit the position of the free end of the soft rod, when one of the opening areas is small, so that the soft rod 510 cannot pass through, the position of the free end of the soft rod is limited. In the embodiment shown in fig. 20, the inner wall of the accommodating hole 211 extends to form a protruding portion, and the abutting region is located on the protruding portion. The number of the protruding parts can be one or a plurality of protruding parts. For example, the plurality of protruding parts are distributed along the periphery of the connecting unit, i.e. along the periphery of the accommodating hole. In the embodiment shown in fig. 21, the accommodating hole 211 is in an hourglass shape, and the raised area of the inner wall is an abutting area. It may also be understood that the accommodating hole 211 is two tapered holes communicating with each other, and the protruding area is an area where the two tapered holes are connected, where the two tapered holes forming the accommodating hole may have the same or different specifications, that is, the protruding area may be located in the middle of the connecting unit or may be located near the edge. In the embodiment shown in fig. 22, the abutting area is disposed on the soft rod 510, specifically, the soft rod 510 is provided with a protrusion to abut against the inner wall of the accommodating hole.

In one embodiment, the contact areas of the connection units are the same, and in other embodiments, the contact areas of at least two connection units may be different.

In the embodiment shown in fig. 23, the end instrument 100 has two clamping portions 110 rotatably connected, wherein the clamping portions 110 have jaws 111, an insulating member 112, and a rotating member 113 sequentially connected, the jaws 111 form an electrode, and the two rotating members 113 are rotatably connected to drive the two jaws 111 to open and close by insulating the rotating member 113 from the insulating member 112. In this way, the jaw 111 is insulated from the rotary member 113 and the connection assembly 200 by the insulating member 112, thereby improving the stability of the surgical instrument. In this embodiment, the jaw 111 and the rotating member 113 are made of metal materials to ensure rigidity; in other embodiments, the rotating member 113 may be made of an insulating material, and in this case, the rotating member 113 is connected to the jaw 111 through the insulating member 112, or the insulating member 112 may be omitted.

It should be noted that the end instrument 100 may have other structures, for example, the insulating member 112 is located between the two rotating members 113 so as to insulate the two rotating members 113 from each other. For another example, the jaw 111 is connected to the rotating member 113, the insulating member 112 is disposed on the body to insulate the jaw 111 from the connecting assembly 200, and the insulating member 112 insulates the two rotating members 113 from each other, wherein the two rotating members 113 are disposed on the body through a rotating shaft to rotate relative to the body, and the connecting assembly is connected to the body. As another example, the clip portion omits an insulator.

In the embodiment shown in fig. 23, jaw 111 extends beyond insulator 112, which extends beyond insulator 112 in a distal direction. In the embodiment shown in fig. 24, the jaws 111 do not protrude in the distal direction beyond the insulating member 112, in particular, the jaws 111 are embedded within the insulating member 112 and have clamping faces 101, the clamping faces 101 of the two jaws being arranged opposite. At this time, the holding surface 101 of the jaw 111 protrudes from the insulating member 112. In other embodiments, the clamping surface 101 of the jaw 111 may also be flush with the surface of the insulator 112 or embedded within the insulator 112. For example, one clamping surface 101 protrudes from the insulator 112 and the other clamping surface 101 is embedded within the insulator 112. For another example, both clamping surfaces 101 are flush with the insulator 112. It should be noted that, when the clamping surface is embedded in the insulating member 112, the embedding degree can still ensure that the two electrodes can be conducted when clamping tissue.

In one embodiment, each jaw 111 forms an electrode, and in the embodiment shown in fig. 25, a plurality of electrodes 102 may be formed on each jaw 111, where the electrodes 102 on two jaws 111 are correspondingly arranged to form a loop when clamping tissue. In this embodiment, the jaws 111 are provided with conductive sheets, which form electrodes, and when one jaw 111 has one electrode, the conductive sheets are one. Alternatively, one electrode may be formed throughout the jaw 111.

As shown in fig. 23 and 24, the insulating member 112 wraps at least two surfaces of the end portions of the jaw 111 and/or the rotating member 113, so that it is firmly connected to the jaw 111 and/or the rotating member 113. Alternatively, jaws 111 and/or rotating member 113 may wrap around at least two surfaces of the distal end of insulating member 112 for secure attachment. Wherein the insulator 112 and the jaw 111 and/or the connector may be connected in a variety of ways, for example, by a connecting structure; for another example, integrally molding; for another example, the insulator 112 is riveted to the jaw 111 and/or the rotor 113. In other embodiments, the insulator 112 may be coupled to only one surface of the jaw 111 and/or the rotator 113.

In the embodiment shown in fig. 23 to 26, the distal instrument 100 further has a body 120, and two rotating members 113 are disposed on the body 120 through rotating shafts to rotate relative to the body 120, wherein the positions of the rotating shafts are fixed relative to the body 120. In this embodiment, the end apparatus 100 further includes a push rod 130 connected to the rotating member 113, where the push rod 130 and the rotating member 113 form a four-bar mechanism, so that the jaw 111 is driven to open and close by driving the push rod 130. The drive wire 520 of the end drive unit 500 is connected to the push rod, and drives the jaw 111 via the push rod.

In other embodiments, the clamping portion 110 may be driven by other structures. Alternatively, the push rod may be omitted, and the driving wire 520 of the end driving part 500 is directly connected to the rotating member 113 to drive the rotation thereof.

In the embodiment shown in fig. 27-29, the surgical instrument further includes an electrocoagulation assembly. Specifically, the electrocoagulation assembly has a wire 610, the distal end of which is electrically connected to the jaws 111 such that the jaws 111 form an electrode; the portion of the wire 610 that is located in the connection assembly 200 is in a relaxed state; the lead has a fixation connection region 611 that is secured to the body and/or the end instrument 100 such that a distal region of the lead is proximate to the end instrument 100. The main body comprises at least one of a connecting component, a connecting rod and a driving shell, for example, the main body comprises the connecting component and the connecting rod; as another example, the body includes a connection assembly and a drive housing. When the fixed connection region of the wire is within the connection assembly, at least one of the regions of the wire within the connection assembly is in a relaxed state. The relaxed state refers to the length of the wires within the connection assembly being greater than the length of the connection assembly when the connection assembly is extended in a straight line; or when the connection assembly is bent, the length of at least one wire positioned in the connection assembly is greater than the length of the wire positioned in the connection assembly when the connection assembly is extended along a straight line, and the tension of the wire is maintained substantially unchanged. For example, the length of the wire in the connecting rod is larger than the length of the connecting rod, and when the connecting assembly is bent, the part of the wire in the connecting rod is moved into the connecting assembly so as to meet the bending requirement of the connecting assembly; for another example, the wire is accommodated by the wire accommodating portion, and the accommodating portion is capable of accommodating the wire, and when the connection assembly is bent, the accommodating portion releases the wire to lengthen a portion of the wire located in the connection assembly. The distal instrument may be an operation instrument such as an electric hook, and in the case of an electric hook, the electric hook is connected to a lead to form an electrode.

The connecting component is in a loose state, so that the wires are not too tight when the connecting component is bent, the operation accuracy of the surgical instrument is improved, and the service life of the surgical instrument is prolonged. The fixed connection region can limit the slack in the wire and thereby avoid excessive slack in the wire in the area of the end instrument.

The fixed connection area can be set as required. In the embodiment shown in fig. 27, the fixed connection region 611 is located in the region of the rotating member 113. The area of the rotating member 113 may be the area of the rotating member 113, the body 130, the rotating shaft, or the like, where the rotating member 113 is located. In this embodiment, the fixed connection region 611 is fixed to a region of the body 130 adjacent to the rotation axis, so that the first distance between the region of the body 130 where the fixed connection region 611 is disposed and the region of the jaw 111 where the distal end is disposed remains substantially unchanged when the clamping portion 110 is opened. In this embodiment, the second distance between the distal end of the wire and the fixed connection area is substantially the same as the first distance, so that the wire is substantially attached to the clamping portion 110, and the wire is prevented from being too loose to affect the operation or bring about potential safety hazard. At this time, since the first distance remains substantially unchanged, it does not cause the wire to pull.

In other embodiments, the fixed connection area of the wire in the area of the rotating member 113 may also be provided on the rotating member 113, for example, in the area of the rotating shaft of the rotating member 113. Alternatively, the fixed connection region may be disposed on the rotating shaft. Alternatively, as shown in fig. 28, the fixed connection area 611 is not located in the area of the rotating shaft, or is also understood to be located in the area corresponding to the rotating shaft, where the second distance needs to be slightly greater than the first distance, so as to leave a space when the clamping portion 110 is opened and closed, so as to avoid tightening the wires.

In other embodiments, the second distance on the wire may be slightly greater than the first distance, for example, the second distance may be 1-3 mm greater than the first distance. At this time, the wire extends along the clamping portion and is in a relaxed state.

The fixed connection region may also be located on the body of the surgical instrument. In one embodiment, the fixed connection region is located at the proximal end of the body and is located closer to the proximal end than the proximal end of the connection assembly 200. As shown in fig. 29, the fixed connection area is provided in the link 300; as another example, the fixed connection area is disposed on the drive housing. In one embodiment, the fixed connection region is disposed on the connection unit at the proximal end of the connection assembly. Thus, the connecting component can not be tightened when being bent, and the proximal end of the lead can not be pulled.

In one embodiment, the fixed connection region may also be disposed on the connection assembly. The fixed connection region divides the conductors within the connection assembly into at least two regions, wherein at least one region is in a relaxed state, e.g., both are in a relaxed state. The fixed connection region is positioned within the connection assembly to reduce displacement of the wire upon deflection of the connection assembly.

The number of the fixed connection areas of the wires can be one or a plurality of. When a plurality of them are provided, they may be provided at the positions in the above-described embodiments. For example, one in the region of the rotary member 113 and one in the linkage 300 or drive housing. For another example, one of them is located in the connecting rod 300 and the rest is located in the connecting assembly 200.

In one embodiment, the clamping portion 110 is provided with a guide member, and the region of the wire on the clamping portion 110 extends along the guide member so that the wire is adjacent to the clamping portion 110. As shown in fig. 30, the guide 114 is provided with a guide hole 103 and an opening 104 communicating with the guide hole 103 so that the wire is accommodated in the guide hole through the opening. In other embodiments, the opening may be omitted, and the wire may be inserted through the guide hole to be received in the guide hole. For another example, the guide member is a guide groove formed in the clamping portion 110, and the wire is received in the guide groove, wherein the guide groove is located on the opposite surface of the clamping portion 110. In other embodiments, the guide grooves may also be located on other surfaces of the clamping portion 110, such as on sides of the clamping portion 110, where a side refers to a surface adjacent to the surface opposite the two clamping portions 110. For another example, the guiding piece includes a guiding groove formed on the clamping portion 110 and a guiding unit matched with the guiding groove for guiding, the wire is accommodated in the guiding groove, and the wire is limited in the guiding groove by the guiding unit. For example, the guiding unit is a stop lever, and the extending direction of the stop lever is not parallel to the extending direction of the guiding groove.

In one embodiment, the wire is threaded through the connector assembly and extends along the connector assembly in the region of the axis of the connector assembly. For example, the wires extend along the axis of the connection assembly. For another example, the wire is disposed adjacent to the axis of the connection assembly. The two wires can pass through the connecting component through one perforation or pass through the connecting component through two perforations.

In an embodiment, the surgical instrument further comprises a wire accommodating rod penetrating through the connecting component, the wire accommodating rod is provided with an accommodating cavity, the wire penetrates through the wire accommodating rod, and the wire is arranged at intervals with the inner wall of the accommodating cavity, namely, a gap is formed. The structure of the receiving rod may be the same as that of the flexible rod in the above embodiments, and is not repeated here for protecting and limiting the wires.

31-34, the distal drive 500 of the surgical instrument has a drive wire 520, a drive assembly 530, and a positioning assembly 540. Drive wire 520 is connected to end instrument 100 by passing through connection assembly 200, which is bendable with connection assembly 200, and drive wire 520 has a drive connection region 521, which is connected to drive assembly 530, at least a portion of drive wire 520 that is located outside of connection assembly 200 being positioned by positioning assembly 540 such that drive assembly drives drive wire 520 in a linear motion to drive end instrument 100. Wherein the rigidity of the driving wire 520 is greater than that of the driving wire 520 of the connecting unit for driving the connecting assembly 200 to bend, and the driving assembly 530 drives the driving wire 520 to move along a straight line, which means that the driving wire 520 at least drives the connecting area 521 to move along the driving assembly 530. The end instrument 100 may be selected as desired, for example having jaws 111, and a drive wire 520 that is opened and closed by advancing the drive jaws 111; for another example, the drive wire 520 is rotated by advancing the distal instrument 100, where the distal instrument 100 may have a worm and gear configuration coupled to the distal end of the drive wire 520.

When the driving wire 520 is pushed towards the distal end direction, the positioning mechanism can limit the driving wire 520, so that errors caused by bending of the driving wire 520 can be reduced, and the operation of the surgical instrument is more accurate.

In an embodiment, when the connection assembly 200 is in the initial state, the moving direction of the driving connection area is the same as the extending direction of the connection assembly 200, wherein the initial position of the connection assembly 200 refers to the state that the connection assembly 200 extends along a straight line and is not bent, and when in the initial state, the driving wire 520 is in a straight line state and the moving direction of the driving connection area is the same. In other embodiments, when the connection assembly 200 is in the initial state, the moving direction of the driving connection area forms an included angle with the extending direction of the connection assembly 200, for example, the included angle is an obtuse angle, and at this time, the area of the driving wire 520 located in the connection assembly 200 is limited in position by the internal structure of the connection assembly 200, for example, the position of the driving wire is limited by the receiving hole 211 on the connection unit. It should be noted that, in one embodiment, the driving wire 520 extends along the axis of the connection assembly 200, that is, the driving wire 520 is located in the middle area of the connection assembly 200, which further improves the operation accuracy.

The positioning assembly may have a variety of configurations. In the embodiment shown in fig. 31, the end driving part 500 has a soft rod 510 penetrating the connection assembly 200, the driving wire 520 penetrates the soft rod 510, and the soft rod 510 extends out of the connection assembly 200, so that the portion of the soft rod 510 extending out of the connection assembly 200 forms the positioning assembly 540, thereby reducing bending of the driving wire 520. In the embodiment shown in fig. 32 and 33, the positioning assembly 540 includes a positioning slot in which the drive wire 520 is positioned and moves along to limit bending thereof by the positioning slot. As shown in fig. 34, the positioning assembly 540 wraps around the drive connection area to avoid bending of the area, and is disposed on the drive assembly and moves with the drive wire 520. The driving connection area can be arranged on the driving assembly through the positioning assembly or can be directly arranged on the driving assembly. In one embodiment, the positioning component is strip-shaped, for example, the length of the positioning component is 5-10 mm. Alternatively, the positioning components can be multiple, and the multiple positioning components are arranged at intervals and distributed along a straight line.

It should be noted that the positioning assembly may also be a combination of the above embodiments, for example, the positioning assembly includes a region where the soft rod 510 extends out of the positioning assembly and a positioning slot, where the soft rod 510 is located in the positioning slot, and the positioning slot positions the driving wire 520 through the soft rod 510.

In one embodiment, the positioning assembly 540 is positioned adjacent to the drive connection area 521 to minimize the distance between the positioning assembly and the connection area, thereby improving accuracy. As shown in fig. 31, the soft rod 510 extension area is disposed adjacent to the connection area 521, and the soft rod 510 extension area does not interfere with the driving assembly 530. For example, when the drive connection region 521 is at the distal limit, it is substantially at the proximal region of the flexible shaft 510, i.e., when the drive assembly moves the connection region to the distal limit, the proximal end of the flexible shaft 510 is substantially coplanar with the edge of the connection region. For another example, when the driving connection region is located at the extreme position in the distal direction, the proximal end of the soft rod 510 is located at the distal end of the driving connection region, and the distance between the two is 3-10 mm. In the embodiment shown in fig. 32, the sidewall of the positioning slot covers the driving connection area when the driving connection area moves, so that the sidewall of one side is located at the limit position of the moving connection area moving to the distal end.

In one embodiment, the drive assembly is a belt drive assembly comprising two pulleys, a belt connecting the two pulleys, and a drive connection region of the drive wire 520 connected to the belt and moving along a straight line with the belt. Wherein, the drive assembly is the synchronizing wheel assembly. In other embodiments, the pulleys may drive the belt in motion by friction. Alternatively, in other embodiments, the driving assembly may have other structures to drive the driving wire 520 to move, for example, the driving assembly is a rack and pinion mechanism, and the driving wire 520 is disposed on a rack.

In one embodiment, the drive wire 520 is welded to the drive assembly, e.g., the drive connection area of the drive wire 520 is welded to the conveyor belt. When the welding area is strip-shaped, it is also understood that the welding area is a positioning assembly, which encloses the drive connection area. In one embodiment, the drive wire 520 may also be disposed on the drive assembly via a connector. For example, the connector is welded to the drive wire. And if the driving wire 520 is clamped with a connecting piece, the connecting piece is arranged on the conveyor belt. Specifically, the driving wire 520 extends to have a clamping edge, the clamping edge is clamped with the connecting piece, wherein the connecting piece is provided with a clamping groove, the clamping edge is clamped with the clamping groove, and the clamping edge is positioned inside the connecting piece. At this point, it is also understood that the positioning assembly includes a connector.

In one embodiment, the distal end of the driving wire 520 is a driving connection region, and the driving assembly is at least partially disposed in the driving housing. In other embodiments, the proximal end of the drive wire may also be the drive connection region, i.e., the drive assembly is disposed at least partially adjacent the distal instrument. Alternatively, the drive connection region may be a region in the middle of the drive wire, not the end regions.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. A surgical instrument, comprising:

a distal instrument;

a connecting assembly having a plurality of sequentially connected connecting units, the connecting units being connected to the end instrument;

the tail end driving part is provided with a soft rod and a driving wire, the soft rod penetrates through the connecting component, the driving wire penetrates through the soft rod and is connected with the tail end instrument, and the soft rod is provided with a bending opening to assist the soft rod to bend;

at least one end part of the soft rod is a free end, the connecting unit is provided with a containing hole, the soft rod penetrates through the containing hole, at least one connecting unit is provided with a blocking layer, and the containing hole is blocked to limit the displacement of the free end.

2. A surgical instrument as recited in claim 1, wherein the plurality of kink openings are located on a side of the centerline of the soft rod.

3. A surgical instrument as recited in claim 1, wherein the plurality of kink openings are located on opposite sides of the centerline of the soft rod.

4. A surgical instrument according to claim 3, wherein the bending ports on both sides are staggered along the flexible shaft.

5. The surgical instrument of claim 1, wherein the plurality of bending ports is a plurality of the bending ports, each bending port is located on one side of the center line of the soft rod, and the plurality of bending ports are distributed along the periphery of the soft rod in the extending direction of the soft rod.

6. A surgical instrument as recited in claim 1, wherein the plurality of bending openings are arranged in a stepped configuration along the extension of the flexible shaft.

7. A surgical instrument as recited in claim 1, wherein the connection assembly includes a plurality of sequentially connected connection units, a gap being provided between adjacent two of the connection units, the flexible rod being positioned in the gap region having the bending port.

8. A surgical instrument as recited in claim 1, wherein the connection assembly includes a plurality of sequentially connected connection units with a gap between adjacent two of the connection units, the region of the flexible rod within the connection units having the kink port.

9. A surgical instrument as recited in claim 1, wherein the kink port is a strip-like opening.

10. A surgical instrument as recited in claim 1, wherein the bending port is a strip tangent.

11. A surgical instrument as recited in claim 1, wherein the soft rod is located in an axial region of the connection assembly and extends along the connection assembly.

12. A surgical instrument as recited in claim 1, wherein the flexible shaft defines a threading aperture, the drive wire passing through the threading aperture, the threading aperture being located in an axial region of the flexible shaft and extending along the flexible shaft.

13. A surgical instrument as recited in claim 1, wherein the drive wire has a stiffness that is greater than a stiffness of the soft rod.

14. A surgical instrument as recited in claim 1, wherein a coefficient of friction between the drive wire and the soft rod is less than a coefficient of friction between the drive wire and the connection assembly.

15. A surgical instrument as recited in claim 1, wherein the linkage assembly has a plurality of sequentially connected linkage units with a gap between adjacent two of the linkage units for bending, the flexible rod covering at least a portion of the gap in the linkage assembly.

16. A surgical instrument as recited in claim 15, wherein the covered void is partially enclosed; or the covered gap is totally closed by the soft rod.

17. A surgical instrument as recited in claim 1, wherein the connection assembly corresponds to a plurality of the soft rods.

18. A surgical instrument as recited in claim 1, wherein the connection assembly includes a plurality of connection units, the connection units defining receiving apertures through which the flexible rod passes, the inner wall of the receiving apertures and/or the flexible rod having an abutment region to partially abut the flexible rod with the receiving apertures.