CN117100408B

CN117100408B - Surgical instrument and surgical robot

Info

Publication number: CN117100408B
Application number: CN202311380272.4A
Authority: CN
Inventors: 张铎; 叶高山; 王建辰
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2023-10-24
Filing date: 2023-10-24
Publication date: 2024-02-13
Anticipated expiration: 2043-10-24
Also published as: CN117100408A

Abstract

The embodiment of the application provides a surgical instrument and a surgical robot, wherein the surgical instrument comprises a distal end part, a coupling joint, a cable set and a driving device, the distal end part comprises a first U-shaped clamp and an end effector, the end effector is rotationally connected with the first U-shaped clamp, the distal end of the first cable set of the cable set is connected with the end effector, and the proximal end of the first cable set is connected with the first driving device of the driving device; the distal end of a second cable set of the cable set is connected to the coupling joint and the proximal end of the second cable set is connected to a second drive means of the drive means for driving the first coupling joint through the second cable set as the first drive means drives the end effector to rotate relative to the first clevis through the first cable set.

Description

Surgical instrument and surgical robot

Technical Field

The present application relates to the medical field, and in particular to a surgical instrument and a surgical robot having the surgical instrument.

Background

Minimally invasive medical technology refers to a medical mode of performing surgery or performing biopsy inside a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive medical technology has the advantages of small wound, light pain, quick recovery, less discomfort of patients, less harmful side effects and the like.

With the progress of technology, minimally invasive medical surgical robotic techniques are becoming mature and widely used. Minimally invasive surgical medical robots generally include a master console and a slave operating device, and a doctor controls the slave operating device through an input means of the master console, and the slave operating device is used for responding to a control command transmitted from the master console and performing a corresponding surgical operation. The instrument is coupled to a drive means of the slave manipulator for performing a surgical procedure, and the distal end of the instrument includes an end effector for performing the surgical procedure and a multi-degree-of-freedom articulation assembly coupled to the end effector.

The joint component of the current surgical instrument has a small rotation angle, which leads to the movement range of the end effector, thereby limiting the operation of doctors

Disclosure of Invention

Based thereon, the present application provides in a first aspect a surgical instrument comprising: a distal portion comprising a first clevis and an end effector rotatably coupled to the first clevis; a joint assembly connected to the distal end, the joint assembly including at least a first coupling joint; a first cable set distally connected to the end effector; a second cable set having a distal end connected to the first coupling joint; a first drive device, the first cable set proximal end being connected to the first drive device; and a second drive device, the second cable set being proximally connected to the second drive device, the second drive device being configured to drive rotation of the first coupling joint via the second cable set when the first drive device drives the end effector via the first cable set to perform yaw degree of freedom motion relative to the first clevis.

In a specific embodiment, the second driving device comprises a first winch and a second winch, the first driving device comprises a third winch and a fourth winch, the first winch and the third winch are coaxially arranged, and the second winch and the fourth winch are coaxially arranged.

In a specific embodiment, the second cable set comprises a first cable and a second cable, the first cable having one end connected to the first winch and the other end connected to the second winch, the middle portion of the first cable being guided over a first pulley; one end of the second cable is connected with the first coupling joint, and the other end of the second cable is connected with the first pulley.

In a specific embodiment, the surgical instrument further comprises a third cable set and a fourth cable set, the distal end portion further comprises a second clevis, the first clevis is rotatably connected to the second clevis, the first drive device further comprises a fifth winch, the second drive device further comprises a sixth winch coaxially disposed with the fifth winch, the joint assembly further comprises a second coupling joint, the rotational axis of the first coupling joint is perpendicular to the rotational axis of the second coupling joint, the distal end and the proximal end of the third cable set are connected to the first clevis and the fifth winch, respectively, and the distal end and the proximal end of the fourth cable set are connected to the second coupling joint and the sixth winch, respectively.

In a specific embodiment, the first cable set includes at least a first deflection cable and a second deflection cable, the proximal ends of the first deflection cable and the second deflection cable are connected to the third winch, the distal ends of the first deflection cable and the second deflection cable are connected to the end effector, the surgical instrument further includes a decoupling portion, the first deflection cable and the second deflection cable are connected to the end effector after being guided by the decoupling portion, and the decoupling portion is configured to change the lengths of the first deflection cable and the second deflection cable within the instrument box.

In a specific embodiment, the second U-shaped clamp is provided with a first pulley block and a second pulley block for guiding the first deflection cable and the second deflection cable, the rotation axis of the first pulley block is parallel to the rotation axis of the second pulley block, and the first deflection cable and the second deflection cable are guided by the same end of the decoupling portion.

In a specific embodiment, a first pulley block is arranged on the first U-shaped clamp, a second pulley block is arranged on the second U-shaped clamp, the first pulley block and the second pulley block are used for guiding the first deflection cable and the second deflection cable, one end of the decoupling portion is used for guiding the first deflection cable, and the other end of the decoupling portion is used for guiding the second deflection cable.

In a specific embodiment, the surgical instrument further comprises a decoupling drive coaxially arranged with the fifth capstan, the decoupling drive being connected to the decoupling portion by a decoupling cable.

In a specific embodiment, the joint assembly further comprises a parallel joint configured to change the position of the end effector while maintaining the pose of the end effector unchanged.

In a specific embodiment, the second drive is configured to maintain the first coupling joint stationary while the first drive drives the end effector to perform the open-close degree of freedom motion.

The present application provides in a second aspect a surgical instrument comprising: a distal portion comprising a first clevis and an end effector rotatably coupled to the first clevis; a first drive configured to drive the end effector into open and close motion and the end effector into yaw motion relative to the first clevis; a coupling joint connected to the distal end portion; a second drive configured to drive rotation of the coupling joint when the first drive drives the end effector to perform yaw degree of freedom motions; the second drive means maintains the coupling joint stationary while the first drive means drives the end effector to perform an open and close degree of freedom motion.

The present application provides in a third aspect a surgical robot comprising a master operating device and a slave operating device, the slave operating device performing a related operation according to instructions of the master operating device, the slave operating device comprising at least one surgical instrument as described above.

Drawings

FIG. 1 is a schematic top view of a surgical robotic system arrangement in an operating room according to one embodiment of the present application;

FIG. 2A is a schematic diagram of a master console of a surgical robotic system according to one embodiment of the present application;

FIG. 2B is a schematic view of a slave manipulator of the surgical robotic system of one embodiment of the present application;

FIG. 3 is a schematic view of a surgical instrument according to one embodiment of the present application;

FIG. 4A is a schematic view of a surgical instrument according to yet another embodiment of the present application;

FIG. 4B is a schematic view of a distal portion of a surgical instrument according to one embodiment of the present application;

FIG. 5 is a schematic illustration of a cartridge of a surgical instrument for decoupling a surgical instrument having the distal end portion of FIG. 4B according to one embodiment of the present application;

FIG. 6 is a schematic view of a distal portion of a surgical instrument according to yet another embodiment of the present application;

FIG. 7 is a schematic illustration of a cartridge of a surgical instrument for decoupling a surgical instrument having the distal end portion shown in FIG. 4B, according to one embodiment of the present application;

FIG. 8 is a schematic view of a surgical instrument with a coupling joint according to one embodiment of the present application;

FIG. 9 is a schematic representation of an instrument cassette for driving a coupled joint and yaw joint linkage of a surgical instrument according to one embodiment of the present application;

FIG. 10 is a schematic representation of a cartridge for driving a coupling joint and pitch joint linkage of a surgical instrument according to one embodiment of the present application;

FIG. 11 is a cartridge for decoupling a surgical instrument having the distal end portion of FIG. 4B according to one embodiment of the present application;

FIG. 12 is a cartridge for decoupling a surgical instrument having the distal end portion of FIG. 6, according to one embodiment of the present application.

Description of the embodiments

In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures. Preferred embodiments of the present application are shown in the accompanying drawings. This application may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and not limiting.

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, or intervening elements may also be present. When an element is referred to as being "coupled"/"coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present and may also be present as an interaction of the two elements through the signal. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions as used herein are for the purpose of illustration and do not denote a unique embodiment, it being understood that these spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures, e.g., an element or feature described as "below" or "beneath" other element or feature would be oriented "above" the other element or feature if the device were turned over in the figures. Thus, the example term "below" may include both an orientation above and below.

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 that is distal to the surgeon during the procedure and "proximal" refers to the end that is proximal to the surgeon during the procedure. The term "plurality" as used herein includes two and more.

The term "instrument" is used herein to describe a medical device for insertion into a patient's body and for performing a surgical or diagnostic procedure, the instrument comprising an end effector, which may be a surgical instrument for performing surgical procedures, such as a biopsy needle, an electrocautery, a forceps, a stapler, a cutter, an imaging device (e.g., an endoscope or ultrasound probe), and the like. Some instruments used in embodiments of the present application further include providing the end effector with an articulating component (e.g., an articulation assembly) such that the position and orientation of the end effector can be manipulated to move with one or more mechanical degrees of freedom relative to the instrument shaft. Further, the end effector includes jaws that also include functional mechanical degrees of freedom, such as opening and closing. The instrument may also include stored information that may be updated by the surgical system, whereby the storage system may provide one-way or two-way communication between the instrument and one or more system elements.

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 application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms "and/or" and/or "as used herein include any and all combinations of one or more of the associated listed items.

Surgical robotic system of one embodiment of the present application as shown in fig. 1, the surgical robotic system includes a master console 20 and a slave operating device 10, the master console 20 being remotely communicatively connected to the slave operating device 10, a surgeon S being able to remotely operate and control the slave operating device 10 on the master console 20. The main console 20 is configured to transmit control signals to the slave operation device 10 and display images acquired from the operation device 10 according to the operation of the surgeon S, by which the surgeon S can observe three-dimensional stereoscopic imaging in the patient ' S body provided by the imaging system through the main console 10, and by observing the three-dimensional images in the patient ' S body, the surgeon S can control the slave operation device 10 to perform related operations (e.g., perform surgery or acquire images in the patient ' S body) with an immersive sense.

The slave manipulator 10 comprises control means, which may be provided in the base of the slave manipulator 10 or on the manipulator 11, a manipulator 11 and a holding means 12, which in one embodiment is used to control the articulation of the manipulator 11 and the movement of the drive means in the holding means 12. A plurality of surgical instruments may be mounted on the holding instrument 12, and the driving device of the holding instrument 12 is used for driving the surgical instruments to perform various operations.

In one embodiment, the surgical robotic system further includes a gas insufflation device, a lumen set (not shown) that fluidly communicates the cannula 13 with the gas insufflation device, and a cannula 13. The cannula 13 is connected to the distal end of the holding device 12, and the cannula is inserted into a body cavity of a patient P lying on an operation table T, and an end effector of a plurality of surgical instruments or a camera at the distal end of an endoscope is extended into the body cavity of the patient P through the cannula 13 to perform operation related to the operation or to acquire an environmental image in the body of the patient P.

In one embodiment, the surgeon S, via the master control station 10, can control the mode of operation of the gas insufflation device, such as injecting gas from a gas source into the body cavity of the patient P to form an artificial pneumoperitoneum or aspirating gas from the body cavity of the patient P. Assistant a attaches surgical instrument 40 to holding instrument 12 or exchanges surgical instrument 40 from holding instrument 12 depending on the surgical condition. Surgeon S, assistant a, and anesthesiologist B constitute the basic surgical team. Surgical instrument 40 may be a surgical instrument such as an electrocautery, a forceps, a stapler, an ultrasonic blade, etc. for performing a surgical operation, or may be an imaging device (e.g., an endoscope) or other surgical tool for capturing images.

The main control console 10 is also connected to the electronic equipment cart 30 in a remote communication manner, and the electronic equipment cart 30 is connected to the slave operation device 10 in a remote communication manner, and the electronic equipment cart 30 may include an energy generating device, an image signal processing device, a gas blowing device, and the like. In the present embodiment, the master console 10, the slave operation device 10 and the electronic device cart 30 perform remote communication by using a wired ethernet communication method, but the remote communication is not limited to wired ethernet communication, and may also be other wired methods, for example, including but not limited to serial port, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, for example, including but not limited to 5G, wiFi, NB, zigbee, bluetooth, RFID, etc.

In one embodiment, as shown in fig. 2A, the main console 20 includes a display device 21, an armrest 22, an input device 23, an observation device 24, and a control signal processing system 25, wherein the display device 21 is used for displaying images acquired by the imaging system. The armrest 22 is used to position the arm and/or hand of a doctor S, such as a surgeon S, so that the doctor S operates the input device 23 more comfortably and the viewing device 24 is used to view the image displayed by the display device. According to actual needs, the armrests can be omitted; or the viewing device 24 may be omitted, in which case direct viewing is possible. The doctor S manipulates the movement of the surgical instrument of the slave operation device 10 through the operation input means 23, and the control signal processing system of the master control console 20 processes the input signal of the input means 23 and issues a control command to the slave operation device, and the slave operation device 10 responds to the control command of the master control console 20 and performs a corresponding operation, and in some embodiments, the control signal processing system 25 may be disposed in the slave operation device 10, for example, in a base of the slave operation device 10. The control signal processing system 25 may be one device with the control device described above.

The surgical robotic system typically also includes an imaging system portion (not shown) that enables the surgeon S to view the surgical site from outside the patient' S body. The vision system portion typically includes a surgical instrument 40 having video image acquisition functionality (e.g., image acquisition functionality) and one or more video display devices for displaying the acquired images. In general, the image acquisition enabled surgical instrument 40 includes optics for one or more imaging sensors (e.g., CCD or CMOS sensors) that will acquire images within the patient's body. The one or more imaging sensors may be positioned at the distal end of the surgical instrument 40 with image acquisition capabilities and the signals generated by the one or more sensors may be transmitted along a cable or wirelessly for processing and display on a video display device.

In one embodiment, as shown in fig. 2B, the mechanical arm 11 of the slave manipulator 10 of the surgical robot system includes a base 110, a column 120 connected to the base 110, a large arm 130, a small arm 140, and a vertical arm 150 connected in this order. The robotic arm also includes a plurality of joints J1-J5 for connecting upright 120, large arm 160, small arm 140, and vertical arm 150. Specifically, the upright 120 includes a support column 121 and a lifting column 122, where the support column 121 is fixedly connected to the base 110, the lifting column 122 is connected to the support column 121 through a first joint J1, the first joint J1 is a linear motion joint, and the lifting column 122 can move linearly along the axis 101 of the first joint J1 to change the height of the portion of the mechanical arm 11 connected to the distal end of the upright 120. The lifting column 122 is connected with the large arm 130 through a second joint J2, the large arm 130 is connected with the small arm 140 through a third joint J3, the small arm 140 is connected with the vertical arm 150 through a fourth joint J4, the second joint J2, the third joint J3 and the fourth joint J4 are all rotary joints, and the rotation axes 102,103 and 104 of the 3 rotary joints are all vertical to the horizontal plane. Vertical arm 150 and holding instrument 112 pass through fifth joint J5, with axis 105 of fifth joint J5 being perpendicular to axes 101-104.

The control device 160 is configured to control the plurality of joints J1-J5 to cooperate to effect various positioning of the entire robotic arm 11, to adjust the position and attitude of the holding device 112, and to effect rotational movement of the holding device 112 about its remote center of motion 116, and the control device 160 may be disposed in the base 110 or in the master control station 20.

In one embodiment, the holding device 112 further comprises a cannula 115, the cannula 115 being detachably connected to the holding device 112 by means of the docking device 114, the central axis 106 of the holding device 112 being substantially coincident with the axis 118 of the cannula 115, the holding device 112 driving the cannula 115 to rotate about the remote center of motion 116, the cannula 115 being positioned at the incision 117 so as not to damage the patient P when the cannula 115 is rotated about the remote center of motion 116.

In one embodiment, the slave manipulator 10 further comprises a control panel 170 provided on the support column 121, the control panel 170 comprising at least one switch 171, the switch 171 being adapted to input a positioning command to the control device 160, the control device 160 being adapted to control the movement of the robotic arm 11 in response to the actuation of the switch 171, in order to rapidly achieve positioning of various predetermined positions of the robotic arm 11, such as deployment into a position in which a sterile drape is arranged.

In one embodiment, the holding instrument 112 may be loaded with a plurality of surgical instruments 40, with the plurality of surgical instruments 40 passing through the same cannula 115 from the incision 117 into the body. As shown in fig. 3, the surgical instrument 40 includes an instrument case 41, a long shaft 42, a joint assembly 43, and an end effector 44, the surgical instrument 40 is detachably mounted on a drive system on a holding device 112 of the slave operating device 10, the instrument case 41 has a transmission (not shown) therein, and the transmission includes a plurality of transmission units (e.g., winches) connected to the joint assembly 43 and the end effector 44 by a plurality of cables, and the plurality of transmission units are respectively coupled to and driven by a plurality of actuators (e.g., motors) in the drive system. The plurality of actuators receive control commands from the control device and drive the end effector 44 by driving the transmission unit in motion in accordance with the control commands. For example, the drive unit may be configured to retract/pull the cable by rotating the drive transmission unit to control movement of the end effector. The end effector 44 is capable of performing multiple cartesian degrees of freedom of motion through the articulation assembly 43, such as translational motion (including traversing and/or longitudinally moving) that changes the position of the end effector 44, pitch, yaw, and roll automation motion that changes the attitude of the modal device 44, etc., it being understood that translational and pitch, translational, yaw, and roll automation motions may be independent motions as well as simultaneous motions. The end effector 44 is used to perform surgical related procedures, and depending on the needs of the surgical procedure, the end effector 44 may be an electrocautery, a forceps, a stapler, scissors, an ultrasonic blade, a camera, an imaging device, etc., wherein the camera or imaging device is used to acquire images of the interior of the human body.

In one embodiment, as shown in fig. 4A, the surgical instrument 40 includes a parallel joint 431 and a distal end 430, the distal end 430 includes a first clevis 4321, a second clevis 4322, and an end effector 4323, wherein the parallel joint 431 includes a proximal joint 4311, a middle section 4312, and a distal joint 4313, the proximal joint 4311 and the distal joint 4313 are coupled to each other, and movement of the parallel joint 431 can change a position of the end effector 4323 while maintaining a posture of the end effector 4323 unchanged, and detailed movement principles of the parallel joint 422 refer to chinese patent applications CN202111604327.6 (instruments with parallel joints, surgical robots) and CN202111604322.3 (instruments with parallel joints, surgical robots).

The end effector 4323 is rotatably coupled to the first clevis 4321 by a first shaft 4341, the first clevis 4321 is rotatably coupled to the second clevis 4322 by a second shaft 4342, the first shaft 4341 is perpendicular to the second shaft 4342, and the second clevis 4322 is fixedly coupled to the distal end of the distal joint 4313. The end effector 4323 and the first clevis 4321 form a yaw joint 433a, and the first clevis 4321 and the second clevis 4322 form a pitch joint 433b.

In one embodiment, as shown in fig. 4B, the surgical instrument comprises a first set of cables comprising a first pair of deflection cables 151a,151B and a second pair of deflection cables 152a,152B, the second shaft 4342 having a first pulley block 4351 thereon, the second clevis 4322 further having a third shaft 4343 having a second pulley block 4352 thereon, the first pair of deflection cables 151a,151B and the second pair of deflection cables 152a,152B being connected to the end effector 4323 by guiding the first and second pulley blocks 4351, 4352, wherein the ends of the first pair of deflection cables 151a,151B are connected to a first jaw 4323a of the end effector 4323, the first pair of deflection cables 151a,151B drive the first jaw 4323a to rotate about the second shaft 4342, the ends of the second pair of deflection cables 152a,152B are connected to a second jaw 4323B of the end effector 4323, and the second pair of deflection cables 152a,152B drive the second jaw 4323 to rotate about the first shaft 4323a and the second jaw 4323 to an angle that is fixed by the first and second jaw 4390 degrees of rotation about the first shaft 4323a and the second jaw 4323. The winding mode of the first deflection cable pair 151A,151B at the first pulley block 4351 and the second pulley block 4352 is opposite to the winding mode of the second deflection cable pair 152A,152B, the winding modes of the first deflection cable 151A and the second deflection cable 151B at the first pulley block 4351 and the second pulley block 4352 are the same, and the winding modes of the third deflection cable 152A and the fourth deflection cable 152B at the first pulley block 4351 and the second pulley block 4352 are the same, so that the winding of the deflection cables 151A,151B,152A,152B is simpler and more neat, the assembly is easier, and the deflection cables are not easy to fall off from the first pulley block 4351 and the second pulley block 4352.

In one embodiment, the surgical instrument further comprises a third cable set comprising a pair of pitch cables 153a,153b, the ends of the pair of pitch cables 153a,153b being secured to the first clevis 4321, the pair of pitch cables 153a,153b driving the first clevis 4321 to rotate about the second axis 4342 relative to the second clevis 4322 to effect pitch movement of the end effector 4323, the single-sided pitch angle of the end effector 4323 being up to 90 degrees or even more than 90 degrees due to the direct rotation of the first clevis 4321 about the secured second axis 4342. Compared with the traditional single snake bone joint deflection automation degree and the pitching freedom degree angle which are smaller than 45 degrees, the pitching angle of the pitching joint 433b formed by the first U-shaped clamp 4321 and the second U-shaped clamp 4322 is basically equal to or larger than 180 degrees, and the deflection freedom degree angle of the deflection joint 433a formed by the end effector 4323 and the first U-shaped clamp 4321 is basically equal to or larger than 180 degrees, so that a larger movement range is realized by using fewer joints.

As shown in fig. 4B, when the pair of pitch cables 153a,153B drives the first clevis 4321 to rotate about the second axis 4342 relative to the second clevis 4322, the angular length of the yaw cables 151a,151B,152a,152B over the first and second pulley sets 4351, 4352 may be caused to change, thereby causing undesired movement of the first and second clip petals 4323a, 4323B. To decouple this kinematic coupling between cables 153a,153b and cables 151a,151b,152a,152b, embodiments of the present application also provide a decoupling device.

As shown in FIG. 5, in one embodiment, the instrument box 410 of the surgical instrument includes a plurality of winches 171,172,173, a first pair of yaw cables 151A,151B having a proximal end wound on the winch 171, a second pair of yaw cables 152A,152B having a proximal end wound on the winch 172, and a pitch cable pair 153A,153B having a proximal end wound on the winch 173. The instrument box 410 further includes a decoupling device 176, the decoupling device 176 includes a decoupling driving portion 1761 and a decoupling portion 1762, the decoupling driving portion 1761 and the winch 173 are mounted on the same shaft, the decoupling portion 1762 includes guide wheels 1763, 1764, the guide wheels 1763, 1764 are respectively fixed at two ends of the carriage 1765, the first yaw cable pair 151a,151b extends into the long shaft 42 after being guided by the guide wheel 1763, and the second yaw cable pair 152a,152b extends into the long shaft 42 after being guided by the guide wheel 1764.

When winch 173 is rotated, winch 173 rotates to retract/release first pitch cable 153A and to release/retract second pitch cable pair 153B, thereby driving first clevis 4321 to rotate about second axis 4342 relative to second clevis 4322 to effect pitch motion of end effector 4323, decoupling drive 1761 rotates coaxially with winch 173 while winch 173 rotates, decoupling drive 1761 drives decoupling portion 1762 in a linear motion via decoupling cable 1767,1768, the linear motion of decoupling portion 1762 causes the length of first yaw cable pair 151a,151B within instrument box 410 to simultaneously increase or decrease, and correspondingly, the length of second yaw cable pair 152a,152B within instrument box 410 to simultaneously decrease or increase, and the amount of change in length of yaw cable 151a,151B,152a,152B within instrument box 410 just compensates for the amount of wrap angle length of yaw cable 151a,151B on first and second 4351, 4352, thereby maintaining the cable pair 153A, 151B against first and second clevis 4323 pitch actuator 4323.

In one embodiment, as shown in fig. 6, the surgical instrument has a distal portion 530, the distal portion 530 including a first clevis 5321 and a second clevis 5322, a first pulley 5351 disposed on the first clevis 5321 and a second pulley 5322 disposed on a second shaft 5342 on the second clevis 5322, the first and second pulleys 5351,5352 for guiding deflection cables 151a,151b,152a,152b, wherein the first cable pair 151a,151b is for driving the first collet 5323a in rotation about the first shaft 5341 and the second deflection cable pair 152a,152b is for driving the second collet 5323b in rotation about the first shaft 341, the first collet 5323a and the second collet 5323b effecting opening and closing and deflection movements of the end effector 5323 about the first shaft 5341. The pair of pitch cables 153a,153b drive the first clevis 5321 in rotation about the second axis 5342 relative to the second clevis 5322 to effect pitch degree of freedom movement of the end effector 5323. The winding manners of the first deflection cable 151A and the third deflection cable 152A on the first pulley block 5351,5352 and the second pulley block 5351,5352 are the same, the winding manners of the second deflection cable 151B and the fourth deflection cable 152B on the first pulley block 5351,5352 and the second pulley block 5351,5352 are the same, and the winding manners of the first deflection cable 151A, the third deflection cable 152A, the second deflection cable 151B and the fourth deflection cable 152B on the first pulley block 5351,5352 are opposite.

Likewise, upon pitching movement of the end effector 5323, the wrap angle length of the deflection cables 151A,151B,152B on the second pulley block 5352 may be increased or decreased, thereby causing undesired movement of the first and second clamp flaps 5323a, 5323 b. Thus, as shown in fig. 7, one embodiment of the present application also provides a cartridge 510 for decoupling the pitch and yaw motions of the distal device 530, unlike the cartridge 410 shown in fig. 5, in which two cables of the cartridge 510 driving the same clip are wound around the two ends of the decoupling portion 1762, respectively. Specifically, the proximal ends of the first yaw cable 151A and the second yaw cable 151B are fixed to the winch 171, the first yaw cable 151A is guided by the guide wheel 1763 at one end of the carriage 1765 of the decoupling portion 1762 and then extends into the long shaft 42, and the second yaw cable 151B is guided by the guide wheel 1764 at the other end of the carriage 1765 and then extends into the long shaft 42. The proximal ends of the third yaw cable 152A and the fourth yaw cable 152B are fixed to the winch 172, the third yaw cable 152A extends into the long shaft 42 after being guided by the guide wheel 1763 at one end of the carriage 1765, and the fourth yaw cable 152B extends into the long shaft 42 after being guided by the guide wheel 1764 at the other end of the carriage 1765.

When the decoupling drive 1761 rotates coaxially with the winch 173, the length of the first and third yaw cables 151A, 152A within the instrument box 510 decreases or increases, while the length of the second and fourth yaw cables 151B, 152B within the instrument box 510 increases or decreases, thereby compensating for the change in wrap angle of the yaw cables 151A,151B,152A,152B on the second pulley block 5322 due to the pitching motion of the end effector 5323 such that the position of the first and second clamp flaps 5323a, 5323B relative to the first clevis 5321 remains unchanged as the end effector 5323 is pitching moved.

In one embodiment, as shown in fig. 8, the joint assembly of the surgical instrument further includes a set of coupling joints 441 located between the distal end 430 and the parallel joint 431, the set of coupling joints 441 including a first disc 4411 and a second disc 4412, the proximal end of the first disc 4411 being rotatably connected to the distal joint 4313 of the parallel joint 431, the distal end of the first disc 4411 being rotatably connected to the proximal end of the second disc 4412, the distal end of the second disc 4412 being fixedly connected to the second clevis 4322.

The first disc 4411 and the distal joint 4313 form a first coupling joint 441a of the coupling joint assembly 441, the first coupling joint 441a has a rotation axis 4415, the first disc 4341 and the second disc 4342 form a second coupling joint 441b of the coupling joint group 441, the second coupling joint 441b has a rotation axis 4364, the rotation axis 4315 and the rotation axis 4316 are perpendicular to each other, wherein the first coupling joint 441a is coupled with the yaw joint 433a, the second coupling joint 441b is coupled with the pitch joint 433a, i.e., the first coupling joint 441a is coupled with the yaw joint 433a, and the second coupling joint 441b is coupled with the pitch joint 433 b. Coupling the set of coupling joints 441 to the distal member 430 may provide a greater range of motion for the end effector 4323, such as providing the end effector 4323 with a pitch degree of freedom or yaw degree of freedom over 180 degrees of motion, and providing the articulating assembly of the surgical instrument with a hugging posture.

In one embodiment, as shown in fig. 9, the surgical instrument 60 includes an instrument case 610, a distal end portion 630, a first coupling joint 632a, and a plurality of cables, the distal end portion 630 includes a first clevis 6321, an end effector 6323 is rotatably disposed on the first clevis 5321, the end effector 630 and the first clevis 6321 form a yaw joint 631a of the distal end portion 630, and the first coupling joint 632a is coupled to the yaw joint 631 a.

The instrument cartridge 610 further includes a first drive arrangement including a third capstan 273 and a fourth capstan 274 and a second drive arrangement including a first capstan 271 and a second capstan 272, the first pair of deflection cables 252A,252B of the first cable set being wound on the third capstan 273 at a proximal end thereof secured to the first clamp flap 6323a of the end effector 6323 and the first pair of deflection cables 251A,251B being configured to drive the first clamp flap 5323a in rotation relative to the first U-clamp 5321, the second pair of deflection cables 252A,252B of the first cable set being wound on the fourth capstan 274 at a distal end thereof secured to the second clamp flap 6323b of the end effector 6323, the second pair of deflection cables 252A,252B being configured to drive the second clamp flap 6323b in rotation relative to the first U-clamp 5321, the first clamp flap 6323a and the second clamp flap 6323b in rotation relative to the first U-clamp 5321 constituting a deflection/deployment movement of the end effector 6323.

In one embodiment, as shown in fig. 9, the first capstan 271 and the third capstan 273 are mounted on the same axis of rotation and coaxially and synchronously rotate, and the second capstan 272 and the fourth capstan 274 are mounted on the same axis of rotation and coaxially and synchronously rotate. Surgical instrument 60 further includes a second cable set 251C,251E,252C,252E having a first end of first cable 251C attached to first winch 271 and a second end attached to second winch 272; an intermediate portion of first cable 251C is guided over first pulley 2511. The proximal end of the second cable 251E of the second cable set is fixedly coupled to a support (not shown) coupled to first pulley 2511, e.g., cable 251E is coupled to first pulley 2511, which is linearly movable, and the distal end of second cable 251E is secured to a first end of distal disc 6322 of first coupling joint 632 a. The first end of the third cable 252C of the second cable set is connected to the first winch 271 and the second end is connected to the second winch 272, the first end of the first cable 251C and the first end of the third cable 252C are wound around the first winch 271 in opposite directions, respectively, and the second end of the first cable 251C and the second end of the third cable 252C are wound around the second winch 272 in opposite directions. An intermediate portion of third cable 252C is routed over second pulley 2512, and a proximal end of fourth cable 252E is connected to second pulley 2512 and a distal end thereof is connected to a second end of distal disc 6322. Pulling/releasing the second cable 251E and the fourth cable 252E rotates the distal disc 6322 relative to the proximal disc 6321, thereby effecting movement of the first coupling joint 632 a.

As third winch 273 and fourth winch 274 drive end effector 6323a to yaw via first cable sets 251A,251B,252A,252B, first winch 271 and second winch 272 simultaneously drive first coupling joint 632a to rotate via second cable sets 251C, 252E to effect the articulation of yaw joint 531a and first coupling joint 532 a. Specifically, when the third and fourth winches 273, 274 are moved in the first movement, for example, when both the third and fourth winches 273, 274 are rotated counterclockwise, the third and fourth winches 273, 274 retract the first and fourth yaw cables 251A, 252B and release the cables the second and third yaw cables 251B,252A, thereby driving the end effector 5323 to yaw in the A1 direction. Meanwhile, since the first winch 271 is coaxially disposed with the third winch 273, the second winch 272 is coaxially disposed with the fourth winch, so that the first winch 271 and the second winch 272 also move in the first movement manner, i.e., the first winch 271 is coaxially rotated counterclockwise with the third winch 273, the second winch 272 is coaxially rotated counterclockwise with the fourth winch 274, the first winch 271 pulls the first cable 251C and releases the third cable 252C, and the second winch 272 pulls the first cable 251C and releases the third cable 252C, whereby the first winch 271 and the second winch 272 simultaneously pull the first cable 251C and simultaneously release the third cable 252C, whereby the first cable 251C is pulled by the first pulley 2511 to move proximally and thereby pull the second cable 251E; and third cable 252C is released, second pulley 2512 is moved distally to release fourth cable 252E, causing first coupling joint 632a to rotate in the direction A1.

If the third and fourth winches 273, 274,273, 274 are rotated clockwise, the first coupling joint 632a is rotated in the A2 direction. The first coupling joint 632a and the yaw joint 531a are linked together, so that the yaw angle of the end effector 6323 is larger, and the end effector 6323 can reach a larger working range, or the single-side yaw of the yaw joint 631a is smaller than 90 degrees (for example, 50 degrees), and the single-side yaw of the end effector 5323 is equal to or larger than 90 degrees by matching the yaw angle of the first coupling joint 632 a.

In some embodiments, the surgical instrument 60 may also be provided with only the first cable 251E and no second cable 252E, with the first cable 251E driving the first coupling joint 632a to rotate in the direction A1 as described above, with the first coupling joint 632a rotating in the direction exceeding A2 being implemented by other driving mechanisms, such as by a spring mechanism.

When the third and fourth capstans 273, 274 are moved in a second manner of movement that is different from the first manner of movement, such as when the third and fourth capstans 273, 274 are rotated in opposite directions, the end effector 6323 may perform an opening and closing movement while the first coupling joint 632a may remain stationary. Specifically, for example, the third winch 273 rotates counterclockwise and the fourth winch 274 rotates clockwise, the third winch 273 withdraws the first yaw cable 251A and releases the second yaw cable 251B, such that the first clamp flap 6323a rotates in the A1 direction, the fourth winch 274 withdraws the third yaw cable 252A and releases the fourth yaw cable 252B, such that the second clamp flap 6323B rotates in the A2 direction, such that the current end effector 6323 opens, whereas if the third winch 273 moves clockwise and the fourth winch 274 moves counterclockwise, the end effector 5323 closes is achieved.

Since the first capstan 271 and the third capstan 273 are coaxially disposed and the second capstan 272 and the fourth capstan 274 are coaxially disposed, the first and second capstans 271, 272 also move in the second movement, so that when the third capstan 273 rotates counterclockwise, the first capstan 271 also rotates counterclockwise and when the fourth capstan 274 rotates clockwise, the second capstan 272 also rotates clockwise. When the first winch 271 rotates counterclockwise, the first winch 271 pulls the first cable 251C and releases the third cable 252C, the second winch 272 pulls the third cable 252C and releases the first cable 251C, and since the length of the first winch 271 pulling the first cable 251C and the length of the second winch 272 releasing the first cable 251C are equal, which corresponds to the cable 251C idling between the first winch 271 and the second winch 272, the first cable 251C does not change the position of the first pulley 2511, the position of the first pulley 2511 remains unchanged, and as such, the length of the first winch 271 pulling the third cable 252C and the length of the second winch 272 pulling the third cable 252C are equal, the third cable 252C also idles, and the position of the second pulley 2512 remains unchanged 251, such that the second cable E and the fourth cable 252E are not pulled or released, and the first coupling joint 632a remains unchanged.

Likewise, as the third capstan 273 rotates clockwise and the fourth capstan 274 rotates counterclockwise, the first coupling joint 632a remains stationary as the end effector 6323 expands. Accordingly, instrument pod 610 may cause end effector 6323 to be coupled with yaw joint 631a during yaw movement, and first coupling joint 632a to remain stationary when end effector 6323 is in open and closed movement, thereby avoiding interference with surgical performance due to movement of first coupling joint 632a during open and closed movement.

In some embodiments, other transmission mechanisms may be used in place of first pulley 2511 and/or second pulley 2512, such as a transmission mechanism having guide grooves guiding first cable 251C and second cable 251C. In some embodiments, the first capstan 271 and the third capstan 273 may be disposed on different axes and/or the second capstan 272 and the fourth capstan 274 may be disposed on different axes, for example, the control device may detect the rotation angles of the third and fourth capstans 373, 274 via a detection device (such as an encoder), thereby controlling the first and second capstans 271 to rotate in synchronization with the third and fourth capstans 273,274

In one embodiment, as shown in fig. 10, the surgical instrument 70 includes a distal portion 430, a first coupling joint 632a and a second coupling joint 632B, and an instrument box 710, where the distal portion 430 is a distal portion as shown in fig. 4B, the first coupling joint 632a is coupled to the yaw joint 433a, the second coupling joint 632B is coupled to the pitch joint 433B, the rotation axes of the first coupling joint 632a and the second coupling joint 632B are perpendicular to each other, and the first coupling joint 632a is driven in the same manner as in the embodiment shown in fig. 9, and will not be described again.

The first drive means of instrument cartridge 710 further includes a sixth winch 276 and the second drive means further includes a fifth winch 275, the fifth winch 275 driving the first clevis 4321 to rotate relative to the second clevis 4322 via a pair of pitch cables 255 a, 255 b (third cable set) to effect pitch motion of end effector 4323. Fifth winch 275 is coaxially disposed with sixth winch 276, the proximal ends of fourth cable sets 255 c, 255 d being connected to sixth winch 276, the distal ends of fourth cable sets 255 c, 255 d being connected to distal disc 6324 of second coupling joint 632b, distal disc 6324 being rotatable relative to proximal disc 6323. As fifth winch 275 rotates to drive end effector 4323 in pitch, sixth winch 276 rotates coaxially with fifth winch 275, and sixth winch 276 drives second coupling joint 632b in rotation via fourth cable sets 255C, 255D to achieve a greater pitch angle of the end effector. For example, when fifth winch 275 rotates counterclockwise, first pitch cable 253A is retracted and second pitch cable 253B is released to pitch first clevis 4321 and end effector 4323 in the B1 direction, sixth winch 276 also rotates counterclockwise because sixth winch 276 is coaxially disposed with fifth winch 275, thereby retracting fifth cable 253C and releasing sixth cable 253D, such that second coupling joint 632 also rotates in the B1 direction, thereby providing end effector 4323 with a greater pitch angle in the B1 direction. Conversely, if winches 275,276 are rotated clockwise, end effector 4323 and second coupling joint 632B are pitched in the direction B2.

In one embodiment, as shown in fig. 11, where the distal portion 430 of the surgical instrument is the distal portion shown in fig. 4B, the instrument cartridge 810 further includes a decoupling device for decoupling the pitch and yaw motions of the distal portion 430. The decoupling device comprises a decoupling driving part 2761 and a decoupling part 2762, the decoupling part 2762 comprises a carriage 2765 and guide wheels 2763,2764 arranged at two ends of the carriage 2765, a first deflection cable 251A and a second deflection cable 251B are guided by the guide wheels 2763 and then connected to a first clamping flap 4323a of the end effector 4323, a third deflection cable 252A and a fourth deflection cable 252B are guided by the guide wheels 2764 and then connected to a second clamping flap 4323B of the end effector 4323, the decoupling driving part 2761 is coaxially arranged with a fifth winch 275 and a sixth winch 276, and the decoupling driving part 2761 is connected with the carriage 2765 through a cable 2767,2768.

At fifth winch 275, end effector 4323 is driven in pitch motion by pitch cable pair 255 a, 255 b, and decoupling drive 2761 drives decoupling 2762 in side-to-side motion by cable 2767,2768 to simultaneously increase the length of first yaw cable pair 251a,251b within instrument box 810 and decrease the length of second yaw cable pair 252a,252b within instrument box 810; or decreasing the length of the first pair of yaw cables 251a,251b within the instrument box 810 and increasing the length of the second pair of yaw cables 252a,252b within the instrument box 810, thereby compensating for the change in length of the yaw cables 252a,252b at the distal end 430 as the end effector 4323 and the first clevis 4321 are pitched, such that the end effector 4323 and the first clevis 4321 can smoothly perform the pitch motion, releasing the coupled relationship of the distal end 430 pitch and yaw/open/close motion.

In one embodiment, as shown in fig. 12, when the distal end 530 is the distal end shown in fig. 6, the first deflection cable 251A is connected to the first clip piece 5323a after being guided by the guide wheel 2763 at one end of the decoupling portion 2762, and the second deflection cable 251B is connected to the first clip piece 5323a after being guided by the guide wheel 2764 at the other end of the decoupling portion 2762; the third deflection cable 252A is guided by the guide wheel 2764 and then connected to the second clip flap 5323B, and the fourth deflection cable 252B is guided by the guide wheel 2763 and then connected to the second clip flap 5323B. The routing of the first cable sets 251a,251b,252a,252b and the pair of pitch cables 255 a, 255 b at the distal end 530 is the same as the routing of the first cable sets 151a,151b,152a,152b and the pair of pitch cables 153a,153b at the distal end 530 in the embodiment shown in fig. 6, and the same parts of this embodiment as in the embodiment shown in fig. 11 are not repeated.

As fifth winch 275 drives end effector 5323 and first clevis 5321 through pitch cable pair 255 a, 255B in pitch motion relative to second clevis 5322, decoupling drive 2761 rotates coaxially with fifth winch 275, decoupling drive 2761 translates decoupling 2762 through decoupling cable 2767,2768 to increase or decrease the length of first yaw cable 251A and fourth yaw cable 252B within instrument box 910 and to decrease or increase the length of second yaw cable 251B and third yaw cable 252A within instrument box 910 to compensate for the change in length of yaw cables 251A,251B,252A,252B due to pitch motion of distal end 530. Thereby decoupling the distal portion 530 from the motion coupling between the pitching motion and the yawing/opening motion.

In some embodiments, the decoupling drive 2761 and the cable 2767,2768 for moving the decoupling portion 2762 may not be provided, and the decoupling portion 2762 may be moved by a change in the tension of the cables 251a,251b,252a,252 b. In some embodiments, the end effector may have only one clip, such as an electrical hook, where the surgical instrument is retained by a drive mechanism that drives movement of one clip.

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 merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

1. A surgical instrument, comprising:

a distal portion comprising a first clevis and an end effector rotatably coupled to the first clevis;

a joint assembly connected to the distal end, the joint assembly including at least a first coupling joint;

a first cable set distally connected to the end effector;

a second cable set having a distal end connected to the first coupling joint;

the first cable group comprises a first cable and a second cable, one end of the first cable is connected with the first winch, the other end of the first cable is connected with the second winch, and the middle part of the first cable is guided by a first pulley; one end of the second cable is connected with the first coupling joint, and the other end of the second cable is connected with the first pulley;

a third winch and a fourth winch, said third winch and said first winch being coaxially disposed, said fourth winch and said second winch being coaxially disposed, said first cable set proximal end being connected to said third winch and said fourth winch;

while the third and fourth capstans drive the end effector to perform yaw degree of freedom motions relative to the first clevis via the first cable set, the first and second capstans simultaneously drive the first coupling joint to rotate via the first and second cables;

The first cable freewheels between the first and second winches to hold the first coupling joint stationary while the third and fourth winches drive the end effector in an opening and closing motion through the first cable set.

2. The surgical instrument of claim 1, further comprising a third cable set and a fourth cable set, wherein the distal portion further comprises a second clevis, wherein the first clevis is rotatably coupled to the second clevis, wherein the surgical instrument further comprises a fifth capstan and a sixth capstan disposed coaxially with the fifth capstan, wherein the joint assembly further comprises a second coupling joint, wherein the axis of rotation of the first coupling joint is perpendicular to the axis of rotation of the second coupling joint, wherein the distal and proximal ends of the third cable set are coupled to the first clevis and the fifth capstan, respectively, and wherein the distal and proximal ends of the fourth cable set are coupled to the second coupling joint and the sixth capstan, respectively.

3. The surgical instrument of claim 2, wherein the first cable set includes at least a first deflection cable and a second deflection cable, proximal ends of the first deflection cable and the second deflection cable being connected to the third winch, distal ends of the first deflection cable and the second deflection cable being connected to the end effector, the surgical instrument further comprising a decoupling portion, the first deflection cable and the second deflection cable being connected to the end effector after being guided by the decoupling portion, the decoupling portion being configured to change a length of the first deflection cable and the second deflection cable within the instrument box.

4. A surgical instrument as claimed in claim 3, wherein the second clevis is provided with first and second pulleys for guiding the first and second deflection cables, the axis of rotation of the first pulley being parallel to the axis of rotation of the second pulley, the first and second deflection cables each being guided through the same end of the decoupling portion.

5. A surgical instrument according to claim 3, wherein the first clevis is provided with a first pulley block and the second clevis is provided with a second pulley block, the first pulley block and the second pulley block being used for guiding the first deflection cable and the second deflection cable, one end of the decoupling portion being used for guiding the first deflection cable and the other end being used for guiding the second deflection cable.

6. The surgical instrument of claim 3, further comprising a decoupling drive coaxially disposed with the fifth capstan, the decoupling drive being connected to the decoupling portion by a decoupling cable.

7. The surgical instrument of claim 1, wherein the joint assembly further comprises a parallel joint configured to change a position of the end effector while maintaining a pose of the end effector unchanged.

8. A surgical robot comprising a master manipulator and a slave manipulator, the slave manipulator performing a related operation in accordance with instructions of the master manipulator, the slave manipulator comprising at least one surgical instrument according to any one of claims 1-7.