CN117796909A - Surgical instrument and surgical robot - Google Patents

Abstract

The invention discloses a surgical instrument and a surgical robot, wherein the surgical instrument comprises a tube body, an inner rod mechanism movably arranged in the tube body and an end effector in transmission connection with the inner rod mechanism, the tube body comprises a first tube and a second tube which is pivotally connected with the first tube through a first shaft rod, the inner rod mechanism is used for driving the second tube to rotate relative to the first tube, the end effector is pivotally connected with the second tube through a second shaft rod, the axis of the first shaft rod is positioned at the outer side of the axis of the first tube and/or the axis of the second tube, so that the movement range of the end effector avoids the movement dead points of the first tube and the second tube, the second tube can swing on two sides relative to the first tube, and the movement range of the end effector is enlarged.

Description

Surgical instrument and surgical robot

Technical Field

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

Background

In recent years, there has been a surgical robot capable of performing a surgical operation in place of a human hand, in which a surgical instrument is mounted on a robot arm of the surgical robot, a doctor holds a handle by a doctor console, the surgical robot interprets an operation command of a reduction controller, drives the robot arm to allow the surgical instrument to enter a patient, and controls an actuator of an end effector of the surgical instrument to perform a corresponding surgical operation such as clamping, cutting, suturing, and the like.

In the surgical procedure, the opening and closing angle between the two actuators of the end effector and the deflection angle as a whole need to be adjusted to enable the two actuators to complete the corresponding surgical operation. However, the opening and closing movement and the deflection movement of the two actuating elements of the existing surgical instrument are driven and matched by the two transmission components, so that the opening and closing movement between the two actuating elements is coupled with the deflection movement of the end effector, and the defects of small moving range of the end effector and the like exist.

Disclosure of Invention

In view of the above, an object of the present invention is to provide a surgical instrument and a surgical robot.

The invention provides a surgical instrument which comprises a tube body, an inner rod mechanism movably arranged in the tube body and an end effector in transmission connection with the inner rod mechanism, wherein the tube body comprises a first tube and a second tube which is pivotally connected with the first tube through a first shaft rod, the inner rod mechanism is used for driving the second tube to rotate relative to the first tube, the end effector is pivotally connected with the second tube through a second shaft rod, the axis of the first shaft rod is positioned at the outer side of the axis of the first tube and/or the second tube, so that the movement range of the end effector avoids a movement dead point between the first tube and the second tube, and the second tube can swing at two sides relative to the first tube, thereby expanding the movement range of the end effector.

In some embodiments, the inner rod mechanism is further configured to drive the end effector to rotate about the axis of the second shaft and/or oscillate about the axis of the first shaft, expanding the range of motion of the end effector.

In some embodiments, the shortest distance from the axis of the first shaft to the axis of the second shaft is smaller than the distance from the axis of the second shaft to the distal end of the end effector, and the bearing capacity of the end effector is good by shortening the distance between the first shaft and the second shaft.

In some embodiments, the inner rod mechanism comprises a movable rod and a transmission assembly, one end of the transmission assembly is movably connected with the movable rod, the other end of the transmission assembly is movably connected with the end effector, one end, close to the end effector, of the transmission assembly forms a connecting part, and the movable rod drives the connecting part to move along the axis of the second pipe fitting, so that the end effector is driven to rotate around the second shaft.

In some embodiments, the axis of the first pipe and the axis of the second pipe are coaxially arranged at the initial position, the axis of the first shaft is located between the axis of the first pipe and the bus and between the axis of the second pipe and the bus, one end of the inner rod mechanism, which is close to the end effector, forms a connecting part, and the inner rod mechanism drives the connecting part to move along the axis of the second pipe, so that the end effector is driven to rotate around the second shaft, and the movement range of the end effector is enlarged.

In some embodiments, the inner rod mechanism comprises a movable rod and a transmission assembly, one end of the transmission assembly is movably connected with the movable rod, the other end of the transmission assembly is movably connected with the end effector, and the transmission assembly is configured to: when the movable rod rotates, the end effector is driven to rotate around the axis of the second shaft relative to the second pipe fitting; when the movable rod moves along the axial direction of the movable rod, the end effector and the second pipe fitting are driven to swing around the axis of the first shaft rod relative to the first pipe fitting, and different motions of the end effector are driven to be realized through different motions of the single inner rod mechanism, so that the surgical instrument has a simple integral structure and a small pipe diameter.

In some embodiments, the end effector comprises two actuating elements, the transmission assembly forms a connecting portion near one end of the two actuating elements, two side ends of the connecting portion are respectively connected with proximal ends of two connecting rods through two connecting points, distal ends of the two connecting rods are respectively rotatably connected with the two actuating elements, the two connecting points are positioned on two opposite sides of the axis of the second shaft, and the two connecting rods are symmetrically arranged on two opposite sides of the second shaft. So that the end effector has good bearing capacity.

In some embodiments, the drive assembly includes a first drive member movably coupled between the movable rod and a second drive member movably coupled between the first drive member and the end effector.

In some embodiments, the first transmission member is movably accommodated in a joint of the first pipe fitting and the second pipe fitting, and/or the second transmission member is at least partially movably accommodated in the second pipe fitting, and the movable rod is at least partially movably accommodated in the first pipe fitting.

In some embodiments, the first transmission member includes a connecting rod, and a first connector and a second connector respectively disposed at two ends of the connecting rod, the first connector is rotationally connected with the movable rod, the second connector is rotationally connected with the second transmission member, and/or the second transmission member includes a nut rotationally connected with the second pipe, and a screw rod screwed in the nut, the nut is rotationally connected with the first transmission member, and one end of the screw rod extends out of the nut and is rotationally connected with the end effector. Through the screwed connection, the rotation of the movable rod can be effectively converted into the linear motion of the screw rod, and then the opening and closing motion of the executing element is realized. Through adopting above-mentioned drive assembly, effectively simplify surgical instruments overall structure, make surgical instruments simple structure, body pipe diameter is little.

In some embodiments, the end effector comprises two actuating elements, a limiting piece is arranged between the two actuating elements, one end of the limiting piece is fixedly connected with one actuating element, and the other end of the limiting piece is movably connected with a movable groove arranged on the other actuating element. By arranging the limiting piece and the movable groove, the opening and closing angle between the two actuating elements is limited.

In some embodiments, the axis of the first shaft is located between the axis of the first tube and/or the second tube and the bus bar.

In some embodiments, the axis of the first shaft rod extends along a radial direction parallel to the first pipe, or the axis of the second shaft rod is perpendicular to the axis of the second pipe, the axes of the first shaft rod and the projection of the axis of the second shaft rod on the radial cross section of the first pipe are arranged at intervals in parallel, the first shaft rod and the second shaft rod are arranged at intervals in parallel, and the whole structure is axisymmetric, so that the stress is more balanced.

In some embodiments, the inner rod mechanism is a hollow structure with two ends penetrating through, which not only facilitates threading wires to connect the end effector with a driver, a power source, etc., but also facilitates venting smoke, etc., generated during a surgical procedure.

In some embodiments, the inner rod mechanism comprises a movable rod and a transmission assembly, one end of the transmission assembly is movably connected with the movable rod, the other end of the transmission assembly is movably connected with the end effector, the movable rod is a hollow rod body, the transmission assembly comprises a first transmission part and a second transmission part, the first transmission part comprises a connecting rod of a hollow cylindrical structure, the second transmission part comprises a hollow screw rod, the inner space of the movable rod, the connecting rod and the screw rod are mutually communicated, and the inner rod mechanism is of a hollow structure with two ends penetrating through.

In some embodiments, the tube body includes a first limiting structure that limits a rotation angle of the second tube member to one side relative to the first tube member.

In some embodiments, the first pipe comprises a first supporting portion, the second pipe comprises a second supporting portion and a boss, the first supporting portion is pivotally connected with the second supporting portion through a first shaft rod, the first supporting portion and the boss form a first limiting structure, and/or the first limiting structure is distributed on one side of the axis of the first pipe.

The invention also provides a surgical robot which comprises a mechanical arm and the surgical instrument, wherein the mechanical arm is provided with a driver, the driver comprises an inner rod driver, and the inner rod driver is in transmission connection with an inner rod mechanism of the surgical instrument.

In some embodiments, the driver further comprises a tube driver rotationally drivingly connected to the tube, the tube driver driving the tube, the inner rod mechanism and the end effector to rotate in synchronization.

The invention also provides a surgical robot which comprises the aspirator and the surgical instrument, wherein the aspirator is connected with an inner rod mechanism of the surgical instrument.

According to the surgical instrument and the surgical robot provided by the invention, the axis of the first shaft lever is deviated from the outer side of the axis of the first pipe body and/or the second pipe body, so that the movement range of the end effector avoids the movement dead points of the first pipe fitting and the second pipe fitting, and the second pipe fitting can swing on two sides relative to the first pipe fitting, and the movement range of the end effector is enlarged.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.

FIG. 1 is a schematic view of a surgical instrument according to an embodiment of the present invention, wherein the surgical instrument is in an initial position.

Fig. 2 is a front view of the surgical instrument of fig. 1.

Fig. 3 is a cross-sectional view of the surgical instrument of fig. 1.

Fig. 4 is a schematic view of a tube of the surgical instrument of fig. 1.

Fig. 5 is a schematic view of an end effector of the surgical instrument of fig. 1.

Fig. 6 is a schematic view of an inner rod mechanism of the surgical instrument of fig. 1.

Fig. 7 is a schematic view of a first transmission member of the inner rod mechanism shown in fig. 6.

FIG. 8 is a schematic view of a second transmission member of the inner rod mechanism of FIG. 6 and a linkage of an end effector.

Fig. 9 is a view showing the positional relationship between the first shaft and the second shaft of the surgical instrument shown in fig. 1 in the XY plane.

FIG. 10 is a schematic view of a surgical instrument according to an embodiment of the present invention.

FIG. 11 is a schematic illustration of the yaw movement of the surgical instrument illustrated in FIG. 10.

Fig. 12 is a schematic view of the opening and closing motion of the surgical instrument of fig. 10.

Fig. 13 is a schematic view of an actuator of the surgical instrument of the present invention in a closed state.

Fig. 14 is a schematic view of the actuator in an open position.

Fig. 15 is a schematic view of a surgical instrument according to another embodiment of the present invention.

Fig. 16 is a schematic view of a first limit position of a surgical instrument according to an embodiment of the invention.

FIG. 17 is a schematic view of a second limit position of a surgical instrument according to an embodiment of the invention.

Fig. 18 is a schematic view of a surgical robot according to an embodiment of the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that, the terms "proximal" and "distal" are used hereinafter to be understood in accordance with the ordinary meaning in the field of medical devices, wherein "proximal" refers to an end near an operator (e.g., doctor, etc.), or an end near the device to be driven; "distal" refers to the end that is distal to the operator, or the end that is proximal to the patient.

The invention provides a surgical instrument which is mainly applied to minimally invasive surgery, such as minimally invasive surgery of general surgery, urology department, cardiovascular surgery, chest surgery, gynecology, five sense organs, pediatric surgery and the like. Fig. 1-3 illustrate an embodiment of a surgical instrument 100 according to the present invention, including a tubular body 10, an inner rod mechanism 30 movably disposed within the tubular body 10, and an end effector 50 drivingly coupled to the inner rod mechanism 30.

Referring to fig. 4-5, the tubular body 10 is generally cylindrical in configuration and includes a first tube member 12 and a second tube member 14 rotatably coupled together. Wherein the proximal end of the second tube member 14 is pivotally connected to the distal end of the first tube member 12 by a first shaft 20 and the end effector 50 is pivotally connected to the distal end of the second tube member 14 by a second shaft 40 such that the end effector 50 can not only be rotated relative to the second tube member 14 to adjust its angle of deployment or rotation, but also can be swung with the second tube member 14 relative to the first tube member 12 to adjust its angle of deflection. In general, the end effector 50 includes two actuators pivotally connected, and the opening and closing angle refers to an included angle between the two actuators, and in the case that the end effector 50 includes only one actuator, the rotation angle refers to a rotation angle of the actuator with respect to the axis X2 of the second shaft 40, and the deflection angle refers to a deflection angle of the central axis of the end effector 50 as a whole with respect to the axis O1 of the first pipe member 12.

Referring to fig. 2 and 9, the axis X1 of the first shaft 20 is located outside the axis O1 of the first pipe 12 and/or the axis O2 of the second pipe 14. The axis here refers to the central symmetry axis, and the outside of the axis refers to the radial direction of the central symmetry axis, but not on the central symmetry axis. Thus, the axis X1 of the first shaft 20 is prevented from intersecting the axis O1 of the first pipe 12 and/or the axis O2 of the second pipe 14, thereby avoiding a dead point, so that the second pipe 14 is offset at two sides with respect to the first pipe 12, and has a larger offset angle.

Here, the dead point refers to a point where the axial centers O1 and O2 of the first and second pipe members 12 and 14 and the first shaft 20 intersect, and the first and second pipe members 12 and 14 cannot rotate relative to each other. Avoiding dead points, the second tube member 14 can swing bilaterally relative to the first tube member 12, and the end effector 50 can have a larger deflection angle and a larger range of motion.

The axis X1 of the first shaft 20 is perpendicular to the axis O1 of the first pipe 12 and offset by a certain distance with respect to the axis O1 of the first pipe 12; the axis X2 of the second shaft 40 is perpendicular to the axis O2 of the second pipe 14. The two actuating elements of the end effector 50 are symmetrically arranged with respect to the axis O2 of the second pipe 14 and the second shaft 40, and the yaw angle of the end effector 50 is the included angle between the axis O2 of the second pipe 14 and the axis O1 of the first pipe 12.

In other embodiments, the axis X2 of the second shaft 40 extends along the radial direction of the second tube 14, the axis X1 of the first shaft 20 is eccentric with respect to the first tube 12, the extending direction is offset a certain distance with respect to the radial direction of the first tube 12, and the second shaft 40 and the first shaft 20 are disposed at an angle such that the extending directions of the axes X1, X2 intersect, so that the end effector 50 can have a larger deflection angle.

The shortest distance from the axis X1 of the first shaft 20 to the axis X2 of the second shaft 40 is smaller than the distance from the axis X2 of the second shaft 40 to the distal end of the end effector 50, and the bearing capacity of the end effector 50 is good by shortening the distance between the first shaft 20 and the second shaft 40. The shortest distance from the axis X1 of the first shaft 20 to the axis X2 of the second shaft 40 is a straight line distance between two points in a plane perpendicular to the axis X1 of the first shaft 20 and the axis X2 of the second shaft 40, and the projection of the axis X1 of the first shaft 20 and the axis X2 of the second shaft 20 is two points.

The fact that the axis X1 of the first shaft 20 is located outside the axis O1 of the first pipe 12 and/or the axis O2 of the second pipe 14 means that the axis X1 of the first shaft 20 is located at a position not intersecting the axis O1 of the first pipe 12 and/or the axis O2 of the second pipe 14. The axis X1 of the first shaft 20 is located between the axis O1 of the first pipe 12 and the busbar 120, and between the axis O2 of the second pipe 14 and the busbar 140.

The first tube member 12 and the second tube member 14 have a substantially cylindrical structure, the axes O1 and O2 thereof are central symmetry axes, and the bus bars 120 and 140 are formed on the outer circumferential surfaces of the tube members 12 and 14 by one rotation about the axes O1 and O2.

The end effector 50 may be scissors, separating forceps, clip applier, etc. as a specific means for performing a surgical operation, and may be operated by a human operator (e.g., doctor) to be carved or mapped on a surgical object by driving the inner rod mechanism 30. As shown in fig. 5, the end effector 50 includes two actuating elements 52a, 52b disposed opposite each other, the proximal ends of the two actuating elements 52a, 52b being pivotally connected to the distal end of the second tube member 14 by the second shaft 40, the distal ends of the two actuating elements 52a, 52b forming an actuating portion 54a, 54b, respectively. By the opposite rotation or the reverse rotation of the two actuators 52a, 52b, the opening/closing angle between the two actuators 54a, 54b is adjusted, thereby realizing the surgical operation of clamping, shearing an object, human tissue, or the like. Therefore, the actuators 54a, 54b of the actuators 52a, 52b need to have a large clamping force or shearing force when they are brought together, and have substantially the same clamping force or shearing force when they are in the same deflected position.

In the illustrated embodiment, the end effector 50 is a clip applier with corresponding clamping openings formed in the surfaces of the actuating portions 54a, 54b of the two actuating elements 52a, 52b that face each other for use with a hemlock clip. Specifically, when the two actuators 52a, 52b rotate toward each other about the second shaft 40, the two actuators 54a, 54b come close to each other to apply the clip; the two actuators 54a, 54b are moved away from each other during the back-to-back rotation, releasing the clip.

In another embodiment of the surgical instrument 100', as shown in fig. 15, the end effector 50' may be a split clamp, with the actuating portions 54a ', 54b' of the two actuating elements 52a ', 52b' forming a serrated gripping surface or the like to facilitate gripping or grasping of tissue and to increase the gripping force on the tissue. When the two actuators 52a ', 52b' rotate in opposite directions about the second shaft 40, the two actuators 54a ', 54b' are moved toward each other to clamp tissue; the two actuators 54a ', 54b' are moved away from each other during the back-to-back rotation, releasing the clamped tissue.

In other embodiments, the end effector 50 may be a pair of scissors (not shown), wherein the surfaces of the actuating portions 54a, 54b of the two actuating elements 52a, 52b respectively form a shearing surface, and the shearing surfaces are brought together to shear tissue when the actuating portions 54a, 54b are rotated toward each other about the second shaft 40. In other embodiments, end effector 50 may also be an electrical hook (not shown).

Preferably, a stop 53 is also connected between the two actuators 52a, 52 b. As shown in fig. 3, the limiting member 53 has a rod-shaped structure and is disposed parallel to the second shaft 40 at intervals, one end of the limiting member is fixedly disposed in the actuating element 52a, the actuating element 52b is provided with a movable slot 520, the movable slot 520 is a circular arc-shaped through hole, the other end of the limiting member 53 is movably connected with the movable slot 520, and the length of the movable slot 520 is greater than the diameter of the limiting member 53, so that the limiting member 53 can have a certain movable space. By providing the stopper 53 and the movable groove 520, the opening and closing angle between the two actuators 52a, 52b is restricted. The length of the slot 520 determines the extent of movement of the stop 53, and thus the angle at which the two actuators 52a, 52b can be opened relative to one another, reducing the risk of the clip or the like coming out of the jaws, the specific length of which can be determined according to the size of the clip used. By providing the stop 53, the opening angle of the two actuators 52a, 52b can be controlled, as is the case for clamp and scissors type end effectors.

The two actuating elements 52a and 52b are always symmetrical relative to the axis O2 of the second pipe fitting 14 in the opening and closing process, and the clamping forces of the two actuating elements 52a and 52b are kept consistent, so that the feedback of the clamping force can be better realized without being influenced by the deflection angle of the end effector 50.

For convenience of description, the present invention is explained below with the aid of an XYZ coordinate system. As shown in fig. 1, with the axis O1 of the first tube 12 of the tube body 10 as the Z axis, the radial cross section of the first tube 12 is the XY plane. As shown in fig. 2 and 13, in the initial position of the surgical instrument 100, the first tube 12 and the second tube 14 are coaxially disposed, the axis O1 of the first tube 12 and the axis O2 of the second tube 14 are coaxially disposed, the end effector 50 is not deflected, and the two actuators 52a and 52b thereof are in a closed state, i.e., the central axis of the end effector 50 as a whole coincides with the axes O1 and O2 (i.e., the Z axis) of the first tube 12 and the second tube 14, the deflection angle of the end effector 50 is 0 degrees, and the opening and closing angle between the two actuators 52a and 52b is 0 degrees.

At this time, as shown in fig. 9, the axial center X2 of the second shaft 40 extends in the X direction, and the axial center X1 of the first shaft 20 extends parallel to the X direction and is offset from the X axis by a certain distance. On the projection of the XY plane, the axis X2 of the second shaft 40 and the axis X1 of the first shaft 20 are disposed parallel to each other with a certain distance therebetween in the Y direction. The axis X2 of the second shaft 40 perpendicularly intersects with the axes O1, O2 of the first pipe fitting 12, the second pipe fitting 14; the axis X1 of the first shaft 20 is offset outside the axis O1 of the first pipe 12 and the axis O2 of the second pipe 14, and the axis X1 of the first shaft 20 is perpendicular to the axis O1 of the first pipe 12 and the axis O2 of the second pipe 14.

As shown in fig. 10-12, when the deflection angle of the end effector 50 needs to be adjusted, the second tube 14 swings relative to the first tube 12 with the axis X1 of the first shaft 20 as the rotation center, so that the axis O2 of the second tube 14 forms an angle α relative to the axis O1 of the first tube 12. In this process, the second shaft 40 swings with the second tube 14 about the axis X1 of the first shaft 20 as the rotation center, and is displaced in the directions X, Y, Z. The relative position of the second shaft 40 and the first shaft 20 changes with the change of the swing angle, and the projections of the axes X1 and X2 on the XY plane may be parallel and spaced or may be overlapped. As shown in fig. 14, when the end effector 50 needs to adjust the opening and closing angle between the two actuators 52a, 52b, the two actuators 52a, 52b rotate relatively about the axis X2 of the second shaft 40 as the rotation center. During this process, the second tube 14 remains stationary and the relative position of the second shaft 40 and the first shaft 20 remains unchanged. It should be noted that the yaw angle and the opening and closing angle of the end effector 50 may be adjusted at the same time, or the yaw angle or the opening and closing angle of the end effector 50 may be adjusted independently.

Referring to fig. 3 and 6, the inner rod mechanism 30 transmits power of a driver, such as a motor (not shown), to the end effector 50, the inner rod mechanism 30 includes a movable rod 32 and a transmission assembly, one end of the transmission assembly is movably connected to the movable rod 32, the other end of the transmission assembly is movably connected to the end effector 50, the transmission assembly includes a first transmission member 34 and a second transmission member 36, the first transmission member 34 is movably connected between the movable rod 32 and the second transmission member 36, and the second transmission member 36 is movably connected between the first transmission member 34 and the end effector 50. The inner rod mechanism 30 is configured to rotate and/or oscillate the end effector 50 about the axis X2 of the second shaft 40 and/or about the axis X1 of the first shaft 20. Decoupling between the yaw motion and the pitch motion of the end effector 50 is achieved.

The movable rod 32 has a longitudinal rod-like structure and is movable in the axial direction thereof by a driver or is rotatable about its axis as a rotation center. The rotation and movement of the movable rod 32 can be driven by different drivers, or can be realized by the same driver and different transmission components, which are not described herein. At least a portion of the movable rod 32, such as a distal end thereof, is received in the first tube 12 and is movable in the first tube 12 along an axial direction thereof, such that the end effector 50 is biased by the first transmission member 34 about the axis X1 of the first shaft 20; when the movable rod 32 rotates in the first pipe fitting 12, the two actuating elements 52a and 52b of the end effector 50 are opened and closed by the second transmission member 36 with the axis X2 of the second shaft 40 as the rotation center.

In this way, the end effector 50 is driven by the axial movement of the movable rod 32 around the axis X2 of the second shaft 40, the two actuating elements 52a, 52b are opened and closed around the axis X1 of the first shaft 20 and driven by the rotational movement of the movable rod 32, the clamping force of the end effector 50 is only determined by the torque of the movable rod 32 and is not affected by the yaw angle, the relative positions of the two actuating elements 52a, 52b of the end effector 50 are kept unchanged during the yaw movement, the yaw angle is not affected by the included angle between the actuating elements 52a, 52b, and the clamping requirement of the same position can be met more accurately. In the deflection range of the end effector 30, the torque transmission loss of the movable rod 32 is small, and the feedback of the clamping force can be better realized at all positions according to the torque of the input end of the movable rod 32. The deflection movement of the end effector 50 as a whole is decoupled from the opening and closing movement between its two actuators 52a, 52b and does not limit or affect each other.

As shown in fig. 7, the first transmission member 34 is movably received at a connection position between the first pipe fitting 12 and the second pipe fitting 14, the first transmission member 34 includes a first connection head 343 and a second connection head 345, and the first connection head 343 and the second connection head 345 can be directly connected in a rotating manner or can be indirectly connected through a connection rod 341. The connecting rod 341 may be a solid structure or a hollow cylindrical structure, and the first connector 343 and the second connector 345 are disposed in the connecting rod 341 and rotatably connected to the connecting rod 341. Preferably, the first connector 343 and the second connector 345 are cross connectors, and each cross connector has two connecting shafts perpendicular to each other. Wherein, the first connecting shaft 346 of the first connecting head 343 is pivoted with the proximal end 344 of the connecting rod 341, and the second connecting shaft 347 is pivoted with the movable rod 32; the first connecting shaft 348 of the second connector 345 is pivotally connected to the distal end 342 of the connecting rod 341, and the second connecting shaft 349 is pivotally connected to the second transmission member 36.

In other embodiments, the connecting rod 341 may not have a central cylindrical structure, i.e., its proximal end 344 and distal end 342 may not be connected by a cylindrical structure, but directly connected.

As shown in fig. 8, the main body of the second transmission member 36 is received in the second tube member 14 and the distal end thereof extends beyond the second tube member 14 to connect with the end effector 50. The second transmission member 36 includes a nut 361 and a screw rod 363 screwed into the nut 361, wherein the nut 361 is pivotally connected to the second connecting shaft 349 of the second connector 345 via a connecting arm 362 thereof, and a proximal end of the screw rod 363 is coupled to the nut 361 and a distal end thereof extends out of the nut 361 to be connected to the end effector 50. By adopting the inner rod mechanism 30, the overall structure of the surgical instrument 100 is effectively simplified, the surgical instrument 100 has a simple structure, and the pipe body 10 has a small pipe diameter.

As shown in fig. 3 and 5, the end of the second transmission member 36 near the end effector 50 forms a connecting portion 365, and the movable rod 32 drives the connecting portion 365 to move along the axis O2 of the second pipe 14, so as to drive the end effector 50 to rotate around the axis X2 of the second shaft 40. Further, the distal end of the threaded rod 363 forms a connecting portion 365, and two connecting points are formed at both side ends of the connecting portion 365, and are rotatably connected to the proximal ends of the two actuators 52a, 52b via two links 367, respectively. The two connecting rods 367 are symmetrically disposed on opposite sides of the second shaft 40, the connection points of the proximal ends of the connecting rods 367 and the two side ends of the connecting portion 365 are symmetrically disposed with respect to the axis of the screw rod 363, and the connection points of the distal ends of the connecting rods 367 and the corresponding actuators 52a, 52b are offset from the second shaft 40 and are substantially symmetrically disposed with respect to the second shaft 40, so that the closing surfaces of the two actuators 54a, 54b are ensured to coincide with the axis O2 of the second pipe 14. In conventional surgical instruments, the actuators 52a, 52b and the link 367 form a diamond-shaped configuration, and the distance from the axis X1 of the first shaft 20 to the axis X2 of the second shaft 40 is greater than the distance from the axis X2 of the second shaft 40 to the distal ends of the actuators 52a, 52 b.

The connection points of the connecting rod 367, the connecting portion 365 and the actuators 52a and 52b form four vertexes of a trapezoid structure, and the trapezoid structure is of a double crank co-slider structure, so that the distance between the axis X1 of the first shaft 20 and the axis X2 of the second shaft 40 is smaller than the distance between the axis X2 of the second shaft 40 and the distal end of the end effector 50, and the length of the second pipe 14 is shortened to a certain extent.

With the dimensions of the end effector 50 and the inner rod mechanism 30 unchanged, the smaller the length of the second tube member 14, the better the gripping and bearing forces of the end effector 50, and the easier the path of movement of the end effector 50 can be determined, i.e., the smaller the area swept by the end effector 50 when it is deflected from one side of the axis O2 of the second tube member 14 to the other, facilitating the surgical procedure.

When the first transmission member 36 drives the nut 361 to rotate, so that the screw 363 moves along the axial direction thereof, the two actuators 52a, 52b are driven to rotate in opposite directions or in opposite directions by the two connecting rods 367 with the second shaft 40 as the rotation center, so as to adjust the opening and closing angle between the two actuators 52a, 52 b. During the opening and closing of the end effector 50, the two actuators 52a, 52b are always symmetrically disposed about the axis of the threaded rod 363, the second tube 14, etc., such that the forces applied by the two actuators 52a, 52b remain consistent throughout, and the driving force required by the driver 80 may be less, if the required clamping force is not changed.

The axis X1 of the first shaft 20 is located outside the axis O1 of the first pipe 12 and/or the axis O2 of the second pipe 14, and the deflection and opening and closing of the execution elements 52a and 52b can be respectively realized through the movement and rotation of the single inner rod mechanism 30, so that the overall structure of the surgical instrument 100 can be effectively simplified, the pipe diameter size of the pipe body 10 is small, the shielding of the surgical instrument on the visual field in the visual field of an endoscope can be reduced during operation, the aperture of the time stamp clamping hole when the surgical instrument enters a patient can be reduced, and the postoperative recovery of the patient is facilitated.

In this embodiment, the movable rod 32 is a hollow rod body, the connecting rod 341 of the first transmission member 34 is a hollow cylindrical structure, the screw 363 of the second transmission member 36 is a hollow rod body, and the inner spaces of the movable rod 32, the connecting rod 341 and the screw 363 are mutually communicated, so that the inner rod mechanism 30 is a hollow structure with two ends penetrating through, the end effector 50 connected to the distal end of the inner rod mechanism 30 is convenient to connect with other elements arranged at the proximal end of the inner rod mechanism 30, and particularly when the end effector 50 is an active instrument, the end effector 50 can be connected with a driver, a power supply and the like by threading wires through the hollow inner rod mechanism 30. In addition, when the end effector 50 is an active instrument, smoke or the like generated by the treatment of tissue during a surgical procedure can also be timely expelled outwardly through the hollow inner rod mechanism 30.

As shown in fig. 4, the distal end of the first tube 12 forms a pair of first supporting portions 121, the proximal end of the second tube 14 forms a pair of second supporting portions 141, and the two second supporting portions 141 are respectively abutted against the inner sides of the two first supporting portions 121 and pivotally connected by the first shaft 20. Since the two second supporting portions 141 are respectively abutted against the inner sides of the two first supporting portions 121, the junction of the cylindrical second pipe member 14 and the two second supporting portions 141 is formed as a boss 142.

As shown in fig. 16, when the second pipe member 14 rotates to the right side relative to the first pipe member 12, the two first supporting portions 121 contact the boss 142 to form a first limiting structure, the first limiting structure is distributed on the side where the axis O1 of the first pipe member 12 is located, at this time, the pipe body 10 is located at the first limiting position, the second pipe member 14 cannot continue to rotate to the right side relative to the first pipe member 12, at this time, the included angle between the axis O1 of the first pipe member 12 and the axis O2 of the second pipe member 14 is 30-90 degrees, which may be preferably 45 degrees, 55 degrees, 60 degrees, 75 degrees and 85 degrees.

As shown in fig. 17, when the second pipe member 14 rotates leftward with respect to the first pipe member 12, the stroke of the inner rod assembly 30 is controlled by a limit structure or algorithm (not shown) provided in the driver 80, so that the second pipe member 14 cannot continue to rotate rightward with respect to the first pipe member 12, and the pipe body 10 is at the second limit position, and the included angle between the axis O1 of the first pipe member 12 and the axis O2 of the second pipe member 14 is 30-90 degrees, preferably 45 degrees, 55 degrees, 60 degrees, 75 degrees, and 85 degrees. It will be appreciated that a second stop structure may be provided at a corresponding location on the tubular body 10 to limit the second tubular member 14 from continuing to rotate to the right relative to the first tubular member 12. It will be appreciated that the travel of the inner rod assembly 30 may also be controlled by a limit structure or algorithm (not shown) provided in the driver 80 to limit the second tube member 14 from continuing to rotate to the right relative to the first tube member 12.

By arranging the first limiting structure and the second limiting structure, the second pipe fitting 14 is mechanically prevented from rotating relative to the first pipe fitting 12 beyond the stroke, so that the second pipe fitting 14 is ensured to avoid a motion dead point in the rotating process relative to the first pipe fitting 12, and the risk of accidents in the operation process is reduced.

In the illustrated embodiment, there are two first shafts 20, and a space is provided between the two first shafts 20 to facilitate the arrangement and movement of the first transmission member 34. In some embodiments, the two first shafts 20 may be combined into one shaft, which is not limited to the specific embodiment. In addition, the distal end of the second tube member 14 defines a pair of third support portions 143, and the proximal ends of the two actuating members 52a, 52b are positioned between the third support portions 143 and pivotally connected by the second shaft 40.

As shown in fig. 6 to 8, the distal end of the connecting rod 341 extends axially outwardly to form a pair of connecting arms 342, and the first connecting shaft 348 of the second connector 345 is pivotally connected between the pair of connecting arms 342; the proximal end of the nut 361 extends axially outwardly to form a pair of nut connecting arms 362, and the second connecting shaft 349 of the second connector 345 is pivotally connected between the pair of nut connecting arms 362. The connecting arms 362 at the proximal end of the nut 361 and the connecting arms 342 at the distal end of the connecting rod 341 are alternately arranged in the circumferential direction and spaced apart from each other, facilitating the relative rotation of the nut 361 and the connecting rod 341.

Similarly, the proximal end of the connecting rod 341 extends axially outwardly to form a pair of connecting arms 344, and the first connecting shaft 346 of the first connector 343 is pivotally connected between the pair of connecting arms 344; the distal end of the movable rod 32 extends axially outwardly to form a pair of movable rod connecting arms 321, and the second connecting shaft 347 of the first connector 343 is pivotally connected between the pair of movable rod connecting arms 321. The connecting arms 321 at the distal end of the movable rod 32 and the connecting arms 344 at the proximal end of the connecting rod 341 are alternately arranged in the circumferential direction and spaced apart from each other, facilitating the relative rotation of the movable rod 32 and the connecting rod 341. Preferably, a movable rod joint 323 is fixed to the distal end of the movable rod 32, and a movable rod connecting arm 321 is formed on the movable rod joint 321.

As shown in fig. 3 and 4, the first transmission member 34 is generally disposed in the first pipe member 12 and is spaced radially therefrom to avoid friction between the first transmission member 34 and the first pipe member 12 during movement or rotation. The second transmission member 36 is substantially in the junction of the second tube member 14 and the first tube member 12, i.e. at the location of the first support 121 at the distal end of the first tube member 12 or the second support 141 at the proximal end of the second tube member 14. Preferably, a bearing 38 is disposed between the second pipe 14 and the nut 361, which effectively reduces friction when the nut 361 rotates and makes the rotation of the nut 361 smoother, thereby making the movement of the screw 363 smoother. With reference to fig. 8, preferably, two ends of the nut 361 extend radially outward to form a flange 369, and the bearing 38 is clamped between the two flanges 369 in the axial direction to form a limit on the nut 361 in the axial direction, so that the nut 361 can drive the screw 363 to move in the axial direction when rotating.

As shown in fig. 3, the body 10 further includes an elongated sleeve 16, the sleeve 16 being coupled to the distal end of the first tube member 12 for receiving the movable rod 32. In some embodiments, sleeve 16 and first tube 12 may also be of unitary construction. Preferably, the shaft sleeves 18 are disposed between the two ends of the movable rod 32 and the sleeve 16, the shaft sleeves 18 can be directly disposed between the movable rod 32 and the sleeve 16, and also can be disposed between the movable rod 32 and the first pipe fitting 12, the shaft sleeves 18 play a role in guiding the movement of the movable rod 32, and simultaneously play a role in supporting the rotation of the movable rod 32, so that friction loss between the elongated movable rod 32 and the sleeve 16 is reduced in the moving or rotating process, good coaxiality between the movable rod 32 and the sleeve 16 can be maintained, and the end effector 50 can be driven to open or close or swing, and the open or close angle or the swing angle of the end effector can be adjusted.

As shown in fig. 11, when the movable rod 32 moves axially, the nut 361 of the second transmission member 36 is driven by the first transmission member 34 to move axially, and the nut 361 is fixed in the second pipe member 14, so that the second pipe member 14 deflects relative to the first pipe member 12 with the first shaft 20 as the rotation center, and further drives the second transmission member 36 and the end effector 50 to deflect, so as to adjust the deflection angle of the end effector 50. In the yaw movement operation of the end effector 50, the movable rod 32, the first transmission member 34 and the second transmission member 36 may be regarded as a crank block structure, the second transmission member 36 only serves as a connection between the first transmission member 34 and the end effector 50, the second transmission member 36 itself does not drive the end effector 50 to perform any action, and the yaw angle of the end effector 50 is determined by the magnitude of the axial movement of the movable rod 32, and is independent of the opening and closing angle between the two actuators 52a and 52 b.

As shown in fig. 12-14, when the movable rod 32 rotates, the nut 361 of the second transmission member 36 is driven to rotate relative to the second pipe member 14 by the first transmission member 34, and the nut 361 is fixed in the second pipe member 14, so that the screw 363 moves axially relative to the nut 361, and further the two actuating elements 52a and 52b are driven to rotate relatively by the connecting rod 367 about the second shaft 40 as a rotation center, so as to adjust the opening and closing angle between the two actuating elements 52a and 52 b. In the opening and closing movement of the end effector 50, the movable rod 32, the first transmission member 34 and the second transmission member 36 can be regarded as a crank block structure, meanwhile, the screw 363, the connecting rod 367 and the actuating elements 52a and 52b of the second transmission member 36 can be regarded as a crank block structure, the whole can be regarded as two crank block mechanisms and share one slide block, the first transmission member 34 only plays a role in connecting the movable rod 32 and the second transmission member 36, and each element of the first transmission member 34 cannot rotate so that the screw 363 of the second transmission member 36 moves relative to the nut 361, and the opening and closing angle between the two actuating elements 52a and 52b is determined by the rotation angle of the movable rod 32 and is irrelevant to the deflection angle of the end effector 50.

As shown in fig. 18, the present invention further provides a surgical robot 200, including a mechanical arm 70, wherein a driver 80 (not shown) is disposed at an end of the mechanical arm 70, and the driver 80 is in driving connection with the movable rod 32 of the inner rod mechanism 30 of the surgical instrument 100 and/or in driving connection with the tube body 10. In practice, the operator will first determine the desired position and/or orientation of the end effector 50 of the surgical instrument 100, and then, based on the position and/or orientation achieved by the end effector 50, will control the driver 80 to actuate the inner rod mechanism 30 and/or the tubular body 10 of the surgical instrument 100 via a predetermined algorithm, thereby bringing the end effector 50 to the desired position and/or orientation.

The driver 80 includes an inner rod driver, which is in driving connection with the inner rod assembly 30, and is used for driving the movable rod 32 of the inner rod mechanism 30 to move along the axial direction thereof or rotate around the axis thereof as the rotation center, so that the end effector 50 has an opening and closing degree of freedom and a deflection degree of freedom. The driver 80 also includes a tube driver in rotational driving connection with the proximal end of the first tube member 12 of the tube 10, which drives the tube 10, the inner rod mechanism 30 and the end effector 50 in synchrony. The surgical instrument 100 as a whole has a degree of freedom in rotation. By providing the driver 80, the surgical instrument 100 is provided with at least one of the three degrees of freedom of movement described above, or with three degrees of freedom of movement.

In other embodiments, the internal rod driver in the driver 80 is provided with a limit structure or algorithm (not shown) that controls the travel of the internal rod assembly 30, thereby controlling the yaw angle of the end effector 50 to avoid structural dead spots.

In other embodiments, the surgical instrument may also be a hand-held surgical instrument (not shown), and the driver of the hand-held surgical instrument may be manually and/or automatically driven, for use in conventional endoscopic or open surgery, and also for use in surgical robotic surgery.

The invention also relates to a surgical robot comprising a surgical instrument 100 as described above, the surgical instrument 100 being associated with an aspirator (not shown) for expelling fumes generated during the surgical procedure. Specifically, the aspirator includes a main body and a suction tube connected to a proximal end of the inner rod mechanism 30. Smoke generated during the operation is introduced into the inner rod mechanism 30 through the screw 363, the first connector 343, the second connector 345, etc., and then discharged through the suction tube.

It should be noted that the present invention is not limited to the above embodiments, and those skilled in the art can make other changes according to the inventive spirit of the present invention, and these changes according to the inventive spirit of the present invention should be included in the scope of the present invention as claimed.

Claims (20)

1. The surgical instrument is characterized by comprising a tube body, an inner rod mechanism movably arranged in the tube body and an end effector in transmission connection with the inner rod mechanism, wherein the tube body comprises a first tube and a second tube which is in pivot connection with the first tube through a first shaft rod, the inner rod mechanism is used for driving the second tube to rotate relative to the first tube, the end effector is in pivot connection with the second tube through a second shaft rod, and the axis of the first shaft rod is positioned outside the axis of the first tube and/or the second tube.

2. The surgical instrument of claim 1, wherein the inner rod mechanism is further configured to rotate the end effector about the axis of the second shaft and/or oscillate about the axis of the first shaft.

3. The surgical instrument of claim 1, wherein a shortest distance from an axis of the first shaft to an axis of the second shaft is less than a distance from an axis of the second shaft to a distal end of the end effector.

4. The surgical instrument of claim 1, wherein the inner rod mechanism comprises a movable rod and a transmission assembly, one end of the transmission assembly is movably connected with the movable rod, the other end of the transmission assembly is movably connected with the end effector, a connecting part is formed at one end of the transmission assembly, which is close to the end effector, and the movable rod drives the connecting part to move along the axis of the second pipe fitting, so that the end effector is driven to rotate around the second shaft.

5. The surgical instrument of claim 2, wherein the axis of the first tube and the axis of the second tube are coaxially disposed at an initial position, the axis of the first shaft is disposed between the axis of the first tube and the bus and between the axis of the second tube and the bus, the end of the inner rod mechanism adjacent to the end effector forms a connection portion, and the inner rod mechanism drives the connection portion to move along the axis of the second tube, thereby driving the end effector to rotate about the second shaft.

6. The surgical instrument of claim 2, wherein the inner rod mechanism comprises a movable rod and a transmission assembly, one end of the transmission assembly is movably connected to the movable rod, the other end of the transmission assembly is movably connected to the end effector, and the transmission assembly is configured to:

when the movable rod rotates, the end effector is driven to rotate around the axis of the second shaft relative to the second pipe fitting; when the movable rod moves along the axial direction of the movable rod, the end effector and the second pipe fitting are driven to swing around the axle center of the first shaft rod relative to the first pipe fitting.

7. The surgical instrument of claim 6, wherein the end effector comprises two actuators, the drive assembly forms a connection near one end of the two actuators, two side ends of the connection are respectively connected to proximal ends of two links through two connection points, distal ends of the two links are respectively rotatably connected to the two actuators, the two connection points are located on opposite sides of an axis of the second shaft, and the two links are symmetrically arranged on opposite sides of the second shaft.

8. A surgical instrument as recited in claim 6, wherein the transmission assembly includes a first transmission member movably coupled between the movable rod and the second transmission member and a second transmission member movably coupled between the first transmission member and the end effector.

9. The surgical instrument of claim 8, wherein the first transmission member is movably received at a junction of the first and second tubular members; and/or the second transmission part is at least partially movably accommodated in the second pipe fitting, and the movable rod is at least partially movably accommodated in the first pipe fitting.

10. The surgical instrument of claim 8, wherein the first transmission member comprises a connecting rod, and a first connector and a second connector respectively arranged at two ends of the connecting rod, the first connector is rotatably connected with the movable rod, and the second connector is rotatably connected with the second transmission member; and/or the second transmission part comprises a nut rotationally connected with the second pipe fitting and a screw rod screwed in the nut, the nut is rotationally connected with the first transmission part, and one end of the screw rod extends out of the nut to be rotationally connected with the end effector.

11. The surgical instrument of claim 2, wherein the end effector comprises two actuating elements, a limiting member is disposed between the two actuating elements, one end of the limiting member is fixedly connected to one of the actuating elements, and the other end of the limiting member is movably connected to a movable slot disposed in the other actuating element.

12. A surgical instrument as recited in claim 1, wherein an axis of the first shaft is located between an axis of the first tube and/or the second tube and a bus bar.

13. A surgical instrument as recited in claim 1, wherein an axial center of the first shaft extends in a radial direction parallel to the first tube; or, the axis of the second shaft rod is perpendicular to the axis of the second pipe fitting, and the axis of the first shaft rod and the projection of the axis of the second shaft rod on the radial cross section of the first pipe fitting are arranged at intervals in parallel.

14. A surgical instrument as recited in claim 1, wherein the inner rod mechanism is a hollow structure having two ends extending therethrough.

15. The surgical instrument of claim 14, wherein the inner rod mechanism comprises a movable rod and a transmission assembly, one end of the transmission assembly is movably connected with the movable rod, the other end of the transmission assembly is movably connected with the end effector, the movable rod is a hollow rod body, the transmission assembly comprises a first transmission part and a second transmission part, the first transmission part comprises a connecting rod with a hollow cylindrical structure, the second transmission part comprises a hollow screw rod, the inner spaces of the movable rod, the connecting rod and the screw rod are mutually communicated, and the inner rod mechanism is a hollow structure with two ends penetrating through.

16. A surgical instrument as recited in claim 1, wherein the tube includes a first limit feature that limits the angle of rotation of the second tube to one side relative to the first tube.

17. A surgical instrument as recited in claim 16, wherein the first tube includes a first support portion, the second tube includes a second support portion and a boss, the second support portion is connected to the boss, the first support portion is pivotally connected to the second support portion via the first shaft, the first support portion and the boss form the first limiting structure, and/or the first limiting structure is distributed on a side of an axis of the first tube.

18. A surgical robot comprising a robotic arm and the surgical instrument of any one of claims 1-17, wherein the robotic arm is provided with a driver comprising an inner rod driver drivingly connected to an inner rod mechanism of the surgical instrument.

19. The surgical robot of claim 18, wherein the driver further comprises a tube driver rotationally drivingly connected to the tube such that the tube rotates in synchronization with the inner rod mechanism and the end effector.

20. A surgical robot comprising a suction device and the surgical instrument of any one of claims 1-17, the suction device being coupled to an inner rod mechanism of the surgical instrument.