WO2023103969A1

WO2023103969A1 - Surgical instrument

Info

Publication number: WO2023103969A1
Application number: PCT/CN2022/136620
Authority: WO
Inventors: 孙培原; 吴渡江; 王建辰
Original assignee: 深圳市精锋医疗科技股份有限公司
Priority date: 2021-12-06
Filing date: 2022-12-05
Publication date: 2023-06-15

Abstract

A surgical instrument (300). The surgical instrument (300) may comprise: a tube extending in a lengthwise direction and having a first end (351) and a second end (353), the first end (351) being used for mounting an end instrument (321), a driving rod (327, 355, 393), which is used for driving the end instrument (321), being provided inside the tube, and a first surface (359) facing the first end (351) and a second surface (361) facing away from the first end (351) being formed at the end of the driving rod (327, 355, 393) away from the first end (351); and a driving device (310), which is coupled to the second end (353) of the tube, the driving device (310) being capable of applying a force to the first surface (359) and/or the second surface (361), so as to make the driving rod (327, 355, 393) move in the lengthwise direction. By means of the solution, the mechanical stability of the surgical instrument is improved.

Description

Surgical Instruments

This application claims the priority of the Chinese patent application with the application number 202111482124.4 and the title of the invention "surgical instrument and surgical robot" filed in the China Patent Office on December 06, 2021, and claims the priority to be filed in China on December 06, 2021 The priority of the Chinese patent application with application number 202111479754.6 and the title of the invention "Surgical Instrument and Surgical Robot" filed at the Patent Office, claiming the priority of the Chinese patent application with the application number 202111482143.7 and the title of the invention filed at the China Patent Office on December 06, 2021 The priority of the Chinese patent application for "Surgical Instruments and Surgical Robots", claiming the patent application number 202111482166.8 filed at the China Patent Office on December 06, 2021, and the title of the invention is "Surgical Instruments, Slave Operating Equipment, and Surgical Robots" The priority of the Chinese patent application ", claiming the priority of the Chinese patent application with the application number 202111479782.8 and the title of the invention "Terminal Instruments, Surgical Instruments and Robots" filed at the China Patent Office on December 06, 2021, Claiming priority to a Chinese patent application with application number 202111482180.8, titled "Surgical Instruments, Slave Operating Equipment, and Surgical Robot", filed at the China Patent Office on December 06, 2021, claimed on December 06, 2021 The priority of the Chinese patent application with the application number 202111482178.0 and the title of the invention "Surgical Instrument, Slave Operating Equipment and Robot" filed at the China Patent Office, the entire content of which is incorporated in this application by reference.

technical field

This specification relates to the field of medical instruments, in particular to a surgical instrument, a slave operating device using the surgical instrument, and a surgical robot with the slave operating device.

Background technique

Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopy and thoracoscopy and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

With the advancement of science and technology, robotic technology for minimally invasive surgery has gradually matured and been widely used. A minimally invasive surgical robot usually includes a main operation console and a slave operation device. The master operation console is used to send control commands to the slave operation device according to the doctor's operation to control the slave operation device. control commands and perform corresponding surgical operations.

A surgical instrument that can be detached from the operating device is connected to the operating device. The surgical instrument includes a driving device and an end effector for performing surgery, as well as a long shaft for connecting the end effector and the driving device. The driving device is used for Connect the surgical instrument to the slave operating device and receive the driving force from the slave operating device to drive the movement of the end effector. The driving device is connected to the end effector through a cable, and the driving device controls the movement of the end effector through the cable.

Minimally invasive surgical robots have high requirements for the mechanical stability and reliability of surgical instruments, otherwise, mechanical failure of surgical instruments may bring risks to patients.

Contents of the invention

The embodiments of this specification are dedicated to providing a surgical instrument, a slave operating device, and a surgical robot with very stable mechanical properties.

The embodiment of this specification provides a surgical instrument, including: a pipe extending along the longitudinal direction and having a first end and a second end; wherein, the first end is used for installing a terminal instrument; The driving rod of the terminal instrument; the end of the driving rod away from the first end is formed with a first surface facing the first end and a second surface facing away from the first end; A drive device coupled to the second end of the drive device can apply a force to the first surface and/or the second surface to move the drive rod along the longitudinal direction.

Embodiments of the specification also provide a surgical instrument, including an end effector for performing surgery, and further including:

A pipe extending along the longitudinal direction, and a driving rod at least partially accommodated in the pipe; the driving rod can move relative to the pipe along the longitudinal direction; the driving rod is accommodated in the pipe A portion of the pipe is connected with an outer pipe connector passing through the pipe wall of the pipe;

The terminal instrument has an instrument outer tube for being socketed with the tube, as well as an anvil and a nail seat; the part of the instrument outer tube sleeved on the tube is matched with the outer tube connector, so that The instrument outer tube can be driven by the driving rod to move along the longitudinal direction to drive the anvil of the terminal instrument to open or close relative to the nail seat.

Embodiments of the present specification also provide a surgical instrument, including: a driving device, a firing rod assembly, and a terminal instrument;

The drive device includes a casing, a firing drive unit accommodated in the casing, and the firing drive unit outputs a rotational driving force;

The firing rod assembly includes a firing rod limiter fixedly connected to the casing, the firing rod is circumferentially limited by the firing rod limiter, and the firing rod is driven to rotate by the rotational driving force of the firing drive unit. A rod driving part; the firing rod moves along a straight line under the driving of the firing rod driving part to fire the terminal instrument to move.

The embodiment of this specification provides a slave operating device, including at least one mechanical arm, the mechanical arm includes a plurality of joints and an actuating device, and the multiple joints are linked to realize the movement of multiple degrees of freedom of the actuating device, The surgical instrument described in the foregoing embodiments is detachably mounted on the actuating device.

The embodiments of this specification provide a surgical robot, including a master operation console and the slave operation device described in the foregoing embodiment, where the slave operation device performs surgical operations on the human body according to the instructions of the master operation console.

The surgical instrument provided by the embodiment of the present specification adopts the driving rod as the element for triggering the terminal instrument, and the driving rod is provided with two opposite surfaces, ie, a first surface and a second surface. In this way, force can be applied to the first surface and/or the second surface respectively, so as to push the driving rod to move along the longitudinal direction of the long shaft assembly. This way of driving the driving rod to move is very direct and stable, which improves the mechanical reliability of the surgical instrument.

The end device provided by the embodiment of this specification, by setting the device outer tube that can move relative to the knife rest of the end device, realizes that when the device outer tube moves along the longitudinal direction relative to the rotation tube of the long axis assembly, it can stably make The anvil and the nail seat of the terminal instrument rotate relatively to realize opening or closing, which provides better mechanical stability.

The surgical instrument provided by the embodiment of this specification, by setting the firing rod limiter fixed relative to the casing of the driving device, on the basis of limiting the firing rod in the circumferential direction, it also realizes the firing rod along the longitudinal direction. guiding role. Further, the rotation of the firing rod driving part can be converted into the linear motion of the firing rod inside the driving device.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of the main operation console provided by the embodiment of this specification;

Fig. 2 is a three-dimensional schematic diagram of the use scene of the slave operating device provided by the implementation of this specification;

Fig. 3 is a three-dimensional schematic diagram of the surgical instrument provided by the embodiment of this specification;

Figure 4 is an exploded schematic diagram of the top plate, bottom plate and support frame of the driving device provided by the embodiment of this specification;

FIG. 5 is a schematic diagram of the three-dimensional structure inside the driving device provided by the embodiment of this specification;

Figure 6 is an exploded schematic diagram of the installation structure of the rotation tube, the bottom plate and the driven wheel provided by the embodiment of this specification;

FIG. 7 is a schematic exploded perspective view of a part of the long axis assembly provided by the embodiment of this specification;

Fig. 8 is a schematic cross-sectional view of the driving device provided by the embodiment of the present specification along the axis X of the long shaft assembly;

Fig. 9 is a three-dimensional exploded schematic diagram of some components in the driving device provided by the embodiment of this specification;

Fig. 10 is a schematic cross-sectional view of the driving device provided by the embodiment of the present specification along the axis X of the long shaft assembly;

FIG. 11 is a schematic cross-sectional view of the driving device provided in FIG. 8 along the line Y-Y;

Fig. 12 is a partial perspective view of the long axis assembly provided by the embodiment of the present specification with the first fastener and the second fastener installed;

Figure 13 is an exploded view of the partial perspective view shown in Figure 12; wherein, the rotation tube is partially cut away to show the internal structure;

FIG. 14 is a schematic cross-sectional view of the partial perspective view shown in FIG. 12 along the axial direction of the long axis assembly;

Figure 15 shows a schematic cross-sectional view along the line Z-Z shown in Figure 14;

Fig. 16 is a schematic perspective view of the installation state of a driving rod and a fastener provided in the embodiment of this specification;

Figure 17 is a schematic front view of the body limiter provided by the embodiment of this specification;

Fig. 18 is a schematic side view of the body stopper shown in Fig. 17;

Fig. 19 is a schematic front view of the first assembly cap provided by the embodiment of this specification;

Figure 20 is a schematic bottom view of the first assembly cap shown in Figure 19;

Fig. 21 is a schematic perspective view of the driving device and the long axis assembly provided by the embodiment of this specification;

Fig. 22 is a three-dimensional schematic diagram of the rotation tube hook provided by the embodiment of this specification;

Fig. 23 is a schematic perspective view of the terminal device provided by the embodiment of this specification;

Fig. 24 is a schematic cross-sectional view of the end instrument provided by the embodiment of this specification;

Figure 25 shows a partial perspective view of the knife holder and the pusher rod provided by the embodiment of this specification;

Figure 26 is a partial perspective view of the firing rod provided by the embodiment of the present specification;

Fig. 27 is a partial cross-sectional schematic view of the end device provided by the embodiment of this specification;

Fig. 28 is a partial cross-sectional schematic view of the terminal device provided by the embodiment of this specification;

Fig. 29 is a partial perspective view of the end device provided by the embodiment of this specification;

FIG. 30 is a partial perspective view of the drive rod provided by the embodiment of this specification;

FIG. 31 is a perspective schematic view of the fastening tube provided by the embodiment of this specification;

FIG. 32 is a schematic perspective view of the internal structure of the driving device provided by the embodiment of this specification;

Fig. 33 is a partially exploded perspective view of the firing rod provided by the embodiment of this specification;

FIG. 34 is a schematic perspective view of the internal structure of the driving device provided by the embodiment of this specification.

Fig. 35 is a schematic structural view of the end instrument provided by the embodiment of this specification;

Fig. 36 is a schematic diagram of the internal structure of the first end of the autorotation tube of the long axis assembly provided by the embodiment of the present specification.

Explanation of reference signs:

Main operating console 100 Slave operating equipment 200 Mechanical arm 210

Actuation device 220 Surgical instrument 300 Drive device 310

Long shaft assembly 320 First end 351 Terminal instrument 321

Drive Rod 327 Instrument Mounting Slot 332 Flange Limiting Part 333

Elastic part 334

Second End 353 End 357 End Effector 340

The second side 361 The groove wall 369 The first annular groove 365

The first drive unit 367 The first center hole 377a The first shift fork 371

The first drive shaft assembly 373 The first connecting assembly 376 The first central hole 377b

The first driving shaft 374 The through hole 382 The first connecting shaft 378

The first shift fork cover plate 385 The first annular groove 387 The housing 381

The first shift fork body 383 The nut 388 The bottom surface 389

Surface 391 Shaft Fixing Part 394 First Connecting Part Body 390

Shaft Fixing Part 392 Second Drive Rod 393 Bearing 396

Third side 397 Second flange 401 End 395

The fourth side 399 The second driving unit 405 The second annular groove 403

The second shift fork 409 The second drive shaft assembly 411 The groove wall 407

The second center hole 415b The second shift fork body 417 The second center hole 415a

The second annular groove 421 The bottom surface 423 The second shift fork cover plate 419

The second through hole 433 The firing rod assembly 435 The first through hole 431

The second section 439 The driving wheel 475 The first section 437

Rotation tube drive shaft assembly 473 Top plate 481 Rotation tube drive unit 471

Transmission part 479 Second connecting shaft 416 Driven wheel 477

Supporting frame 485 Second connecting component 414 Bottom plate 483

Second drive shaft 412 Through hole 420 Through hole 422

The second driving part 418 The nut 426 The second connecting part body 428

Bearing 424 Shaft Fixing Part 432 Through Hole 436

Shaft Fixing Part 429 Bearing 440 Driven Wheel Body 442

Rotation tube fixing part 444 Gear part 452 Driving part extension part 454

firing rod 450 bearing 456 bearing 458

Outer pipe connector 460

The first guide shaft 468 The base 472 The first guide seat 474

Rotation tube drive unit 471 Autorotation tube drive shaft assembly 473 Driving wheel 475

Driven wheel 477 Driven wheel body 442 Rotation tube fixing piece 444

Transmission Part 479

The second guide shaft 476 The second guide hole 478 The second guide seat 480

The third through hole 482 The first fastener 502 The first section 504

The second section 506 The second fastener 508 The third section 510

The fourth section 512 The main body connecting part 514 The second section groove 522

The first fastener body 518 The first groove 520 The first notch 528

The first stop wall 524 The second stop wall 526 Body limiter 534

The second gap 530 The first opening window 532 The limiting part 540

Bar-shaped hole 536 Limiting part body 538 Buckle bolt 546

Bolt Head 547 Bolt Post 549 Snap Hole 544

The first component cap 542 The brim of the hat 543 The hook for the rotation tube 560

The first hook stop surface 562 Hook connecting part 564 Hook limit hole 566

First hook connection part 568 Second hook connection part 570 Combination part 572

The first hook arm 580 The second hook arm 582 The second hook stop surface 584

Hook Arm Recess 586 First Instrument End 588 Second Instrument End 590

Limiting groove wall 600 Knife holder 602 Knife push rod 604

Instrument Outer Tube 606 First Slot Section 608 Second Slot Section 610

Circumferential flange 612 Flange step 614 Flange side 616

Toolholder groove 618 Toolbar connector 620 Connecting groove 622

The first pull rod 704 The top surface of the nail seat 700 The swing rod assembly 702

The fourth tie rod 710 The second tie rod 706 The third tie rod 708

The third pin shaft 718 The first pin shaft 712 The second pin shaft 716

The first outer pipe section 724 The fourth pin shaft 720 The fifth pin shaft 722

Arc groove 800 Second outer pipe section 726 Outer pipe joint 728

Rotating flange 804 Cam pin 802 Third section 803

Slotted drive rod 812 Outer tube slot 808 Rotation tube guide hole 810

Drive pinion 820 Fastening tube 814 Shaft extension 818

Second manual shaft 825 Intermediate pinion gear 822 Intermediate large gear 824

The second knob 823 The second manual large gear 826 The second limit frame 828

Firing lever connecting piece 834 Limiting piece installation part 830 Limiting piece extension part 832

Drive gear shaft 840 Firing lever drive gear 836 Firing drive unit 838

Third drive shaft gear 846 First transition gear 842 Third drive shaft assembly 844

The third drive member 852 The third connection assembly 848 The third drive shaft 850

Shaft fixing piece 858 The third connecting piece body 854 Shaft fixing piece 856

Second transition gear 864 Third drive shaft gear shaft 860 Manual drive unit 862

The first manual shaft 870 The first manual wheel assembly 866 The first knob 868

The first manual large gear 872 Wedge 835

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the specification with reference to the accompanying drawings in the embodiments of the specification. Obviously, the described embodiments are only part of the implementations, not all of them. Based on the implementation manners in this specification, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

It should be noted that when an element is referred to as being “disposed on” another element, it may be directly on the other element or there may also be an intervening element. 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. As used herein, the terms "vertical", "horizontal", "left", "right" and similar expressions are for the purpose of illustration only and do not represent the only embodiment.

It should be noted that the naming methods of "first", "second"... are adopted for naming components herein. It is only used to distinguish the name, and does not limit the specific quantity.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terms used in this specification are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In some embodiments, a minimally invasive surgical robot generally includes a slave operating device and a master operating console. FIG. 1 shows a main operation console 100 according to an embodiment of the present specification. FIG. 2 shows a slave operating device 200 according to an embodiment of the present specification. The surgeon can perform relevant control operations on the slave operating device 200 on the master operating console 100 , and the slave operating device 200 performs surgical operations on the human body according to input instructions from the master operating console 100 . The master operating console 100 and the slave operating equipment 200 can be placed in the same operating room, or in different rooms, and even the master operating console 100 and the slave operating equipment 200 can be far apart. For example, the master operation console 100 and the slave operation device 200 are respectively located in different cities. The master operation console 100 and the slave operation device 200 may perform data transmission in a wired manner, or may perform data transmission in a wireless manner. For example, the master operation console 100 and the slave operation device 200 are located in the same operating room, and the data transmission between the two is carried out in a wired manner. Long-distance data transmission through 5G wireless signals.

The slave operating device 200 includes a mechanical arm 210 and an actuating device 220 disposed at a distal end of the mechanical arm 210 . The surgical instrument 300 for performing surgical operations is connected to the actuating device 220 , and the actuating device 220 drives the surgical instrument 300 to move through a plurality of actuators inside the actuating device 220 . In some embodiments, multiple surgical instruments 300 can be connected to one actuator 220, and the distal ends of multiple surgical instruments 300 enter the human body through one incision, thereby reducing the number of surgical incisions and making postoperative recovery faster. Of course, in some embodiments, the slave operating device 200 can also have multiple robotic arms, and multiple surgical instruments 300 can also be installed on different robotic arms, and the end instruments 300 of different surgical instruments 300 can enter the human body through different incisions. .

In some embodiments, as shown in FIG. 3 , surgical instrument 300 includes:

A pipe extending along the lengthwise direction and having a first end 351 and a second end 353; wherein the first end 351 is used to install a terminal instrument 321; a driving rod for driving the terminal instrument 321 is provided in the pipe; The end away from the first end 351 is formed with a first surface facing the first end 351 and a second surface facing away from the first end;

A driving device 310 coupled to the second end 353 of the tube, the driving device 310 can apply a force to the first surface and/or the second surface to move the driving rod along the lengthwise direction to drive the end instrument 321 .

In some embodiments, the end of the driving rod away from the first end 351 is provided with a flange that deviates from the longitudinal direction; the flange has the first surface and the second surface; the driving device 310 has a flange along the An annular groove extending in the circumferential direction of the pipe, the flange of the driving rod is at least partially accommodated in the annular groove, so that the driving device 310 can drive the driving rod to move along the longitudinal direction;

In some embodiments, the drive rod is limited relative to the circumferential direction of the pipe.

The pipe is an autorotation tube 427, and the driving device 310 can drive the autorotation tube 427 to rotate along the circumferential direction, so that the flange of the driving rod moves along the annular groove.

The drive device includes a drive rod drive unit, the drive rod drive unit includes a shift fork provided with an annular groove, and a drive shaft assembly that is rotatably coupled with the shift fork; the shift fork can be driven by the drive shaft assembly and move along the axial direction of the drive shaft assembly to drive the drive rod to move along the longitudinal direction.

In some embodiments, one or more driving rods can be arranged in the rotation tube 427. Specifically, in the embodiment shown in FIGS. 7-9 , two driving rods are arranged in the rotation tube 427. The second driving rod 393 .

The first driving rod 355 can be limited relative to the circumference of the rotation tube 427 . Wherein, the end of the first driving rod 355 away from the first end is provided with a first flange 363 deviated from the longitudinal direction; the first flange 363 has a first surface 359 and a second surface 361 .

The driving device 310 has a first annular groove 365 extending along the circumference of the rotation tube 427, and the first flange 363 of the first driving rod 355 is at least partially accommodated in the first annular groove 365, so that the driving device 310 can move along the longitudinal direction. The long direction drives the first driving rod 355 to move. The driving device 310 can drive the rotation tube 427 to rotate along the circumferential direction, so that the first flange 363 of the first driving rod 355 moves along the first annular groove 365 .

In some implementations, as shown in FIG. 5 , the driving rod driving unit used to drive the first driving rod 355 is a first driving unit 367, and the first driving unit 367 includes a first driving unit provided with a first annular groove 365. A shift fork 371, and a first drive shaft assembly 373 that is rotationally coupled with the first shift fork 371; the first shift fork 371 can move along the axial direction of the first drive shaft assembly 373 driven by the first drive shaft assembly 373 , so as to drive the first driving rod 355 to move along the longitudinal direction. The axial direction and the longitudinal direction of the first driving shaft assembly 373 tend to be parallel.

Referring to Fig. 5 and Fig. 11, the driving device 310 also includes a first guide shaft 468 guiding the first shift fork 371; A guide hole 464 ; the first guide shaft 468 passes through the first guide hole 464 and is in clearance fit with the first guide hole 464 .

The driving device 310 further includes a first guide seat 474 sleeved on the first guide shaft 468 and fixedly connected with the first shift fork 371 .

Similarly, as shown in FIG. 7 , a third surface 397 facing the first end and a fourth surface 401 facing away from the first end are formed at the end of the second driving rod 393 away from the first end. Correspondingly, the driving device 310 can apply a force to the third surface 397 and/or the fourth surface 401 to make the second driving rod 393 move along the longitudinal direction.

Referring to FIG. 5 , the drive rod driving unit that drives the second drive rod 393 is the second drive unit 405 , and the configuration of the second drive unit 405 is basically the same as that of the first drive unit. For details, refer to the following embodiments.

In some embodiments, referring to FIG. 3 , a surgical instrument 300 may include a driving device 310 , a long shaft assembly 320 and a terminal instrument 321 . The major axis assembly 320 may include an autorotation tube 427 extending in a lengthwise direction, a firing rod assembly 435 and a drive rod at least partially housed within the autorotation tube 427 . The long shaft assembly 320 has a first end 351 and a second end 353 along the lengthwise direction. The first end 351 of the long shaft assembly 320 can be installed with the terminal instrument 321 , and the second end 353 of the long shaft assembly 320 is coupled with the driving device 310 . End instrument 321 may include wrist and/or end effector 340 . The driving device 310 may be engaged with the actuating device 220 . Multiple drive units within drive assembly 310 may manipulate wrist and/or end effector 340 through long shaft assembly 320 . End effector 340 may be an instrument that performs functions such as cauterization, shearing, cutting, clamping, or imaging. In some other embodiments, the first end 351 of the long shaft assembly 320 may only be connected to the wrist, and actions such as pressing or provoking tissues are performed through the movement of the wrist. In some embodiments, the end instrument 321 can have at least a first mode. In the first mode, the end instrument 321 can rotate and swing. In some embodiments, the end instrument 321 can also have a second mode. In the second mode, the end instrument 321 is movable.

Please refer to Figure 3 and Figure 4 together. In some embodiments, the casing 381 of the driving device 310 can provide stable support for the internal structure. Specifically, the housing 381 of the driving device 310 may mainly include a top plate 481, a bottom plate 483, a support frame 485, and a shell connected to the top plate 481 and the bottom plate 483 (not shown in FIG. 4 , as shown in FIG. 3 ). The supporting frame 485 is fixedly connected with the top board 481 and the bottom board 483 .

Please also refer to FIG. 5 , in some embodiments, the rotation tube 427 extends along the longitudinal direction to form the first end 351 and the second end 353 . The self-rotating tube 427 can be hollow as a whole to form a hollow tube.

In some embodiments, the driving device 310 can provide a rotational driving force to the spinning tube 427 . In this way, the rotation tube 427 can rotate under the action of the rotation driving force. Specifically, an autorotation tube driving unit 471 for driving the autorotation tube 427 to rotate may be disposed in the driving device 310 . The autorotation tube drive unit 471 may include: the autorotation tube drive shaft assembly 473, the drive wheel 475 sleeved on the autorotation tube drive shaft assembly 473, the driven wheel 477 fixedly connected with the autorotation tube 427, and the drive wheel 475 and Transmission member 479 on the driven wheel 477.

The rotation tube drive shaft assembly 473 can be driven to rotate by the actuator of the actuating device 220 . Because the driving wheel 475 is fixedly connected with the rotation tube drive shaft assembly 473 . In this way, the driving wheel 475 can rotate together with the rotation tube drive shaft assembly 473 . The rotation of the driving wheel 475 will drive the transmission part 479, and then the transmission part 479 can drive the driven wheel 477 to rotate. The driven wheel 477 is fixedly connected with the rotation tube 427, so that the driven wheel 477 can drive the rotation tube 427 to rotate together. Furthermore, the rotation tube driving unit 471 drives the rotation tube 427 to rotate.

Please also refer to FIG. 6 , the driven wheel 477 may include a driven wheel body 442 and a rotation tube fixing member 444 . The driven wheel body 442 can be sleeved on the rotation tube 427 , and the rotation tube fixing member 444 can be fixedly connected with the driven wheel body 442 to fasten the driven wheel 477 on the rotation tube 427 . Further, the rotation tube fixing member 444 can be fixedly connected with the driven wheel body 442 by means of screws or rivets.

The transmission member 479 has certain flexibility, and it can be wound on the driving wheel 475 and the driven wheel 477 . The material of the transmission member 479 can be steel wire, belt and so on. No specific limitation is made here.

Please refer to Figure 7 to Figure 9. In some embodiments, the long shaft assembly 320 is provided with a first driving rod 355 for driving the terminal instrument 321; an end 357 of the first driving rod 355 away from the first end 351 is formed with a The first surface 359 facing the first end 351 and the second surface 361 facing away from the first end 351 .

The driving device 310 is coupled to the second end 353 of the long shaft assembly 320 . The driving device 310 can apply force to the first surface 359 and/or the second surface 361 to move the first driving rod 355 along the longitudinal direction.

Specifically, when the driving device 310 applies force to the first surface 359 of the first driving rod 355 , the first driving rod 355 can move away from the first end 351 along the longitudinal direction. When the driving device 310 applies a force to the second surface 361 of the first driving rod 355 , the first driving rod 355 can approach the first end 351 along the longitudinal direction. In this way, stable driving of the first driving rod 355 to move along the lengthwise direction can be achieved. In this way, the first driving rod 355 can further drive the corresponding function of the terminal instrument 321 . Specifically, for example, the movement of the first driving rod 355 along the longitudinal direction can trigger the movement of the end instrument 321 in the first mode.

In some implementations, the first driving rod 355 can be limited relative to the circumference of the rotation tube 427 . Specifically, the rotation tube 427 can be driven by the driving device 310 to rotate relative to the axis X of the rotation tube 427, so that the end instrument 321 can be driven to rotate, and then the position and angle of the end effector 340 can be adjusted to facilitate the operation. The first driving rod 355 can be circumferentially limited relative to the rotation tube 427 . That is, when the rotation tube 427 rotates relative to the axis X thereof, the first driving rod 355 will also rotate around the axis X of the rotation tube 427 .

In this way, when the rotation tube 427 rotates, the first driving rod 355 can also rotate around the axis X of the rotation tube 427 . The relative position of the first driving rod 355 in the rotation tube 427 can be stably maintained, which improves the stability of the surgical instrument 300 .

In some embodiments, as shown in FIG. 7 , the end 357 of the first driving rod 355 away from the first end 351 is provided with a first flange 363 deviated from the longitudinal direction. The first flange 363 has the first face 359 and the second face 361 .

The extension direction of the first flange 363 may deviate from the longitudinal direction of the rotation tube 427 . Thus, the extension direction of the first flange 363 may have an acute angle or a right angle with the longitudinal direction of the rotation tube 427 . In this way, the first flange 363 has two surfaces, and one surface faces the first end 351 of the rotation tube 427 as a whole, that is, the first surface 359 . One surface faces away from the first end 351 of the rotation tube 427 as a whole, that is, the second surface 361 .

By forming a first flange 363 on the first driving rod 355 , and forming the first face 359 and the second face 361 on the first flange 363 . In this way, structurally, it is convenient to drive the first driving rod 355 to move along the longitudinal direction of the rotation tube 427 .

In some embodiments, the first flange 363 can be integrally formed with the first driving rod 355 . In this way, there is a better combination between the two. Of course, in some implementations, the first flange 363 and the first driving rod 355 can also be independent components, and they can be connected through appropriate connection methods.

In some embodiments, the end 357 of the first driving rod 355 away from the first end 351 may be provided with a groove (not shown in the figure). In this way, the surface of the side wall of the groove facing the first end 351 can be used as the first surface 359 , and the surface of the side wall of the groove facing away from the first end 351 can be used as the second surface 361 . Alternatively, the end surface of the first driving rod 355 away from the first end 351 may serve as the second surface 361 . Of course, those skilled in the art can also make other changes under the inspiration of the implementation modes of this specification, but as long as the functions and effects realized are the same or similar to the functions and effects disclosed in multiple implementation modes of the specification, all changes should be covered. within the scope of protection claimed in this case.

In some implementations, as shown in FIG. 8 , the driving device 310 may have a first annular groove 365 extending along the circumference of the rotation tube 427 . The first flange 363 of the first driving rod 355 is at least partially accommodated in the first annular groove 365, so that the driving device 310 can drive the first driving rod 355 to move along the longitudinal direction. .

A driving unit 367 of the driving device 310 may be provided with a first annular groove 365 for at least partially receiving the first flange 363 . In this way, a force can be applied to the second surface 361 of the first flange 363 through the groove wall 369 of the first annular groove 365, so that the first driving rod 355 moves toward the first driving rod 355 along the longitudinal direction of the rotation tube 427. Terminal 351 moves. Force can also be applied to the first surface 359 of the first flange 363 through the groove wall 369 of the first annular groove 365, so that the first driving rod 355 moves toward the second end along the longitudinal direction of the rotation tube 427. 353 moves.

A part of the first flange 363 protrudes from the first driving rod 355 and can partly extend into the first annular groove 365 . Of course, the part of the first flange 363 protruding from the first driving rod 355 can also be completely accommodated in the first annular groove 365 .

In some embodiments, the driving device 310 may be able to drive the rotation tube 427 to rotate along the circumferential direction, so that the first flange 363 of the first driving rod 355 moves along the first annular groove 365 . The first annular groove 365 can provide a moving space for the first flange 363 along the circumference of the rotation tube 427 . With this setting, each function is independent of each other, and there is little interference, which ensures the stability of function realization. That is, when the driving device 310 drives the rotation tube 427 to rotate, the first driving rod 355 can rotate together without affecting the position of the first driving rod 355 along the longitudinal direction of the rotation tube 427 . Further, the driving device 310 may drive the first driving rod 355 to move along the longitudinal direction of the rotation tube 427 while driving the rotation tube 427 to rotate. In this way, the execution efficiency of multiple surgical instruments 300 can be improved, and the operation time can be reduced to a certain extent.

In some implementations, for ease of description, among the plurality of driving units included in the driving device 310 , the driving unit 367 provided with the first annular groove 365 is named as the first driving unit 367 . 5 and 8-9, the first drive unit 367 may include: a first shift fork 371 provided with the first annular groove 365, and a first shift fork 371 rotatably engaged with the first shift fork 371 A drive shaft assembly 373. The first shift fork 371 can be driven by the first drive shaft assembly 373 to move along the axial direction of the first drive shaft assembly 373 so as to drive the first drive rod 355 along the longitudinal direction. direction to move.

The first shift fork 371 is sleeved on the first drive shaft assembly 373 , and a first transmission structure is arranged between the first drive shaft assembly 373 . The first transmission structure can convert the rotation of the first drive shaft assembly 373 into the linear motion of the first shift fork 371 . Specifically, the first transmission structure may adopt a screw structure. Certainly, the first transmission structure may also be configured as a structure in which a cam cooperates with a cam groove. That is, a cam slot is provided on the first drive shaft assembly 373 , and a cam that can slide along the cam slot is provided on the first shift fork 371 . In this way, the first transmission structure can convert the rotation of the first drive shaft assembly 373 into the linear movement of the first shift fork 371 through the cooperation of the cam and the cam groove.

The first shift fork 371 corresponds to the center of the first annular groove 365 and is provided with a first center hole 377a. The first central hole 377 a of the first shift fork 371 is sleeved on the firing rod driving member 448 . The first shift fork 371 and the firing rod driving member 448 can relatively move along the longitudinal direction of the long shaft assembly 320 . The firing rod driver 448 is constrained on the top plate 481 of the driving device 310 . In this way, the first shift fork 371 is sleeved on the first driving shaft assembly 373 and the firing rod driving member 448 at the same time, so that when the first driving shaft assembly 373 drives the first shift fork 371 to move, due to the blocking of the firing rod driving member 448, So that the first shift fork 371 will not rotate relative to the first drive shaft assembly 373 . Of course, the first driving rod 355 can also prevent the first shift fork 371 from rotating relative to the first driving shaft assembly 373 .

The first fork 371 may include a first fork body 383 and a first fork cover 385 . The first shift fork body 383 is formed with a first annular groove 387 , the first center hole 377 a is located at the center of the first annular groove 387 , and the two may have the same centerline. The first shift fork cover plate 385 is mated with the first shift fork body 383 to form a first annular groove 365 . The center of the first shift fork cover plate 385 has a first center hole 377b. In this way, the first shift fork 371 can be sleeved on the firing rod driving member 448 . Further, the diameter of the first central hole 377 b of the first shift fork cover plate 385 is larger than the outer diameter of the firing rod driving member 448 . An annular space is formed between the first shift fork cover plate 385 and the firing rod driving member 448 . Furthermore, the first driving rod 355 can extend from the annular space into the first annular groove 365 , so that the first flange 363 is at least partially received in the first annular groove 365 . Furthermore, when the rotation tube 427 rotates, the first driving rod 355 can move along the annular space, so that the first driving rod 355 rotates together with the rotation tube 427 .

The first shift fork cover plate 385 and the first shift fork body 383 can be fixedly connected. Specifically, screws, rivets, or buckle structures can be used to realize the position limitation for the two. Of course, glue can also be used to bond the two.

When the first flange 363 of the first driving rod 355 is at least partly accommodated in the first annular groove 365, the second surface 361 can be in contact with the bottom surface 389 of the first annular groove 387, and the first surface 359 can be in contact with the first shift fork. The surface 391 of the cover plate 385 facing the bottom surface 389 of the first annular groove 387 contacts. In this way, the position limitation between the first driving rod 355 and the first shift fork 371 along the longitudinal direction of the rotation tube 427 is realized. Further, when the first shift fork 371 is driven to displace along the longitudinal direction of the rotation tube 427 , it can drive the first driving rod 355 to move together. Furthermore, the corresponding function of the first driving rod 355 being operable to trigger the terminal instrument 321 can be realized.

In some embodiments, the axial direction of the first drive shaft assembly 373 tends to be parallel to the longitudinal direction. Since the first shift fork 371 is sleeved on the first drive shaft assembly 373 , when the first drive shaft assembly 373 drives the first shift fork 371 to move, the first shift fork 371 will move along the first drive shaft assembly 373 . Since the first driving shaft assembly 373 is parallel to the longitudinal direction of the rotation tube 427 , the first shift fork 371 drives the first driving rod 355 to move along the longitudinal direction of the rotation tube 427 .

The first driving shaft assembly 373 is installed on the driving device 310 . Specifically, the first drive shaft assembly 373 may mainly include a first drive shaft 374 , a first connection assembly 376 , a first connection shaft 378 and a first drive member 380 .

The first drive shaft 374 passes through the through hole 382 of the first shift fork body 383 , so that the first shift fork 371 is sleeved on the first drive shaft assembly 373 . The top plate 481 defines a through hole 384 corresponding to the first driving shaft 374 , and the first driving shaft 374 is mounted to the through hole 384 through a bearing 386 . In this way, the first driving shaft 374 can rotate relative to the top plate 481 . A nut 388 is connected to a portion of the first driving shaft 374 protruding from the through hole 384 . A portion of the first drive shaft 374 in contact with the bearing 386 is provided with a stepped surface. Furthermore, through the cooperation of the stepped surface, the bearing 386 and the nut 388 , the position of the first drive shaft 374 relative to the top plate 481 is limited, and the first drive shaft 374 is allowed to rotate relative to the top plate 481 .

The first link assembly 376 can include a first link body 390 , a shaft mount 392 and a shaft mount 394 . The first connection assembly 376 may be used to connect the first drive shaft 374 and the first connection shaft 378 . Specifically, the shaft fixing member 392 can fixedly connect the first driving shaft 374 with the first connecting member body 390 . The shaft fixing part 394 can fixedly connect the first connecting shaft 378 with the first connecting part body 390 . The foregoing fixed connection methods may include, but are not limited to, screws or rivets. In this way, the first driving shaft 374 is fixedly connected to the first connecting shaft 378 .

The first connecting shaft 378 can be installed in the through hole 398 of the bottom plate 483 through the bearing 396 . Thus, the first connecting shaft 378 can rotate relative to the bottom plate 483 , so that the first driving shaft assembly 373 can rotate relative to the top plate 481 and the bottom plate 383 . And define the position of the first drive shaft assembly 373 along the longitudinal direction of the rotation tube 427 .

The first driving member 380 is fixedly connected to the first connecting shaft 378 . The first driving member 380 can be used to receive the power input of the actuator of the actuating device 220 . Thus, the first drive shaft assembly 373 is driven to rotate.

In some embodiments, the first surface 359 and the second surface 361 of the first driving lever 355 may receive the force exerted by the first shift fork 371 at the same time. At this time, under the resultant force of the forces received by the first surface 359 and the second surface 361 , the first driving rod 355 is moved along the longitudinal direction of the rotation tube 427 .

Please refer to Figure 7, Figure 8 and Figure 10 together. In some embodiments, a second driving rod 393 for driving the terminal instrument 321 is arranged inside the rotation tube 427; a facing The third surface 397 of the first end 351 and the fourth surface 399 facing away from the first end 351 .

The driving device 310 can apply force to the third surface 397 and/or the fourth surface 399 to move the second driving rod 393 along the longitudinal direction.

Specifically, when the driving device 310 applies force to the third surface 397 of the second driving rod 393 , the second driving rod 393 can move away from the first end 351 along the longitudinal direction. When the driving device 310 applies force to the fourth surface 399 of the second driving rod 393 , the second driving rod 393 can approach the first end 351 along the longitudinal direction. In this way, it is possible to stably drive the second driving rod 393 to move along the lengthwise direction. In this way, the second driving rod 393 can further activate the corresponding function of the end instrument 321 . Specifically, for example, the second driving rod 393 can move along the longitudinal direction, triggering the movement of the end instrument 321 in the second mode.

In some embodiments, the second driving rod 393 is limited relative to the rotation tube 427 in the circumferential direction. Specifically, the rotation tube 427 can be driven by the driving device 310 to rotate relative to the axis of the rotation tube 427, so that the end instrument 321 can be driven to swing, and then the position and angle of the end instrument 321 can be adjusted to facilitate the operation. The second driving rod 393 can be circumferentially limited relative to the rotation tube 427 . That is, when the rotation tube 427 rotates relative to the axis X thereof, the second driving rod 393 will also rotate around the axis X of the rotation tube 427 .

In this way, when the rotation tube 427 rotates, the second driving rod 393 can also rotate around the axis of the rotation tube 427 . The relative position of the second driving rod 393 in the rotation tube 427 can be stably maintained, which improves the stability of the surgical instrument 300 .

In some embodiments, the end 395 of the second driving rod 393 away from the first end 351 is provided with a second flange 401 that deviates from the longitudinal direction; the second flange 401 has the first three sides 397 and the fourth side 399 .

The extension direction of the second flange 401 may deviate from the longitudinal direction of the rotation tube 427 . Thus, the extension direction of the second flange 401 may have an acute angle or a right angle with the longitudinal direction of the rotation tube 427 . In this way, the second flange 401 has two surfaces, and one surface faces the first end 351 of the rotation tube 427 as a whole, that is, the third surface 397 . One surface faces away from the first end 351 of the rotation tube 427 as a whole, that is, the fourth surface 399 .

By forming the second flange 401 on the second drive rod 393 , and forming the third face 397 and the fourth face 399 on the second flange 401 . In this way, structurally, it is convenient to drive the second driving rod 393 to move along the longitudinal direction of the rotation tube 427 .

In some embodiments, the second flange 401 can be integrally formed with the second driving rod 393 . In this way, there is a better combination between the two. Of course, in some implementations, the second flange 401 and the second driving rod 393 may also be independent components, and they are connected by appropriate connection methods.

In some embodiments, the end 395 of the second driving rod 393 away from the first end 351 may be provided with a groove (not shown in the figure). In this way, the surface of the side wall of the groove facing the first end 351 can be used as the third surface 397 , and the end surface of the second driving rod 393 away from the first end 351 can be used as the fourth surface 399 . Of course, those skilled in the art can also make other changes under the inspiration of the implementation modes of this specification, but as long as the functions and effects realized are the same or similar to the functions and effects disclosed in multiple implementation modes of the specification, all changes should be covered. within the scope of protection claimed in this case.

In some embodiments, the driving device 310 has a second annular groove 403 extending in the circumferential direction of the rotation tube 427, and the second flange 401 of the second driving rod 393 is at least partially received in the first annular groove 403. inside the two annular grooves 403, so that the driving device 310 can drive the second driving rod 393 to move along the longitudinal direction.

Among the multiple driving units included in the driving device 310, each driving unit may be used to perform a corresponding driving function. Specifically, a driving unit of the driving device 310 may be provided with a second annular groove 403 for at least partially receiving the second flange 401 . In this way, a force can be applied to the fourth surface 399 of the second flange 401 through the groove wall 407 of the second annular groove 403 , so that the second driving rod 393 moves toward the first Terminal 351 moves. A force can also be applied to the third surface 397 of the second flange 401 through the groove wall 407 of the second annular groove 403, so that the second driving rod 393 moves toward the second end along the longitudinal direction of the rotation tube 427. 353 moves.

The part of the second flange 401 protruding from the second driving rod 393 may partly extend into the second annular groove 403 . Of course, the part of the second flange 401 protruding from the second driving rod 393 may also be completely accommodated in the second annular groove 403 .

In some embodiments, the driving device 310 can drive the rotation tube 427 to rotate along the circumferential direction, so that the second flange 401 of the second driving rod 393 moves along the second annular groove 403 . In some embodiments, the driving device 310 may be able to drive the rotation tube 427 to rotate along the circumferential direction, so that the second flange 401 of the second driving rod 393 moves along the second annular groove 403 . The second annular groove 403 can provide a moving space for the second flange 401 along the circumference of the rotation tube 427 . With this setting, each function is independent of each other, and there is little interference, which ensures the stability of function realization. That is, when the driving device 310 drives the rotation tube 427 to rotate, the second driving rod 393 can rotate together without affecting the position of the second driving rod 393 along the longitudinal direction of the rotation tube 427 . Further, the driving device 310 may drive the second driving rod 393 to move along the longitudinal direction of the rotation tube 427 while driving the rotation tube 427 to rotate. In this way, the execution efficiency of multiple surgical instruments 300 can be improved, and the operation time can be reduced to a certain extent.

In some embodiments, the driving device 310 includes a second driving unit 405, as shown in FIG. 5 and FIG. 8, the second driving unit 405 includes a second shift fork 409 provided with the second annular groove 403 , and the second drive shaft assembly 411 that is rotationally fitted with the second shift fork 409; the second shift fork 409 can be driven by the second drive shaft assembly 411 along the second drive shaft assembly 411 to drive the second driving rod 393 to move along the longitudinal direction.

The second shift fork 409 is sleeved on the second drive shaft assembly 411 , and a second transmission structure 413 is disposed between the second drive shaft assembly 411 . The second transmission structure 413 can convert the rotation of the second drive shaft assembly 411 into the linear motion of the second shift fork 409 . Specifically, the second transmission structure 413 may be a screw structure. Certainly, the second transmission structure 409 may also be configured as a structure in which a cam cooperates with a cam groove. That is, a cam slot is provided on the second drive shaft assembly 411 , and a cam that can slide along the cam slot is provided on the second shift fork 409 . In this way, the second transmission structure 413 can convert the rotation of the second drive shaft assembly 411 into the linear motion of the second shift fork 409 through the cooperation of the cam and the cam groove.

The second shift fork 409 corresponds to the center of the second annular groove 403 and is provided with a second center hole 415a. The second central hole 415 a of the second shift fork 409 is sleeved on the firing rod driving member 448 . The second shift fork 409 and the firing rod driving member 448 can relatively move along the longitudinal direction of the rotation tube 427 . In this way, the second shift fork 409 is sleeved on the second drive shaft assembly 411 and the firing rod driving member 448 at the same time, so that when the second driving shaft assembly 411 drives the second shift fork 409 to move, due to the blocking of the firing rod driving member 448, So that the second drive shaft assembly 411 will not rotate relative to the second drive shaft assembly 411 . Of course, the second driving rod 393 can also prevent the second shift fork 409 from rotating relative to the second driving shaft assembly 411 .

The second fork 409 may include a second fork body 417 and a second fork cover 419 . The second shift fork body 417 is formed with a second annular groove 421 , and the second center hole 415 a is located at the center of the second annular groove 421 , and the two may have the same centerline. The second shift fork cover plate 419 is mated with the second shift fork body 417 to form the second annular groove 403 . The center of the second shift fork cover plate 419 has a second center hole 415b. In this way, the second shift fork 409 can be sleeved on the firing rod driving member 448 . The central aperture of the further second shift fork cover plate 419 is larger than the outer diameter of the firing rod driving member 448 . An annular space is formed between the second shift fork cover plate 419 and the firing rod driving member 448 . Furthermore, the second driving rod 393 can extend into the second annular groove 403 from the annular space, so that the second flange 401 is at least partially accommodated in the second annular groove 403 . Furthermore, when the rotation tube 427 rotates, the second driving rod 393 can move along the annular space, so that the second driving rod 393 rotates together with the rotation tube 427 .

The second shift fork cover plate 419 and the second shift fork body 417 can be fixedly connected. Specifically, screws, rivets, or buckle structures can be used to realize position limitation for the two, and glue can also be used to bond the two.

When the second flange 401 of the second driving rod 393 is at least partially accommodated in the second annular groove 421, the third surface 397 can be in contact with the bottom surface 423 of the second annular groove 421, and the fourth surface 399 can be in contact with the second shift fork. The surface 425 of the cover plate 419 facing the bottom surface 423 of the second annular groove 421 contacts. In this way, the distance between the second driving rod 393 and the second shift fork 409 along the longitudinal direction of the rotation tube 427 is realized. Further, when the second shift fork 409 is driven to displace along the longitudinal direction of the rotation tube 427 , it can drive the second driving rod 393 to move together. Furthermore, the corresponding function of the second driving lever 393 being operable to trigger the terminal instrument 321 can be realized.

Please refer to Figure 5 and Figure 10 together. In some embodiments, the second drive shaft assembly 411 is installed on the driving device 310 . Specifically, the second drive shaft assembly 411 may mainly include a second drive shaft 412 , a second connection assembly 414 , a second connection shaft 416 and a second drive member 418 .

The second drive shaft 412 passes through the through hole 420 of the second shift fork body 417 , so that the second shift fork 409 is sleeved on the second drive shaft assembly 411 . The top plate 481 defines a through hole 422 corresponding to the second driving shaft 412 , and the second driving shaft 411 is mounted to the through hole 422 through a bearing 424 . In this way, the second driving shaft 411 can rotate relative to the top plate 481 . A nut 426 is connected to a portion of the second drive shaft 411 protruding from the through hole 422 . A portion of the second drive shaft 411 in contact with the bearing 424 is provided with a stepped surface. Furthermore, through the cooperation of the stepped surface, the bearing 424 and the nut 426 , the position of the second drive shaft 411 relative to the top plate 481 is defined, and the second drive shaft 411 is allowed to rotate relative to the top plate 481 .

The second link assembly 414 may include a second link body 428 , a shaft mount 429 and a shaft mount 432 . The second connection assembly 414 may be used to connect the second drive shaft 412 and the second connection shaft 416 . Specifically, the shaft fixing member 429 can fixedly connect the second driving shaft 412 to the second connecting member body 428 . The shaft fixing part 429 can fixedly connect the second connecting shaft 416 with the second connecting part body 428 . The foregoing fixed connection methods may include, but are not limited to, screws or rivets. In this way, the second driving shaft 412 is fixedly connected to the second connecting shaft 416 .

The second connecting shaft 416 can be installed in the through hole 436 of the bottom plate 483 through the bearing 396 . In this way, the second connecting shaft 416 can rotate relative to the bottom plate 483 , so that the second drive shaft assembly 411 can rotate relative to the top plate 481 and the bottom plate 383 . And define the position of the second drive shaft assembly 411 along the longitudinal direction of the rotation tube 427 .

The second driving member 418 is fixedly connected with the second connecting shaft 416 . The second driving member 418 can be used to receive the power input of the actuator of the actuating device 220 , so as to realize that the second driving shaft assembly 411 is driven to rotate.

In some embodiments, the axial direction of the second drive shaft assembly 411 tends to be parallel to the longitudinal direction. Since the second shift fork 409 is sleeved on the second drive shaft assembly 411 , when the second drive shaft assembly 411 drives the second shift fork 409 to move, the second shift fork 409 will move along the second drive shaft assembly 411 . Since the second driving shaft assembly 411 is parallel to the longitudinal direction of the rotation tube 427 , the second shift fork 409 drives the second driving rod 393 to move along the longitudinal direction of the rotation tube 427 .

In some embodiments, the third surface 397 and the fourth surface 399 of the second driving lever 393 may receive the force exerted by the second shift fork 409 at the same time. At this time, the second driving rod 393 is moved along the longitudinal direction of the rotation tube 427 under the resultant force of the forces received by the third surface 397 and the fourth surface 399 .

In some embodiments, the first drive rod 355 and the second drive rod 393 are used to trigger different functions of the end instrument 321 , respectively. Specifically, for example, the first driving rod 355 can be used to trigger the swing function of the end instrument 321 , and the second driving rod 393 can be used to trigger the clamping function of the end instrument 321 . Of course, the first driving rod 355 and the second driving rod 393 can also trigger other functions respectively, which is not specifically limited here. In some embodiments, the movement of the end instrument 321 in the first mode can realize the swing function of the end instrument 321 . The movement of the end instrument 321 in the second mode can realize the clamping function of the end instrument 321 .

In some embodiments, the first driving unit 367 of the driving device 310 includes a first shift fork 371 provided with the first annular groove 365 , and the first shift fork 371 and the second shift fork 409 are aligned in the longitudinal direction.

Both the first shift fork 371 and the second shift fork 409 can be sleeved on the firing rod driving member 448 . In this way, the first shift fork 371 and the second shift fork 409 are arranged along the lengthwise direction. Further, both the first shift fork 371 and the second shift fork 409 can be driven to move along the longitudinal direction of the rotation tube 427 . Furthermore, the displacement space of the first shift fork 371 and the second shift fork 409 relative to the firing rod driving member 448 will have a certain stroke overlapping. It can be understood that, on the level of use and operation, the overlapping strokes of the first shift fork 371 and the second shift fork 409 are usually not used together, so that such a design improves the space utilization rate in the drive device 310 and can be used to a certain extent. Reduce the volume of the driving device 310 .

Correspondingly, when the first shift fork 371 is closer to the first end 351 of the rotation tube 427 relative to the second shift fork 409 , the distance between the hole walls of the first

central holes

377a, 377b of the first shift fork 371 and the firing rod driving member 448 The annular space between them needs to be enough to pass through the second driving rod 393 . Similarly, when the second shift fork 409 is closer to the first end 351 of the rotation tube 427 relative to the first shift fork 371 , the gap between the hole walls of the second

central holes

415a, 415b of the second shift fork 409 and the firing rod driving member 448 The annular space between them needs to be enough to pass through the first driving rod 355 .

See Figure 5, Figure 10, and Figure 11. In some embodiments, in order to enable the first shift fork 371 to move more stably along the longitudinal direction of the rotation tube 427 , the driving device 310 may also be provided with a guide shaft assembly 462 .

A first guide hole 464 is disposed between the first center hole 377 a of the first fork body 383 and the through hole 382 . The first guide hole 464 may be a through hole passing through the first shift fork body 383 .

Guide shaft assembly 462 may include a first guide shaft 468 and a base 472 . The first guide shaft 468 passes through the first guide hole 464 and is in clearance fit with the first guide hole 464 . The first guide shaft 468 is fixedly connected with the top plate 481 . An end of the first guide shaft 468 away from the top plate 481 is connected to the base 472 . In this way, the first guide shaft 468 is limited between the top plate 481 and the base 472 . When the first shift fork 371 is driven to move along the longitudinal direction of the rotation tube 427, through the cooperation between the first guide hole 464 and the first guide shaft 468, the first shift fork 371 can move along the first guide shaft. 468 moves. Further, the axial direction of the first guide shaft 468 tends to be parallel to the longitudinal direction of the rotation tube 427 . In this way, the guiding effect of the first guide shaft 468 on the first shift fork 371 is achieved, so that the first shift fork 371 can be more stably displaced along the longitudinal direction of the rotation tube 427 .

The base 472 can be fixedly connected with the bottom plate 483 , so that the base 472 can support the first guide shaft 468 more stably.

In order to make the positional relationship between the first shift fork 371 and the first guide shaft 468 more stable, the relative inclination or shaking between the first shift fork body 383 and the first guide shaft 468 is reduced. A first guide seat 474 can be sleeved on the first guide shaft 468 , and the two can slide relative to each other. The first guide seat 474 is fixedly connected to the first fork body 383 . The first guide seat 474 can be in the shape of a hollow cylinder as a whole. In this way, the first guide seat 474 is sleeved on the first guide shaft 468 and fixedly connected with the first shift fork body 383. To a certain extent, it is equivalent to The contact area between the first fork body 383 and the first guide shaft 468 is increased. In this way, when the first shift fork 371 moves relative to the first guide shaft 468, it can be more stable, and the shaking or tilting between the two can be reduced. Further, in some embodiments, in order to reduce the friction between the first guide shaft 468 and the first shift fork body 383 and the first guide seat 474, between the first shift fork body 383, the first guide seat 474 and the first A relatively smooth first sleeve can be arranged between the guide shafts 468 . The first shaft sleeve can be made of a material with a relatively smooth surface. Of course, the first shaft sleeve may not be provided, and the first shift fork body 383 and/or the first guide seat 474 may be made of a material with a relatively smooth surface.

In some embodiments, guide shaft assembly 462 may also include a second guide shaft 476 . A second guide hole 478 is disposed between the second central hole 415 a of the second fork body 417 and the through hole 420 . The second guide shaft 476 passes through the second guide hole 478 and is in clearance fit with the second guide hole 478 . The second guide shaft 476 can be fixedly connected with the top plate 481 . An end of the second guide shaft 476 away from the top plate 481 is connected to the base 472 . In this way, the second guide shaft 476 is limited between the top plate 481 and the base 472 . When the second shift fork 409 is driven to move along the longitudinal direction of the rotation tube 427, the second shift fork 409 can move along the second guide shaft through the cooperation between the second guide hole 478 and the second guide shaft 476. 476 moves. Further, the axial direction of the second guide shaft 476 tends to be parallel to the longitudinal direction of the rotation tube 427 . In this way, the guiding effect of the second guide shaft 476 on the second shift fork 409 is achieved, so that the second shift fork 409 can be more stably displaced along the longitudinal direction of the rotation tube 427 .

In order to make the positional relationship between the second shift fork 409 and the second guide shaft 476 more stable, the relative inclination or shaking between the second shift fork body 417 and the second guide shaft 476 is reduced. A second guide seat 480 can be sleeved on the second guide shaft 476 , and the two can slide relatively therebetween. The second guide seat 480 is fixedly connected to the second shift fork body 417 . The second guide seat 480 is in the shape of a hollow cylinder as a whole. In this way, the second guide seat 480 is sleeved on the second guide shaft 476 and fixedly connected with the second shift fork body 417. To a certain extent, it is equivalent to increasing The contact area between the second shift fork body 417 and the second guide shaft 476 is enlarged. In this way, when the second shift fork 409 moves relative to the second guide shaft 476, it can be more stable, reducing the shaking or tilting between the two. Further, in some embodiments, in order to reduce the frictional force between the second guide shaft 476 and the second shift fork body 417 and the second guide seat 480, between the second shift fork body 417, the second guide seat 480 and the first A relatively smooth second sleeve can be arranged between the two guide shafts 476 . The second shaft sleeve can be made of a material with a relatively smooth surface. Certainly, the second shaft sleeve may not be provided, and the second shift fork body 417 and/or the second guide seat 480 may be made of a material with a relatively smooth surface.

In some embodiments, the guide shaft assembly 462 of the driving device 310 may only be provided with related structures for guiding the first shift fork 371 . Of course, the guide shaft assembly 462 of the driving device 310 may also only be provided with related structures for guiding the second shift fork 409 . Of course, in some implementations, the guide shaft assembly 462 may be provided with related structures for guiding the first shift fork 371 and the second shift fork 409 at the same time.

Please refer to Figure 3 to Figure 7 and Figure 8 together. In some embodiments, both the second driving rod 393 and the first driving rod 355 are partially accommodated in the rotation tube 427 and are circumferentially limited relative to the rotation tube 427 .

The first driving rod 355 and the second driving rod 393 extend from the driving device 310 into the rotation tube 427 . Specifically, the parts of the first drive rod 355 and the second drive rod 393 respectively provided with the first flange 363 and the second flange 401 are located outside the rotation tube 427, so that they can be connected with the first shift fork 371 or the second shift fork 409 Cooperate.

The part of the first drive rod 355 and the second drive rod 393 extending into the rotation tube 427 will be limited relative to the rotation tube 427 in the circumferential direction, but the first drive rod 355 and the second drive rod 393 are allowed to move along the rotation tube 427. displacement in the longitudinal direction. Specifically, a driving rod limiter 430 having a plurality of through holes is disposed in the rotation tube 427 . The driving rod limiter 430 is provided with a first through hole 431 corresponding to the first driving rod 355 , and is provided with a second through hole 433 corresponding to the second driving rod 393 . The first driving rod 355 passes through the first through hole 431 . The second driving rod 393 passes through the second through hole 433 . The driving rod limiter 430 is fixedly connected with the rotation tube 427 . Thus, the driving rod limiter 430 will move along with the rotation tube 427 . When the rotation tube 427 is driven to rotate axially in the longitudinal direction, the driving rod limiter 430 will rotate along with it. At this time, the driving rod limiter 430 drives the first driving rod 355 and the second driving rod 393 to rotate together through the first through hole 431 and the second through hole 433 .

The number of the driving rod limiter 430 may be one or more. Usually, when there are more than two driving rod limiting parts 430 , the limiting effect achieved is better than that of only one driving rod limiting part 430 . In some implementations, two adjacent drive rod limiters 430 can be connected through a connecting rod 438 , so that the limit of two adjacent drive rod limiters 430 is more firm, and the position positioning is also more accurate.

As shown in FIG. 6 , the rotation tube 427 is installed on the bottom plate 483 through the bearing 438 and the bearing 440 . The rotation tube 427 is limited along the longitudinal direction relative to the bottom plate 483 and allows the rotation tube 427 to rotate in a circumferential direction. The part of the rotation tube 427 protruding into the driving device 310 is fixedly connected with the driven wheel 477 (refer to the above description in conjunction with FIG. 6 ). In this way, when the driven wheel 477 is driven to rotate, the autorotation tube 427 will rotate together with the driven wheel 477 .

In some embodiments, surgical instrument 300 includes: drive device 310, firing rod assembly 435, and tip instrument 321;

The driving device 310 includes a housing 381, a firing driving unit accommodated in the housing 381, and the firing driving unit outputs a rotational driving force;

The firing rod assembly 435 includes a firing rod limiter 446 fixedly connected to the housing 381, and the firing rod 450 circumferentially limited by the firing rod limiter 446 is driven by the rotation of the firing drive unit. The force drives the rotating firing rod driving member 448 ; the firing rod 450 moves along a straight line under the driving of the firing rod driving member 448 to fire the terminal instrument 321 to move.

Please refer to Figure 3, Figure 8 and Figure 33 together. In some embodiments, the firing rod assembly 435 may include: a firing rod stopper 446 , a firing rod driver 448 , and a firing rod 450 .

The firing rod limiter 446 extends along the longitudinal direction and is fixedly connected with the casing 381 of the driving device 310 . Specifically, for example, the firing rod limiter 446 can be fixedly connected with the top plate 481 of the driving device 310 . So that the firing rod limiter 446 will not be displaced relative to the top plate 481 .

The firing rod 450 can be sleeved on the firing rod limiter 446 and be limited in a circumferential direction relative to the firing rod limiter 446 . The firing rod 450 has a hollow section, which accommodates at least part of the firing rod limiter 446 , and the distance between the firing rod limiter 446 and the firing rod 450 can be relatively displaced along the longitudinal direction of the rotation tube 427 . The firing rod stopper 446 restricts the firing rod 450 from rotating along the circumferential direction. Specifically, for example, a guide flange extending along the longitudinal direction may be provided on the firing rod limiter 446, and a corresponding guide groove extending along the longitudinal direction may be provided on the firing rod 450, The relative circumferential position of the firing rod limiter 446 and the firing rod 450 is defined by the guide flange being accommodated in the guide groove, but relative movement between the two is allowed along the longitudinal direction.

In some embodiments, the firing rod 450 is located between the first driving rod 355 and the second driving rod 393; when the rotation tube 427 is driven to rotate by the driving device 310, the first driving rod The rod 355 and the second drive rod 393 rotate around the firing rod 450 .

The firing rod 450 may be located in the center of the spin tube 427 . Specifically, for example, the centerline of the firing rod 450 tends to coincide with the centerline of the rotation tube 427 . To achieve, the firing rod 450 and the rotation tube 427 tend to be arranged coaxially. The first driving rod 355 and the second driving rod 393 are respectively located on two sides of the firing rod 450 , and when the rotation tube 427 is driven to rotate, the rotation tube 427 can rotate along the circumferential direction of the firing rod 450 . The first drive rod 355 and the second drive rod 393 are rotatable around the firing rod 450 . The rotation of the rotation tube 427 relative to the firing rod 450 can be understood as the rotation of the rotation tube 427 . The rotation of the first driving rod 355 and the second driving rod 393 around the firing rod 450 can be understood as the revolution of the first driving rod 355 and the second driving rod 393 relative to the firing rod 450 .

The firing rod driving member 448 can drive the firing rod 450 to move relative to the firing rod limiting member 446 along the longitudinal direction. The firing rod driving member 448 can be rotatably connected with the top plate 481 of the driving device 310 . As such, the firing rod driver 448 can rotate relative to the firing rod stopper 446 . The firing rod driving member 448 is in contact with the firing rod 450, so that the firing rod 450 can be driven to move along the longitudinal direction when the firing rod driving member 448 is driven to rotate. Specifically, for example, the outer surface of the firing rod 450 can have a plurality of annular grooves, and the firing rod driving member 448 can be a gear whose axis extending direction is perpendicular to the longitudinal direction, and the teeth of the gear can extend into the ring shape of the firing rod 450. In the groove, when the firing rod driving part 448 rotates, it can drive the firing rod 450 to move relative to the firing rod limiting part 446 along the longitudinal direction.

In this embodiment, by setting the firing rod limiter 446 fixed to the housing 381 of the driving device 310 , the firing rod limiter 446 can realize circumferential limit and longitudinal direction guidance for the firing rod 450 . The firing rod driver 448 can be mounted on the driving device 310 , and the firing rod 450 can move along the lengthwise direction relative to the rotation tube 427 and can directly trigger the end instrument 321 . Specifically, in some embodiments, the movement of the firing rod 450 relative to the longitudinal direction of the rotation tube 427 can push the knife rod of the end instrument 321 to realize the cutting function.

In some embodiments, the distance that the firing rod 450 can move along the longitudinal direction is less than the length of the firing rod limiter 446 along the longitudinal direction. The length of the firing rod limiter 446 along the longitudinal direction may be g, and the distance that the firing rod 450 moves along the longitudinal direction driven by the firing rod driving member 448 may be G. It is necessary to maintain G<g, so as to prevent the firing rod 450 from disengaging from the firing rod limiter 446 and lose the circumferential limit of the firing rod 450 .

In some embodiments, the firing rod 450 includes a first segment 437 in the shape of a hollow cylinder, and a second segment 439 connected to the first segment 437; wherein the first segment 437 accommodates at least part of the firing rod Limiting piece 446.

The firing rod 450 may include a first section 437 and a second section 439 . Wherein, the first section 437 has the hollow section. That is, the first section 437 can be hollow inside as a whole, so that the first section 437 can accommodate the firing rod limiter 446 . Therefore, the first section 437 of the firing rod 450 will not rotate relative to the circumferential direction. It is realized that when the firing rod driving member 448 rotates to drive the firing rod 450 , the firing rod 450 can move relative to the driving rod stopper 430 as a whole.

The first segment 437 and the second segment 439 can be fixedly connected. The materials of the first segment 437 and the second segment 439 can be connected accordingly. Specifically, for example, the first segment 437 and the second segment 439 may be connected by means of welding, bonding, riveting or interference fit.

In some embodiments, the firing rod limiter 446 includes a limiter installation portion 830 fixedly connected to the housing 381 of the driving device 310 , and is accommodated in the housing 381 of the driving device 310 and extends Into the stop extension 832 of the first segment 437 . The limiting member installation portion 830 is fixedly connected to the limiting member extending portion 832 . Of course, in some implementations, the firing rod limiter 446 may only include the limiter extension 832 , and directly connect the limiter extension 832 to the housing 381 of the driving device 310 in a fixed manner. Specifically, for example, according to the material used, the extension part 832 of the limiting member may be connected by welding, bonding, snap-fit structure and the like. Alternatively, an opening can also be provided on the housing 381 of the driving device 310, and the extending part 832 of the limiting member can be fitted with the opening by an interference fit. Fixed connection.

The limiting member extension 832 limits the firing rod 450 in a circumferential direction, and allows the firing rod 450 to move relative to the limiting member extending portion 832 along the longitudinal direction.

In some embodiments, the inner section of the first section 437 perpendicular to the longitudinal direction is non-circular, and the shape of the extension part 832 of the limiting member matches the shape of the inner section. In this way, it is difficult for the first segment 437 and the driving rod limiter 430 to rotate relative to the circumferential direction around the longitudinal direction. The first segment 437 is hollow, and the cross section of the inner surface of the first segment 437 perpendicular to the longitudinal direction is the inner cross section. The shape of the inner section may be irregular. For example, the internal cross-section may be singularly shaped. Of course, the shape of the inner section can also be regular, but non-circular. For example, the shape of the internal section may also be polygonal. Specifically, for example, a triangle, a square, a pentagon, and the like.

The shape of the extension portion 832 of the limiting member matches the shape of the inner section. It may be that, after the extension portion 832 of the limiting member extends into the interior of the first section 437 , it may contact the inner surface of the first section 437 . Thus, the extension portion 832 of the limiting member can limit the rotation of the first section 437 of the central tube along the circumferential direction by contacting the inner surface of the first section 437 . Specifically, for example, the cross-sectional shape of the outer surface of the limiting member extension 832 perpendicular to the longitudinal direction is similar to the inner cross-sectional shape of the first segment 437 . Alternatively, the cross-sectional shape of the extension portion 832 of the limiting member and the shape of the internal cross-section of the first segment 437 may also be different or similar, but as long as the extension portion 832 of the limiting member is adapted to the shape of the first segment 437, The two circumferential limits can be realized.

In some embodiments, the firing rod 450 may further include a third section 803 rotatably connected to the second section 439 . So that the firing rod limiter 446 will not limit the circumferential rotation of the third segment 803 . In this way, the third section 803 can rotate along with the rotation tube 427 along the circumferential direction. On the basis of not affecting the corresponding function that the firing rod 450 can trigger the end instrument 321 , the end instrument 321 can rotate along with the rotation tube 427 to adjust the posture angle of the end instrument 321 .

Specifically, in some embodiments, the firing rod 450 can be used to fire the cutting function of the tip instrument 321 . So that, when the rotation tube 427 rotates, the end instrument 321 can rotate together with the rotation tube 427, moreover, the third section 803 can be connected with the end instrument 321 and rotate together with the end instrument 321, the third section 803 and the second section 439 relative rotation between them. Like this, the rotation of rotation tube 427 can not affect the cooperation between firing rod 450 and firing rod stopper 446, also can not affect the cooperation between firing rod 450 and firing rod driver 448.

In some embodiments, the second segment 439 is connected to the third segment 803 through a firing rod connecting member 834 in rotation. Specifically, the firing rod connecting member 834 can be rotatably connected to both the second segment 439 and the third segment 803 . Certainly, the firing rod connecting member 834 may also be only rotatably connected to one of the second segment 439 or the third segment 803 . Specifically, for example, the firing rod connecting piece 834 can be in the shape of a hollow cylinder, and two annular flanges can be arranged inside the firing rod connecting piece 834, and the second section 439 and the third section 803 are connected to the firing rod connecting piece 834. The position where the rod connecting member 834 is mated may be provided with an annular groove. In this way, the firing rod connecting member 834 is connected to the second section 439 and the third section 803 through the annular flanges respectively extending into the annular grooves of the second section 439 and the third section 803 . The annular flange can slide along the annular groove, so that the relative rotation between the second segment 439 and the third segment 803 can be realized. Of course, there may be other implementations to achieve the rotational connection between the second section 439 and the third section 803, for example, directly at the position where the second section 439 and the third section 803 are connected. An annular flange is provided inside the second section 439, and an annular groove is provided in the third section 803, so that the second section 439 and the third section 803 are limitedly connected by the annular flange and the annular groove, along the The relative position of the second segment 439 and the third segment 803 is limited along the longitudinal direction, but the relative circumferential rotation between the second segment 439 and the third segment 803 is allowed.

In some embodiments, the firing rod link 834 can half surround the annular grooves of the second section 439 and the third section 803 . And a wedge 835 may be provided between the firing rod connecting piece 834 and the rotation tube 427 . Wedge 835 may bear against firing rod connector 834 to prevent firing rod connector 834 from coming out of abutment with second segment 439 and third segment 803 . Those skilled in the art may make other changes under the inspiration of the technical essence of the embodiments of this specification, but as long as the functions and effects realized are the same or similar to those of the embodiments provided in this specification, they shall be covered by the protection scope of this case.

In some embodiments, the firing rod driving member 448 has a cylindrical shape as a whole and extends along the longitudinal direction, and the firing rod 450 is at least partially accommodated in the firing rod driving member 448 . In some embodiments, the firing rod driver 448 is sleeved around the first section 437 of the firing rod 450 . The firing rod driver 448 and the firing rod 450 are provided with matching motion conversion structures. The motion conversion structure can convert the rotation of the firing rod driving member 448 into the movement of the firing rod 450 along the longitudinal direction of the rotation tube 427 . Specifically, for example, the realization of the motion converting structure may be that a screw structure is provided between the firing rod driving member 448 and the firing rod 450 . Alternatively, the realization of the motion conversion structure may be that the surface of the central nut 448 facing the firing rod 450 is provided with a cam, and the outer surface of the firing rod 450 is provided with a cam groove.

In some embodiments, a gear portion 452 is provided at the end of the firing rod driving member 448 away from the first end 351 , so that the firing rod driving member 448 is driven to rotate through the gear portion 452 . Specifically, for example, the firing rod driver 448 may have a gear portion 452 and a driver extension 454 . The gear portion 452 can be used to receive a drive to drive the firing rod driver 448 to rotate. The extension part 454 of the driver is integrally sleeved on the outer surface of the firing rod 450 . Further, the length of the firing rod driving member 448 restricts the displacement of the firing rod 450 relative to the longitudinal direction of the rotation tube 427 . That is, the maximum displacement of the firing rod 450 relative to the longitudinal direction of the rotation tube 427 tends to be close to the length of the firing rod driving part 448 without breaking away from the firing rod driving part 448 .

The firing rod assembly 435 can be driven to be displaced along the lengthwise direction of the rotation tube 427 , so that the end device 321 can be activated to perform corresponding functions. Specifically, for example, the firing rod assembly 435 can be used to fire the cutting function of the tip instrument 321 .

Please refer to Figure 8, Figure 33 and Figure 34 together. In some embodiments, the driving device 310 is provided with a firing rod driving gear 836 meshing with the gear part 452 , and the casing 381 of the driving device 310 is provided with a driving gear 836 capable of driving the firing rod to rotate. The firing drive unit 838. The firing drive unit 838 may receive power from an actuator of the actuating device 220 to drive the firing rod 450 to move.

The firing rod driving gear 836 can be mounted on the top plate 481 of the driving device 310 and can rotate relative to the top plate 481 . The firing rod driving gear 836 can be driven to rotate by the firing driving unit 838. In this way, by meshing with the gear part 452 of the firing rod driving part 448, the firing rod driving part 448 is driven to rotate, and then the firing rod 450 is driven relative to the long axis assembly move in the longitudinal direction. Specifically, the firing rod driving gear 836 can be installed on the top plate 481 of the driving device 310 through the driving gear shaft 840 . A bearing may be provided between the drive gear shaft 840 and the top plate 481 , so that the firing rod drive gear 836 can rotate relative to the top plate 481 .

A firing drive unit 838 for driving a firing rod drive gear 836 may be disposed within the drive device 310 . The firing driving unit 838 can rotate by driving the firing rod driving gear 836 to further drive the firing rod 450 to move along the longitudinal direction. The firing drive unit 838 may include: a first transition gear 842 sleeved on the drive gear shaft 840 and a third drive shaft assembly 844 .

The first transition gear 842 can be fixedly connected with the drive gear shaft 840 . In this way, when the first transition gear 842 rotates, it can drive the driving gear shaft 840 to rotate together. The first intermediate gear 842 can be driven to rotate by the third drive shaft assembly 844 .

The third driving shaft assembly 844 is installed on the driving device 310 . Specifically, the third drive shaft assembly 844 may mainly include: a third drive shaft gear 846 , a third connection assembly 848 , a third drive shaft 850 and a third drive member 852 .

The third drive shaft gear 846 may mesh with the first intermediate gear 842 . In this way, when the third drive shaft gear 846 is driven to rotate, it can drive the first transition gear 842 to rotate together. The third drive shaft gear shaft 860 of the third drive shaft gear 846 can be fixedly connected to the third drive shaft 850 through the third connection assembly 848 .

The third link assembly 848 can include a third link body 854 , a shaft mount 856 and a shaft mount 858 . A third connection assembly 848 may be used to connect the third drive shaft 850 and the third drive shaft gear 846 shaft. Specifically, the shaft fixing member 856 can fixedly connect the third driving shaft 850 to the third connecting member body 854 . The shaft fixing part 858 can fixedly connect the third driving shaft gear shaft 860 with the third connecting part body 854 . The foregoing fixed connection methods may include, but are not limited to, screws or rivets. In this way, the third drive shaft 850 is fixedly connected to the third drive shaft gear 846 .

The third driving member 852 is fixedly connected with the third driving shaft 850 . The third driving member 852 can be used to receive the power input of the actuator of the actuating device 220 . Thus, the third drive shaft assembly 844 is driven to rotate.

In some embodiments, the casing 381 of the driving device 310 is provided with a manual driving unit 862 capable of driving the firing rod driving gear 836 to rotate. The manual drive unit 862 can be used to manually drive the firing rod 450 to move. The manual driving unit 862 may mainly include: a second transition gear 864 sleeved on the driving gear shaft 840 and a first manual wheel assembly 866 .

The second transition gear 864 is located outside the driving device, so the firing rod drive gear 836 can be located between the first transition gear 842 and the second transition gear 864, and the three are coaxially arranged.

The first manual wheel assembly 866 can include a first knob 868 , a first manual shaft 870 and a first manual bull gear 872 . The first knob 868 is fixedly connected with the first manual shaft 870 . In this way, the first knob 868 can be manually operated to rotate, thereby driving the first manual shaft 870 to rotate. The first manual bull gear 872 is sleeved on the first manual shaft 870, and is circumferentially limited with the first manual shaft 870. In this way, when the first manual shaft 870 rotates, it can drive the first manual large gear 872 to rotate together. The first manual bull gear 872 meshes with the second intermediate gear 864 . In this way, when the first manual large gear 872 rotates, it can drive the second transition gear 864 to rotate, and then drive the firing rod driving gear 836 to rotate, so as to further drive the firing rod driving member 448 to drive the firing rod 450 .

In some implementations, referring to FIG. 7 , the driving rod limiter 430 is provided with a third through hole 482 corresponding to the firing rod 450 . The rotation tube 427 can rotate around the firing rod 450 . The firing rod 450 passes through the third through hole 482 . The inner diameter of the third through hole 482 is larger than the outer diameter of the firing rod 450 , so that the driving rod stopper 430 will not restrict the firing rod 450 from moving along the longitudinal direction. Further, when the rotation tube 427 rotates, both the rotation tube 427 and the driving rod stopper 430 can rotate around the firing rod 450 . The first segment 437 and the second segment 439 of the firing rod 450 cannot rotate in the circumferential direction, and the third segment 874 can rotate in the circumferential direction together with the rotation tube 427 . In this way, the internal space of the rotation tube can be utilized more reasonably, and at the same time, the stable execution of each function can be ensured.

In some embodiments, the part of the second driving rod 393 accommodated in the rotation tube 427 is provided with an outer tube connector 460 . The rotation tube 427 corresponds to the position of the outer tube connector 460 and has a through hole, and the outer tube connector 460 can protrude from the through hole. Further, the outer tube connector 460 can be connected with the instrument outer tube 606 of the terminal instrument 321 . In this way, the outer tube connector 460 limits the second driving rod 393 , the rotation tube 427 and the outer tube 606 of the instrument. Therefore, when the rotation tube 427 rotates along the circumferential direction, it can drive the instrument outer tube 606 to rotate together, so that the end instrument 321 can also rotate along with it.

In some embodiments, as shown in FIG. 3 , the surgical instrument 300 includes a driving device 310 and a tube; the tube extends lengthwise and has a first end 351 and a second end 353, the first end 351 is used for The terminal instrument 321 is installed, and the second end 353 is used to be coupled to the driving device 310; the surgical instrument 300 also includes a driving rod extending from the driving device 310 to the tubular member, and the driving rod is driven by the driving device 310 along the Move in the longitudinal direction to trigger the movement of the end instrument 321 in the first mode. As shown in FIGS. The fastener is used to connect the first section 504 and the second section 506 of the driving rod.

In some embodiments, when the driving rod is driven by the driving device 310 to move along the longitudinal direction, the fastener moves together with the first section 504 and the second section 506;

Wherein, the fastener includes a fastener body provided with a body connection portion 514; Section 504 and the second section 506 are connected.

In some embodiments, the pipe is provided with a window corresponding to the position of the fastener, the body of the fastener covers the window from the outside of the pipe, and the body connecting portion 514 extends into the opening. window.

In some embodiments, the fastener further includes at least one body stopper 534; at least part of the body stopper 534 extends from the window into the interior of the pipe, so that the fastener extends into The width of the portion inside the window relative to the longitudinal direction is greater than the width of the window relative to the longitudinal direction.

Please also refer to Figure 3 and Figure 12-16. In some embodiments, a first fastener 502 is detachably installed on the rotation tube 427, and the first fastener 502 is used to connect the first section 504 of the

first driving rod

355 and 506 of the second section. Specifically, when the first fastener 502 is removed, the first driving rod 355 is separated from the first segment 504 and the second segment 506 .

The first fastener 502 is structurally configured to be detachable from the spinning tube 427 without physically damaging the first fastener 502 . Therefore, after the first fastener 502 is removed, it can also be installed on the rotation tube 427 . The first drive rod 355 includes a first section 504 and a second section 506 that disengage after the first fastener 502 is removed. When the first fastener 502 is removed, the first section 504 can be driven by the driving device 310 to move along the longitudinal direction, while the driving device 310 cannot drive the second Section 506 is shifted. Thus, when the first section 504 is driven to move by the first driving unit 367 , the second section 506 will not receive power transmission. Of course, in some embodiments, after the first fastener 502 is removed from the spinning tube 427 , the physical structure may be damaged and cannot be reinstalled to the spinning tube 427 . Specifically, for example, the structure of the first fastener 502 may be designed for one-time use, and after being disassembled, it cannot be reused.

Second section 506 may be connected to end instrument 321 . Because, after the first section 504 and the second section 506 are separated, the second section 506 is in a free state, and then the operation of the end instrument 321 connected to the second section 506 is released, and then it is also in a free state.

In some embodiments, when the first fastener 502 is not disassembled, the first driving rod 355 can be driven by the driving device 310 to move along the longitudinal direction of the rotation tube 427 to The end instrument 321 is triggered. The first fastener 502 connects the first section 504 and the second section 506; when the first fastener 502 is not removed, the first driving rod 355 can be moved by the The driving device 310 is driven to move along the longitudinal direction, and the first fastener 502 moves together with the first section 504 and the second section 506 . The first drive rod 355 can connect the first section 504 and the second section 506 of the first drive rod 355 . In this way, the first section 504 is driven by the first driving unit 367 to move along the longitudinal direction of the rotation tube 427, which will push the first fastener 502 to move together, and then the first fastener 502 can drive the second section 506 to move together . The second section 506 is connected to the end instrument 321 such that the second section 506 can trigger the corresponding functional operation of the end instrument 321 . Specifically, for example, the second section 506 pushes the swing function of the end instrument 321 to operate.

Please refer to Figure 3, Figure 12-Figure 14 together. In some embodiments, the rotation tube 427 is detachably installed with a second fastener 508 corresponding to the second driving rod 393, and the second fastener 508 is used to connect the second driving rod 393. The third section 510 and the fourth section 512 . With the second fastener 508 removed, the second drive rod 393 is separated from the third section 510 and the fourth section 512 .

The second fastener 508 is structurally configured to be detachable from the spinning tube 427 without physically damaging the second fastener 508 . Thus, after the second fastener 510 is removed, it can also be installed on the rotation tube 427 . The second drive rod 393 may include a third section 510 and a fourth section 512 that disengage after the second fastener 508 is removed. When the second fastener 508 is removed, the third section 510 can be driven by the driving device 310 to move along the longitudinal direction, while the driving device 310 cannot drive the fourth section 510 Section 512 is shifted. Therefore, when the third section 510 is driven to move by the second driving unit 405 , the fourth section 512 will not receive power transmission. Of course, in some embodiments, after the second fastener 508 is removed from the spinning tube 427 , the physical structure may be damaged and cannot be reinstalled to the spinning tube 427 . Specifically, for example, the structure of the first fastener 508 may be designed for one-time use, and after being disassembled, it cannot be reused.

Fourth section 512 may be connected to end instrument 321 . Because, after the third section 510 and the fourth section 512 are separated, the fourth section 512 is in a free state, and then the corresponding operation of the terminal instrument 321 connected with the fourth section 512 is released, and thus also in a free state.

In some embodiments, when the second fastener 508 is not disassembled, the second driving rod 393 can be driven by the driving device 310 to move along the longitudinal direction to trigger the end Apparatus321. The second fastener 508 connects the third section 510 and the fourth section 512; when the second fastener 508 is not removed, the second driving rod 393 can be moved by the The driving device 310 is driven to move along the longitudinal direction, and the second fastener 508 moves together with the third section 510 and the fourth section 512 . The second fastener 508 can connect the third section 510 and the fourth section 512 of the second drive rod 393 . In this way, the third section 510 is driven by the second driving unit 405 to move along the longitudinal direction of the rotation tube 427, which will push the second fastener 508 to move together, and then the second fastener 508 can drive the fourth section 512 to move together . The fourth section 512 is connected to the end instrument 321 , so that the fourth section 512 can trigger the corresponding functional operation of the end instrument 321 . Specifically, for example, the fourth section 512 pushes the clamping function of the end instrument 321 to operate.

Please refer to Figure 13-Figure 16 together. In some embodiments, the first fastener 502 includes a first fastener body 518 provided with a body connection portion 514; 504, and connected with the second section 506 of the first driving rod 355.

The first fastener body 518 is located outside the rotation tube 427 as a whole, and the body connecting portion 514 can extend into the rotation tube 427 to connect the first section 504 and the second section 506 of the first driving rod 355 inside the rotation tube 427 . The body connection part 514 can be connected with the first section 504 and the second section 506 , so that the first section 504 and the second section 506 of the first driving rod 355 are connected into one body.

In some embodiments, the end of the first section 504 close to the second section 506 is provided with a first section groove 520 , and the end of the second section 506 close to the first section 504 is provided with a first section groove 520 . Two grooves 522 . Please also refer to FIG. 14 , the body connecting portion 514 is provided with a first stopper wall 524 that engages with the first section groove 520 , and a first stop wall 524 that engages with the second section groove 522 . Two stop walls 526 .

The first section groove 520 may be an annular groove formed along the circumference of the first driving rod 355 . Certainly, a first joint groove 520 may also be provided on both sides of the first driving rod 355 respectively.

The first stop wall 524 defines a first notch 528 . The first driving rod 355 is inserted into the first notch 528 through the first section groove 520 . That is, the first section 504 of the first driving rod 355 can extend into the first opening 528 . Further, the first stopper wall 524 protrudes into the interior of the first segment groove 520 . In this way, along the extending direction of the first driving rod 355 , the first segment 504 of the first driving rod 355 is connected to the first fastener body 518 in a limited manner. And, the first section 504 is connected to the main body connecting portion 514 by matching the first notch 528 of the first stopper wall 524 with the first section groove 520 of the first section 504 .

Similarly, the second stopper wall 526 is provided with a second notch 530 . The first driving rod 355 is inserted into the second notch 530 through the second section groove 522 . That is, the second section 506 of the first driving rod 355 can extend into the second opening 528 . Further, the second stopper wall 526 protrudes into the interior of the second segment groove 522 . In this way, along the extending direction of the first driving rod 355 , the second section 506 of the first driving rod 355 is connected to the first fastener body 518 in a limited manner. And, the second section 506 is connected to the second section connecting portion 516 by matching the second notch 530 of the second stopper wall 526 with the second section groove 522 of the second section 506 .

The first stop wall 524 and the second stop wall 526 may have facing surfaces. In this way, the body connecting portion 514 is connected to the first section 504 and the second section 506 of the first driving rod 355 , so as to realize the connection of the first section 504 and the second section 506 along the longitudinal direction of the rotation tube 427 .

In some embodiments, the rotation tube 427 is provided with a first window 532 corresponding to the position of the first fastener 518, and the first fastener body 518 covers the first fastener body 518 from the outside of the rotation tube 427. A window 532 , the body connecting portion 514 extends into the first window 532 .

The autorotation tube 427 is provided with a first window 532 . The size of the first window 532 is greater than the overall size of the body connecting portion 514 . That is, the body connecting portion 514 is formed as a whole, and may have an overall width and an overall length. The length L of the first window 532 along the longitudinal direction of the rotation tube 427 is greater than the length of the body connecting portion 514 along the longitudinal direction. In this way, the first fastener body 518 can have a certain displacement relative to the rotation tube 427 along the longitudinal direction. To achieve, the first driving rod 355 can be driven to move by the first driving unit 367 .

In some implementations, the first fastener 502 may further include at least one body stopper 534 . At least part of the body stopper 534 protrudes into the inside of the rotation tube 427 from the first window 532 , so that the part of the first fastener 502 protruding into the first window 532 is opposite to the The width in the longitudinal direction is greater than the width of the first opening 532 relative to the longitudinal direction.

The body limiter 534 can be used to limit the first fastener body 518 on the rotation tube 427, restrict the first fastener body 518 from falling off from the first opening window 532, and allow the first fastener body 502 to move relative to the first fastener body 502. A window 532 moves along the longitudinal direction of the rotation tube 427 . The body stopper 534 can extend into the inside of the rotation tube 427 from the first window 532 and contact the inner sidewall of the rotation tube 427 . In this way, the first fastener 502 is restricted by the body stopper 534 in the direction away from the first window 532 , and cannot fall off from the first window 532 . Specifically, after the body stopper 534 extends into the inside of the rotation tube 427, the width of the part of the first fastener 502 extending into the first window 532 relative to the longitudinal direction is greater than that of the first fastener 502. The width of a window 532 relative to the longitudinal direction. In this way, the first fastener 502 can move along the lengthwise direction of the rotation tube 427 along the first window 532 , but will not fall off from the first window 532 .

The number of the body limiter 534 can be one, two, three...etc., and the specific number is not explicitly limited. In some embodiments, the number of the body stoppers 534 may be two. There are strip-shaped holes 536 on both sides of the first fastener body 518 in the longitudinal direction relative to the rotation tube 427 . The two body stoppers 534 respectively correspond to a bar-shaped hole 536 , and extend into the inside of the rotation tube 427 through the corresponding bar-shaped hole 536 .

Please refer to Figure 16, Figure 17 and Figure 18 together. The body limiter 534 may include a limiter body 538 and a limiter 540 . The extending direction of the limiting portion 540 deviates from the extending direction of the limiting member body 538 . When the body limiting member 534 is installed on the first fastener body 518 , the limiting portion 540 extends from the bar-shaped hole 536 of the first fastener body 538 into the rotation tube 427 . It is clamped between the first fastener body 518 and the rotation tube 427 , so that the first fastener body 518 can be prevented from falling off from the first window 532 .

In some embodiments, the body stopper 534 may be a flat plate pivotally connected to the first fastener body 518 . The body limiter 534 can rotate relative to the first fastener body 518, and has a protruding position where the first fastener body 518 protrudes laterally relative to the longitudinal direction of the rotation tube 427, and does not extend the first fastener body. The stowed position of the body 518. When the body stopper 534 is in the protruding position, it can be in contact with the inner wall of the rotation tube 427 to prevent the first fastener body 518 from falling off from the first window 532 . When the body stopper 534 is in the retracted position, the first fastener body 518 is allowed to be separated from the rotation tube 427 .

In some embodiments, the first fastener 502 may further include a first assembly cap 542 snap-fitted with the first fastener body 518 . The first assembly cap 542 fixedly connects the at least one body stopper 534 to the first fastener body 518 .

The first assembly cap 542 can be mounted to the first fastener body 518 and fix the position of the at least one body stop 534 . In this way, the body limiter 534 can stably limit the positional relationship between the first fastener body 518 and the first window 532, preventing the first fastener body 518 from falling off from the first window 532, thereby avoiding the first tightness. Firmware 502 falls off from the spin tube. As shown in Figure 15 and Figures 19-20, specifically, the first component cap 542 may have a brim portion 543 with a protruding surface. The brim portion 543 can abut against the surface of the body limiting member 534 facing away from the rotation tube 427 , so as to prevent the body limiting member 534 from falling off from the rotation tube 427 . In some embodiments, the number of brim portions 543 may correspond to the number of body stoppers 534 . Certainly, the first component cap 542 may be provided with an annular brim portion 543 . At this time, the number of brim parts 543 may be one.

The surface of the first component cap 542 facing the first fastener body 518 is connected with the first fastener 502 by a snap-fit structure. Specifically, for example, a snap hole 544 may be provided on the surface of the first component cap 542 facing the first fastener body 518 , and a snap bolt 546 may be provided on the first fastener body 518 .

The diameter of the entrance of the buckle hole 544 is smaller than the diameter of the inner hole, so that a constriction is formed at the entrance of the buckle hole 544 . The buckle bolt 546 can be divided into a bolt head 547 and a bolt post 549 , wherein the outer diameter of the bolt head 547 is larger than the outer diameter of the bolt post 549 . The first component cap 542 may be made of flexible material.

In this way, when the first component cap 542 is installed on the first fastener body 518, the bolt head 547 of the buckle bolt 546 can extend into the buckle hole 544, and be caught by the mouth of the buckle hole 544, preventing the first component Cap 542 comes off. Of course, the buckle structure between the first component cap 542 and the first fastener body 518 can also be implemented in other structures, and those skilled in the art can also make other structures under the inspiration of the technical essence of the embodiments of this specification. Changes, but as long as the functions and effects realized by them are the same or similar to the functions realized by the implementation mode of this description, they shall be covered by the protection scope of the claims of this case.

In some implementations, the first component cap 542 can be integrated with the body stopper 534, so that the first component cap 542 can extend into the bar-shaped hole 536 through the stopper 540, so that the first component cap 542 is opposite to each other. The rotation tube 427 is limited. In addition, the snap-fit structure between the first assembly cap 542 and the first fastener body 518 may not be required.

In some implementations, the specific structure of the second fastener 508 may be the same as that of the first fastener 502 . And, the corresponding structure that the rotation tube 427 and the second driving rod 393 cooperate with the second fastener 508 is also the same as the structure that the rotation tube 427 and the first driving rod 355 cooperate with the first fastener 502 . Therefore, reference can be made to the previous comparative explanations, and no further details will be given. In some cases, if you need to refer to the specific structure and components of the second fastener 508, you can refer to the naming method of the first fastener 502 and add "nth" as a name difference, where n can be a positive integer .

In some embodiments, there is also provided a surgical instrument 300, which includes a terminal instrument 321 for performing surgery, and also includes a driving device 310 and a long shaft assembly 320; the long shaft assembly 320 extends along a lengthwise direction and has a first end and a second end. Two ends, the first end is used to install the terminal instrument 321, and the second end is used to couple to the driving device 310. The long axis assembly 320 includes a rotation tube 427 and a first drive rod 355 and a second drive rod 355 partially housed in the rotation tube 427. The rod 393 and the firing rod 450, the driving device 310 provides the driving force for rotation, the rotation tube 427 receives the driving force of the driving device 310 and provides the end instrument 321 with the rotation power, the first driving rod 355 and the second driving rod 393 surround the The firing rod 450, the end instrument 321 has a blade, the firing rod 450 is used to fire the blade movement of the end instrument 321, the first driving rod 355 and the second driving rod 393 are used to provide the end instrument 321 with rotation or moving power, The first driving rod 355 and/or the second driving rod 393 includes a first section and a second section, and the rotation tube 427 is equipped with detachable fasteners, which are used to connect the first driving rod 355 and/or the second driving rod 393. The first and second sections of the drive rod 393.

In some embodiments, a surgical instrument 300 is provided, as shown in FIGS. 21-25 , comprising a driving device 310, a tubular member and a terminal instrument 321, the tubular member extending along the lengthwise direction has a first end and a second end, The first end is equipped with a terminal instrument 321, the first end of the pipe has a pipe hook 560 protruding in the longitudinal direction, the terminal instrument 321 has a first end 588 and a second end 590 along the longitudinal direction, wherein the The first end 588 of the instrument is provided with an end effector 340, and the area of the end instrument 321 close to the second end 590 of the instrument is provided with a limiting groove 594. The limiting groove 594 is used to cooperate with the pipe hook 560 to constrain the pipe and the end instrument 321 relative position along the longitudinal direction.

In some embodiments, the pipe is an autorotation tube 427. The autorotation tube 427 is driven by the driving device 310 to rotate and is used to drive the end instrument 321 to rotate. Attached hook connector 564 .

In some embodiments, the hook connecting portion 564 is provided with a hook limit hole 566 corresponding to the central position of the rotation tube 427, the surgical instrument 300 includes a firing rod 450 extending from the driving device 310 into the rotation tube 427, and the firing rod 450 passes through Through the hook limiting hole 566; the hook limiting hole 566 allows the firing rod 450 to move along the longitudinal direction relative to the hook connecting portion 564, and prevents the firing rod 450 from rotating relative to the hook connecting portion 564;

The hook connection part 564 has a hook guide hole 578 that runs through the hook connection part 564 along the longitudinal direction, and the hook guide hole 578 is located in the area of the hook connection part 564 close to the inner wall of the rotation tube 427; the surgical instrument 300 includes a slave driving device 310 extends to the driving rod in the rotation tube 427 , the driving rod passes through the hook guide hole 578 , and triggers the end instrument 321 under the driving of the driving device 310 .

Specifically, please refer to Figure 21. In some embodiments, the spinning tube 427 extends along a lengthwise direction, forming a first end 351 and a second end 353 of the spinning tube 427 . The first end 351 has an autorotation tube hook 560 protruding along the longitudinal direction. The rotation tube hook 560 has a first hook stop surface 562 facing the second end 353 . The first hook stop surface 562 is used to prevent the end instrument 321 from moving away from the second end 353 relative to the rotation tube along the longitudinal direction.

In this embodiment, the autorotation tube hook 560 is provided on the autorotation tube 427 , so that the long axis assembly 320 and the terminal instrument 321 can be connected in a limited position through the autorotation tube hook 560 . That is, the positions of the long axis assembly 320 and the terminal instrument 321 along the longitudinal direction are limited by the first hook stop surface 562 of the rotation tube hook 560 . The separation of the autorotation tube 427 from the end instrument 321 along the lengthwise direction is avoided.

Please refer to Figure 21 and Figure 22 together. In some embodiments, the autorotation tube hook 560 has a hook connection part 564 accommodated in the autorotation tube 427 and fixedly connected with the autorotation tube 427 .

The hook connection part 564 can connect the rotation tube hook 560 to the rotation tube 427 . The hook connecting portion 564 can be bonded to the rotation tube 427 by glue. In some embodiments, an interference fit may be used between the hook connection portion 564 and the rotation tube 427 . Specifically, the inner diameter of the rotation tube 427 is slightly smaller than the outer diameter of the hook connection part 564, so that when the hook connection part 564 is installed in the rotation tube 427, the position between the hook connection part 564 and the rotation tube 427 can be limited by interference fit. relation. In some embodiments, after the hook connection portion 564 is inserted into the rotation tube 427 , the rotation tube 427 may be deformed by squeezing the rotation tube 427 so that the deformed rotation tube 427 presses the hook connection portion 564 .

In some embodiments, the hook connecting portion 564 is provided with a hook limit hole 566 corresponding to the central position of the rotation tube 427, and the firing rod 450 passes through the hook limit hole 566; the hook limit hole 566 allows displacement of the firing rod 450 relative to the hook connection portion 564 along the longitudinal direction, and prevents relative circumferential rotation of the firing rod 450 relative to the hook connection portion 564 .

The size of the hook limiting hole 566 is slightly larger than that of the firing rod 450, so that the firing rod 450 can pass through the hook limiting hole 566, and the two can move relatively. Specifically, for example, there may be a clearance fit between the hook limiting hole 566 and the firing rod 450 .

Further, the hook limiting hole 566 and the firing rod 450 are set correspondingly in shape so that the two cannot rotate relative to each other. In this way, when the rotation tube 427 rotates, the firing rod 450 can be driven to rotate together through the hook limiting hole 566.

In some embodiments, the cross section of the hook limiting hole 566 is non-circular. When the object rotates, the outer contour forms a circular trajectory. The opening section of the hook limiting hole 566 is non-circular, which is more helpful to limit the relative position between the hook limiting hole 566 and the firing rod 450 . The opening section may be a cross section along the extending direction of the hook limiting hole 566 . Specifically, in some embodiments, the shape of the cross section of the opening is selected from polygonal, elliptical or irregular shapes. Specifically, for example, polygons may be selected from triangles, quadrilaterals, ... octagons and the like.

In some embodiments, the hook connection part 564 may include a first hook connection part 568, a second hook connection part 570, and the first hook connection part 568 and the second hook connection part 570 are connected together. The junction 572. Wherein, a spacing groove 574 is formed between the first hook connection portion 568 and the second hook connection portion 570 by the joint portion 572 . Glue for bonding the hook connecting portion 564 and the rotation tube 427 may be provided in the interval groove 574 .

By forming the interval groove 574 in the hook connecting portion 564, the space for accommodating glue between the hook connecting portion 564 and the rotation tube 427 is increased, so that the hook connecting portion 564 can be stably connected to the rotation tube 427 by glue. In order to facilitate the injection of glue into the interval groove 574 , a glue injection hole 576 may be provided on the first hook connection portion 568 . In this way, when assembling the hook connecting portion 564 and the rotation tube 427 , glue can be injected into the spacer groove 574 through the glue injection hole 576 . In this way, it is convenient to install the fixing hook connecting portion 564 to the rotation tube 427 . Certainly, in some embodiments, the glue injection hole 576 may not be provided, and the hook connection portion 564 is installed into the rotation tube 427 after the glue is injected into the interval groove 574 .

In some embodiments, the hook connecting portion 564 has a hook guiding hole 578 passing through the hook connecting portion 564 along the longitudinal direction. The hook guide hole 578 is located at a region of the hook connecting portion 564 close to the inner wall of the rotation tube 427 . The driving rod of the long shaft assembly 320 passes through the hook guide hole 578 , and is driven by the driving device 310 to drive the terminal instrument 321 .

The hook guide hole 578 can provide a guide for the driving rod. The drive rod can be displaced along the lengthwise direction relative to the hook guide hole 578 . Specifically, the driving rod is driven by the driving device 310 to move along the longitudinal direction, so as to drive the function of the terminal instrument 321 . The driving rod needs to pass through the hook connecting portion 564 so as to be mated with the end instrument 321 . Specifically, the hook guide hole 578 can pass through the first hook connecting portion 568 and the second hook connecting portion 570 respectively.

In some embodiments, the hook guide hole 578 can limit the driving rod in a circumferential direction. That is, the drive rod is restricted from rotating relative to the hook guide hole 578 . Specifically, the shape of the cross section of the hook guide hole 578 may be non-circular. Specifically, in some embodiments, the shape of the cross section of the opening is selected from polygonal, elliptical or irregular shapes. Specifically, for example, polygons may be selected from triangles, quadrilaterals, ... octagons and the like.

In some embodiments, the spinning tube hook 560 may include a first hook arm 580 and a second hook arm 582 . The first hook arm 580 and the second hook arm 582 are respectively fixedly connected to the area of the hook connection 564 surrounding the hook limiting hole 566 .

The first hook arm 580 and the second hook arm 582 respectively protrude from the first end 351 of the rotation tube. After the end instrument 321 is installed on the long shaft assembly 320 , the first hook arm 580 and the second hook arm 582 can work together to hook the end instrument 321 to prevent the end instrument 321 from being detached from the long shaft assembly 320 along the longitudinal direction.

The first hook arm 580 and the second hook arm 582 may respectively form a first hook stop surface 562 facing the second end 353 . In this way, the displacement of the end instrument 321 away from the second end 353 along the lengthwise direction will be blocked by the first hook stop surface 562 .

The first hook arm 580 and the second hook arm 582 can be integrally formed with the hook connecting portion 564 . Of course, the first hook arm 580 and the second hook arm 582 may also be fixedly connected to the hook connection portion 564 in other fixing ways. Specifically, for example, the two are bonded by glue, fixedly connected by screws, rivets, etc., and details will not be repeated here.

In some embodiments, the first hook arm 580 and the second hook arm 582 are formed with the first hook stop surface 562 respectively, and also have a second hook facing the first hook stop surface 562 respectively. The hook stop surface 584 . The second hook stop surface 584 is used to prevent the terminal instrument 321 from approaching the second end 353 relative to the rotation tube 427 along the longitudinal direction.

The first hook stop surface 562 and the second hook stop surface 584 are arranged facing each other, and there may be a certain distance therebetween. After the terminal instrument 321 is installed on the long shaft assembly 320 , some structures may be located between the first hook stop surface 562 and the second hook stop surface 584 . In this way, the relative positions of the long axis assembly 320 and the terminal instrument 321 along the longitudinal direction are defined by the first hook stop surface 562 and the second hook stop surface 584 of the rotation tube hook 560 .

The part of the first hook arm 580 away from the rotation tube 427 is provided with a hook arm groove 586 . The hook arm groove 586 has two facing surfaces along the longitudinal direction, wherein, the surface facing the second end 353 is the first hook stop surface 562, and the surface facing the first hook stop surface 562 is The surface is the second hook stop surface 584 . Similarly, the second hook arm 582 has the same structure as the first hook arm 580 , which will not be repeated here.

In some embodiments, a first section from the second hook stop surface 584 to the hook connecting portion 564 is formed between the first hook arm 580 and the second hook arm 582 , the first section A second section is formed between a hook stop surface 562 and the second hook stop surface 584 , and a second section is formed between the first hook stop surface 562 and the end surface of the rotation tube hook 560 away from the rotation tube 427 A third interval is formed. Wherein, the distance between the first hook arm 580 and the second hook arm 582 in the third interval is greater than the distance between the first hook arm 580 and the second hook arm 582 in the first interval. the distance between. The distance between the first hook arm 580 and the second hook arm 582 in the third section is smaller than the distance between the first hook arm 580 and the second hook arm 582 in the second section. distance.

In this embodiment, the space between the first hook arm 580 and the second hook arm 582 is divided into a plurality of sections for the convenience of expression, and may not have substantial distinguishing features in actual structure.

In different intervals, the distance between the first hook arm 580 and the second hook arm 582 may refer to the minimum distance between the first hook arm 580 and the second hook arm 582 on the spatial three-dimensional structure; it may also refer to The average distance between the first hook arm 580 and the second hook arm 582 . In some embodiments, a plurality of planes perpendicular to the lengthwise direction can be constructed, the plane being the distance between the cross-sections formed on the first hook arm 580 and the second hook arm 582 . Certainly, those skilled in the art may make other changes under the enlightenment of the technical essence of this embodiment, and details will not be repeated here.

In the third interval, the distance between the first hook arm 580 and the second hook arm 582 is greater than the distance between the first hook arm 580 and the second hook arm 582 in the first interval. Thus, the structure corresponding to the end instrument 321 and the rotation tube hook 560 can extend from the third section into between the first hook arm 580 and the second hook arm 582 . Furthermore, due to the small distance between the first hook arm 580 and the second hook arm 582 in the first section, the structure corresponding to the end instrument 321 and the rotation tube hook 560 can be blocked by the second hook stop surface 584 . As mentioned above, by dividing different sections between the first hook arm 580 and the second hook arm 582 , different functions can be realized in different sections.

In some embodiments, the area of the second hook stop surface 584 is larger than that of the first hook stop surface 562 . In this way, in the space between the first hook arm 580 and the second hook arm 582 , the second hook stop surface 584 protrudes beyond the first hook stop surface 562 . The center line of the first hook stop surface 562, the second hook stop surface 584 and the rotation tube 427, in the projection of a plane perpendicular to the longitudinal direction, the projection of the first hook stop surface 562 and the projection of the center line The distance is greater than the distance between the projection of the second hook stop surface 584 and the projection of the center line.

In some embodiments, the first hook arm 580 and the second hook arm 582 are arranged symmetrically with respect to the axis of the rotation tube 427 .

The structures of the first hook arm 580 and the second hook arm 582 may be substantially the same, and both are fixedly connected to the hook connecting portion 564 . In this way, the first hook arm 580 and the second hook arm 582 can be arranged symmetrically with respect to the axis, so that the force acting on the terminal instrument 321 by the first hook arm 580 and the second hook arm 582 can be relatively uniform. In this way, it helps to stabilize the positional relationship between the end instrument 321 and the autorotation tube 427 .

In some embodiments, the surfaces of the first hook arm 580 and the second hook arm 582 facing each other are at least partially arcuate.

The end instrument 321 will have a portion of the structure extending between the first hook arm 580 and the second hook arm 582, and in some cases, the portion extending between the first hook arm 580 and the second hook arm 582 will rotate . In this way, the first hook arm 580 and the second hook arm 582 are provided with arc surfaces, which can facilitate the rotation of the part of the terminal instrument 321 protruding between the first hook arm 580 and the second hook arm.

For some implementations, see Figures 23 and 24. The terminal instrument 321 generally has a first instrument end 588 and a second instrument end 590 along a lengthwise direction. Wherein, the first end 588 of the instrument is provided with the end effector 340 , and the second end 590 of the instrument is used to be coupled to the driving device 310 . Wherein, the region of the terminal instrument 321 close to the second end 590 of the instrument is provided with a limiting groove 594 . The limit slot 594 can be used to constrain the relative position of the end instrument 321 and the rotation tube 427 along the longitudinal direction of the end instrument 321 . In some embodiments, after the end instrument 321 is installed on the rotation tube 427 , the longitudinal direction of the end instrument 321 is substantially the same as that of the autorotation tube 427 .

End instrument 321 may be any medical instrument applicable to surgical instrument 300 . In some embodiments, end effector 340 can include a base 596 and an anvil 598 .

The second end 590 of the instrument is coupled with the rotation tube 427 , so that the second end 590 of the instrument is provided with an interface structure connected with the rotation tube 427 . As such, the end instrument 321 may be connected to the autorotation tube 427 via the instrument second end 590 . The second instrument end 590 of the terminal instrument 321 may be provided with a limiting slot 594 . The limit groove 594 has a limit groove wall 600 facing the first end 588 of the instrument, so that the end instrument 321 can constrain the end instrument 321 and the rotation tube 427 along the lengthwise length of the end instrument 321 through the limit groove wall 600 The relative position of the direction. That is, after the end instrument 321 is installed on the long shaft assembly 320 , the limiting groove wall 600 can cooperate with the end instrument 321 to prevent the end instrument 321 from being separated from the rotation tube 427 .

In some embodiments, end instrument 321 may be end instrument 321 . Specifically, the end instrument 321 may include a nail seat 596, an anvil 598, a knife holder 602, a knife pusher rod 604, an instrument outer tube 606, a swing rod assembly 702, and the like.

The limiting groove 594 may be formed on the knife holder 602 of the terminal instrument 321 . Specifically, a limiting groove 594 is provided at the end of the tool holder 602 close to the second end 590 of the instrument. In some implementations, the limiting groove 594 may be a groove provided on the circumferential surface of the tool holder 602 and extending in a helical shape along the longitudinal direction as a whole. In this way, after the terminal instrument 321 is installed on the rotation tube 427, the rotation tube hook 560 of the rotation tube 427 can cooperate with the limiting groove 594, and cooperate with the limiting groove wall 600 of the limiting groove 594 through the first hook stop surface 562, Displacement that prevents the rotation tube 427 and the end instrument 321 from moving away along the lengthwise direction is achieved.

In some embodiments, as shown in FIG. 25 , the limiting groove 594 may have a first groove segment 608 extending along the longitudinal direction, and a second groove segment extending along the circumferential direction of the terminal instrument 321 . Slot segment 610 .

In this embodiment, the second slot section 610 has a limiting slot wall 600 facing the first end 588 of the instrument. When the end instrument 321 is installed into the autorotation tube 427 , the first hook arm 580 and the second hook arm 582 of the autorotation tube hook 560 will cooperate with the limiting groove 594 . Specifically, the terminal instrument 321 is first docked with the autorotation tube 427 along the lengthwise direction. Parts of the first hook arm 580 and the second hook arm 582 in the third section pass through the first slot section 608 to reach the second slot section 610 . At this time, the end instrument 321 is rotated relative to the rotation tube 427 , so that the parts of the first hook arm 580 and the second hook arm 582 in the third section move along the second groove segment 610 . At this time, the first hook stop surface 562 of the first hook arm 580 and the second hook arm 582 faces the limiting groove wall 600 . In this way, when the end instrument 321 is moved away from the rotation tube 427, the first hook stop surface 562 will abut against the limit groove wall 600, so as to stop the end instrument 321 and the rotation tube 427, and avoid both separate.

In some implementations, please refer to Figures 23 to 25 together. The tool holder 602 of the terminal instrument 321 is accommodated in the instrument outer tube 606 . The end of the knife holder 602 away from the first end 588 of the instrument is provided with an annular groove extending along the circumference of the knife holder 602 , and the annular groove can be used as the second groove segment 610 of the limiting groove 594 . Said end of the tool holder 602 is separated by an annular groove forming a circumferential flange 612 . At least two first groove segments 608 are formed on the circumferential flange 612 . At least two first slot segments 608 may correspond to the first hook arm 580 and the second hook arm 582 respectively. In this way, the first hook arm 580 and the second hook arm 582 can extend into the first groove section 608, and when the terminal instrument 321 rotates relative to the rotation tube 427, the first hook arm 580 and the second hook arm 582 are in the first interval. The part moves along the second groove segment 610.

Specifically, the distance between the first hook stop surface 562 and the second hook stop surface 584 may be slightly greater than the thickness of the circumferential flange 612 along the longitudinal direction. As such, the circumferential flange 612 may enter into the hook arm groove 586 . In this way, the first hook stop surface 562 and the second hook stop surface 584 are in clearance fit with the circumferential flange 612 to define the relative positions of the end instrument 321 and the rotation tube 427 along the longitudinal direction.

In some embodiments, a portion of the circumferential flange 612 adjacent to the first slot segment 608 is formed with a flange step 614 , and a flange side 616 facing the first slot segment 608 . The flange step 614 can be received in the hook arm groove 586 , which allows the first hook arm 580 and the second hook arm 582 to rotate relative to the circumferential flange 612 . Further, after the first hook arm 580 and the second hook arm 582 rotate through the flange step 614 relative to the circumferential flange 612 , they will abut against the flange side 616 respectively. In this way, the rotation range of the rotation tube hook 560 compared with the tool holder 602 can be limited by the flange side 616 .

After the terminal instrument 321 and the rotation tube 427 are installed, the first hook arm 580 and the second hook arm 582 are in the structure of the first section, at least partially accommodated in the second groove section 610, and the hooks in the second section correspond to The arm groove 586 receives a portion of the circumferential flange 612 .

In some embodiments, the knife holder 602 is housed within the instrument outer tube 606 . Specifically, the part of the knife holder 602 provided with the circumferential flange 612 is all accommodated inside the outer tube 606 of the instrument. In this way, the internal structure of the knife holder 602 can be protected to a certain extent. In some embodiments, the instrument outer tube 606 can move relative to the tool holder 602 along the longitudinal direction of the end instrument 321 . That is, the instrument outer tube 606 can be driven by the major shaft assembly 320 to trigger the function of the tip instrument 321 . It can be seen that housing the knife rest 602 inside the outer tube 606 of the instrument provides a certain space distance along the longitudinal direction, which is the space structure between the rotation tube hook 560 and the knife rest 602, and the distance between the mechanical outer tube 606 and the long axis. The spatial structure of the module 320 provides design convenience.

In some embodiments, please refer to FIGS. 23 to 26 together. The knife holder 602 is hollow along the longitudinal direction of the terminal instrument 321, and the knife holder 602 accommodates the pusher rod 604 of the terminal instrument 321, and the pusher rod 604 extends out of the knife Rack 602.

The knife push rod 604 can be used to push the knife head (not shown) of the end instrument 321 . The end of the pusher bar 604 near the first end 588 of the instrument is adapted to engage a knife head. The pusher rod 604 protrudes from the end of the knife holder 602 for mating with the firing rod 450 . Specifically, the end of the knife pushing rod 604 away from the first end 588 of the instrument is provided with a narrowing diameter 618 of the knife rod extending along the circumferential direction. The circumferential outer diameter of the portion of the push rod 604 adjacent to the narrow diameter 618 of the knife bar is larger than the outer diameter of the narrow diameter 618 of the knife bar. A part is spaced at the end of the pusher rod 604 by the cutter rod narrowing diameter 618 as the cutter rod connecting head 620 . The knife rod connecting head 620 can be engaged with the connecting groove 622 of the firing rod 450 . In this way, the positioning of the pusher rod 604 and the firing rod 450 along the longitudinal direction is realized. In this way, the pusher rod 604 can be pushed by the firing rod 450, thereby pushing the cutting head.

For some implementations, see Figures 23 and 24. The tool holder 602 of the end instrument 321 is rotatably connected with the end effector 340 .

The pad 596 of the end effector 340 has a pad top surface 700 that faces the anvil 598 . When the end instrument 321 is applied to work, the object to be operated will be clamped between the top surface 700 of the nail seat and the nail anvil 598 . The relative rotation axis of the tool holder 602 and the end effector 340 intersects with the top surface 700 of the nail base in space. Specifically, for example, the nail seat top surface 700 can be abstracted into a plane, and there is an intersection between the plane and the axis. Preferably, the axis may tend to be perpendicular to the plane. Certainly, in some implementation manners, there may also be an intersection point between the axis and the plane, but the two are not perpendicular. In this way, the needs of some purposes can be met.

In one embodiment, a surgical instrument is provided, including a driving device 310 and an autorotation tube 427, the autorotation tube 427 extending along a lengthwise direction has a first end 351 and a second end 353; the first end 351 is used for The terminal instrument 321 is installed, and the second end 353 is used for coupling with the driving device 310; the first end 351 of the rotation tube 427 has a tube hook 560 protruding along the longitudinal direction, and the tube The hook 560 has a first hook stop surface 562 facing the second end 353, and the first hook stop surface 562 is used to prevent the terminal instrument 321 from moving away from the rotation tube 427 along the longitudinal direction. The second end 353 .

In one embodiment, an end instrument is provided, the end instrument 321 has an instrument first end 588 and an instrument second end 590 along the longitudinal direction; wherein, the first end 588 of the instrument is provided with an end effector 340, The second end 590 of the instrument is used to be coupled to a tube of a surgical instrument 300; wherein, the terminal instrument 321 is provided with a limiting groove 594 near the second end 590 of the instrument; the limiting groove 594 is used for The relative positions of the end instrument 321 and the tube along the longitudinal direction of the end instrument 321 are constrained.

In some embodiments, as shown in FIG. 3 , the surgical instrument 300 includes a driving device 310 , a long shaft assembly 320 and a terminal instrument 321 ;

The long shaft assembly 320 has a first end 351 and a second end 353 extending along the lengthwise direction; the first end is used for installing the terminal instrument 321, and the second end is used for coupling with the driving device 310; The shaft assembly 320 includes a tube and a driving rod at least partially accommodated in the tube; the driving rod can be driven by the driving device 310 to move along the longitudinal direction;

As shown in Figures 23 and 24, the end instrument 321 extends along the lengthwise direction with an instrument first end 588 and an instrument second end 590; the instrument first end 588 is provided with an end effector 340, the The second end 590 of the instrument is mated with the first end of the long shaft assembly 320 ;

Please refer to Figure 23, Figure 24, Figure 27 and Figure 28 together. The end instrument 321 may have a swing rod assembly 702 that drives the end effector 340 to swing relative to the tool holder 602 . Specifically, the swing rod assembly 702 may include: a first rod 704 rotatably connected to the end effector 340 ; a second rod 706 rotatably connected to the first rod 704 and the tool holder 602 ; The second pull rod 706 is rotatably connected to the third pull rod 708 , the tool holder 602 is located between the first pull rod 704 and the third pull rod 708 , and the third pull rod 708 is used to connect with the driving rod of the long shaft assembly 320 .

Specifically, in some embodiments, the third pull rod 708 can be used to connect with the first driving rod 355 of the long shaft assembly 320, so that when the first driving rod 355 is driven to move along the longitudinal direction of the rotation tube 427, It can drive the third pull rod 708 to move together, and the third pull rod 708 can drive the second pull rod 706 to rotate relative to the knife holder 602 . Furthermore, the first pull rod 704 has a moving direction opposite to that of the third pull rod 708 under the action of the second pull rod 706 , so that the first pull rod 704 can drive the end effector 340 to rotate relative to the knife post 602 . Through the above description, the swing of the end effector 340 relative to the knife post 602 is achieved, that is, the process of adjusting the angle of the end effector 340 relative to the knife post 602 . Further, after the terminal instrument 321 is installed on the long shaft assembly 320 , the positions of the tool holder 602 and the rotation tube 427 of the long shaft assembly 320 are relatively fixed. In this way, after the angle of the end effector 340 relative to the tool post 602 is adjusted, the angle of the end effector 340 relative to the rotation tube 427 is also adjusted. In some embodiments, when the rotation tube 427 is driven to rotate by the driving device 310 , the swing rod assembly 702 rotates together with the rotation tube 427 . In this way, on the basis of adjusting the angle of the end effector 340 through the swing rod assembly 702 , by driving the rotation tube 427 to rotate, the angle of the end effector 340 can be adjusted along the circumferential direction.

In some embodiments, in order to make the swing rod assembly 702 more stable to the force exerted by the end effector 321 . The swing rod assembly 702 may further include a fourth rod 710 rotatably connected to the end effector 321 and the second rod 706 respectively. The fourth pull rod 710 and the first pull rod 704 are arranged symmetrically with respect to the knife holder 602 .

The fourth pull rod 710 and the first pull rod 704 are arranged symmetrically with respect to the knife holder 602 . In this way, the force exerted by the fourth pull rod 710 and the first pull rod 704 on the end effector 340 is more uniform. Furthermore, structurally, when the end effector 340 is maintained at a certain angle relative to the tool post 602, when it is subjected to an external force, the first pull rod 704 and the fourth pull rod 710 will bear the stress to achieve better The angle between end effector 340 and tool post 602 is maintained.

In some embodiments, the second tie rod 706 , the third tie rod 708 and the fourth tie rod 710 are connected by a first pin shaft 712 .

In this way, by pulling the third pull rod 708, the second pull rod 706 and the fourth pull rod 712 tend to move simultaneously. Specifically, the second pull rod 706 can further pull the first pull rod 704 . In this way, the first pull rod 704 and the fourth pull rod 712 can be driven to apply forces in opposite directions to the end effector 340 only by pulling the third pull rod 708 , and then the end effector 340 can be driven to rotate relative to the knife post 602 .

In some embodiments, the first pull rod 704 and the fourth pull rod 712 are respectively connected to the end effector 340 through a second pin shaft 716 and a third pin shaft 718 .

When the first pull rod 704 and the fourth pull rod 712 are exerted with opposite forces, and when opposite motions occur along the longitudinal extension direction of the tool holder 602, the ends can be applied through the second pin shaft 716 and the third pin shaft 718 respectively to make the The force by which the actuator 340 rotates. Furthermore, the swing function of the terminal instrument 321 relative to the rotation tube 427 is realized.

In some embodiments, the first pull rod 704 is connected to the second pull rod 706 through a fourth pin 720 . The second pull rod 706 is connected to the tool holder 602 through a fifth pin shaft 722 .

Of course, in some implementations, the third pull rod 708 may also be connected with the first pull rod 704 and the second pull rod 706 through the fourth pin shaft 720 . In this way, when the third pull rod 708 is pulled to move along the longitudinal extension direction of the tool holder 602, it will drive the first pull rod 704 to move in the same direction through the fourth pin shaft 720, and also drive the second pull rod 706 to rotate relative to the fifth pin shaft 722 , and further drives the reverse movement of the fourth pull rod 710 relative to the first pull rod 704 . In this way, the first pull rod 704 applies force to the end effector 340 through the second pin 716 , and the fourth pull rod 710 applies force to the end effector 340 through the third pin 718 . Further, the end effector 340 is rotated relative to the tool post 602 . In some implementations, the fifth pin shaft 722 may be at a middle position of the second pull rod 706 along the extending direction of the second pull rod 706 . As a result, the moments of the third pull rod 708 and the first pull rod 704 relative to the fifth pin 722 are relatively balanced.

In some embodiments, the first tie rod 708 , the second tie rod 706 , the third tie rod 708 and the fourth tie rod 712 can be made of stronger materials.

In some embodiments, the part of the end effector 340 connected to the first rod 704 and the fourth rod 710 defines a first indicator line, and the extension direction of the second rod 706 defines a second indicator line; The first indicator line and the second indicator line tend to be parallel.

In this embodiment, the end effector 340 is connected to the first pull rod 704 through the second pin shaft 716 , and connected to the fourth pull rod 710 through the third pin shaft 718 . In this way, through the positions of the axes of the second pin shaft 716 and the third pin shaft 718 , a connecting line can be formed, which is the first indicating line. Certainly, the construction of the first indicating line is not limited to the above manner, for example, the end effector 340 has two pin holes for installing the second pin shaft 716 and the third pin shaft 718 . On the same side of the two pin shaft holes, a tangent line tangent to the two pin shaft holes is made, and the tangent line can also be used as the first indicator line.

Structurally, the formed first indicator line and the second indicator line tend to be parallel. In this way, a larger swing angle of the end effector 340 relative to the rotation tube 427 can be realized. It can be more widely applicable to more usage requirements. Of course, those skilled in the art can understand that the first indicator line and the second indicator line are lines formed by a mechanical structure, and are only used to clearly express structural features here. In fact, it is difficult to achieve an absolute parallel relationship between the first indicator line and the second indicator line formed by the mechanical structure.

The second tie rod 706 may extend lengthwise as a whole. For rational utilization of space, the second tie rod 706 may adopt a relatively flat shape as a whole. Further, in order to fit the outer instrument tube 606 of the terminal instrument 321 , the second pull rod 706 may have a curvature suitable for the outer instrument tube 606 . In this way, the internal space occupied by the outer tube 606 of the instrument can be relatively reduced.

In some embodiments, the instrument outer tube 606 of the end instrument 321 may include: a first outer tube segment 724 sleeved on the end effector 340 , a second outer tube segment 726 sleeved on the knife holder 602 , and an outer tube joint 728 that is rotatably connected to the first outer tube segment 724 and the second outer tube segment 726 respectively.

Both the first outer tube section 724 and the second outer tube section 726 are rotatable relative to the outer tube coupling 728 . In this way, the position of the outer tube coupling member 728 can be set close to the part where the end effector 340 is connected to the first pull rod 704 . In this way, when the first pull rod 704 drives the end effector 340 to rotate relative to the tool holder 602, the first outer tube segment 724 sleeved on the end effector 340 can rotate relative to the second outer tube segment 726. Tube 606 obstructs the swinging function of tip instrument 321 .

In some embodiments, the first tie rod 704 and the fourth tie rod 710 define a datum. The projections of the second pin axis 716 and the third pin axis 718 on the reference plane are within the projection range of the outer tube joint 728 on the reference plane along the longitudinal extension direction of the tool holder Inside.

The reference plane may be jointly defined by the same side surface of the first tie rod 704 and the fourth tie rod 710 . It can be understood that the reference plane may pass through the two surfaces on the same side of the first tie rod 704 and the fourth tie rod 710 at the same time. Of course, a plane coplanar with the centerlines of the first tie rod 704 and the fourth tie rod 710 may also be used as the reference plane. Of course, those skilled in the art may make other changes under the inspiration of the disclosure of the implementation modes in this specification, and all of them shall be covered within the protection scope of the claims of this case.

The tool holder 602 extends longitudinally as a whole to form the longitudinal extension direction of the tool holder 602 . After the end instrument 321 is mounted on the long shaft assembly 320 , the longitudinal extension direction of the tool holder 602 may tend to be the same direction as the longitudinal direction of the long shaft assembly 320 .

The projection of the outer tube joint 728 on the reference plane can form a certain projection range. Specifically, it may form a figure such that it forms a certain length range in the longitudinal extension direction of the tool holder 602 , and this length range may be used as a projection range along the longitudinal extension direction of the tool holder 602 . In order to reduce the interference of the instrument outer tube 606 on the end instrument 321 performing the swing function, structural settings can be made so that the connection parts between the first pull rod 704 and the fourth pull rod 710 and the end effector 340 are within the projected range.

End instrument 321 may have an initial state. In the initial state, the anvil 598 and the nail seat 596 are in an open position, and the angle between the end effector 340 and the knife rest 602 may be 180°. In this way, when the outer tube 606 of the executing instrument is not moving relative to the knife frame 602 , the first pull rod 704 and the fourth pull rod 710 are driven to pull the end effector 340 to rotate relative to the knife frame 602 by an angle. At this time, the outer tube coupling member 728 at least rotates relative to the first outer tube segment 724 , so that the first outer tube segment 724 sleeved on the end effector 340 can rotate with the end effector 340 .

In some cases, instrument outer tube 606 may be moved proximate to end effector 340 along the lengthwise extension of tool holder 602 , which may trigger the clamping function of end effector 340 . Specifically, the movement of the instrument outer tube 606 toward the end effector 340 can make the anvil 598 and the nail seat 596 relatively close. In this way, the clamping function of the terminal instrument 321 is realized.

At this time, when performing the clamping function, the second outer tube segment 726 is driven to move toward the end effector 340 , so that the outer tube coupling part 728 is pushed. Since the end effector 340 has rotated an angle relative to the tool holder 602 , the outer tube joint 728 will rotate relative to both the first outer tube segment 724 and the second outer tube segment 726 . In this way, the first outer tube segment 724 can be pushed to make the anvil 598 relatively close to the nail seat 596 , and can finally be in a closed state to realize the clamping function of the terminal instrument 321 . During this process, the position of the outer tube joint 728 will move, so that the projection on the reference plane will also move. In the initial state, the projection of the outer tube coupling member 728 on the datum plane becomes a continuous projection range when the anvil 598 and the nail seat 596 are in a closed state. Through the structural setting, the projections of the first pull rod 704 and the fourth pull rod 710 on the reference plane are always within the projection range, so that the first outer pipe section 724, the outer pipe joint 728 and the second outer pipe section 726 A better fit for the rotational capability of the end effector 340 relative to the tool post 602 may be provided. That is, when the end effector 340 is rotated at a certain angle (not 180° between the two) relative to the knife rest 602, the clamping function of the end instrument 321 driven by the instrument outer tube 606 can also be realized to a certain extent .

In some embodiments, please refer to FIG. 3 , FIG. 7 , FIG. 23 , FIG. 24 and FIG. 29 , the surgical instrument 300 includes a terminal instrument 321 for performing surgery, and also includes: a tubular member extending along the longitudinal direction, and at least partially receiving The driving rod in the pipe; the driving rod can move along the longitudinal direction relative to the pipe; the part of the driving rod accommodated in the pipe is connected with a pipe wall passing through the pipe Outer tube connector 460 .

The terminal instrument 321 has an instrument outer tube 606 for being socketed with the tube, as well as an anvil 598 and a nail seat 596; the part of the instrument outer tube 606 sleeved on the tube is connected to the outer tube 460 , so that the instrument outer tube 606 can be driven by the driving rod to move along the longitudinal direction to drive the anvil 598 of the terminal instrument 321 to open or close relative to the nail seat 596 .

In some embodiments, the terminal instrument 321 includes a knife frame 602, the knife frame 602 is accommodated in the instrument outer tube 606, and the nail anvil 598 and the nail seat 596 are arranged at the end of the knife frame 602;

The pipe is a rotation tube 427 , which is connected to the knife holder 602 and is used to drive the terminal instrument 321 to rotate. The instrument outer tube 606 accommodates part of the rotation tube 427 .

In some embodiments, the connection structure of the outer tube 606 of the instrument includes an outer tube groove 808 of the outer tube 606 of the instrument, and the outer tube groove 808 can accommodate the outer tube connector 460 protruding from the tube; The part of the outer tube connector 460 located inside the tube is connected to the driving rod;

The tube wall of the tube corresponds to the area of the outer tube connector 460, and is provided with a rotation tube guide hole 810 extending along the longitudinal direction, and the driving rod can drive the outer tube connector 460 along the outer tube connector 460. The rotation tube guide hole 810 moves.

In some embodiments, the outer tube 606 of the instrument is sleeved with a fastening tube 814 at a position corresponding to the outer tube groove 808 .

In some embodiments, the instrument outer tube 606 is circumferentially limited relative to the rotation tube 427 by the outer tube connector 460 .

In some embodiments, the outer instrument tube 606 of the terminal instrument 321 is provided with a knife holder 602, and the rotation tube 427 partially extends into the instrument outer tube 606 of the terminal instrument, and is connected with the knife holder of the terminal instrument. 602 connection.

In some embodiments, the tube wall of the autorotation tube 427 corresponds to the area of the outer tube connector 460, and is provided with a self-rotation tube guide hole 816 extending along the longitudinal direction, and the driving rod can drive the The outer tube connector 460 moves along the rotation tube guide hole 816 .

In some embodiments, the length difference between the rotation tube guide hole 816 and the outer tube connector 460 along the longitudinal direction is within 4 mm to 7 mm.

Further, in some embodiments, the instrument outer tube 606 can be driven by the driving device 310 to move relative to the autorotation tube 427 along the longitudinal direction of the autorotation tube 427 to drive the anvil 598 of the terminal instrument 321 Open or close relative to the nail seat 596 . The instrument outer tube 606 can be socketed with the autorotation tube 427 , and the two can move relatively along the longitudinal direction of the autorotation tube 427 .

The nail anvil 598 is rotationally connected to the nail seat 596, so that through the relative rotation between the nail anvil 598 and the nail seat 596, the nail anvil 598 is opened or closed relative to the nail seat 596. In this way, the clamping function of the terminal instrument 321 is realized.

The clamping function of the end instrument 321 is driven by setting the instrument outer tube 606 of the end instrument 321 to be able to move relative to the rotation tube 427 . In terms of overall structure, the design is more reasonable, and the overall space arrangement is very compact.

Specifically, the nail seat 596 has two arc-shaped grooves 800 , and the nail anvil 598 has two protruding pins 802 corresponding to the arc-shaped grooves 800 . In this way, the nail anvil 598 can move in the arc-shaped groove 800 through the protruding pin 802 , and the nail anvil 598 can rotate relative to the nail seat 596 . Further, the anvil 598 is also provided with a rotating flange 804 , which is adjacent to the protruding pin 802 and is used to cooperate with the outer tube 606 of the instrument. Specifically, the portion of the anvil 598 where the lug 802 and the rotating flange 804 are disposed extends into the outer tube 606 of the instrument. The rotating flange 804 will be matched with the instrument outer tube 606, so that when the instrument outer tube 606 moves relative to the knife rest 602, the rotating flange 804 will be pushed, and then the anvil 598 will pass through the lug 802 along the arc groove 800. Sliding, and in sliding process, nail anvil 598 rotates relative to nail seat 596. In some specific embodiments, when the instrument outer tube 606 moves toward the first end 351 relative to the rotation tube 427, the instrument outer tube 606 will push the nail anvil 598 close to the nail seat 596, so that the nail anvil 598 and the nail seat 596 closed, thereby realizing that the end instrument 321 can clamp an object. When the instrument outer tube 606 moves toward the second end 353 relative to the rotation tube 427 , the instrument outer tube 606 will pull the anvil 598 away from the nail seat 596 , so that the space between the nail anvil 598 and the nail seat 596 is opened.

In some embodiments, the tool holder 602 of the terminal instrument 321 is housed in the instrument outer tube 606 . In this way, the overall appearance of the end device 321 is relatively regular, which is convenient for packaging and transportation. Further, the knife rest 602 is accommodated in the outer tube 606 of the instrument, and the knife push rod 604 and the swing rod assembly 702 installed on the knife rest 602 can also be accommodated in the outer tube 606 of the instrument, or at least most of them are accommodated in the outer tube 606 of the instrument. Inside the outer tube 606 of the instrument. In this way, the instrument outer tube 606 can form the outer casing 381 of the terminal instrument 321, giving a certain degree of protection to the internal structure. Furthermore, the possible interference of the external environment on the internal transmission of the terminal device 321 is also avoided to a certain extent.

Further, the rotation tube 427 needs to be matched with the tool holder 602 . Thus, the autorotation tube 427 partly extends into the inside of the instrument outer tube 606 to realize the coupling between the autorotation tube 427 and the knife holder 602 . That is, the instrument outer tube 606 can accommodate part of the autorotation tube 427 , so that the autorotation tube 427 is connected to the knife holder 602 .

In some embodiments, the part of the second driving rod 393 accommodated in the rotation tube 427 is provided with an outer tube connector 460 . The rotation tube 427 corresponds to the position of the outer tube connector 460 and has a through hole, that is, the rotation tube guide hole 810 . The outer tube connector 460 can protrude from the through hole. Further, the outer tube connector 460 can be connected with the instrument outer tube 606 of the terminal instrument 321 . In this way, the outer tube connector 460 limits the second driving rod 393 , the rotation tube 427 and the outer tube 606 of the instrument. Therefore, when the rotation tube 427 rotates along the circumferential direction, it can drive the instrument outer tube 606 to rotate together, so that the end instrument 321 can also rotate along with it.

In some embodiments, the instrument outer tube 606 is sleeved on the part of the autorotation tube 427, and is provided with a connecting structure connected with the driving rod inside the autorotation tube 427, so that the instrument outer tube 606 can be rotated in the second Driven by the driving rod 393 , it moves relative to the rotation tube 427 along the longitudinal direction of the rotation tube 427 .

The instrument outer tube 606 is connected to the second driving rod 393 of the long shaft assembly 320 through a connecting structure. In this way, when the second driving rod 393 is driven to move, it will drive the outer tube 606 of the instrument to move together through the connecting structure. In this way, the second driving rod 393 can be driven by the driving device 310, the instrument outer tube 606 is driven by the second driving rod 393, and finally the nail anvil 598 is driven by the instrument outer tube 606 to move relative to the nail base 596, so that the nail anvil 598 and the nail base 596 They can be opened and closed to realize the clamping function of the terminal instrument 321 .

In some embodiments, the connecting structure of the instrument outer tube 606 includes an outer tube groove 808 of the instrument outer tube 606, as shown in FIG. 23 , the outer tube groove 808 can accommodate the Outer tube connector 460 . The part of the outer tube connector 460 located in the rotation tube 427 is connected to the second driving rod 393 .

The outer tube groove 808 may be a blind hole formed on the outer tube 606 of the instrument, and of course, the outer tube groove 808 may also be a through hole formed on the outer tube 606 of the instrument. The outer tube connector 460 can be connected to the second driving rod 393 and the outer tube groove 808 respectively. Specifically, as shown in FIG. 30 . The second drive rod 393 may be provided with a drive rod slot 812 . The outer tube connector 460 can extend into the drive rod slot 812 of the second drive rod 393 and the outer tube slot 808 of the instrument outer tube 606 , respectively. Such a spatial arrangement clamps the outer tube connector 460 between the second driving rod 393 and the outer tube 606 of the instrument. Realize, the second driving rod 393 is firmly connected with the instrument outer tube 606.

The outer tube connector 460 passes through the tube wall of the rotation tube 427 . In this way, the outer tube connector 460 can protrude from the rotation tube 427 and extend into the outer tube groove 808 of the outer tube 606 of the instrument.

In some embodiments, the exterior of the instrument outer tube 606 mated with the outer tube connector 460 is sleeved with a fastening tube 814 made of heat shrinkable material. Specifically, for example, the outer tube 606 of the instrument is sleeved with a fastening tube 814 at a position corresponding to the outer tube groove 808 . As shown in Figure 31. The fastening tube 814 is fastened to the surface of the instrument outer tube 606 . In some implementations, the outer tube groove 808 may be a through hole, at this time, the positional relationship between the outer tube connector 460 and the outer tube groove 808 can be strengthened by the fastening tube 814 . In some embodiments, the fastening tube 814 may have a certain degree of elasticity, so that it can be compressed on the outer tube 606 of the instrument through elasticity. In some embodiments, the fastening tube 814 may be made of heat-shrinkable material.

In some embodiments, the outer instrument tube 606 is limited in a circumferential direction relative to the rotation tube 427 by the connection structure 806 . In this way, when the rotation tube 427 is driven to rotate, the instrument outer tube 606 can rotate along with it.

In some embodiments, the tube wall of the autorotation tube 427 corresponds to the area of the outer tube connector 460, and is provided with a self-rotation tube guide hole 816 extending along the longitudinal direction, and the second driving rod 393 can Driving the outer tube connecting member 460 to move along the rotation tube guide hole 816 .

The outer tube connector 460 passes through the rotation tube guide hole 810 , and the outer tube connector 460 and the rotation tube guide hole 810 are clearance fit. Thus, the outer tube connecting member 460 can move relative to the rotation tube guide hole 810 . In this way, when the second driving rod 393 is driven to move by the driving device 310 , the outer tube connecting member 460 can move along with the second driving rod 393 along the rotation tube guide hole 810 . Furthermore, the outer tube connector 460 can drive the outer tube 606 of the instrument to move together.

See Figure 32. In some embodiments, the second drive lever 393 can have a manual drive assembly. The manual driving assembly can be used for manual operation to drive the nail anvil 598 to rotate relative to the nail base 596 to realize the clamping or spreading function. The manual drive assembly may include a shaft extension 818, a drive pinion 820, an intermediate gear set and a second manual wheel assembly.

Shaft extension 818 may be coupled to second drive shaft 412 and have approximately the same axis of rotation. One end of the shaft extension 818 accommodates the end of the second driving shaft 412 away from the rotation tube 427 . The circumferential limit between the shaft extension 818 and the second drive shaft 412 makes one of them rotate when driven to rotate, and the other rotates accordingly. Specifically, for example, the end surface of the shaft extension 818 has an opening with a non-circular cross-section, and the second drive shaft 412 extends into the end of the opening, and has a contour shape adapted to the shape and size of the opening. . It is also possible that the end of the second drive shaft 412 is provided with a bar-shaped groove, and the shaft extension member 818 may have an extending protrusion, and the extending protrusion can extend into the bar-shaped groove. The bar-shaped groove is adapted to the cross-sectional shape of the extension protrusion, so that the second drive shaft 412 and the shaft extension piece 818 are circumferentially limited.

The driving pinion 820 is sheathed on the shaft extension 818, and the two are circumferentially limited. In this way, when the driving pinion 820 is driven, it can drive the shaft extension 818 to rotate together. The end of the shaft extension 818 away from the second drive shaft 412 is mounted with a nut 388 to prevent the drive pinion 820 from being separated from the shaft extension 818 in the axial direction.

The intermediate gear set can include an intermediate pinion gear 822 and an intermediate bull gear 824 . The middle pinion 822 and the middle bull gear 824 may be arranged coaxially. In this way, when the intermediate pinion gear 822 is driven to rotate by the second manual wheel assembly, the intermediate large gear 824 will rotate together. The middle bull gear 824 can mesh with the drive pinion 820 , so that when the middle bull gear 824 is driven to rotate, it can drive the drive pinion 820 to rotate together.

The second manual wheel assembly may include a second knob 823 , a second manual shaft 825 and a second manual bull gear 826 . The second knob 823 is fixedly connected with the second manual shaft 825 . In this way, the second knob 823 can be manually operated to rotate, thereby driving the second manual shaft 825 to rotate. The second manual large gear 826 is sheathed on the second manual shaft 825 and is circumferentially limited with the second manual shaft 825 . In this way, when the second manual shaft 825 rotates, it can drive the second manual large gear 826 to rotate together. The second manual bull gear 826 meshes with the intermediate pinion gear 822 . In this way, when the second manual large gear 826 rotates, it can drive the middle pinion 822 to rotate, and the middle large gear 824 drives the drive pinion 820 to rotate, and then drives the second drive shaft 412 to rotate. The rotation of the second drive shaft 412 can drive the axial movement of the second shift fork 409 relative to the second drive shaft 412 , thus driving the second drive rod 393 to move along the longitudinal direction of the long shaft assembly 320 to drive the terminal instrument 321 The relative rotation between the nail anvil 598 and the nail seat 596 realizes opening or closing.

A second limiting frame 828 is disposed on the top plate 481 of the driving device 310 . The second manual shaft 825 of the second manual wheel assembly passes through the second limit frame 828 and is connected with the top plate 481 through a bearing. The second manual shaft 825 can rotate relative to the second limit frame 828 . Similarly, the rotating shaft of the intermediate gear set also passes through the installation frame 828 and is connected with the top plate 481 through a bearing. The rotating shaft of the intermediate gear set can rotate relative to the second limiting frame 828 . Similarly, the shaft extension 818 runs through the installation frame 828, and the two can be rotated relative to each other.

In some embodiments, as shown in FIG. 3 and FIGS. 35-36 , the surgical instrument includes a driving device 310, an autorotation tube 427, and a terminal instrument 321; the autorotation tube 427 extends along a lengthwise direction with a first end 351 and The second end 353, wherein the first end 351 is used to install the terminal instrument 321; the second end 353 is used to be coupled to the driving device 310;

The rotation tube 427 can accept the rotation force provided by the driving device 310, and the inside of the rotation tube 427 close to the first end 351 is provided with an instrument installation groove 332, and the instrument installation groove 332 extends along the circumference of the rotation tube 427; The terminal instrument 321 is provided with a lateral flange 335, and the lateral flange 335 is limited in the instrument installation groove 332; the terminal instrument 321 also has a blade, an anvil and a nail seat;

The surgical instrument 300 also includes: a firing rod 450 and a driving rod at least partially accommodated in the rotation tube 427 (the firing rod 450 is not shown in FIGS. 450 can push the blade of the end instrument 321 along the lengthwise direction, and the driving rod can be driven and moved by the driving device 310 along the lengthwise direction to trigger the tension of the nail anvil of the end instrument 321 relative to the nail seat. open or closed; the firing rod 450 tends to be arranged coaxially with the rotation tube 427, the driving rod is at least partially accommodated between the rotation tube 427 and the firing rod 450, and the rotation tube 427 is driven When the rotating force of the device 310 is driven to rotate, the driving rod rotates around the firing rod 450 , and the end instrument 321 rotates together with the rotation tube 427 .

In some embodiments, the end instrument 321 may extend lengthwise to have an instrument first end 588 and an instrument second end 590 . The instrument first end 588 may be provided with an end effector 340 . End effector 340 may be a device that performs electrocautery, cutting, clamping, or imaging functions. The second end 590 of the instrument may be provided with a connecting portion 324 between the end instrument 321 and the rotation tube 427 .

Specifically, the connecting portion 324 of the terminal instrument 321 includes a lateral flange 335 . The lateral flange 335 may protrude from the end instrument 321 in a direction perpendicular to the longitudinal direction. The lateral flange 335 can be used to cooperate with the rotation tube 427, at least to limit the distance between the terminal instrument 321 and the rotation tube 427 along the longitudinal direction.

A swing mechanism is provided between the connecting part 324 and the end effector 340 to make the connecting part 324 swing relative to the end effector 340 . The connecting portion 324 has a swing hook 337 for triggering the swing mechanism. Specifically, when the swing hook 337 is pulled along the lengthwise direction, the swing mechanism in the end instrument 321 will be driven to prompt the end effector 340 to rotate relative to the connecting part 324 . In this way, adjustments to the posture and angle of the end effector 340 are realized.

The interior of the end instrument 321 may be provided with a knife rod, which may be connected to a blade. When the knife bar is moved along the longitudinal direction toward the first end 588 of the instrument, the blade can be pushed to perform the cutting function.

Please refer to Figure 3, Figure 35 and Figure 36 together. The rotation tube 427 has a first end 351 and a second end 353 along the lengthwise direction, the first end 351 can be installed with the terminal instrument 321 , and the second end 353 is coupled with the driving device 310 . The rotation tube 427 may have an axis X, and is driven by the driving device 310 to rotate around the axis X. An instrument installation slot 332 is provided inside the rotation tube 427 close to the first end 351 . The instrument installation groove 332 is used for limiting the terminal instrument 321 . Specifically, the instrument installation groove 332 extends along the circumference of the rotation tube 427 . After the lateral flange 335 of the terminal instrument 321 enters the instrument installation groove 332 , the rotation tube 427 and the terminal instrument 321 are limited along the longitudinal direction.

In some embodiments, the spinning tube 427 is equipped with a flange stopper 333 . The flange limiting member 333 limits the lateral flange 335 of the terminal instrument 321 to the instrument installation groove 332 . In this way, the flange limiter 333 can prevent the lateral flange 335 of the terminal instrument 321 from sliding out from one end of the instrument installation groove 332 . Realize to some extent prevent the terminal instrument 321 from detaching from the autorotation tube 427 . In some embodiments, glue may also be provided in the instrument installation groove 332 to bond the lateral flange 335 of the end instrument 321 in the instrument installation groove 332 . In order to realize that the terminal instrument 321 is firmly installed on the rotation tube 427 .

In some embodiments, an elastic member 334 is installed between the flange limiting member 333 and the rotation tube 427, and the elastic member 334 exerts elastic force along the longitudinal direction on the flange limiting member 333 . In this way, the lateral flange 335 pushes the flange limiting member 333 to move along the longitudinal direction, and overcomes the elastic force exerted by the elastic member 334 on the flange limiting member 333 . When the lateral flange 335 slides into the instrument installation groove 332 , the elastic member 334 pushes the flange limiting member 333 to reset. At this time, the flange limiting member 333 can stop the lateral flange 335 from sliding out from one end entering the device installation groove 332 .

The rotation tube 427 is provided with a guiding structure corresponding to the flange limiting member 333 , and the guiding structure can provide guidance for the flange limiting member 333 along the longitudinal direction. The flange limiting member 333 has an operating portion 336 leaking from the rotation tube 427 . In some embodiments, in the case that the end instrument 321 needs to be disassembled from the rotation tube 427, the operating part 336 can be manually pushed to avoid the lateral flange 335 of the end instrument 321, so that the end instrument 321 The lateral flange 335 can slide out of the instrument installation groove 332 , thereby realizing the separation of the end instrument 321 from the rotation tube 427 .

In some embodiments, the part of the driving rod 327 protruding into the rotation tube 427 is limited in the circumferential direction relative to the rotation tube 427 , but allows the displacement of the driving rod 327 along the longitudinal direction relative to the rotation tube 427 . The specific arrangement of the driving rod 327 may be the description of the first driving rod 355 and the second driving rod 393 in the above embodiment.

In some embodiments, the end of the driving rod 327 near the first end 351 has a connecting hook 338 . The driving rod 327 can cooperate with the swing hook 337 of the terminal instrument 321 through the connecting hook 338 . When the driving device 310 drives the driving rod 327 to move along the longitudinal direction, the driving rod 327 can drive the swing mechanism of the end instrument 321 through the swing hook 337 to drive the end effector 340 to rotate relative to the connecting part 324 .

In this embodiment, during the installation process of the terminal instrument 321 and the long axis assembly 320, the terminal instrument 321 first moves along the longitudinal direction relative to the rotation tube 427, and at this time the connecting hook 338 of the driving rod 327 and the swinging hook of the terminal instrument 321 337 are separated, and when the driving rod 327 is driven to move, it cannot drive the swing hook 337 of the terminal instrument 321. When the lateral flange 335 is limited to the instrument installation groove 332 , the connecting hook 338 of the driving rod 327 and the swing hook 337 of the end instrument 321 are hooked together to achieve mating. At this time, when the driving rod 327 is driven to move, it can drive the swing hook 337 to realize the swing mechanism of driving the terminal instrument 321 .

In some embodiments, when the end instrument 321 is installed on the long shaft assembly 320, the coupling between the connecting hook 338 of the driving rod 327 and the swing hook 337 of the end instrument 321 can be completed, so that the distance between the end instrument 321 and the rotation tube 427 is limited. The circumferential position between. Further, after the lateral flange 335 of the terminal instrument 321 enters the instrument installation groove 332, the connecting hook 338 of the driving rod 327 and the swinging hook 337 of the terminal instrument 321 hook each other, so that there is no way between the terminal instrument 321 and the rotation tube 427. Further relative to the circumferential rotation, moreover, the flange limiter 333 stops the lateral flange 335 so as to limit the relative circumferential position between the terminal instrument 321 and the rotation tube 427 .

In some embodiments, when the rotation tube 427 is driven to rotate by the driving device 310 , the driving rod 327 rotates around the firing rod 450 .

In some embodiments, part of the firing rod 450 protrudes from the autorotation tube 427 , and after the coupling portion 324 of the end instrument 321 is mated with the autorotation tube 427 , the firing rod 450 can extend into the connection portion 324 of the end instrument 321 . The firing rod 450 may be coupled to the knife bar of the end instrument 321 . Specifically, the firing rod 450 protrudes from the end of the rotation tube 427 and may be in a flat shape, and has a clamping joint 339 formed with a reduced diameter. When the connecting portion 324 of the end instrument 321 is connected to the rotation tube 427, when the lateral flange 335 reaches the second groove section 355 from the first groove section 353, the snap joint 339 of the firing rod 450 can pass through the knife rod of the end instrument 321 The receiving hole, the shape of the opening of the receiving hole can be matched with the bayonet joint 339. A variable diameter is formed inside the receiving hole of the knife rod. In this way, when the terminal instrument 321 rotates relative to the terminal instrument 321 , the lateral flange 335 can slide along the second groove segment 355 , and the locking joint 339 rotates in the receiving hole, thus being locked in the receiving hole. So that the firing rod 450 is connected with the knife rod. When the firing rod 450 is driven to move along the longitudinal direction, it can drive the knife rod to move together, thereby triggering the cutting function of the terminal instrument 321 .

This specification also provides a slave operation device, including at least one mechanical arm, the mechanical arm includes a plurality of joints and an actuating device, and the plurality of joints are linked to realize the movement of multiple degrees of freedom of the actuating device, so The surgical instrument as described in any one of the above embodiments is detachably installed on the actuating device.

This specification also provides a surgical robot, including a master operation console and the above-mentioned slave operation device, and the slave operation device performs surgical operations on the human body according to the instructions of the master operation console.

The components disclosed in multiple embodiments of this specification, and the materials used, all comply with relevant medical standards or regulations.

The multiple implementations in this specification are described and introduced in a progressive manner, and the same parts are not repeated. Those skilled in the art can know that any possible combination of multiple implementations in this specification is within the scope disclosed in this specification.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent replacements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention within.

Claims

A surgical instrument, characterized in that it comprises:

A tubular member extending in a lengthwise direction and having a first end and a second end; wherein the first end is used for installing a terminal instrument; a driving rod for driving the terminal instrument is arranged in the tubular member; The end away from the first end is formed with a first surface facing the first end and a second surface facing away from the first end;

a driving device coupled to the second end of the pipe, the driving device can apply a force to the first surface and/or the second surface to move the driving rod along the longitudinal direction to drive the end instrument.
The surgical instrument according to claim 1, wherein the end of the driving rod away from the first end is provided with a flange that deviates from the longitudinal direction; the flange has the first surface and said second side;

The driving device has an annular groove extending along the circumferential direction of the pipe, and the flange of the driving rod is at least partially accommodated in the annular groove, so that the driving device can drive the pipe along the longitudinal direction. The drive rod moves;

The circumferential limit of the drive rod relative to the pipe; the pipe is a self-rotating pipe, and the driving device can drive the self-rotating pipe to rotate along the circumferential direction, so that the flange of the driving rod moves along the Move along the annular groove.
The surgical instrument according to claim 2, wherein the driving device comprises a driving rod driving unit, the driving rod driving unit includes a shift fork provided with the annular groove, and is rotationally fitted with the shift fork drive shaft assembly; the shift fork can move along the axial direction of the drive shaft assembly driven by the drive shaft assembly, so as to drive the drive rod to move along the longitudinal direction.
The surgical instrument according to any one of claims 1-3, wherein the driving rod comprises a first segment and a second segment, and the tubular member is equipped with a detachable fastener, and the fastener Used to connect the first section and the second section of the driving rod.
The surgical instrument according to claim 4, wherein when the driving rod is driven by the driving device to move along the longitudinal direction, the fastener is accompanied by the first segment and the second sections move together;

Wherein, the fastener includes a fastener body provided with a body connecting part; the fastener body is located outside the pipe, and the body connecting part extends into the inside of the pipe to connect with the first section and the pipe respectively. The second section connects.
The surgical instrument according to claim 5, wherein a window is provided at the position corresponding to the fastener on the tubular member, and the fastener body covers the window from the outside of the tubular member, and the body The connecting portion extends into the window;

The fastener also includes at least one body stopper; at least part of the body stopper protrudes from the window into the inside of the pipe, so that the part of the fastener protruding into the window is opposite to the The width in the longitudinal direction is greater than the width of the window relative to the longitudinal direction.
The surgical instrument according to claim 1, wherein said first end of said tubular member has a tubular member hook protruding along said longitudinal direction, said terminal instrument has an instrument first end along said longitudinal direction. end and the second end of the instrument, wherein the first end of the instrument is provided with an end effector, and the area of the end instrument close to the second end of the instrument is provided with a limiting groove, and the limiting groove is used to hook the pipe cooperate to constrain the relative positions of the tubular member and the terminal instrument along the longitudinal direction.
The surgical instrument according to claim 7, wherein the pipe is an autorotation tube, the autorotation tube is driven by the driving device to rotate and is used to drive the rotation of the terminal instrument, and the pipe hook has a A hook connection part fixedly connected to the rotation tube in the rotation tube;

The hook connection part is provided with a hook limit hole corresponding to the central position of the rotation tube, and the surgical instrument includes a firing rod extending from the driving device into the rotation tube, and the firing rod passes through the hook limit hole. position hole; the hook limit hole allows the firing rod to be displaced along the longitudinal direction relative to the hook connection part, and prevents the firing rod from rotating relative to the hook connection part in a relative circumferential direction;

The hook connection part has a hook guide hole passing through the hook connection part along the longitudinal direction, and the hook guide hole is located in the area of the hook connection part close to the inner wall of the rotation tube; the surgical instrument includes The driving device extends to the driving rod in the rotation tube, the driving rod passes through the hook guide hole, and triggers the terminal instrument driven by the driving device.
The surgical instrument according to claim 8, wherein the pipe hook comprises a first hook arm and a second hook arm; the first hook arm and the second hook arm respectively surround the hook connecting portion Area fixed connection of the hook limit hole;

The first hook arm and the second hook arm are respectively formed with a first hook stop surface, and respectively have a second hook stop surface facing the first hook stop surface; the second hook stop surface The face is configured to prevent the end instrument from approaching the second end relative to the spinning tube along the lengthwise direction.
The surgical instrument according to claim 1, wherein the pipe member is an autorotation tube, the autorotation tube can receive the rotational force provided by the driving device, and the interior of the autorotation tube near the first end is provided with An instrument installation groove, the instrument installation groove extending along the circumference of the rotation tube; the terminal instrument is provided with a lateral flange, and the lateral flange is limited in the instrument installation groove;

The terminal instrument has a blade, an anvil, and a nail seat; the surgical instrument also includes: a firing rod at least partially accommodated in the rotation tube, and the firing rod can push all of the terminal instrument along the longitudinal direction. The blade, the driving rod can be driven by the driving device along the longitudinal direction to move and trigger the anvil of the terminal instrument to open or close relative to the nail base; the firing rod tends to be in line with the The rotation tube is arranged coaxially, and the driving rod is at least partially accommodated between the rotation tube and the firing rod. When the rotation tube is driven to rotate by the rotation force of the driving device, the driving rod surrounds the As the firing rod rotates, the end instrument rotates with the autorotation tube.
The surgical instrument according to claim 10, wherein the end instrument comprises a connecting portion provided with the lateral flange and an end effector, and there is a gap between the connecting portion and the end effector so that the A swing mechanism for relative rotation between the connecting part and the end effector, the connecting part has a swing hook that triggers the swing mechanism, and the end of the driving rod close to the first end has a swing hook capable of engaging with the swing hook Mating hooks.
The surgical instrument according to any one of claims 1-11, wherein the end instrument includes a knife holder and a swing rod assembly; wherein the swing rod assembly includes: The first pull rod; the second pull rod that is rotatably connected with the first pull rod and the knife rest; the third pull rod that is rotatably connected with the second pull rod, and the knife rest is located between the first pull rod and the third pull rod. Between the pull rods, the third pull rod is connected to the drive rod; the third pull rod moves along with the drive rod along the longitudinal direction to drive the end effector to swing relative to the knife post.
The surgical instrument according to claim 12, wherein the swing rod assembly further comprises a fourth rod that is rotatably connected to the end effector and the second rod; the fourth rod is connected to the first rod A pull rod is arranged symmetrically relative to the knife holder.
A surgical instrument, which includes an end effector for performing surgery, is characterized in that it also includes:

A pipe extending along the longitudinal direction, and a driving rod at least partially accommodated in the pipe; the driving rod can move relative to the pipe along the longitudinal direction; the driving rod is accommodated in the pipe A portion of the pipe is connected with an outer pipe connector passing through the pipe wall of the pipe;

The terminal instrument has an instrument outer tube for being socketed with the tube, as well as an anvil and a nail seat; the part of the instrument outer tube sleeved on the tube is matched with the outer tube connector, so that The instrument outer tube can be driven by the driving rod to move along the longitudinal direction to drive the anvil of the terminal instrument to open or close relative to the nail seat.
The surgical instrument according to claim 14, wherein the terminal instrument comprises a knife frame, the knife frame is accommodated in the outer tube of the instrument, and the nail anvil and the nail seat are arranged at the end of the knife frame;

The pipe is an autorotation tube, the autorotation tube is connected with the tool holder, and is used to drive the terminal instrument to rotate, and the instrument outer tube accommodates part of the autorotation tube.
The surgical instrument according to claim 15, wherein the connecting structure of the outer tube of the instrument comprises an outer tube groove of the outer tube of the instrument, and the outer tube groove can accommodate the outer tube protruding from the pipe fitting A connecting piece; the part of the outer pipe connecting piece located inside the pipe is connected to the driving rod;

The pipe wall of the pipe fitting corresponds to the area of the outer pipe connector, and is provided with a rotation pipe guide hole extending along the longitudinal direction, and the driving rod can drive the outer pipe connector along the rotation pipe Pilot hole moves.
A surgical instrument, comprising: a driving device, a firing rod assembly, and an end instrument;

The drive device includes a casing, a firing drive unit accommodated in the casing, and the firing drive unit outputs a rotational driving force;

The firing rod assembly includes a firing rod limiter fixedly connected to the casing, the firing rod is circumferentially limited by the firing rod limiter, and the firing rod is driven to rotate by the rotational driving force of the firing drive unit. A rod driving part; the firing rod moves along a straight line under the driving of the firing rod driving part to fire the terminal instrument to move.
The surgical instrument according to claim 17, wherein the firing rod comprises a first section which is hollow inside, and a second section connected to the first section; wherein the first section accommodates at least part of the The limit piece of firing rod;

The firing rod limiter includes a limiter installation part fixedly connected with the casing of the driving device, and an extension part accommodated in the casing of the driving device and protruding into the first section.
The surgical instrument according to claim 18, wherein the firing rod further comprises a third section rotatably connected to the second section; between the second section and the third section, the firing rod The connectors are connected by rotation.
The surgical instrument according to claim 17, characterized in that, the entirety of the firing rod driving part extends along the longitudinal direction, the entirety of the firing rod driving part is in the shape of a cylinder, and the firing rod is at least partially accommodated in the Inside the trigger rod drive;

The firing rod driving part is provided with a gear part, so that the firing rod driving part is driven to rotate by the rotational driving force of the firing driving unit through the gear part;

The casing of the driving device is provided with a firing rod driving gear meshed with the gear portion; a manual drive unit capable of driving the firing rod driving gear to rotate is arranged outside the casing of the driving device, And, a firing driving unit capable of driving the firing rod driving gear to rotate is arranged in the housing of the driving device; wherein, the firing driving unit receives power input from an actuator of a surgical robot.