BR112021003342A2 - serpentine surgical instrument and serpentine surgical instrument kit - Google Patents

Abstract

SERPENTINE SURGICAL INSTRUMENT AND SERPENTINE SURGICAL INSTRUMENT KIT. A serpentine surgical instrument comprises a portable end (1). The portable end (1) comprises a support structure (11), a wrist portion structure (14), a control structure (12) and a replaceable instrument (2) detachably connected to the support structure (11) . A sterile bag (100) is releasably covered on an outer surface of the support structure (11). The sterile bag (100) has the following sequentially connected components that communicate with each other: a wrist end collar (110), a sterile bag body (120) and an instrument end collar (130). When the sterile bag (100) is covered over the outer surface of the support structure (11), the wrist end collar (110) of the sterile bag (100) seals a connection between the control structure (12) and the structure the wrist (14), and the instrument end collar (130) seals a connection between the replaceable instrument (2) and the portable end (1). The sterile bag (100) covered in the support frame (11) seals the connection between the wrist portion frame (14) and the control frame (12) and seals the connection between the replaceable instrument (2) and the portable end (1). Therefore, during surgery, the portable end (1) is in a sterile state, thus eliminating the need to carry out sterilization after surgery and avoiding damage to an internal element in the portable end (1).

Description

"SERVENTINE SURGICAL INSTRUMENT AND SERPENTINE SURGICAL INSTRUMENT KIT" CROSS REFERENCE ON RELATED REQUEST

[001] The present invention claims priority to Chinese Patent Application No. 201810971612.3, entitled "SERPENTINE SURGICAL INSTRUMENT", filed on August 24, 2018, the contents of which are incorporated herein by reference in their entirety.

TECHNICAL FIELD

[002] The present invention relates to the field of medical devices and particularly to a serpentine surgical instrument and a kit thereof.

FOUNDATION

[003] In minimally invasive operation, surgical instruments with coil joints and endoscopes with coil joints are often employed to avoid other organs during surgery, which could achieve a smaller incision for better treatment results, and reduce damage to the other tissues during the operation. However, a direction of movement of an end end of the existing serpentine surgical instrument known to the inventor is opposed to an operating direction of an operating end, which increases the difficulty of operation for physicians and the surgical risks .

[004] Surgeons operate a portable end of the surgical coil surgical instrument for surgery in a sterile environment. In order to maintain a sterile condition in an operating area adjacent to the patient, it is necessary to clean and disinfect a reusable serpentine surgical instrument as a whole after the operation. However, internal components, such as actuation devices, detection devices, electrical connection members and the like, of electrically actuated surgical instruments cannot generally be sterilized by conventional methods. For example, steam, heat, pressure or chemical sterilization methods and the like can cause damage to internal components.

[005] In addition, several surgical coil instruments with the same or different end effectors need to be prepared during the operation, which wastes resources and increases the burden on the patient. Furthermore, most of the replaceable serpentine surgical instruments known to the inventor are complicated in design and expensive.

SUMMARY

[006] Several exemplary embodiments described in the present invention provide a serpentine surgical instrument.

[007] One aspect of the present invention provides a serpentine surgical instrument, including: a portable end including a support structure having a proximal mount seat and a distal mount seat, a wrist frame, and a manipulation frame connected to the seat of proximal mounting of the support frame through the wrist frame, and the manipulation frame is detachably connected to the wrist frame; and a replaceable instrument detachably connected to the distal mounting seat.

[008] In the above-mentioned serpentine surgical instrument, the portable end is detachably connected to the replaceable instrument, thus realizing a quick replacement that is simple in design and convenient for sterilization.

[009] In one embodiment, the serpentine surgical instrument further includes a sterile bag to releasably enclose an outer surface of the support structure. The sterile bag has a wrist end ring sleeve, a sterile bag body, and an instrument end ring sleeve that are connected in sequence and in communication with each other. The sterile bag wrist end ring sleeve is used to seal a connection between the handling frame and the wrist frame, and the instrument end ring sleeve is used to seal a connection between the instrument replaceable and portable end.

[010]In one embodiment, the wrist frame is disposed on a distal surface of the proximal mounting seat, and the wrist frame is detachably connected to the manipulation frame through an interface.

[011] In one embodiment, the interface includes a connecting pin disposed at the proximal end of the manipulation frame, and a hollow connecting shaft disposed in the wrist frame and detachably connected to the connecting pin.

[012] In one embodiment, the interface further includes an axial restraint structure configured to limit axial movement of the connecting pin, and a circumferential restraint structure configured to limit circumferential rotation of the connecting pin.

[013] In one embodiment, the circumferential restraint structure includes a connecting member located on a surface of the connecting pin and disposed together with an axial direction of the connecting pin, and a first positioning groove located on an inner wall of the shaft. hollow connection shaft and extending along with an axial direction of the hollow connection shaft. The first positioning groove is configured to cooperate with the connecting member to limit the circumferential rotation of the connecting pin in the circumferential direction. The axial restraint structure includes a second positioning groove disposed in the surface of the connecting pin and disposed along with a circumferential direction and an elastic positioning device disposed in the inner wall of the hollow connecting shaft. The elastic positioning device cooperates with the second positioning groove to limit the axial movement of the connecting pin.

[014] In one embodiment, the elastic positioning device includes at least one elastic protrusion.

[015] In one embodiment, the manipulation structure and the connecting pin are connected with each other by means of a bearing, so as to obtain a rotational movement of the manipulation structure in relation to the wrist structure.

[016] In one embodiment, the proximal end of the manipulation frame includes a bearing mount base, and an outer bearing ring is fixedly connected to the bearing mount base. A distal end of the connecting pin includes a first step fixedly connected to an inner ring of the bearing in the radial direction.

[017] In one embodiment, the connecting pin further includes a second stage disposed at a distal end of the first stage, and the second stage extends through the bearing mount base. A groove to accommodate the thrust ring is disposed on the distal surface of the second stage adjacent to the bearing mounting seat.

[018]In one embodiment, the replaceable instrument includes a coil structure, a tool support base and a terminal effector that are connected sequentially. The serpentine surgical instrument further includes a quick-change joint, where the replaceable instrument is detachably connected to the portable end via the quick-change joint and a transmission device.

[019]The wrist structure has at least a first rotational degree of freedom, so the wrist structure is able to perform a first rotational movement. The coil structure has at least a fifth rotational degree of freedom, so the coil structure is capable of performing a fifth rotational movement. The transmission device is configured to drive the coil frame to perform the fifth rotary movement along with the first rotary movement of the wrist frame.

[020] In one embodiment, the wrist structure still has a second rotational degree of freedom, so the wrist structure can perform a second rotational movement. The coil structure has at least a sixth rotational degree of freedom, so the coil structure can perform a sixth rotational movement. The transmission device is configured to drive the coil frame to perform the sixth rotary movement along with the second rotary movement of the wrist frame.

[021]In one embodiment, the quick-change joint includes a detachable joint driver, the detachable joint driver includes: a first component disposed in the supporting structure; and a second component disposed in the replaceable instrument. The first component and the second component are detachably connected and can move synchronously.

[022] In one embodiment, the transmission device includes: a first portion located at the portable end; and a second portion located on the replaceable instrument.

[023]A proximal end of the first portion is connected to the coil structure and a distal end of the first portion is connected to the first component. The first portion is configured to trigger the first component to move along with the movement of the coil structure. A proximal end of the second portion is connected to the second component, and a distal end of the second portion is connected to the coil structure. The second portion is configured to trigger the coil structure to move along with the movement of the second component.

[024] In one embodiment, the serpentine surgical instrument further includes a drive device, a detection device and a controller disposed in the support structure.

[025]The sensing device is in communication with the controller and is configured to detect the movement of the wrist structure to obtain a motion signal; the controller controls the triggering device to trigger the first component to move in accordance with the motion signal detected by the sensing device; and the transmission device located on the replaceable instrument is configured to connect the second component and the coil structure, so that the coil structure is able to move along with the movement of the second component.

[026] In one embodiment, the wrist structure still has a second rotational degree of freedom, so that the wrist structure can perform a second rotational movement. The coil structure has at least a sixth rotational degree of freedom, so the coil structure is capable of a sixth rotational movement. The first component is a hinge joint disposed on the distal mounting seat of the support structure, and the hinge joint has a ninth degree of freedom and a tenth degree of freedom, so that the hinge joint is able to realize a ninth degree of freedom. rotary movement and a tenth rotary movement. The sensing device detects the first rotary movement and/or the second rotary movement of the wrist structure to obtain a movement signal and transmit the movement signal to the controller. The controller controls the drive device to drive the pivot joint to perform the ninth rotary movement and/or the tenth rotary movement in accordance with the motion signal transmitted by the sensing device. The second component is a connector disposed on the replaceable instrument, and the pivot joint is detachably connected to the connector. The transmission device is connected to the coil structure and the connector, and is configured to drive the coil structure to perform the fifth rotary movement along with the ninth rotary movement of the articulation joint, and is further configured to drive the structure of serpentine to perform the sixth rotary movement together with the tenth rotary movement of the articulation joint.

[027] In one embodiment, the transmission device includes a first group of transmission wire and a second group of transmission wire disposed on the replaceable instrument, and the drive device includes a first motor and a second motor. The first motor is configured to drive the first group of drive wire to move, and the second motor is configured to drive the second group of drive wire to move, so that the coil structure moves along with the movement. of the articulation joint.

[028] In one embodiment, the quick-change joint further includes a carabiner locking structure configured to limit the rotation of the pivot joint and the connector along with the circumferential direction of the replaceable instrument and/or limit the movement of the pivot joint and the connector together with the axial direction of the replaceable instrument.

[029] In one embodiment, the end effector includes at least one end of the tool, the end of the tool is rotatably connected to the tool support base, and the portable end further includes an open control device. lock which is removable with respect to the handling structure, the transmission device further includes a first flexible transmission structure and the open-close control device controls the rotation of the tool end through the first flexible transmission structure.

[030] In one embodiment, the quick-change joint further includes a first connecting axis, and a first elastic telescopic pin detachably connected to the first connecting axis. The first connection axis extends towards the proximal end and through the second component, and the first elastic telescopic pin extends towards the distal end and through the first component. The drive device further includes a third motor, and the sensing device further includes a third sensor, the third sensor is configured to detect an open-close motion of the open-close control device to obtain an open-close motion signal. The controller is configured to control an output of the third motor in accordance with the open-close motion signal detected by the third sensor. The third motor is configured to drive the first flexible transmission frame via the first elastic telescopic pin and the first connecting shaft.

[031] In one embodiment, the handling structure is configured to rotate around an axis thereof in relation to the wrist structure, the tool support base is configured to rotate around an axis thereof in relation to the wrist structure. to the serpentine joints, and the transmission device further includes a second transmission frame configured to transmit rotational movement from the handling frame to the tool support base to rotate the tool support base.

[032] In one embodiment, the quick-change joint further includes a second connecting shaft and a second elastic telescopic pin detachably connected to the second connecting shaft. The second connecting axis extends toward the distal end and through the second component, and the second elastic telescopic pin extends toward the proximal end and through the first component. The drive device further includes a fourth motor, and the sensing device further includes a fourth sensor. The fourth sensor is configured to detect the rotational movement of the manipulation structure to obtain a rotational movement signal. The controller controls an output of the fourth motor in accordance with the rotary motion signal detected by the fourth sensor, and the fourth motor is configured to drive the second flexible drive structure via the second elastic telescopic pin and the second connecting shaft.

[033]In one embodiment, the wrist end ring sleeve is tightly fitted to the outside of a connection between the manipulation frame and the wrist frame by means of an elastic restorative force. The instrument end ring sleeve is tightly fitted to the outside of a connection between the replaceable instrument and the portable end by means of an elastic restorative force.

[034] In one embodiment, the sterile bag body is bonded to the wrist end ring sleeve, and the sterile bag body is bonded to the instrument end ring sleeve.

[035] Another aspect of the present invention also provides a coil surgical instrument kit, including a coil surgical instrument. The serpentine surgical instrument includes: the portable end including a support frame, a wrist frame and a manipulation frame, wherein the support frame has a proximal mount seat and a distal mount seat, and the manipulation frame is connected to the support frame's proximal mounting seat through the wrist frame; a replaceable instrument detachably connected to the distal mounting seat; and a sterile bag having a wrist end ring sleeve, a sterile bag body and an instrument end ring sleeve that are connected in sequence and in communication with each other, in which the sterile bag is wrapped. detachably on an outer surface of the support frame, and the wrist end ring sleeve of the sterile bag is configured to seal the connection between the handling frame and the wrist frame, and the instrument end ring sleeve is configured to seal the connection between the replaceable instrument and the portable end.

[036] In the above-mentioned serpentine surgical instrument, through the sterile bag involved in the support structure, it is possible to achieve the sealing of the connection between the wrist structure and the handling structure, and to seal the connection between the replaceable instrument and the end Portable, so that during operation, the portable end is able to remain in a sterile state, avoiding post-operative disinfection and sterilization, thus avoiding damage to the internal components of the portable end.

BRIEF DESCRIPTION OF THE DRAWINGS

[037] FIG. 1 shows a schematic diagram of a serpentine surgical instrument in accordance with an embodiment of the present invention;

[038] FIG. 2 shows an exploded schematic diagram of the sterile bag of the serpentine surgical instrument shown in Fig. 1;

[039] FIG. 3 shows an exploded schematic diagram of the portable end wrapped with a sterile bag in an embodiment of the present invention;

[040] FIG. 4 shows a schematic diagram of a portable end wrapped with a sterile bag in an embodiment of the present invention;

[041] FIG. 5 shows a schematic diagram of the handling structure and the support structure in a disassembled state in an embodiment of the present invention;

[042] FIG. 6 shows a schematic diagram of an interface of a serpentine surgical instrument in an embodiment of the present invention;

[043] FIG. 7 shows a cross-sectional diagram of a manipulation device in an assembled state in an embodiment of the present invention;

[044] FIG. 8 shows a schematic diagram of an assembly in which a handling structure performs a rotation function in an embodiment of the present invention;

[045] FIG. 9 shows a detailed enlarged diagram of the assembly shown in FIG. 8;

[046] FIG. 10 shows a schematic diagram of the rotation and degrees of freedom of movement of a serpentine surgical instrument in an embodiment of the present invention;

[047] FIG. 11 shows a schematic diagram of disassembly of a serpentine surgical instrument in one embodiment of the present invention;

[048] FIG. 12 shows a schematic diagram of a portable end of a serpentine surgical instrument in accordance with an embodiment of the present invention;

[049] FIGURES 13 and 14 show schematic diagrams of an arrangement of a detection device in an embodiment of the present invention;

[050] FIG. 15 shows a schematic diagram of a connection between the transmission device and the terminal effector in an embodiment of the present invention;

[051] FIG. 16 shows a schematic diagram of a drive device in an embodiment of the present invention;

[052] FIG. 17 shows a schematic diagram of a quick-change joint in an embodiment of the present invention;

[053] FIG. 18 shows a schematic diagram of a detachable joint actuator on a portable end side in one embodiment of the present invention;

[054] FIG. 19 shows a schematic diagram of a detachable joint driver on a replaceable instrument end side in an embodiment of the present invention;

[055] FIGURES 20 and 21 show schematic diagrams of a connection between the detachable joint driver and the transmission device on the replaceable instrument end side in one embodiment of the present invention;

[056] FIGURES 22 to 24 show schematic diagrams of a connection between the detachable joint driver and the drive device on the portable end side in one embodiment of the present invention;

[057] FIGURES 25 and 26 show schematic diagrams of an arrangement of a detection device in another embodiment of the present invention; and

[058] FIG. 27 shows a schematic diagram of a sterile bag assembly in an embodiment of the present invention, wherein a carabiner closure structure is disposed between the portable end and the replaceable instrument.

DETAILED DESCRIPTION OF MODALITIES

[059] The embodiments of the present invention will be described in detail below with reference to the attached drawings, so that the objects, features and advantages of the present invention above may be more apparent and understandable. In the description below, many specific details are explained in order to fully understand the present invention. However, the present invention can be implemented in many other ways than those described in this document, and a person skilled in the art can make similar modifications without departing from the present invention, and therefore the present invention is not limited by the specific embodiments. described below.

[060] Serpentine surgical instruments proposed in the exemplary embodiments described in the present invention will be further described in detail below with reference to specific designs and modalities. In the present invention, for ease of understanding, the terms "proximal end" and "distal end", "upper end" and "lower end" are used, and these terms refer to the relative orientation, relative position and direction of the elements or actions in relation to each other from the perspective of the physician using medical instruments. The terms "proximal end", "distal end", "upper end" and "lower end" are not restrictive, but the terms "proximal end" and "lower end" generally refer to the end of the medical device. that is close to the operator during normal operation, and the terms "distal end" and "upper end" generally refer to the far end of the operator.

[061] As shown in FIGURES 1 and 2, one embodiment of the present invention provides a serpentine surgical instrument including a portable end 1, a replaceable instrument 2, a quick-change gasket 3 and a sterile bag

100. Portable end 1 of the serpentine surgical instrument is reusable. Replaceable instrument 2 is designed to be disposable or designed to be used for a limited time. Sterile bag 100 is designed to be disposable.

The portable end 1 is detachably connected to the replaceable instrument

2. Specifically, the portable end 1 and the replaceable instrument 2 can be quickly disassembled and replaced via the quick-change gasket 3. The sterile bag 100 can be wrapped loosely on the outer surface of the portable end 1, so that during In surgical operation, the portable end 1 maintains a sterile state at all times, so as to prevent post-operative disinfection and sterilization from causing damage to the internal components.

[062] In addition, as shown in FIG. 2, the portable end 1 includes a support frame 11, a handling frame 12, and a wrist frame 14. The handling frame 12 is detachably connected to the wrist frame 14 via an interface 200, thereby facilitating assembly. and replacement of the sterile bag 100. In addition, the support structure 11 includes a proximal mounting seat 111, a support structure body 112, and a distal mounting seat 113. The wrist structure 14 is accommodated on a distal surface of the proximal mounting seat 111 of the bearing structure 11 and is connected to the bearing structure 11.

[063]As shown in FIG. 2, sterile bag 100 includes a wrist end ring sleeve 110, a sterile bag body 120, and an instrument end ring sleeve 130 that are connected in sequence and in communication with each other. The wrist end ring sleeve 110 and the instrument end ring sleeve 130 have a deformable structure and/or are made of deformable materials to perform a shrink and tighten function after an external force is removed. The deformable structure can be an elastic structure such as a loose collar and the like. The deformable material is, for example, an elastic material such as spandex and the like, or a shape memory material such as PTT (polytrimethylene terephthalate) and the like. Sterile bag 100 is configured to be operatively wrapped around the surface of support structure 11 and removed from support structure 11.

[064]In addition, as shown in FIG. 4, the wrist end ring sleeve 110 is configured to be snugly fitted to the distal surface of the wrist structure 14, and the diameter of the wrist end ring sleeve 110 in the natural tightened state (no external force) is smaller. than that of the interface 200, so as to ensure that the support structure 11 can reach a sealed state after the manipulation structure 12 is mounted across the interface 200. The instrument end ring sleeve 130 can be snugly fitted to the distal surface of the distal mounting seat 113 of the bearing frame 11, and the diameter of the instrument end ring sleeve 130 in a natural tightened state is less than the outer diameter of the distal mounting seat 113 of the support structure 11, so that the instrument end ring sleeve 130 is snugly fitted to the distal surface of the distal mounting seat 113 of the support structure 11 in an expanded state. Therefore, the instrument end ring sleeve 130 will not affect the assembly and disassembly of the quick-change gasket 3. In addition, the instrument end ring sleeve 130 and/or the wrist end ring sleeve 110 are configured for the maximum diameter thereof to be at least greater than the cross-sectional diameter of the support structure 11, so that the instrument end ring sleeve 130 and/or the wrist end ring sleeve 110 can passing through various parts of the support structure 11 to surround the support structure 11. The "maximum diameter" used in this document can be understood as the diameter of the instrument end ring sleeve 130 or the end ring sleeve of the instrument. pulse 110 when a maximum external force is applied. The maximum external force refers to the maximum external force that can be applied under a condition that the instrument end ring sleeve 130 or the instrument end ring sleeve pulse 110 can still restore its original shape after the external force is removed. When the cross section is not circular, the "cross section diameter" used in this document refers to the diameter of the smallest circumscribed circle in the cross section. The sterile bag body 120 is made of medical polyethylene raw materials, and the sterile bag body 120 is connected to the instrument end ring sleeve 130 and the wrist end ring sleeve 110 by heat gluing.

[065] In the following, taking the instrument end ring sleeve 130 configured to have at least the maximum diameter greater than the cross-sectional diameter of the support structure 11 as an example to illustrate how to wrap the support structure 11 with the sterile bag 100 through the end where the instrument end ring sleeve 130 is disposed. When the surgical instrument must first be used, the manipulation frame 12 is detached from the wrist frame 14 and the replaceable instrument 2 is detached from the portable end 1, as shown in FIG. 2. Then, the instrument end ring sleeve 130 of the sterile bag 100 is wrapped in the support frame 11 on one side of the wrist frame 14 until the ring sleeves disposed at two ends of the sterile bag 100, respectively, wrap the two ends of the support structure 11. Since the ring sleeves at both ends of the sterile bag 100 have shrinking and squeezing functions, the wrist end ring sleeve 110 can be snugly fitted in the distal surface of the proximal mounting seat 111 of the bearing structure 11, and the instrument end ring sleeve 130 can be snugly fitted to the distal surface of the distal mounting seat 113 of the bearing structure 11, and the bag body sterile 120 surrounds the outer portion of the support structure body 112 as shown in FIG. 3. Finally, the replaceable instrument 2 is connected to the portable end 1 through a quick-change joint 3, and the handling structure 12 is connected to the support structure 11 of the portable end 1 through the interface 200. At this point, an insulation Aseptic cleaning of the portable portion can be achieved, as shown in FIGURES 4 and 1. The body of the sterile bag 120 has an appropriate diameter so as to accommodate the body of the support structure 112 of the portable end 1 without affecting the operator's operation. In addition, the sterile bag body 120 has sufficient elasticity, abrasion resistance and slip resistance, which can prevent the sterile bag body 120 from breaking during operation.

[066]When the operation is completed, first, the replaceable instrument 2 and the manipulation frame 12 can be disassembled from the portable end 1 for post-operative disinfection. Then, in the opposite direction to the mounting direction of the sterile bag 100, from the distal mounting seat 113 of the support structure 11, the instrument end ring sleeve 130 of the sterile bag 100 drives the body of the sterile bag 120 to be gradually separated from the portable end 1, until the sterile bag 100 is completely separated from the portable end 1.

[067] In the above modality, the sterile bag body 120 is not necessarily configured to have the squeezing function. That is, at this time, as long as the instrument end ring sleeve 130 and/or wrist end ring sleeve 110 have deformability, and the diameter of the sterile bag body 120 is large enough to allow the body to of the support structure 112 transfer.

Of course, the entire sterile bag 100 can be deformable and can restore the natural tightness state after the external force is removed.

[068] In the embodiment, the manipulation structure 12 and the wrist structure 14 are detachably connected to each other through interface 200. The wrist structure 14 has more than one degree of freedom, so the manipulation structure 12 can rotate in more than one direction with respect to support frame 11. Specifically, as shown in FIGURES 5-9, interface 200 includes a connector pin 210 disposed at the proximal end of manipulation frame 12 and a hollow connecting shaft 220 disposed in the wrist frame 14 of the portable end 1 and matching the connecting pin 210. The hollow connecting shaft 220 is provided with a through hole 221 in a center thereof, and the diameter of through hole 221 matches an outer diameter of a pin body of connector pin 210 so as to be detachably connected to connector pin 210. In addition, interface 200 further includes a limiting structure axial that limits the movement connection pin 210 and a circumferential restraint structure that limits the circumferential rotation of the connection pin 210. The circumferential restraint structure includes a connection member 211 and a first positioning groove 222. The connection member 211 is located thereon. pin body surface of the connecting pin 210 and is arranged along with the axial direction. The first positioning groove 222 is located on the inner surface of the through hole 221 of the hollow connecting shaft 220 and is arranged along with the axial direction. The first positioning groove 222 cooperates with the connecting member 211 located on the surface of the pin body to limit the relative rotation of the connecting pin 210 and the hollow connecting shaft 220. In addition, the axial restraining structure includes a second groove position 212 and an elastic positioning device 230 press-connected with the second positioning groove

212. In this embodiment, there is no particular limitation on the number of connecting members 211 and first positioning slots 222, i.e., the number of connecting members 211 and first positioning slots 222 can be one or more, and the number of connecting members 211 may be equal to or less than the number of first positioning grooves 222. The second positioning groove 212 is located on the surface of the pin body of the connecting pin 210 and is arranged along the circumference of the surface. of the pin body. Correspondingly, the elastic positioning device 230 is located on the inner surface of the through hole 221 of the hollow connecting shaft 220. - hollow connection 220, the elastic positioning device 230 can be fastened in the second positioning groove 212 of the connecting pin 210 to realize the axial limit of the pin body of the connecting pin 210. Elastic element 230 may be at least one elastic protrusion. Furthermore, as shown in FIG. 6, three elastic protrusions are provided. Furthermore, the second positioning slot 212 may extend in the circumferential direction of the connecting pin 210 to form a closed circuit. Likewise, the number of second positioning grooves 212 together with the axial direction of the connecting pin 210 and the number of elastic positioning devices 230 together with the axial direction of the through hole 221 are not particularly limited.

[069] In this embodiment, the elastic positioning device 230 cooperates with the second positioning groove 212 to form an axial restraining structure to restrict the axial movement of the connecting member 210. The first positioning groove 222 cooperates with the member of connecting pin 211 to form a circumferential restraint structure to restrict the circumferential rotation of the connecting pin 210. Both the axial restraint structure and the circumferential restraint structure may be replaced with other suitable structures.

[070]In addition, as shown in FIG. 7, wrist frame 14 is disposed on proximal mounting seat 111 of support frame 11 of portable end 1. Proximal mounting base 111 is provided with a port 1112 for hollow connecting shaft 220 pass, and the diameter of passage 1112 is large enough to avoid limiting the range of motion of the manipulation structure 12, thus allowing the manipulation structure 12 to freely guide the wrist structure 14 to move through the interface 200 without be affected by the proximal mounting seat 111.

[071] When the handling frame 12 is assembled, the connecting member 211 on the pin body surface of the connecting pin 210 is aligned with the first positioning groove 222 on the inner surface of the hollow connecting shaft 220 to limit the circumferential displacement of the pin body of the connecting pin

210. The pin body of the connector pin 210 passes through the passage 1112 in the proximal mounting seat 111 along with a track formed by the cooperation of the connecting member 211 with the first positioning groove 222, and is pushed into the 220 hollow connecting shaft together with the shaft. Under the pressure of the pin body, the elastic protrusion 230 overcomes the elastic force of the inner spring, moves along with the radial direction of the hollow connecting shaft 220 towards the spring direction and compresses the spring. Connecting pin pin body 210 is continuously pushed into hollow connecting shaft 220. When the second positioning groove 212 on the surface of connecting pin pin body 210 corresponds to elastic protrusion 230 on the inner surface of the connecting pin. hollow connection 220, elastic protrusion 230 is secured in second positioning groove 212 under the elastic force of the internal spring to limit further axial displacement of the pin body of the connection pin.

210. So far, the assembly of the handling frame 12 is complete.

[072] In another embodiment, the handling structure 12 may also rotate around its own axis with respect to the wrist structure 14. In addition, an open end hole 217 is provided in the center of the connecting pin 210 along with the axial direction.

The handling structure 12 and the connecting pin 210 are connected to each other by a bearing 213 to perform a rotary movement of the handling structure 12. Specifically, as shown in FIGURES 7-9,

the proximal end of the manipulation frame 12 includes a bearing mounting base 121 to which an outer bearing ring 213 is fixedly connected.

The distal end of the connecting pin 210 includes a first step 214 fixedly connected to an inner bearing ring 213 in the radial direction.

Furthermore, the first step 214 is adjacent to the proximal surface of the bearing mount base 121 in the axial direction.

More specifically, a longitudinal section of bearing mounting base 121 is an irregular ring shape, such as a torus shape, and includes a base 1211 and an extension 1212 fixedly connected to the base 1211. A cavity is provided in the extension 1212 and is configured to accommodate and secure the bearing 213. The cavity diameter of the extension 1212 corresponds to the diameter of the outer ring of the bearing 213. The first step 214 can cooperate with the bearing 121 and the distal surface of the first step 214 is in contact with the proximal end of base

1211 of bearing mount base 121. Also, as shown in FIG. 9, the connecting pin 210 further includes a second stage 215. The second stage 215 is located at the distal end of the first stage 214 of the connecting pin 210 and extends through the bearing mount base 121, and a groove (not labeled )

is provided in the second step 215 near the distal surface of the bearing mounting base 121 to receive a thrust ring 216.

thrust 12 through bearing 213, the mating relationship between thrust ring 216 and/or first step 214 and bearing 121 restricts axial and circumferential movements.

of the connecting pin 210. In this way, the manipulation structure 12 can perform the rotational movement.

[073]The replaceable instrument 2 includes a coil frame 21, a tool holder base 22, and a terminal effector 23 that are connected in sequence.

[074] FIG. 10 also shows the degrees of freedom of movement of the serpentine surgical instrument. In the embodiment shown in FIG. 10, portable end 1 can drive coil structure 21 to move synchronously, thereby driving end effector 23 to move. In the embodiment, the direction of movement of the coil structure 21 is further configured to be the same as the direction of movement of the handling structure 12 of the portable end 1.

Specifically, pulse frame 14 has two degrees of freedom: a first degree of freedom R1 and a second degree of freedom R2. Correspondingly, the wrist structure 14 can perform a first rotational movement about a first axis L1 (nodding movement in the mode) and a second rotational movement about a second axis L2 (yaw movement in the mode). Coil frame 21 has two rotating degrees of freedom: a fifth degree of freedom R5 and a sixth degree of freedom R6. Correspondingly, the serpentine structure 21 can perform a fifth rotary movement about a fifth axis L5 (nodding movement in mode) and a sixth rotary movement about a sixth axis L6 (yaw movement in mode). In addition, the manipulation structure 12 drives the wrist structure 14 to perform the heading movement around the first axis L1 and correspondingly drives the coil structure 21 to perform the heading movement in the same direction around the fifth axis L5, thus driving the terminal effector 23 to perform the heading movement in the same direction. Also, the first axis L1 is parallel to the fifth axis L5. The handling structure 12 drives the wrist structure 14 to perform a yaw movement around the second axis L2 and drives the coil structure 21 to perform the yaw movement in the same direction around the corresponding sixth axis L6, driving thus the terminal effector 23 to execute the yaw movement in the same direction. In addition, the second axis L2 is parallel to the sixth axis L6. Thus, the terminal effector 23 has two degrees of freedom R5' and R6'.

[075] In the modality, the type and shape of the end effector 23 are not particularly limited and can be selected by the physician according to surgical needs. For example, the end effector 23 can be scissors, tweezers, clamp, forceps, and other end effectors of the multi-tool end type 23, or it can also be electrodynamic end effectors 23, such as resistance heater, motor drive components , etc. According to the needs of the physician, the end effector 23 can also be selected as other shapes, for example a single tool end type effector 23, such as a hook.

[076]Due to different types of end effectors 23, coil surgical instruments can have different degrees of freedom. For example, end effector 23 includes at least one tool end 231 that is rotatably connected to tool holder base 22, as shown in FIG. 11.

At this moment, a degree of freedom is added to the terminal effector 23. In the modality shown in FIG. 10, the end effector 23 is a pliers. Therefore, the end effector 23 still has a third degree of freedom, such as an open-closed degree of freedom R7, to complete the clamping action. Referring to FIG. 12, correspondingly, the portable end 1 further includes an open-close control device 13 located in the manipulation structure 12, the open-close control device 13 is rotatable with respect to the manipulation structure 12 to form a third degree of freedom R3, thus controlling the open-close movement of the terminal effector 23. A movement configuration of the open-close control device 13 of the portable end is configured to be the same as an open-close configuration of the terminal effector 23, i.e., when the open-close control device 13 is opened, the terminal effector 23 performs an opening operation, and when the open-close control device 13 is closed, the terminal effector 23 performs a closing operation, thus completing the action of grip.

[077] In another embodiment, the handling structure 12 of the portable end 1 can also have a fourth degree of freedom R4, so that the handling structure 12 can be rotatable about its own axis L4 with respect to the wrist structure 14. Correspondingly, the tool support base 22 has an eighth degree of freedom R8, so that the tool support base 22 can be rotatable about its own axis L8 with respect to the coil structure

21. The manipulation structure 12 rotates about its own axis to drive the tool holder base 22 to rotate about its own axis L8 in the same direction, so that the end effector 23 has a fourth degree of freedom R8 '.

[078] As shown in FIGURES 12 and 15, the serpentine surgical instrument also includes a sensing device, a controller (not shown), a driving device 5 and a transmission device 6. The sensing device , the controller and the driving device 5 are arranged on the portable end 1. The transmission device 6 is arranged on the replaceable instrument 2. The sensing device is communicatively connected to the controller to detect the movement of the wrist structure 14 and the open-close control device 13 to obtain a motion signal, and transmit the detected motion signal to the controller. The controller controls the drive device 5 to produce power in accordance with the motion signal detected by the sensing device. The drive device 5 can be a motor to control the coil structure 21, the tool support base 22 or the terminal effector 23 through the transmission device 6 to complete the corresponding actions. For example, serpentine structure 21 is driven to perform the heading movement around the fifth axis L5, the serpentine structure 21 is driven to perform the yaw movement around the sixth axis L6, the end effector 23 is driven to perform the open-close movement or the tool support base 22 is activated to perform the rotary movement around its own axis L8.

[079] As shown in FIGURES 13 and 14, the sensing device may include a first sensor 41 to detect the heading movement of the handling structure 12. The sensing device may include a second sensor 42 to detect the yaw motion of the manipulation structure 12. The sensing device may include a third sensor 43 for detecting the open-close movement of the open-close control device 13. The sensing device may include a fourth sensor 44 for detecting the rotational movement of the manipulation structure. 12.

[080]In a specific modality, as shown in FIG. 14, wrist frame 14 includes an inner frame 141 and an outer frame 142 rotatably connected to support frame 11 via a first rotary axis 143.

The inner frame 141 is rotatably connected to the outer frame 142 via a second rotary axis 144. An axis of the first rotary axis 143 is a first axis. An axis of the second rotary axis 144 is a second axis. The hollow connecting axis 220 is connected to the inner frame 141. Furthermore, the first rotary axis 143 and the second rotary axis 144 are perpendicular to each other, and the plane defined by the axis of the first rotary axis 143 and the axis of the second rotary axis 144 is a midplane of wrist frame 14. An angle formed by first rotary axis 143 and second rotary axis 144 may also be other suitable angles and is not limited to being perpendicular to each other.

[081] The first sensor 41 and the second sensor 42 may be rotary axis code disks, which are respectively disposed on the first rotary axis 143 and on the second rotary axis 144 of the wrist structure 14, and are respectively used to detect motion of heading and the yaw movement of the wrist structure 14. In another specific modality, the first sensor 41 and the second sensor 42 can also be linear sensors.

[082]In a specific modality, as shown in FIG. 13, the open-close control device 13 includes at least one open-close tab 131. A proximal end of open-close tab 131 is rotatably connected to the manipulation frame 12 via a rotary shaft. A distal end (i.e., free end) of the open-close tab 131 is away from the manipulation structure 12. The third sensor 43 may be a Hall sensor, which is disposed on the open-close tab 131 and the manipulation structure 12 for detecting the distance between the open-close tab 131 of the open-close control device 13 and the manipulation structure 12, thus detecting the rotary movement of the open-close tab 131 in relation to the manipulation structure 12. In another specific modality , the third sensor 43 may also be at least one rotary axis code disk, which is disposed on the rotary axis of the proximal end of the open-close tab 131 of the open-close control device 13 to detect the rotational movement of the tab. open-close 131.

[083] In a specific embodiment, as shown in FIGURES 7-9, the handling structure 12 is connected to the connecting pin 210 through a bearing 213 to perform the rotary movement of the handling structure 12. In addition, the rotary connection between the manipulating structure 12 and the inner frame 141 is achieved through the relative fixed relationship between the connecting pin 210 and the hollow connecting shaft 220. A magnet 218 is further disposed at the proximal end of the manipulating structure 12 and extends through from the open end hole 217 of the connecting pin 210. Correspondingly, the fourth sensor 44 can be a Hall sensor, which can obtain the rotation signal from the manipulation structure 12 through the magnet 218. The fourth sensor 44 can be mounted as follows manner. For example, a clamping bracket is disposed on a rear side of the inner frame 141 of the wrist frame 14. The fourth sensor 44 is disposed in the center of the clamping bracket to detect rotational movement of the manipulation frame 12 about its own axis, as shown in FIG. 13. In other embodiments, when the rotary connection between the handling structure 12 and the wrist structure 14 is not carried out through the bearing 231, but is accomplished by the direct connection between the handling structure 12 and the wrist structure. pulse 14, the method of mounting the fourth sensor 44 may be similar to the aforementioned method.

[084] When the surgical instrument works, the first sensor 41 and the second sensor 42 of the sensing device, respectively, detect the heading movement and the yaw movement of the handling structure 12, the third sensor 43 of the sensing device. detection detects the open-close movement of the open-close control device 13, and the fourth sensor 44 of the detection device detects the rotary movement of the manipulation structure 12 and transmits the detected motion signal to the controller. The controller controls the output of the drive device 5 according to the signal detected by the detection device. The drive device 5 drives the coil structure 21, the tool support base 22 and the end effector 23 through the drive device 6 to complete the heading action, yaw action, rotational action and open-close action corresponding. Furthermore, the movement direction of the end effector 23 is configured to be the same as the movement directions of the manipulation structure 12 and the open-close control device 13.

[085] As shown in FIGURES 15 and 19 to 21, the transmission device 6 includes a first group of transmission wire 61 and a second group of transmission wire 62, which are used to control the movement of the coil structure. 21. The transmission device 6 includes a first flexible transmission structure 63 to control the open-close movement of the end effector 23. The transmission device 6 includes a second flexible transmission structure 64 to control the rotation of the support base. of tool 22.

[086]As shown in FIG. 12, the drive device 5 is disposed at the distal end of the portable end 1. In a specific embodiment shown in FIG. 16, drive device 5 includes a first motor 51 and a second motor 52. The first motor 51 and second motor 52 operate cooperatively to drive the quick-change joint 3 to move and drive the coil structure 21 to perform the heading and yaw movements through the first set of drive wire 61 and the second set of drive wire 62, thereby driving the heading and yaw movements of the end effector 23. The drive device 5 includes a third motor 53 driving the open-close movement of the end effector 23 through the quick-change joint 3 and the first flexible transmission structure 63. The drive device 5 includes a fourth motor 54 driving the rotary movement of the end effector 23 through the joint of quick change 3 and the second flexible transmission structure 64.

[087]As shown in FIG. 17, the quick-change joint 3 includes a detachable joint driver 32. The detachable joint driver 32 includes a first component (not labeled) disposed in the support structure 11 and a second component (not labeled) disposed in the replaceable instrument 2. The first component is detachably connected to the second component, and can trigger the second component to move synchronously. The instrument end ring sleeve 130 seals the connection between the first component and the second component. The specific structures of the first component and the second component are not limited, as long as the detachable connection and synchronous movement of the supporting structure 11 and the replaceable instrument 2 can be realized.

[088] In the specific embodiment shown in FIGURES 18 and 19, the first component may be a hinge joint 321 of the distal mounting seat

113 on the portable end side 1, and the second component may be a connector 322 disposed on the replaceable instrument side 2. The pivot joint 321 includes a first outer frame 3211 and a first inner frame 3212. The first outer frame 3211 is connected to a portable end shell 1 and can perform a tenth rotational movement around a tenth axis. In this way, the articulation joint 321 has a tenth degree of freedom. The first inner frame 3212 is connected to the first outer frame 3211 and can perform a ninth rotational movement about the ninth axis. In this way, the articulation joint 321 has a ninth degree of freedom. Also, the tenth axis is parallel to the sixth axis L6.

In addition, the tenth axis is still parallel to the second axis L2. In addition, the ninth axis is parallel to the fifth axis L5. In addition, the ninth axis is still parallel to the first axis L1. The connector 322 includes an elastic connecting device and a connecting plate 3222. The connecting plate 3222 is fixed in a housing 201 of the replaceable instrument 2 by the elastic connecting device, so that the connecting plate 3222 can perform a movement of yaw relative to the housing 201 of the replaceable instrument 2. In addition, an outer edge of the connecting plate 3222 is no larger than an outer edge of the first inner frame 3212. Specifically, as shown in FIG. 19, the elastic connecting device includes four connecting springs 3221 which are respectively disposed in four corner positions of the connecting plate 3222. The connecting plate 3222 is fixed to the shell of the replaceable instrument 2 via the four connecting springs 3221 In the embodiment, the transmission device 6 is connected to the coil structure 21 and the connector 322, and is configured to drive the coil structure 21 to perform the fifth rotary movement together with the ninth rotary movement of the hinge joint. tion 321, and is also configured to drive coil structure 21 to perform the sixth rotary movement along with the tenth rotary movement of the pivot joint 321.

[089] In addition, a limiting device is disposed on the first inner frame 3212 to limit the displacement of the pivot joint 321 and the connector 322 along with the axial direction of the replaceable instrument 2. Referring to FIG. 18, further, the restraining device is at least one pin 3213. The pin 3213 includes a pin body and a protrusion structure formed along with an axial direction of the pin body. An outside diameter of the protrusion structure is larger than an outside diameter of the pin body of the 3212 pin. Correspondingly, a gourd-shaped pin hole 3223 is disposed at a position in the connection plate 3222 corresponding to the pin 3213. to FIG. 19, the gourd-shaped pin hole 3223 includes a large diameter portion 32231 and a small diameter portion 32232. A hole diameter of the large diameter portion 32231 of the gourd pin hole 3223 corresponds to an outer diameter of the protrusion structure on the pin 3213 to accommodate the pin 3213. A hole diameter of the small diameter portion 32232 of the gourd pin hole 3223 corresponds at least partially with the outside diameter of the pin body of the pin 3213. In an assembled state, the pin 3213 passes through the large diameter portion 32231 of the gourd-shaped pin hole 3223 to make the connection between the pivot joint 321 and the connector 322. Then, the pivot joint 321 and the connector 322 are rotated relative to each other to move pin 3213 to the small diameter portion 32232, so that the connection between the hinge joint 321 and the connector 322 can be maintained, and the hook hinge 321 and the connector 322 cannot move relative to each other in the axial direction.

[090] In addition, the quick-change joint 3 further includes a carabiner closure structure 31 to restrict axial and/or circumferential movement between the portable end 1 and the replaceable instrument 2. The present invention does not limit Particularly the specific structure of the carabiner closure structure, and the carabiner closure structure may be any structure in the prior art which is capable of performing locking and limiting functions. In the embodiment shown in FIG.

27, the distal end of the portable end 1 has a protrusion 25 extending inwardly, and the proximal end of the replaceable instrument 2 has a recess 26 matching the protrusion 25. The sterile bag 100 may cover a distal end of the protrusion 25 to isolate it from the replaceable instrument 2.

[091] Referring to FIGURES 20-22, when the serpentine surgical instrument operates, the controller controls the first motor 51 and the second motor 52 to drive the end effector 23 to rotate with rotation of the wrist frame 14 in accordance with the movement signal from the wrist structure 14 detected by the sensing device. Specifically, referring to FIGURES 23 and 24, first motor 51 drives pivot joint 321 to rotate through a steel wire of first motor 55, thereby driving connector 322 to rotate synchronously. Likewise, the second motor 52 drives the pivot joint 321 to rotate through a steel wire of the second motor 56, thus driving the connector 322 to rotate synchronously. Viewing from the proximal end to the distal end, two ends of the steel wire of the first motor 55 are respectively attached at an upper left corner and a lower right corner of the hinge joint 321. The positions of the connection attachment points between the first group of transmission wire 61 and the connector 322, and between the first group of transmission wire 61 and the coil structure 21 correspond to the positions of the fixing points of the two ends of the steel wire of the first motor 55 in the upper left corner and lower right corner of the pivot joint 321. Two ends of the steel wire of the second motor 56 are respectively attached at a lower left corner and an upper right corner of the pivot joint 321. The positions of the points of connection fastening between the second group of transmission wire 62 and the connector 322, and between the second group of transmission wire 62 and the coil structure 21 are corresponding to positions of the attachment points of the two ends of the steel wire of the second motor 55 in the lower left corner and upper right corner of the articulation joint

321. Through the aforementioned structure, the first motor 51 and the second motor 52 cooperatively drive the first transmission wire group 61 and the second transmission wire group 62 to move, which causes the coil structure 21 rotate. In an alternative embodiment, both ends of the steel wire of the first motor 55 are respectively attached to the tenth axis of the pivot joint 321, and both ends of the steel wire of the second motor 55 are attached to the ninth axis of the pivot joint 321 The first group of transmission wire 61 and the second group of transmission wire 62 are respectively arranged corresponding to the connection attachment points of the connector 322 and of the coil structure 21.

[092] In addition, with reference to FIG. 20, the proximal end of the first group of transmission wire 61 is connected to the quick-change joint 3, and the first group of transmission wire 61 drives the end effector 23 to perform open-close movement under the drive of the exchange joint. 3. The proximal end of the second group of transmission wire 62 is connected to the quick-change joint 3, and the second group of transmission wire 62 drives the end effector 23 to perform the rotary movement under the drive of the quick-change joint. 3.

[093] In addition, referring to FIGURES 18 to 19 and 23, the quick-change joint 3 further includes a first elastic telescopic pin 3214 and a first connecting shaft 3224. In addition, the quick-change joint 3 further includes a second elastic telescopic pin 3215 and a second connecting shaft 3225. In addition, the first elastic telescopic pin 3214 and the second elastic telescopic pin 3215 can respectively move towards the proximal end under external force, and can move in towards the distal end until they reach the original positions under the action of their own elastic force after the force is removed. the inner frame

3212 of the articulation joint is provided with a center hole. The first elastic telescopic pin 3214 and the second elastic telescopic pin 3215 extend toward the distal end through the center hole of the hinge joint 321 (i.e., the first component). Correspondingly, the first connection axis 3224 and the second connection axis 3225 extend towards the proximal end through the central hole of the connector 322 (i.e., the second component). The proximal end of the first connection shaft 3224 is detachably connected to the distal end of the first elastic telescopic pin 3214, and the proximal end of the second connection shaft 3225 is detachably connected to the distal end of the second elastic telescopic pin 3215, thereby effecting the transmission or disconnection of the motive force. Furthermore, as shown in FIG. 19, each of the end faces of the proximal ends of the first connection axis 3224 and the second connection axis 3225 is provided with two positioning grooves 3226. Correspondingly, as shown in FIG. 18, each of the end faces of the distal ends of the first elastic telescopic pin 3214 and the second elastic telescopic pin 3215 is provided with two positioning protrusions 3216. The positioning groove 3226 on the connecting shafts and the positioning protrusion 3216 in the elastic telescopic pins they are correspondingly configured in shape and position to make a fastening connection between the connecting axes and the elastic telescopic pins.

[094] Meanwhile, as shown in FIG. 21, the steel wire of the first flexible transmission frame 63 is wrapped and fixed to the first connecting shaft

3224. The second flexible transmission structure 64 is fixedly connected to the second connection axis 3225. With the rotation of the first connection axis 3224 and the second connection axis 3225, the first flexible transmission structure 63 performs winding movements and unwinding, so that the rotary movement is converted to axial movement, and the second flexible transmission structure

64 transmits torque to the tool holder base 22.

[095] In addition, the end effector 23 further includes a first reversing device (not labeled). The first flexible transmission structure 63 includes a steel wire and an elastic structure. The elastic frame is configured to provide a driving force to keep the tip of tool 231 in a normally open state. The proximal end of the steel wire is wrapped around the first connection shaft 3224, and the distal end of the steel wire is connected to the first reversing device. The first reversing device is used for a conversion between a translation movement of the steel wire and the open-close movement of the end of the tool 231. The third motor 53 can drive the first flexible transmission structure 63 via the first pin elastic telescopic 3214 and the first connecting shaft 3224, and the translational movement of the first flexible transmission structure 63 is converted into the open-close movement of the end effector 23 through the first reversing device. In addition, the fourth motor 54 can drive the second flexible transmission structure 64 through the second elastic telescopic pin 3215 and the second connecting shaft 3225 to control the rotary movement of the end effector 23.

[096] When the serpentine surgical instrument works, the third sensor 43 and the fourth sensor 44, respectively, detect an open-close motion signal from the open-close control device 13 of the portable end 1 and a rotary motion signal from the manipulation structure 12, and transmits the detected signals to the controller which analyzes the detected signals and controls the movement of the third motor 53 and the fourth motor 54, respectively, thus driving the first flexible transmission structure 63 and the second flexible transmission structure 64 to move, so that the open-close movement and the rotary movement of the end effector 23 in the same direction can be performed.

[097] In an alternative embodiment, the terminal effector 23 further includes a second reversing device and a third reversing device. The first flexible transmission frame 63 includes a flexible shaft. Compared with steel wire, a reciprocal movement can be accomplished only by applying force to one end of the flexible shaft. At this time, the first connection shaft 3224 is connected to the second reversing device, a proximal end of the flexible shaft of the first flexible transmission structure 63 can be attached directly to the second reversing device, and a distal end thereof is connected to the third reversing device, so that the end of the tool is guided to perform the open-close movement. With this configuration, it is possible to convert the rotary movement of the first connecting axis 3224 to the translational movement of the flexible axis of the first flexible transmission structure 63, thus controlling the open-close movement of the end effector 23. The second switching device reversal is a device capable of converting the rotational movement of the first connecting axis into the translational movement of the flexible axis. The third reversing device is a device capable of converting the translational movement of the flexible axis to the open-close movement of the end of the tool 231. For example, a rack and pinion structure, a cooperating structure of linear rail and axis rotary, a worm gear structure and the like.

[098] In another alternative embodiment, the transmission device 6 includes a first portion located on the portable end 1 and a second portion located on the replaceable instrument 2. A proximal end of the first portion is connected to the coil structure 21, and a The distal end thereof is connected to the first component and is configured to trigger the first component to move along with the movement of the coil structure 21. A proximal end of the second portion is connected to the second component, and the distal end thereof is connected to coil frame 21 and is configured to drive coil frame 21 to move along with movement of the second component. In this way, the serpentine surgical instrument in the modality adopts a totally manual conduction way to carry out the operation of the end effector 23.

[099] Other embodiments of the present invention further provide a coil surgical instrument kit including a coil surgical instrument and a sterile bag 100. The coil surgical instrument includes a portable end 1 and a replaceable instrument 2. The portable end 1 includes a support frame 11, a wrist frame 14, and a handling frame 12. The support frame 11 has a proximal mounting seat 111 and a distal mounting seat 113, and the handling frame 12 is connected to the seat. mounting bracket 111 of the support frame 11 through the wrist frame 14. The replaceable instrument 2 is detachably connected to the distal mounting seat 113. The sterile bag 100 has a wrist end ring sleeve 110, a body of sterile bag 120 and an instrument end ring sleeve 130 which are connected in sequence and in communication with each other.

Sterile bag 100 is detachably wrapped around an outer surface of support structure 11, and wrist end ring sleeve 110 of sterile bag 100 is configured to seal the connection between handling structure 12 and wrist structure 14, and the instrument end ring sleeve 130 is configured to seal the connection between the replaceable instrument 2 and the portable end 1.

[0100]The technical characteristics of the above modalities may be arbitrarily combined. In order to make the description concise, not all possible combinations of technical characteristics in the above embodiments are described.

However, as long as there is no contradiction in the combination of these technical characteristics, all must be considered within the scope described in this descriptive report.

[0101] The embodiments described above merely represent various embodiments of the present invention, and their description is more specific and detailed, but should not be interpreted as limiting the scope of the present invention.

It should be noted that for those skilled in the art, without departing from the concept of this invention, various modifications and improvements can be made, all within the scope of protection of this invention. Therefore, the scope of protection of the present invention must be defined by the appended claims.

Claims (25)

1. Serpentine surgical instrument, CHARACTERIZED by the fact that it comprises: a portable end comprising a support structure having a proximal mounting seat and a distal mounting seat, a wrist frame and a handling structure connected to the mounting seat - proximal gem of the support structure through the wrist structure, the manipulation structure being detachably connected to the wrist structure; and a replaceable instrument detachably connected to the distal mounting seat. 2. Coil surgical instrument according to claim 1, CHARACTERIZED by the fact that the coil surgical instrument further comprises: a sterile bag to releasably enclose an external surface of the support structure, the sterile bag having a wrist end ring sleeve, a sterile bag body, and an instrument end ring sleeve that are connected in sequence and in communication with each other, where the sterile bag wrist end ring sleeve is configured to seal a connection between the handling frame and the wrist frame, and the instrument end ring sleeve is configured to seal a connection between the replaceable instrument and the portable end. 3. Serpentine surgical instrument according to claim 1, CHARACTERIZED by the fact that the wrist frame is disposed on a distal surface of the proximal mounting seat and the wrist frame is detachably connected to the handling frame through an interface. 4. Serpentine surgical instrument according to claim 3, CHARACTERIZED by the fact that the interface comprises a connection pin disposed at a proximal end of the manipulation frame and a hollow connection shaft disposed in the wrist frame and detachably connected to the connection pin. 5. Serpentine surgical instrument according to claim 4, CHARACTERIZED by the fact that the interface further comprises an axial restraint structure configured to limit axial movement of the connecting pin and a circumferential restraint structure configured to limit circumferential rotation - rential of the connection pin. 6. Serpentine surgical instrument according to claim 5, CHARACTERIZED by the fact that the circumferential restraint structure comprises a connecting member located on a surface of the connecting pin and disposed together with an axial direction of the connecting pin and a first positioning groove located in an inner wall of the hollow connecting shaft and extending along an axial direction of the hollow connecting shaft, wherein the first positioning groove is configured to cooperate with the connecting member to limit rotation of the connecting pin, and the axial restraining structure comprises a second positioning groove disposed on the surface of the connecting pin and arranged together with a circumferential direction and an elastic positioning device disposed on the inner wall of the hollow connecting shaft, wherein the elastic positioning device cooperates with the second positioning groove to limit axial movement. of the connecting pin. 7. Serpentine surgical instrument, according to claim 6, CHARACTERIZED by the fact that the elastic positioning device comprises at least one elastic protrusion. 8. Serpentine surgical instrument, according to claim 4, CHARACTERIZED by the fact that the handling structure and the connecting pin are connected with each other by means of a bearing, in order to achieve a rotational movement of the manipulation in relation to the wrist structure. 9. Serpentine surgical instrument according to claim 8, CHARACTERIZED by the fact that the proximal end of the manipulation structure comprises a bearing mounting base, an outer bearing ring is fixedly connected to the bearing mounting base; and a distal end of the connecting pin comprises a first step fixedly connected to an inner ring of the bearing in a radial direction. 10. Serpentine surgical instrument, according to claim 9, CHARACTERIZED by the fact that the connecting pin further comprises a second step disposed at a distal end of the first step, the second step extends through the mounting base of bearing and a groove to accommodate a thrust ring that is disposed on a distal surface of the second stage adjacent to the bearing mounting seat. 11. Coil surgical instrument according to claim 1 or 2, CHARACTERIZED by the fact that the replaceable instrument comprises a coil structure, a tool support base and a terminal effector that are connected in sequence and the surgical instrument of coil t further comprises: a quick-change joint, wherein the replaceable instrument is detachably connected to the portable end via the quick-change joint, and a transmission device; wherein the wrist structure has at least a first rotational degree of freedom so that the wrist structure is capable of performing a first rotational movement; the coil structure has at least a fifth rotational degree of freedom, so that the coil structure is capable of performing a fifth rotational movement; and the transmission device is configured to drive the coil structure to perform the fifth rotary movement along with the first rotary movement of the wrist frame. 12. Serpentine surgical instrument, according to claim 11, CHARACTERIZED by the fact that the wrist structure also has a second rotational degree of freedom, so that the wrist structure is capable of performing a second rotational movement; the serpentine structure has at least a sixth rotational degree of freedom, so that the serpentine structure is capable of performing a sixth rotational movement; and the transmission device is configured to drive the coil structure to perform the sixth rotary movement along with the second rotary movement of the wrist frame. 13. Serpentine surgical instrument, according to claim 11, CHARACTERIZED by the fact that the quick-change joint comprises a detachable articulation actuator, the detachable articulation actuator comprises: a first component disposed on the support structure; and a second component disposed on the replaceable instrument; where the first component and the second component are detachably connected and are able to move synchronously. 14. Serpentine surgical instrument, according to claim 13, CHARACTERIZED by the fact that the transmission device comprises: a first portion located at the portable end; and a second portion located on the replaceable instrument; wherein a proximal end of the first portion is connected to the coil structure, a distal end of the first portion is connected to the first component, and the first portion is configured to drive the first component to move along with movement of the structure. of serpentine, and a proximal end of the second portion is connected to the second component, a distal end of the second portion is connected to the coil structure, and the second portion is configured to drive the coil structure to move along with a movement of the second component. 15. Coil surgical instrument, according to claim 13, CHARACTERIZED by the fact that the coil surgical instrument further comprises: a drive device, a detection device and a controller that are arranged in the support structure; wherein the sensing device is in communication with the controller and is configured to detect movement of the wrist structure to obtain a motion signal; the controller controls the triggering device to trigger the first component to move in accordance with the motion signal detected by the sensing device; and the transmission device located on the replaceable instrument is configured to connect the second component and the coil structure and is configured to move the coil structure in conjunction with the movement of the second component. 16. Serpentine surgical instrument according to claim 15, CHARACTERIZED by the fact that the wrist structure also has a second rotational degree of freedom, so that the wrist structure is able to perform a second rotational movement, the structure The coil has at least a sixth rotational degree of freedom, so that the coil structure is capable of a sixth rotational movement, the first component is a hinge joint disposed on the distal mounting seat of the support structure. , and the articulation joint has a ninth degree of freedom and a tenth degree of freedom, so that the articulation joint is capable of performing a ninth rotational movement and a tenth rotational movement, respectively, the detection device detects the first movement rotary and/or the second rotary movement of the wrist frame to obtain the motion signal and transmit the motion signal to the controller; the controller controls the driving device to drive the pivot joint to perform the ninth rotary movement and/or the tenth rotary movement in accordance with the motion signal transmitted by the sensing device; the second component is a connector disposed on the replaceable instrument and the pivot joint is detachably connected to the connector; and the transmission device is connected to the coil structure and the connector and is configured to drive the coil structure to perform the fifth rotary movement along with the ninth rotary movement of the pivot joint and is further configured to drive the hinge structure. serpentine to perform the sixth rotary movement together with the tenth rotary movement of the articulation joint. 17. Serpentine surgical instrument according to claim 16, CHARACTERIZED by the fact that the transmission device comprises a first group of transmission wire and a second group of transmission wire that are arranged in the replaceable instrument; and the drive device comprises a first motor and a second motor, the first motor is configured to drive the first group of drive wire to move, and the second motor is configured to drive the second group of drive wire to move. move so that the coil structure moves along with the movement of the pivot joint. 18. Serpentine surgical instrument, according to claim 16, CHARACTERIZED by the fact that the quick-change joint further comprises a carabiner closing structure configured to limit the rotation of the articulation joint and connector along with the direction replaceable instrument circumferential and/or limit the movement of the pivot joint and connector along with the axial direction of the replaceable instrument. 19. Serpentine surgical instrument according to claim 15, CHARACTERIZED by the fact that the end effector comprises at least one end of the tool rotatably connected to the tool support base; the portable end further comprises an open-close control device that is removable in relation to the handling structure; and the transmission further comprises a first flexible transmission structure and the open-close control device controls a rotation of the tool end through the first flexible transmission structure. 20. Serpentine surgical instrument, according to claim 19, CHARACTERIZED by the fact that the quick-change joint further comprises a first connection axis and a first elastic telescopic pin detachably connected to the first connection axis, in which the first connecting axis extends towards the proximal end and through the second component, and the first elastic telescopic pin extends towards the distal end and through the first component; the drive device further comprises a third motor and the sensing device further comprises a third sensor, wherein the third sensor is configured to detect an open-close motion of the open-close control device to obtain an open motion signal. -closes, and the controller is configured to control an output of the third motor in accordance with the open-close motion signal detected by the third sensor; and the third motor is configured to drive the first flexible transmission frame through the first elastic telescopic pin and the first connecting shaft. 21. Serpentine surgical instrument, according to claim 15, CHARACTERIZED by the fact that the manipulation structure is configured to rotate around an axis thereof in relation to the wrist structure; the tool support base is configured to rotate about an axis thereof with respect to serpentine joints; and the transmission device further comprises a second flexible transmission structure, wherein the second flexible transmission structure is configured to transmit a rotational movement from the handling structure to the tool support base to rotate the tool support base. . 22. Serpentine surgical instrument according to claim 19, CHARACTERIZED by the fact that the quick-change joint further comprises a second connecting axis and a second elastic telescopic pin detachably connected to the second connecting axis, in which the second connecting axis extends towards the distal end and through the second component, and the second elastic telescopic pin extends towards the proximal end and through the first component; and the drive device further comprises a fourth motor, the sensing device further comprises a fourth sensor, wherein the fourth sensor is configured to detect the rotary motion of the manipulation structure to obtain a rotary motion signal, the controller controls an output of the fourth motor in accordance with the rotational motion signal detected by the fourth sensor, and the fourth motor is configured to drive the second flexible drive structure via the second elastic telescopic pin and the second connecting shaft. 23. Serpentine surgical instrument according to claim 2, CHARACTERIZED by the fact that the wrist end ring sleeve is firmly fitted to an outer part of a connection between the manipulation structure and the wrist structure by means of elastic restorative strength; and the instrument end ring sleeve is tightly fitted to an outer portion of a connection between the replaceable instrument and the portable end by means of an elastic restorative force. 24. Serpentine surgical instrument, according to claim 2, CHARACTERIZED by the fact that the body of the sterile bag is connected by bonding to the wrist end ring sleeve and the body of the sterile bag is connected by bonding to the ring sleeve from the instrument end. 25. Coil surgical instrument kit, CHARACTERIZED by the fact that it comprises a coil surgical instrument comprising: the portable end comprising a support structure, a wrist structure and a manipulation structure, in which the support structure has a proximal mount seat and a distal mount seat and the handling frame is connected to the proximal mount seat of the support frame through the wrist frame; a replaceable instrument detachably connected to the distal mounting seat; and a sterile bag having a wrist end ring sleeve, a sterile bag body and an instrument end ring sleeve that are connected to each other. in sequence and in communication with each other, in which the sterile bag is releasably wrapped in an outer surface of the support structure, and the wrist end ring sleeve of the sterile bag is configured to seal a connection between the handling frame and the wrist frame, and the instrument end ring sleeve is configured to seal a connection between the instrument. replaceable ment and the portable end.