CN112603547A - Surgical instrument, slave operation device, and surgical robot - Google Patents

Abstract

The invention provides a surgical instrument, slave operation equipment and a surgical robot, wherein the surgical instrument comprises a driver, an end effector and a long shaft connected between the driver and the end effector, the driver comprises a shell and a driving structure arranged in the shell, the near end of the long shaft is connected with the shell, the far end of the long shaft is connected with the end effector, a driving cable for connecting the driving structure and the end effector is arranged in the long shaft in a penetrating way, a liquid inlet is arranged on the shell, a flow guide structure communicated with the liquid inlet is arranged in the shell, the flow guide structure comprises an outlet end extending into the long shaft, the liquid inlet is higher than the outlet end in the axial direction of the long shaft, the flow guide structure is arranged in the shell to directly feed flushing fluid into the long shaft, the long shaft flushing device has the advantages that enough pressure can be guaranteed to effectively flush the far end of the long shaft, the structure is simple, convenience and high efficiency are achieved, and the flushing effect is good.

Description

Surgical instrument, slave operation device, and surgical robot

Technical Field

The present invention relates to the technical field of medical instruments, and in particular, to a surgical instrument for minimally invasive surgery, a slave operation device having the surgical instrument, and a surgical robot having the slave operation device.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment, and has the advantages of small wound, light pain, quick recovery and the like. With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The surgical instruments are cleaned and sterilized and then are arranged on the mechanical arm of the robot, and the mechanical arm drives the surgical instruments to perform surgical operation.

In prior art designs, the surgical instrument generally includes a driver, a long shaft, and an end effector. The driver is connected with a driving device in the mechanical arm, and a driving cable for connecting the driver and the end effector penetrates through the long shaft, so that the mechanical arm can drive the end effector to perform operation. However, when the surgical instrument is washed and cleaned, the washing fluid is usually injected into the driver, and the long shaft is of a slender structure, so that the washing fluid is difficult to reach the distal end of the long shaft due to insufficient pressure, and the distal end of the long shaft cannot be effectively washed.

Disclosure of Invention

In view of this, a surgical instrument, a slave operation device, and a surgical robot capable of efficiently irrigating the distal end of a long shaft are provided.

The invention provides a surgical instrument, which comprises a driver, an end effector and a long shaft connected between the driver and the end effector, wherein the driver comprises a shell and a driving structure arranged in the shell, the near end of the long shaft is connected with the shell, the far end of the long shaft is connected with the end effector, a driving cable for connecting the driving structure and the end effector is arranged in the long shaft in a penetrating manner, a liquid inlet is arranged on the shell, a flow guide structure communicated with the liquid inlet is arranged in the shell, the flow guide structure comprises an outlet end extending into the long shaft, and the liquid inlet is higher than the outlet end in the axial direction of the long shaft.

Preferably, the flow guide structure comprises a first flow guide pipe and a first joint for connecting the inlet end of the first flow guide pipe with the liquid inlet, and the outlet end of the first flow guide pipe extends into the near end of the long shaft.

Preferably, the first connector is a standard luer connector.

Preferably, the flow guiding structure comprises a first flow guiding pipe and a first joint connecting the inlet end of the first flow guiding pipe and the liquid inlet, the outlet end of the first flow guiding pipe is connected with a second joint, and the second joint comprises a fluid outlet facing into the long shaft.

Preferably, the second joint is a standard adapter, the second joint further includes a fluid inlet facing perpendicular to the fluid outlet, and the fluid inlet is connected with the outlet end of the first flow guide pipe in an inserting manner.

Preferably, a second flow conduit is connected to the fluid outlet of the second connector, the second flow conduit having an end extending along the long axis to a distal end thereof.

Preferably, the wall of the second flow guide pipe is provided with an opening, and part of the fluid enters the long shaft from the opening for washing in the process of flowing along the second flow guide pipe to the far end of the long shaft.

Preferably, a one-way valve is arranged in the proximal end or the distal end of the long shaft, the one-way valve is kept closed when the surgical instrument is in normal use, and the one-way valve is opened when the surgical instrument is used for flushing.

Preferably, a porous tube is sleeved on the wrist of the end effector, a through hole is formed in the tube wall of the porous tube, and the flushing fluid enters the wrist through the through hole for flushing.

Preferably, the liquid inlet comprises a first liquid inlet and a second liquid inlet, the first liquid inlet is communicated with the inner space and the outer space of the shell, and the second liquid inlet is communicated with the flow guide structure.

The invention also provides slave operation equipment which comprises at least one mechanical arm, wherein the mechanical arm comprises a plurality of joints and a mechanical holding arm, the joints are linked to realize the movement of the mechanical holding arm with a plurality of degrees of freedom, and the mechanical holding arm is detachably provided with the surgical instrument.

Preferably, the instrument holding arm comprises an instrument holding arm body and an instrument mounting frame capable of sliding on the instrument holding arm body, and the surgical instrument is mounted on the instrument mounting frame.

Preferably, a trocar is fixed at the far end of the instrument holding arm, and the surgical instrument passes through the trocar to enter the human body during operation.

The invention also provides a surgical robot, which comprises a main operation console and the slave operation equipment, wherein the slave operation equipment executes surgical operation on a human body according to the instruction of the main operation console.

Preferably, the master operating console and the slave operating device are wirelessly connected.

Preferably, the master operating console and the slave operating device are connected by wire.

Compared with the prior art, the surgical instrument of the slave operation equipment of the surgical robot is provided with the flow guide structure in the shell to directly send the flushing fluid into the long shaft, so that the sufficient pressure can be ensured to effectively flush the far end of the long shaft, and the surgical robot is simple in structure, convenient and efficient as a whole and good in flushing effect.

Drawings

Fig. 1 is a schematic view of a slave operation device of an embodiment of the surgical robot of the present invention.

Fig. 2 is a schematic view of a first embodiment of the surgical device of the present invention.

Fig. 3 is a schematic view of the internal structure of the surgical instrument shown in fig. 2.

Fig. 4 is a schematic view of a second embodiment of the surgical device of the present invention.

Fig. 5 is an assembly view of the irrigation structure and elongated shaft of the surgical device of fig. 4.

Fig. 6 is an exploded view of the flushing structure of fig. 5.

Fig. 7 is a schematic view of an end effector of the surgical instrument of fig. 4.

Fig. 8 is a schematic view of a sealing structure of the surgical instrument shown in fig. 4.

Fig. 9 is a schematic view of yet another embodiment of a surgical device according to the present invention.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. One or more embodiments of the present invention are illustrated in the accompanying drawings to provide a more accurate and thorough understanding of the disclosed embodiments. It should be understood, however, that the present invention may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it means that at least one of the elements is constrained by the other element, and the element is "decoupled", i.e., decoupled, meaning that two elements in a coupled relationship are no longer constrained by the other element. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.

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

Referring to fig. 1, the surgical robot includes a master operation table 1000 and a slave operation device 2000. The master console 1000 is configured to transmit a control command to the slave console device 2000 according to the operation of the doctor to control the slave console device 2000, and is further configured to display the image acquired by the slave device 2000. The slave operation device 2000 is used to respond to a control command sent from the master operation console 1000 and perform a corresponding operation, and the slave operation device 2000 is also used to acquire an image of the inside of the body.

Specifically, the slave operation device 2000 includes a robot arm 1, a power mechanism 2 provided on the robot arm 1, a surgical instrument 3 provided on the power mechanism 2, and a sleeve 4 on which the surgical instrument 3 is fitted. The mechanical arm 1 is used for adjusting the position of the surgical instrument 3; the power mechanism 2 is used for driving the surgical instrument 3 to execute corresponding operation; the surgical instrument 3 is used to extend into the body and perform surgical procedures, and/or acquire in vivo images, with its distally located end instrument.

As shown in fig. 2 and 3, the surgical instrument 3 includes a driver 10 and an end effector 20 at a proximal end and a distal end of the surgical instrument 3, respectively, and a long shaft 30 between the driver 10 and the end effector 20, the driver 10 is configured to be connected to a power mechanism 2, and the power mechanism 2 has a plurality of actuators (not shown) therein, and the plurality of actuators are engaged with the driver 10 to transmit driving forces of the actuators to the driver 10. Long shaft 30 is used to connect driver 10 and end effector 20, long shaft 30 is hollow and is used to pass drive cable 40 therethrough, and the movement of end effector 20 by driver 10 via drive cable 40 causes end effector 20 to perform the associated surgical procedure.

The actuator 10 includes a housing 12, and a driving structure 14 and a flow guiding structure 16 disposed in the housing 12. In this embodiment, the housing 12 of the driver 10 is provided with a first loading port 121 and a second loading port 122 for flushing the surgical instrument of the present invention.

The first liquid inlet 121 is communicated with the inner space and the outer space of the shell 12, and the flushing fluid is filled into the shell 12 through the first liquid inlet 121 to flush the driving structure 14 and the like in the shell 12. The second inlet port 122 is connected to the flow directing structure 16 for introducing an irrigation fluid into the elongated shaft 30 for directly irrigating the elongated shaft 30. That is, the present invention provides two relatively independent flushing paths for flushing the driver 10 and the long shaft 30 respectively, so as to ensure the flushing effect of the long shaft 30, and the flow direction of the fluid is shown by arrows in fig. 5. In this embodiment, the flow guiding structure 16 is a first flow guiding pipe, the first flow guiding pipe is a flexible pipe, and the flexible first flow guiding pipe can be freely inserted and arranged in the driver 10, and can be conveniently inserted into the inner space of the housing 12. One end of the flow guide structure 16 is used as a fluid inlet end 160 and is connected with the second liquid inlet 122; the other end serves as an exit end 162 that extends into the proximal end of the shaft 30.

Preferably, the first loading port 121 and the second loading port 122 are disposed at the top end of the housing 12, and the fluid for flushing the driver 10 flows downward after entering the housing 12 through the first loading port 121, and finally flows out of the housing 12 from the bottom of the housing 12. The second inlet port 122 is positioned higher than the outlet port 162 of the flow directing structure 16, and fluid flushing the long shaft 30 flows from the second inlet port 122 into the flow directing structure 16, then flows down the flow directing structure 16 to the proximal end of the long shaft 30, finally flows down the long shaft 30 to the distal end of the long shaft 30 and flows out of the long shaft 30 through the liquid outlet port 32. In general, the higher flow rates achieved by the gravitational potential energy of the irrigating fluid after entering the surgical device of the present invention ensure a more effective irrigation of the driver 10 and thus the shaft 30.

The invention sets two independent flow channels for the driver 10 and the long shaft 30, and the fluid for flushing the driver 10 enters the shell 12 from the first liquid inlet 121 to flush the devices in the shell 12; the fluid for flushing the long shaft 30 flows in from the second liquid inlet 122 and flows into the long shaft 30 along the flow guiding structure 16, so that the fluids for flushing the driver 10 and the long shaft 30 do not affect or interfere with each other, and the fluid for entering the long shaft 30 does not lose kinetic energy due to the internal structure of the driver 10, thereby ensuring that the fluid for entering the long shaft 30 has enough pressure to flow to the far end thereof along the long shaft 30 and finally flows out from the liquid outlet 32 at the far end, and achieving the purpose of fully flushing the long shaft 30. Through the arrangement of the two flow passages, the whole surgical instrument has good flushing effect, and the safety and the sanitation of subsequent use are ensured.

Fig. 4-6 illustrate a second embodiment of the surgical device of the present invention which differs from the first embodiment in that: the inlet 160 and the outlet 162 of the flow guide structure 16 are connected to the first joint 17 and the second joint 18, respectively. Wherein first adapter 17 is preferably a standard luer adapter connecting inlet end 160 with second loading port 122; the second connector 18 is a rigid connector that is secured within the housing 12 or to the long shaft 30. Preferably, the second connector 18 is a standard adapter including a vertically oriented fluid outlet 180 and a fluid inlet 182. Wherein the fluid inlet 182 is inserted into the outlet end 162 and the fluid outlet 180 is disposed toward the long shaft 30. Through the second joint 18, the situation that the flushing liquid cannot smoothly flow into the long shaft due to bending generated when the flexible flow guide structure 16 enters the long shaft 30 can be avoided, the liquid outlet position of the flow guide structure 16 can be fixed, and the situation that the flushing fluid cannot smoothly enter the long shaft 30 due to displacement of the flow guide structure 16 under the action of fluid pressure is avoided.

In use of the surgical device of this embodiment, fluid for irrigating the driver 10 is injected into the housing 12 through the first inlet port 121, and the fluid for irrigating the shaft flows along the flow guide structure 16 to the rigid connector 18, and is injected into the proximal end of the shaft 30 through the fluid outlet 180, and finally flows down the shaft 30 to the distal end and flows out through the distal outlet port 32, thereby completing the irrigation of the shaft 30. Preferably, as shown in fig. 7, a porous tube 22 is sleeved on the wrist of the end effector 20, a through hole 24 is provided on the wall of the porous tube 22, and the flushing fluid enters the wrist through the through hole 24 for flushing.

Preferably, to prevent gas leakage, a seal 34 is provided at either the proximal or distal end of the shaft 30. As shown in FIG. 8, the seal 34 is preferably a one-way valve disposed within the proximal end of the shaft 30 and below the rigid joint 18. That is, the seal 34 is disposed downstream of the rigid joint 18 in the direction of flow of the flushing fluid. Thus, when the surgical instrument of the present invention is used normally, the sealing structure 34 remains closed to prevent gas leakage; conversely, when the present surgical instrument is to be irrigated, as shown in phantom in FIG. 8, the sealing structure 34 is open and irrigation fluid flows through the sealing structure 34 toward the distal end of the shaft 30 to irrigate the shaft 30.

Fig. 9 shows a third embodiment of the surgical device according to the invention, which differs from the second embodiment in that: another second fluid guide pipe 19 is further disposed in the long shaft 30, and one end of the second fluid guide pipe 19 is connected to the fluid outlet 180 of the second joint, and the other end extends to the vicinity of the liquid discharge port 32 at the far end along the long shaft 30. In this way, the flushing fluid is directly delivered to the distal end of the long shaft 30 through the diversion structure 16 and the second diversion tube 19, thereby further enhancing the flushing effect of the distal end of the long shaft 30. Preferably, the wall of the second fluid guide tube 19 is formed with an opening, and during the process that the flushing fluid flows along the second fluid guide tube 19 to the distal end of the long shaft 30, part of the fluid enters the long shaft 30 through the opening to flush the long shaft 30.

In conclusion, the surgical instrument of the present invention directly feeds the flushing fluid into the long shaft 30 by disposing the flow guide structure 16 in the housing 12, and the flushing fluid of the long shaft 30 forms a separate flow path without being affected by the flushing fluid of the flushing driver 10, so that it is ensured that sufficient pressure can be provided to effectively flush the distal end of the long shaft 30, and the surgical instrument of the present invention has a simple structure, convenience, high efficiency, and a good flushing effect as a whole. It should be noted that the present invention is not limited to the above-mentioned embodiments, and other changes and modifications can be made by those skilled in the art according to the spirit of the present invention, and these changes and modifications made according to the spirit of the present invention should be included in the scope of the present invention as claimed.

Claims (10)

1. A surgical instrument comprises a driver, an end effector and a long shaft connected between the driver and the end effector, and is characterized in that the driver comprises a shell and a driving structure arranged in the shell, the near end of the long shaft is connected with the shell, the far end of the long shaft is connected with the end effector, a driving cable connected with the driving structure and the end effector is arranged in the long shaft in a penetrating mode, a liquid inlet is arranged on the shell, a flow guide structure communicated with the liquid inlet is arranged in the shell, the flow guide structure comprises an outlet end extending into the long shaft, and the liquid inlet is higher than the outlet end in the axial direction of the long shaft.

2. The surgical instrument of claim 1, wherein the flow directing structure comprises a first flow conduit and a first connector connecting an inlet end of the first flow conduit to the fluid inlet, an outlet end of the first flow conduit extending into the proximal end of the elongated shaft.

3. The surgical instrument of claim 2, wherein the first connector is a standard luer connector.

4. The surgical instrument of claim 1, wherein the flow directing structure comprises a first flow conduit and a first connector connecting the inlet end of the first flow conduit to the fluid inlet, the outlet end of the first flow conduit being connected to a second connector comprising a fluid outlet directed into the elongated shaft.

5. The surgical instrument of claim 4, wherein the second connector is a standard adapter, the second connector further comprising a fluid inlet oriented perpendicular to the orientation of the fluid outlet, the fluid inlet mating with an outlet end of the first delivery tube.

6. The surgical instrument of claim 5, wherein the fluid outlet of the second connector has a second delivery tube connected thereto, the second delivery tube having a distal end extending along the long axis to the distal end thereof.

7. The surgical instrument of claim 6 wherein said second catheter has openings formed in a wall thereof, a portion of said fluid passing through said openings into said shaft for irrigation during passage of irrigation fluid along said second catheter toward said distal end of said shaft.

8. The surgical instrument of any one of claims 1-7, wherein a one-way valve is disposed within the proximal or distal end of the elongate shaft, the one-way valve remaining closed during normal use of the surgical instrument and opening during irrigation of the surgical instrument.

9. A slave manipulator apparatus comprising at least one manipulator arm comprising a plurality of joints and a robot arm, the plurality of joints being linked to effect movement of the robot arm in a plurality of degrees of freedom, wherein: the surgical instrument of any one of claims 1 to 8 is removably mounted on the arm.

10. A surgical robot, characterized by: the slave operation device comprises a master operation console and the slave operation device of claim 9, wherein the slave operation device executes the operation on the human body according to the instruction of the master operation console.

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