CN112618027A

CN112618027A - Surgical instrument, surgical device, slave operation device, and surgical robot

Info

Publication number: CN112618027A
Application number: CN202110011207.9A
Authority: CN
Inventors: 刘放; 王建辰
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2021-01-06
Filing date: 2021-01-06
Publication date: 2021-04-09
Also published as: CN114903600A

Abstract

The invention provides a surgical instrument, a surgical device applying the surgical instrument, slave operation equipment with the surgical instrument and a surgical robot comprising the slave operation equipment, wherein the surgical instrument comprises a terminal instrument, a connecting rod and a sheath, the distal end of the connecting rod is connected with the terminal instrument, the sheath comprises a sheath body and a first connecting ring, the first connecting ring comprises a first ring body and a second ring body, the sheath body is connected with the first ring body, the sheath body is detachably connected with the connecting rod through the second ring body, the outer diameter of the proximal end port of the first ring body is smaller than or basically equal to that of the connecting rod, so that no large step exists between the proximal end port of the first ring body and the outer surface of the connecting rod, the sheath is prevented from colliding with a sealing part when passing through the sealing part of a poking clamp, and damage to the sealing part and the sheath is avoided.

Description

Surgical instrument, surgical device, slave operation device, and surgical robot

Technical Field

The present invention relates to the field of medical instruments, and in particular, to a surgical instrument, a surgical device using the surgical instrument, a slave operation device using 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. Compared with the traditional minimally invasive surgery, the minimally invasive surgery 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 minimally invasive surgery robot generally comprises a main operation table and a slave operation device, wherein the main operation table is used for sending control commands to the slave operation device according to the operation of a doctor so as to control the slave operation device, and the slave operation device is used for responding to the control commands sent by the main operation table and carrying out corresponding surgery operation. The surgical instrument is connected to the drive device of the slave manipulator for performing a surgical operation, and the end-effector of the surgical instrument comprises an end-effector for performing the surgical operation and a joint connected to the end-effector and movable in a plurality of degrees of freedom.

When the end effector and the joint enter the human body during operation, the joint needs to be sealed in order to prevent liquid in the human body from entering the joint, and particularly when the end effector performs an electrocautery operation, the joint may be electrified, so that the joint needs to be sealed and insulated, and a sheath is generally arranged at the distal end of the surgical instrument to protect and isolate the joint of the end effector.

The terminal apparatus of surgical instrument can insert or draw out from the human body through pricking the card repeatedly in the use, and in this process, the sheath can all cause the damage to the sealing member who stabs the card and sheath itself at present with the sealing member direct collision who stabs the card.

Disclosure of Invention

In view of the above, the present invention provides a surgical instrument, a surgical device to be used in the surgical instrument, a slave operation device including the surgical instrument, and a surgical robot including the slave operation device.

Wherein the surgical instrument comprises:

a distal instrument;

a connecting rod, wherein the distal end of the connecting rod is connected with the terminal instrument;

a sheath comprising a sheath body and a first connecting ring;

the first connecting ring comprises a first ring body and a second ring body, the sheath body is connected with the connecting rod through the first ring body, and the outer diameter of the first ring body at the connection position with the second ring body is larger than or substantially equal to that of the second ring body.

Preferably, the proximal port of the first ring has an outer diameter substantially equal to the outer diameter of the link.

Preferably, the outer diameter of the first ring body increases from the proximal end to the distal end of the first ring body.

Preferably, the first ring has an outer diameter at the connection with the second ring that is greater than or substantially equal to an outer diameter of the sheath body.

Preferably, the outer diameter of the sheath body is greater than the outer diameter of the second ring.

Preferably, the outer surface of the connecting rod is provided with a first fixing part, the inner surface of the first connecting ring is provided with a second fixing part, and the first fixing part is clamped with the second fixing part to fix the first connecting ring on the connecting rod.

Preferably, the first connecting ring has a gap extending in an axial direction thereof, the gap penetrating through an outer surface and an inner surface of the first connecting ring.

Preferably, the gap extends through the second fixing portion.

Preferably, the number of the gaps is two or more.

Preferably, the second fixing portion is located on the first ring body.

Preferably, an outer diameter of the first fixing portion is larger than an outer diameter of the connecting rod, and an inner diameter of the second fixing portion is smaller than an inner diameter of the first connecting ring.

Preferably, the sheath body is flexible and stretchable and the first connecting loop is rigid.

Preferably, the first connecting ring is made of a rigid material of memory alloy.

Preferably, the connecting rod comprises a first section of connecting rod and a second section of connecting rod, the near end of the second section of connecting rod is connected with the far end of the first section of connecting rod, the far end of the second section of connecting rod is connected with the tail end instrument, the outer diameter of the second section of connecting rod is smaller than that of the first section of connecting rod, and the first ring body is detachably connected with the second section of connecting rod.

Preferably, the first fixing portion is provided on the second-stage link.

Preferably, the proximal port of the first ring has an outer diameter substantially equal to the outer diameter of the first link segment.

Preferably, the link further comprises a third link section between the first link section and the second link section, the third link section has a tapered outer surface, and the inner surface of the second ring body is adapted to abut against the outer surface of the third link section.

Preferably, the outer diameter of the proximal port of the first connecting ring is substantially equal to the outer diameter of the proximal end of the third segment link.

Preferably, the tapered outer surface of the third section of connecting rod is at an angle of 5 to 10 degrees to the axis of the third section of connecting rod.

A surgical instrument, the surgical instrument comprising:

a distal instrument;

a linkage, the distal instrument being connected to a proximal end of the linkage;

a sheath having a flexible and stretchable sheath body and a first connecting ring connected with the sheath body, the sheath body being connected with the link by the first connecting ring;

the guide ring is sleeved on the connecting rod, the far end of the first connecting ring is close to or abutted against the far end port of the guide ring, and the outer diameter of the far end port of the guide ring is larger than or basically equal to that of the first connecting ring.

Preferably, the proximal port of the guide ring has an outer diameter substantially equal to the outer diameter of the connecting rod.

Preferably, the outer diameter of the proximal port of the guide ring is smaller than the outer diameter of the distal port of the guide ring.

Preferably, the outer diameter of the guide ring increases gradually from the proximal end to the distal end of the guide ring.

Preferably, the connecting rod is provided with a first fixing portion, and the first connecting ring is provided with a second fixing portion for being detachably connected with the first fixing portion in a clamping manner.

Preferably, the first connecting ring further includes a blocking mechanism for blocking the first fixing portion from being withdrawn from the second fixing portion after being engaged with the second fixing portion.

Preferably, the second fixing portion has a first groove and a second groove, the first groove communicates with the second groove, one end of the first groove has the first groove opening for guiding the first positioning portion to enter, and the other end is connected to the second groove for receiving the first fixing portion when the sheath is fixed to the connecting rod or the distal instrument.

Preferably, the first groove extends in an axial direction of the first connection ring, and the second groove communicates with the first groove and extends in a circumferential direction of the first connection ring.

Preferably, the second fixing portion further includes a first receiving groove communicating with the second groove and extending toward the proximal end of the first connecting ring, the first receiving groove being for receiving the second fixing portion when the sheath is fixed to the surgical instrument.

Preferably, the stop mechanism is a second receiving groove communicating with the second groove and extending toward the distal end of the first coupling ring.

Preferably, the sheath further comprises a secondary connecting ring having a hardness greater than that of the sheath body, the secondary connecting ring being connected to the distal end of the sheath body.

Preferably, the sheath further comprises an insulating member, and one end of the second connection ring is connected with the sheath body and the other end is connected with the insulating member.

A surgical device comprising a stab card and a surgical instrument as described above, the stab card comprising a sealing member for abutment with the link, the first ring being for abutment with the sealing member when the surgical instrument is removed from the stab card.

A surgical device comprising a stab card and a surgical instrument as described above, the stab card comprising a sealing member for abutting the link, the guide ring being for abutting the sealing member when the surgical instrument is being removed from the stab card and avoiding contact of the first connection ring with the sealing member.

A slave manipulator apparatus comprising a robotic arm and a surgical instrument as described above, the surgical instrument being mounted on the robotic arm for manipulating movement of the surgical instrument.

A surgical robot comprises a main operation device and the slave operation device, wherein the slave operation device executes corresponding operation according to the instruction of the main operation device.

According to the surgical instrument, a large abrupt step is not arranged between the outer surface of the proximal end of the first connecting ring of the sheath and the outer surface of the connecting rod of the surgical instrument, so that the sheath is prevented from colliding with the sealing part of the poking card when passing through the sealing part of the poking card, and the sealing part of the poking card and the sheath are prevented from being damaged.

Drawings

FIG. 1 is a schematic structural diagram of a surgical robot according to an embodiment of the present invention;

FIGS. 2 and 3 are schematic views of different embodiments of a distal tip of the surgical instrument of the present invention;

FIG. 4 is a schematic view of a surgical instrument according to an embodiment of the present invention;

FIG. 5 is an exploded view of the distal instrument and sheath of the surgical instrument in accordance with one embodiment of the present invention;

FIG. 6 is a cross-sectional view of the sheath of FIG. 5;

FIGS. 7A and 7B are schematic illustrations of the sheath installation process in the embodiment shown in FIG. 5;

FIG. 8 is a schematic view of the first link ring of the embodiment shown in FIG. 5;

FIGS. 9A to 9D are schematic views illustrating a fastening process of the first connecting ring shown in FIG. 8;

FIG. 10A is a schematic view of the distal instrument of the surgical device illustrated in FIG. 5 as it is advanced into the body;

FIG. 10B is an enlarged view of FIG. 10A at S1;

FIG. 11A is a schematic view of the tip instrument of the surgical device of the embodiment of FIG. 10A being withdrawn from the body;

FIG. 11B is a cross-sectional view at S2 in FIG. 11A;

FIG. 12A is a schematic view of a surgical instrument being withdrawn from a body, in accordance with an embodiment of the present invention;

FIG. 12B is a cross-sectional view taken at S3 in FIG. 12A;

FIGS. 12C and 12D are schematic views illustrating a process of removing the guide ring from the card of FIG. 12B;

FIGS. 12E and 12F are schematic views illustrating the process of removing the guide ring from the card of FIG. 12B;

FIG. 13A is a schematic view of a surgical instrument according to an embodiment of the present invention;

FIG. 13B is a cross-sectional view of the first connecting ring and connecting rod of the embodiment shown in FIG. 13A;

FIG. 13C is a perspective view of the first connecting ring of FIG. 13A;

FIG. 13D is a schematic view of the first connecting ring shown in FIG. 13B in an open state;

FIG. 14A is a cross-sectional view of the first link ring and link of the surgical device in an embodiment of the present invention;

FIG. 14B is a schematic view of the first link ring of the embodiment shown in FIG. 14A attached to a link;

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

FIG. 15B is a schematic cross-sectional view of the sheath of the embodiment shown in FIG. 15A;

FIG. 15C is a schematic view of the embodiment of FIG. 15B with the sheath attached to the linkage.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

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 can be directly coupled to the other element or intervening elements may also be present. 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. As used herein, "fully coupled" may be broadly understood to mean where two or more objects are connected to any event in a manner that allows the objects that are absolutely coupled to operate with each other such that there is no relative movement between the objects in at least one direction, such as a projection and groove coupling, which may be in a radial relative movement but not in an axial relative movement. In the description and claims, the terms "coupled," "engaged," and "coupled" may be used interchangeably.

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.

As shown in fig. 1 and 2, the surgical robot includes a master operation table 100 and a slave operation device 300. Wherein the main console 100 is used to transmit a control command to the slave operation device 300 according to the operation of the doctor to control the slave operation device 300, and is also used to display the image acquired from the operation device 300. The slave operation device 300 is used to respond to a control command sent from the master console 100 and perform a corresponding operation, and the slave operation device 300 is also used to acquire an image in the body.

The slave manipulator 300 includes a robot arm 310, a power mechanism 320 provided on the robot arm 310, a surgical instrument 200 provided on the power mechanism 320, and a sleeve 330 covering a distal end instrument of the surgical instrument 200 and a link. The robotic arm 310 is used for adjusting the position of the surgical instrument 200, the power mechanism 320 is used for driving the surgical instrument 200 to perform corresponding operations, and the end effector of the surgical instrument 200 is used for extending into the body, performing surgical operations through the end instrument located at the distal end thereof, and/or acquiring in-vivo images. Specifically, as shown in fig. 2 and 3, the end instrument 1 of the surgical instrument 200 is inserted into the sleeve 330, and the end effector 21 thereof is extended out of the sleeve 330 and driven by the power mechanism 320 to perform an operation. In fig. 3, the region of the distal end instrument 1 of the surgical instrument 200 located within the cannula 330 is a rigid region; in fig. 4, the region of the distal instrument 1 of the surgical instrument 200 located within the cannula 330 is a flexible region, and the cannula bends with the flexible region. The sleeve 24 may be omitted in other embodiments.

As shown in fig. 4 and 5, the surgical instrument 200 includes an end instrument 1, a link 2 and a drive cassette 3, the end instrument 1 includes an end effector 21 and a joint 20, the end effector 21 is used for performing a surgical operation, the end effector 21 may be an electrocautery, a forceps, a stapler, a scissors, a camera, etc. according to the requirements of the surgical operation, fig. 5 shows an end effector 21 for electrocautery, the end effector 21 includes a conductive clamping member 210 and an insulator 211, and the insulator 211 insulates the clamping member 210 and the joint 20.

The joint 20 comprises a plurality of joint assemblies 23 for performing yaw, pitch, etc. degrees of freedom motions, the joint 20 further comprises a support 24 at a proximal end of the joint 20, the proximal end of the joint assemblies 23 is connected to the link 2 through the support 24, the link 2 is used for supporting the terminal instrument 1, a drive cable in a drive box is connected to the terminal instrument 1 by passing through the inside of the link 2 for controlling the motions of the terminal instrument 1, and in other embodiments, the support 24 may be a part of the link 2.

Because the joint 20 of the distal end instrument 1 is composed of a plurality of joint components 23 which can rotate mutually, when the distal end instrument 1 enters a human body to perform a surgical operation, in order to avoid liquid in the human body from entering the interior of the joint 20 to cause adverse effects on the joint components 23, the joint 20 needs to be isolated from the outside to prevent the liquid in the human body from entering the interior of the joint 20, so that the surgical instrument 1 is further provided with the sheath 10 which is sleeved on the joint 20, and the sheath 10 can prevent the liquid in the human body from entering the interior of the joint 20.

As shown in fig. 6, the sheath 10 includes a sheath body 12 made of a flexible and stretchable material 12, wherein the sheath body 12 is used for preventing the liquid in the human body from entering the inside of the joint 20, the flexible and stretchable material may be fluorine-containing rubber, silica gel, Polytetrafluoroethylene (PTFE), tetrafluoroethylene, etc., a first connection ring 13 is fixedly connected to the proximal end of the sheath body, and a second connection ring 11 is fixedly connected to the distal end of the sheath body.

In the process of manufacturing the sheath 10, the second connection ring 11 is fixed to the distal end of the sheath 10, and then the first connection ring 13 is fixed to the proximal end of the sheath 10. Since the outer diameter of the sheath body 12 is not larger than the outer diameters of the first connecting ring 13 and the second connecting ring 11 before the sheath body 12 is assembled on the first connecting ring 13 or the second connecting ring 11, the sheath body 12 has flexible and stretchable properties, while the hardness of the second connecting ring 11 and the first connecting ring 13 is larger than that of the sheath body 12, the second connecting ring 11 and the first connecting ring 13 support the sheath body 12 to be expanded and deformed, the outer diameter of the sheath body 12 after being expanded and deformed is larger than that of the second connecting ring 11 and the first connecting ring 13, and the restoring elastic force of the sheath body 12 can stably fix the second connecting ring 11 and the first connecting ring 13 on the sheath body 12. In this embodiment, the second connection ring 11 and the first connection ring 13 are made of metal material, and in some other embodiments, the second connection ring 11 and the first connection ring 13 may also be made of other rigid material with hardness greater than that of the sheath body 12, such as hard plastic.

There is no substantial difference as to whether the secondary connecting ring 11 is first fixed to the sheath 10 or the primary connecting ring 13 is first fixed to the sheath 10, and in other embodiments, the primary connecting ring 13 may be first fixed to the proximal end of the sheath 10 and then the secondary connecting ring 11 may be fixed to the sheath 10. Preferably, the surfaces of the second connection ring 11 and the first connection ring 13 may be pre-coated with an adhesive substance, and after the second connection ring 11 and the first connection ring 13 are fixed to the protective sheath body 12, the adhesive substance further bonds the protective sheath body 12 and the second connection ring 11 and the first connection ring 13 together, thereby enhancing the stability of the fixation of the second connection ring 11 and the first connection ring 13 to the protective sheath body 12.

The distal end of the sheath 10 is connected to the clevis 231 at the distal end of the knuckle 20 by a second connecting ring 11, and the proximal end of the sheath 10 is detachably connected to the support 24 at the proximal end of the knuckle 20 by a first connecting ring 13. in other embodiments, the proximal end of the sheath 10 is detachably connected to the link 2 by a first connecting ring 13.

Specifically, the proximal end surface 111 of the second connection ring 11 abuts against the end surface 2311 of the clevis 231, and the first fixing portion 25 of the support 24 and the second fixing portion 131 of the first connection ring 13 are engaged with each other for fixing. In other embodiments, if the linkage rod 2 also needs to protect and isolate the body fluids, the first fixing portion 25 can be disposed on the linkage rod 4, so that the sheath 10 can cover the portion of the linkage rod 10 that needs to be protected after installation, and the first fixing portion 25 can be disposed anywhere in the joint 20 and the linkage rod 10 as needed.

Fig. 7A and 7B are schematic views illustrating the process of mounting the sheath 10 on the end device 1 of the surgical instrument, fig. 7A is a view illustrating that the sheath 10 is initially mounted on the joint 20, the end effector 21 of the surgical instrument passes through the sheath 10 while the second connecting ring 11 abuts against the clevis 231, and then the sheath 10 is stretched to deform the sheath body 12 until the second fixing portion 131 of the first connecting ring 13 of the sheath 10 and the first fixing portion 25 are stretched to lock each other, thereby completing the mounting of the sheath 10 on the end device 1, and since the sheath body 12 of the sheath 10 fixed to the surgical instrument is in a stretched state, the first fixing portion 25 can be stably locked in the second fixing portion 131.

Fig. 8 shows the structure of the first connection ring 13 according to an embodiment of the present invention, in which the first connection ring 13 includes a body 130, the body 130 has a second fixing portion 131, and the second fixing portion 131 includes a first groove 1311 extending along the axial direction of the body 130, a second groove 1312 extending along the circumferential direction of the body 130, and a third groove 1313 extending along the axial direction of the body 130. The first groove 1311 has guide curved surfaces 1311.1, 1311.2 at both sides of the entrance, and the guide curved surfaces 1311.1, 1311.2 can smoothly guide the first fixing portion 25 into the first groove 1311.

The first groove 1311 and the second groove 1312 are communicated, the joint of the first groove 1311 and the second groove 1312 is provided with an L-shaped transition groove 1314, the transition groove 1314 is provided with transition cambered surfaces 1314.1, 1314.2 which smoothly connect the first groove 1311 and the second groove 1312, and the transition cambered surfaces 1314.1, 1314.2 of the transition groove 1314 can enable the first fixing part 25 to pass through the transition groove 1314 into the second groove 1312 from the first groove 1311 more gradually.

The second groove 1312 communicates with the third groove 1313, the third groove 1313 extends in the axial direction of the body 130, the proximal end of the third groove 1313 has a first receiving groove 1315, the distal end of the third groove 1313 is connected with a stopping mechanism for stopping the first fixing portion 25 from withdrawing from the second fixing portion 131, in this embodiment, the stopping mechanism is a second receiving groove 1316, and the connection of the second groove 1312 and the third groove 1313 is located at the middle of the first receiving groove 1315 and the second receiving groove 1316.

Fig. 9A to 9D show the locking process of the second fixing portion 131 of the first connecting ring 13 of the sheath 10 and the corresponding first fixing portion 25 on the support 24, the sheath body 12 being hidden in order to show the locking process more clearly. The first fixing portion 25 enters the first groove 1311 through the guiding arc surfaces 1311.1, 1311.2 of the first groove 1311, when the stud reaches the transition groove 1314, the first connecting ring 13 is rotated to make the first fixing portion 25 smoothly transition into the second groove 1312, the first connecting ring 13 is continuously rotated to make the first fixing portion 25 enter the third groove 1313 through the second groove 1312, after the first fixing portion 25 enters the third groove 1313, the sheath 10 is released, and due to the elastic deformation of the sheath body 12, the elastic restoring force of the sheath body 12 enables the first fixing portion 25 to be firmly fixed in the first accommodating groove 1315.

Fig. 10A shows a process of the distal end apparatus 1 of the surgical instrument with the sheath 10 installed into the human body, in 10A, the upper side of the skin P of the human body is outside the human body, the lower side of the skin P is inside the human body, the distal end apparatus 1 of the surgical instrument enters the human body through the poking card 40, the poking card 40 includes a sealing part 41, and the sealing part 41 is in close contact with the sheath 10 to prevent the gas inside the human body from leaking outside the human body.

Since the sealing member 41 of the poke card 40 is tightly attached to the sheath body 12 of the sheath 10, when the surgical instrument is moved toward the distal end (direction a shown in fig. 10A), the frictional force between the sealing member 41 and the sheath body 12 will cause the sheath body 12 to move toward the proximal end of the surgical instrument, so that there is a risk that the first fixing portion 25 will withdraw from the second fixing portion 131.

Fig. 10B is an enlarged view of S1 of fig. 10A, and the second receiving groove 1316 connected to the third groove 1313 can eliminate the above risk, and after the sealing member 41 applies the frictional force to the sheath body 12 to withdraw the first fixing portion 25 from the first receiving groove 1315, the first fixing portion 25 will move distally along the third groove 1313 and thus be received in the second receiving groove 1316, and the presence of the second receiving groove 1316 will prevent the first fixing portion 25 from moving along the second groove 1312 and the first groove 1311 to withdraw from the second fixing portion 131 after withdrawing from the first receiving groove 1315.

The number of the second fixing portions 131 of the first connecting ring 13 may be plural, for example, two second fixing portions 131 symmetrically disposed on the body 130 of the first connecting ring 13, in another embodiment, three second fixing portions 131 are different from each other by 120 degrees on the body 130, and accordingly, the number of the corresponding first fixing portions 25 varies with the number of the second fixing portions 131. In some embodiments, if the friction force applied to the sheath body 12 by the sealing member 41 is not large, the third groove may not be provided in the second fixing portion 131.

As shown in fig. 11A, when the surgical instrument is moved toward the proximal end (direction B shown in the drawing) thereof, for example, when the distal end of the surgical instrument is pulled out of the human body, the proximal end of the sheath 10 moves the distal end of the sealing member 41 from the distal end of the sealing member 41 of the poke card 40, and since the sealing member 41 is closely attached to the outer surface of the rod 2, the process causes the proximal end face of the sheath body 12 of the first connection ring 13 of the sheath 10 to collide with the edge 41A of the sealing member 41.

In one embodiment, for convenience of assembly and cost consideration, the first fixing portion is disposed at the middle between the distal end of the connecting rod and one half of the connecting rod, but this will face another problem, specifically, fig. 11B is a cross-sectional view at S2 in fig. 11A, as shown in fig. 11B, since the first fixing portion is disposed at the middle between the distal end of the connecting rod and one half of the connecting rod, if the connecting rod 2 continues to move in the direction B, the proximal end face of the sheath body 12 and the first connecting ring 13 will tend to collide with the edge 41A of the sealing member 41, and since the first connecting ring 12 is rigid, when the first connecting ring 12 hits the edge 41A of the sealing member 41, the edge 41A of the sealing member 41 will be damaged, and even the entire sealing member 41 will be damaged seriously, so that the sealing effect is lost. Further, since the cover body 12 is bonded to the first coupling ring 13, the cover body 12 may collide with the edge 41a of the seal member 41 and be detached from the first coupling ring 13.

In order to solve the above problem, the present invention provides another surgical instrument, as shown in fig. 12A, the surgical instrument in this embodiment is provided with a tapered guide ring 26 at the proximal end of the sheath 10, the guide ring 26 is sleeved on the link 2, the guide ring 26 is located at the proximal end of the sheath body 12 and the first connecting ring 13, the outer diameter of the proximal port 261 of the guide ring 26 is smaller than the outer diameter of the distal port 262 thereof, the outer diameter of the proximal port 261 of the guide ring 26 is substantially equal to the outer diameter of the link 2, the outer diameter of the guide ring 26 gradually increases from the proximal port 261 to the distal port 262, so that the guide ring 26 has the largest outer diameter at the distal port 262, and the outer diameter of the distal port 262 is larger than or equal to the outer diameters of the sheath body 12 and the first connecting ring.

When the surgical instrument moves in the direction B of fig. 12, the guide ring 26 will first contact the edge of the sealing member 41 of the poking card 40, and the tapered guide ring 26 will function as a smooth guide during the process of moving the proximal end of the sheath 10 out of the sealing member 41, so that there is no abrupt step between the proximal port 261 of the guide ring 26 and the outer surface of the connecting rod 2 because the outer diameter of the proximal port 261 of the guide ring 26 is substantially equal to the outer diameter of the connecting rod 2, thereby enabling the sealing member 41 to smoothly transition to the sheath 10 and avoiding the sealing member 41 from being damaged by the collision of the first connecting ring 13. At the same time, the proximal end of the sheath body 12 is protected by the guide ring 26, and the proximal end of the sheath body 12 is prevented from being collided with by the seal member 41 and thus from coming off the first connection ring 13.

Specifically, fig. 12B is a cross-sectional view taken at S3 in fig. 12A, and fig. 12B to 12D illustrate the contact of the guide ring 26 with the sealing member 41 during the withdrawal of the surgical instrument. Since the edge 41a of the sealing member 41 abuts against the rod 2, during the process of moving the proximal end of the sheath 10 out of the sealing member 41 in the direction B, as shown in fig. 12C, the proximal port 261 of the guide ring 26 first comes into contact with the edge 41a of the sealing member 41, wherein the outer diameter of the proximal port 261 is substantially the same as the outer diameter of the rod 2, and the edge 41a of the sealing member 41 will smoothly transition from the outer surface of the rod 2 to the outer surface of the guide ring 26.

During continued movement of the linkage 2 in direction B, the edge 41a of the sealing portion 41 will slide gently along the outer surface 23 of the guide ring 26 from the proximal port 261 to the distal port 262. As shown in fig. 12D, since the outer diameter of the distal port 262 of the guide ring 26 is larger than the outer diameter of the proximal port 261, the edge 41a of the sealing member 41 is deformed during the sliding, but since the sealing member 41 is made of a flexible material (e.g., silicone), the deformation is allowed, and thus, the deformation does not damage the sealing member 41.

When the guide ring 26 passes through the sealing member 41, the sealing member 41 is restored to its original shape, and the edge 41a of the sealing member 41 is closely attached to the sheath body 12. Since the outer diameter of the distal end port 262 of the guide ring 26 is larger than or substantially equal to the outer diameter of the sheath body 12, and the proximal end faces of the sheath body 12 and the first coupling ring 13 are close enough to the guide ring 262 or both of them directly interfere, the proximal end faces of the sheath body 12 and the first coupling ring 13 do not contact the edge 41a of the sealing member 41 throughout the removal process, thereby preventing damage to the sealing member 41 and detachment of the sheath body 12.

Another benefit of guide ring 26 is that if the links 2 of the surgical instrument deviate from the path of travel as the surgical instrument is withdrawn from the stab 40, guide ring 26 can modify the path of travel so that the sheath body 12 and the first connection ring 13 can pass through the stab 40 undamaged. As shown in fig. 12E and 12F, when the surgical instrument is moved in direction B of fig. 12E out of the body, if the path of removal of link 2 is offset from axis X1 of the card 40, the outer surface 263 of the guide ring 26 first impacts the rigid components of the card 40, such as edges 42a, 42B of the distal opening 42 of the card 40, and as link 2 continues to move in direction B, the edge 42a of the distal opening 42 of the card 40 will slide on the outer surface 263 of the guide ring 26 from proximal port 261 to distal port 262, during which the path of removal of link 2 will always be modified so that the axis of link 2 is closer to axis X1 of the card 40, i.e., link 2 moves in the direction of edge 42B on the other side of the distal opening 42 of the card 40.

When the path of removal of link 2 is completely modified after guide ring 26 has passed through distal opening 42 of stab 40, at which point the proximal end faces of sheath body 12 and first connecting ring 13 have left distal opening 42 of stab 40, or because the path of removal of link 2 has been modified, because the outer diameter of distal port 262 of guide ring 26 is greater than the outer diameter of sheath body 12, the proximal end faces of sheath body 12 and first connecting ring 13 do not contact the rigid components of stab 40 throughout the removal process, so that the proximal ends of sheath body 12 and first connecting ring 13 are protected by guide ring 26 from colliding with the rigid components of stab 40. The proximal end of the sheath body 12 and the first connection ring 13 are protected by the guide ring 26, thereby preventing the proximal end of the sheath body 12 and the first connection ring 13 from being damaged by the collision of the poke card 40.

Referring to fig. 13A to 13C, in the surgical instrument according to an embodiment of the present invention, a sheath body 62 of a sheath 60 is detachably connected to a link 50 by a first connection ring 63, the first connection ring 63 includes a first ring body 631 and a second ring body 632, the first ring body 631 has a tapered shape, and the sheath body 62 is connected to the second connection ring 632, which may be bonded together.

The connecting rod 50 comprises a first section of connecting rod 51 and a second section of connecting rod 52 with different outer diameters, the first connecting ring 60 is detachably connected with the second section of connecting rod 52, the first section of connecting rod 51 and the second section of connecting rod 52 can be made of the same material or made of different materials respectively, and the first section of connecting rod 51 and the second section of connecting rod 52 can be integrally formed or connected together in other modes.

FIG. 13B is a cross-sectional view of sheath 60 attached to link 50. As shown in FIG. 13B, first link segment 51 has an outer diameter D1 greater than an outer diameter D2 of second link segment 52, first ring 631 has a proximal port outer diameter D3 substantially equal to the first link segment outer diameter D1, first ring 631 has an outer diameter that increases from the proximal end to the distal end, and a distal port outer diameter D4 greater than or substantially equal to the sheath body 62 outer diameter D5, such that the outer surface 63a of first ring 631 is substantially flush with the outer surface of first ring 51, with no abrupt step therebetween.

When the proximal end of the sheath 60 passes through the sealing member 41 in the direction B of fig. 12A, the outer surface 63a of the first ring 63 first contacts the edge 41a of the sealing member 41, and during the process of withdrawing the surgical instrument from the badge 40, since there is no abrupt step between the outer surface 63a of the proximal end of the first ring 631 and the outer surface of the first segment ring 51, the edge 41a of the sealing member 41 will smoothly slide from the outer surface of the link 51 to the outer surface 63a of the first ring 63, and along the outer surface 63a of the first ring 63 to the distal end of the first ring 631, and then continue to smoothly slide onto the sheath body 62, and as in the previous embodiment, the sealing member 41 will not be damaged during this process.

Since the outer diameter D4 of the distal end port of the first ring body 631 is greater than or substantially equal to the outer diameter D5 of the sheath body 62, the proximal end face of the sheath body 62 can be protected by the first ring body 631, and the proximal end face of the sheath body 62 does not contact the sealing member 41 during the process of withdrawing the surgical instrument, so as to prevent the sheath body 62 from falling off the first connecting ring 63 due to the resistance of the sealing member 41.

The first fixing portion 521 is provided on the outer surface of the first stage link 52, the second fixing portion 633 which is engaged with the first fixing portion 521 is correspondingly provided on the inner surface 63b of the first connecting ring 63, and the first fixing portion 521 and the second fixing portion 633 are engaged to detachably fix the first connecting ring 63 to the second stage link 52.

As shown in fig. 13C, the first ring member 63 has two gaps 634 penetrating the inner and outer surfaces of the first ring member 63, the gaps 634 extend from the proximal end of the first ring member 631 in the axial direction of the first ring member 63 and pass through the second fixing portion 633, and the presence of the gaps 634 allows the rigid first ring member 63 to have a certain elastic deformation, i.e., the first ring member 631 can expand or contract in the radial direction thereof.

Since the outer diameter of the first fixing portion 521 is larger than the outer diameter of the proximal side of the first ring body 631, when the first connecting ring 631 is connected to the second link 52, the first fixing portion 521 will stretch the first ring body 631, and when the first fixing portion 521 slides into the second fixing portion 633, the first ring body 631 is restored to its original shape due to its own deformation, so that a suitable external force is applied to connect the first connecting ring 63 to the link 50 or remove the first connecting ring 63 from the link 50.

In other embodiments, the first fixing portion 521 has a certain elastic deformation, for example, the first fixing portion is an elastic rubber ring, so that the first ring body with non-elastic deformation is matched with the first fixing portion 521 with elastic deformation to fix it in the second fixing portion 633 by the elastic deformation of the first fixing portion 521.

It will be appreciated that in other embodiments, the proximal port outer diameter D3 of the first ring member 631 can also be slightly larger or smaller than the outer diameter D1 of the first link segment 51 or the proximal port 261 of the guide ring 26 can be slightly larger or smaller than the outer diameter of the link 2, thus, although the proximal end port of the first ring member 631 collides with the edge 41a of the sealing member 41 when passing through the edge 41a, or the edge 41a collides with the proximal end port 261 of the guide ring 26, however, since the step height between the proximal end port of the first ring body 631 or the proximal end port of the guide ring 26 and the link due to the difference in outer diameters is not large, such a slight step height is allowed, i.e., whether the proximal port of the first ring 631 is substantially flush with the outer surface of the first segment link or whether the proximal port of the guide ring 26 is substantially flush with the outer surface of the link, it is also possible to allow the edge 41a of the sealing member 41 to slide from the outer surface of the link onto the sheath body without damage.

In one embodiment, the first connection ring 63 is made of memory alloy, so that the first connection ring 63 automatically returns to the open state after being heated, as shown in fig. 13D, so that the first connection ring 16 is in the open state after being heated, and is very easy to be removed from the connection rod 51, and since the surgical instrument needs to be washed and sterilized by heat after being used, a procedure of heating the surgical instrument is originally provided after the surgical instrument is used, and the first connection ring 63 of the memory alloy is returned to the open state by the heating operation, so that the first connection ring is easy to be removed from the connection rod 51.

In other embodiments, the first fixing portion 521 is a groove formed on the outer surface of the second link 52, and the second fixing portion 633 is a convex ring formed on the inner surface of the first link 63, so as to fix the first link 63 to the link 50 in other manners.

In one embodiment of the invention, shown in fig. 14A and 14B, link 50 has a third link segment 53 intermediate a first link segment 51 and a second link segment 52, the third link segment 53 having a tapered outer surface. Specifically, the outer diameter of the third link 53 gradually decreases from the proximal end to the distal end, i.e., the outer diameter D6 of the proximal end of the third link 53 is larger than the outer diameter D7 of the distal end, and a self-locking angle α is formed between the tapered outer surface of the third link 53 and the axis of the third link 53.

Sheath body 62 detachably connects sheath 60 to link 50 by first ring 63 engaging third link 53, specifically, during the process of connecting first ring 63 to link 50, sheath 60 slides toward first link 51 in the direction shown in fig. C, when first ring 631 of first ring 63 slides to the outer surface of third link 53, tapered third link 53 forces first ring 631 to expand outward, and gap 634 of first ring 63 allows rigid first ring 631 to expand outward, so that the inward restoring force of first ring 631 presses first ring 631 tightly against third link 53, thereby fixing first ring 63 to link 50, and after first ring 63 is fixed to third link 53, outer diameter D3 of proximal port of first ring 63 expands due to the expansion of first ring 63 to be substantially equal to the outer diameter D6 of proximal port of third link 53, so that there is no abrupt step between the proximal port of the first ring 63 and the first length of links 51.

A suitable lock angle alpha, which suitably ranges from 5 degrees to 10 degrees, will allow the first ring member to experience a friction force sufficient to resist the pulling force on sheath 60 (e.g., the force generated by sealing member 41 pulling sheath 60 continuously during the procedure) and allow sheath 60 to be securely fastened to linkage 50. When the sheath 60 is removed from the connecting rod 50, the sheath 60 can be removed by applying a force with a proper magnitude to the sheath and opposite to the direction C.

In other embodiments, to provide greater friction, the inner surface of second ring 635 and/or the tapered outer surface of second segment 53 are surface treated to increase the friction therebetween to resist greater pulling forces on sheath 60.

Fig. 15A-15C illustrate a surgical instrument according to an embodiment of the present invention, the end instrument of which includes a joint 70 and an end effector 710, the joint 70 including a plurality of joint assemblies 73, the second link segment 52 of link 50 being coupled to the joint 70, and the end effector 710 being rotatably coupled to the joint 70 by a clevis 731. The end effector 710 is an electrically conductive electrocautery scissors, in this embodiment, the end effector 710 and the entire joint 70 are electrically conductive, but only the tip portion of the end effector 710 performs the electrocautery operation, so the joint 70 and the portion of the end effector 710 that does not perform the electrocautery operation need to be insulated and isolated so as to avoid damaging human tissues.

The sheath body 62 of the sheath 60 is flexible, stretchable and insulated, the distal end of the sheath body 62 is fixedly connected with the second connecting ring 61, the proximal end of the sheath body 62 is fixedly connected with the first connecting ring 63, the distal end of the sheath 60 further comprises a fixedly connected insulating nozzle 64, the insulating nozzle 64 is used for insulating the end effector 710, and the insulating nozzle 64 is made of an insulating material which can be silica gel, plastic and the like. The distal end of the second connection ring 61 is fixedly connected to the insulation nozzle 61, the proximal end thereof is fixedly connected to the sheath body 62, and the sheath 60 and the connecting rod 50 are fixedly connected in the same manner as described in the previous embodiment, which is not described in detail.

As shown in fig. 15C, in order to better insulate the surgical instrument, the joint 70 includes a plurality of joint components 73, one end of the second link 52 is connected to the joint components 73, and the other end is connected to the first link 51, in this embodiment, the second link 52 is made of a conductive material, and the first link 51 is made of an insulating material, so as to avoid a situation that a connection between the second link 52 and the first link 51 leaks electricity, in the process of forming the sheath 60, the proximal end of the sheath body 62 completely covers the first connecting ring 63 and has a certain remaining portion, so that after the sheath 60 is mounted on the surgical instrument, the remaining portion can completely cover the connection between the first link 51 and the second link 52, and thus, the connection between the first link 51 and the second link 52 can be prevented from leaking electricity.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A surgical instrument, characterized in that the surgical instrument comprises:

a distal instrument;

a sheath comprising a sheath body and a first connecting ring;

2. The surgical instrument of claim 1, wherein an outer diameter of the proximal port of the first ring is substantially equal to an outer diameter of the link.

3. The surgical instrument of claim 1 wherein the outer diameter of the first ring increases from the proximal end to the distal end of the first ring.

4. The surgical instrument of claim 1, the first ring having an outer diameter at a connection with the second ring that is greater than or substantially equal to an outer diameter of the sheath body.

5. The surgical instrument of claim 1, wherein an outer diameter of the sheath body is greater than an outer diameter of the second ring.

6. The surgical instrument of claim 1, wherein the connecting rod has a first securing portion on an outer surface thereof and a second securing portion on an inner surface thereof, the first securing portion being configured to snap-fit with the second securing portion to secure the first connecting ring to the connecting rod.

7. The surgical instrument of claim 6, wherein the first coupling ring has a gap extending in an axial direction thereof, the gap extending through the outer and inner surfaces of the first coupling ring.

8. The surgical instrument of claim 7, wherein the gap extends through the second fixation portion.

9. A slave manipulator apparatus, characterized in that it comprises a robotic arm on which the surgical instrument is mounted and a surgical instrument according to any of claims 1-8 for manipulating the surgical instrument in motion.

10. A surgical robot, characterized in that it comprises a master operation device and a slave operation device according to claim 9, which performs the respective operations according to the instructions of the master operation device.