CN116269774A

CN116269774A - Surgical instrument, slave operating device, and surgical robot

Info

Publication number: CN116269774A
Application number: CN202111482180.8A
Authority: CN
Inventors: 孙培原; 吴渡江; 王建辰
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2021-12-06
Filing date: 2021-12-06
Publication date: 2023-06-23

Abstract

The present specification provides a surgical instrument, a slave operating device, and a surgical robot. The surgical instrument may include: a tube extending in a longitudinal direction and having a first end and a second end; wherein the first end is for mounting an end instrument; a first drive rod for driving the end instrument is arranged in the pipe fitting; a first surface facing the first end and a second surface facing away from the first end are formed at the end part of the first driving rod away from the first end; and a drive device coupled to the second end of the tube, the drive device being capable of applying a force to the first and/or second faces to move the first drive rod in the longitudinal direction. The mechanical stability of the surgical instrument is improved.

Description

Surgical instrument, slave operating device, and surgical robot

Technical Field

The present disclosure relates to the field of medical devices, and more particularly, to a surgical device, a slave operating device using the surgical device, and a surgical robot having the slave operating device.

Background

Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.

With the progress of technology, minimally invasive surgical robot technology is gradually mature and widely applied. Minimally invasive surgical robots generally include a master operation console for transmitting control commands to a slave operation device according to operations of a doctor to control the slave operation device, and a slave operation device for responding to the control commands transmitted from the master operation console and performing corresponding surgical operations.

A surgical instrument is connected to the slave manipulator and is detachable from the slave manipulator, the surgical instrument comprising a drive device and an end effector for performing surgery, and a long shaft for connecting the end effector and the drive device, the drive device being for connecting the surgical instrument to the slave manipulator and receiving a driving force from the slave manipulator to drive movement of the end effector, the drive device being connected to the end effector by a cable, the drive device manipulating movement of the end effector by the cable.

The minimally invasive surgery robot has higher requirements on the mechanical stability of the surgery instrument, otherwise, the surgery instrument has mechanical failure, which may bring risks to the patient.

Disclosure of Invention

Embodiments of the present specification are directed to providing a surgical instrument, a slave operating device, and a surgical robot having very stable mechanical properties.

Embodiments of the present specification provide a surgical instrument comprising: a long shaft assembly extending in a longitudinal direction and having a first end and a second end; wherein the first end is for mounting an end instrument; a first drive rod for driving the end instrument is arranged in the long shaft assembly; a first surface facing the first end and a second surface facing away from the first end are formed at the end part of the first driving rod away from the first end; and a drive device coupled to the second end of the long shaft assembly, the drive device being capable of applying a force to the first and/or second faces to move the first drive rod along the longitudinal direction.

Embodiments of the present disclosure provide a slave manipulator apparatus comprising at least one robotic arm comprising a plurality of joints that cooperate to effect movement of the actuator in a plurality of degrees of freedom, and an actuator to which the surgical instrument of the previous embodiments is detachably mounted.

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

The surgical instrument provided in the embodiments of the present disclosure employs a drive rod as the element for triggering the end instrument and is provided with two opposing surfaces, namely a first surface and a second surface, on the drive rod. In this manner, a force may be applied to the first and/or second faces, respectively, to effect movement of the push drive rod along the longitudinal direction of the long axis assembly. The mode of driving the driving rod to move is very direct and stable, and the mechanical reliability of the surgical instrument is improved.

Drawings

FIG. 1 is a schematic perspective view of a main operation console according to an embodiment of the present disclosure;

fig. 2 is a perspective view of a use scenario of the slave operation device according to the embodiment of the present disclosure;

FIG. 3 is a schematic perspective view of a surgical instrument according to an embodiment of the present disclosure;

fig. 4 is an exploded view of the top plate, bottom plate and support frame of the driving device according to the embodiment of the present disclosure;

fig. 5 is a schematic perspective view showing the inside of a driving device according to the embodiment of the present disclosure;

fig. 6 is an exploded view showing the mounting structure of the spin tube, the bottom plate and the driven wheel according to the embodiment of the present disclosure;

FIG. 7 is a partially exploded perspective view of a major axis assembly according to the embodiments of the present disclosure;

FIG. 8 is a schematic cross-sectional view of the drive device according to the present embodiment along the axis X of the long shaft assembly;

fig. 9 is an exploded perspective view of part of the components in the driving device according to the embodiment of the present disclosure;

FIG. 10 is a schematic cross-sectional view of the drive device provided in the embodiments of the present disclosure along the axis X of the long shaft assembly;

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

FIG. 12 is a partially exploded perspective view of a firing bar according to an embodiment of the present disclosure;

fig. 13 is a schematic perspective view showing the internal structure of the driving device according to the embodiment of the present invention.

Master operation console 100 slave operation device 200 mechanical arm 210

Actuating device 220 surgical instrument 300 drive device 310

Long shaft assembly 320 first end 351 distal instrument 321

Second end 353 end 357 end effector 340

First face 359 of first flange 363 of first drive rod 355

Groove wall 369 of second face 361 first annular groove 365

First drive unit 367 first center hole 377a first fork 371

First drive shaft assembly 373 first coupling assembly 376 first central bore 377b

First connecting shaft 378 having through hole 382 of first drive shaft 374

First drive member 380 bearing 386 through bore 384

First fork cover 385 first annular groove 387 housing 381

Bottom surface 389 of first fork body 383 nut 388

Surface 391 shaft mount 394 first connector body 390

Shaft fixing 392 second drive rod 393 bearing 396

Third face 397 second flange 401 end 395

Fourth face 399 second drive unit 405 second annular groove 403

Second shift fork 409 second drive shaft assembly 411 slot wall 407

Second center hole 415b second fork body 417 second center hole 415a

Second annular groove 421 bottom 423 second fork cover 419

Surface 425 of self-rotating tube 427 drive rod stop 430

Second through hole 433 the first through hole 431 of the firing bar assembly 435

Second segment 439 driver 475 first segment 437

Spin tube drive unit 471 of top plate 481 of spin tube drive shaft assembly 473

Driven wheel 477 of second connecting shaft 416 of driving member 479

Bottom plate 483 of support 485 second connection assembly 414

Through hole 422 of through hole 420 of second driving shaft 412

Second driver 418 nut 426 second connector body 428

Through hole 436 of shaft fixing member 432 of bearing 424

Shaft mount 429 bearing 440 driven wheel body 442

Firing bar drive 448 of bearing 438 firing bar limiter 446

Extension 454 of drive member from gear portion 452 of spin tube mount 444

The firing bar 450 guides the shaft assembly 462 to the first guide hole 464

First guide shaft 468 base 472 first guide seat 474

Second guide shaft 476, second guide hole 478, second guide seat 480

Third through-hole 482 connects third section 803 of groove 622

Spacing extension 832 of firing bar connector 834 spacing mounting portion 830

Drive gear shaft 840 firing bar drive gear 836 firing drive unit 838

Third drive shaft gear 846 first transition gear 842 third drive shaft assembly 844

Third drive member 852 third coupling assembly 848 third drive shaft 850

Shaft mount 858 third connector body 854 shaft mount 856

The second transition gear 864 and the third drive shaft gear shaft 860 manual drive unit 862

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

First manual large gear 872 wedge 835

Detailed Description

The technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is apparent that the described embodiments are only some embodiments, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present invention based on the embodiments 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. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

The naming of "first" and "second" … … are used herein for naming elements. It is used merely as a distinction for names and is not limited to a specific number.

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. The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

In some embodiments, a minimally invasive surgical robot generally includes a slave manipulator and a master manipulator console. Fig. 1 shows a main operation console 100 according to an embodiment of the present disclosure. Fig. 2 shows a slave operation device 200 according to an embodiment of the present specification. The surgeon may perform the relevant control operation of the slave operation device 200 on the master operation console 100, and the slave operation device 200 performs the surgical operation on the human body according to the input instruction of the master operation console 100. The master operation console 100 and the slave operation device 200 may be placed in one operating room, or may be placed in different rooms, and even the master operation console 100 and the slave operation device 200 may be far apart. For example, the master operation console 100 and the slave operation device 200 are located in different cities, respectively. The master operation console 100 and the slave operation device 200 may transmit data by wired or wireless means. For example, the master operation console 100 and the slave operation device 200 are located in an operating room, and data transmission is performed between the two devices in a wired manner, and for example, the master operation console 100 and the slave operation device 200 are respectively located in different cities, and remote data transmission is performed between the two devices through 5G wireless signals.

The slave manipulator 200 comprises a robotic arm 210 and an actuation means 220 arranged at the distal end of the robotic arm 210. The surgical instrument 300 for performing a surgical operation is connected to the actuating device 220, and the actuating device 220 drives the surgical instrument 300 to move by a plurality of actuators therein. In some embodiments, multiple surgical instruments 300 may be coupled to one actuation device 220, with the distal ends of the multiple surgical instruments 300 being passed through one incision into the body, thereby reducing the number of surgical incisions and allowing for a more rapid postoperative recovery. Of course, in some embodiments, the slave manipulator 200 may also have multiple robotic arms, and multiple surgical instruments 300 may be mounted on different robotic arms, with the end instruments 300 of different surgical instruments 300 being accessible to the human body through different incisions.

In some embodiments, referring to fig. 3, surgical instrument 300 may include a drive device 310, a long shaft assembly 320, and a tip instrument 321. The long shaft assembly 320 may include a rotation tube 427 extending in a longitudinal direction, a firing bar assembly 435 at least partially housed within the rotation tube 427, and a drive bar. The long axis assembly 320 has a first end 351 and a second end 353 along the longitudinal direction. The first end 351 of the elongate shaft assembly 320 may be configured to receive an end instrument 321, and the second end 353 of the elongate shaft assembly 320 is coupled to the driving device 310. End instrument 321 may comprise a wrist and/or end effector 340. The drive means 310 may be engaged with the actuation means 220. Multiple drive units within drive device 310 may manipulate wrist and/or end effector 340 through long axis assembly 320. End effector 340 may be an instrument that performs cauterizing, shearing, cutting, clamping, or imaging functions. In other embodiments, first end 351 of long axis assembly 320 may be connected to only the wrist, performing pressing or lifting of tissue by movement of the wrist, and so forth.

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

Referring to fig. 5, in some embodiments, the rotation tube 427 extends along the longitudinal direction to form the first end 351 and the second end 353.

In some embodiments, drive device 310 may provide a rotational drive force to spin tube 427. Thus, the rotation tube 427 can be rotated by the rotation driving force. Specifically, a rotation tube driving unit 471 for driving the rotation tube 427 to rotate may be provided in the driving device 310. The spin tube driving unit 471 may include: the automatic pipe winding device comprises a self-rotation pipe driving shaft assembly 473, a driving wheel 475 sleeved on the self-rotation pipe driving shaft assembly 473, a driven wheel 477 fixedly connected with the self-rotation pipe 427, and a transmission member 479 wound on the driving wheel 475 and the driven wheel 477.

The rotation tube driving shaft assembly 473 can be rotated by the actuator of the actuator 220. Because the driver 475 is fixedly coupled to the self-rotating tube drive shaft assembly 473. In this manner, the driver 475 may rotate with the tube drive shaft assembly 473. Rotation of the driving wheel 475 drives the driving member 479, and the driving member 479 may drive the driven wheel 477 to rotate. The driven wheel 477 is fixedly connected to the rotation pipe 427, so that the driven wheel 477 can drive the rotation pipe 427 to rotate together. Further, the rotation tube driving unit 471 is implemented to drive the rotation tube 427 to rotate.

Referring also to fig. 6, driven wheel 477 may include a driven wheel body 442, a self-rotating tube mount 444. Driven wheel body 442 may be sleeved on rotation tube 427, and rotation tube fixing member 444 may be fixedly connected with driven wheel body 442 to fasten driven wheel 477 on rotation tube 427. Further, the rotation pipe fixing member 444 may be fixedly coupled to the driven wheel body 442 by means of screws or rivets, or the like.

The driving member 479 has a certain flexibility, and may be wound around the driving pulley 475 and the driven pulley 477. The material of the driving member 479 may be steel wire, belt, etc. There is no particular limitation herein.

Please refer to fig. 7 to 9. In some embodiments, a first drive rod 355 is disposed within the long shaft assembly 320 for driving the end instrument 321; a first face 359 facing the first end 351 and a second face 361 facing away from the first end 351 are formed at an end 357 of the first driving rod 355 facing away from the first end 351.

The driving means 310 is coupled to a second end 353 of said long axis assembly 320. The drive device 310 can apply a force to the first face 359 and/or the second face 361 to move the first drive rod 355 along the longitudinal direction.

In particular, the first drive rod 355 may be spaced apart from the first end 351 along the longitudinal direction when the drive device 310 applies a force to the first face 359 of the first drive rod 355. In the event that the drive device 310 applies a force to the second face 361 of the first drive rod 355, the first drive rod 355 may be proximate to the first end 351 along the lengthwise direction. In this way, stable driving of the first driving lever 355 in the longitudinal direction can be achieved. In this manner, first actuation rod 355 may further carry along a corresponding function of end instrument 321.

In some embodiments, the first drive rod 355 may be limited with respect to the circumference of the spin tube 427. Specifically, the rotation tube 427 can be driven by the driving device 310 to rotate relative to the axis X of the rotation tube 427, so as to drive the end instrument 321 to rotate, thereby adjusting the position and angle of the end effector 340, and facilitating the operation. The first drive rod 355 may be circumferentially limited with respect to the spin tube 427. That is, when the rotation pipe 427 is rotated as compared with the axis X thereof, the first driving rod 355 rotates along with the axis X around the rotation pipe 427.

In this way, when the rotation pipe 427 is rotated, the first driving lever 355 can be rotated along with the axis X around the rotation pipe 427. The relative position of the first drive rod 355 within the rotation tube 427 can be stably maintained, improving the stability of the surgical instrument 300.

In some embodiments, an end 357 of the first drive rod 355 remote from the first end 351 is provided with a first flange 363 offset from the lengthwise direction. The first flange 363 has the first face 359 and the second face 361.

The extending direction of the first flange 363 may be deviated from the longitudinal direction of the spin tube 427. Such that the extending direction of the first flange 363 may have an acute angle or a right angle with the longitudinal direction of the spin tube 427. Thus, the first flange 363 has two surfaces, one surface facing the first end 351 of the spin tube 427 as a whole, i.e. the first face 359. One surface is generally opposite the first end 351 of the spin tube 427, i.e., the second surface 361.

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

In some embodiments, the first flange 363 may be integrally formed with the first drive rod 355. Thus, the two materials have better combination. Of course, in some embodiments, the first flange 363 and the first drive rod 355 may also be separate elements and connected by a suitable connection.

In some embodiments, the first drive rod 355 may be provided with a groove (not shown) distal to the end 357 of the first end 351. Thus, the surface of the groove sidewall facing the first end 351 may be referred to as the first face 359, and the surface of the groove sidewall facing away from the first end 351 may be referred to as the second face 361. Alternatively, an end surface of the first driving rod 355 remote from the first end 351 may be the second surface 361. Of course, those skilled in the art may make other modifications and variations in light of the embodiments described herein, and it is intended that all such modifications and variations be included within the scope of the appended claims as long as they achieve the same or similar functionality and effect as disclosed in the various embodiments described herein.

In some embodiments, the driving device 310 may have a first annular groove 365 extending along a circumference of the rotation pipe 427. The first flange 363 of the first driving rod 355 is at least partially received in the first annular groove 365, so that the driving device 310 can move the first driving rod 355 along the longitudinal direction.

One drive unit 367 of the drive device 310 may be provided with a first annular groove 365 for at least partially receiving the first flange 363. In this manner, a force may be applied to the second face 361 of the first flange 363 through the slot wall 369 of the first annular slot 365 such that the first drive rod 355 moves toward the first end 351 along the longitudinal direction of the spin tube 427. A force may also be applied to the first face 359 of the first flange 363 through the slot wall 369 of the first annular slot 365 such that the first drive rod 355 moves along the longitudinal direction of the spin tube 427 toward the second end 353.

The portion of the first flange 363 protruding from the first drive rod 355 may extend partially into the first annular groove 365. Of course, the portion of the first flange 363 protruding from the first drive rod 355 may be entirely received in the first annular groove 365.

In some embodiments, the driving device 310 may be capable of driving the rotation tube 427 to rotate in a circumferential direction, so that the first flange 363 of the first driving rod 355 moves along the first annular groove 365. The first annular groove 365 may provide a moving space for the first flange 363 along the circumferential direction of the spin tube 427. By the arrangement, each function is mutually independent, little interference is caused, and the stability of function realization is ensured. That is, in the case where the driving device 310 drives the rotation pipe 427 to rotate, the first driving rod 355 may rotate along with it without affecting the position of the first driving rod 355 along the longitudinal direction of the rotation pipe 427. Further, the driving device 310 may drive the rotation tube 427 to rotate and simultaneously drive the first driving rod 355 to move along the longitudinal direction of the rotation tube 427. In this way, the efficiency of the execution of the plurality of surgical instruments 300 can be improved, and the surgical time can be reduced to some extent.

In some embodiments, for convenience of description, the driving device 310 includes a plurality of driving units, and the driving unit 367 provided with the first annular groove 365 is named as a first driving unit 367. The first driving unit 367 may include: a first fork 371 provided with the first annular groove 365, and a first driving shaft assembly 373 rotatably coupled with the first fork 371. The first shift fork 371 can be driven by the first driving shaft assembly 373 to move along the axial direction of the first driving shaft assembly 373, so as to drive the first driving rod 355 to move along the longitudinal direction.

The first fork 371 is sleeved on the first driving shaft assembly 373, and a first transmission structure is arranged between the first fork 371 and the first driving shaft assembly 373. The first transmission structure can convert the rotation of the first driving shaft assembly 373 into the linear motion of the first fork 371. Specifically, the first transmission structure may adopt a threaded structure. Of course, the first transmission structure may also be configured such that the cam engages with the cam groove. That is, the first drive shaft assembly 373 is provided with a cam groove, and the first fork 371 is provided with a cam slidable along the cam groove. Thus, the first transmission structure may convert the rotation of the first driving shaft assembly 373 into the linear motion of the first fork 371 by the cam and cam groove engagement.

The first fork 371 is provided with a first center hole 377a corresponding to the center of the first annular groove 365. The first center hole 377a of the first fork 371 is sleeved on the firing bar driving piece 448. The first fork 371 and firing bar drive 448 are movable relative to one another along the longitudinal direction of the long shaft assembly 320. The firing bar drive 448 is captured on the top plate 481 of the drive 310. Thus, the first fork 371 is simultaneously sleeved on the first driving shaft assembly 373 and the firing bar driving member 448, so that when the first driving shaft assembly 373 drives the first fork 371 to move, the first fork 371 cannot rotate relative to the first driving shaft assembly 373 due to the blocking of the firing bar driving member 448. Of course, the first driving lever 355 may also prevent the first fork 371 from rotating with respect to the first driving shaft assembly 373.

The first fork 371 may include a first fork body 383 and a first fork cover 385. The first fork body 383 is formed with a first annular groove 387, and a first center hole 377a is located at the center of the first annular groove 387, and both may have a center line which tends to be the same. The first fork cover plate 385 is coupled with the first fork body 383 to form a first annular groove 365. The first fork cover plate 385 has a first central hole 377b at a central position. Thus, the first fork 371 may be sleeved on the firing bar drive 448. The aperture of the first central hole 377b of the further first fork cover plate 385 is larger than the outer diameter of the firing bar drive 448. Such that an annular space is formed between the first fork cover 385 and the firing bar drive 448. Further, the first drive rod 355 may extend from the annular space into the first annular groove 365 such that the first flange 363 is at least partially received within the first annular groove 365. Further, when the rotation pipe 427 is rotated, the first driving rod 355 may move along the annular space, so that the first driving rod 355 rotates along with the rotation pipe 427.

The first fork cover 385 and the first fork body 383 may be fixedly connected. Specifically, a screw, a rivet, a buckle structure or the like can be adopted to realize the position limitation of the two. Of course, the two can be bonded by glue.

When the first flange 363 of the first driving lever 355 is at least partially received in the first annular groove 365, the second face 361 may be in contact with the bottom surface 389 of the first annular groove 387, and the first face 359 may be in contact with the surface 391 of the first fork cover plate 385 facing the bottom surface 389 of the first annular groove 387. In this way, the first drive rod 355 and the first fork 371 are restrained along the longitudinal direction of the rotation tube 427. Further, when the first fork 371 is driven to displace in the longitudinal direction of the rotation tube 427, the first driving rod 355 is driven to move together. Further, a corresponding function of the trigger end instrument 321 operable by the first drive rod 355 may be achieved.

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

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

The first driving shaft 374 passes through the through hole 382 of the first shifting fork body 383, so that the first shifting fork 371 is sleeved on the first driving shaft assembly 373. The top plate 481 is provided with a through hole 384 corresponding to the first driving shaft 374, and the first driving shaft 374 is mounted to the through hole 384 through a bearing 386. In this manner, it is achieved that the first drive shaft 374 can rotate relative to the top plate 481. The portion of the first drive shaft 374 extending out of the throughbore 384 is connected with a nut 388. The portion of the first drive shaft 374 in contact with the bearing 386 is provided with a stepped surface. Further, the position of the first drive shaft 374 relative to the top plate 481 is defined by the cooperation of the stepped surface, the bearing 386, and the nut 388, and the first drive shaft 374 is allowed to rotate relative to the top plate 481.

The first connection assembly 376 may include a first connector body 390, a shaft mount 392, and a shaft mount 394. The first connection assembly 376 may be used to connect the first drive shaft 374 and the first connection shaft 378. Specifically, the shaft fastener 392 can fixedly couple the first drive shaft 374 to the first connector body 390. The shaft fixing 394 may fixedly connect the first connection shaft 378 with the first connection body 390. The aforementioned means of fixing may include, but is not limited to, screws or rivets. In this manner, the first drive shaft 374 is fixedly coupled to the first coupling shaft 378.

The first connection shaft 378 may be mounted to the through-hole 398 of the base plate 483 by a bearing 396. So that the first connecting shaft 378 can rotate relative to the bottom plate 483, thereby enabling the first drive shaft assembly 373 to rotate relative to the top plate 481 and the bottom plate 383. And defines a position of the first drive shaft assembly 373 along the longitudinal direction of the spin tube 427.

The first driving member 380 is fixedly coupled to the first coupling shaft 378. The first driver 380 may be adapted to receive a power input from an actuator of the actuation device 220. Thereby, it is achieved that the first drive shaft assembly 373 is driven in rotation.

In some embodiments, the first face 359 and the second face 361 of the first driving rod 355 may be simultaneously subjected to the force applied by the first fork 371. At this time, the first driving rod 355 is moved in the longitudinal direction of the rotation pipe 427 by the resultant force of the forces received by the first surface 359 and the second surface 361.

Please refer to fig. 7, fig. 8 and fig. 10 together. In some embodiments, a second drive rod 393 is disposed within the spin tube 427 for driving the end instrument 321; a third face 397 facing the first end 351 and a fourth face 399 facing away from the first end 351 are formed at an end 395 of the second driving rod 393 facing away from the first end 351.

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

In particular, the second drive rod 393 may be spaced apart from the first end 351 along the longitudinal direction when the drive device 310 applies a force to the third face 397 of the second drive rod 393. In case the driving means 310 applies a force to the fourth face 399 of the second driving rod 393, the second driving rod 393 may be adjacent to the first end 351 along said longitudinal direction. In this way, stable driving of the second driving lever 393 in the longitudinal direction can be achieved. As such, the second drive rod 393 may further fire a corresponding function of the end instrument 321.

In some embodiments, the second drive rod 393 is circumferentially limited with respect to the spin tube 427. Specifically, the rotation tube 427 can be driven by the driving device 310 to rotate relative to the axis of the rotation tube 427, so as to drive the end instrument 321 to swing, and further adjust the position and angle of the end instrument 321, so as to facilitate the operation. The second drive rod 393 may be circumferentially limited with respect to the spin tube 427. That is, when the spin tube 427 is rotated as compared to its axis, the second driving rod 393 rotates along with the axis around the spin tube 427.

In this way, the second driving rod 393 can rotate along with the axis of the spin tube 427 as the spin tube 427 rotates. The relative position of the second drive rod 393 within the swing tube 427 can be stably maintained, improving the stability of the surgical instrument 300.

In some embodiments, an end 395 of the second drive rod 393 distal from the first end 351 is provided with a second flange 401 offset from the lengthwise direction; the second flange 401 has the third face 397 and the fourth face 399.

The extending direction of the second flange 401 may be deviated from the longitudinal direction of the spin tube 427. Such that the extending direction of the second flange 401 may have an acute angle or a right angle with the longitudinal direction of the spin tube 427. Thus, the second flange 401 has two surfaces, one of which faces the first end 351 of the spin tube 427 as a whole, namely, the third surface 397. One surface is generally opposite the first end 351 of the spin tube 427, i.e., the fourth surface 399.

By forming the second flange 401 on the second driving lever 393, and forming the third face 397 and the fourth face 399 on the second flange 401. In this way, the second driving rod 393 can be driven to move along the longitudinal direction of the rotation tube 427.

In some embodiments, the second flange 401 may be integrally formed with the second driving rod 393. Thus, the two materials have better combination. Of course, in some embodiments, the second flange 401 and the second driving rod 393 may also be separate elements, and connected by a suitable connection.

In some embodiments, the second drive rod 393 may be provided with a groove (not shown) distal from the end 395 of the first end 351. Thus, the surface of the groove sidewall facing the first end 351 may serve as the third surface 397, and the end surface of the second driving rod 393 away from the first end 351 may serve as the fourth surface 399. Of course, those skilled in the art may make other modifications and variations in light of the embodiments described herein, and it is intended that all such modifications and variations be included within the scope of the appended claims as long as they achieve the same or similar functionality and effect as disclosed in the various embodiments described herein.

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

The driving device 310 includes a plurality of driving units, each of which may be used to perform a corresponding driving function. In particular, one drive unit 504 of the drive device 310 may be provided with a second annular groove 403 for at least partially receiving the second flange 401. In this way, a force can be applied to the fourth face 399 of the second flange 401 through the groove wall 407 of the second annular groove 403, such that the second drive rod 393 moves toward the first end 351 along the longitudinal direction of the spin tube 427. The second driving rod 393 may be moved toward the second end 353 along the longitudinal direction of the rotation tube 427 by applying a force to the third surface 397 of the second flange 401 through the groove wall 407 of the second annular groove 403.

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

In some embodiments, the driving device 310 can drive the rotation tube 427 to rotate along the circumferential direction, so that the second flange 401 of the second driving rod 393 moves along the second annular groove 403. In some embodiments, the driving device 310 may be capable of driving the rotation tube 427 to rotate in a circumferential direction, so as to move the second flange 401 of the second driving rod 393 along the second annular groove 403. The second annular groove 403 may provide a moving space for the second flange 401 along the circumferential direction of the spin tube 427. By the arrangement, each function is mutually independent, little interference is caused, and the stability of function realization is ensured. That is, in the case where the driving device 310 drives the rotation tube 427 to rotate, the second driving rod 393 may rotate along with it without affecting the position of the second driving rod 393 along the longitudinal direction of the rotation tube 427. Further, the driving device 310 may drive the rotation tube 427 to rotate and may also drive the second driving rod 393 to move along the longitudinal direction of the rotation tube 427. In this way, the efficiency of the execution of the plurality of surgical instruments 300 can be improved, and the surgical time can be reduced to some extent.

In some embodiments, the drive device 310 comprises a second drive unit 405, the second drive unit 405 comprising a second fork 409 provided with the second annular groove 403, and a second drive shaft assembly 411 rotationally coupled with the second fork 409; the second shift fork 409 can be driven by the second driving shaft assembly 411 to move along the axial direction of the second driving shaft assembly 411, so as to drive the second driving rod 393 to move along the longitudinal direction.

The second fork 409 is sleeved on the second driving shaft assembly 411, and a second transmission structure 413 is arranged between the second fork 409 and the second driving shaft assembly 411. The second transmission structure 413 can convert the rotation of the second driving shaft assembly 411 into the linear motion of the second fork 409. In particular, the second transmission structure 413 may be a threaded structure. Of course, the second transmission structure 409 may also be configured as a cam-cam groove mating structure. That is, the second driving shaft assembly 411 is provided with a cam groove, and the second fork 409 is provided with a cam slidable along the cam groove. Thus, the second transmission structure 413 may convert the rotation of the second driving shaft assembly 411 into the linear motion of the second fork 409 by the cam engaged with the cam groove.

The second fork 409 is provided with a second center hole 415a corresponding to the center of the second annular groove 403. The second center hole 415a of the second fork 409 is sleeved on the firing bar driving member 448. The second fork 409 and the firing bar drive 448 are movable relative to each other along the longitudinal direction of the spin tube 427. In this way, the second shift fork 409 is sleeved on the second driving shaft assembly 411 and the firing bar driving member 448 at the same time, so that when the second driving shaft assembly 411 drives the second shift fork 409 to move, the second driving shaft assembly 411 cannot rotate relative to the second driving shaft assembly 411 due to the blocking of the firing bar driving member 448. Of course, the second driving lever 393 may also prevent the second fork 409 from rotating with respect to the second driving shaft assembly 411.

The second fork 409 may include a second fork body 417 and a second fork cover 419. The second fork body 417 is formed with a second annular groove 421, and a second center hole 415a is located at a center position of the second annular groove 421, and both may have a center line which tends to be the same. The second fork cover 419 is coupled with the second fork body 417 to form a second annular groove 403. The second fork cover 419 has a second center hole 415b at a center position thereof. In this manner, the second fork 409 may be sleeved on the firing bar drive 448. The central aperture of the further second fork cover 419 is larger than the outer diameter of the firing bar drive 448. Such that an annular space is formed between the second fork cover 419 and the firing bar drive 448. Further, the second drive rod 393 may extend from the annular space into the second annular groove 403 such that the second flange 401 is at least partially received within the second annular groove 403. Further, when the rotation tube 427 is rotated, the second driving rod 393 may move along the annular space, so that the second driving rod 393 rotates along with the rotation tube 427.

The second fork cover 419 and the second fork body 417 may be fixedly coupled. Specifically, the position limiting of the two can be realized by adopting a screw, a rivet, a buckle structure or the like, and the two can be bonded by adopting glue.

When the second flange 401 of the second driving rod 393 is at least partially received in the second annular groove 421, the third face 397 may be in contact with the bottom surface 423 of the second annular groove 421, and the fourth face 399 may be in contact with the surface 425 of the second fork cover 419 facing the bottom surface 423 of the second annular groove 421. In this way, the second driving rod 393 and the second fork 409 are restrained along the longitudinal direction of the rotation tube 427. Further, when the second fork 409 is driven to displace along the longitudinal direction of the rotation tube 427, the second driving rod 393 is driven to move together. Further, a corresponding function of trigger end instrument 321 operable by second drive rod 393 may be achieved.

Please refer to fig. 3 to fig. 6 and fig. 8 together. In some embodiments, the second drive shaft assembly 411 is mounted to the drive device 310. Specifically, the second drive shaft assembly 411 may mainly include a second drive shaft 412, a second connection assembly 414, a second connection shaft 416, and a second driver 418.

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

The second link assembly 414 may include a second link body 428, a shaft mount 429, and a shaft mount 432. The second coupling assembly 414 may be used to couple the second drive shaft 412 and the second coupling shaft 416. Specifically, the shaft securing member 429 may fixedly couple the second drive shaft 412 to the second coupling body 428. The shaft retainer 429 may fixedly connect the second connecting shaft 416 with the second connector body 428. The aforementioned means of fixing may include, but is not limited to, screws or rivets. In this manner, the second drive shaft 412 is fixedly coupled to the second connecting shaft 416.

The second connection shaft 416 may be mounted to the through hole 436 of the bottom plate 483 by a bearing 396. So that the second connecting shaft 416 can rotate relative to the bottom plate 483, thereby enabling the second drive shaft assembly 411 to rotate relative to the top plate 481 and the bottom plate 383. And defines the position of the second drive shaft assembly 411 along the lengthwise direction of the spin tube 427.

The second driving member 418 is fixedly coupled to the second coupling shaft 416. The second drive member 418 may be configured to receive a power input from an actuator of the actuator 220, thereby enabling the second drive shaft assembly 411 to be driven in rotation.

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

In some embodiments, the third face 397 and the fourth face 399 of the second driving lever 393 may be simultaneously subjected to the force exerted by the second fork 409. At this time, the second driving rod 393 is moved in the longitudinal direction of the rotation tube 427 by the resultant force of the forces received by the third surface 397 and the fourth surface 399.

In some embodiments, first drive rod 355 and second drive rod 393 are each used to trigger a different function of end instrument 321. Specifically, for example, first drive rod 355 may be used to trigger the swing function of end instrument 321 and second drive rod 393 may be used to trigger the clamping function of end instrument 321. Of course, the first driving rod 355 and the second driving rod 393 may also respectively implement triggering other functions, which are not particularly limited herein.

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

The first fork 371 and the second fork 409 may be sleeved on the firing bar drive 448. Thus, the first and

second forks

371 and 409 may be aligned in the longitudinal direction. Further, both the first fork 371 and the second fork 409 may be driven to move in the longitudinal direction of the spin tube 427. Further, the first fork 371 and the second fork 409 overlap each other by a predetermined stroke with respect to the displacement space of the firing bar drive 448. It will be appreciated that, at the level of operation, the first fork 371 and the second fork 409 are not normally overlapped with each other, so that the space utilization in the driving device 310 is improved, and the size of the driving device 310 can be reduced to some extent.

Accordingly, in the case where the first fork 371 is located near the first end 351 of the rotation tube 427 with respect to the second fork 409, the annular space between the walls of the first

central holes

377a, 377b of the first fork 371 and the firing rod driver 448 needs to be sufficient to pass through the second driving rod 393. Similarly, in the case where the second fork 409 is located close to the first end 351 of the rotation pipe 427 relative to the first fork 371, the annular space between the walls of the

second center holes

415a, 415b of the second fork 409 and the firing bar driving member 448 needs to be sufficient to pass through the first driving rod 355.

Please refer to fig. 5, 10 and 11. In some embodiments, in order to make the first fork 371 more stable to move along the longitudinal direction of the rotation tube 427, a guide shaft assembly 462 may be further provided in the driving device 310.

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

The guide shaft assembly 462 may include a first guide shaft 468 and a base 472. The first guide shaft 468 passes through the first guide hole 464 and is in clearance fit with the first guide hole 464. The first guide shaft 468 is fixedly coupled to the top plate 481. The end of the first guide shaft 468 remote from the top plate 481 is connected to the base 472. Thus, the first guide shaft 468 is captured between the top plate 481 and the base 472. When the first fork 371 is driven to move in the longitudinal direction of the rotation tube 427, the first fork 371 is movable along the first guide shaft 468 by engagement between the first guide hole 464 and the first guide shaft 468. Further, the axial direction of the first guide shaft 468 and the longitudinal direction of the rotation pipe 427 tend to be parallel. Thus, the guiding function of the first guiding shaft 468 on the first shifting fork 371 is realized, so that the first shifting fork 371 can displace along the longitudinal direction of the rotation tube 427 more stably.

The base 472 may be fixedly coupled to the base 483 such that the base 472 may more firmly support the first guide shaft 468.

In order to make the positional relationship between the first fork 371 and the first guide shaft 468 more stable, the relative inclination or sloshing between the first fork body 383 and the first guide shaft 468 is reduced. A first guide holder 474 may be sleeved on the first guide shaft 468, and may slide relative to each other. The first guide holder 474 is fixedly connected to the first fork body 383. The whole first guide holder 474 may be hollow and cylindrical, so, the first guide holder 474 is sleeved on the first guide shaft 468 and fixedly connected with the first shift fork body 383, which to a certain extent is equivalent to increasing the contact area between the first shift fork body 383 and the first guide shaft 468. Thus, when the first fork 371 moves relative to the first guide shaft 468, the first fork 371 is more stable, and shaking or tilting between the first fork 371 and the first guide shaft 468 is reduced. Further, in some embodiments, in order to reduce friction between the first guide shaft 468 and the first fork body 383 and the first guide holder 474, a relatively smooth first bushing may be provided between the first fork body 383 and the first guide holder 474 and the first guide shaft 468. The first sleeve may be made of a material with a smoother surface. Of course, the first shaft sleeve may not be provided, and the first fork body 383 and/or the first guide holder 474 may be made of a material having a relatively smooth surface.

In some embodiments, the guide shaft assembly 462 can further include a second guide shaft 476. A second guide hole 478 is provided between the second center hole 415a of the second fork body 417 and the through hole 420. A second guide shaft 476 passes through the second guide hole 478 and is clearance-fitted with the second guide hole 478. The second guide shaft 476 may be fixedly coupled to the top plate 481. The end of the second guide shaft 476 remote from the top plate 481 is connected to the base 472. In this manner, the second guide shaft 476 is captured between the top plate 481 and the base 472. When the second fork 409 is driven to move along the longitudinal direction of the rotation pipe 427, the second fork 409 is movable along the second guide shaft 476 by the engagement between the second guide hole 478 and the second guide shaft 476. Further, the axial direction of the second guide shaft 476 is parallel to the longitudinal direction of the rotation pipe 427. In this way, the guiding function of the second guiding shaft 476 on the second shifting fork 409 is realized, so that the second shifting fork 409 can be more stably displaced along the longitudinal direction of the rotation pipe 427.

In order to make the positional relationship between the second fork 409 and the second guide shaft 476 more stable, the relative inclination or sloshing between the second fork body 417 and the second guide shaft 476 is reduced. A second guide seat 480 is sleeved on the second guide shaft 476, and the second guide seat can slide relatively. The second guide seat 480 is fixedly connected with the second fork body 417. The second guide seat 480 is entirely hollow and cylindrical, and thus, is sleeved on the second guide shaft 476 through the second guide seat 480 and is fixedly connected with the second fork body 417, which is equivalent to increasing the contact area between the second fork body 417 and the second guide shaft 476 to a certain extent. Therefore, when the second shifting fork 409 moves relative to the second guide shaft 476, the second shifting fork 409 can be more stable, and shaking or tilting between the second shifting fork 409 and the second guide shaft is reduced. Further, in some embodiments, in order to reduce friction between the second guide shaft 476 and the second fork body 417 and the second guide holder 480, a relatively smooth second bushing may be provided between the second fork body 417 and the second guide holder 480 and the second guide shaft 476. The second sleeve can be made of a material with a smoother surface. Of course, the second sleeve may be omitted, and the second fork body 417 and/or the second guide holder 480 may be made of a material having a relatively smooth surface.

In some embodiments, the guide shaft assembly 462 of the driving device 310 may be provided only with a related structure to guide the first fork 371. Of course, the guide shaft assembly 462 of the driving device 310 may be provided only with a related structure for guiding the second fork 409. Of course, in some embodiments, the guide shaft assembly 462 may be provided with related structures for guiding the first and

second forks

371 and 409 at the same time.

Please refer to fig. 3 to fig. 6 and fig. 8 together. In some embodiments, the second driving rod 393 and the first driving rod 355 are both partially received in the rotation tube 427 and are circumferentially limited with respect to the rotation tube 427.

The first drive rod 355 and the second drive rod 393 extend from the drive device 310 into the spin tube 427. Specifically, portions of the first and second driving

rods

355 and 393 where the first and

second flanges

363 and 401, respectively, are disposed are located outside the spin tube 427, and thus, can be engaged with the first or

second forks

371 and 409.

The portions of the first and

second drive rods

355, 393 extending into the spin tube 427 are circumferentially constrained relative to the spin tube 427, but allow the first and

second drive rods

355, 393 to be displaced longitudinally relative to the spin tube 427. Specifically, a drive rod stopper 430 having a plurality of through holes is provided in the rotation tube 427. The driving rod limiting member 430 is provided with a first through hole 431 corresponding to the first driving rod 355 and a second through hole 433 corresponding to the second driving rod 393. The first driving rod 355 passes through the first through hole 431. The second driving rod 393 passes through the second through hole 433. The driving rod stopper 430 is fixedly connected to the rotation tube 427. So that the driving rod stopper 430 moves along with the rotation tube 427. When the rotation tube 427 is driven to axially rotate in the longitudinal direction, the driving rod stopper 430 rotates together. At this time, the driving rod limiting member 430 drives the first driving rod 355 and the second driving rod 393 to rotate together through the first through hole 431 and the second through hole 433.

The number of the driving lever stopper 430 may be one or more. In general, when the number of the driving lever stoppers 430 is two or more, the achieved limiting effect is superior to the case of only one driving lever stopper 430. In some embodiments, two adjacent drive rod limiters 430 may be connected by a connecting rod 438, such that the limiting of the two adjacent drive rod limiters 430 is more secure and the positioning is more accurate.

The spin tube 427 is mounted to the base plate 369 by a bearing 438 and a bearing 440. The spin tube 427 is restrained with respect to the base plate 369 along the longitudinal direction and allows circumferential rotation of the spin tube 427. The portion of the rotation tube 427 extending into the driving device 310 is fixedly connected with the driven wheel 477. Thus, when driven wheel 477 is driven to rotate, rotation tube 427 rotates along with driven wheel 477.

Please refer to fig. 3, fig. 8 and fig. 12 together. In some embodiments, the firing bar assembly 435 may include: firing bar limiter 446, firing bar driver 448, and firing bar 450.

The firing bar limiter 446 extends along the longitudinal direction and is fixedly connected to the housing 381 of the driving device 310. Specifically, for example, the firing bar limiter 446 may be fixedly coupled to the top plate 481 of the drive mechanism 310. So that the firing bar limiter 446 does not displace relative to the top plate 481.

The firing bar 450 may be sleeved on the firing bar limiter 446 and circumferentially limited with respect to the firing bar limiter 446. The firing bar 450 has a hollow section that accommodates at least a portion of the firing bar limiter 446, and is capable of relative displacement between the firing bar limiter 446 and the firing bar 450 in the longitudinal direction of the spin tube 427. The firing bar limiter 446 limits the firing bar 450 from rotating in the circumferential direction. Specifically, for example, a guide flange extending in the longitudinal direction may be provided on the firing bar limiter 446, a corresponding guide groove extending in the longitudinal direction may be provided on the firing bar 450, and the guide flange is accommodated in the guide groove, so that the relative circumferential position of the firing bar limiter 446 and the firing bar 450 is defined, but the relative movement between the two is allowed along the longitudinal direction.

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

The firing bar 450 may be centered on the spin tube 427. Specifically, for example, the centerline of the firing bar 450 and the centerline of the spin tube 427 tend to coincide. In practice, the firing bar 450 and the spin tube 427 tend to be coaxially disposed. The first driving rod 355 and the second driving rod 393 are respectively positioned at two sides of the firing rod 450, and when the rotation tube 427 is driven to rotate, the rotation tube 427 can rotate along the circumferential direction of the firing rod 450. The first drive rod 355 and the second drive rod 393 may rotate about the firing rod 450. Rotation of the rotation tube 427 relative to the firing bar 450 may be understood as rotation of the rotation tube 427. The rotation of the first and second drive bars 355, 393 about the firing bar 450 may be understood as the revolution of the first and second drive bars 355, 393 relative to the firing bar 450.

The firing bar drive 448 can drive the firing bar 450 to move along the longitudinal direction relative to the firing bar limiter 446. The firing bar drive 448 can be rotatably coupled to a top plate 481 of the drive 310. As such, the firing bar drive 448 can rotate relative to the firing bar limiter 446. The firing bar drive 448 is in contact with the firing bar 450 such that the firing bar 450 can be driven to move along the longitudinal direction when the firing bar drive 448 is driven to rotate. Specifically, for example, the outer surface of the firing rod 450 may have a plurality of annular grooves, the firing rod driver 448 may be a gear with an axis extending in a direction perpendicular to the longitudinal direction, and the teeth of the gear may extend into the annular grooves of the firing rod 450, so that when the firing rod driver 448 rotates, the firing rod 450 may be driven to move along the longitudinal direction relative to the firing rod limiter 446.

In the present embodiment, the firing bar restriction piece 446 fixed to the housing 381 of the driving device 310 is provided, so that the firing bar restriction piece 446 can circumferentially restrict and longitudinally guide the firing bar 450. The firing bar drive 448 may be mounted to the drive 310 and the firing bar 450 may be movable longitudinally relative to the spin tube 427 to directly trigger the end instrument 321. Specifically, in some embodiments, movement of the firing bar 450 relative to the longitudinal direction of the spin tube 427 may push the knife bar of the end instrument 321 to perform a cutting function.

In some embodiments, the distance that the firing bar 450 can move along the longitudinal direction is less than the length of the firing bar limiter 446 along the longitudinal direction. The length of the firing bar limiter 446 along the longitudinal direction may be G, and the distance along which the firing bar 450 is driven by the firing bar driver 448 to move along the longitudinal direction may be G. G < G is required to be maintained to avoid the firing bar 450 from disengaging from the firing bar limiter 446, thereby losing circumferential limits on the firing bar 450.

In some embodiments, the firing bar 450 includes a first segment 437 that is in the shape of a hollow cylinder, and a second segment 439 that is connected to the first segment 437; wherein the first section 437 receives at least a portion of the firing bar limiter 446.

The firing rod 450 may include a first segment 437 and a second segment 439. Wherein the first section 437 has the hollow section. That is, the first section 437 can be hollow in its entirety, such that the first section 437 can house the firing bar limiter 446. So that the first section 437 of the firing bar 450 does not rotate relative to the circumference. It is realized that the firing bar 450 can move integrally with respect to the drive bar limiter 430 as the firing bar drive 448 rotates to drive the firing bar 450.

The first segment 437 can be fixedly connected to the second segment 439. The connection may be made according to the material of the first segment 437 and the second segment 439. Specifically, for example, the first segment 437 and the second segment 439 may be connected by welding, bonding, riveting, or interference fit.

In some embodiments, the firing bar limiter 446 includes a limiter mount 830 fixedly coupled to the housing 381 of the drive device 310 and a limiter extension 832 received within the housing 381 of the drive device 310 and extending into the first segment 437. The limiter mounting portion 830 is fixedly connected to the limiter extension 832. Of course, in some embodiments, the firing bar limiter 446 may include only the limiter extension 832 and directly fixedly attach the limiter extension 832 to the housing 381 of the drive device 310. Specifically, depending on the materials used, for example, the stop member extensions 832 may be welded, glued, snapped onto the other end of the stop member extensions 832. Alternatively, an opening may be provided in the housing 381 of the driving device 310, and the limiter extension 832 may be fixedly connected to the housing 381 of the driving device 310 by interference fit with the opening.

The stop extension 832 circumferentially limits the firing bar 450 and allows the firing bar 450 to move along the longitudinal direction relative to the stop extension 832.

In some embodiments, the inner cross-section of the first segment 437 perpendicular to the longitudinal direction is non-circular, and the stop member extension 832 has an outer shape conforming to the shape of the inner cross-section. In this way, relative rotation between the first segment 437 and the drive rod limiter 430 with respect to the circumferential direction around the longitudinal direction is made difficult. The first section 437 is hollow, and the inner surface of the first section 437 has a cross section perpendicular to the longitudinal direction that is the inner cross section. The shape of the internal cross section may be irregular. For example, the internal cross-section may be singular in shape. Of course, the shape of the inner cross-section may also be regular, but non-circular. For example, the shape of the inner cross section may be a polygon. Specifically, for example, triangle, square, pentagon, and the like.

The profile of the limiter extension 832 matches the shape of the inner cross section. Alternatively, the stop extension 832 may contact the inner surface of the first segment 437 after extending into the interior of the first segment 437. Such that the limiter extension 832 may limit the first segment 437 of the center tube from rotating in the circumferential direction by contacting the inner surface of the first segment 437. Specifically, for example, the outer surface of the stopper extension 832 has a cross-sectional shape perpendicular to the longitudinal direction, which approximates the inner cross-sectional shape of the first segment 437. Alternatively, the cross-sectional pattern of the stopper extension 832 may be different from or different from the shape of the inner cross-section of the first segment 437, but the two circumferential stoppers may be realized by matching the shapes of the stopper extension 832 and the first segment 437.

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

Specifically, in some embodiments, the firing bar 450 may be used to fire the cutting function of the end instrument 321. Such that when spin tube 427 is rotated, end instrument 321 may rotate along with spin tube 427, and further, third section 803 may be coupled to end instrument 321 and rotate along with end instrument 321, with relative rotation between third section 803 and second section 439. Thus, rotation of the spin tube 427 does not affect the cooperation between the firing bar 450 and the firing bar limiter 446, nor does it affect the cooperation between the firing bar 450 and the firing bar driver 448.

In some embodiments, the second segment 439 and the third segment 803 are rotatably coupled via a firing bar linkage 834. In particular, firing bar linkage 834 can be rotatably coupled to both the second segment 439 and the third segment 803. Of course, the firing bar attachment 834 could also be pivotally coupled to only one of the second segment 439 or the third segment 803. Specifically, for example, the firing bar connector 834 may be in a hollow cylindrical shape, two annular flanges may be disposed inside the firing bar connector 834, and an annular groove may be disposed at the position where the second segment 439 and the third segment 803 are coupled to the firing bar connector 834. In this manner, the firing rod attachment 834 is coupled to the second segment 439 and the third segment 803 by an annular flange that extends into the annular recess of the second segment 439 and the third segment 803, respectively. The annular flange is slidable along the annular groove such that relative rotation between the second segment 439 and the third segment 803 is achieved. Of course, other embodiments of the connection may be used to achieve the rotational connection between the second segment 439 and the third segment 803, for example, an annular flange may be disposed directly at the location where the second segment 439 and the third segment 803 are connected, an annular groove may be disposed inside the second segment 439, and an annular groove may be disposed in the third segment 803, so that the second segment 439 and the third segment 803 are in a limited connection through the annular flange and the annular groove, and the relative positions of the second segment 439 and the third segment 803 are limited along the longitudinal direction, but the relative circumferential rotation between the second segment 439 and the third segment 803 is allowed.

In some embodiments, the firing bar attachment 834 can semi-circumferentially surround the annular grooves of the second and

third segments

439, 803. And a wedge 835 may be provided between the firing bar attachment 834 and the spin tube 427. The wedge 835 can abut against the firing bar linkage 834 to prevent the firing bar linkage 834 from disengaging from the second and

third segments

439, 803. Other modifications will be apparent to persons skilled in the art from the teachings of the present embodiments, and it is intended to cover within the scope of the present disclosure all such modifications as come within the meaning and range of equivalents of the invention.

In some embodiments, the firing bar drive 448 is generally cylindrical and extends along the longitudinal direction, and the firing bar 450 is at least partially housed within the firing bar drive 448. In some embodiments, the firing bar drive 448 is sleeved over the first segment 437 of the firing bar 450. The firing bar drive 448 and firing bar 450 are provided with an adapted motion translating feature. The motion conversion structure converts the rotation of the firing bar drive 448 into a movement of the firing bar 450 along the longitudinal direction of the spin tube 427. Specifically, for example, the motion conversion structure may be implemented by providing a threaded structure between the firing bar drive 448 and the firing bar 450. Alternatively, the motion conversion structure may be implemented such that the surface of the center nut 448 facing the firing bar 450 is provided with a cam and the outer surface of the firing bar 450 is provided with a cam slot.

In some embodiments, the end of the firing bar drive 448 remote from the first end 351 is provided with a gear portion 452 such that the firing bar drive 448 is driven in rotation by the gear portion 452. Specifically, for example, the firing bar drive 448 can have a gear portion 452 and a drive extension 454. The gear portion 452 may be configured to receive a drive to rotate the firing bar drive 448. The driving member extension 454 is integrally sleeved on the outer surface of the firing bar 450. Further, the length of the firing bar drive 448 limits the movement displacement of the firing bar 450 relative to the longitudinal direction of the spin tube 427. That is, the maximum displacement of the firing rod 450 relative to the longitudinal direction of the spin tube 427 without disengaging the firing rod drive 448 approaches the length of the firing rod drive 448.

The firing bar assembly 435 can be driven to displace along the longitudinal direction of the spin tube 427, thereby effecting actuation of the end instrument 321 to perform a corresponding function. In particular, for example, the firing bar assembly 435 can be used to fire the cutting function of the end instrument 321.

Please refer to fig. 8, 12 and 13 together. In some embodiments, the driving device 310 is provided with a firing bar driving gear 836 engaged with the gear portion 452, and a firing driving unit 838 capable of driving the firing bar driving gear 836 to rotate is provided inside a housing 381 of the driving device 310. The firing drive unit 838 may receive power from an actuator of the actuation device 220 to drive movement of the firing bar 450.

The firing bar drive gear 836 may be mounted to the top plate 481 of the drive 310 and may rotate relative to the top plate 481. The firing bar drive gear 836 may be rotatably driven by the firing drive unit 838 such that, by meshing with the gear portion 452 of the firing bar drive 448, it is achieved to rotate the firing bar drive 448 and thereby drive the firing bar 450 to move relative to the longitudinal direction of the long shaft assembly. Specifically, the firing bar drive gear 836 may be mounted to the top plate 481 of the drive 310 by a drive gear shaft 840. Bearings may be provided between the drive gear shaft 840 and the top plate 481, such that the firing bar drive gear 836 may rotate relative to the top plate 481.

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

The first transition gear 842 may be fixedly coupled with the drive gear shaft 840. Thus, when the first transition gear 842 rotates, the driving gear shaft 840 can be driven to rotate together. The first transition gear 842 may be driven in rotation by a third drive shaft assembly 844.

A third drive shaft assembly 844 is mounted to the drive apparatus 310. In particular, third drive shaft assembly 844 may include primarily: a third drive shaft gear 846, a third connection assembly 848, a third drive shaft 850, and a third drive member 852.

The third drive shaft gear 846 may be meshed with the first transition gear 842. In this way, when the third driving shaft gear 846 is driven to rotate, the first transition gear 842 can be driven to rotate together. The third drive shaft gear shaft 860 of the third drive shaft gear 846 may be fixedly coupled to the third drive shaft 850 via a third coupling assembly 848.

The third connector assembly 848 may include a third connector body 854, a shaft mount 856, and a shaft mount 858. The third coupling assembly 848 may be used to couple the third drive shaft 850 and the third drive shaft gear 846 shaft. Specifically, the shaft mount 856 can fixedly connect the third drive shaft 850 to the third connector body 854. The shaft fixing member 858 may fixedly connect the third drive shaft 860 with the third link body 854. The aforementioned means of fixing may include, but is not limited to, screws or rivets. In this manner, the third drive shaft 850 is fixedly coupled to the third drive shaft gear 846 shaft.

The third drive member 852 is fixedly coupled to the third drive shaft 850. The third drive member 852 may be configured to receive a power input from an actuator of the actuation device 220. Thereby, third drive shaft assembly 844 is driven in rotation.

In some embodiments, a manual drive unit 862 is provided outside the housing 381 of the drive device 310 that can drive the firing bar drive gear 836 to rotate. The manual drive unit 862 may be used to manually operate to drive movement of the firing bar 450. The manual driving unit 862 may mainly include: the second transition gear 864 and the first manual wheel assembly 866 are sleeved on the drive gear shaft 840.

The second transition gear 864 is located external to the drive device such that the firing bar drive gear 836 can be located between the first transition gear 842 and the second transition gear 864, with the three being coaxially disposed.

The first manual wheel assembly 866 can include a first knob 868, a first manual shaft 870, and a first manual gear wheel 872. The first knob 868 is fixedly coupled to a first manual shaft 870. Thus, the first knob 868 can be manually rotated to further rotate the first manual shaft 870. The first manual large gear 872 is sleeved on the first manual shaft 870 and is limited with the first manual shaft 870 in the circumferential direction. Thus, when the first manual shaft 870 rotates, the first manual large gear 872 is driven to rotate together. The first manual gear wheel 872 meshes with the second transition gear 864. Thus, when the first manual large gear 872 rotates, the second transition gear 864 can be driven to rotate, and then the firing rod driving gear 836 is driven to rotate, so as to further drive the firing rod driving pieces 448 to drive the firing rod 450.

In some embodiments, the drive rod limiter 430 is provided with a third through hole 482 corresponding to the firing rod 450. The spin tube 427 can rotate about the firing bar 450. The firing bar 450 passes through the third through hole 482. The inner diameter of the third through hole 482 is greater than the outer diameter of the firing bar 450 such that the driving rod limiter 430 does not limit the movement of the firing bar 450 in the longitudinal direction. Further, in the event that the spin tube 427 is rotated, both the spin tube 427 and the drive rod limiter 430 may rotate about the firing bar 450. The first segment 437 and the second segment 439 of the firing rod 450 do not rotate circumferentially and the third segment 874 can rotate circumferentially with the spin tube 427. Therefore, the inner space of the autorotation tube is reasonably utilized, and meanwhile, the stable execution of each function can be ensured.

The components disclosed in the various embodiments of the present disclosure are all materials that meet medically relevant standards or regulations.

In the multiple embodiments of the present disclosure, progressive descriptions are adopted, and no detailed description is given for the same parts. Those skilled in the art will appreciate that any combination of the various embodiments described herein is possible and within the scope of the disclosure.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is to be construed as including any modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims

1. A surgical instrument, comprising:

a tube extending in a longitudinal direction and having a first end and a second end; wherein the first end is for mounting an end instrument; a first drive rod for driving the end instrument is arranged in the pipe fitting; a first surface facing the first end and a second surface facing away from the first end are formed at the end part of the first driving rod away from the first end;

and a driving device coupled with the second end of the pipe fitting, wherein the driving device can apply force to the first face and/or the second face so as to enable the first driving rod to move along the longitudinal direction to drive the tail end instrument.

2. A surgical instrument as recited in claim 1, wherein the first drive rod is circumferentially limited relative to the tube.

3. A surgical instrument as recited in claim 1, wherein,

an end of the first driving rod, which is far away from the first end, is provided with a first flange deviating from the longitudinal direction; the first flange has the first face and the second face.

4. A surgical instrument as recited in claim 3, wherein the drive device has a first annular groove extending circumferentially of the tube, the first flange of the first drive rod being at least partially received within the first annular groove to enable movement of the drive device along the longitudinal direction.

5. A surgical instrument as recited in claim 4, wherein the tube is a rotating tube, and the drive device is configured to drive the rotating tube to rotate in the circumferential direction to move the first flange of the first drive rod along the first annular groove.

6. A surgical instrument as recited in claim 5, wherein the drive device includes a first drive unit including a first fork provided with the first annular groove and a first drive shaft assembly rotationally coupled with the first fork; the first shifting fork can be driven by the first driving shaft assembly to move along the axial direction of the first driving shaft assembly so as to drive the first driving rod to move along the longitudinal direction.

7. A surgical instrument as recited in claim 6, wherein an axial direction of the first drive shaft assembly is oriented parallel to the longitudinal direction.

8. A surgical instrument as recited in claim 6, wherein the drive device further includes a first guide shaft that guides the first fork; the first shifting fork is provided with a first guide hole positioned between the first annular groove and the first driving shaft assembly; the first guide shaft passes through the first guide hole and is in clearance fit with the first guide hole.

9. A surgical instrument as recited in claim 8, wherein the drive further comprises a first guide seat sleeved on the first guide shaft and fixedly coupled to the first fork.

10. A surgical instrument as recited in claim 1, wherein a second drive rod is disposed within the tube for driving the distal instrument; a third surface facing the first end and a fourth surface facing away from the first end are formed at the end part of the second driving rod away from the first end;

accordingly, the driving device can apply a force to the third face and/or the fourth face to move the second driving rod along the longitudinal direction.

11. A surgical instrument as recited in claim 10, wherein the second drive rod is circumferentially limited relative to the tube.

12. A surgical instrument as recited in claim 10, wherein an end of the second drive rod distal from the first end is provided with a second flange offset from the longitudinal direction; the second flange has the third face and the fourth face.

13. A surgical instrument as recited in claim 12, wherein the drive device has a second annular groove extending circumferentially of the tube, the second flange of the second drive rod being at least partially received within the second annular groove to enable movement of the drive device along the longitudinal direction.

14. A surgical instrument as recited in claim 13, wherein the tube is a rotating tube, the drive device being configured to drive the rotating tube to rotate in the circumferential direction to move the second flange of the second drive rod along the second annular groove.

15. A surgical instrument as recited in claim 14, wherein the drive device includes a second drive unit including a second fork provided with the second annular groove, and a second drive shaft assembly rotationally coupled with the second fork; the second shifting fork can be driven by the second driving shaft assembly to move along the axial direction of the second driving shaft assembly so as to drive the second driving rod to move along the longitudinal direction.

16. A surgical instrument as recited in claim 15, wherein an axial direction of the second drive shaft assembly is oriented parallel to the longitudinal direction.

17. A surgical instrument as recited in claim 15, wherein the drive device further includes a second guide shaft that guides the second fork; the second shifting fork is provided with a second guide hole positioned between the second annular groove and the second driving shaft assembly; the second guide shaft passes through the second guide hole and is in clearance fit with the second guide hole.

18. A surgical instrument as recited in claim 17, wherein the drive further includes a second guide seat sleeved on the second guide shaft and fixedly coupled to the second fork.

19. A surgical instrument as recited in claim 15, wherein the first drive unit of the drive device includes a first fork provided with a first annular groove, the first fork and the second fork being aligned along the longitudinal direction.

20. A surgical instrument as recited in claim 10, wherein the second drive rod and the first drive rod are each partially received within the tube and are circumferentially constrained relative to the tube.

21. A surgical instrument as recited in claim 20, wherein at least one drive rod limiter circumferentially limits the first drive rod and the second drive rod is disposed within the tube; the driving rod limiting piece is fixedly connected with the pipe fitting, a first through hole is formed in the driving rod corresponding to the first driving rod, and a second through hole is formed in the driving rod corresponding to the second driving rod.

22. The surgical instrument of claim 20, wherein a firing bar is disposed within the tubular, the tubular being a self-rotating tube, the firing bar being positioned between the first drive bar and the second drive bar; the driving rod limiting piece is provided with a third through hole corresponding to the firing rod; the rotation tube can rotate around the firing bar.

23. The surgical instrument of claim 22, wherein the firing bar is located between the first drive bar and the second drive bar; when the autorotation tube is driven to rotate by the driving device, the first driving rod and the second driving rod rotate around the firing rod.

24. The surgical instrument of claim 23, wherein the firing bar comprises a first section having a hollow section, and a second section fixedly coupled to the first section, and a third section pivotally coupled to the second section; the first section accommodates a firing bar limiter to limit the circumferential position of the first section.

25. A slave manipulator apparatus comprising at least one manipulator arm comprising a plurality of joints and an actuation device, the plurality of joints being linked to effect movement of the actuation device in a plurality of degrees of freedom, characterized in that: the surgical instrument of any one of claims 1 to 24 being removably mounted on the actuation means.

26. A surgical robot, characterized by: comprising a master operation console and the slave operation device according to claim 25, which performs a surgical operation on a human body according to an instruction of the master operation console.