CN116269803A - Surgical instrument and surgical robot - Google Patents

Abstract

The invention provides a surgical instrument and a surgical robot, which comprise a firing driving piece, a conversion piece, a limiting piece and a firing bar, wherein the firing driving piece is in transmission connection with a driving mechanism, the firing driving piece rotates by taking a first axis as a shaft, and the conversion piece is in transmission connection with the firing driving piece; the limiting piece and the conversion piece form non-rotating sliding fit to limit the conversion piece to rotate by taking the first axis as an axis, and the conversion piece moves along the first axis under the driving of the firing driving piece; one end of the firing rod is rotationally connected with the conversion piece, the other end of the firing rod is in transmission connection with the execution piece of the surgical instrument to drive the execution piece to move along the first axis, the rotation of the conversion piece is limited by the limiting piece, the conversion piece can move relative to the firing driving piece and can not rotate, the effectiveness of movement of the conversion piece is improved, the rotation of the conversion piece is limited in a mechanical limiting mode through the limiting piece, complex decoupling operation is not needed, the structure is simple, and the transmission stability is high.

Description

Surgical instrument and surgical robot

Technical Field

The invention relates to the field of medical instruments, in particular to a surgical instrument and a surgical robot.

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 including a drive and an end effector for performing a surgical procedure. The spiral rotary linear motion firing structure adopted by the existing surgical instrument actuator cannot avoid the rotation of the guide rod, so that decoupling operation is required to be performed in system control, and the actuator driving transmission structure is complex and Yi Kadu is caused.

Disclosure of Invention

The invention mainly aims to provide a surgical instrument and a surgical robot, and aims to solve the technical problems that an existing actuator is complex in moving and linear movement firing structure and Yi Kadu.

To achieve the above object, the present invention provides a surgical instrument having an actuator for performing a surgery, comprising:

The driving disc is used for detachably connecting a mechanical arm of a surgical robot and receiving and converting the driving force of the mechanical arm into rotary driving force;

the firing drive assembly comprises a firing nut and a firing screw, the firing nut receives the rotary driving force of the driving disc, the executing piece is provided with a blade, the firing screw is driven by the firing nut to axially move along the screw and is used for firing the blade of the executing piece to move, and the firing screw is hollow and tubular; and

the swing driving assembly comprises a transmission part and a swing screw rod, the transmission part receives the rotary driving force of the driving disc, the executing part is connected with the swing part, the swing screw rod moves axially along the screw rod under the driving force of the transmission part and is used for driving the swing part to swing so as to drive the executing part to swing, the swing screw rod is arranged in the firing screw rod, one of the firing screw rod and the swing screw rod is provided with a guide key, the other of the firing screw rod and the swing screw rod is provided with a sliding groove, and the guide key is arranged in the sliding groove and can slide along the sliding groove.

To achieve the above object, the present invention also provides a surgical instrument including an actuator for performing a surgery, comprising:

the firing driving piece is used for being in transmission connection with a driving mechanism and rotates by taking a first axis as a shaft;

the conversion piece is in transmission connection with the firing driving piece;

the limiting piece is in sliding fit with the conversion piece and limits the rotation of the conversion piece, and the conversion piece moves along the first axis under the driving of the firing driving piece; the method comprises the steps of,

the firing bar comprises two opposite ends, one end of the firing bar is in transmission connection with the conversion piece, the conversion piece drives the firing bar to move along the first axis, and the other end of the firing bar is in transmission connection with the execution piece to drive the execution piece to move along the first axis.

As an alternative embodiment, the firing bar forms a slidable fit with the stop.

As an alternative embodiment, one of the limiting piece and the firing bar is provided with a fixed key slot, the other is provided with a sliding key slot, and the moving transmission mechanism further comprises a first matching key, wherein the first matching key is fixed in the fixed key slot and is in sliding fit with the sliding key slot.

As an alternative implementation mode, the firing driving piece and the conversion piece form threaded transmission connection, one of the conversion piece and the limiting piece is provided with a sliding groove, the other one of the conversion piece and the limiting piece is provided with a sliding block matched with the sliding groove, the sliding groove extends along the first axis, and when the firing driving piece rotates, the conversion piece moves along the first axis under the limiting fit of the sliding groove and the sliding block.

As an alternative embodiment, the movement transmission mechanism further comprises a base, the firing driving member is rotatable relative to the base, the conversion member is movable relative to the base, the limiting member is fixed relative to the base or is a part of the base, and when the firing driving member rotates, the conversion member moves relative to the base under the constraint of the limiting member.

As an alternative implementation mode, the base comprises a top seat and a base which are connected with each other, the limiting piece is installed on the top seat, the conversion piece is sleeved on the outer side of the limiting piece, the firing driving piece is sleeved on the outer side of the conversion piece, and the firing driving piece is connected with the base in a rotating mode.

As an alternative embodiment, there is a space between the top base and the base, and the firing driving member has a firing portion for driving connection with the driving mechanism, where the firing portion is located in the space between the top base and the base.

As an alternative embodiment, one of the firing bar and the conversion piece is provided with a stepped end in a rotor shape, the other of the firing bar and the conversion piece is provided with a caulking groove matched with the stepped end, and the firing bar and the conversion piece form a rotating fit.

As an alternative embodiment, the movement transmission mechanism further comprises a base rod, wherein the base rod is sleeved outside the firing rod and forms non-rotating sliding fit with the firing rod.

As an alternative embodiment, the movement transmission mechanism further comprises a sealing element, wherein the sealing element is arranged between the base rod and the firing rod.

As an alternative embodiment, the movement transmission mechanism further comprises a cutter head assembly, the cutter head assembly comprises a cutter rest and a cutter head pushing rod, the cutter rest and the base rod can be rotatably connected, and the cutter head pushing rod and the firing rod can be rotatably connected;

the executing piece comprises a clamp body and a blade, wherein the clamp body comprises clamping jaws capable of rotating to open and close, the blade is movably arranged in the clamping jaws, the blade is in transmission connection with the tool bit pushing rod so as to move along the first axis under the driving of the tool bit pushing rod, and the clamp body is connected with the tool rest.

As an alternative embodiment, the cutter head pushing rod extends into the base rod to form rotatable connection with the firing rod.

As an alternative embodiment, the movement transmission mechanism further comprises an outer tube, the outer tube is sleeved outside the base rod and the tool rest, and the outer tube and the base rod form non-rotating fit.

As an alternative embodiment, at least part of the bit pusher bar is resilient.

As an alternative embodiment, the conversion element forms a rotatable connection with the firing bar that is rotatable about the first axis.

As an alternative embodiment, the firing driving piece and the conversion piece are mutually nested, the conversion piece and the limiting piece are mutually nested, and the end part of the conversion piece is connected with the end part of the firing bar;

the surgical instrument further comprises an outer tube, and the conversion piece and the firing bar are arranged in the outer tube and are slidably arranged relative to the outer tube.

To achieve the above object, the present invention also provides a surgical instrument having an actuator for performing a surgery, comprising:

the driving disc is used for detachably connecting a mechanical arm of a surgical robot and receiving and converting the driving force of the mechanical arm into rotary driving force;

The firing drive assembly comprises a firing nut and a firing screw, the firing nut receives the rotary driving force of the driving disc, the executing piece is provided with a blade, and the firing screw is driven by the firing nut to axially move along the screw and is used for firing the blade of the executing piece; and

the limiting piece is in sliding fit with the firing screw and limits the rotation of the firing screw.

In order to achieve the above object, the present invention further provides an execution end slave operation device including the operation end master operation console and the operation end slave operation device.

The embodiment of the invention has at least the following beneficial effects:

the rotation of locating part restriction conversion piece for the conversion piece can remove relative percussion driving piece and can not rotate, promotes the validity that conversion piece removed, through the locating part with the spacing mode restriction conversion piece rotation of machinery, need not complicated decoupling structure, the removal transmission structure of the executive component of this surgical instrument and surgical robot is simple and the transmission reliability is high, is difficult for blocking.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 shows a schematic view of the overall structure of a surgical instrument provided by an embodiment of the present invention;

FIG. 2 shows a partially enlarged and cut-away schematic view of the surgical instrument of FIG. 1;

FIG. 3 is a schematic view showing an assembled structure of a base of the surgical instrument according to the present embodiment;

FIG. 4 shows an exploded view of FIG. 3;

FIG. 5 illustrates a schematic diagram of an assembled configuration of a movement drive mechanism of a surgical instrument provided by an embodiment of the present invention;

FIG. 6 shows an exploded view of FIG. 5;

FIG. 7 shows a schematic diagram of an assembled configuration of a second transmission component of a movement drive mechanism of a surgical instrument provided by an embodiment of the present invention;

FIG. 8 shows an exploded view of FIG. 7;

FIG. 9 illustrates a front view of a partial structural assembly of a mobile drive mechanism provided by an embodiment of the present invention;

fig. 10 shows an isometric view of fig. 9;

FIG. 11 shows an exploded view of FIG. 9;

fig. 12 is a schematic view of a first section of a movement driving mechanism according to an embodiment of the present invention;

fig. 13 is a schematic view of a first section of a movement driving mechanism according to an embodiment of the present invention;

fig. 14 is a schematic view showing a third section of the structure of the movement driving mechanism according to the embodiment of the present invention;

FIG. 15 is a schematic view showing the cooperation of the base rod and the firing rod of the movement transmission mechanism according to the embodiment of the present invention;

FIG. 16 shows a schematic cross-sectional structure of FIG. 15;

FIG. 17 is a schematic view showing the connection of a cutter bar assembly and a base bar of a mobile transmission mechanism according to an embodiment of the present invention;

fig. 18 is an exploded view of fig. 17.

Reference numerals illustrate:

10-a base; 101-a base; 102-a top seat; 103-a first connection plate; 104-a second connection plate; 105-middle plate; 100-a mobile transmission mechanism; 110-firing drive; 111-firing section; 112-fourth bearings; 120-conversion piece; 121-a first mating key; 122-first fixed keyway; 130-a limiting piece; 131-first sliding key slot; 132—plug-in section; 140-firing bar; 141-a second fixed keyway; 142-a second mating bond; 1401. 1402-caulking groove; 150-mounting; 151-mounting holes; 160-base bar; 161-third sliding key slot; 1601. 1602-caulking groove; 170-a seal; 180-bit assembly; 181-knife rest; 1811. 1812-step ends; 182-bit push rod; 1821. 1822-step ends; 190-outer tube; 200-a movement driving mechanism; 210-moving the driving member; 211-a drive disk; 212-driving a main shaft; 213-coupling; 214-a first bearing; 220-a first gear shaft; 221-a second bearing; 222-a nut; 230-a first transmission member; 240-a second transmission member; 241-a third bearing; 242-clamp spring; 300-an actuator; 310-clamp body; 320-blade.

Detailed Description

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. 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. 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 terms "distal," "proximal," and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the procedure that is distal to the operator and "proximal" refers to the end of the procedure that is proximal to the operator.

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, and the term "cable bundle" in the text means that each of the cables in a bundle are relatively close to each other and extend in a substantially uniform direction. Unless otherwise specified, the term "cable harness direction" or "cable direction" in this application refers to the direction of the cable harness or cable in the longitudinal direction.

The following detailed description will be given with reference to the accompanying drawings.

The surgical robot comprises a doctor-side master operation console and a patient-side slave operation device, wherein a doctor performs relevant control operation on the slave operation device on the master operation console, and the slave operation device performs a surgical operation on a human body according to an input instruction of the master operation console. The master and slave operating consoles may be located in one operating room or in different rooms, or even the master and slave operating consoles may be remote from each other, e.g. the master and slave operating consoles are located in different cities, respectively. The master operation console and the slave operation device can perform data transmission in a wired manner, or can perform data transmission in a wireless manner, for example, the master operation console and the slave operation device are located in an operating room, data transmission is performed between the master operation console and the slave operation device in a wired manner, and long-distance data transmission is performed between the master operation console and the slave operation device through wireless signals such as 4G and 5G in different cities respectively.

The slave operating device comprises a mechanical arm, an actuating device and a surgical instrument, wherein the actuating device is arranged at the distal end of the mechanical arm, the surgical instrument for performing surgical operation is connected with the actuating device, and the actuating device drives the surgical instrument to move through a plurality of actuators in the actuating device.

The surgical instrument performs corresponding surgical operation on the surgical site or affected part of the patient according to a set program under the control of a main operation console of the surgical robot. The surgical instrument comprises a transmission mechanism and a driving mechanism, wherein the driving mechanism is in transmission connection with the actuating device and is used for providing power for the action execution of the surgical instrument, the transmission mechanism is used for converting the power accessed by the driving mechanism and outputting different actions, so that an executing piece for executing the surgical operation can perform different actions, such as movement, rotation, opening and closing, pinching, movement and the like.

As shown in fig. 1, fig. 1 shows a schematic view of the overall structure of a surgical instrument according to an embodiment of the present invention.

The surgical instrument 1000 of the present embodiment includes a movement transmission mechanism 100, a movement driving mechanism 200, and an actuator 300, and the movement driving mechanism 200 drives the movement transmission mechanism 100 to act so that the actuator 300 outputs a corresponding movement, thereby enabling adjustment of the position thereof or achieving cutting and other functions by driving the movement of the actuator 300.

The above-mentioned mobile driving mechanism 200 is used for switching in the power of the actuating device (not shown in the figure) and transmitting the rotating power to the mobile transmission mechanism 100, and is a rotary transmission mechanism, and can realize the adjustment of output rotation speed and torque through multistage transmission; the movement transmission mechanism 100 converts a rotational movement of the movement driving mechanism 200 into a linear movement, and is a movement conversion mechanism. The actuator 300 may be a surgical actuator such as a surgical knife or a forceps head of an anastomat, and the embodiment is described by taking the actuator 300 as the forceps head of the anastomat as an example, the surgical instrument 1000 is an anastomat, and the anastomat is used for suturing a postoperative wound.

Referring to fig. 2 to 4 together, fig. 2 is a partially enlarged and cross-sectional schematic structural view of the surgical instrument of fig. 1, fig. 3 is a schematic structural view of the base 10 of the surgical instrument according to the present embodiment, and fig. 4 is a schematic exploded structural view of fig. 3.

The moving driving mechanism 200 includes a base 10, a moving driving member 210, a first gear shaft 220, and a first transmission member 230, and the moving driving member 210 drives the first transmission member 230 to rotate. The moving driving member 210 is used for being connected with the mechanical arm and used for accessing the rotating power of the mechanical arm. The movable driving mechanism further comprises a first gear shaft 220, the movable driving piece 210 drives the first transmission part 230 to rotate through the first gear shaft 220, and the first transmission part 230 is used for being in transmission connection with the movable transmission mechanism 100 so as to transmit the power of the movable driving mechanism 200 to the movable transmission mechanism 100. In this embodiment, the first transmission member 230 is a gear.

As shown in fig. 3 and 4, fig. 3 shows a schematic view of an assembled structure of the base 10 of the surgical instrument according to the present embodiment, and fig. 4 shows a schematic view of an exploded structure of fig. 3.

The base 10 is used to carry the remaining components of the surgical instrument 1000 and is connected to a robotic arm to secure the entire surgical instrument 1000 to the robotic arm. In some embodiments, the base 10 includes a base 101, a top base 102, and a first connecting plate 103 and a second connecting plate 104, where in this embodiment, the top base 102 and the base 101 are disposed substantially parallel and spaced apart and connected by the first connecting plate 103 and the second connecting plate 104, for example, the first connecting plate 103 and the second connecting plate 104 are supported between the top base 102 and the base 101, and the first connecting plate 103 and the second connecting plate 104 and the top base 102, the base 101 may be connected by screws, snap-fit, or welded.

Referring to fig. 2, 5 and 6 together, fig. 5 is a schematic diagram illustrating an assembly structure of a movement driving mechanism of a surgical instrument according to an embodiment of the present invention; fig. 6 shows an exploded view of fig. 5.

In this embodiment, the moving driver 210 includes a driving disk 211, a first bearing 214, and a driving spindle 212. The lower surface of the first bearing 214 is attached to the bearing mounting surface of the drive disk 211, and the drive spindle 212 is inserted into the drive disk 211 from above and fixedly connected by screws. The drive plate 211 is fitted into the base 101 from below, and the upper surface of the first bearing 214 is flush with the stepped surface of the bearing mounting hole of the base 101. The drive disk 211 is used to engage the rotational power of the robotic arm and the outer surface may have teeth for engagement. Of course, in other embodiments, the driving disk 211 and the driving spindle 212 of the moving driver 210 may be an integral member, whose optical axis is sleeved with the first bearing 214, and mounted on the base 101 through the first bearing 214.

The driving main shaft 212 of the moving driving member 210 is connected to one end of the first gear shaft 220 through a coupling 213, and the other end of the first gear shaft 220 is rotatably mounted on the top chassis 102 through a second bearing 221. Illustratively, the top seat 102 is sleeved into the first gear shaft 220 from the upper part, the second bearing 221 is sleeved into the first gear shaft 220 from the upper part, the lower surface of the inner ring of the second bearing 221 is jointed with the bearing installation surface of the first gear shaft 220, the lower surface of the outer ring of the second bearing 221 is jointed with the step surface of the bearing installation hole of the top seat 102, and the upper surface of the second bearing 221 is limited by using a nut 222 installed on the first gear shaft 220. The first transmission member 230 is disposed coaxially with the first gear shaft 220, and the first transmission member 230 may be integrally disposed with the first gear shaft 220 or may be connected by a gear key, thereby allowing the first transmission member 230 to rotate along with the first gear shaft 220. The first gear shaft 220 has both ends connected between the top chassis 102 and the base 101, and also has a supporting effect on stable connection of the top chassis 102 and the base 101.

Referring to fig. 2, 7 and 8, fig. 7 is a schematic diagram illustrating an assembly structure of a second transmission part of a movement driving mechanism of a surgical instrument according to an embodiment of the present invention, and fig. 8 is a schematic diagram illustrating an exploded structure of fig. 7.

In this embodiment, the movement driving mechanism 200 further includes a second transmission member 240, and the first transmission member 230 is engaged with the second transmission member 240 and is in transmission connection with the movement driving mechanism 100 through the second transmission member 240. The second transmission member 240 is a gear that meshes with the first transmission member. By arranging the second transmission part 240, the gap between the first transmission part 230 and the movable transmission mechanism 100 is compensated, the transmission ratio of the movable driving mechanism 200 is increased, the speed and moment reducing effect is achieved, larger moment can be provided for the movable transmission mechanism 100, and meanwhile, the reduction of the rotating speed is also beneficial to improving the driving precision of the movable transmission mechanism 100.

Illustratively, the second transmission member 240 is mounted on the top base 102 through a third bearing 241, the third bearing 241 is sleeved on the gear shaft of the second transmission member 240 from the upper portion, the lower surface of the third bearing 241 is fitted with the gear shaft bearing mounting step surface of the second transmission member 240, the top base 102 is sleeved on the gear shaft of the second transmission member 240 from the upper portion, the third bearing 241 is sleeved on the gear shaft of the second transmission member 240 from the upper portion, the lower surface of the inner ring of the third bearing 241 is fitted with the bearing mounting surface of the gear shaft of the second transmission member 240, the lower surface of the outer ring of the third bearing 241 is fitted with the bearing mounting hole step surface of the top base 102, and the upper surface of the third bearing 241 is limited by using a snap spring 242 mounted on the gear shaft of the second transmission member 240.

Illustratively, the second transmission member 240 is a dual stage gear having a pinion gear engaged with the first transmission member 230 and a bull gear for driving connection with the mobile transmission mechanism 100. It will be appreciated that in other embodiments, the first transmission member 230 may be directly in driving engagement with the mobile transmission mechanism 100 without the second transmission member 240, or the first transmission member 230 may be in driving engagement with the mobile transmission mechanism 100 by adjusting the gear diameter, or by using more intermediate transition gears, in order to satisfy the transmission ratio.

It should be noted that, the "transmission connection" in the present application may be a transmission of motion by direct transmission cooperation, or may be a transmission of motion by indirect transmission cooperation of other intermediate transition components.

Referring to fig. 9-14, fig. 9 is a front view illustrating a partial structure assembly of a mobile driving mechanism according to an embodiment of the present invention; fig. 10 shows an isometric view of fig. 9; FIG. 11 shows an exploded view of FIG. 9; fig. 12 is a schematic view of a first section of a movement driving mechanism according to an embodiment of the present invention; fig. 13 is a schematic view of a first section of a movement driving mechanism according to an embodiment of the present invention; fig. 14 is a schematic view showing a third section of the structure of the movement driving mechanism according to the embodiment of the present invention; the first section, the first section and the third section form an overall view of the entire rod-like transmission structure emerging from the base.

The movement driving mechanism 200 drives the actuator 300 to move through the movement transmission mechanism 100. The movement transmission mechanism 110 includes a firing drive 110, a conversion member 120, a stop 130 (see FIG. 11), and a firing bar 140 (FIG. 12). The firing driving piece 110 is used for being in transmission connection with the moving driving mechanism, the firing driving piece 110 rotates by taking the first axis as an axis, the conversion piece 120 is in transmission connection with the firing driving piece 110, the limiting piece 130 and the conversion piece 120 form non-rotating slidable fit to limit the conversion piece 120 to rotate by taking the first axis as an axis, the conversion piece 120 moves along the first axis under the driving of the firing driving piece 110, the firing bar 140 comprises opposite two ends, one end of the firing bar 140 is in transmission connection with the conversion piece 120, the firing bar 140 can rotate by taking the first axis as an axis relative to the conversion piece 120, the conversion piece 120 can drive the firing bar 140 to move along the first axis, and the other end of the firing bar 140 is used for being in transmission connection with the execution piece 300 to drive the execution piece 300 to move along the first axis.

The firing driving member 110 is used for connecting and transmitting the rotation power to the transforming member 120, and is a rotation transmission member; the conversion member 120 converts the rotation of the firing drive member 110 into linear movement, which is a motion conversion member; the limiting member 130 limits the rotation of the conversion member 120, so that the conversion member 120 can move relative to the firing driving member 110 and cannot rotate, the effectiveness of the movement of the conversion member 120 is improved, and in addition, the rotation of the conversion member 120 is limited in a mechanical limiting manner through the limiting member 130, so that complex decoupling operation is not required.

In addition, the conversion piece 120 is in transmission connection with the execution piece 300 through the firing bar 140, and the firing bar 140 is in rotation connection with the conversion piece 120, so that the firing bar 140 can be driven to move together when the conversion piece 120 moves, the multi-section transmission part enables the mobile transmission mechanism 100 to compound more transmission actions, and the execution piece 300 can output more actions. The multiple transmission joints are mechanically matched to realize movable coupling and rotary decoupling, so that the structure is simple and the transmission reliability is high. By arranging the firing bar 140, the length of the conversion member 120 can be shortened, the actuation resistance of the firing drive member 110 can be reduced, and the transmission length of the cutter bar of the anastomat can be ensured.

The whole moving transmission mechanism 100 is in a straight rod shape, and the moving transmission mechanism 100 is used as a cutter bar of the anastomat in the embodiment. The extending direction of the first axis is identical to the extending direction of the moving transmission mechanism 100, the extending directions of the firing drive element 110, the conversion element 120 and the firing rod 140 of the moving drive mechanism 100 are all parallel or coincident with the first axis, and the extending directions of the driving main shaft 212, the first gear shaft 220 and the gear shaft of the second transmission member 240 of the moving drive mechanism 100 are all parallel to the first axis.

In the present embodiment, the movement transmission mechanism 100 and the movement driving mechanism 200 share the same base 10, and in other embodiments, the movement transmission mechanism 100 and the movement driving mechanism 200 may be assembled after being mounted on the respective bases.

In some embodiments, the firing drive member 110 is in threaded driving engagement with the translating member 120, one of the translating member 120 and the limiting member 130 has a chute, the other has a slide that mates with the chute, the chute extends along the first axis, and the translating member 120 moves along the first axis in limited engagement of the chute with the slide as the firing drive member 110 rotates. The threaded connection of the firing driving piece 110 and the conversion piece 120 can convert rotary motion into linear motion, and meanwhile, the firing driving piece 110 and the conversion piece 120 can be mutually nested, so that rod-shaped integrity of a movable transmission mechanism is facilitated, and the structure is more compact.

The firing drive 110 has a firing portion 111, the firing portion 111 being adapted for driving connection with the movement drive 200. In this embodiment, the firing portion 111 is a gear disposed on an outer peripheral surface of the firing driving member 110, the firing driving member 110 is provided with a threaded hole, the conversion member 120 is a screw disposed in the threaded hole, the limiting member 130 is provided with a sliding slot, and the conversion member 120 is provided with a sliding block. The firing drive member 110 and the conversion member 120 form a screw pair, wherein the limiting member 130 is configured to limit the rotation movement of the conversion member 120, so that the rotation movement of the firing drive member 110 can be converted into the linear movement of the conversion member 120.

Illustratively, the various components are assembled as follows:

as shown in fig. 9-11, the mounting member 150 is fixedly mounted on the top seat 102, and has a mounting hole 151 thereon, the mounting hole 151 forms a plug-in fit with the plug-in portion 132 of the limiting member 130, and the mounting hole 151 is a non-rotating hole, so that the limiting member 130 and the base 10 form a rotation fixation; the limiting member 130 is provided with a first sliding key groove 131, the first sliding key groove 131 extends along a first axis, the converting member 120 is provided with a first fixing key groove 122, the converting member 120 and the limiting member 130 are mutually nested, the first fixing key groove 122 is opposite to the first sliding key groove 131, the first matching key 121 is inserted into the first fixing key groove 122, and the first matching key 121 extends into the first sliding key groove 131, so that the limiting member 130 limits the rotation movement of the converting member 120, but does not prevent the movement of the converting member 120. In order to ensure the mounting stability of the firing drive member 110 without affecting the mounting of the limiting member 130, the base 10 further includes a middle plate 105, wherein the middle plate 105 is connected to the top seat 102 and spaced from the top seat 102, and the middle plate 105 can be connected to the top seat 102 by screws; the firing driving piece 110 is mounted on the base 10 through a fourth bearing 112, and is particularly mounted on the middle plate 105, the fourth bearing 112 is mounted in a bearing groove of the middle plate 105, the inner side surface of the fourth bearing 112 is level with the step surface of the bearing groove of the middle plate 105, one end side surface of the fourth bearing 112 is limited by using a clamp spring 113 mounted on the firing driving piece 110, and the other end side surface of the fourth bearing 112 is level with the step surface of the firing driving piece 110; the firing drive member 110 and the translating member 120 form a screw pair, and the rotational motion of the firing drive member 110 can be translated into linear motion of the translating member 120.

In some embodiments, the firing bar 140 forms a non-rotating, slidable fit with the stop 130. Therefore, the moving direction of the firing bar 140 can be more stable, the rotation during moving is avoided, and the linear driving force with stable direction can be output to the executing piece.

One of the limiting member 130 and the firing bar 140 is provided with a fixed key slot, the other is provided with a sliding key slot, and the movement transmission mechanism 100 further comprises a second matching key 101, wherein the second matching key 142 is fixed in the fixed key slot and is in sliding fit with the sliding key slot. The second sliding key groove 132 is disposed on the limiting member 130, the second fixing key groove 141 is disposed on the firing bar 140, the firing bar 140 is sleeved outside the limiting member 130, and the second matching key 142 is inserted into and extends into the second sliding key groove 132 through the second fixing key groove 141, so that sliding matching between the firing bar 140 and the limiting member 130 is achieved, and no relative rotation occurs between the two.

Through the assembly mode of keyway and key, can make between locating part 130 and the firing bar 140 after mutually nested, rotate fixed keyway and slip keyway relatively, then in inserting fixed keyway and slip keyway with the cooperation key, the assembly is comparatively simple and accurate. In addition, in order to make the stop 130 form better guidance to the firing bar 140, sliding keyways are provided on two opposite sides of the stop 130, i.e. two sides, corresponding fixing keyways are provided on two sides of the firing bar 140 sleeved outside the stop 130, and corresponding matching keys are inserted on two sides.

The conversion element 120 is rotatably coupled to the firing bar 140. In this embodiment, one of the firing bar 140 and the conversion member 120 has a stepped end in the shape of a rotor, and the other of the firing bar 140 and the conversion member 120 has a recess matching the stepped end, the recess being partially open to allow the stepped end to be inserted, thereby forming a rotary connection. The decoupling mechanism with a complex structure is simpler, and the transmission of the movement is more effective. In addition, the opening of the caulking groove can have certain elasticity so as to enable the ladder end to be better kept in the caulking groove after the ladder end is inserted.

FIG. 15 is a schematic view showing the cooperation of the base rod and the firing rod of the movement transmission mechanism according to the embodiment of the present invention; FIG. 16 shows a schematic cross-sectional structure of FIG. 15;

referring to fig. 12, 15 and 16, since each transmission component is divided into multiple sections along the length extension direction of the moving transmission mechanism, in order to enable multiple transmission sections to be capable of independently transmitting and being mutually connected, the outside is complete, and interference of the outside on the actions of each transmission section is reduced. In this embodiment, the movement transmission mechanism 100 further includes a base rod 160, where the base rod 160 is sleeved outside the firing rod 140 and slidably disposed relative to the firing rod 140, and the base rod 160 can move along the first axis relative to the conversion member 120. Therefore, the base rod 160 can sleeve at least part of the conversion piece 120 and the firing rod 140 therein, and has a reinforcing effect on the connection between the conversion piece 120 and the firing rod 140, so that the problem that the tripping occurs at the rotating connection position of the conversion piece 120 and the firing rod 140 is avoided.

The base bar 160 forms a non-rotating sliding fit with the firing bar 140. The base rod 160 and the firing rod 140 can also be connected by matching the key and the groove, so that the corresponding key can be inserted after the components are mutually nested to realize sliding fit. In this embodiment, the sliding fit key of the base rod 160 and the firing rod 140 is identical to the sliding fit key of the firing rod 140 and the limiting member 130, that is, the base rod 160 and the firing rod 140 form a non-rotating sliding fit through the second fit key 142, the base rod 160 is provided with a third sliding key slot 161, the third sliding key slot 161 is opposite to the second fixed key slot 141 and opposite to the second sliding key slot 132, and the second fit key 142 sequentially passes through the third sliding key slot 161, the second fixed key slot 141 and the second sliding key slot 132, thereby realizing the non-rotating sliding fit among the base rod 160, the firing rod 140 and the limiting member 130.

The movement transmission mechanism 100 further includes a seal 170, the seal 170 being disposed between the base rod 160 and the firing bar 140. The sealing member 170 may be elastic components such as a silicone ring and a rubber ring, and generates deformation when being extruded, and generates elastic deformation force, and the elastic deformation force enables the sealing member 170 to fill a gap between the base rod 160 and the firing rod 140, so that the position stability between the base rod 160 and the firing rod 140 is ensured, the base rod 160 and the firing rod 140 can slide relatively stably, and the problem that stress deflection is caused by fit gap and the transmission is blocked when long shaft transmission is avoided.

In addition, the seal 170 is positioned to remain stable during relative movement between the base rod 160 and the firing bar 140. In this embodiment, the outer surface of the firing bar 140 is provided with an annular recess in which the seal 170 is embedded, thereby enabling a fixed position on the firing bar 140 as the firing bar 140 moves relative to the base bar 160.

Referring to fig. 12 and 13 together with fig. 17 and 18, fig. 17 is a schematic structural diagram illustrating connection between a cutter bar assembly and a base bar of a mobile transmission mechanism according to an embodiment of the present invention; fig. 18 is an exploded view of fig. 17.

As mentioned above, when the firing driving member 110 is actuated, the conversion member 120 drives the firing bar 140 to move relative to the limiting member 130 and also move relative to the base bar 160. In some embodiments, the movement transmission mechanism 100 further comprises a knife head assembly 180, the knife head assembly 180 comprising a knife head 181 and a knife head pusher bar 182 that are relatively movable along the first axis, the knife head 181 being rotatably coupled to the base bar 160, the knife head pusher bar 182 being rotatably coupled to the firing bar 140. The actuator 300 includes a jaw 310 and a blade 320, the jaw 310 includes jaws capable of rotating to open and close, the blade 320 is movably disposed in the inlay 310, the blade 320 is in driving connection with the bit pushing rod 182 to move along a first axis under the driving of the bit pushing rod 182, and the jaw 310 is connected with the tool holder 181. Therefore, when the firing bar 140 moves, the blade 320 can be driven to move by the tool bit pushing bar 182, and the clamp body 310 can be kept fixed by being connected to the base bar 160 by the tool rest 181, so as to realize the relative movement with the blade 320.

The rotary connection between the firing bar 140 and the knife head pushing bar 182, and between the base bar 160 and the knife rest 181 may also be realized by a rotor-shaped step end and a caulking groove, respectively, with the caulking groove having an opening for the step end to be inserted. Illustratively, the firing bar 140 has slots 1401, 1402, the bit pusher bar 182 has stepped ends 1821, 1822, the base bar 160 has slots 1601, 1602, and the knife block 181 has stepped ends 1811, 1812, thereby providing a rotatable connection.

The junction of the firing bar 140 and the bit pushing bar 182 is located in the base bar 160, i.e. the bit pushing bar 182 extends into the base bar 160, so that the base bar 160 has a restraining effect on the separation of the opening of the insertion groove between the firing bar 140 and the bit pushing bar 182, and the connection of the firing bar 140 and the bit pushing bar 182 can be more stable.

In some embodiments, the movement transmission mechanism 100 further includes an outer tube 190, the outer tube 190 is sleeved outside the base rod 160 and the knife holder 181, and the outer tube 190 forms a non-rotating fit with the base rod 160. Through setting up outer tube 190 with base 160 and knife rest 181 cover wherein, inside base 160 and knife rest 181 remove interconnect, rotate mutually independently, and the outward appearance is complete, avoids the external interference to the junction of two. In addition, the outer tube 190 is provided to cover the connection structure of the base bar 160 and the knife holder 181 therein, and has a restraining effect on the separation between the base bar 160 and the knife holder 181 through the opening of the caulking groove, so that the connection of the base bar 160 and the knife holder 181 is more stable.

At least part of the tool bit pushing rod 182 has elasticity, the tool bit pushing rod 182 is opposite to the blade 320, is positioned at the core of the movement transmission mechanism 100, is thin and long, and is easy to break if being a rigid rod when transmitting force, so that the elastic structure is adopted, and has better flexibility, for example, the tool bit pushing rod 182 is a shrapnel connected with the blade 320.

The whole moving transmission mechanism 100 of the embodiment is rod-shaped, the firing driving member 110 and the transforming member 120 are mutually nested, the transforming member 120 and the limiting member 130 are mutually nested, and the end of the transforming member 120 is connected with the end of the firing bar 140. Specifically, the conversion member 120 is embedded in the firing driving member 110, the limiting member 130 is embedded in the conversion member, and the conversion member 120 can move relative to the limiting member 130. The surgical instrument 1000 further includes an outer tube 190, wherein the conversion member 120 and the firing bar 140 are embedded within the outer tube 190 and slidably disposed with respect to the outer tube 190. Further, the end of the firing rod 140 and the end of the conversion member 120 are connected, the base rod 160 is sleeved outside the firing rod 140 and the conversion member 120, the limiting member 130 is embedded inside the conversion member 120 and the firing rod 140, the other end of the firing rod 140 connected with the conversion member 120 is connected with the cutter head assembly 180, in particular to the cutter head pushing rod 182, the cutter head pushing rod 182 is sleeved with the cutter frame 181, the cutter frame 181 is fixed with the base rod 160, and the outer tube 190 is sleeved outside the base rod 160 and the cutter frame 181. Thus, the entire travel drive mechanism 100 is rod-like with the various components in the outer tube 190 nested to form a drive connection or sliding decoupling relationship, both associated and independent of each other.

In another embodiment, the surgical instrument includes a drive plate 211, a firing drive assembly, and a stop 130. The driving disk 211 is used for detachably connecting a mechanical arm of a surgical robot, and receiving a driving force of the mechanical arm into a rotational driving force. The firing drive assembly includes a firing nut 110 and a firing screw 120, the firing nut 110 receiving a rotational driving force of a driving disk 211, the effector 300 having a blade 320, the firing screw 120 being driven by the firing nut 110 to move axially along the screw and for firing the blade 320 of the effector 300. The limiting member 130 slidably engages the firing screw 120 and limits the rotation of the firing screw 120.

In another alternative embodiment, the limiting member 130 is configured as a swinging screw that can be moved axially along the screw by the driving force of a transmission member 230 (in this embodiment, a gear assembly) and is used to drive the actuator 300 to swing. The swing screw 130 may be accommodated in the firing screw 120, one of the firing screw 120 and the swing screw 130 is provided with a guide key, the other of the firing screw 120 and the swing screw 130 is provided with a sliding groove, and the guide key is disposed in the sliding groove and can slide along the sliding groove, so that the firing screw 120 and the swing screw 130 form a rotation limit, and meanwhile, the respective linear movement functions of firing and swinging are not affected.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims (19)

1. A surgical instrument comprising an effector for performing a procedure, comprising:

The firing driving piece is used for being in transmission connection with a driving mechanism and rotates by taking a first axis as a shaft;

the conversion piece is in transmission connection with the firing driving piece;

the limiting piece is in sliding fit with the conversion piece and limits the rotation of the conversion piece, and the conversion piece moves along the first axis under the driving of the firing driving piece; the method comprises the steps of,

the firing bar comprises two opposite ends, one end of the firing bar is in transmission connection with the conversion piece, the conversion piece drives the firing bar to move along the first axis, and the other end of the firing bar is in transmission connection with the execution piece to drive the execution piece to move along the first axis.

2. The surgical instrument of claim 1, wherein the firing bar forms a slidable fit with the stop.

3. The surgical instrument of claim 2, further comprising a first mating key, one of the stop and the firing bar having a fixed keyway and the other having a sliding keyway, the first mating key being secured in the fixed keyway and being in sliding engagement with the sliding keyway.

4. The surgical instrument of claim 1, wherein the firing drive member is in threaded driving engagement with the translating member, one of the translating member and the limiting member having a chute, the other having a slide mated with the chute, the chute extending along the first axis, the translating member being movable along the first axis in limited engagement of the chute with the slide as the firing drive member rotates.

5. The surgical instrument of claim 1, further comprising a base, wherein the firing drive is rotatable relative to the base, wherein the conversion member is movable relative to the base, wherein the stop member is fixed relative to or is part of the base, and wherein the conversion member moves relative to the base under the constraint of the stop member as the firing drive rotates.

6. The surgical instrument of claim 5, wherein the base comprises a top seat and a base that are connected to each other, the stop member is mounted to the top seat, the conversion member is sleeved outside the stop member, the firing drive member is sleeved outside the conversion member, and the firing drive member is rotatably connected to the base.

7. The surgical instrument of claim 6, wherein the top mount and the base have a space therebetween, and wherein the firing drive has a firing portion for driving connection with the drive mechanism, the firing portion being located in the space between the top mount and the base.

8. The surgical instrument of claim 1, wherein one of the firing bar and the conversion member has a stepped end in the shape of a rotor, the other of the firing bar and the conversion member has a recess matching the stepped end, and the firing bar and the conversion member form a running fit.

9. The surgical instrument of claim 1, further comprising a base rod sleeved outside the firing rod and forming a sliding fit with the firing rod.

10. The surgical instrument of claim 9, further comprising a seal disposed between the base rod and the firing bar.

11. The surgical instrument of claim 9, further comprising a knife head assembly comprising a knife rest movable relative to the first axis and a knife head pusher bar rotatably coupled to the base bar, the knife head pusher bar rotatably coupled to the firing bar;

The executing piece comprises a clamp body and a blade, wherein the clamp body comprises clamping jaws capable of rotating to open and close, the blade is movably arranged in the clamping jaws, the blade is in transmission connection with the tool bit pushing rod so as to move along the first axis under the driving of the tool bit pushing rod, and the clamp body is connected with the tool rest.

12. The surgical instrument of claim 11, wherein the bit pusher bar extends into the base bar to form a rotatable connection with the firing bar.

13. A surgical instrument as recited in claim 11, further comprising an outer tube, wherein the outer tube is sleeved outside the base shaft and the blade holder, and wherein the outer tube forms a non-rotational fit with the base shaft.

14. A surgical instrument as recited in claim 11, wherein at least a portion of the blade pusher bar is resilient.

15. The surgical instrument of claim 1, wherein the conversion member forms a rotatable connection with the firing bar that is rotatable about the first axis.

16. The surgical instrument of claim 1, wherein the firing drive and the conversion member are nested within each other, the conversion member and the stop member are nested within each other, and the conversion member end is connected to the end of the firing bar;

The surgical instrument further comprises an outer tube, and the conversion piece and the firing bar are arranged in the outer tube and are slidably arranged relative to the outer tube.

17. A surgical instrument having an implement for performing a procedure, comprising:

the driving disc is used for detachably connecting a mechanical arm of a surgical robot and receiving and converting the driving force of the mechanical arm into rotary driving force;

the firing drive assembly comprises a firing nut and a firing screw, the firing nut receives the rotary driving force of the driving disc, the executing piece is provided with a blade, and the firing screw is driven by the firing nut to axially move along the screw and is used for firing the blade of the executing piece; and

the limiting piece is in sliding fit with the firing screw and limits the rotation of the firing screw.

18. A surgical instrument having an implement for performing a procedure, comprising:

the driving disc is used for detachably connecting a mechanical arm of a surgical robot and receiving and converting the driving force of the mechanical arm into rotary driving force;

the firing drive assembly comprises a firing nut and a firing screw, the firing nut receives the rotary driving force of the driving disc, the executing piece is provided with a blade, the firing screw is driven by the firing nut to axially move along the screw and is used for firing the blade of the executing piece to move, and the firing screw is hollow and tubular; and

The swing driving assembly comprises a transmission part and a swing screw rod, the transmission part receives the rotary driving force of the driving disc, the executing part is connected with the swing part, the swing screw rod moves axially along the screw rod under the driving force of the transmission part and is used for driving the swing part to swing so as to drive the executing part to swing, the swing screw rod is arranged in the firing screw rod, one of the firing screw rod and the swing screw rod is provided with a guide key, the other of the firing screw rod and the swing screw rod is provided with a sliding groove, and the guide key is arranged in the sliding groove and can slide along the sliding groove.

19. A surgical robot comprising a master operating console and a slave operating device, the slave operating device comprising the surgical instrument of any one of claims 1 to 18.

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