CN117159150A - Laparoscopic surgical instrument and surgical robot - Google Patents
Laparoscopic surgical instrument and surgical robot Download PDFInfo
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- CN117159150A CN117159150A CN202210591850.8A CN202210591850A CN117159150A CN 117159150 A CN117159150 A CN 117159150A CN 202210591850 A CN202210591850 A CN 202210591850A CN 117159150 A CN117159150 A CN 117159150A
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- 230000009471 action Effects 0.000 claims abstract description 9
- 238000003825 pressing Methods 0.000 claims abstract description 3
- 230000005540 biological transmission Effects 0.000 claims description 33
- 230000008878 coupling Effects 0.000 claims description 26
- 238000010168 coupling process Methods 0.000 claims description 26
- 238000005859 coupling reaction Methods 0.000 claims description 26
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 230000013011 mating Effects 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 11
- 238000009434 installation Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 5
- 238000001356 surgical procedure Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 238000002357 laparoscopic surgery Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000009297 electrocoagulation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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Abstract
The invention relates to the technical field of medical instruments and discloses a laparoscopic surgical instrument which comprises an instrument main body and a front-end instrument, wherein the instrument main body comprises a shell and an instrument quick-change assembly, the instrument quick-change assembly comprises an instrument button, an instrument quick-buckle and an instrument button elastic piece, and an instrument outer rod through hole and a buckle stopping part are arranged on the instrument quick-buckle; the front-end instrument comprises an instrument outer rod and an instrument inner rod, the instrument outer rod can be inserted into the instrument outer rod through hole, an outer rod quick clamping groove is formed in the instrument outer rod, and after the instrument outer rod is inserted in place, the instrument quick clamp can clamp the clamp stop part into the outer rod quick clamping groove under the action of the instrument button elastic piece; the clamping and stopping part can be withdrawn from the outer rod quick clamping groove by pressing the instrument button. The invention also discloses a surgical robot. The front-end instrument and the instrument main body can be quickly disassembled and assembled, the same instrument main body can be matched with various front-end instruments, the types of the instrument main bodies are reduced, the production and the installation are easy, and the manufacturing cost is reduced.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a laparoscopic surgical instrument and a surgical robot.
Background
Robotic-assisted surgery systems have been widely adopted worldwide to replace traditional surgical procedures, which reduce discomfort during patient recovery, as well as sustained hospital stays. The robot assisted surgery system utilizes the electric laparoscopic surgery instrument to implement the surgery, which improves the precision of the surgery operation and reduces the operation fatigue of doctors.
There are several patents that disclose powered laparoscopic surgical instruments, and in general, robotic surgical systems have multiple mechanical manipulator arms with multiple sets of motors for driving the laparoscopic surgical instruments. The electric laparoscopic surgical instrument is mounted on the mechanical arm through a quick buckle and is clamped with the motor at the same time, and the surgical operations such as shearing, grabbing, stitching, electrocoagulation and the like of the laparoscopic surgical instrument are realized through motor driving.
Generally, in order to realize the power transmission from the motor on the mechanical arm to the tool bit at the tail end of the laparoscopic surgical instrument, the prior art mostly adopts the structure that the front end instrument is fixed with the instrument main body, the instrument main body is fixed with the tail end of the mechanical arm, and the power transmission and the control are realized through transmission mechanisms such as a guy rope, so that the instrument main body is required to be replaced every time the front end instrument is configured on the mechanical arm, the laparoscopic surgical instrument has a plurality of instrument main body types, can not be quickly replaced and disassembled, and has complex production and installation, high manufacturing cost and other problems.
Disclosure of Invention
Based on the above, the present invention aims to provide a laparoscopic surgical instrument and a surgical robot, which can be quickly disassembled and assembled with an instrument body, can be matched with various front instruments with the same instrument body, are easy to produce and install, and reduce the manufacturing cost, so as to solve the problems in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a laparoscopic surgical instrument, comprising:
the device comprises a device main body, a device fixing device and a device fixing device, wherein the device main body comprises a shell and a device quick-change assembly arranged in the shell, the device quick-change assembly comprises a device button, a device quick buckle and a device button elastic piece, and a device outer rod through hole and a buckle stopping part are arranged on the device quick buckle;
the front-end instrument comprises an instrument outer rod and an instrument inner rod, wherein the instrument outer rod can be inserted into the instrument outer rod through hole, an outer rod quick clamping groove is formed in the instrument outer rod, and after the instrument outer rod is inserted in place, the instrument quick clamping buckle can enable the clamping buckle stopping part to be clamped into the outer rod quick clamping groove under the action of the instrument button elastic piece; the clamping and stopping part can be withdrawn from the outer rod quick clamping groove by pressing the instrument button.
As a preferred aspect of the laparoscopic surgical instrument, the instrument body further includes an end closure transmission assembly mounted in the housing, the end closure transmission assembly including a closure motor coupling disc and an end gear, the closure motor coupling disc being capable of driving the end gear to rotate; the end gear is provided with a chute, the end part of the instrument inner rod is provided with a limiting part, and the limiting part can be inserted into or withdrawn from the chute along with the instrument inner rod and drives the end gear to rotate; when the outer rod of the instrument is inserted into place, the closing motor coupling disc drives the tail end gear to rotate, so that the inner rod of the instrument can be driven to move axially to open or close the jaw.
As a preferable scheme of laparoscopic surgery apparatus, terminal closed drive assembly still includes the subassembly that resets, the subassembly that resets includes wheel pivot, guiding axle, fixed pivot and elastic component that resets, fixed pivot is fixed in on the shell, wheel pivot is fixed in on the terminal gear, the guiding axle is connected fixed pivot with wheel pivot, elastic component that resets is overlapped and is located on the guiding axle.
As a preferable mode of a laparoscopic surgical instrument, when the front end instrument is not inserted into the instrument body, the axis of the guide shaft is positioned on the right side of the rotation center of the end gear, the end gear is positioned at a first limit position, and the limit part can be inserted into the chute along with the instrument inner rod; when the front-end instrument is inserted in place, the axis of the guide shaft is positioned at the left side of the rotation center of the tail-end gear, the tail-end gear moves to a second limit position under the action of the reset assembly, and the sliding groove pulls the inner rod of the instrument inwards to enable the jaw of the front-end instrument to be closed.
As a preferable scheme of the laparoscopic surgical instrument, the tail end closed transmission assembly further comprises an error proofing assembly, the error proofing assembly comprises an on-wheel error proofing rotating shaft and an error proofing stop lever, and an error proofing hole is further formed in the instrument quick buckle; the on-wheel error-proof rotating shaft is arranged on the tail end gear and can rotate around the shaft of the on-wheel error-proof rotating shaft, a long rod part of the error-proof stop rod penetrates through the error-proof hole, the on-wheel error-proof rotating shaft can be driven to move when the tail end gear rotates, and the on-wheel error-proof rotating shaft drives the error-proof stop rod to move along the axis direction of the error-proof hole; when the front-end instrument is the correct pairing instrument and is inserted into the position, the error-proof stop rod can completely withdraw from the error-proof hole, so that the clamping and stopping part can be clamped into the outer rod quick clamping groove.
As a preferable scheme of the laparoscopic surgical instrument, the instrument main body further comprises a pivoting transmission assembly arranged in the shell, the pivoting transmission assembly comprises a rotating motor coupling disc and a rotating sleeve, and the rotating motor coupling disc can drive the rotating sleeve to rotate; the outer rod of the instrument is coaxially arranged in the rotary sleeve in a penetrating mode, and the outer rod of the instrument and the rotary sleeve are clamped and limited in the circumferential direction.
As a preferable scheme of the laparoscopic surgical instrument, a guiding protrusion is arranged on the side wall of an inner hole of the rotary sleeve and on the outer rod of the laparoscopic surgical instrument, and a guiding sinking groove is arranged on the other side of the rotary sleeve; the guide protrusion is inserted into the guide sink groove when the front-end instrument is inserted into the instrument body.
As a preferable scheme of the laparoscopic surgery instrument, the instrument button elastic piece is a compression spring, the instrument button is arranged at one end of the instrument quick buckle along a first direction, and the instrument button elastic piece is arranged at the other end of the instrument quick buckle along the first direction; the first direction is perpendicular to an axial direction of the instrument outer rod.
As a preferable scheme of the laparoscopic surgical instrument, the sliding chute is a cylindrical groove, the side wall of the sliding chute is provided with an avoidance opening, and the diameter of the limiting part is larger than the width of the avoidance opening and smaller than the diameter of the cylindrical groove.
As a preferred embodiment of the laparoscopic surgical instrument, the end gear is a toothed member having partial teeth on the outer circumference.
A surgical robot comprising a laparoscopic surgical instrument as claimed in any one of the preceding aspects.
The beneficial effects of the invention are as follows:
according to the laparoscopic surgical instrument provided by the invention, the quick assembly of the front-end instrument and the quick assembly of the instrument main body are realized through the matching of the instrument quick assembly component and the quick clamping groove of the outer rod on the outer rod of the instrument, the same instrument main body can be matched with various front-end instruments, and when other front-end instruments are configured, the instrument main body is not required to be replaced, and only the front-end instrument is required to be replaced, so that the types of the instrument main body are reduced, the whole instrument is easy to produce and install, and the whole manufacturing cost of the instrument is reduced.
Drawings
FIG. 1 is a schematic view of a laparoscopic surgical instrument provided by an embodiment of the present invention;
FIG. 2 is an exploded view of a laparoscopic surgical instrument provided by an embodiment of the present invention;
FIG. 3 is a schematic view of a front end instrument according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of the interior of a laparoscopic surgical instrument provided by an embodiment of the present invention;
FIG. 5 is a second schematic view of the interior of a laparoscopic surgical instrument provided by an embodiment of the present invention;
FIG. 6 is a third internal schematic view of a laparoscopic surgical instrument provided by an embodiment of the present invention;
FIG. 7 is a schematic view of an instrument quick change assembly and front end instrument assembly according to an embodiment of the present invention;
FIG. 8 is a schematic view of a quick buckle of an instrument according to an embodiment of the present invention;
FIG. 9 is a schematic view of a closed-end drive assembly provided in accordance with an embodiment of the present invention;
FIG. 10 is a schematic interior view of a laparoscopic surgical instrument according to an embodiment of the present invention;
FIG. 11 is a schematic interior view of a laparoscopic surgical instrument provided by an embodiment of the present invention;
FIG. 12 is a schematic view of the reset assembly, end gear and instrument inner rod provided by an embodiment of the present invention;
FIG. 13 is a schematic interior view of a laparoscopic surgical instrument provided by an embodiment of the present invention;
FIG. 14 is a schematic interior view of a laparoscopic surgical instrument according to an embodiment of the present invention;
FIG. 15 is a schematic view of an embodiment of the present invention providing a pivoting drive assembly;
FIG. 16 is a schematic view of an installation of a pivoting drive assembly with an outer rod according to an embodiment of the present invention;
fig. 17 is a schematic structural view of a rotary sleeve according to an embodiment of the present invention.
In the figure:
100-an instrument body;
101-an instrument quick change assembly; 1011-instrument button; 1012-quick snap of instrument; 10121-instrument outer rod through hole; 10122-snap stop; 10123-error proofing holes; 1013-instrument button spring;
102-end closure drive assembly; 1021-end gear; 10211-a chute; 1022-intermediate gear; 1023-closing the input gear; 1024-closing motor coupling plate; 1025-resetting the component; 10251-wheel spindle; 10252-guide shaft; 10253-fixed shaft; 10254-return spring; 1026-error proofing component; 10261-error proofing shaft on wheel; 10262-error-proofing bars;
130-pivoting drive assembly; 131-rotating the sleeve; 1311-guide projection; 132-rotating the output gear; 133-rotating the input gear; 134-rotating electric machine coupling disc;
104-a housing;
110-front end instrument; 111-an instrument outer rod; 1111-outer lever quick snap groove; 1112-guiding a sink; 112-an instrument inner rod; 1121-limit part.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the prior art, the laparoscopic surgical instrument is mainly used for fixing the instrument main body and the front-end instrument, and when one front-end instrument is replaced, the instrument main body needs to be replaced together, so that the problems of multiple instrument main body types, incapability of quick replacement and disassembly, complex production and installation, high manufacturing cost and the like are caused.
To solve the above problems, as shown in fig. 1 to 8, an embodiment of the present invention provides a laparoscopic surgical instrument including an instrument body 100 and a front end instrument 110, wherein the front end instrument 110 may be one or more, and the instrument body 100 may be detachably coupled with the one or more front end instruments 110. Specifically, the instrument main body 100 of the present embodiment includes a housing 104 and an instrument quick-change assembly 101 mounted in the housing 104, the instrument quick-change assembly 101 includes an instrument button 1011, an instrument quick-snap 1012, and an instrument button elastic member 1013, and the instrument quick-snap 1012 is provided with an instrument outer rod through hole 10121 and a snap stopper 10122. The front end instrument 110 comprises an outer instrument rod 111 and an inner instrument rod 112, the outer instrument rod 111 is sleeved outside the inner instrument rod 112, and the inner instrument rod 112 can axially move relative to the outer instrument rod 111 under the action of external force, so that the jaws of the front end instrument 110 can be opened and closed. The outer rod 111 can be inserted into the outer rod through hole 10121, the outer rod 111 is provided with an outer rod quick clamping groove 1111, and the size of the outer rod quick clamping groove 1111 is matched with the size of the buckle stop portion 10122. In this embodiment, the instrument button resilient member 1013 may be selected as a compression spring that is pre-installed in a compressed state within the housing 104; the instrument button 1011 is disposed at one end of the instrument quick buckle 1012 along the first direction, and the compression spring is disposed at the other end of the instrument quick buckle 1012 along the first direction, so that the instrument quick buckle 1012 can be clamped into the outer rod quick clamping groove 1111 under the action of the compression spring. Preferably, the first direction is perpendicular to the axial direction of the outer shaft 111 of the instrument, so that the snap fit engagement of the snap stop 10122 with the outer shaft snap groove 1111 can be achieved more quickly and accurately. Of course, in other embodiments, the device button elastic member 1013 may be an extension spring, and the extension spring and the device button 1011 are located at the same end of the device quick buckle 1012, which can also achieve the above-mentioned functions, not limited to the present embodiment.
In this embodiment, the process of attaching and detaching the front end instrument 110 to and from the instrument body 100 is as follows: when the front end instrument 110 is just inserted into the instrument body 100, the outer instrument rod 111 is positioned in the outer instrument rod through hole 10121 of the quick instrument buckle 1012, and at this time, the outer instrument rod 111 can freely move in the axial direction; as the outer rod 111 continues to be inserted into place, the outer rod snap-in groove 1111 of the outer rod 111 moves to the snap-in stop 10122 of the quick snap-in 1012, and at this time, the quick snap-in 1012 is pushed into the outer rod snap-in groove 1111 of the outer rod 111 by the pre-elastic force of the button elastic member 1013. At this time, the instrument outer rod 111 cannot be directly pulled out by the snap stopper 10122, thus achieving rapid installation of the front-end instrument 110 in the instrument body 100.
When the outer shaft 111 is to be pulled out, only the tool button 1011 needs to be manually pressed, and at this time, the force of the tool button elastic member 1013 is offset, and the snap stopper 10122 of the tool snap 1012 is withdrawn from the outer shaft snap groove 1111 of the outer shaft 111. At this time, the locking portion 10122 no longer has a locking effect, and the outer instrument rod 111 can be freely moved axially and pulled out, so that the front-end instrument 110 is quickly detached in the instrument main body 100.
Thus, the present embodiment enables quick assembly and disassembly of the front end instrument 110 from the instrument body 100, and the same set of instrument bodies 100 can mate with one or more front end instruments 110. When other front-end instruments 110 are configured, the instrument main body 100 does not need to be replaced, and only the front-end instruments 110 need to be replaced, so that the variety of the instrument main body 100 is reduced, the whole instrument is easy to produce and install, and the whole manufacturing cost of the instrument is reduced. Preferably, the laparoscopic surgical instrument of the present embodiment is an electric laparoscopic surgical instrument.
Further, when the front-end instrument 110 is replaced, the front-end instrument 110 and the instrument main body 100 are usually required to be disassembled and reassembled to realize the normal operation of the transmission mechanism, and the operation is complicated. To this end, as shown in fig. 4-6 and 9, the instrument body 100 of the present embodiment further includes an end closure transmission assembly 102 mounted in the housing 104, the end closure transmission assembly 102 including a closure motor coupling disk 1024 and an end gear 1021, the closure motor coupling disk 1024 being capable of driving the end gear 1021 to rotate. Preferably, the end closure transmission assembly 102 of the present embodiment further includes a closure input gear 1023 and an intermediate gear 1022, wherein the output shaft of the closure motor coupling disk 1024 is in transmission connection with the closure input gear 1023, the closure input gear 1023 is meshed with the intermediate gear 1022, and the intermediate gear 1022 is meshed with the end gear 1021, so that the drive of the end gear 1021 by the closure motor coupling disk 1024 is achieved. Of course, in other embodiments, the driving of the end gear 1021 by the closed motor coupling disk 1024 may be implemented by other transmission methods, which is not limited to the present embodiment. Preferably, the end gear 1021 is a tooth form having partial teeth on the outer circumference. The end gear 1021 is provided with a chute 10211, the chute 10211 is preferably a cylindrical groove, the side wall of the chute 10211 is provided with an avoidance port parallel to the axis of the chute 10211, the end part of the instrument inner rod 112 is provided with a limiting part 1121, the diameter of the limiting part 1121 is larger than the width of the avoidance port and smaller than the diameter of the cylindrical groove, and the limiting part 1121 can be axially inserted into the chute 10211 and is clamped with the avoidance port. Preferably, the limiting portion 1121 of the present embodiment is a ball head.
The working procedure of the end closure transmission assembly 102 of this embodiment is as follows: when the front end instrument 110 is just inserted into the instrument main body 100 and the instrument quick buckle 1012 is not yet clamped into the outer rod quick clamping groove 1111, the limiting portion 1121 of the inner rod 112 of the instrument can move axially along with the front end instrument 110 and enter the sliding groove 10211 of the end gear 1021, and simultaneously drive the end gear 1021 to rotate. When the front end instrument 110 is inserted into place, the instrument snap-in 1012 snaps into the outer rod snap-in groove 1111, the axial movement of the instrument outer rod 111 is restrained, and at this time, the restraining portion 1121 of the instrument inner rod 112 enters the slide slot 10211 of the end gear 1021. After the front end instrument 110 is installed, when the closed motor coupling disk 1024 is driven to rotate in the operation process, the closed input gear 1023 is driven to rotate, the closed input gear 1023 drives the intermediate gear 1022 to rotate, the intermediate gear 1022 drives the end gear 1021 to rotate, and when the end gear 1021 rotates, the inner rod 112 of the instrument is driven to move along the axial direction thereof. At this time, the outer instrument shaft 111 is fixed, and the inner instrument shaft 112 is axially moved, so that the opening and closing of the jaws of the front end instrument 110 can be achieved.
When it is desired to withdraw the front end instrument 110 from the instrument body 100, only the instrument button 1011 needs to be manually depressed, causing the instrument snap-in 1012 to withdraw from the outer rod snap-in groove 1111 on the instrument outer rod 111. At this time, the outer rod 111 may drive the inner rod 112 to move axially to withdraw, and the limiting portion 1121 of the inner rod 112 may drive the end gear 1021 to rotate and withdraw from the chute 10211 of the end gear 1021.
Thus, this embodiment achieves a quick installation of the front end instrument 110 into the end closure transmission assembly 102 without having to disassemble the instrument body 100, and a removal of the front end instrument 110 from the end closure transmission assembly 102 without having to disassemble the instrument body 100, and a normal power transfer between the end closure transmission assembly 102 and the instrument inner rod 112.
Further, during laparoscopic surgical instrument use, after the replacement of the front end instrument 110, it is often necessary to close the jaws of the front end instrument 110 so as not to interfere with normal surgical use. For this purpose, as shown in fig. 10 to 12, the end closing transmission assembly 102 of the present embodiment further includes a reset assembly 1025, the reset assembly 1025 includes an on-wheel rotation shaft 10251, a guide shaft 10252, a fixed rotation shaft 10253, and a reset elastic member 10254, the fixed rotation shaft 10253 is fixed to the housing 104, the on-wheel rotation shaft 10251 is fixed to the end gear 1021, the guide shaft 10252 connects the fixed rotation shaft 10253 and the on-wheel rotation shaft 10251, the reset elastic member 10254 is sleeved on the guide shaft 10252, and the reset elastic member 10254 provides an elastic force along the axial direction of the guide shaft 10252. Preferably, the return elastic member 10254 of the present embodiment is a compression spring for providing a compressive stress in the axial direction of the guide shaft 10252.
In this embodiment, when the front end instrument 110 is not yet inserted into the instrument main body 100, the axis of the guide shaft 10252 is located on the right side of the rotation center of the end gear 1021, and as can be seen from the stress analysis of the end gear 1021, the end gear 1021 tends to rotate clockwise under the action of the reset assembly 1025. While the present embodiment limits the movement of the end gear 1021 by providing a limit structure so that the end gear 1021 moves clockwise to the limit position (i.e., the first limit position). In this position, the instrument inner rod 112 in the front instrument 110 can smoothly enter the slide slot 10211 of the end gear 1021 when inserted in the axial movement.
When the front end instrument 110 is inserted into the instrument body 100 in place, the instrument snap-in 1012 snaps into the outer rod snap-in groove 1111 and the axial movement of the instrument outer rod 111 is limited. At this time, the limiting portion 1121 of the inner rod 112 of the apparatus enters the sliding slot 10211 of the end gear 1021 and pushes the end gear 1021 to rotate counterclockwise, the on-wheel rotating shaft 10251 rotates counterclockwise along with the end gear 1021 and drives the guiding shaft 10252 to rotate around the fixed rotating shaft 10253 to a new position, at this time, the axis of the guiding shaft 10252 is located at the left side of the rotation center of the end gear 1021, and as a result of the stress analysis of the end gear 1021, the end gear 1021 has a tendency to continue to rotate counterclockwise under the action of the reset assembly 1025, so that the end gear 1021 continues to move counterclockwise to the limiting position (i.e., the second limiting position). Since the movement of the instrument outer rod 111 of the front instrument 110 is limited at this time, the chute 10211 of the end gear 1021 pulls the instrument inner rod 112 inward during the continued counterclockwise movement of the end gear 1021 to the limit position, thereby effecting closure of the jaws of the front instrument 110.
When the front end instrument 110 is pulled out from the instrument main body 100, the outer instrument rod 111 can drive the inner instrument rod 112 to move axially and withdraw, and the limiting part 1121 of the inner instrument rod 112 can drive the end gear 1021 to rotate clockwise, so that the axis of the guide shaft 10252 returns to the right side of the rotation center of the end gear 1021, and the end gear 1021 returns to the first limit position.
Therefore, the present embodiment achieves the resetting of two different positions of the end closure transmission assembly 102 before and after the front end instrument 110 is assembled, so that the jaws of the front end instrument 110 can be closed by themselves after the front end instrument 110 is replaced, and the normal operation is prevented from being affected.
In addition, during the use of laparoscopic surgical instruments, if some front end instruments 110 are assembled to some special instrument bodies 100 by mistake, the personal safety of users may be a problem. For this purpose, as shown in fig. 13-14, the end closing transmission assembly 102 of the present embodiment further includes an error proofing assembly 1026, the error proofing assembly 1026 includes an on-wheel error proofing shaft 10261 and an error proofing stop lever 10262, and the instrument quick buckle 1012 is further provided with an error proofing hole 10123; the wheel-mounted anti-mistake shaft 10261 is mounted on the end gear 1021 and freely rotates about its own axis, and the long rod portion of the anti-mistake bar 10262 passes through the anti-mistake hole 10123.
During insertion of the front end instrument 110 into the instrument body 100, the inner rod 112 of the front end instrument 110 may move axially along the front end instrument 110 into the slot 10211 of the end gear 1021, and simultaneously rotate the end gear 1021, wherein rotation of the end gear 1021 may drive the wheel anti-error shaft 10261. At this time, since the long rod portion of the error-proof bar 10262 passes through the error-proof hole 10123 on the quick buckle 1012 of the apparatus, the error-proof rotating shaft 10261 drives the error-proof bar 10262 to move along the axial direction of the error-proof hole 10123.
When the front end instrument 110 of the insertion instrument body 100 is the correct mating instrument and the front end instrument 110 is inserted in place, the error-proofing bars 10262 can just all be withdrawn from the error-proofing holes 10123 on the instrument snap-in 1012. At this time, since the outer lever quick-fastening groove 1111 also moves to the position of the instrument quick-fastening 1012 at the same time, the instrument quick-fastening 1012 can be smoothly fastened into the outer lever quick-fastening groove 1111 under the elastic force of the instrument button elastic member 1013, so that the front-end instrument 110 is smoothly installed in place in the instrument main body 100.
However, when the front end instrument 110 of the insertion instrument body 100 is a wrong-pair instrument, taking an example in which the instrument inner rod 112 is too short: when the front end instrument 110 is inserted into place, the inner rod 112 of the mispaired front end instrument 110 is too short to push the end gear 1021 into sufficient rotational movement, resulting in the failure of the anti-misbar 10262 to fully withdraw from the anti-mishole 10123 on the instrument snap-in 1012. At this time, even if the outer lever quick buckle 1111 moves to the position of the instrument quick buckle 1012, the instrument quick buckle 1012 cannot move toward the elastic force direction of the instrument button elastic member 1013 due to the limit of the error-proof bar 10262 in the error-proof hole 10123, so that the instrument quick buckle 1012 cannot be smoothly clamped into the outer lever quick buckle 1111. At this time, the front end instrument 110 is pulled out from the instrument body 100 only by moving the front end instrument 110 outwards, so that the front end instrument 110 with the wrong pairing cannot be smoothly installed in place in the instrument body 100.
Thus, the present embodiment enables non-installation and error proofing of the non-adapted front end instrument 110 with a simple error proofing bar construction such that the non-adapted front end instrument 110 cannot be assembled to the corresponding instrument body 100.
Further, in addition to driving the jaws of the front end instrument 110 closed during use of the laparoscopic surgical instrument, rotation of the front end instrument 110 about its own axis is also required. To this end, as shown in fig. 15-17, the instrument body 100 of the present embodiment further includes an pivoting transmission assembly 130 disposed within the housing 104, the pivoting transmission assembly 130 including a rotary motor coupling disc 134 and a rotary sleeve 131, the rotary motor coupling disc 134 being capable of driving the rotary sleeve 131 to rotate. Preferably, the pivoting rotation transmission assembly 130 of the present embodiment further includes a rotation input gear 133 and a rotation output gear 132, wherein an output shaft of the rotation motor coupling disc 134 is in transmission connection with the rotation input gear 133, the rotation input gear 133 is meshed with the rotation output gear 132, and the rotation output gear 132 is in transmission connection with the rotation sleeve 131, so that the rotation motor coupling disc 134 is driven to the rotation sleeve 131. It is further preferable that the axial directions of the rotary input gear 133 and the rotary output gear 132 are perpendicular, and both may take the form of bevel gears or worm gears, etc., to thereby effect a change in the direction of movement while facilitating the arrangement of the rotary motor coupling disc 134 and the rotary sleeve 131. Of course, in other embodiments, the driving of the rotating sleeve 131 by the rotating motor coupling disc 134 may be implemented by other transmission methods, which is not limited to the present embodiment. The outer rod 111 is coaxially inserted into the rotary sleeve 131, and the outer rod 111 and the rotary sleeve 131 are clamped and limited in the circumferential direction. Preferably, one of the inner hole side wall of the rotary sleeve 131 and the outer instrument rod 111 of the present embodiment is provided with a guide projection 1311, and the other is provided with a guide sink 1112; when the front end instrument 110 is inserted into the instrument body 100, the guide protrusion 1311 is inserted into the guide recess 1112, and the outer instrument rod 111 can move normally axially with respect to the rotary sleeve 131, but the outer instrument rod 111 and the rotary sleeve 131 can move only in synchronization due to the limitation of the guide protrusion 1311 in the circumferential direction.
After the front end instrument 110 is inserted into the instrument main body 100 to the bottom and is clamped in place, when the rotating motor coupling disc 134 rotates, the rotating input gear 133 is driven to rotate, the rotating input gear 133 drives the rotating output gear 132 to rotate, the rotating output gear 132 drives the rotating sleeve 131 to rotate, and when the rotating sleeve 131 rotates, the instrument outer rod 111 is driven to rotate around the axis, so that the front end instrument 110 integrally rotates. Thus, the present embodiment achieves that the front-end instrument 110 can be quickly assembled and disassembled, and simultaneously can also achieve rotational movement about its own axis via motor drive. Preferably, the rotary motor coupling disc 134 in this embodiment may be one or more, and the corresponding rotary input gear 133 may be one or more, so as to accommodate the working requirements of different front end instruments 110. Further, the number of the guide protrusions 1311 of the present embodiment may be one or more, and the number of the corresponding guide sinking grooves 1112 may be one or more, so as to improve the accuracy of guiding and limiting thereof.
The invention also provides a surgical robot which comprises the laparoscopic surgical instrument, realizes the pairing of the same instrument main body and various front-end instruments, and has the advantages of quick disassembly and assembly, easy production and reduced manufacturing cost.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. A laparoscopic surgical instrument, comprising:
the device comprises a device main body (100) and a device quick-change assembly (101) arranged in the device main body (104), wherein the device quick-change assembly (101) comprises a device button (1011), a device quick buckle (1012) and a device button elastic piece (1013), and a device outer rod through hole (10121) and a buckle stopping part (10122) are arranged on the device quick buckle (1012);
the front-end instrument (110) comprises an instrument outer rod (111) and an instrument inner rod (112), wherein the instrument outer rod (111) can be inserted into the instrument outer rod through hole (10121), an outer rod quick clamping groove (1111) is formed in the instrument outer rod (111), and after the instrument outer rod (111) is inserted in place, the instrument quick clamp (1012) can clamp the clamp stop part (10122) into the outer rod quick clamping groove (1111) under the action of the instrument button elastic piece (1013); the snap stop (10122) can be withdrawn from the outer lever snap slot (1111) by pressing the instrument button (1011).
2. The laparoscopic surgical instrument according to claim 1, characterized in that the instrument body (100) further comprises an end closure transmission assembly (102) mounted within the housing (104), the end closure transmission assembly (102) comprising a closure motor coupling disc (1024) and an end gear (1021), the closure motor coupling disc (1024) being capable of driving the end gear (1021) in rotation; a chute (10211) is arranged on the tail end gear (1021), a limit part (1121) is arranged at the end part of the instrument inner rod (112), and the limit part (1121) can be inserted into or withdrawn from the chute (10211) along with the instrument inner rod (112) and drives the tail end gear (1021) to rotate; when the outer instrument rod (111) is inserted into place, the closure motor coupling disc (1024) can drive the inner instrument rod (112) to move axially by driving the end gear (1021) to rotate so as to open or close the jaws.
3. The laparoscopic surgical instrument according to claim 2, wherein said end closure transmission assembly (102) further comprises a reset assembly (1025), said reset assembly (1025) comprising an on-wheel spindle (10251), a guide shaft (10252), a fixed spindle (10253) and a reset spring (10254), said fixed spindle (10253) being fixed to said housing (104), said on-wheel spindle (10251) being fixed to said end gear (1021), said guide shaft (10252) connecting said fixed spindle (10253) with said on-wheel spindle (10251), said reset spring (10254) being sleeved on said guide shaft (10252).
4. A laparoscopic surgical instrument according to claim 3, characterized in that when the front end instrument (110) is not inserted into the instrument body (100), the axis of the guide shaft (10252) is located on the right side of the rotation center of the end gear (1021), the end gear (1021) is located at a first limit position when the limit part (1121) can be inserted into the chute (10211) with the instrument inner rod (112); when the front end instrument (110) is inserted into position, the axis of the guide shaft (10252) is positioned on the left side of the rotation center of the tail end gear (1021), the tail end gear (1021) moves to a second limit position under the action of the reset assembly (1025), and the sliding groove (10211) pulls the inner instrument rod (112) inwards to enable the jaw of the front end instrument (110) to be closed.
5. The laparoscopic surgical instrument according to claim 2, characterized in that the end closure transmission assembly (102) further comprises an error proofing assembly (1026), the error proofing assembly (1026) comprises an on-wheel error proofing shaft (10261) and an error proofing stop lever (10262), and the instrument quick snap (1012) is further provided with an error proofing hole (10123); the on-wheel error-proof rotating shaft (10261) is arranged on the tail end gear (1021) and can rotate around the self shaft, a long rod part of the error-proof stop lever (10262) penetrates through the error-proof hole (10123), the on-wheel error-proof rotating shaft (10261) can be driven to move when the tail end gear (1021) rotates, and the on-wheel error-proof rotating shaft (10261) drives the error-proof stop lever (10262) to move along the axis direction of the error-proof hole (10123); when the front-end instrument (110) is a correct mating instrument and is inserted into place, the error-proofing bars (10262) can all exit the error-proofing holes (10123) so that the snap-in stops (10122) can be snapped into the outer-bar quick-snap-in slots (1111).
6. The laparoscopic surgical instrument according to any one of claims 1-5, characterized in that the instrument body (100) further comprises a pivoting transmission assembly (130) disposed within the housing (104), the pivoting transmission assembly (130) comprising a rotating motor coupling disc (134) and a rotating sleeve (131), the rotating motor coupling disc (134) being capable of driving the rotating sleeve (131) in rotation; the outer rod (111) of the instrument is coaxially arranged in the rotary sleeve (131) in a penetrating mode, and the outer rod (111) of the instrument and the rotary sleeve (131) are clamped and limited in the circumferential direction.
7. The laparoscopic surgical instrument according to claim 6, characterized in that on the inner bore side wall of the rotating sleeve (131) and on the instrument outer rod (111), one is provided with a guiding projection (1311) and the other is provided with a guiding countersink (1112); when the front end instrument (110) is inserted into the instrument body (100), the guide projection (1311) is inserted into the guide sink (1112).
8. The laparoscopic surgical instrument according to any one of claims 1-5, characterized in that the instrument button resilient member (1013) is a compression spring, the instrument button (1011) is disposed at one end of the instrument quick clasp (1012) in a first direction, and the instrument button resilient member (1013) is disposed at the other end of the instrument quick clasp (1012) in the first direction; the first direction is perpendicular to an axial direction of the instrument outer rod (111).
9. The laparoscopic surgical instrument according to claim 2, characterized in that the chute (10211) is a cylindrical groove, the side wall of the chute (10211) is provided with an avoidance opening, and the diameter of the limiting portion (1121) is larger than the width of the avoidance opening and smaller than the diameter of the cylindrical groove.
10. A surgical robot comprising a laparoscopic surgical instrument according to any one of claims 1-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210591850.8A CN117159150A (en) | 2022-05-27 | 2022-05-27 | Laparoscopic surgical instrument and surgical robot |
| PCT/CN2023/094551 WO2023226828A1 (en) | 2022-05-27 | 2023-05-16 | Laparoscopic surgical instrument and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210591850.8A CN117159150A (en) | 2022-05-27 | 2022-05-27 | Laparoscopic surgical instrument and surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117159150A true CN117159150A (en) | 2023-12-05 |
Family
ID=88918435
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210591850.8A Pending CN117159150A (en) | 2022-05-27 | 2022-05-27 | Laparoscopic surgical instrument and surgical robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN117159150A (en) |
| WO (1) | WO2023226828A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117398138A (en) * | 2023-12-13 | 2024-01-16 | 苏州康多机器人有限公司 | Surgical instrument |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107595394B (en) * | 2017-09-29 | 2024-02-23 | 重庆金山医疗机器人有限公司 | Surgical instrument quick-change mechanism |
| CN109171966B (en) * | 2018-09-29 | 2021-05-07 | 上海微创医疗机器人（集团）股份有限公司 | Quick change device for surgical instrument |
| CN111012501B (en) * | 2018-10-09 | 2022-02-22 | 成都博恩思医学机器人有限公司 | Instrument fixing device for laparoscopic surgery robot |
| CN211381520U (en) * | 2019-11-20 | 2020-09-01 | 山东威高手术机器人有限公司 | Surgical instrument connecting device capable of being rapidly installed and detached |
| CN110840564A (en) * | 2019-12-24 | 2020-02-28 | 锐志微创医疗科技（常州）有限公司 | Quick change mechanism and surgical robot using same |
| EP3984489A1 (en) * | 2020-10-14 | 2022-04-20 | Orthosoft, Inc. | Quick connect for robotic surgery |
| CN113952034B (en) * | 2020-10-20 | 2023-05-23 | 成都博恩思医学机器人有限公司 | Quick-dismantling surgical instrument |
| CN215228376U (en) * | 2020-11-26 | 2021-12-21 | 武汉联影智融医疗科技有限公司 | Surgical instrument fixer and surgical robot |
| CN217548210U (en) * | 2022-05-27 | 2022-10-11 | 瑞龙诺赋(上海)医疗科技有限公司 | Laparoscopic surgery instrument and surgical robot |
-
2022
- 2022-05-27 CN CN202210591850.8A patent/CN117159150A/en active Pending
-
2023
- 2023-05-16 WO PCT/CN2023/094551 patent/WO2023226828A1/en unknown
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117398138A (en) * | 2023-12-13 | 2024-01-16 | 苏州康多机器人有限公司 | Surgical instrument |
| CN117398138B (en) * | 2023-12-13 | 2024-03-15 | 苏州康多机器人有限公司 | Surgical instrument |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023226828A1 (en) | 2023-11-30 |
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