CN117481826A

CN117481826A - Instrument execution assembly, surgical instrument and endoscopic surgical robot

Info

Publication number: CN117481826A
Application number: CN202311682443.9A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Agile Medical Technology Suzhou Co ltd
Current assignee: Agile Medical Technology Suzhou Co ltd
Priority date: 2023-12-08
Filing date: 2023-12-08
Publication date: 2024-02-02

Abstract

The application belongs to the technical field of medical instruments, and discloses an instrument executing assembly, a surgical instrument and a laparoscopic surgery robot, wherein the instrument executing assembly comprises a distal end executor and a supporting assembly, the supporting assembly comprises a sealing mechanism, an extension tube and a joint seat, the extension tube and the joint seat are sequentially arranged from a proximal end to a distal end, a containing cavity is formed in the joint seat or the extension tube, and one end of the joint seat, which is far away from the extension tube, is movably connected with the distal end executor; the distal ends of a plurality of cables extending along the accommodating cavity are connected with the distal end actuator to enable the distal end actuator to act, and the cables comprise capillary tubes and tungsten wires which are fixedly connected with each other; the capillary tube penetrates the sealing mechanism to isolate the two sides of the sealing mechanism from each other. The instrument execution assembly has good sealing performance, is favorable for quick establishment and effective maintenance of pneumoperitoneum, prevents friction between a tungsten wire rope and a sealing element, is favorable for cleaning the instrument, and improves the control precision of a distal end actuator.

Description

Instrument execution assembly, surgical instrument and endoscopic surgical robot

Technical Field

The application relates to the technical field of medical instruments, in particular to an instrument executing assembly, a surgical instrument and a laparoscopic surgery robot.

Background

With the continuous development of medical instruments, computer technology and control technology, minimally invasive surgery has been increasingly used with the advantages of small surgical trauma, short rehabilitation time, less pain of patients and the like. The minimally invasive surgery robot has the characteristics of high dexterity, high control precision, visual surgery images and the like, can reduce operation limitations, such as tremble of hands and the like when an operator performs filtering operation, and is widely applied to surgery areas such as abdominal cavities, pelvic cavities, thoracic cavities and the like. The existing minimally invasive surgery robot generally comprises a main control console (a main end) and a slave manipulator arm (a slave end), wherein the main control console collects operation signals of an operator, generates control signals of the slave manipulator arm after being processed by a control system, and executes surgery operation by the slave manipulator arm; minimally invasive surgical robots are also provided with a mating surgical instrument mounted on a slave manipulator arm for manipulation by an operator to perform a surgical procedure. The operation of the main control console is generally transmitted to the surgical instrument through a steel wire rope by an operator, so that the action of the surgical instrument is realized.

In minimally invasive abdominal surgery, a pneumoperitoneum machine is often required to establish a pneumoperitoneum to prop open the abdomen of a patient, facilitating surgical instruments to perform the surgical procedure. Therefore, the air tightness requirement on the external interface of the pneumoperitoneum, such as a laparoscopic stab card, a surgical instrument and the like, is higher, otherwise, the pneumoperitoneum flow is required to be increased, and even the pneumoperitoneum cannot be established, so that the operation is adversely affected. The existing surgical instruments are generally provided with a sealing gasket on the bottom surface of a joint seat at an execution end for sealing, for example, U.S. patent No. 11432889B2 of mei ronbo special company (Medicaroid Corporation) discloses a robotic surgical instrument, wherein the sealing is realized by a pre-processed silica gel sealing gasket arranged on the joint seat; in addition, a common sealing structure in the industry is to pour silica gel onto the joint seat to form a gasket. The sealing pad is provided with a through hole, and the size of the through hole is just enough for a steel wire rope to pass through to control the action of a surgical instrument. However, the steel wire rope is generally formed by winding a plurality of strands of tungsten alloy on the outer side of the steel wire, has a twist-like structure, has a rough surface and is easy to have burrs, and the steel wire rope moves back and forth along the length direction of the manipulator arm in the operation process to continuously rub the sealing gasket, so that the sealing gasket is damaged, and the sealing gasket is damaged to cause Kong Louqi, poor sealing and the holding of pneumoperitoneum is affected; moreover, the sealing gasket can greatly increase the movement resistance of the steel wire rope, and the control precision of the execution end is affected.

Disclosure of Invention

The first aim of this application is to provide the apparatus and carries out subassembly, can solve current surgical instruments and lead to the fact sealed bad because wire rope friction seal fills up, is unfavorable for the establishment and the maintenance of pneumoperitoneum, and influences the problem of carrying out end control accuracy.

To achieve the purpose, the application adopts the following technical scheme:

providing an instrument actuation assembly including a distal end effector and a plurality of cables, a distal end of the cables connecting the distal end effector to actuate the distal end effector, the instrument actuation assembly further comprising:

the support assembly comprises a sealing mechanism, an extension pipe and a joint seat, wherein the extension pipe and the joint seat are sequentially arranged from a proximal end to a distal end, a containing cavity is formed in the joint seat or the extension pipe, and one end, far away from the extension pipe, of the joint seat is movably connected with the distal end actuator;

the cable extends along the accommodating cavity and comprises a capillary tube and a tungsten wire rope which are fixedly connected with each other, and the capillary tube penetrates through the sealing mechanism so that two sides of the sealing mechanism are isolated from each other.

In one embodiment, the sealing mechanism comprises a sealing element arranged in the accommodating cavity and a supporting element for supporting the sealing element, and a through hole on the sealing element is sleeved on the capillary tube to form a seal.

In one embodiment, the support has an outer diameter smaller than the outer diameter of the extension tube, and the support is connected to the extension tube and/or the articulation seat for placement within the receiving cavity at a proximal location distal to the tungsten wire rope.

In one embodiment, the outer diameter of the support member is equal to the outer diameter of the extension pipe or the joint seat, and the extension pipe and the joint seat are detachable from both ends of the support member.

In one embodiment, the support member includes a fixing portion and a connecting portion disposed around a circumferential side of the fixing portion, the connecting portion extends along an axial direction of the accommodating cavity to detachably connect the extension tube and the joint seat, and at least one side of the fixing portion is provided with the sealing member.

In one embodiment, the support member includes a second limiting portion connected to the extension tube and/or the joint seat to limit rotation of the support member.

In one embodiment, the extension pipe and/or the joint seat are/is provided with a third limiting part, one of the second limiting part and the third limiting part is a limiting groove, the other limiting block is a limiting block, and the limiting groove and the limiting block are mutually clamped to limit the rotation of the supporting piece.

In one embodiment, the two ends of the supporting member are both provided with the second limiting portions, one of the two second limiting portions is a limiting groove, the other is a limiting block, the sealing member is arranged on the supporting member and provided with one end of the limiting block, the sealing member is provided with an avoidance notch, and the avoidance notch is used for avoiding the limiting block.

In one embodiment, the support member includes a first stop portion connected to the extension tube and/or the articulation seat to limit axial movement of the support member.

In one embodiment, at least one of the extension pipe and the joint seat is provided with a fourth limiting part, one of the first limiting part and the fourth limiting part is an annular step which is concave, the other is an annular pipe head, and the annular step is embedded in the annular pipe head.

In one embodiment, the joint seat comprises a fixing plate and a side wall surrounding the periphery of the fixing plate, a separation chamber is formed between the fixing plate and the sealing mechanism, the axial length of the separation chamber is L1, the capillary tube can reciprocate along the axial direction of the separation chamber, and the movable distance of the capillary tube is L2, wherein L1 is more than L2.

In one embodiment, the tungsten wire rope passes through the fixing plate to be partially positioned in the separation cavity, and the side wall is provided with a cleaning opening communicated with the separation cavity.

In one embodiment, the seal is disposed on the support distal to the purge port; and/or the number of the groups of groups,

the sealing piece is connected with the supporting piece through casting and integral forming.

The second object of the present application is to provide a surgical instrument, which has an instrument execution assembly that can make the distal end effector form a better seal, which is beneficial to the rapid establishment and effective maintenance of pneumoperitoneum, and avoids the friction between the tungsten wire rope and the sealing member, which is beneficial to the improvement of the control precision of the distal end effector.

To achieve the object, the second aspect of the present application adopts the following technical scheme:

there is provided a surgical instrument comprising an instrument actuation assembly as described above, the surgical instrument further comprising a control mechanism, the instrument actuation assembly being connected to the control mechanism, the control mechanism being for controlling the movement of the cable.

A third object of the present application is to provide an endoscopic surgical robot having a good sealing performance of surgical instruments, a high control accuracy of a cable to a distal end effector, and being suitable for endoscopic surgery.

To achieve the object, a third aspect of the present application adopts the following technical scheme:

there is provided a surgical instrument comprising an instrument actuation assembly as described above, the surgical instrument further comprising a robotic arm to which the surgical instrument is coupled.

The application has the following beneficial effects:

the support assembly of the instrument executing assembly, the surgical instrument and the endoscopic surgery robot provided by the application is provided with a sealing mechanism, and a capillary tube of a cable penetrates through the sealing mechanism so as to isolate two sides of the sealing mechanism from each other; because the capillary tube has smooth diameter, friction damage to the sealing element is greatly reduced in the moving process, the risk of bringing dirt into the accommodating cavity in the operation process is also reduced, and the cleanliness of the instrument executing assembly is improved; moreover, compared with a tungsten wire rope, the wall of the capillary tube is smooth, the contact between the through hole of the sealing element and the capillary tube is tighter, and Kong Louqi is reduced, so that the sealing mechanism can maintain good sealing performance, and the pneumoperitoneum can be quickly established, and the pneumoperitoneum leakage is reduced. Meanwhile, the tungsten wire rope is not limited by the sealing element, so that friction resistance is greatly reduced, and adverse effects on the control precision of the remote actuator due to movement resistance are avoided.

Drawings

FIG. 1 is a schematic view of a surgical instrument provided in an embodiment of the present application;

FIG. 2 is a schematic view of a portion of a surgical instrument according to an embodiment of the present application;

FIG. 3 is a partially exploded schematic illustration of an instrument actuation assembly provided in an embodiment of the present application;

FIG. 4 is a schematic view of a support member according to an embodiment of the present disclosure;

FIG. 5 is a second schematic structural view of a support member according to an embodiment of the present disclosure;

FIG. 6 is a schematic view of a joint seat according to an embodiment of the present disclosure;

FIG. 7 is a schematic view of a portion of an extension pipe according to an embodiment of the present disclosure;

FIG. 8 is a schematic structural view of a seal provided in an embodiment of the present application;

FIG. 9 is a partial cross-sectional view of an instrument actuation assembly provided in an embodiment of the present application;

fig. 10 is an enlarged partial schematic view of the portion a in fig. 9.

In the figure:

1. a support assembly; 11. a sealing mechanism; 111. a seal; 1111. a first capillary via; 1112. avoiding the notch; 112. a support; 1121. a fixing part; 1122. a connection part; 1123. a first annular step; 1124. a second capillary via; 12. an extension tube; 13. a joint seat; 131. a fixing plate; 132. a sidewall; 1321. a cleaning port; 133. a separation chamber; 14. a receiving chamber; 15. a limit groove; 16. a limiting block; 17. a second annular step;

2. an operating assembly; 21. a cable; 211. a capillary tube; 212. tungsten wire rope; 23. an electric wire;

100. a distal end effector; 200. and a control mechanism.

Detailed Description

The present application is described in further detail below with reference to the drawings and examples.

It will be appreciated that in this specification, numerous specific details are set forth in some places. However, it is understood that embodiments of the present application may be practiced without these specific technical details. Such detailed description should not be taken in a limiting sense, and the scope of the present application is defined only by the appended claims. Well-known structures, circuits, and other details have not been shown in detail in order not to obscure the gist of the present application.

In this specification, the drawings show schematic views of several embodiments of the present application. However, the drawings are merely schematic, and it is to be understood that other embodiments or combinations may be utilized and that mechanical, physical, electrical and step changes may be made without departing from the spirit and scope of the present application.

In the description of the present application, 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 terms in this application will be understood by those of ordinary skill in the art in a specific context.

In this application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The terminology used herein below is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Spatially relative terms, such as "below," "lower," "above," "upper," and the like, may be used for ease of description to describe one element or feature's relationship to another element or feature's illustrated in the figures. It will be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. While the device may be otherwise oriented (e.g., rotated 90 deg. or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As used herein, "a" and "an" in the singular are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.

The term "object" generally refers to a component or group of components. Throughout the specification and claims, the terms "object," "component," "portion," "part" and "piece" are used interchangeably.

The terms "instrument," "surgical instrument," and "surgical instrument" are used herein to describe a medical device, including an end effector, configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. The end effector may be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cautery, tissue stabilizer or retractor, clip applier, stapling apparatus, imaging apparatus (e.g., endoscope or ultrasound probe), and the like. Some instruments used in embodiments of the present application further provide an articulating support (sometimes referred to as a "wrist") for the surgical tool such that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument shaft. Further, many end effectors include functional mechanical degrees of freedom such as open or closed jaws or knives that translate along a path. The instrument may also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updateable by the surgical system. Accordingly, the system may provide for one-way or two-way information communication between the instrument and one or more system components.

The term "mated" may be understood in a broad sense as any situation in which two or more objects are connected in a manner that allows the mated objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather, many objects or components may be used to mate two or more objects. For example, objects a and B may be mated by using object C. Furthermore, the term "detachably coupled" or "detachably mated" may be interpreted to mean a non-permanent coupling or mating situation between two or more objects. This means that the detachably coupled objects can be uncoupled and separated such that they no longer operate in conjunction.

Finally, the terms "or" and/or "as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means any one of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; A. b and C. An exception to this definition will occur only when a combination of elements, functions, steps or acts are in some way inherently mutually exclusive.

Endoscopic surgical robots typically include a doctor control platform, a patient surgical platform, and an image platform, where a surgeon sits on the doctor control platform, views two-or three-dimensional images of a surgical field transmitted by a scope placed in a patient, and manipulates movements of a robotic arm on the patient surgical platform, as well as surgical instruments or scopes attached to the robotic arm. The mechanical arm is equivalent to an arm simulating a human, the surgical instrument is equivalent to a hand simulating the human, and the mechanical arm and the surgical instrument provide a series of actions simulating the wrist of the human for a surgeon, and meanwhile tremble of the human hand can be filtered.

The patient surgical platform includes robotic arms and one or more surgical instrument manipulators at the end of a support assembly of each robotic arm. A surgical instrument and/or endoscope is removably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and/or a scope that are operated at a surgical site within a patient. Each surgical instrument manipulator may be permitted to provide the associated surgical instrument in a variety of forms that move in one or more mechanical degrees of freedom (e.g., all six cartesian degrees of freedom, five or fewer cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is constrained by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient, which is typically located where the surgical instrument enters the body and is referred to as a "telecentric point".

The image platform typically includes one or more video displays having video image capturing functionality (typically endoscopes) and for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, the endoscope includes optics that transfer images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, which in turn transfer the video images to a host computer of an image platform by photoelectric conversion or the like. The processed image is then displayed on a video display for viewing by an assistant through image processing.

The physician control platform may be at a single location in a surgical system consisting of an endoscopic surgical robot or it may be distributed at two or more locations in the system. The remote master/slave operation may be performed according to a predetermined control degree. In some embodiments, the physician control platform includes one or more manually operated input devices, such as a joystick, exo-skeletal glove, power and gravity compensation manipulator, or the like. The input devices collect operation signals of a surgeon, and control signals of the mechanical arm and the surgical instrument manipulator are generated after the operation signals are processed by the control system, so that remote control motors on the surgical instrument manipulator are controlled, and the motors further control the movement of the surgical instrument.

Typically, the force generated by the telemotor of the surgeon control platform is transmitted via a transmission system to transmit the force from the telemotor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device controlling the surgical instrument manipulator may be located remotely from the patient, either in or out of the room in which the patient is located, or even in a different city. The input signal of the input device is then transmitted to the control system. Those familiar with teleoperated, and teleimaging surgery will appreciate such systems and components thereof.

In the laparoscopic surgery robot performing the laparoscopic minimally invasive surgery, a pneumoperitoneum is generally required to be established by using a pneumoperitoneum machine to prop open the abdomen of a patient, so that surgical instruments can conveniently perform the surgical operation. Therefore, the air tightness requirement on the external interface of the pneumoperitoneum, such as a laparoscopic stab card, a surgical instrument and the like, is higher, otherwise, the pneumoperitoneum flow is required to be increased, and even the pneumoperitoneum cannot be established, so that the operation is adversely affected. The existing surgical instruments are generally provided with a sealing gasket on the bottom surface of a joint seat at an execution end for sealing, for example, U.S. patent No. 11432889B2 of mei ronbo special company (Medicaroid Corporation) discloses a robotic surgical instrument, wherein the sealing is realized by a pre-processed silica gel sealing gasket arranged on the joint seat; in addition, a common sealing structure in the industry is to pour silica gel onto the joint seat to form a gasket. The sealing pad is provided with a through hole, and the size of the through hole is just enough for a steel wire rope to pass through to control the action of a surgical instrument. However, the steel wire rope is generally formed by winding a plurality of strands of tungsten alloy on the outer side of the steel wire, has a twist-like structure, has a rough surface and is easy to have burrs, and the steel wire rope moves back and forth along the length direction of the manipulator arm in the operation process to continuously rub the sealing gasket, so that the sealing gasket is damaged, and the sealing gasket is damaged to cause Kong Louqi, poor sealing and the holding of pneumoperitoneum is affected; moreover, the sealing gasket can greatly increase the movement resistance of the steel wire rope, and the control precision of the execution end is affected.

In order to solve the problems, the embodiment of the application provides an instrument executing assembly, a surgical instrument and a laparoscopic surgical robot.

Example 1

As shown in fig. 1 to 10, an apparatus performing assembly is first provided in the embodiment of the present application, where the apparatus performing assembly includes a distal end effector 100 disposed at a distal end, and the distal end effector 100 is used for performing a surgical operation, and the specific structure and performing function of the distal end effector 100 are not limited in this embodiment.

The instrument actuation assembly further comprises a support assembly 1 and an operating assembly 2, as shown in fig. 1; for ease of understanding, the arrows identified in the figures illustrate the proximal and distal ends, and it is noted that the proximal and distal ends are not merely illustrative of the structural location of the instrument actuation assembly, and that each component of the instrument actuation assembly has opposing proximal and distal ends, with the end proximal to the distal end effector 100 being the distal end, and the end distal from the distal end effector 100 being the proximal end. If the ends of a component are closely spaced from the distal end effector 100, the proximal and distal ends cannot be distinguished, which is an exception, and therefore, not detailed in the components described in this application. The support assembly 1 comprises a sealing mechanism 11, an extension tube 12 and a joint seat 13 which are sequentially arranged from the proximal end to the distal end, a containing cavity 14 is formed in the joint seat 13 or the extension tube 12, and one end of the joint seat 13 away from the extension tube 12 is movably connected with a distal end actuator 100. The operation assembly 2 comprises a plurality of cables 21 extending along the accommodating cavity 14, the distal ends of the cables 21 are connected with the distal end actuator 100 to enable the distal end actuator 100 to act, the cables 21 comprise capillaries 211 and tungsten wires 212 which are sequentially arranged from the proximal end to the distal end and are mutually connected, the tungsten wires 212 are generally of a twist-shaped structure formed by winding a plurality of tungsten alloys on the outer side of a steel wire, and can also be other flexible metal wires, the capillaries 211 are small steel pipes made of stainless steel and other materials, so that the flexible winding of the tungsten wires 212 can be utilized to be fixed on the distal end actuator 100 to realize the multi-degree-of-freedom action on the distal end actuator 100, meanwhile, the rigidity of the capillaries 211 is utilized to transmit control moment output by the control mechanism 200, the rigidity of the whole transmission system is increased, and the control accuracy of the distal end actuator 100 is improved.

Alternatively, the sealing mechanism 11 includes a sealing member 111 provided in the accommodation chamber 14 and a supporting member 112 for supporting the sealing member 111. The capillary tube 211 penetrates through the through hole of the sealing member 111 to isolate both sides of the sealing mechanism 11 from each other. In this embodiment, the sealing member 111 is provided with the first capillary via hole 1111 as a through hole for the capillary 211 to pass through, and since the capillary 211 has a smooth pipe diameter, friction damage to the sealing member 111 is greatly reduced in the moving process, and contaminants generated by friction of the sealing member 111 are also greatly reduced, so that the cleanliness of the instrument executing assembly is improved; moreover, compared with the tungsten wire 212, the capillary tube 211 has a smooth tube diameter, the contact between the first capillary tube via hole 1111 and the capillary tube 211 is tighter, and the air leakage of the first capillary tube via hole 1111 is reduced, so that the sealing mechanism 11 can maintain better sealing performance, thereby being beneficial to quickly establishing pneumoperitoneum and reducing the air leakage of the pneumoperitoneum. Meanwhile, the tungsten wire 212 is not limited by the sealing element 111, so that friction resistance is greatly reduced, and adverse effects on the control accuracy of the distal end actuator 100 due to movement resistance are avoided.

The extension tube 12 can be a glass fiber tube, has the advantages of good corrosion resistance, good ageing resistance, high dimensional accuracy and the like, and is suitable for medical instruments. The sealing member 111 can be made of rubber such as silica gel, has good elasticity, wear resistance and corrosion resistance, and is suitable for use in high-sealing-requirement use environments. Specifically, the support 112 may be placed in a mold as in the prior art, the second capillary via 1124 of the support 112 through which the capillary 211 passes is plugged by the mold before casting, and then the silica gel is cast on the support 112, and the seal 111 having the first capillary via 1111 is formed after drying. The above processing method can increase the connection strength of the sealing member 111 and the supporting member 112, prevent the sealing member 111 from separating from the supporting member 112 to reduce the sealing performance, and increase the dimensional accuracy of the sealing member 111, and control the size of the first capillary via 1111 by controlling the dimensional accuracy of the die, so that the moving resistance of the capillary 211 is smaller, and the sealing performance between the capillary 211 and the first capillary via 1111 can be ensured. It should be noted that the materials of the capillary 211 and the tungsten wire 212 are only examples, and the present embodiment is not particularly limited.

The support 112 is used to provide support for the seal 111 and may be provided in a number of different arrangements, in particular, the support 112 may have an outer diameter smaller than the outer diameter of the extension tube 12 and the support 112 is connected to the extension tube 12 and/or the joint seat 13 to be located closer to the proximal end than the distal tungsten wire 212 within the receiving chamber 14 so that the capillary tube 211 may pass therethrough. That is, the supporting member 112 is provided in the accommodating chamber 14 as a partial structure of the extension pipe 12 or the joint seat 13, and is assembled and connected integrally with the extension pipe 12 or the joint seat 13; for example, the supporting member 112 may be a flat plate structure integrally formed on the inner cavity wall of the extension tube 12 or the inner cavity wall of the joint seat 13 by injection molding or machining, or the supporting member 112 may be a flat plate structure fixedly connected to the inner cavity wall of the extension tube 12 or the inner cavity wall of the joint seat 13 by welding, bonding, or the like, so long as the axial position of the supporting member 112 in the accommodating cavity 14 is controlled so that the capillary tube 211 may penetrate the sealing member 111, and the above-mentioned arrangement of the supporting member 112 can reduce the number of components of the instrument executing assembly and is easy to assemble.

Of course, in another embodiment, the outer diameter of the supporting member 112 is equal to the outer diameter of the extension tube 12 or the outer diameter of the joint seat 13, and two ends of the supporting member 112 are detachably connected to the extension tube 12 and the joint seat 13 respectively so as to be disposed between the extension tube 12 and the joint seat 13, that is, the supporting member 112 is an adaptor seat disposed between the extension tube 12 and the joint seat 13, which is easier to implement, on one hand, the structure of the extension tube 12 and the joint seat 13 is not affected, and on the other hand, the difficulty of the processing and the difficulty of the assembly are reduced. Optionally, the two ends of the supporting piece 112 are respectively clamped with the extension tube 12 and the joint seat 13, and the clamping structure is easy to disassemble and can be effectively limited.

Specifically, in one embodiment, the support 112 includes a fixing portion 1121 and a connecting portion 1122 disposed around the fixing portion 1121, where the connecting portion 1122 extends along the axial direction of the accommodating cavity 14 so that two ends are respectively connected to the extension tube 12 and the joint seat 13, so as to maintain the integrity of the accommodating cavity 14; that is, the outer diameter of the connecting portion 1122 is equal to the outer diameter of the extension tube 12 or the outer diameter of the joint seat 13, and the cross sections of the fixing portion 1121 and the receiving chamber 14 are the same. At least one side of the fixing portion 1121 is provided with the sealing member 111, that is, the sealing member 111 may be disposed on a side surface of the fixing portion 1121 facing the extension pipe 12 or on a side surface of the fixing portion 1121 facing the joint seat 13, so that the space on both sides of the sealing mechanism 11 can be effectively isolated. When the both side surfaces of the fixing portion 1121 are provided with the seal 111, the sealing performance of the sealing mechanism 11 can be further improved.

Optionally, the support 112 includes a second limiting portion connected to the extension tube 12 and/or the joint seat 13 to limit the rotation of the support 112, so that the engagement of the sealing member 111 and the capillary tube 211 due to the rotation of the support 112 can be avoided. Since the supporting member 112 is disposed between the extension pipe 12 and the joint seat 13, the second limiting portion is connected to at least one of the extension pipe 12 and the joint seat 13 to form a rotation limit.

Furthermore, the extension tube 12 and/or the joint seat 13 are/is provided with a third limiting portion, one of the second limiting portion and the third limiting portion is a limiting groove 15, the other limiting block 16, and the limiting groove 15 and the limiting block 16 are mutually clamped to limit the rotation of the supporting member 112, so that the structure of the clamped limiting is simple and the limiting is reliable.

Optionally, the second limiting portion for limiting rotation may be disposed at one end of the supporting member 112, or may be used for limiting rotation at both ends of the supporting member 112, so as to avoid the operating accuracy of the operating assembly 2 from being affected by rotation of the supporting member 112. Specifically, in an embodiment, when the extension tube 12 and the joint seat 13 are both provided with the third limiting portion, both ends of the supporting member 112 are both provided with the second limiting portion to be respectively clamped with the third limiting portion. One of the two second limiting portions of the supporting member 112 is a limiting groove 15, the other is a limiting block 16, and correspondingly, one of the two third limiting portions is a limiting block 16, and the other is a limiting groove 15. In this way, the existing structures of the extension pipe 12 and the joint seat 13 can be fully utilized, and the rotation limit of the supporting piece 112 can be realized through the limit groove 15 on the extension pipe 12 and the limit block 16 on the joint seat 13.

Still further, the sealing member 111 is disposed at one end of the supporting member 112 having the stopper 16, the sealing member 111 has an avoidance gap 1112, the avoidance gap 1112 is used for avoiding the stopper 16, and when the sealing member 111 is formed by casting silica gel on the supporting member 112, the sealing member 111 formed by solidifying silica gel has the avoidance gap 1112 due to the existence of the stopper 16. The contact area between the sealing piece 111 and the supporting piece 112 is increased by the cooperation of the avoidance gap 1112 and the limiting block 16, so that the moving risk of the sealing piece 111 can be further reduced, and the sealing failure caused by the moving of the sealing piece 111 is avoided.

In one embodiment, the support 112 further includes a first limiting portion connected to the extension tube 12 and/or the joint seat 13 to limit the axial movement of the support 112; since the supporting member 112 is disposed between the extension pipe 12 and the joint seat 13, the first limiting portion is connected to at least one of the extension pipe 12 and the joint seat 13, so as to form an axial limitation on the sealing mechanism 11.

Specifically, at least one of the extension pipe 12 and the joint seat 13 is provided with a fourth limit portion, that is, the number of the fourth limit portions may be set according to the first limit portions on the support 112. When the first limiting portion is disposed at one end of the supporting member 112, one of the extension tube 12 and the joint seat 13 may be provided with the fourth limiting portion. Of course, when the first limiting portions are disposed at the two ends of the supporting member 112, the extending tube 12 and the joint seat 13 are respectively provided with corresponding fourth limiting portions. One of the first limiting part and the fourth limiting part is an inward concave annular step, the other is an annular tube head, and the annular step is embedded in the annular tube head.

As shown in fig. 5, in the present embodiment, one end of the supporting member 112 is provided with a first concave annular step 1123 as a first limiting portion, and the other end of the supporting member 112 is provided with a first limiting portion by an annular tube head, and the first annular step 1123 is embedded in the annular tube head at the proximal end of the joint seat 13, so as to form an abutment limit. The extension pipe 12 is provided with a second concave annular step 17 serving as a fourth limiting part, as shown in fig. 7; the second annular step 17 can be embedded in the annular tube head at the proximal end of the support 112, thereby further limiting the axial position of the support 112.

The existing structures of the extension tube 12 and the joint seat 13 are skillfully utilized in the arrangement mode, namely, in the surgical instrument without the support piece 112, the extension tube 12 is provided with the second concave annular step 17 so as to be embedded in the annular tube head of the joint seat 13 to realize the connection of the two; the sealing performance of the surgical instrument is improved by adding the sealing mechanism 11, at this time, the connecting structure of the extension pipe 12 and the joint seat 13 can be fully utilized, the connecting structure of the extension pipe 12 and the joint seat 13 is adapted by taking the first annular steps 1123 and the annular tube heads at the two ends of the supporting piece 112 as the first limiting parts, the assembling convenience of the supporting piece 112 as the adapter seat between the two is improved, and the die cost and the processing cost are reduced.

It can be seen that the structural features of the first limiting portion, the second limiting portion, the third limiting portion and the fourth limiting portion not only can realize limiting, but also realize detachable connection between two ends of the supporting member 112 and the extension tube 12 and the joint seat 13. The third limiting part and the fourth limiting part utilize the conventional connection structure of the existing instrument executing assembly, so that the specific structures of the first limiting part and the second limiting part are designed adaptively, and the purpose of the third limiting part and the fourth limiting part is to realize axial movement and rotation of the support piece 112 between the extension tube 12 and the joint seat 13 respectively. It should be noted that, in other embodiments, the connection structure between the support member 112 and the extension tube 12, and the joint seat 13 are different, and the axial movement limiting structure and the rotation limiting structure are also different. For example, through slots may be formed on the wall of the extension pipe 12 and the wall of the joint seat 13, and an elastic buckle is provided on the support member 112, so that when the elastic buckle is clamped in the slot, the support member 112, the extension pipe 12 and the joint seat 13 can be detachably connected, and the elastic clamping structure simultaneously limits the axial movement and rotation of the support member 112, which is also a replacement structure for the first limiting portion, the second limiting portion, the third limiting portion and the fourth limiting portion.

Optionally, the section of the limiting block 16 is approximately T-shaped and is arranged in the accommodating cavity 14, and the T-shaped limiting block 16 can ensure that the limiting block cannot be separated from the limiting groove 15; moreover, in order to improve the reliability of the limiting, the limiting blocks 16 may be symmetrically arranged along the axial direction. The shapes of the limiting block 16 and the limiting groove 15 are not limited in this embodiment, and similarly, in other embodiments, the first limiting portion, the second limiting portion and the third limiting portion may have different structural forms, which is not limited by the drawings of this embodiment.

In one embodiment, the joint seat 13 includes a fixing plate 131 and a side wall 132 surrounding the fixing plate 131, a separation chamber 133 is formed between the fixing plate 131 and the sealing mechanism 11, and the tungsten wire 212 passes through the fixing plate 131 to be partially located in the separation chamber 133. Specifically, the fixing plate 131 is provided with a plurality of through holes for the tungsten wire 212 to pass through; the fixing plate 131 can provide a certain support and limit for the tungsten wire rope 212, and control accuracy of the tungsten wire rope 212 is improved. The tungsten wires 212 realize the control of the distal end effector 100 by moving, and in the moving process, pollutants are generated between the tungsten wires 212 and the through holes due to friction, and the pollutants can be prevented from entering the extension tube 12 due to the good sealing performance of the sealing mechanism 11. The side wall 132 is provided with a cleaning opening 1321 communicating with the partition 133, and the inside of the partition 133 can be cleaned through the cleaning opening 1321. The extension pipe 12 is long, generally 400mm-650mm, so that pollutants are difficult to clean when entering the extension pipe 12, the pollutants can be isolated in the separation cavity 133 by the sealing performance of the sealing mechanism 11, and the separation cavity 133 is communicated with the outside, so that the inside of the separation cavity 133 can be cleaned by ultrasonic waves through the cleaning opening 1321 of the side wall 132 when the whole cleaning apparatus is cleaned, and the operation is convenient, time-saving and labor-saving. The cleaning ports 1321 may be provided in plurality and spaced apart along the circumference of the sidewall 132, which may provide a higher cleaning efficiency.

Alternatively, a tungsten wire 212 is inserted into an end opening of the capillary 211, as shown in fig. 9 and 10; and the two are fixedly connected through bonding, welding and the like.

In one embodiment, the axial length of the separation chamber 133 is L1, as shown in fig. 9; the capillary 211 can reciprocate in the axial direction of the partitioned cavity 133, thereby achieving control of the tungsten wire 212. The movable distance of the capillary tube 211 is L2, and the space size of the separation cavity 133 is required to be slightly larger than the axial movement range of the capillary tube 211, so that the capillary tube 211 can be prevented from being separated from the sealing mechanism 11 to cause sealing failure.

In an embodiment, the sealing member 111 is disposed on the support member 112 at a distal end away from the cleaning port 1321, that is, the sealing member 111 is disposed on a side of the fixing portion 1121 facing away from the cleaning port 1321, so that the sealing member 111 does not have to withstand a severe sterilization environment and damage of the cleaning process, and an influence on the sealing performance of the sealing member 111 can be avoided. Preferably, the stopper 16 is also provided on the side of the fixing portion 1121 facing away from the cleaning opening 1321, so that the position of the sealing member 111 can satisfy both the requirements of reducing the risk of movement and avoiding the failure of the seal.

It should be noted that, for the instrument executing assembly of the distal end effector 100 for performing operations such as ablation and anastomosis, the operation of the distal end effector 100 requires electric energy, and thus, the operating assembly 2 further includes an electric wire 23 for supplying electric energy, the proximal end of the electric wire 23 and the proximal end of the capillary tube 211 are sleeved together by a heat shrink sleeve, and the movement of the capillary tube 211 does not affect the performance of the electric wire 23.

Example two

A second embodiment of the present application provides a surgical instrument, including the above-described instrument executing assembly. The surgical instrument further includes a control mechanism 200, the proximal end of the instrument actuation assembly being removably coupled to the control mechanism 200, the control mechanism 200 being configured to control actuation of the cable 21. The instrument actuation assembly has a seal 111 disposed within the housing cavity 14 closer to the proximal end than the tungsten wire 212 and provides support to the seal 111 by a support 112, and a capillary 211 extends through the seal 111 to isolate the sides of the sealing mechanism 11 from each other; because the capillary tube 211 has a smooth tube diameter, the friction and damage to the sealing element 111 are greatly reduced, the sealing performance of the sealing mechanism 11 is ensured to be good, the pneumoperitoneum can be quickly established, and the pneumoperitoneum leakage is reduced; moreover, the tungsten wire 212 has small moving resistance, which is beneficial to improving the control precision of the distal end effector 100.

Example III

The third embodiment of the application provides an endoscopic surgery robot, which comprises a surgical instrument in the second embodiment, and further comprises a mechanical arm, wherein the surgical instrument is detachably connected to the mechanical arm. The surgical instrument passes through the seal 111 through a smooth diameter capillary tube 211 to improve sealing performance and control accuracy of the cable 21 to the distal end effector 100, and is suitable for endoscopic surgery.

The mechanical arm has a plurality of degrees of freedom, realizes the operation to the surgical instrument through the mechanical arm, can further promote the control accuracy and the operating efficiency in the operation in-process. The third embodiment does not limit the specific structure of the mechanical arm.

It is apparent that the above examples of the present application are merely illustrative examples of the present application and are not limiting of the embodiments of the present application. Various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the application. It is not necessary here nor is it exhaustive of all embodiments. Any modifications, equivalent substitutions, improvements, etc. that fall within the spirit and principles of the present application are intended to be included within the scope of the claims of this application.

Claims

1. An instrument actuation assembly comprising a distal end effector (100) and a plurality of cables (21), the distal ends of the cables (21) being connected to the distal end effector (100) to actuate the distal end effector (100), the instrument actuation assembly further comprising:

the support assembly (1), the support assembly (1) comprises a sealing mechanism (11), an extension tube (12) and a joint seat (13) which are sequentially arranged from a proximal end to a distal end, wherein a containing cavity (14) is formed in the joint seat (13) or in the extension tube (12), and one end of the joint seat (13) far away from the extension tube (12) is movably connected with the distal end actuator (100);

the cable (21) extends along the accommodating cavity (14) and comprises a capillary tube (211) and a tungsten wire rope (212) which are fixedly connected with each other, and the capillary tube (211) penetrates through the sealing mechanism (11) so as to isolate two sides of the sealing mechanism (11) from each other.

2. The instrument actuation assembly according to claim 1, characterized in that the sealing mechanism (11) comprises a sealing member (111) arranged in the accommodating cavity (14) and a supporting member (112) for supporting the sealing member (111), wherein a through hole on the sealing member (111) is sleeved on the capillary tube (211) to form a seal.

3. The instrument actuation assembly according to claim 2, characterized in that the support (112) has an outer diameter smaller than the outer diameter of the extension tube (12), and the support (112) is connected to the extension tube (12) and/or the articulation seat (13) to be disposed in the receiving cavity (14) at a proximal position remote from the distal end of the tungsten wire rope (212).

4. The instrument actuation assembly according to claim 2, characterized in that the outer diameter of the support (112) is equal to the outer diameter of the extension tube (12) or the articulation seat (13), and that the extension tube (12) and the articulation seat (13) are detachable at both ends of the support (112), respectively.

5. The instrument actuation assembly according to claim 4, characterized in that the support (112) comprises a fixing portion (1121) and a connecting portion (1122) surrounding the fixing portion (1121), the connecting portion (1122) extending in the axial direction of the receiving chamber (14) to detachably connect the extension tube (12) and the joint seat (13), at least one side of the fixing portion (1121) being provided with the seal (111).

6. The instrument actuation assembly according to claim 4, characterized in that the support (112) comprises a second stop connected to the extension tube (12) and/or the articulation seat (13) to limit the rotation of the support (112).

7. The instrument actuation assembly according to claim 6, characterized in that the extension tube (12) and/or the articulation seat (13) are provided with a third limit portion, one of the second limit portion and the third limit portion being a limit groove (15), the other limit block (16), the limit groove (15) and the limit block (16) being mutually clamped to limit the rotation of the support (112).

8. The instrument actuation assembly of claim 6, wherein the second limiting portions are disposed at two ends of the support member (112), one of the two second limiting portions is a limiting groove (15), the other is a limiting block (16), the sealing member (111) is disposed on one end of the support member (112) having the limiting block (16), an avoidance gap (1112) is formed on the sealing member (111), and the avoidance gap (1112) is used for avoiding the limiting block (16).

9. The instrument actuation assembly according to claim 4, characterized in that the support (112) comprises a first stop connected to the extension tube (12) and/or the articulation seat (13) to limit the axial movement of the support (112).

10. The instrument actuation assembly according to claim 9, characterized in that at least one of the extension tube (12) and the articulation seat (13) is provided with a fourth limit, one of the first limit and the fourth limit being an annular step recessed inwards, the other being an annular tube head, the annular step being embedded in the annular tube head.

11. The instrument actuation assembly according to any one of claims 2-10, wherein the articulation seat (13) comprises a fixed plate (131) and a side wall (132) surrounding the fixed plate (131), a separation chamber (133) is formed between the fixed plate (131) and the sealing mechanism (11), an axial length of the separation chamber (133) is L1, the capillary tube (211) can reciprocate along the axial direction of the separation chamber (133), and a movable distance of the capillary tube (211) is L2, L1 > L2.

12. The instrument actuation assembly of claim 11, wherein the tungsten wire (212) passes through the fixation plate (131) to be partially positioned within the separation chamber (133), the sidewall (132) being open with a purge port (1321) communicating with the separation chamber (133).

13. The instrument actuation assembly of claim 12, wherein the seal (111) is disposed on the support (112) distal to the purge port (1321); and/or the number of the groups of groups,

the sealing element (111) is integrally connected to the support element (112) by means of casting.

14. Surgical instrument, characterized in that it comprises an instrument actuation assembly according to any one of claims 1-13, the surgical instrument further comprising a control mechanism (200), the instrument actuation assembly being connected to the control mechanism (200), the control mechanism (200) being adapted to control the actuation of the cable (21).

15. A laparoscopic surgical robot comprising the surgical instrument of claim 14, said laparoscopic surgical robot further comprising a robotic arm, said surgical instrument being connected to said robotic arm.