CN117530778A - Surgical instrument for minimally invasive surgery - Google Patents

Abstract

The present disclosure provides a surgical instrument for minimally invasive surgery, comprising a base; a link slidably mounted to the base in a first direction; the linear driving mechanism is arranged on the base and is configured to drive the connecting frame to reciprocate in a first direction; the rotary driving mechanism is arranged on the connecting frame and moves along with the connecting frame; the actuating drive mechanism is arranged on the rotary drive mechanism, the tail end of the actuating drive mechanism is configured to flexibly bend and extend into the body so as to adjust the length extending into the body under the drive of the linear drive mechanism, and the actuating drive mechanism rotates around a first axis parallel to the first direction under the drive of the rotary drive mechanism to adjust the position of the tail end of the actuating drive mechanism; and the execution terminal is arranged at the tail end of the execution driving mechanism so as to execute operation in the body, and the position and the angle of the execution terminal extending into the body are regulated under the driving of the linear driving mechanism and the rotary driving mechanism, so that the flexibility of the minimally invasive operation is improved.

Description

Surgical instrument for minimally invasive surgery

Technical Field

At least one embodiment of the present disclosure relates to the technical field of medical devices, and more particularly to a surgical device for minimally invasive surgery.

Background

In the modern medical field, minimally invasive surgery on patients is a common excellent technical means for reducing surgical wounds and surgical complications. Existing minimally invasive or noninvasive surgical robotic techniques include multi-hole surgical robotic techniques, single-hole surgical robotic techniques, and trans-body natural cavity surgical robotic techniques.

In the minimally invasive surgical operation process, a flexible and reliable minimally invasive surgical instrument with a certain degree of freedom and stable rigidity is required to perform the surgical operation. The existing minimally invasive surgical instrument mainly comprises a flexible operation tool and a rigid operation tool. The flexible operation tool has higher motion flexibility, can adapt to more complicated internal environments of human bodies, but the motion accuracy is difficult to ensure, so that the use is more difficult. The rigid operation tool has larger operation force, and the existing minimally invasive surgical instrument has limited flexibility and poor effect in the minimally invasive surgery operation in a narrow space in vivo under the restriction of the size of a narrow working channel due to the specificity of a natural cavity channel.

Disclosure of Invention

Aiming at the prior art problems, the present disclosure provides a surgical instrument for minimally invasive surgery, which is used for at least partially solving the above technical problems, and adjusting the position and angle of the execution terminal extending into the body under the drive of the linear driving mechanism and the rotary driving mechanism, thereby improving the flexibility of minimally invasive surgery.

Embodiments of the present disclosure provide a surgical instrument for minimally invasive surgery, comprising a base; a link slidably mounted to the base in a first direction; a linear driving mechanism mounted on the base and configured to drive the link frame to reciprocate in the first direction; the rotary driving mechanism is arranged on the connecting frame and moves along with the connecting frame; an actuating drive mechanism mounted on the rotary drive mechanism, the end of the actuating drive mechanism being configured to flexibly bend into the body to adjust the length of the extension into the body under the drive of the linear drive mechanism, the actuating drive mechanism being driven to rotate about a first axis parallel to the first direction to adjust the position of the end of the actuating drive mechanism; and an execution terminal installed at the end of the execution driving mechanism to perform a surgical operation in vivo.

According to an embodiment of the present disclosure, the linear driving mechanism includes: the linear screw rod is rotatably arranged on the base around an axis parallel to the first axis; the linear driving motor is arranged on the base and is configured to drive the linear screw rod to rotate; the linear sliding block is slidably arranged on the base in the first direction and is in threaded fit with the linear screw rod, and the connecting frame is arranged on the linear sliding block so as to reciprocate along the first direction under the driving of the linear screw rod.

According to an embodiment of the present disclosure, the rotation driving mechanism includes: the support frame is mounted on the connecting frame, is configured to erect the execution driving mechanism and is rotationally connected with the end part of the execution driving mechanism at the first axis; a rotary drive motor mounted to the support frame and configured to drive the actuator to rotate about the first axis; preferably, the support frame includes: the support plate is arranged on the connecting frame; the two support arms are arranged at the two ends of the support plate in the first axis direction, and the two ends of the actuating drive mechanism are respectively rotatably arranged at the two support arms and are driven by the rotary drive motor to rotate.

According to an embodiment of the present disclosure, the actuator includes: the two ends of the mounting frame on the first axis are rotatably mounted on the supporting frame; an actuating drive assembly mounted on the mounting frame, a flexible body having a first end mounted to an end of the mounting frame at the first axis, a second end of the flexible body configured to flexibly flex into the body, the flexible body configured to flex in a direction offset from its own axis upon actuation of the actuating drive assembly to adjust a position of the actuating terminal mounted to the second end of the flexible body;

Preferably, the execution driving assembly includes: four first actuating drives mounted on the mounting frame; and the four bending driving wires are arranged at the first ends of the four bending driving wires in the first execution driving piece, the second ends of the four bending driving wires are respectively arranged at the quarter points of the second end of the flexible body and are configured to be driven by the first execution driving piece to wind or unwind the wires, so that the second end of the flexible body bends in a direction deviating from the extending direction of the flexible body so as to adjust the position of the execution terminal.

According to an embodiment of the present disclosure, the actuation terminal includes a clamping mechanism mounted to the second end of the flexible body, the clamping mechanism having an open state releasing the object and a closed state gripping the object, configured to be switched between the open state and the closed state under the drive of the actuation drive assembly to perform the gripping operation in the body.

According to an embodiment of the present disclosure, the execution driving assembly further includes: the second execution driving piece is arranged on the mounting frame; and a clamp driving wire, wherein a first end of the clamp driving wire is installed on the second execution driving piece, a second end of the clamp driving wire is installed on the clamp mechanism, and the clamp driving wire is configured to be driven by the second execution driving piece to be discharged so as to adjust the clamp mechanism to the open state or to be retracted so as to adjust the clamp mechanism to the closed state.

According to an embodiment of the present disclosure, the first and second execution drivers each include: the execution driving motor is arranged at one end of the mounting frame far away from the flexible body; an execution screw rod extending along the direction of the first axis, installed at the output end of the execution driving motor and configured to rotate under the driving of the execution driving motor; and the execution sliding block is slidably arranged on the mounting frame and is in threaded fit with the execution screw rod so as to slide in the direction of the first axis under the drive of the execution screw rod, wherein the four bending driving wires and the first ends of the clamp driving wires are respectively arranged on the execution sliding blocks of the first execution driving piece and the second execution driving piece so as to move in the direction of the first axis towards the direction far away from the flexible body for wire collection or move in the direction close to the flexible body for wire discharge.

According to an embodiment of the present disclosure, the clamping mechanism includes: the outer sides of the two support arms can be elastically arranged at the second end of the flexible body, the tail ends of the two support arms extend towards the direction away from each other, and the two support arms are provided with the open state away from each other and the closed state close to each other; the driving part is arranged at one end, close to the flexible body, of the inner sides of the two support arms, is connected with the second end of the clamp driving wire and is configured to be adjusted to the open state under the driving of the wire releasing of the clamp driving wire or to be adjusted to the closed state under the driving of the wire collecting.

According to an embodiment of the present disclosure, the mounting frame includes: the first end of the assembly frame is rotatably arranged on the support frame on the first axis; the first end of the connecting plate is arranged in the middle of the second end of the assembly frame, and the second end extends along the direction of the first axis; the first ends of the two shells are arranged at the second ends of the connecting plates, the second ends of the two shells are rotatably arranged on the supporting frame on the first axis, the two shells are mutually buckled to form a structure with a cavity inside, and the second ends of the two shells are provided with abdication holes for allowing the four bending driving wires and the clamp driving wires to pass through; the sliding rail is arranged on the assembly frame, extends in the direction parallel to the first axis and is in sliding fit with the execution slider so as to guide the execution slider to slide.

According to an embodiment of the present disclosure, the device further includes a pre-tightening mechanism, which is located in both of the housings, and includes: the pre-tightening installation rod is rotatably installed in the cavity inside the shell; the pre-tightening piece is arranged on the peripheral arm of the pre-tightening installation rod and protrudes outwards; a pretension driving assembly mounted to the housing and configured to drive the pretension mounting bar to rotate such that the pretension continuously tightens the bending driving wire, preferably, the pretension driving assembly includes: the gear is sleeved on the pre-tightening installation rod and is fixed relative to the pre-tightening installation rod; a rack engaged with the gear; and the screw rod partially penetrates through the shell, stretches into the cavity in the shell and is in threaded fit with the shell so as to move in the extending direction of the driving rack, and the rack is rotatably mounted on the screw rod in the shell so as to move under the driving of the screw rod and drive the gear to rotate, so that the pre-tightening mounting rod and the pre-tightening piece rotate.

According to the surgical instrument for minimally invasive surgery, in the surgical process, the tail end of the execution driving mechanism and the execution terminal flexibly extend into the body, the linear driving mechanism drives the connecting frame to reciprocate in the first direction so as to drive the execution driving mechanism to move, the position of the execution terminal at the tail end of the execution driving mechanism extending into the body is adjusted, the rotary driving mechanism is started, the execution driving mechanism is driven to rotate around the first axis, the position and the angle of the execution terminal in the body are adjusted, the execution terminal is convenient to execute surgical operation at the appointed position, the operation is convenient, and the flexibility of minimally invasive surgery is improved.

Drawings

Fig. 1 is a schematic perspective view of a master hand end of a minimally invasive surgical system according to an embodiment of the disclosure;

fig. 2 is a schematic perspective view of a slave hand of a minimally invasive surgical system according to an embodiment of the present disclosure;

fig. 3 is a schematic perspective view of an instrument arm of a minimally invasive surgical system according to an embodiment of the disclosure;

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

FIG. 5 is an exploded schematic view of a linear drive mechanism of a surgical instrument according to an embodiment of the present disclosure;

FIG. 6 is an exploded schematic view of a rotary drive mechanism of a surgical instrument according to an embodiment of the present disclosure;

FIG. 7 is an exploded schematic view of an actuation drive mechanism of a surgical instrument according to an embodiment of the present disclosure;

FIG. 8 is a schematic perspective view of a clamping mechanism of a surgical instrument according to an embodiment of the present disclosure;

FIG. 9 is an exploded schematic view of a first actuation driver of a surgical instrument according to an embodiment of the present disclosure;

FIG. 10 is a partial view of an actuation drive mechanism of a surgical instrument according to an embodiment of the present disclosure;

FIG. 11 is another perspective view of an actuation drive mechanism of a surgical instrument according to an embodiment of the present disclosure;

FIG. 12 is an exploded schematic view of a pretensioning mechanism of a surgical instrument according to an embodiment of the present disclosure;

FIG. 13 is an exploded schematic view of a first pulley set of a surgical instrument according to an embodiment of the present disclosure;

FIG. 14 is an exploded schematic view of a second pulley set of a surgical instrument according to an embodiment of the present disclosure; and

fig. 15 is an exploded schematic view of a third pulley set of a surgical instrument according to an embodiment of the present disclosure.

Reference numerals

01. A master hand end;

02. from the hand end;

03. a three-dimensional image module;

04. a control module;

011. a main operator;

022. an instrument arm;

023. a surgical instrument;

024. an endoscope;

1. a linear driving mechanism;

11. a linear screw rod;

12. a linear driving motor;

13. A linear slide;

2. executing a driving mechanism;

21. a mounting frame;

211. an assembly frame;

212. a connecting plate;

213. a housing;

2131. a relief hole; 2132. a first housing; 21321. pretension the mounting hole; 21322. a threaded hole; 2133. a second housing;

214. a slide rail;

22. executing a driving assembly;

221. a first execution driving member;

2211. executing a driving motor; 2212. executing a screw rod; 2213. executing a sliding block; 2214. a fixing member;

222. a second execution driving member;

23. bending the driving wire;

24. a clamp drive wire;

3. a flexible body;

31. a flexible tube;

32. a connecting body;

4. a clamping mechanism;

41. a support arm;

42. a driving section;

5. a pre-tightening mechanism;

51. pre-tightening the mounting rod;

52. a pretension member;

521. a mounting base; 522. a pre-tightening wheel;

53. a pretension drive assembly;

531. a gear; 532. a rack; 533. a screw;

6. a guide wheel mechanism;

61. a first guide wheel group;

62. a second guide wheel group;

63. a third guide wheel group;

64. a guide rod;

65. a wire guide wheel;

7. a base;

8. a connecting frame;

9. a rotary driving mechanism;

91. a support frame;

911. a support plate; 912. a support arm; 913. a hoop;

92. and a rotary driving motor.

Detailed Description

For the purposes of promoting an understanding of the principles and advantages of the disclosure, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same.

It should be understood that the description is only exemplary and is not intended to limit the scope of the present application. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present application. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known techniques are omitted so as not to unnecessarily obscure the concepts of the present application.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "comprising" as used herein indicates the presence of a feature, step, operation, but does not preclude the presence or addition of one or more other features.

Where expressions like at least one of "A, B and C, etc. are used, the expressions should generally be interpreted in accordance with the meaning as commonly understood by those skilled in the art (e.g.," a system having at least one of A, B and C "shall include, but not be limited to, a system having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a formulation similar to at least one of "A, B or C, etc." is used, in general such a formulation should be interpreted in accordance with the ordinary understanding of one skilled in the art (e.g. "a system with at least one of A, B or C" would include but not be limited to systems with a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.

Descriptions of structural embodiments and methods of the present invention are disclosed herein. It is to be understood that there is no intention to limit the invention to the particular disclosed embodiments, but that the invention may be practiced using other features, elements, methods and embodiments. Like elements in different embodiments are generally referred to by like numerals.

Minimally invasive surgical robotic techniques include multi-hole surgical robotic techniques, single-hole surgical robotic techniques, and trans-body natural orifice surgical robotic techniques. In the minimally invasive surgical operation process, a flexible and reliable minimally invasive surgical instrument with a certain degree of freedom and stable rigidity is required to perform the surgical operation. Due to the particularity of the natural cavity, under the restriction of the size of the narrow working channel, the existing minimally invasive surgical instrument has limited flexibility in minimally invasive surgical operation in the narrow space in vivo and poor effect.

The minimally invasive surgical robot includes: the master hand 01 shown in fig. 1 and the slave hand 02 shown in fig. 2, the master hand 01 is also integrated with a three-dimensional image module 03 and a control module 04. The master manipulator 011 is provided on the master manipulator 01, and the master manipulator 011 controls the instrument arm 022 and the surgical instrument 023 provided on the slave manipulator 02. A plurality of instrument arms 022 are provided from the hand end 02, including one instrument arm 022 with an endoscope 024 mounted thereon as a first instrument arm for intra-operatively acquiring an image of a surgical site such as the intestinal tract, nasal cavity, etc. of a patient, and transmitting the acquired image to the master hand end 01. As shown in fig. 3, other instrument arms 022 will be provided with different functional surgical instruments 023, such as tissue forceps, needle holder, energy tool, ultrasonic blade, etc., as a second instrument arm at the time of surgery to cope with the surgical needs of different surgeries.

During the surgical procedure, the instrument arm 022 with the endoscope 024 mounted thereon positions and orients the endoscope 024 by attitude adjustment. The endoscope 024 passes through the minimally invasive incision (poking card) and then enters the human body, can acquire three-dimensional images of the operation implementation part, synchronously transmits the three-dimensional images of the focus part to the three-dimensional image module 03 arranged on the main hand end 01, and performs operation by watching the three-dimensional images, namely, a doctor watches the synchronous images of the focus part on the three-dimensional image module 03 at the main hand end 01, simultaneously operates the main operation hand 011, and controls the pose and the action of the plurality of instrument arms 022 and the surgical instrument 023 on the auxiliary hand end 02 by adjusting the pose of the main operation hand 011 so as to complete the operation. In the above process, the encoder set at each joint of the main manipulator 011 manipulated by the doctor can record the data of the rotation angle of the joint in real time, which can be called as input parameters, the data is transmitted to the control module 04, the controller in the control module 04 is preset with the kinematic mathematical model of the mutual mapping among the main manipulator 011, the instrument arm 022 and the surgical instrument 023, the controller receives the input parameters and calculates the output parameters of the kinematic model corresponding to the surgical instrument 023 with different functions, and the output parameters are transmitted to the instrument arm 022 and the surgical instrument 023 of the slave hand 02, so as to realize the motion control.

Fig. 4 is a schematic perspective view of a surgical instrument according to an embodiment of the present disclosure.

Embodiments of the present disclosure propose a surgical instrument for minimally invasive surgery, which is assembled at the position of the surgical instrument 023 of the slave hand 02 of the minimally invasive surgical robot as shown in fig. 3. As shown in fig. 4, the surgical instrument includes a base 7, a link 8, a linear drive mechanism 1, a rotary drive mechanism 9, an actuator drive mechanism 2, and an actuator terminal. The base 7 is mounted on an instrument arm 022 from the hand end 02 as shown in fig. 3. In some alternative embodiments, the base may be mounted on a support frame of the patient accessory. The link 8 is slidably mounted to the base 7 in a first direction. The linear driving mechanism 1 is mounted on the base 7 and is configured to drive the link 8 to reciprocate in a first direction; a rotary driving mechanism 9 is mounted on the connecting frame 8 to move along with the connecting frame 8; the execution driving mechanism 2 is arranged on the rotary driving mechanism 9, the tail end of the execution driving mechanism 2 is configured to flexibly bend and extend into the body, the first direction is the direction that the execution terminal extends into the internal cavity of the body, so that the length extending into the body can be adjusted under the driving of the linear driving mechanism 1, and the tail end of the execution driving mechanism 2 can be rotated around a first axis parallel to the first direction under the driving of the rotary driving mechanism 9, so that the position of the tail end of the execution driving mechanism 2 can be adjusted; and an execution terminal is mounted to an end of the execution driving mechanism 2 to perform a surgical operation in the body.

According to embodiments of the present disclosure, the execution terminal may be a tissue forceps, a needle or an ultrasonic blade, or the like. During the operation, the end of the actuating drive 2 and the actuating terminal can be bent into the body through the natural lumen of the human body. The linear driving mechanism 1 drives the connecting frame 8 to reciprocate in the first direction, so that the actuating driving mechanism 2 is driven to move to adjust the position of the actuating terminal at the tail end of the actuating driving mechanism 2 extending into the body, and the rotary driving mechanism 9 is started, so that the actuating driving mechanism 2 is driven to rotate around the first axis, the position and the angle of the actuating terminal in the body are adjusted, the actuating terminal is convenient to perform operation at the appointed position, the operation is convenient, and the flexibility of minimally invasive surgery is improved.

Fig. 5 is an exploded schematic view of a linear drive mechanism of a surgical instrument according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, as shown in fig. 4 and 5, the linear driving mechanism 1 includes a linear screw 11, a linear driving motor 12, and a linear slider 13. The linear screw 11 extends in the first direction, and both ends of the linear screw 11 are rotatably mounted on the base 7 about an axis parallel to the first axis. The linear driving motor 12 is a servo motor, the linear driving motor 12 is mounted at the end part of the base 7, and an output shaft of the linear driving motor 12 is connected with the end part of the screw rod through a coupler so as to drive the linear screw rod 11 to rotate. The linear sliding block 13 is slidably mounted on the base 7 in a first direction and is in threaded fit with the linear screw rod 11, and the connecting frame 8 is mounted on the linear sliding block 13 so as to reciprocate in the first direction under the drive of the linear screw rod 11, so that the position of the execution terminal extending into the body is adjusted.

In an exemplary embodiment, as shown in fig. 5, a chute extending along the first direction is provided on the base 7, and the chute is slidably engaged with the linear slider 13 to guide the linear slider 13 to slide in the first direction.

In an exemplary embodiment, the linear driving mechanism may be a combination mechanism of a synchronous belt and a linear sliding block, so as to enable the driving connection frame to slide back and forth in the first direction.

Fig. 6 is an exploded schematic view of a rotary drive mechanism of a surgical instrument according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, as shown in fig. 4 and 6, the rotation driving mechanism 9 includes a supporting frame 91 and a rotation driving motor 92. The support frame 91 is mounted to the connection frame 8, is configured to mount the actuator 2, and is rotatably connected to an end portion of the actuator 2 at the first axis. The rotation driving motor 92 is mounted to the support frame 91 and configured to drive the actuator driving mechanism 2 to rotate about the first axis to adjust the angle of the actuator terminal in the body.

Specifically, as shown in fig. 4 and 6, the support frame 91 includes a support plate 911 and two support arms 912. The support plate 911 is mounted to the connection frame 8 by bolts, and the support plate 911 extends in the first direction. The two support arms 912 extend in a direction perpendicular to the first direction, first ends of the two support arms 912 are integrally connected to both ends of the support plate 911 in the first axis direction, and second ends of the support arms 912 are detachably connected with anchor ears 913 to assemble bearings.

The two ends of the actuating drive 2 are respectively connected with two flanges through bolts, and the two flanges are respectively matched with two bearings on the two support arms 912, so that the actuating drive 2 is rotatably installed on the two support arms 912. The rotary driving motor 92 is installed on one of the support arms 912, and an output shaft of the rotary driving motor 92 is connected with one end of the execution driving mechanism 2 through a coupler to drive the execution driving mechanism 2 to rotate around the first axis, so that the in-vivo angle of an execution terminal at the tail end of the execution driving mechanism is adjusted, the operation is convenient and fast, and the flexibility of the minimally invasive surgery is improved.

Fig. 7 is an exploded schematic view of an actuation drive mechanism of a surgical instrument according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, as shown in fig. 4, 6 and 7, the actuation drive mechanism 2 includes a mounting bracket 21, an actuation drive assembly 22 and a flexible body 3. The mount 21 is rotatably mounted on both ends of the first axis to both support arms 912 of the support frame 91. The actuator assembly 22 is mounted on the mounting frame 21, a first end of the flexible body 3 is mounted on an end of the mounting frame 21 located at a first axis away from the rotary drive motor 92, the flexible body 3 is configured to be flexibly bent into the body, and a second end of the flexible body 3 is configured to be bent in a direction deviating from the own axis of the flexible body 3 under the actuation of the actuator assembly 22, so as to adjust the position of an actuator terminal mounted on the second end of the flexible body 3.

Fig. 8 is a schematic perspective view of a clamping mechanism of a surgical instrument according to an embodiment of the present disclosure.

In an exemplary embodiment, as shown in fig. 7 and 8, the flexible body 3 is a tubular structure with a cavity inside, the flexible body 3 includes a flexible tube 31 and a connecting body 32, a first end of the flexible body 3 is mounted on an end of the mounting frame 21 located at a first axis far from the rotary driving motor 92, and a first end of the connecting body 32 is mounted on a second end of the flexible tube 31. The flexible tube 31 may be a spring tube that is free to bend into the body cavity. The connecting body 32 is a multi-section hollow structure and can deviate from the axis of the connecting body to bend under the action of external force.

According to an embodiment of the present disclosure, as shown in fig. 7 and 8, the actuation drive assembly 22 includes four first actuation drivers 221 and four bending drive wires 23. Four first actuating drives 221 are mounted on the mounting frame 21; the first ends of the four bending driving wires 23 are mounted to the first actuating drive 221, and the second ends of the four bending driving wires 23 pass through the flexible body 3 and the internal cavity of the connecting body 32, are respectively mounted at the four points of the second ends of the connecting body 32, and are configured to be wound or unwound under the driving of the first actuating drive 221, so that the second ends of the connecting body 32 are bent in a direction deviated from the extending direction of the connecting body 32, to adjust the position of the actuating terminal.

According to the embodiment of the disclosure, in the use process, the first executing driving piece 221 connected with the two adjacent bending driving wires 23 is started, so that the two adjacent bending driving wires 23 are wound, the tension to the connecting body 32 of the flexible body 3 is increased, the connecting body 32 bends towards the two bending driving wires 23 in the wire winding state, the position of the executing terminal is adjusted, and the operation is flexible.

Fig. 9 is an exploded schematic view of a first actuation driver of a surgical instrument according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, as shown in fig. 6, 7 and 9, the mounting bracket 21 includes a mounting bracket 211, a connection plate 212, two housings 213 and a slide rail 214. The first end of the mount 211 is rotatably mounted on a support arm 912 of the support frame 91 on which the rotation driving motor 92 is mounted on a first axis, and the mount 211 is rotated about the first axis by the rotation driving motor 92. The connection plate 212 is mounted at a first end thereof to a middle portion of a second end of the mounting bracket 211, the second end extending in a direction of the first axis.

As shown in fig. 6 and 7, the two housings 213 are fastened to each other up and down to form a structure having a cavity therein, each of the two housings includes a first housing 2132 and a second housing 2133, a first end of the first housing 2132 is mounted to a second end of the connection plate 212, a first end of the second housing 2133 is detachably mounted to a second end of the first housing 2132 by a bolt, and the second end of the second housing 2133 is contracted in a direction approaching to the first axis and rotatably connected to the support arm 912 of the support frame 91 away from the rotary driving motor 92 to rotate about the first axis under the driving of the rotary driving motor 92. The second ends of the two second housings 2133 are provided with relief holes 2131 allowing the four bending drive wires 23 to pass through.

According to an embodiment of the present disclosure, as illustrated in fig. 9, two first actuating drivers 221 are mounted to an upper half of the mounting frame 211, and the other two first actuating drivers 221 are mounted to a lower half of the mounting frame 211.

As shown in fig. 2, 7 and 9, the first actuating drive 221 includes an actuating drive motor 2211, an actuating screw 2212 and an actuating slider 2213. The actuating drive motor 2211 is mounted to the mounting frame 211. The actuating screw 2212 extends in a direction parallel to the first axis, is mounted to an output end of the actuating drive motor 2211, and is configured to be rotated by the actuating drive motor 2211. The actuating slider 2213 is slidably mounted to the mounting frame 21 and is screw-engaged with the actuating screw 2212 to slide in the direction of the first axis by the actuation of the actuating screw 2212. The first ends of the four bending drive wires 23 are respectively mounted on the actuating sliders 2213 of the four first actuating drives 221 to move in the direction of the first axis of the actuating sliders 2213 away from the flexible body 3 to take up the wires or move in the direction toward the flexible body 3 to pay out the wires.

Specifically, as shown in fig. 9, the actuator 2213 is provided with a fixing member 2214, the fixing member 2214 is detachably connected to the actuator 2213, and the fixing member 2214 may be a bolt or a screw, and is screwed with the actuator 2213 to fix the first end of the bending driving wire 23.

According to an embodiment of the present disclosure, as shown in fig. 9, the mounting frame 21 further includes a slide rail 214, the slide rail 214 is mounted to the mounting frame 211 and extends in a direction parallel to the first axis, and the slide rail 214 is slidably engaged with the actuating slider 2213 to guide the actuating slider 2213 to slide.

According to the embodiment of the disclosure, in the process of winding or unwinding the bending driving wire 23, the first actuating driving member 221 starts the actuating driving motor 2211 to drive the actuating screw 2212 to rotate, so that the actuating slider 2213 reciprocates along the actuating screw 2212, and meanwhile, the sliding rail 214 guides the actuating slider 2213 to slide, so that the shaking degree in the sliding process of the actuating slider 2213 is reduced. When the execution slider 2213 slides in a direction away from the flexible body 3, the bending driving wire 23 is pulled, so that the bending driving wire 23 is retracted, otherwise, the bending driving wire 23 is released, and the operation is convenient.

In an exemplary embodiment, the actuation terminal may be a tissue clamp, needle holder, or ultrasonic blade, among others. In the present embodiment, as shown in fig. 2, 7 and 8, the actuation terminal includes a clamp mechanism 4, the clamp mechanism 4 being mounted to the second end of the flexible body 3, the clamp mechanism 4 having an open state for releasing the object and a closed state for gripping the object, and being configured to be switched between the open state and the closed state under the actuation of the actuation drive assembly 22 to perform the gripping operation in the body.

Fig. 10 is a partial view of an actuation drive mechanism of a surgical instrument according to an embodiment of the present disclosure. Fig. 11 is another perspective view of an actuation drive mechanism of a surgical instrument according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, as shown in fig. 10 and 11, the surgical instrument further includes two pretensioning mechanisms 5, where the two pretensioning mechanisms 5 are located on an upper half portion and a lower half portion of the cavity formed by the two housings 213. The pretensioning mechanism 5 includes a pretensioning mounting lever 51, a pretensioning member 52, and a pretensioning driving assembly 53. The pre-tightening mounting rod 51 is horizontally disposed and perpendicular to the first axis, both ends of the pre-tightening mounting rod 51 are rotatably fitted in the pre-tightening mounting holes 21321 of the first housing 2132, and the pre-tightening mounting rod 51 is rotatably mounted in the cavity inside the housing 213. The pretensioner 52 is mounted to the outer circumferential arm of the pretensioner mounting lever 51, and protrudes outward. The pretension-driving assembly 53 is mounted to the housing 213 and is configured to drive the pretension-mounting lever 51 to rotate such that the pretension 52 continuously tightens the bending drive wire 23.

Fig. 12 is an exploded schematic view of a pretensioning mechanism of a surgical instrument according to an embodiment of the present disclosure.

In one exemplary embodiment, as shown in fig. 10, 11 and 12, two pretension driving assemblies 53 are provided on each pretension mounting bar 51, the two pretension driving assemblies 53 being disposed opposite the bending driving wires 23, respectively. The pretension driving assembly 53 includes a gear 531, a rack 532, and a screw 533. The gear 531 is sleeved on the pre-tightening mounting rod 51 opposite to the bending driving wire 23 and is fixed opposite to the pre-tightening mounting rod 51. Screw 533 is vertically disposed, and screw 533 partially passes through screw hole 21322 of first housing 2132 and is screwed into screw hole 21322, and the end of screw 533 protrudes into the cavity inside housing 213. A rack 532 is rotatably installed at the end of the screw 533 in the housing 213, and the rack 532 is engaged with the gear 531 to reciprocate in the vertical direction by the driving of the screw 533 and to drive the rotation of the gear 531, so that the pretensioner mounting lever 51 and the pretensioner 52 are rotated.

In an exemplary embodiment, as shown in fig. 10, 11 and 12, two pretensioners 52 are provided on each pretensioning mounting bar 51, the two pretensioners 52 being disposed opposite the bending drive wires 23, respectively. The pretensioner 52 includes a mounting base 521 and a pretensioner wheel 522. The mounting seat 521 is mounted on the mounting rod near the bending drive wire 23. The pretensioner wheel 522 is rotatably mounted to the mounting bracket 521 and is in rolling contact with the bending drive wire 23.

According to the embodiment of the disclosure, before the surgical instrument is used, during the tensioning process of the bending driving wire 23 by the pre-tightening mechanism 5, the screw 533 is rotated, and as the screw 533 is in threaded connection with the threaded hole 21322 of the first housing 2132, the screw 533 moves in the vertical direction, so that the rack 532 is driven to move in the vertical direction, the gear 531 meshed with the rack 532 is driven to rotate, the pre-tightening mounting rod 51 and the pre-tightening piece 52 rotate along with the rotation of the gear 531, the pre-tightening wheel 522 presses the bending driving wire 23 to tension, the pre-tightening wheel 522 is in rolling contact with the bending driving wire 23, the friction force between the pre-tightening wheel 522 and the bending driving wire 23 is reduced, and the interference degree of the pre-tightening wheel 522 on the wire winding and unwinding of the bending driving wire 23 is weakened.

In an exemplary embodiment, as shown in fig. 10 and 11, the surgical instrument further includes a guide wheel mechanism 6, the guide wheel mechanism 6 including a first guide wheel set 61, a second guide wheel set 62, and a third guide wheel set 63. The first guide wheel set 61, the second guide wheel set 62 and the third guide wheel set 63 each include a guide rod 64 and a guide wire wheel 65, and the guide wire wheel 65 is rotatably mounted on the guide rod 64 through a bearing.

Fig. 13 is an exploded schematic view of a first pulley set of a surgical instrument according to an embodiment of the present disclosure. Fig. 14 is an exploded schematic view of a second pulley set of a surgical instrument according to an embodiment of the present disclosure.

As shown in fig. 10, 13 and 14, the first guide wheel group 61 is provided with two, the guide rods 64 of the first guide wheel group 61 are mounted on the inner wall of the first housing 2132 of the housing 213 located above, and the two first guide wheel groups 61 are located on both sides of the pretensioning mechanism 5 in the extending direction of the bending drive wire 23. The second guide wheel group 62 is provided with two, the guide rods 64 of the second guide wheel group 62 are mounted on the inner wall of the first outer shell 2132 of the housing 213 located below, and the two second guide wheel groups 62 are located on both sides of the pretensioning mechanism 5 in the extending direction of the bending drive wire 23. The first guide wheel set 61 is provided with three guide wheels 65, and the two bending driving wires 23 and the clamp driving wires 24 are respectively wound on the three guide wheels 65 of the first guide wheel set 61 and sequentially wound on the two first guide wheel sets 61 so as to conduct guide on the bending driving wires 23 and the clamp driving wires 24. The second guide wheel set 62 is provided with two guide wheels 65, and the two bending driving wires 23 positioned on the lower side are wound on the two guide wheels 65 of the second guide wheel set 62 and sequentially wound on the two second guide wheel sets 62, so that the wires are realized, and the bending driving wires 23 are prevented from being mutually wound.

Fig. 15 is an exploded schematic view of a third pulley set of a surgical instrument according to an embodiment of the present disclosure.

As shown in fig. 10 and 15, the third guide wheel set 63 is located downstream of the first guide wheel set 61 and the second guide wheel set 62, four guide rods 64 of the third guide wheel set 63 are vertically disposed and mounted on the side walls of the second housing 2133 of the two housings 213, and two guide wheels 65 are disposed on each guide rod 64. The two third guide wheel sets 63 are one, the spacing between the third guide wheel sets 63 close to the yielding hole 2131 is smaller than the spacing between the third guide wheel sets 63 far away from the yielding hole 2131, and the two third guide wheel sets 63 receive the bending driving wires 23 conveyed from the first guide wheel set 61 and the second guide wheel set 62, so that the bending driving wires 23 are conveyed to the yielding hole 2131.

According to the embodiment of the present disclosure, as shown in fig. 10 and 11, the first guide wheel set 61, the second guide wheel set 62 and the third guide wheel set 63 convey the four bending driving wires 23 to the yielding hole 2131, and the clamp driving wires 24 conveyed from the first guide wheel set 61 are directly conveyed to the yielding hole 2131, so that wire conveyance of the four bending driving wires 23 and the clamp driving wires 24 is realized, and mutual winding is avoided.

In an exemplary embodiment, as shown in fig. 7 and 8, the clamping mechanism 4 includes two arms 41 and a drive portion 42. The outer sides of the two support arms 41 are elastically mounted on the second end of the flexible body 3, the tail ends of the two support arms 41 extend towards the direction away from each other, and the two support arms 41 have an open state away from each other and a closed state close to each other. The driving part 42 is mounted on the inner sides of the two arms 41 near one end of the flexible body 3 and is connected to the second end of the clamp driving wire 24.

In one illustrative embodiment, as shown in fig. 7, 8 and 9, the implement drive assembly 22 further includes a second implement drive 222 and a clamp drive wire 24. The second actuating drive 222 is mounted on the mounting frame 21, the second actuating drive 222 having the same structure as the first actuating drive 221, and the second actuating drive 222 being mounted on the upper half of the mounting frame 211, which is not described here. The first end of the clamp driving wire 24 is mounted to the actuating slider 2213 of the second actuating drive 222, and the second end of the clamp driving wire 24 passes through the relief hole 2131 of the housing 213 and through the central axis of the flexible tube 31 and the connector 32, is mounted on the driving portion 42 of the clamp mechanism 4, and the clamp driving wire 24 is configured to be unwound to adjust the clamp mechanism 4 to an open state or to be retracted to adjust the clamp mechanism 4 to a closed state under the driving of the second actuating drive 222.

According to the embodiment of the disclosure, in the process of winding or unwinding the clamp driving wire 24 driven by the second execution driving piece 222, the execution driving motor 2211 is started to drive the execution screw rod 2212 to rotate, so that the execution slide block 2213 reciprocates along the execution screw rod 2212, and meanwhile, the slide rail 214 guides the execution slide block 2213 to slide, so that the shaking degree in the sliding process of the execution slide block 2213 is reduced. When the execution slider 2213 slides towards the direction far away from the flexible body 3, the clamp driving wire 24 is pulled, so that the bending driving wire 23 is retracted, and the driving part 42 is pulled towards the direction close to the flexible body 3, so that the two support arms 41 are inwards closed to be adjusted to be close to each other and attached to each other, otherwise, the bending driving wire 23 is released, the two straight arms are reset and adjusted to be far away from each other under the action of self elasticity, the operation is convenient, and the flexibility of the minimally invasive surgery is improved.

According to the surgical instrument for minimally invasive surgery provided by the embodiment, in the surgical process, the tail end of the execution driving mechanism 2 and the execution terminal flexibly extend into the body, the linear driving mechanism 1 drives the connecting frame 8 to reciprocate in the first direction so as to drive the execution driving mechanism 2 to move, the position of the execution terminal extending into the body at the tail end of the execution driving mechanism 2 is adjusted, the rotary driving mechanism 9 is started, and the execution driving mechanism 2 is driven to rotate around the first axis, so that the position and the angle of the execution terminal in the body are adjusted, the execution terminal is convenient to execute the surgical operation at the appointed position, the operation is convenient, and the accuracy and the flexibility of the minimally invasive surgery are improved.

While the foregoing embodiments have been described in some detail for purposes of clarity of understanding, it will be appreciated that the invention is not limited to the specific embodiments described above, but is to be accorded the full scope of the invention as defined by the appended claims.

Claims (10)

1. A surgical instrument for minimally invasive surgery, comprising:

a base (7);

A link (8) slidably mounted to the base (7) in a first direction;

a linear driving mechanism (1) mounted on the base (7) and configured to drive the link frame (8) to reciprocate in the first direction;

a rotation driving mechanism (9) mounted on the connecting frame (8) so as to move along with the connecting frame (8);

an actuator drive mechanism (2) mounted on the rotary drive mechanism (9), the distal end of the actuator drive mechanism (2) being configured to flexibly bend into the body to adjust the length of penetration into the body under the drive of the linear drive mechanism (1), the actuator drive mechanism (9) being driven to rotate about a first axis parallel to the first direction to adjust the position of the distal end of the actuator drive mechanism (2); and

and the execution terminal is arranged at the tail end of the execution driving mechanism (2) so as to execute operation in the body.

2. Surgical instrument according to claim 1, characterized in that the linear drive mechanism (1) comprises:

a linear screw (11) rotatably mounted on the base (7) about an axis parallel to the first axis;

a linear driving motor (12) mounted on the base (7) and configured to drive the linear screw (11) to rotate; and

The linear sliding block (13) is slidably arranged on the base (7) in the first direction and is in threaded fit with the linear screw rod (11), and the connecting frame (8) is arranged on the linear sliding block (13) so as to reciprocate along the first direction under the driving of the linear screw rod (11).

3. Surgical instrument according to claim 1, characterized in that the rotary drive mechanism (9) comprises:

a support frame (91) mounted on the connecting frame (8) and configured to erect the actuating drive (2) and rotationally connect with the actuating drive (2) at an end of the first axis; and

a rotation driving motor (92) mounted to the support frame (91) and configured to drive the actuator driving mechanism (2) to rotate about the first axis;

preferably, the supporting frame (91) includes:

a support plate (911) mounted on the connection frame (8); and

and two support arms (912) are arranged at two ends of the support plate (911) in the first axis direction, and two ends of the actuating drive mechanism (2) are respectively rotatably arranged at the two support arms (912) and are driven by the rotary drive motor (92) to rotate.

4. A surgical instrument according to claim 3, wherein the actuation drive mechanism (2) comprises:

A mounting frame (21), wherein two ends of the mounting frame (21) on the first axis are rotatably mounted on the supporting frame (91);

an actuator assembly (22) mounted on the mounting frame (21), and

-a flexible body (3), a first end of the flexible body (3) being mounted to an end of the mounting frame (21) at the first axis, the flexible body (3) being configured to flexibly bend into the body, a second end of the flexible body (3) being configured to bend in a direction offset from the own axis of the flexible body (3) under the actuation of the actuation drive assembly (22) to adjust the position of the actuation terminal mounted to the second end of the flexible body (3);

preferably, the execution drive assembly (22) comprises:

four first actuation drivers (221) mounted on the mounting frame (21); and

four bending drive wires (23), a first end of each of the four bending drive wires (23) is mounted on the first execution drive member (221), and a second end of each of the four bending drive wires is mounted at a quarter point of the second end of the flexible body (3), and is configured to wind or unwind the wires under the drive of the first execution drive member (221) so that the second end of the flexible body (3) bends in a direction deviating from the extending direction of the flexible body (3) to adjust the position of the execution terminal.

5. A surgical instrument according to claim 4, wherein the actuation terminal comprises a clamping mechanism (4), the clamping mechanism (4) being mounted to the second end of the flexible body (3), the clamping mechanism (4) having an open state releasing the object and a closed state gripping the object, configured to switch between the open state and the closed state upon actuation of the actuation drive assembly (22) to perform the gripping operation in the body.

6. The surgical instrument of claim 5, wherein the actuation drive assembly (22) further comprises:

a second actuator (222) mounted on the mounting frame (21); and

a clamp drive wire (24), a first end of the clamp drive wire (24) is mounted to the second actuating drive (222), and a second end is mounted to the clamp mechanism (4), the clamp drive wire (24) being configured to be unwound to adjust the clamp mechanism (4) to the open state or to be wound up to adjust the clamp mechanism (4) to the closed state under the drive of the second actuating drive (222).

7. A surgical instrument as recited in claim 6, wherein the first actuation driver (221) and the second actuation driver (222) each include:

An execution driving motor (2211) which is arranged at one end of the mounting frame (21) far away from the flexible body (3);

an execution screw rod (2212) extending along the direction of the first axis, mounted at an output end of the execution drive motor (2211), and configured to rotate under the drive of the execution drive motor (2211); and

an actuating slider (2213) slidably mounted to the mounting frame (21) and screw-engaged with the actuating screw (2212) to slide in the direction of the first axis under the drive of the actuating screw (2212),

wherein first ends of the four bending driving wires (23) and the clamping driving wires (24) are respectively arranged on the execution slide blocks (2213) of the first execution driving piece (221) and the second execution driving piece (222) so as to move in the direction away from the flexible body (3) in the direction of the first axis of the execution slide blocks (2213) to take up the wires or move in the direction close to the flexible body (3) to pay off the wires.

8. Surgical instrument according to claim 6, characterized in that the clamping mechanism (4) comprises:

the outer sides of the two support arms (41) can be elastically arranged at the second end of the flexible body (3), the tail ends of the two support arms (41) extend towards the direction away from each other, and the two support arms (41) have the open state away from each other and the closed state close to each other; and

And the driving part (42) is arranged at one end, close to the flexible body (3), of the inner sides of the two support arms (41), is connected with the second end of the clamp driving wire (24) and is configured to be adjusted to the open state under the driving of wire unwinding of the clamp driving wire (24) or to be adjusted to the closed state under the driving of wire winding.

9. Surgical instrument according to claim 6, characterized in that the mounting frame (21) comprises:

-a mounting bracket (211), a first end of the mounting bracket (211) being rotatably mounted to the support frame (91) on the first axis;

a connecting plate (212), wherein a first end of the connecting plate (212) is installed in the middle of a second end of the assembly frame (211), and the second end extends along the direction of the first axis;

the two shells (213), the first ends of the two shells (213) are mounted at the second ends of the connecting plates (212), the second ends of the two shells (213) are rotatably mounted on the supporting frame (91) on the first axis, the two shells (213) are mutually buckled to form a structure with a cavity inside, and the second ends of the two shells (213) are provided with a yielding hole (2131) for allowing the four bending driving wires (23) and the clamp driving wires (24) to pass through; and

And a slide rail (214) mounted on the mounting frame (211), extending in a direction parallel to the first axis, and slidably engaged with the actuating slider (2213) to guide the actuating slider (2213) to slide.

10. A surgical instrument according to claim 9, further comprising a pre-tightening mechanism (5), the pre-tightening mechanism (5) being located within both of the housings (213) and comprising:

a pretension mounting lever (51) rotatably mounted to a cavity inside the housing (213);

a pretensioner (52) mounted to an outer peripheral arm of the pretensioner mounting lever (51) and protruding outward; and

a pretension driving assembly (53) mounted to the housing (213) and configured to drive the pretension mounting bar (51) to rotate such that the pretension member (52) continuously tightens the bending driving wire (23),

preferably, the pretension driving assembly (53) includes:

the gear (531) is sleeved on the pre-tightening installation rod (51) and is fixed relative to the pre-tightening installation rod (51);

a rack (532) engaged with the gear (531); and

a screw rod (533) partially penetrating the housing (213) and penetrating into the cavity inside the housing (213), and being screw-engaged with the housing (213) to move in the extending direction of the driving rack (532), the rack (532) being rotatably mounted on the screw rod (533) located in the housing (213) to move under the driving of the screw rod (533) and to drive the gear (531) to rotate, so that the pretension mounting lever (51) and the pretensioner (52) rotate.