CN212186677U - Tip instrument for performing surgical operation and surgical robot - Google Patents

Abstract

An end instrument and a surgical robot for performing a surgical operation, the end instrument comprising: the end effector comprises a holder capable of being opened and closed, one end of the holder is provided with a sliding groove, a driving sliding block comprises a sliding block body, sliding columns are arranged on two sides of the sliding block body, the sliding columns are arranged in the sliding groove and used for sliding in the sliding groove to drive the holder to be opened and closed, the sliding block body further comprises a driving cable, the driving cable can be bent and has push-pull rigidity, and the driving cable is used for driving the sliding columns to slide in the sliding groove when the driving cable is pushed and pulled so as to drive the holder to be opened and closed.

Description

Tip instrument for performing surgical operation and surgical robot

Technical Field

The utility model relates to the field of medical equipment, in particular to a terminal instrument of surgical operation equipment and an operation robot applying the terminal instrument.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, wherein the main operation table is used for sending control commands to the slave operation device according to the operation of a doctor so as to control the slave operation device, and the slave operation device is used for responding to the control commands sent by the main operation table and carrying out corresponding surgery operation. When the end instrument of the surgical robot performs a surgical operation, the end effector can be opened and closed and can also move with multiple degrees of freedom corresponding to the bending motion of the joint, so that a driving cable for driving the opening and closing motion of the end effector is required to have special properties: the end effector is required to have certain rigidity to drive the end effector to open and close, and also has certain bending performance to enable the end effector to bend along with the bending of the joint. One end of the drive cable needs to be fixedly connected to the drive slider that drives the end effector to open and close, and therefore, the problem is how to fix the drive cable to the drive slider without affecting this particular performance of the drive cable.

SUMMERY OF THE UTILITY MODEL

In view of the above, in order to solve the above technical problems, the present invention provides a tip instrument for performing a surgical operation and a surgical robot including the tip instrument.

A tip instrument for use in surgery, comprising:

an end effector comprising a gripper having a sliding slot at one end;

the driving sliding block comprises a sliding block body and sliding columns positioned on two sides of the sliding block body, and the sliding columns are used for driving the clamp holders to open and close when sliding in the sliding grooves;

the driving slider further comprises a driving cable, the driving cable is used for driving the sliding column to slide in the sliding groove when being pushed and pulled, a protrusion is arranged at the far end of the driving cable, the cable body is long-strip-shaped and extends along a first direction, the width of the protrusion in a second direction perpendicular to the first direction is larger than that of the cable body in the second direction, and the protrusion is fixed in the slider body.

Preferably, the slider body comprises a containing cavity and an outlet hole communicated with the containing cavity, the protrusion body is fixed in the containing cavity, and the cable body passes through the outlet hole and extends to the proximal end of the terminal instrument.

Preferably, hold the chamber and include that the first chamber and the conical second that hold of columniform hold the chamber, first hold the chamber with the second holds the chamber intercommunication, the near end of protrusion with the second holds the chamber and contradicts, the distal end of protrusion is passed through the fixed block and is fixed in the first chamber that holds, the wire hole is located the second holds the near end in chamber.

Preferably, the protrusion is fixed in the receiving cavity by glue.

Preferably, the protrusion and the cable body are integrally formed.

Preferably, the protrusion is a welding body fixed outside the cable body, and the driving cable is welded on the sliding body through the welding body.

Preferably, the drive cable is nitinol.

Preferably, the protrusions are spherical.

Preferably, the distal instrument further comprises a spacer located between the protrusion and the fixation block.

Preferably, the distal instrument further comprises a drive assembly including a pulley and a drive wire connected to the pulley, the drive wire being fixedly connected to the drive cable.

Preferably, the driving wire is fixedly connected with the driving cable through a fixing clamp, the driving wire comprises a first driving wire and a second driving wire which are respectively positioned at two sides of the pulley, and the second driving wire is fixed in the fixing clamp and is parallel to the driving cable.

Preferably, the pulley is located between the fixing clip and the gripper.

A surgical robot, comprising:

a main operating platform and a slave operating device,

the main operating table is used for sending control commands to the slave operating equipment according to the operation of a doctor so as to control the slave operating equipment,

the slave operation equipment is used for responding to the control command sent by the main operation table and carrying out corresponding operation,

the slave operation device comprises the above-mentioned tip instrument.

The utility model discloses a carry out fixed connection with the protrusion of drive cable distal end and drive slider body and realize the fixed connection of drive cable and drive slider, and the non-directness is with drive cable and drive slider body fixed connection, can avoid the drive cable direct be connected the back with drive slider influence drive cable can be crooked have certain push-and-pull rigidity's performance again.

Drawings

FIG. 1 is a schematic structural view of an embodiment of a surgical robot according to the present invention;

fig. 2 and 3 are schematic views of different embodiments of the end device of the present invention;

FIG. 4 is a schematic view of a distal instrument according to an embodiment of the present invention;

fig. 5 is a perspective view of a sliding block according to an embodiment of the present invention;

fig. 6 is a schematic view of a connection of a driving cable according to an embodiment of the present invention;

FIG. 7 is a cross-sectional view taken along plane A-A of FIG. 5;

FIG. 8 is a drive cable connection diagram of another embodiment of the present invention;

fig. 9 is a cross-sectional view of a drive slide block body according to yet another embodiment of the present invention;

fig. 10 is a view showing a structure of a drive cable according to still another embodiment of the present invention.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure. As used herein, "fully coupled" may be broadly understood to mean where two or more objects are connected to any event in a manner that allows the objects that are absolutely coupled to operate with each other such that there is no relative movement between the objects in at least one direction, such as a projection and groove coupling, which may be in a radial relative movement but not in an axial relative movement. In the description and claims, the terms "coupled," "engaged," and "coupled" may be used interchangeably. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1 and 2, the surgical robot includes a master operation table 1 and a slave operation device 2. The main console 1 is configured to transmit a control command to the slave operating device 2 according to a doctor's operation to control the slave operating device 2, and is configured to display an image acquired by the slave operating device 2. The slave operation device 2 is used for responding to the control command sent by the master operation table 1 and performing corresponding operation, and the slave operation device 2 is also used for acquiring the images in the body.

The slave manipulator 2 includes a robot arm 21, a power mechanism 22 provided on the robot arm 21, a surgical instrument 100 provided on the power mechanism 22, and a cannula 23 which is fitted over the long shaft 100 of the surgical instrument 100. The robotic arm 21 is used to adjust the position of the surgical instrument 100; the power mechanism 22 is used for driving the surgical instrument 100 to perform corresponding operations, and the end effector 111 of the surgical instrument 100 is used for extending into the body, performing surgical operations through the end instrument located at the distal end thereof, and/or acquiring in-vivo images. Specifically, as shown in fig. 3 and 4, the long shaft 110 of the surgical instrument 100 is inserted through the cannula 23, and the end effector 111 thereof is extended out of the cannula 23 and driven to perform an operation by the power mechanism 22. In fig. 3, the region of the long shaft 110 of the surgical instrument 100 within the cannula 23 is a rigid region; in fig. 4, the region of the long shaft 110 of the surgical instrument 100 within the cannula 23 is a flexible region, and the cannula bends with the flexible region. The sleeve 23 may also be omitted.

As shown in fig. 4 and 5, the distal end instrument 111 of the surgical instrument includes a clamp that can be engaged, the clamp includes a first clamp 11 and a second clamp 12, the distal ends of the first clamp 11 and the second clamp 12 are connected by a pivot 13, and the first clamp 11 and the second clamp 12 are rotatable about the pivot 13.

The distal end of the first holding member 11 has a first slide coupling portion 11A, the distal end of the second holding member 12 has a second slide coupling portion 12A, and a pivot shaft 13 is provided at the first slide coupling portion 11A and the second slide coupling portion 12A. The first and second slide connecting portions 11A and 12A also have first and second slide grooves 112 and 122.

The surgical instrument includes a sliding block 14, and sliding block 14 includes a main body 141 and two sliding posts 142 located on both sides of main body 141, and two sliding posts 142 are disposed in first and second runners 112, 122 of the gripper. The main body 141 further includes a driving cable 142 disposed at a distal end of the main body 141, and the driving cable 142 is a cable that can be bent and has a certain rigidity.

The proximal end of the drive cable 142 is connected to the drive assembly of the distal instrument 111, and specifically, the drive assembly includes a pulley 15 and a first drive wire 151 and a second drive wire 152 connected to each other via the pulley 15, the proximal end of the drive cable 142 is fixedly connected to the second drive wire 152 via a fixing clip 153 having a first through hole 154 and a second through hole 155 parallel to each other, the second drive wire 152 passes through the first through hole 154 and is fixed to the first through hole 154, the distal end of the drive cable 142 passes through the second through hole 155 and is fixed to the second through hole 155, and preferably, the pulley 15 is located between the fixing clip and the holder, so that the structure of the drive assembly can be simplified and the space for the distal instrument can be maximally utilized.

When the first driving wire 151 or the second driving wire 152 is pulled, the sliding column 142 of the sliding block 14 can slide in the first sliding slot 112 and the second sliding slot 122, so as to drive the first clamping member 11 and the second clamping member 12 to rotate around the pivot 13, and the opening and closing of the clamping device are realized. Meanwhile, the driving cable 142 can be bent, and when the end instrument with the surgical instrument needs to be bent as shown in fig. 2 and 3, the driving cable 142 can be bent, and the preferable driving cable 142 is a nickel-titanium alloy cable.

As described above, the driving cable 142 is made of a special material that can be bent and has a certain push-pull stiffness, and the driving cable with special performance cannot be directly welded with the main body of the sliding block 14, because the welding temperature is generally as high as 200 ℃ and 300 ℃, if the driving cable 142 is directly welded on the main body of the sliding block 14, the high welding temperature will destroy the performance of the driving cable 142, so that the performance that can be bent and has a certain push-pull stiffness cannot be realized, and therefore a cold connection method that does not affect the performance of the driving cable 142 is required to be fixed on the sliding block 14.

Fig. 6 and 7 illustrate an embodiment of the present invention, in which the driving cable 142 has a cable body 1421, the distal end of the cable body 1421 has a protrusion 1422 with a diameter larger than that of the cable body 1421, the radius or width of the protrusion 1422 is larger than that of the cable body 1421, the preferable protrusion 1422 is spherical, the radius of the spherical protrusion 1422 is 0.8mm, and the radius of the cable body 1421 is 0.4 mm. In other examples, the cable body 1421 and the protrusion 1422 may also have other shapes, the cable body 1421 is elongated and extends along a first direction, and a width of the protrusion 1422 in a second direction perpendicular to the first direction is greater than a width of the cable body in the second direction.

Sliding block 14 has a receiving cavity 144 therein for receiving protrusion 1422 of drive cable 142. The receiving cavity 144 includes a first receiving cavity 1441 and a second receiving cavity 1442 which are communicated with each other, the second receiving cavity 1442 is abutted against the distal end of the spherical protrusion 1422, the proximal end of the second receiving cavity 1442 is communicated with the outlet hole 145, and the cable body 1421 of the driving cable 142 passes through the outlet hole 145. The second receiving cavity 1422 is preferably funnel-shaped, so that the second receiving cavity 1422 is in close contact with the spherical protrusion 1422.

The first receiving cavity 1441 is used for installing a fixing body 146 for fixing the driving cable 142, the fixing body 146 is in threaded connection with the inner wall of the first receiving cavity 1441, the distal end of the fixing body 1441 abuts against the proximal end of the protrusion 1422, and the protrusion 1422 is stably fixed in the receiving cavity 144. In other embodiments, the fixing body 146 and the first receiving cavity 1441 may be connected in other manners, such as welding the fixing body 146 and the first receiving cavity together.

Because the utility model relates to an end effector is very little accurate apparatus, so have certain degree of difficulty in the aspect of manufacturing, it has certain degree of difficulty to form sufficient dark screw in less first holding chamber 1441 in the aspect of manufacturing, for the convenience of manufacturing, can form shallower screw in first holding chamber 1441, be provided with cushion 147 in the middle of fixed body 146 and protrusion 1422, fixed body 146 is together fixed protrusion 1422 in holding chamber 144 with cushion 147 to make drive cable 142 stabilize and link together with sliding block 14.

Fig. 8 shows another embodiment of the present invention, in which the sliding block 14 is the same as the previous embodiment, after the driving cable 142 passes through the wire outlet 145, the accommodating cavity 144 is filled with the glue 20, and the glue 20 is cured to stably fix the protrusion 1421 of the driving cable 142 in the accommodating cavity 144, so that the driving cable 142 is stably connected to the sliding block 14.

Fig. 9 and 10 show still another embodiment of the present invention, in which the sliding body 241 of the sliding block 24 has an accommodating cavity 244 therein, the accommodating cavity 244 communicates with the wire outlet 245, and the distal end of the sliding block 241 has a welding portion 246. The driving cable 242 includes a cable body 2422 and a protrusion 2421 located at the distal end of the cable body 2422, the protrusion 2421 is a welding body fixedly connected to the distal end of the cable body 2422, and the driving cable 242 is fixed to the sliding block 24 by welding the protrusion 2421 on the sliding body 24. Specifically, the cable body 2422 passes through the wire outlet 245, the protrusion 2421 is fixed in the accommodating cavity 244, and then the protrusion 2421 which can be welded is welded with the welding part 246 of the sliding block 24, so that the situation that the driving cable 242 is directly welded with the sliding block 24 and the performance of the driving cable is damaged is avoided.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (13)

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

an end effector comprising a gripper having a sliding slot at one end;

the driving sliding block comprises a sliding block body and sliding columns positioned on two sides of the sliding block body, and the sliding columns are used for driving the clamp holders to open and close when sliding in the sliding grooves;

the driving slider further comprises a driving cable, the driving cable is used for driving the sliding column to slide in the sliding groove when being pushed and pulled, the far end of the driving cable is provided with a protrusion, the driving cable is provided with a cable body which is long-strip-shaped and extends along a first direction, the width of the protrusion in a second direction perpendicular to the first direction is larger than that of the cable body in the second direction, and the protrusion is fixed in the slider body.

2. The tip instrument of claim 1, wherein the sled body includes a receiving cavity and an exit aperture in communication with the receiving cavity, the protrusion being secured within the receiving cavity, the cable body extending through the exit aperture toward the proximal end of the tip instrument.

3. The tip instrument of claim 2, wherein the receiving cavity comprises a first cylindrical receiving cavity and a second tapered receiving cavity, the first receiving cavity is in communication with the second receiving cavity, the proximal end of the protrusion abuts the second receiving cavity, the distal end of the protrusion is secured within the first receiving cavity by a retaining block, and the wire outlet is located at the proximal end of the second receiving cavity.

4. The tip instrument of claim 3, wherein said protrusion is secured within said receiving cavity by glue.

5. The tip instrument of claim 4, wherein the protrusion and the cable body are integrally formed.

6. The tip instrument of claim 5, wherein the protrusion is a weld secured to an outside of the cable body, the drive cable being welded to the sliding body by the weld.

7. The tip instrument of claim 1, wherein the drive cable is nitinol.

8. The tip instrument of claim 1, wherein the protrusion is spherical.

9. The tip instrument of claim 3, further comprising a spacer between the protrusion and the fixation block.

10. The tip instrument of claim 1, further comprising a drive assembly including a pulley and a drive wire coupled to the pulley, the drive wire fixedly coupled to the drive cable.

11. The tip instrument of claim 10, wherein the drive wire is fixedly connected to the drive cable by a retaining clip, the drive wire including a first drive wire and a second drive wire positioned on opposite sides of the pulley, respectively, the second drive wire being fixed in the retaining clip and parallel to the drive cable.

12. The tip instrument of claim 11, wherein the pulley is located between the retaining clip and the gripper.

13. A surgical robot, comprising:

a main operating platform and a slave operating device,

the main operating table is used for sending control commands to the slave operating equipment according to the operation of a doctor so as to control the slave operating equipment,

the slave operation equipment is used for responding to the control command sent by the main operation table and carrying out corresponding operation,

the slave operation device comprises the tip instrument of any one of claims 1-12.

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