CN216221644U

CN216221644U - Surgical instrument, slave operation device, and surgical robot

Info

Publication number: CN216221644U
Application number: CN202121877483.5U
Authority: CN
Inventors: 叶高山
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2021-08-11
Filing date: 2021-08-11
Publication date: 2022-04-08
Anticipated expiration: 2031-08-11

Abstract

The utility model is suitable for the technical field of medical equipment, a surgical instrument is provided, from operating equipment and surgical robot, this surgical instrument includes the driver, end effector, and connect driver and end effector's major axis, the driver includes the casing and at least part locates the actuating mechanism in the casing, actuating mechanism includes first drive assembly, connecting piece and pivot, the connecting piece is around in the pivot, the both ends of connecting piece and the both ends reverse motion that drives the connecting piece are connected to first drive assembly, the major axis is connected in the pivot. The rotating shaft is driven to rotate through the first driving assembly and the connecting piece, the assembly formed by the rotating shaft and the connecting piece is compact in structure and small in occupied space in the radial direction, and the distance from the rotating shaft to the outer surface of the shell can be reduced; when the long shaft is inserted into the incision of the human body, the required diameter of the incision is small, which is beneficial to reducing the wound of the patient, reducing the pain of the patient and shortening the recovery time of the patient.

Description

Surgical instrument, slave operation device, and surgical robot

Technical Field

The application relates to the technical field of medical instruments, in particular to a surgical instrument, slave operation equipment and a surgical robot.

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 operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like. In minimally invasive surgery, a plurality of surgical instruments are generally connected to the distal end of a surgical robot, and the distal ends of the plurality of surgical instruments enter the human body through one incision. The surgical instruments typically include a driver, a shaft, and end effectors connected in series, with the end effectors of different surgical instruments being used to perform different surgical procedures, such as electrocautery, forceps, stapler, scissors, imaging devices (e.g., endoscope or ultrasound probes), etc.

The distal ends of a plurality of surgical instruments are inserted with their respective long axes into a hole (a human incision). The problem of difficult long shaft insertion is caused by the small diameter of the hole and the limited space in the hole. The current solution to this problem is to tilt the spindle for connecting to the long shaft at a certain angle relative to the drive, in which the spindle is supported for rotation by installing conventional deep groove ball bearings. However, the long axes are also inclined, a large cut area is required when the long axes are close to each other in the hole, and large friction is generated between the long axes during movement. The problem that the incision area is large is occupied by surgical instruments cannot be effectively solved by the scheme. Therefore, how to arrange a plurality of surgical instruments in a limited incision area and ensure that the motions of the surgical instruments do not interfere with each other still remains a technical problem to be solved in the field.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the application is to provide a surgical instrument, and aims to solve the technical problem that the surgical instrument in the prior art occupies a large incision area in a single-hole operation.

The embodiments of the present application are achieved by a surgical instrument comprising a driver, an end effector, and a long shaft connecting the driver and the end effector;

the driver comprises a shell and a driving mechanism at least partially arranged in the shell; the driving mechanism comprises a first driving assembly, a connecting piece and a rotating shaft, wherein the connecting piece is wound on the rotating shaft, and the first driving assembly is connected with two ends of the connecting piece and drives two ends of the connecting piece to move reversely; the rotating shaft is connected with the long shaft.

In one embodiment, the outer circumferential surface of the rotating shaft is provided with a pressing groove, and the connecting part is partially arranged in the pressing groove.

In one embodiment, the pressing grooves are arranged along the circumferential direction of the rotating shaft, and the corresponding central angle of the pressing grooves is less than 180 degrees; and/or the pressure groove is spirally arranged on the peripheral surface of the rotating shaft.

In one embodiment, two convex strips are formed on the outer peripheral surface of the rotating shaft at intervals in the axial direction of the rotating shaft, and the pressure groove is formed between the convex strips; or the pressure groove is formed by sinking on the peripheral surface of the rotating shaft.

In one embodiment, the shell comprises a base, a bracket connected with one side of the base, and an upper cover connected with the base and the bracket; the rotating shaft penetrates through the bracket; the first driving assembly is arranged on the base.

In one embodiment, the bracket includes an upper bracket and a lower bracket connected along an axial direction of the rotating shaft, a first fixing groove is formed in the upper bracket along the axial direction of the rotating shaft, a second fixing groove communicated with the first fixing groove is formed in the lower bracket along the axial direction of the rotating shaft, and the rotating shaft is at least partially disposed in the first fixing groove and the second fixing groove.

In one embodiment, the driving mechanism further includes a plurality of first bearings, and the first bearings are disposed in the first fixing groove and the second fixing groove and sleeved on the rotating shaft; the first bearings are located on both sides of the connecting member.

In one embodiment, the outer circumferential surface of the rotating shaft is provided with a plurality of shoulders spaced in the axial direction of the rotating shaft, the shoulders protrude outward in the radial direction of the rotating shaft, and the shoulders are respectively located in the first fixing groove and the second fixing groove; the connecting piece is arranged between the shoulders.

In one embodiment, the lower bracket is further provided with a fixing hole communicated with the second fixing groove, the fixing hole extends away from the upper bracket along the axial direction of the rotating shaft and penetrates through the lower bracket, the inner diameter of the fixing hole is smaller than that of the second fixing groove, and the rotating shaft is further arranged in the fixing hole and extends out of the lower bracket.

In one embodiment, the driving mechanism further includes a second bearing, the second bearing is connected to the bottom surface of the lower bracket and sleeved on the rotating shaft, and a portion of the rotating shaft located outside the housing is used for being connected to the long shaft.

In one embodiment, the central axis of the shaft is perpendicular to the bottom surface of the bracket and the bottom surface of the base.

In one embodiment, the bracket is provided with two through holes spaced in the axial direction of the rotating shaft, and two ends of the connecting piece are connected with the first driving assembly after respectively penetrating through the through holes.

In one embodiment, the housing further comprises a guide wheel frame arranged between the bracket and the upper cover, a guide wheel cavity is arranged in the guide wheel frame, and a plurality of guide wheels are arranged in the guide wheel cavity; the driving mechanism further comprises a plurality of second driving assemblies, the second driving assemblies are respectively connected with driving cables, the driving cables are gathered in the guide wheel cavity, and the driving cables penetrate through the support and the long shaft after being reversed by the guide wheels and are connected with the tail end driver.

In one embodiment, the guide wheels are arranged in sequence in the guide wheel cavity along the central axis of the rotating shaft; the axial direction of each guide wheel is perpendicular to the central axis of the rotating shaft.

In one embodiment, the width of the side of the guide wheel cavity where the guide wheel is arranged is smaller than the width of the side far away from the guide wheel.

In one embodiment, the portions of each of the drive cables within the support and the long axis are parallel to each other.

In one embodiment, the bracket has two side surfaces spaced from the main shaft, and the side surfaces intersect at an end facing away from the base to form an acute angle.

In one embodiment, two sides are connected with a transition curved surface at one side far away from the driving mechanism, the rotating shaft is arranged close to the inner wall of the transition curved surface, and the driving mechanism is arranged at one side of the rotating shaft, which is far away from the transition curved surface.

In one embodiment, the transition curved surface has a generatrix parallel to the central axis of the shaft.

It is a further object of an embodiment of the present application to provide a slave manipulator apparatus including the surgical device according to the above embodiments.

It is a further object of an embodiment of the present invention to provide a surgical robot including a master console and a slave console as described in the above embodiments.

In one embodiment, the surgical robot includes a plurality of the surgical instruments, the plurality of the surgical instruments are close to each other at a side where the long axes are located, and the long axes are parallel to each other.

The embodiment of the application provides a surgical instrument, follow operating device and surgical robot, its beneficial effect lies in:

the surgical instrument provided by the embodiment of the application comprises a driver, a long shaft and an end effector which are sequentially connected, wherein a driving mechanism comprises a first driving assembly, a connecting piece and a rotating shaft, the connecting piece is wound on the rotating shaft, the first driving assembly is connected with two ends of the connecting piece and drives two ends of the connecting piece to move in opposite directions, the rotating shaft is driven to rotate around the central axis of the rotating shaft through the first driving assembly and the connecting piece, the assembly formed by the rotating shaft and the connecting piece is compact in structure, and the space occupied in the radial direction can be very small, so that the distance from the rotating shaft to the outer surface of a shell can be reduced; when the long shaft connected with the rotating shaft is inserted into a human body incision, the diameter of the needed incision can be smaller, so that the wound of a patient and the pain of the patient can be reduced, the recovery time of the patient can be shortened, and the mutual interference among a plurality of surgical instruments can be reduced. The slave operation device and the surgical robot with the surgical instrument have the advantages of small required diameter of a human body incision, small wound of a patient, low pain feeling and short recovery time.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a slave operation device in a surgical robot provided in an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a main console in a surgical robot provided in an embodiment of the present application;

fig. 3 is a schematic structural diagram of a surgical instrument in a surgical robot provided in an embodiment of the present application;

FIG. 4 is a schematic view of the surgical device of FIG. 3 arranged in a single hole;

FIG. 5 is a side view of the driver of the surgical device of FIG. 3;

FIG. 6 is a top view of the driver of the surgical device of FIG. 3;

FIG. 7 is a top view of the driver of the surgical device of FIG. 3;

FIG. 8 is a cross-sectional view taken along line A-A of FIG. 6;

FIG. 9 is an enlarged view at B in FIG. 8;

FIG. 10 is an angled perspective view of the surgical instrument illustrated in FIG. 3;

FIG. 11 is a further angled perspective view of the surgical device illustrated in FIG. 3;

FIG. 12 is a further angled perspective view of the surgical instrument illustrated in FIG. 3;

FIG. 13 is a diagrammatic illustration of the mating relationship of the base and the frame of the surgical device illustrated in FIG. 3;

FIG. 14 is a schematic view of an angular engagement of the shaft and the coupling member of the surgical device of FIG. 3;

FIG. 15 is a schematic view of another angular alignment of the shaft and the coupling member of the surgical device illustrated in FIG. 3;

FIG. 16 is a schematic view of a further angular engagement of the shaft and the coupling element of the surgical instrument illustrated in FIG. 3;

FIG. 17 is an angled view of the shaft of the surgical device of FIG. 3;

FIG. 18 is another angular view of the shaft of the surgical device of FIG. 3.

The designations in the figures mean:

300-a main operating table; 200-slave operating equipment, 91-mechanical arm, 92-power mechanism;

100-a surgical instrument;

1-a driver;

2-shell, 20-containing space, 21-base, 22-bracket, 220-side, 221-upper bracket, 2211-first fixing hole, 2212-first fixing groove; 222-lower support, 2221-second fixing hole, 2222-second fixing groove, 223-transition curved surface; 23-guide frame, 230-guide wheel cavity, 231-guide wheel, and 24-upper cover; 25-a bottom surface;

3-a drive mechanism; 31-rotating shaft, 311-shoulder, 312-indent, 313-convex strip and 314-buckle; 32-a connector; 33-a first drive assembly, 331-a wire wheel; 34-first bearing, 35-second bearing, 36-long bolt;

4-long axis;

5-an end effector; 8-Single hole.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more clearly and completely understood, the technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. It is to be understood that the described embodiments are merely a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that all directional indicators (such as up, down, left, right, front, and back) in the embodiments of the present application are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

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.

As used herein, the terms "distal" and "proximal" are terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end that is distal from the operator during a procedure, and "proximal" refers to the end that is proximal to the operator during the procedure.

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 application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In addition, descriptions in this application as to "first", "second", etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.

Referring to fig. 1 and 2, the present embodiment provides a surgical robot including a master console 300 and a slave console 200 communicatively connected to each other. Wherein the master operation console 300 is used to transmit a control command to the slave operation device 200 according to the operation of the doctor to control the slave operation device 200. The slave operation device 200 is used for responding to the control command sent by the master operation table 300 and performing corresponding operation.

The master operation table 300 and the slave operation apparatus 200 may be disposed in one operation room, or may be disposed in different rooms, and even the master operation table 300 and the slave operation apparatus 200 may be located far apart. For example, the master station 300 and the slave operation device 200 are located in different cities, and the master station 300 and the slave operation device 200 may transmit data by wire or wirelessly. For example, the master console 300 and the slave operating device 200 are located in an operating room, and data transmission is performed between the two operating rooms in a wired manner, or for example, the master console 300 and the slave operating device 200 may be located in different cities, and data transmission is performed between the two operating rooms at a long distance by wireless signals.

As shown in fig. 1, the slave manipulation apparatus 200 includes a robot arm 91, a power mechanism 92 provided on the robot arm 91, and a surgical instrument 100 provided on the power mechanism 92. The mechanical arm 91 is used for adjusting the position of the surgical instrument 100, the power mechanism 92 is used for driving the surgical instrument 100 to perform corresponding operations, and the surgical instrument 100 is used for extending into the body of a patient, performing surgical operations, and/or acquiring in-vivo images, etc., as shown in fig. 1 and 3.

Referring to fig. 3, the present embodiment also provides a surgical instrument 100, wherein the surgical instrument 100 includes a driver 1, an end effector 5, and a long shaft 4 connecting the driver 1 and the end effector 5. Referring to fig. 5 and 8, the driver 1 is used for driving the long shaft 4 to rotate around its own central axis, and the long shaft 4 drives the end effector 5 to rotate so as to perform a surgical operation at a desired position in the patient.

Specifically, referring to fig. 5 and 8 to 10, the driver 1 includes a housing 2 and a driving mechanism 3 at least partially disposed in the housing 2. The driving mechanism 3 includes a first driving assembly 33, a connecting member 32 and a rotating shaft 31, the connecting member 32 is a strip-shaped flexible member, the middle section of the connecting member is wound on the rotating shaft 31, two ends of the connecting member are connected to the first driving assembly 33, and the first driving assembly 33 can drive the connecting member 32 to wind and release on the rotating shaft 31. The shaft 31 is connected to the long shaft 4.

The first driving assembly 33 is used for driving the two ends of the connecting member 32 to move reversely. As shown in fig. 14 to 16, while one part of the connecting member 32 is wound around the rotating shaft 31, another part of the connecting member 32 can be released from the rotating shaft 31. During the process of winding and releasing the connecting member 32 on the rotating shaft 31, the rotating shaft 31 can be driven to rotate around its own axis. Further, the long shaft 4 and the end effector 5 at the distal end thereof can be rotated.

The surgical instrument 100 provided by the embodiment of the application comprises a driver 1, a long shaft 4 and an end effector 5 which are connected in sequence, wherein the driving mechanism 3 comprises a first driving assembly 33, a connecting member 32 and a rotating shaft 31, the connecting member 32 winds on the rotating shaft 31, the first driving assembly 33 is connected with two ends of the connecting member 32 and drives the connecting member 32 to wind and release on the rotating shaft 31, the rotating shaft 31 and the connecting member 32 are fixed together to form an assembly, the structure is compact, the space occupied in the radial direction can be very small, and therefore the distance from the rotating shaft 31 to the outer surface of the shell 2 can be reduced. As shown in fig. 4, when the long shaft 4 connected to the rotating shaft 31 and the end effector 5 thereof are inserted into a single hole 8 (corresponding to an incision made on a human body), the diameter of the area occupied by the plurality of drivers 1 on the incision plane may be smaller, and thus, the diameter of the incision required for the operation may also be smaller, which is advantageous for reducing the trauma and pain of the patient and for shortening the recovery time of the patient; conversely, since each surgical instrument 100 occupies a small radial area within a single bore 8, interference between multiple surgical instruments 100 can also be reduced.

It will be appreciated that the above-described connecting member 32 may refer to a single, continuous strip structure, or two separate strip structure portions, each having one end wound around the shaft 31, the other end connected to the first driving assembly 33, and the two separate strip structure portions collectively serving as the connecting member 32.

The connecting member 32 may be a wire-like structure such as a metal wire or a non-metal wire, specifically, a steel wire; or a metal sheet, a non-metal sheet, or other long strip structure with a certain width, such as a belt.

In one embodiment, the first drive assembly 33 includes a wire wheel assembly. As shown in fig. 10 and 13, the first driving unit 33 may include two wire wheels 331, the rotation directions of the two wire wheels 331 are opposite at any time, and the two wire wheels 331 are respectively connected to one end of the connecting member 32. That is, when one end of the connecting member 32 is released from the rotating shaft 31, it can be wound around one of the wire pulleys 331 connected thereto; when one end of the connecting member 32 is released from the wire wheel 331, the connecting member 32 can be wound around the rotating shaft 31. Therefore, the connecting element 32 can be always kept tensioned between the first driving component 33 and the rotating shaft 31 to transmit force from the wire wheel 331 to the rotating shaft 31, and the occupied space of the connecting element 32 in the shell 2 can be ensured to be as small as possible, so that the size of the driver 1 is reduced, and the driver is convenient to use in an operation.

As shown in fig. 10 and 13, in one embodiment, two wire wheels 331 are connected in a direction parallel to the axial direction of the rotating shaft 31. In this way, the two ends of the connecting member 32 can be respectively kept flush with the two ends of the connecting member 32, the connecting member 32 does not intersect or interfere between the first driving assembly 33 and the rotating shaft 31, the winding arrangement of the connecting member 32 on the rotating shaft 31 can be regular, the axial span is small, and the axial force generated by the connecting member 32 on the rotating shaft 31 when winding and releasing can be reduced. Of course, in alternative embodiments, the two wire wheels 331 may have other arrangements, but generally, it is desirable to take into account the space within the housing 2 and to facilitate the winding and unwinding of the connecting element 32.

Of course, without limitation, in other embodiments, the wire wheel 331 may be replaced by any available form such as a gear, a roller, etc. as long as the wire wheel can rotate and allow the connecting element 32 to be wound and stored thereon. The wire wheel 331 is still used as an example for explanation.

Without being limited thereto, in other embodiments, the connecting member 32 may be tensioned and received in other manners after being released from the rotating shaft 31 according to other needs and arrangements. For example, the wire wheel assembly may be replaced by a moving assembly (not shown) that is connected to the connecting member 32, that is at least partially movable within the housing 2 and that pulls the connecting member 32 away from the spindle 31. The use of a wire wheel assembly, in contrast, reduces the space occupied by the drive mechanism 3 within the housing 2.

Referring to fig. 18, in one embodiment, the outer circumferential surface of the rotating shaft 31 is provided with a pressing groove 312, and as shown in fig. 14 to 16, the connecting member 32 is partially disposed in the pressing groove 312. The purpose of this arrangement is, on one hand, that a part of the connecting piece 32 is limited by the indent 312, and the connecting piece 32 is not easy to be separated from the rotating shaft 31 in the axial direction, so that the connection stability of the rotating shaft 31 and the connecting piece 32 can be improved, and the connecting piece 32 can be ensured to be wound on the rotating shaft 31 all the time; on the other hand, the indent 312 can be disposed such that the rotation shaft 31 is further close to the surface of the housing 2, the distance between the rotation shaft 31, the long shaft 4 and the surface of the housing 2 is smaller, the distance between the long shafts 4 when they are close to each other can be smaller, and the cut can be smaller; on the other hand, by setting the position of the indent 312, it is ensured that the connecting member 32 is fixed at a proper position of the rotation shaft 31, and then the connecting members 32 can be substantially uniformly arranged at both sides of the indent 312.

Alternatively, as shown in fig. 17 and 18, the pressing groove 312 is disposed along the circumferential direction of the rotating shaft 31, and the central angle corresponding to the pressing groove 312 is smaller than 360 °, that is, the circumferentially disposed pressing groove 312 needs to be opened at both ends so that the connecting member 32 can enter the inside thereof. The purpose of this arrangement is that the connecting element 32 is disposed on the rotating shaft 31 in a spiral shape along the axial direction of the rotating shaft 31, and when the connecting element 32 enters the pressing groove 312 disposed along the circumferential direction of the rotating shaft 31, the connecting element 32 can receive the force applied by the inner side wall of the pressing groove 312 along the axial direction of the rotating shaft 31, especially at the openings at the two ends of the pressing groove 312, that is, at the position where the connecting element 32 starts to enter the pressing groove 312 and at the position where the connecting element 32 extends from the pressing groove 312. Therefore, a large friction force exists between the connecting piece 32 and the inner side wall of the pressing groove 312, the connecting piece 32 and the rotating shaft 31 cannot easily slide due to the existence of the friction force, and then the connecting piece 32 can drive the rotating shaft 31 to rotate.

In one particular embodiment, the circumferentially disposed indent 312 corresponds to a central angle of 270 °. Of course, this is merely an example, and in other embodiments, the central angle corresponding to the circumferentially disposed indent 312 may have other values, and is not limited herein.

Further, the width of the indent 312 may be equal to the diameter of the connector 32 to allow abutment between the connector 32 and the inner wall of the indent 312, and even the width of the indent 312 may be slightly less than the diameter of the connector 32, with the connector 32 pressed into the indent 312 with interference. This is intended to further increase the frictional force between the coupling member 32 and the rotating shaft 31.

Without being limited thereto, in other alternative embodiments, the indent 312 may be spirally disposed on the outer circumferential surface of the rotation shaft 31. In this case, the width of the optional indent 312 is equal to or slightly smaller than the diameter of the connecting member 32 to ensure that the connecting member 32 can be fixed in the indent 312 without sliding relative to the shaft 31.

In other alternative embodiments, the number of the pressing grooves 312 may be multiple, and the plurality of pressing grooves 312 may be disposed along the circumferential direction of the rotating shaft 31, or may be disposed in a spiral shape, and at least one of the pressing grooves 312 may be disposed along the circumferential direction of the rotating shaft 31, and at least another one of the pressing grooves 312 may be disposed in a spiral shape. Alternatively, a part of the pressing groove 312 is disposed along the circumferential direction of the rotating shaft 31, and the other part is disposed spirally.

In one embodiment, the indent 312 is formed by: as shown in fig. 17 and 18, two convex strips 313 are formed on the outer circumferential surface of the rotating shaft 31 at intervals in the axial direction of the rotating shaft 31, and a pressing groove 312 is formed between the convex strips 313. The purpose of this arrangement is that the bottom wall of the indent 312 and other areas of the outer peripheral surface of the rotating shaft 31 can be kept continuous without any obvious step difference, and the outer peripheral surface of the connecting member 32 and the outer peripheral surface of the rotating shaft 31 can be kept in full contact, which is beneficial to ensuring the friction between the connecting member 32 and the rotating shaft 31.

Of course, in this embodiment, it is also possible that the bottom wall of the indent 312 is slightly recessed with respect to the outer peripheral surface of the rotating shaft 31, so that the step difference between the bottom wall of the indent 312 and the outer peripheral surface of the rotating shaft 31 is small, and the continuous contact between the bottom wall of the indent 312 and the connector 32 and the space occupied by the convex strip 313 in the radial direction of the rotating shaft 31 can be both considered.

In other alternative embodiments, the indent 312 may be formed by recessing the outer peripheral surface of the rotating shaft 31. The purpose of this is that the manufacturing of the indent 312 can be made simpler and the manufacturing cost of the shaft 31 can be made lower. For example, the rotating shaft 31 may be a metal shaft, and the indent 312 may be formed by turning or the like; the shaft 31 may be a plastic shaft, and the indent 312 may be formed during the injection molding of the shaft 31. Optionally, in this embodiment, the bottom wall of the pressing groove 312 is gradually recessed at the openings at both ends thereof, that is, the bottom wall of the pressing groove 312 may be gradually recessed from the outer peripheral surface of the rotating shaft 31, so as to reduce the gap between the connecting member 32 and the rotating shaft 31 when the connecting member 32 is disposed in the pressing groove 312.

As shown in fig. 9, 11 and 12, in one embodiment, the driving mechanism 3 further includes a plurality of first bearings 34, and the first bearings 34 are disposed in the housing 2 and sleeved on the rotating shaft 31. The first bearing 34 is used to support the rotation of the rotating shaft 31 around its own central axis to reduce the friction force of the rotation of the rotating shaft 31. The first bearing 34 is intended to be fixedly mounted in the housing 2.

The specific type of the rotating shaft 31 is not limited, and for example, the first bearing 34 may be a sliding bearing, which may occupy a smaller space in the radial direction of the rotating shaft 31. As another example, the first bearing 34 may be a rolling bearing, and the friction force may be smaller, which is beneficial to reduce the power required for rotating the rotating shaft 31.

Wherein, optionally, the number of the first bearings 34 may be two, and two first bearings 34 are respectively located at both sides of the connecting member 32. This is provided in order that the two first bearings 34 can support the rotating shaft 31 relatively evenly from different positions of the rotating shaft 31.

In other alternative embodiments, depending on the specific length of the shaft 31 and the axial length of the connection member 32 wound on the shaft 31, a third first bearing 34 may be provided to further support the shaft 31 in a more balanced rotation.

Referring to fig. 17 and 18, in one embodiment, the outer circumferential surface of the rotating shaft 31 is provided with spaced shoulders 311, and the shoulders 311 protrude outward along the radial direction of the rotating shaft 31, so that the outer diameter thereof is larger than the outer diameter thereof at other positions on the rotating shaft 31. The connecting member 32 is wound around a portion of the rotating shaft 31 between the two shoulders 311, and the first bearings 34 are respectively disposed on sides of the shoulders 311 facing away from each other. That is, as shown in fig. 14 to 16, in the axial direction of the rotating shaft 31, the shoulder 311 is located between the two first bearings 34, and the connecting member 32 is located between the two shoulders 311.

This is intended to prevent the shoulder 311 from further limiting the position of the connecting element 32 on the rotating shaft 31 and from preventing the connecting element 32 from falling off the rotating shaft 31; on the other hand, when the first bearing 34 is fixedly installed in the housing 2, the shoulder 311 is provided to restrict the movement of the rotary shaft 31 along its own central axis, that is, to restrict the axial movement of the rotary shaft 31, so that the rotary shaft 31 can make only a rotational movement without an axial displacement in the housing 2.

Referring to fig. 10 to 12, in one embodiment, the housing 2 includes a base 21, a bracket 22 connected to one side of the base 21, and an upper cover 24 connected to both the base 21 and the bracket 22. As shown in fig. 8, the accommodating space 20 is formed between the upper cover 24, the base 21 and the bracket 22. As shown in fig. 10 and 13, the first driving assembly 33 is disposed on the base 21 and located in the accommodating space 20. As shown in fig. 8 and 9, the rotating shaft 31 penetrates through the bracket 22, and at least a portion of the rotating shaft 31 is located in the bracket 22.

Specifically, referring to fig. 9 to 12, the support 22 includes an upper support 221 and a lower support 222 connected along the axial direction of the rotation shaft 31. Wherein the lower bracket 222 is connected to one side of the base 21. As shown in fig. 9, a first fixing groove 2212 is formed along the axial direction of the rotation shaft 31 on a side of the upper bracket 221 facing the lower bracket 222, and a second fixing groove 2222 is formed along the axial direction of the rotation shaft 31 on a side of the lower bracket 222 facing the upper bracket 221. The first fixing groove 2212 and the second fixing groove 2222 communicate. The rotation shaft 31 is at least partially disposed in the first and second fixing

grooves

2212 and 2222, and the connection member 32 is also disposed in the fixing groove.

Also, the two first bearings 34 are respectively provided in the first fixing groove 2212 and the second fixing groove 2222. When the upper bracket 221 and the lower bracket 222 are fixedly connected, the first fixing groove 2212 and the second fixing groove 2222 confine the two first bearings 34 and the shoulder 311 of the rotating shaft 31 therein, and the first bearings 34 and the shoulder 311 cannot be separated from the first fixing groove 2212 upwards and cannot be separated from the second fixing groove 2222 downwards. In this manner, the displacement of the rotating shaft 31 in the axial direction is also restricted, and the rotating shaft 31 does not move either upward or downward in the axial direction.

Optionally, according to specific needs, the lower bracket 222 further has a first fixing hole 2211 communicating with the first fixing groove 2212, and the first fixing hole 2211 extends upward along the axial direction of the rotating shaft 31 until penetrating through the upper bracket 221. The first fixing hole 2211 has an inner diameter smaller than that of the first fixing groove 2212, and thus, a stepped structure formed between the first fixing hole 2211 and the first fixing groove 2212 may serve to restrain the first bearing 34 and the shoulder 311.

In this embodiment, the lower bracket 222 further defines a second fixing hole 2221 communicating with the second fixing groove 2222, an inner diameter of the second fixing hole 2221 is smaller than an inner diameter of the second fixing groove 2222, and the second fixing hole 2221 extends downward along the axial direction of the rotating shaft 31 until penetrating through the lower bracket 222. Thus, the stepped structure between the second fixing hole 2221 and the second fixing groove 2222 serves to limit the first bearing 34 and the shoulder 311. One part of the rotating shaft 31 is located in the bracket 22, and the other part of the rotating shaft passes through the second fixing hole 2221 and then continues to pass through the lower bracket 222 and protrudes out of the lower bracket 222. Thus, a part of the rotating shaft 31 is located outside the housing 2, and the part of the rotating shaft 31 located outside the housing 2 is used for connecting with the long shaft 4.

The upper bracket 221 and the lower bracket 222 are fixedly connected, and may be realized by means including, but not limited to, screw locking, clamping, and the like, and will not be described herein again.

The method of assembling the rotating shaft 31 to the bracket 22 is: the upper bracket 221 and the lower bracket 222 are separated, and the connecting piece 32 is wound on the rotating shaft 31; placing (e.g., interference mounting) one first bearing 34 in the second fixing groove 2222 of the lower bracket 222, and placing (e.g., interference mounting) the other first bearing 34 in the second fixing groove 2222 of the upper bracket 221; the lower end of the rotating shaft 31 passes through the second fixing groove 2222 and the second fixing hole 2221 from top to bottom, and the shoulder 311 of the rotating shaft 31 abuts against the first bearing 34; the upper bracket 221 is directed toward the lower bracket 222, and the upper end of the rotating shaft 31 is inserted through the first fixing groove 2212 until the shoulder 311 above the rotating shaft 31 abuts against the first bearing 34 located in the upper bracket 221. And then the upper bracket 221 and the lower bracket 222 are fixedly connected.

The holder 22 is provided with two through holes (not shown) communicating with the first fixing groove 2212 and the second fixing groove 2222, and the connecting members 32 are inserted into the through holes, respectively. That is, the rotating shaft 31 and the first driving assembly 33 are respectively located at two sides outside the through hole. The two through holes are spaced from each other in the axial direction of the rotating shaft 31. This is provided in order to completely avoid the cross and interference of the connecting members 32 during winding and unwinding.

In the present embodiment, please refer to fig. 9 and 13, both of the through holes are formed on the lower frame 222. Alternatively, the through hole may extend in a radial direction of the rotation shaft 31. The through holes are not limited in specific form, and may be circular holes, circular-like holes, or holes or cavity structures of other forms and shapes, as long as the connecting members 32 are allowed to pass through and spaced from each other.

Without being limited thereto, in other alternative embodiments, the through-holes may be formed in the upper holder 221 and the lower holder 222, respectively, according to specific needs, the through-hole formed in the upper holder 221 communicating with the first fixing groove 2212 thereof, and the through-hole formed in the lower holder 222 communicating with the second fixing groove 2222 thereof.

As shown in fig. 9 to 12, since the rotating shaft 31 is partially disposed outside the housing 2, the position of the connecting element 32 on the rotating shaft 31 is usually not centered, but is closer to one end, and the other end of the rotating shaft 31, that is, the end of the rotating shaft 31 far from the connecting element 32, extends out of the housing 2 and is used for connecting with the long shaft 4 disposed outside the housing 2. Also, referring to FIG. 3, the length of the long shaft 4 is generally set to be large based on the surgical operation requirements, and even if the deflection of the rotation of the shaft 31 is very slight, the deflection of the end effector 5 may be greatly amplified. In order to further improve the balance of the rotation of the rotating shaft 31 at different positions in the axial direction, in one embodiment, the driving mechanism 3 further includes a second bearing 35, the second bearing 35 is connected to the bottom surface 25 (shown in fig. 7, 9 and 12) of the housing 2, that is, connected to a side of the lower bracket 222 away from the upper bracket 221, and the second bearing 35 is sleeved on the rotating shaft 31 for supporting the rotating shaft 31 outside the housing 2.

Wherein optionally the second bearing 35 is a flat bearing. The plane bearing is sleeved on the rotating shaft 31, and one side of the plane bearing facing the lower bracket 222 is connected with the lower bracket 222. In this way, the plane bearing can both allow the rotating shaft 31 to rotate inside, and form a rotating support for the rotating shaft 31, and further keep the rotating shaft 31 in the axial direction, and prevent the rotating shaft 31 from moving in the axial direction.

The number of the second bearings 35 may be one; the number of the second bearings 35 may be plural, and the plural second bearings 35 are coaxially connected, as shown in fig. 10 to 12.

In one embodiment, the bottom surface 25 of the housing 2 includes a surface of the lower bracket 222 on a side facing away from the upper bracket 221 and a surface of the base 21 on a side facing away from the driving mechanism 3, which may be parallel or even coplanar, and the rotating shaft 31 is perpendicular to the bottom surface 25, as shown in fig. 3, 5 and 8. When the long axes 4 of the plurality of surgical instruments 100 in a single hole 8 are parallel to each other, the bottom surfaces 25 of the drivers 1 of the plurality of surgical instruments 100 may be parallel or even flush, facilitating the surgical procedure.

Referring to fig. 4, 6 and 7, the support 22 has a generally triangular cross-section in a plane parallel to the radial plane of the shaft 31. That is, the bracket 22 has two side surfaces 220 substantially parallel (may be parallel) to the axial direction of the rotation shaft 31 and spaced apart from the rotation shaft 31, as shown in fig. 6 and 13, and each side surface 220 is formed on both the upper bracket 221 and the lower bracket 222. As shown in fig. 6, the two side surfaces 220 form an included angle α on a side away from the base 21, and α is an acute angle. Optionally, α is less than or equal to 60 °. For example, in one embodiment, the two sides 220 of the bracket 22 form an included angle α of about 45 ° on a side away from the base 21. This is intended to allow a plurality of surgical instruments 100 to be simultaneously placed in a single hole 8, as a plurality of surgical instruments 100 are simultaneously inserted into an incision, and the plurality of surgical instruments 100 are arranged substantially in the circumferential direction.

As shown in fig. 6, 7 and 9, the two side surfaces 220 are connected by a curved transition surface 223 on the side away from the base 21, so as to avoid forming a sharp corner on the housing 2, and more importantly, the rotating shaft 31 is disposed close to the inner wall of the curved transition surface 223, and the driving mechanism 3 is disposed on the side of the rotating shaft 31 away from the curved transition surface 223, so as to ensure that the radial area occupied by the surgical instrument 100 in the incision is small.

The curved transitional surface 223 has a generatrix parallel to the central axis of the rotary shaft 31, and the curved transitional surface 223 is defined by the generatrix thereof performing a curved motion in space. This is done to reduce the diameter of the single hole 8, i.e., the area of the incision, required to insert a plurality of surgical instruments 100 into the single hole 8. The transition curved surface 223 may be specifically a circular arc surface, an elliptic arc surface, or other curved surfaces.

Referring to fig. 4, when the plurality of surgical instruments 100 are applied to the surgical robot, the sides of the plurality of surgical instruments 100 where the long axes 4 are located, that is, the ends where the transition curved surfaces 223 are located, are close to each other, the plurality of transition curved surfaces 223 are close to each other, and the plurality of long axes 4 are parallel to each other. In this manner, multiple surgical instruments 100 may occupy a small radial area within a single bore 8, and interference and friction between the various elongate shafts 4 may not readily occur.

Referring to fig. 14 to 18, a latch 314 protruding outward along a radial direction is formed on an outer circumferential surface of the rotating shaft 31. The catch 314 is used for connecting the long shaft 4 so that the long shaft 4 can rotate along with the rotation of the rotating shaft 31.

In one embodiment, shaft 4 may be hollow, and a cavity (not shown) within shaft 4 may be used to receive a drive cable (not shown) or the like, through which driver 1 may also manipulate movement of end effector 5 to enable end effector 5 to perform an associated surgical procedure.

According to specific needs, in one embodiment, as shown in fig. 10 to 13, the housing 2 may further include a wheel frame 23 connected between the bracket 22 and the upper cover 24. As shown in fig. 10, at least one guide wheel 231 may be disposed in the guide wheel frame 23 to form a pulley assembly with the driving cable, etc. so that the driving cable can be wound and unwound under the driving of the driving mechanism 3. The connection between the wheel frame 23 and the bracket 22 may be achieved by screw locking or the like, for example, as shown in fig. 10 to 12, the wheel frame 23 may be fixed to the bracket 22 by means of long bolts 36 in a form penetrating the wheel frame 23, the upper bracket 221 and the upper bracket 221.

The driving mechanism 3 may further include second driving components (not shown) having other functions, such as second driving components for driving the end effector 5 to perform actions of deflecting, pitching, clamping, etc., the second driving components are also disposed in the accommodating space 20, and the second driving components are connected with the driving cables, and the driving cables respectively start from the second driving components, converge upwards in guide wheel cavities 230 (shown in fig. 10 and 11) in the guide wheel frame 23, are changed by the corresponding guide wheels 231, sequentially pass through the support frame 22, the hollow long shaft 4, and extend towards the end effector 5 until being connected with the end effector 5. The drive cables after the change of direction can be parallel to each other, and a plurality of drive cables parallel to each other pass through the support 22 and the long shaft 4 in sequence, and no crossing and friction can occur among the drive cables.

The guide wheel 231 may be plural as shown in fig. 10. The guide wheels 231 may be arranged along the axial direction of the rotating shaft 31, the guide wheels 231 may be located right above the rotating shaft 31, and the axial direction of each guide wheel 231 may be perpendicular to the axial direction of the rotating shaft 31. This is done to keep the drive cables axially parallel to the center of the shaft 31, thereby avoiding friction between the drive cables and the shaft 31.

The specific shape of the guide wheel cavity 230 is configured according to the shape of the guide wheel frame 23, for example, in one embodiment, the guide wheel frame 23 is substantially triangular and the guide wheel cavity 230 is wedge-shaped, and the width of the guide wheel cavity gradually increases from one side to the other side, wherein the guide wheel 231 is configured on the side with smaller width and the side with larger width is configured to accommodate the driving cables, so that there is enough space between the driving cables and no crossing or friction occurs between the driving cables.

Of course, without limitation, in alternative embodiments, the elongate shaft 4 may be non-hollow depending on the particular function of the surgical device 100.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A surgical instrument comprising a driver, an end effector, and a long shaft connecting the driver and the end effector;

2. The surgical instrument of claim 1, wherein the shaft has a groove formed in an outer peripheral surface thereof, and the connector portion is disposed in the groove.

3. The surgical instrument according to claim 2, wherein the indent is disposed circumferentially of the shaft, the indent corresponding to a central angle of less than 360 °; and/or the pressure groove is spirally arranged on the peripheral surface of the rotating shaft.

4. The surgical instrument as claimed in claim 2, wherein two ribs are formed on the outer circumferential surface of the shaft at intervals in the axial direction of the shaft, and the indent is formed between the ribs; or the pressure groove is formed by sinking on the peripheral surface of the rotating shaft.

5. The surgical instrument of claim 1, wherein the housing includes a base, a bracket coupled to a side of the base, and a cover coupled to both the base and the bracket; the rotating shaft penetrates through the bracket; the first driving assembly is arranged on the base.

6. The surgical instrument as claimed in claim 5, wherein the holder includes an upper holder and a lower holder coupled to each other along an axial direction of the rotation shaft, the upper holder having a first fixing groove formed therein along the axial direction of the rotation shaft, the lower holder having a second fixing groove formed therein along the axial direction of the rotation shaft and coupled to the first fixing groove, the rotation shaft being at least partially disposed in the first fixing groove and the second fixing groove.

7. The surgical instrument of claim 6, wherein the driving mechanism further comprises a plurality of first bearings, the first bearings being disposed in the first and second retaining grooves and being sleeved on the shaft; the first bearings are located on both sides of the connecting member.

8. The surgical instrument as claimed in claim 6, wherein a plurality of shoulders are provided on an outer peripheral surface of the rotary shaft at intervals in an axial direction of the rotary shaft, the shoulders protruding outward in a radial direction of the rotary shaft, the shoulders being respectively located in the first and second fixing grooves; the connecting piece is arranged between the shoulders.

9. The surgical instrument according to claim 7 or 8, wherein the lower frame further defines a fixing hole communicating with the second fixing groove, the fixing hole extends along an axial direction of the rotating shaft away from the upper frame and penetrates through the lower frame, an inner diameter of the fixing hole is smaller than an inner diameter of the second fixing groove, and the rotating shaft is further disposed in the fixing hole and extends out of the lower frame.

10. The surgical instrument of claim 9, wherein the driving mechanism further comprises a second bearing coupled to a bottom surface of the lower frame and disposed around the shaft, wherein a portion of the shaft outside the housing is adapted to couple to the long shaft.

11. A surgical instrument as claimed in any one of claims 5 to 8 or claim 10, wherein the central axis of the shaft is perpendicular to the bottom surfaces of the bracket and the base.

12. A surgical instrument according to any one of claims 5 to 8 or claim 10, wherein the support is provided with two through holes spaced apart in the axial direction of the shaft, and the two ends of the connecting member are connected to the first drive assembly after passing through the through holes respectively.

13. A surgical instrument as recited in any one of claims 5-8 or claim 10, wherein the housing further includes a guide wheel frame disposed between the cradle and the upper cover, the guide wheel frame having a guide wheel cavity disposed therein, the guide wheel cavity having a plurality of guide wheels disposed therein; the driving mechanism further comprises a plurality of second driving assemblies, the second driving assemblies are respectively connected with driving cables, the driving cables are gathered in the guide wheel cavity, and the driving cables penetrate through the support and the long shaft after being reversed by the guide wheel and are connected with the end effector.

14. The surgical instrument of claim 13, wherein a plurality of guide wheels are sequentially arranged within the guide wheel cavity along a central axis of the shaft; the axial direction of each guide wheel is perpendicular to the central axis of the rotating shaft.

15. The surgical instrument of claim 13, wherein a side of the guide wheel cavity in which the guide wheel is disposed has a width that is less than a width of a side distal from the guide wheel.

16. The surgical instrument of claim 13 wherein portions of each of said drive cables within said carriage and said long shaft are parallel to each other.

17. A surgical instrument according to any one of claims 5 to 8 or claim 10, wherein the bracket has two sides spaced from the axis of rotation, the sides meeting at an end facing away from the base at an acute angle.

18. The surgical instrument of claim 17, wherein the two side surfaces are connected to a curved transition surface on a side away from the driving mechanism, the shaft is disposed near an inner wall of the curved transition surface, and the driving mechanism is disposed on a side of the shaft away from the curved transition surface.

19. The surgical instrument of claim 18, wherein the transition surface has a generatrix parallel to a central axis of the shaft.

20. A slave manipulator device comprising a surgical instrument as claimed in any one of the preceding claims 1 to 19.

21. A surgical robot comprising a master console and a slave console as claimed in claim 20.

22. A surgical robot as claimed in claim 21, wherein said surgical robot includes a plurality of said surgical instruments which are close to each other on a side where said long axes are located, and which are parallel to each other.