CN216455280U - Sheath, surgical instrument, slave operation device and surgical robot - Google Patents

Abstract

The application relates to the technical field of medical equipment, provides a sheath, surgical instruments, from operating device and surgical robot, and the sheath includes: the protective sleeve body is used for being sleeved on the joint; the connecting piece is fixed at the far end of the sheath body and is used for being connected with the far end of the joint or the end effector; the insulating sleeve is connected with the connecting piece and is used for being sleeved on the end effector; wherein, the connecting piece has spacing portion, and the insulating cover has spacing cooperation portion, and spacing portion and spacing cooperation portion are spacing cooperation mutually. The connecting strength between the insulating sleeve and the connecting piece can be enhanced, and the possibility that the insulating sleeve falls off in the operation process is effectively reduced, so that the operation safety is improved.

Description

Sheath, surgical instrument, slave operation device and surgical robot

Technical Field

The application relates to the technical field of medical equipment, in particular to a sheath, surgical equipment, slave operating equipment and a surgical robot.

Background

Minimally invasive surgery refers to a surgical method for performing surgery inside the cavity of an organism by using modern medical instruments such as laparoscopes and thoracoscopes 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.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgical robot generally comprises a master operation device and a slave operation device, wherein the master operation device is used for sending a control command 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 command sent by the master operation device and carrying out corresponding surgical operation.

The slave manipulator includes a surgical instrument including a joint and an end effector, which enter the inside of a living body when performing a surgical operation, and the end effector may be charged for an energy instrument, possibly damaging tissues of the living body, and thus the joint and the end effector need to be insulated and isolated.

In order to solve the above problems, in the creation process of the technical solution of the present application, the inventor has tried to adopt a scheme of a sheath and an insulating sleeve connected to the sheath, so as to allow the sheath to be sleeved outside the joint and the insulating sleeve to be sleeved outside the end effector, thereby achieving protection.

SUMMERY OF THE UTILITY MODEL

An object of the present application is to provide a sheath to solve the technical problem in the related art that the insulating sheath is easy to fall off during the operation.

In order to achieve the purpose, the technical scheme adopted by the application is as follows: providing a sheath for use with a surgical instrument including a joint and an end effector coupled to a distal end of the joint, the sheath comprising: the sheath body is used for sleeving the joint; the connecting piece is fixed at the far end of the sheath body and is used for being connected with the far end of the joint or the end effector; the insulating sleeve is connected with the connecting piece and is used for being sleeved on the end effector; the connecting piece is provided with a limiting part, the insulating sleeve is provided with a limiting matching part, and the limiting part is in limiting matching with the limiting matching part.

In one embodiment, the limiting part is a concave structure, and the limiting matching part is a convex structure; or, the limiting part is of a convex structure, and the limiting matching part is of a concave structure.

In one embodiment, the outer wall of the connecting piece is provided with the limiting part, the inner wall of the insulating sleeve is provided with the limiting matching part, and the part of the insulating sleeve with the limiting matching part is sleeved on the part of the connecting piece with the limiting part; or the inner wall of the connecting piece is provided with the limiting part, the outer wall of the insulating sleeve is provided with the limiting matching part, and the part of the connecting piece, which is provided with the limiting part, is sleeved on the part of the insulating sleeve, which is provided with the limiting matching part.

In one embodiment, the limiting part is an annular structure arranged along the circumferential direction of the connecting piece; and/or the limiting matching part is of an annular structure arranged along the circumferential direction of the insulating sleeve.

In one embodiment, the limiting part is a concave structure, the limiting matching part is a convex structure, and the convex structure is obliquely arranged along the proximal end of the insulating sleeve towards the distal end of the insulating sleeve; or, spacing portion is protruding structure, spacing cooperation portion is the concave structure, just protruding structure follows the distal end of connecting piece court the direction slope setting of the near-end of connecting piece.

In one embodiment, the position-limiting part is a concave structure, the position-limiting matching part is a convex structure, the convex structure is provided with a first plane close to the far end of the insulating sleeve, the concave structure is provided with a second plane matched with the first plane, and the second plane is parallel to the first plane; or, the limiting part is a convex structure, the limiting matching part is a concave structure, the convex structure is provided with a third plane close to the near end of the connecting piece, the concave structure is provided with a fourth plane matched with the third plane, and the fourth plane is parallel to the third plane.

In one embodiment, the included angle between the first plane and the insulating sleeve is a, and a is more than 0 and less than or equal to 90 degrees; or the included angle between the third plane and the insulating sleeve is b, and b is more than 0 and less than or equal to 90 DEG

In one embodiment, the limit stop portion is threadedly engaged with the limit stop mating portion.

In one embodiment, the connector is a metal connector.

In one embodiment, the distal end of the sheath body is sleeved on the connecting element and overlapped with the insulating sleeve.

In one embodiment, the proximal end of the connector is connected to the inner wall of the sheath body, and the distal end of the connector is connected to the inner wall of the insulating sleeve; the far end of the sheath body is sleeved on the near end of the insulating sleeve, or the near end of the insulating sleeve is sleeved on the far end of the insulating sleeve.

In one embodiment, the outer wall end of the proximal end of the insulating sleeve is provided with a first annular groove structure, the distal end of the sheath body extends into the first annular groove structure, and the outer surface of the distal end of the sheath body is flush with the outer surface of the proximal end of the insulating sleeve; or a second annular groove structure is arranged on the outer wall end edge of the far end of the sheath body, the near end of the insulating sleeve extends into the second annular groove structure, and the outer surface of the near end of the insulating sleeve is flush with the outer surface of the far end of the sheath body.

In one embodiment, the insulating sleeve is a transparent insulating sleeve; the sheath body is a non-transparent sheath body that is flexible and stretchable.

In one embodiment, the surgical instrument includes a link connected to the proximal end of the joint, wherein: the sheath comprises a fixing piece, and the fixing piece is fixed at the near end of the sheath body and is used for being connected to the joint or the connecting rod.

It is another object of the present application to provide a surgical instrument comprising: a joint; an end effector connected to a distal end of the joint; a link connected to a proximal end of the joint; the sheath body is sleeved on the joint, the proximal end of the sheath body is connected to the joint or the connecting rod, the connecting piece is connected to the distal end of the joint or the end effector, and the insulating sleeve is sleeved on the end effector.

In one embodiment, the distal end of the joint or the end effector has an abutment against which the proximal end of the connector abuts.

In one embodiment, the surgical instrument comprises an insulating adapter, and the connecting rod is in insulated connection with the joint through the insulating adapter; the sheath comprises a fixing piece fixed at the near end of the sheath body, the fixing piece is provided with a locking part, the insulating adaptor is provided with a locking matching part, and the locking part is in locking matching with the locking matching part.

In one embodiment, the fixing member is a metal fixing member, and a creepage distance is provided between the proximal end of the joint and the fixing member.

In one embodiment, the creepage distance is greater than or equal to 8 mm.

In one embodiment, the outer wall of the insulating adapter is provided with a conical structure, the outer diameter of the conical structure is gradually increased along the direction of the connecting rod towards the joint, and the fixing piece is located between the conical structure and the joint.

In one embodiment, a metal connecting pipe is arranged at the proximal end of the joint, a first torsion resistant portion and a second torsion resistant portion are arranged on the insulating adapter, a first torsion resistant matching portion is arranged at the distal end of the connecting rod, a second torsion resistant matching portion is arranged at the proximal end of the metal connecting pipe, the proximal end of the insulating adapter is inserted into the connecting rod, the first torsion resistant portion is matched with the first torsion resistant matching portion, the distal end of the insulating adapter is inserted into the metal connecting pipe, and the second torsion resistant portion is matched with the second torsion resistant matching portion.

In one embodiment, the first anti-torque portion is a key structure, the first anti-torque fitting portion is a key groove structure, and a side wall of the key groove structure is arranged along a radial direction of the connecting rod; or, the first torsion-resistant part is a key groove structure, the first torsion-resistant part is a key structure, and the side wall of the key groove structure is arranged along the radial direction of the insulating adapter.

In one embodiment, the second torque resisting part is a key structure, the second torque resisting matching part is a key groove structure, and the side wall of the key groove structure is arranged along the radial direction of the metal connecting pipe; or the second torsion resistant part is of a key groove structure, the second torsion resistant part is of a key structure, and the side wall of the key groove structure is arranged along the radial direction of the insulating adapter piece.

It is a further object of the present application to provide a slave operation apparatus comprising: a mechanical arm; and the surgical instrument of any of the above embodiments, the surgical instrument disposed on the robotic arm.

It is still another object of the present application to provide a surgical robot, comprising: the above-described slave operation device; and a master operation device for controlling the slave operation device.

One or more technical solutions described above in the embodiments of the present application have at least the following technical effects or advantages:

the sheath provided by the embodiment of the application is provided with a sheath body, a connecting piece fixed at the far end of the sheath body and an insulating sleeve connected with the connecting piece, wherein the sheath body is used for being sleeved on a joint to protect the joint, the connecting piece is used for being connected with the far end of the joint or an end effector to fix the far end of the sheath body, the insulating sleeve is used for being sleeved on the end effector to insulate and protect the end effector so as to prevent the end effector from damaging organism tissues in the operation process, the insulating sleeve is connected with the sheath body through the connecting piece, so that the insulating sleeve cannot be influenced when the sheath body is stressed and deformed along with the joint movement process, the stability of the insulating sleeve can be improved, meanwhile, the connecting piece is provided with a limiting part, and the insulating sleeve is provided with a limiting matching part so as to be connected with the connecting piece through the limiting matching of the limiting part and the limiting matching part, the connecting strength between the insulating sleeve and the connecting piece can be enhanced, and the possibility that the insulating sleeve falls off in the operation process is effectively reduced, so that the operation safety is improved.

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 or the prior art descriptions 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 provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a main operation device provided in an embodiment of the present application;

FIG. 3 is a schematic structural view of a surgical instrument provided in accordance with an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a sheath provided in an embodiment of the present application;

FIG. 5 is an exploded view of a sheath according to an embodiment of the present disclosure;

FIG. 6 is a schematic cross-sectional view of a sheath provided by an embodiment of the present application;

FIG. 7 is an enlarged view of a portion A of FIG. 6;

FIG. 8 is a schematic cross-sectional view of a sheath provided in accordance with another embodiment of the present application;

FIG. 9 is an enlarged view of a portion of the structure at B in FIG. 8;

FIG. 10 is a schematic cross-sectional view of an insulating sleeve provided in accordance with another embodiment of the present application;

FIG. 11 is an enlarged view of a portion of the structure at C in FIG. 10;

FIG. 12 is a schematic cross-sectional view of an insulating sleeve provided in accordance with another embodiment of the present application;

FIG. 13 is a schematic cross-sectional view of an insulating sleeve provided in accordance with another embodiment of the present application;

FIG. 14 is an enlarged view of a portion of the structure of FIG. 13 at D;

FIG. 15 is a schematic cross-sectional view of an insulating sleeve provided in accordance with another embodiment of the present application;

FIG. 16 is an enlarged view of a portion of the structure of FIG. 15 at E;

FIG. 17 is a cross-sectional view of an insulating sleeve according to another embodiment of the present application;

fig. 18 is a partial enlarged view of a structure at F in fig. 17;

FIG. 19 is a schematic cross-sectional view of a connector according to another embodiment of the present application;

FIG. 20 is an enlarged partial view of FIG. 19 at G;

FIG. 21 is a schematic view of a sheath mounted on a surgical instrument according to an embodiment of the present application;

FIG. 22 is a schematic view of a sheath removed from a body of the sheath and mated to a surgical instrument according to an embodiment of the present application;

FIG. 23 is a schematic view of a surgical instrument provided in accordance with an embodiment of the present application with the sheath removed;

FIG. 24 is an exploded view of a surgical instrument with a sheath removed according to an embodiment of the present application.

Wherein, in the figures, the respective reference numerals:

1000. a slave operation device; 2000. a main operating device; 200. a mechanical arm; 300. an actuating device; 100. a surgical instrument; 60. a drive device; 10. a sheath; 11. a sheath body; 12. a connecting member; 13. an insulating sleeve; 121. a limiting part; 131. a limit matching part; 1311. a first plane; 1212. a third plane; 132. a first ring groove structure; 111. a second annular groove structure; 130. an overlapping section; 14. a fixing member; 100. a surgical instrument; 20. a joint; 30. an end effector; 40. a connecting rod; 22. an abutting portion; 50. an insulating adaptor; 141. a locking portion; 51. a lock engagement portion; 52. a tapered structure; 21. a metal connecting pipe; 53. a first torsion resistant portion; 54. a second torsion resistant portion; 41. a first anti-twist fit; 211. a second torque-resistant fitting.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the present application. In the description of this application, the terms "proximal" and "distal" are conventional terms in the art of interventional medical devices, "proximal" referring to the end of an element that is closer to the operator or away from the end effector of an interventional medical device, and "distal" referring to the end of an element that is away from the operator or close to the end effector of an interventional medical device.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," "disposed," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

The surgical robot generally includes a slave operation device and a master operation device, fig. 1 shows the slave operation device 1000 according to an embodiment of the present application, fig. 2 shows the master operation device 2000 according to an embodiment of the present application, a surgeon or other operator performs a relevant control operation on the slave operation device 1000 on the master operation device 2000, and the slave operation device 1000 performs a surgical operation on a human body or other living bodies according to an input instruction of the master operation device 2000; the master operation device 2000 and the slave operation device 1000 may be disposed in an operating room, or disposed in different rooms, or even the master operation device 2000 and the slave operation device 1000 may be far apart from each other, for example, the master operation device 2000 and the slave operation device 1000 are respectively located in different cities, the master operation device 2000 and the slave operation device 1000 may perform data transmission in a wired manner, or may perform data transmission in a wireless manner, for example, the master operation device 2000 and the slave operation device 1000 are located in an operating room, and perform data transmission therebetween in a wired manner, or for example, the master operation device 2000 and the slave operation device 1000 are respectively located in different cities, and perform remote data transmission therebetween through wireless communication (for example, 5G wireless signals).

Illustratively, referring to fig. 1, the slave manipulator 1000 includes a robotic arm 200, an actuating device 300 disposed at a distal end of the robotic arm 200, and a surgical instrument 100 disposed on the actuating device 300, wherein the actuating device 300 is used for driving the surgical instrument 100 to move, and the surgical instrument 100 is used for performing a surgical operation. It should be understood that the surgical robot may be a single-hole surgical robot or a multi-hole surgical robot, when the surgical robot is a single-hole surgical robot, a plurality of surgical instruments 100 may be connected to one actuator 300, and the distal ends of the plurality of surgical instruments 100 may enter the inside of a human body or other living bodies through one incision, so that the number of surgical incisions may be reduced, and the post-operative recovery may be faster; when the surgical robot is a multi-hole surgical robot, the slave manipulator 1000 may include a plurality of robot arms 200, each robot arm 200 may be provided with the actuator 300 and the surgical instrument 100, and each surgical instrument 100 may be inserted into the inside of the human body or other living body from a different incision.

Illustratively, fig. 3 shows a surgical instrument 100 according to an embodiment of the present application, where the surgical instrument 100 includes a driving device 60, a link 40, and an end instrument located at a distal end of the link 40, the end instrument includes a joint 20 and an end effector 30, the joint 20 generally includes a plurality of joint components that can rotate relative to each other, and can perform motions of yaw, pitch, and other degrees of freedom, the driving device 60 can be engaged with an actuating device 300 through an engaging portion, a driving unit inside the driving device 60 is connected to the joint 20 and the end effector 30 through cables, and the driving unit drives the joint 20 and/or the end effector 30 to move by manipulating the plurality of cables; the cable may be flexible or may include a flexible section and a rigid segmented elongate body, and the end effector 30 may be, but is not limited to, an electrocautery device, a scissors, a forceps, a stapler, a scissors, a bipolar grasper, a bipolar detachment forceps, a monopolar electrical hook, a monopolar scissors, an imaging device, and the like.

During operation, the joint 20 and the end effector 30 enter the inside of a living body such as a human body, and the liquid inside the living body such as the human body may enter the joint 20 to affect the joint parts, and the end effector 30 may be charged as an energy instrument to damage the tissues of the living body, so that the joint 20 and the end effector 30 need to be insulated and isolated to avoid affecting the joint 20 and the end effector 30, and to avoid the end effector 30 from damaging the tissues of the living body such as the human body.

In order to solve the above problems, in the creation process of the embodiment of the present application, the inventor has tried to protect the joint 20 by inserting a sheath and an insulating sheath connected to the sheath, and inserting the sheath into the joint 30, but the inventor found that the insulating sheath is detached during the operation, which is likely to cause medical accidents. Based on this, the inventors have proposed the following technical solutions.

Referring to fig. 4-7, embodiments of the present application provide a sheath 10 for use with a surgical instrument including a joint and an end effector coupled to a distal end of the joint, the sheath 10 being configured to be received over and shield the joint and end effector, fig. 3 and 23 schematically illustrate the surgical instrument 100, the joint 20, and the end effector 30; the sheath 10 includes a sheath body 11, a connecting member 12, and an insulating sheath 13, wherein:

the sheath body 11 is used for sheathing the joint 20 to protect the joint 20; it can be understood that, since the joint 20 performs the movements of deflection, pitching, etc. during the operation, the sheath body 11 covering the joint 20 also has the flexible and stretchable property, and can be deformed by the movement of the joint 20, and the sheath body 11 can be made of a flexible and stretchable material, which may include, but is not limited to, viton, silica gel, Polytetrafluoroethylene (PTFE), tetrafluoroethylene, etc.

A connector 12 is fixed at the distal end of the sheath body 11 for connecting with the distal end of the joint 20 or the end effector 30, thereby fixing the distal end of the sheath body 11; the connecting member 12 may be a substantially annular structure, but is not limited thereto, and in other embodiments, the connecting member 12 may also be a semi-annular structure or other regular or irregular shaped structure; the distal end of the sheath body 11 may be sleeved on the connecting element 12 and connected to the connecting element 12, an adhesive layer may be disposed between the sheath body 11 and the connecting element 12 to improve the connection strength between the sheath body 11 and the connecting element 12, and the connecting element 12 may abut against the distal end of the joint 20 or the end effector 30 to fix the distal end of the sheath body 11.

The insulating sleeve 13 is connected to the connecting member 12, and is configured to be sleeved on the end effector 30 to protect the end effector 30, an end portion of the end effector 30 may extend out from a distal end of the insulating sleeve 13, the insulating sleeve 13 may have a tapered structure or a drum-shaped structure, and an outer diameter of the insulating sleeve 13 may gradually decrease from a proximal end thereof to a distal end thereof to facilitate cooperation with the end effector 30; the connecting piece 12 is provided with a limiting part 121, the insulating sleeve 13 is provided with a limiting matching part 131, and the limiting part 121 is in limiting matching with the limiting matching part 131; the above-mentioned limit fitting means that the limit part 121 and the limit fitting part 131 can interact with each other to limit the relative movement between the limit part 121 and the limit fitting part 131, for example, the limit part 121 and the limit fitting part 131 may be engaged with each other, or may be engaged with each other by threads, but is not limited thereto.

The sheath 10 provided by the embodiment of the application, by providing the sheath body 11, the connecting member 12 fixed at the distal end of the sheath body 11, and the insulating sleeve 13 connected to the connecting member 12, the sheath body 11 is used for being sleeved on the joint 20 to protect the joint 20, the connecting member 12 is used for being connected with the distal end of the joint 20 or the end effector 30 to fix the distal end of the sheath body 11, the insulating sleeve 13 is used for being sleeved on the end effector 30 to insulate and protect the end effector 30, so as to prevent the end effector 30 from damaging the organism tissue in the operation process, and the insulating sleeve 13 is connected with the sheath body 11 through the connecting member 12, so that the insulating sleeve 13 is not affected when the sheath body 11 is stressed and deformed along with the movement of the joint 20, the stability of the insulating sleeve 13 can be improved, meanwhile, by providing the connecting member 12 with the limiting portion 121, the insulating sleeve 13 has the limiting matching portion 131, the insulation sleeve 13 is connected with the connecting piece 12 through the limit matching of the limit part 121 and the limit matching part 131, so that the connection strength between the insulation sleeve 13 and the connecting piece 12 can be enhanced, the possibility of falling off of the insulation sleeve 13 in the operation process is effectively reduced, and the operation safety is improved.

In one embodiment, referring to fig. 7 and fig. 9 to 18, the position-limiting portion 121 is a concave structure, i.e., a groove or a hole concavely formed on the connecting member 12, the hole can be a blind hole or a through hole, the position-limiting engaging portion 131 is a convex structure, i.e., a convex structure convexly formed on the insulating sleeve 13, and the convex structure and the concave structure can be engaged with each other. Of course, in some other embodiments, referring to fig. 19 and fig. 20, the position-limiting portion 121 may also be a protruding structure, i.e., a protruding structure protruding from the connecting member 12, and the position-limiting matching portion 131 may be a recessed structure, i.e., a groove or a hole recessed from the insulating sleeve 13, where the hole may be a blind hole or a through hole.

It should be noted that, the specific shape structures of the protruding structures and the recessed structures are various, for example, the protruding structures may be continuous protruding structures, or protruding structures formed by arranging a plurality of discrete sub-protruding structures at intervals, and the recessed structures are correspondingly arranged to be matched with the protruding structures. The convex structure can be a saw-toothed structure, an arc convex structure with an arc-shaped outer surface, a semicircular convex structure, a trapezoidal structure or a special-shaped structure, but is not limited to the structure; correspondingly, the shape of the concave structure may be adapted to the shape of the convex structure, and of course, in some other embodiments, the shape of the concave structure may not be completely adapted to the shape of the convex structure, as long as the position-limiting part 121 and the position-limiting matching part 131 can be in position-limiting matching to limit the relative movement between the two parts, and the specific shapes of the position-limiting part 121 and the position-limiting matching part are not limited uniquely here.

With such an arrangement, when the insulating sleeve 13 is connected with the connecting piece 12, the limit matching part 131 and the limit part 121 are embedded, so that the insulating sleeve 13 and the connecting piece 12 can be effectively limited from moving relatively, and the connection strength of the insulating sleeve 13 and the connecting piece 12 can be improved.

It should be noted that the position-limiting part 121 and the position-limiting matching part 131 are not limited to the matching of the concave structure and the convex structure, alternatively, in some other embodiments, the position-limiting part 121 and the position-limiting matching part 131 may be in threaded matching, specifically, the position-limiting part 121 may be an internal thread, and the position-limiting matching part 131 may be an external thread, or the position-limiting part 121 may be an external thread, and the position-limiting matching part 131 may be an internal thread.

Alternatively, in an embodiment, referring to fig. 7 and 9, the outer wall of the connecting element 12 has a position-limiting portion 121, the inner wall of the insulating sleeve 13 has a position-limiting engaging portion 131, and a portion of the insulating sleeve 13 having the position-limiting engaging portion 131 is sleeved on a portion of the connecting element 12 having the position-limiting portion 121; the limiting portion 121 may be disposed on an outer wall of a distal end of the connecting member 12, and the limiting fitting portion 131 may be disposed on an outer wall of a proximal end of the insulating sleeve 13, of course, in some other embodiments, the limiting portion 121 may be disposed on an outer wall of a middle portion of the connecting member 12, and in some other embodiments, the limiting fitting portion 131 may be disposed on an outer wall of a middle portion of the insulating sleeve 13.

So set up, when connecting piece 12 is located to insulating cover 13 cover, make spacing portion 121 and spacing cooperation portion 131 spacing cooperation mutually for not only can have the tension force because of the overlapping is established between insulating cover 13 and the connecting piece 12, and spacing portion 121 and spacing cooperation portion 131 gomphosis mutually and form limiting displacement, form dual function, can further improve the joint strength between insulating cover 13 and the connecting piece 12, effectively prevent that insulating cover 13 from breaking away from in connecting piece 12.

It should be noted that the specific arrangement positions of the position-limiting part 121 and the position-limiting matching part 131 are not limited to this, alternatively, in some other embodiments, the inner wall of the connecting element 12 has the position-limiting part 121, the outer wall of the insulating sleeve 13 has the position-limiting matching part 131, and the part of the connecting element 12 having the position-limiting part 121 is sleeved on the part of the insulating sleeve 13 having the position-limiting matching part 131.

Optionally, in an embodiment, an adhesive layer, such as glue, may be disposed between the insulating sleeve 13 and the connecting member 12, so as to further improve the connection strength between the insulating sleeve 13 and the connecting member 12.

Alternatively, in an embodiment, referring to fig. 7 to 9 and 10 to 18, the position-limiting portion 121 is an annular structure disposed along the circumferential direction of the connecting member 12, and the position-limiting matching portion 131 is an annular structure disposed along the circumferential direction of the insulating sleeve 13; specifically, the position-limiting part 121 may be an annular concave structure, such as an annular groove, and the position-limiting matching part 131 may be an annular convex structure, such as an annular protrusion, or the position-limiting part 121 may be an annular protrusion and the position-limiting matching part 131 may be an annular groove. Of course, in other embodiments, only the position-limiting part 121 may be an annular structure disposed along the circumferential direction of the connecting element 12, and the position-limiting fitting part 131 may be a non-annular structure, for example, a non-closed arc-shaped structure, or a structure formed by disposing a plurality of discrete sub position-limiting fitting parts at intervals; in other embodiments, only the position-limiting fitting part 131 may be an annular structure disposed along the circumferential direction of the insulating sleeve 13.

So set up, because spacing portion 121 is the loop configuration, spacing cooperation portion 131 is the loop configuration for area of contact is great relatively when both cooperate, can improve both spacing cooperation effect.

Optionally, in an embodiment, referring to fig. 7, 9, 10 and 17, the position-limiting portion 121 is a concave structure, the position-limiting matching portion 131 is a convex structure, and the convex structure is inclined along the proximal end of the insulating sleeve 13 toward the distal end of the insulating sleeve 13, where the inclined arrangement means that the convex structure is substantially inclined along the proximal end of the insulating sleeve 13 toward the distal end of the insulating sleeve 13; correspondingly, the concave structure may also be inclined, and the inclination direction is opposite to that of the convex structure. At this time, the protrusion structure may have an inclined saw-toothed structure.

So set up, because spacing cooperation portion 131 is the protruding structure that sets up along the near-end slope of insulating cover 13 towards the direction of the distal end of insulating cover 13, when insulating cover 13 received the power along the near-end of insulating cover 13 towards the direction of the distal end of insulating cover 13, spacing portion 121 and spacing cooperation portion 131 can be drawed mutually and provide the barrier force, can prevent that insulating cover 13 from breaking away from in connecting piece 12 along the near-end of insulating cover 13 towards the direction of the distal end of insulating cover 13, thereby improve spacing effect between spacing portion 121 and the spacing cooperation portion 131, and then improve the joint strength between insulating cover 13 and the connecting piece 12.

Of course, in some other embodiments, please refer to fig. 19 and 20, the limiting portion 121 may be a convex structure, the limiting matching portion 131 is a concave structure, and the convex structure is inclined along the distal end of the connecting element 12 toward the proximal end of the connecting element 12, and the inclined arrangement refers to the direction along the distal end of the connecting element 12 toward the proximal end of the connecting element 12, and the overall convex structure is substantially inclined; correspondingly, the concave structure may also be inclined, and the inclination direction is opposite to that of the convex structure. With this arrangement, the effects of the above embodiment can be achieved as well.

Alternatively, in one embodiment, referring to fig. 11, 14, 16 and 18, the position-limiting part 121 is a concave structure, the position-limiting matching part 131 is a convex structure, the convex structure has a first plane 1311 close to the distal end of the insulation sleeve 13, the concave structure has a second plane matching with the first plane 1311, and the second plane is parallel to the first plane 1311.

So set up for when spacing portion 121 and spacing cooperation portion 131 spacing cooperation mutually, first plane 1311 and second plane can direct contact or indirect contact and cooperate, when insulating cover 13 received the power along the near-end of insulating cover 13 towards the distal end of insulating cover 13 direction, take place the effect of supporting tightly relatively between first plane 1311 and the second plane, for the arcwall face, can improve spacing cooperation effect between spacing portion 121 and the spacing cooperation portion 131, thereby can further improve the joint strength between insulating cover 13 and the connecting piece 12.

Further, in an embodiment, referring to fig. 11, 14 and 18, an included angle between the first plane 1311 and the insulating sleeve 13 is a, where 0 < a ≦ 90 °, which may be, for example, 90 °, 85 °, 80 °, 70 °, 60 °, 50 °, 40 °, 30 °, but is not limited thereto.

So set up, because the contained angle between first plane 1311 and the insulating bush 13 is right angle or acute angle, be promptly along the near-end of insulating bush 13 and be the slope form roughly towards the direction of the distal end of insulating bush 13, can provide and block the effect, improve spacing portion 121 and spacing cooperation portion 131's cooperation effect, prevent that insulating bush 13 from breaking away from in connecting piece 12 towards the direction of the distal end of insulating bush 13 along the near-end of insulating bush 13, thereby improve spacing effect between spacing portion 121 and the spacing cooperation portion 131, further improve the joint strength between insulating bush 13 and the connecting piece 12.

Of course, in other embodiments, referring to fig. 19 and 20, the position-limiting portion 121 may be a convex structure, the position-limiting engagement portion 131 may be a concave structure, the convex structure has a third plane 1212 near the proximal end of the connecting element 12, the concave structure has a fourth plane that is engaged with the third plane 1212, and the fourth plane is parallel to the third plane 1212. With this arrangement, the effects of the above embodiment can be achieved as well.

Further, in an embodiment, referring to fig. 20, an included angle between the third plane 1212 and the insulating sleeve 13 is b, where 0 < b ≦ 90 °, for example, but not limited thereto, 90 °, 85 °, 80 °, 70 °, 60 °, 50 °, 40 °, 30 °, and the like. So set up, can provide and block the effect, prevent that insulating cover 13 from breaking away from in connecting piece 12 along the near-end of insulating cover 13 towards the direction of the distal end of insulating cover 13 to improve spacing effect between spacing portion 121 and the spacing cooperation portion 131, further improve the joint strength between insulating cover 13 and the connecting piece 12.

Since the sheath 10, the joint 20, and the end effector 30 need to be inserted into a living body such as a human body for surgery, the smaller the size thereof, the less the damage to the living body, and the smaller the size thereof, and the size thereof is limited because the connector 12 is located between the sheath body 11 and the insulating sheath 13, the strength is insufficient due to the smaller size when the connector 12 made of a plastic material is used, and the stability when the connector is connected to the distal end of the joint 20 or the end effector 30 is not satisfactory, and there is a possibility that the connector may come loose.

To solve the above technical problem, in one embodiment, the connecting member 12 is a metal connecting member, and the connecting member 12 is made of a metal material.

With such an arrangement, since the connecting member 12 is made of metal, the strength thereof is high, so that the stability of the connecting member when the connecting member is connected to the distal end of the joint 20 or the end effector 30 can be ensured, loosening caused by insufficient strength can be prevented, and the protective effect of the sheath 10 can be ensured.

Because the connecting piece 12 is made of metal and can conduct electricity, and the joint 20 and the end effector 30 are subjected to live-line operation, the gap at the joint of the sheath body 11 and the connecting piece 12 has an electric leakage discharge phenomenon, and the tissue of organisms such as human bodies is easily damaged.

To solve the above technical problem, in an embodiment, referring to fig. 7 and 9, the distal end of the sheath body 11 is sleeved on the connecting element 12 and is overlapped with the insulating sleeve 13 to form an overlapping portion 130 for sealing the connecting element 12 therein.

So set up, can prevent to have the clearance with connecting piece 12 intercommunication between sheath body 11 and the connecting piece 12 to prevent that the electric leakage phenomenon of discharging from taking place, in order to avoid causing the damage to the tissue of organisms such as human body, improve the operation security.

Alternatively, in one embodiment, referring to fig. 7 and 9, the proximal end of the connecting element 12 is connected to the inner wall of the sheath body 11, and the distal end of the connecting element 12 is connected to the inner wall of the insulating sheath 13; the distal end of the sheath body 11 is sleeved on the proximal end of the insulating sleeve 13 (as shown in fig. 7), or the proximal end of the insulating sleeve 13 is sleeved on the distal end of the insulating sleeve 13 (as shown in fig. 9).

So set up, sheath body 11 and insulating cover 13 not only can wrap up connecting piece 12 inside completely, and the scope of sheath body 11 and insulating cover 13 coincide mutually is less, does benefit to the width that reduces sheath body 11, insulating cover 13 and the superimposed part of connecting piece 12 three, reduces the influence that thickness caused.

It should be noted that, in some other embodiments, the proximal end of the connecting element 12 may be connected to the inner wall of the sheath body 11, the distal end of the connecting element 12 is sleeved on the outer wall of the insulating sleeve 13, and the distal end of the sheath body 11 is completely sleeved on the connecting element 12 and extends to the insulating sleeve 13 to be sleeved on the insulating sleeve 13.

Optionally, in an embodiment, referring to fig. 7, the outer wall end of the proximal end of the insulating sleeve 13 is provided with a first annular groove structure 132, the distal end of the sheath body 11 extends into the first annular groove structure 132, and the outer surface of the distal end of the sheath body 11 is flush with the outer surface of the proximal end of the insulating sleeve 13. Alternatively, referring to fig. 9, the outer wall edge of the distal end of the sheath body 11 is provided with a second annular groove structure 111, the proximal end of the insulating sheath 13 extends into the second annular groove structure 111, and the outer surface of the proximal end of the insulating sheath 13 is flush with the outer surface of the distal end of the sheath body 11.

By such arrangement, the outer surface of the distal end of the sheath body 11 is flush with the outer surface of the proximal end of the insulating sleeve 13, so as to avoid forming steps, thereby not only preventing the distal end of the sheath body 11 or the proximal end of the insulating sleeve 13 from being lifted due to the stress caused by the step being formed and easily scraping with other parts or tissues of organisms such as human body, and the like, and preventing the steps from damaging the tissues of the organisms such as human body, and the like.

Since the joint 20 and the end effector 30 extend into a living body such as a human body, it is necessary to observe the operation of the end effector 30 during a surgical operation, for example, to observe the opening and closing degree of the end effector 30 when the end effector 30 is scissors, and therefore, the insulating sheath 13 is covered on the end effector 30, which may affect the normal and safe performance of the surgical operation.

To solve the above technical problem, in one embodiment, the insulating sleeve 13 is a transparent insulating sleeve, i.e. made of a transparent material, such as a silicone sleeve, but not limited thereto. The sheath body 11 is a non-transparent sheath body having flexibility and stretchability.

So set up, because insulating cover 13 is transparent insulating cover, can not cause the sheltering from it when the end effector 30 is located to the cover, can observe end effector 30's behavior. And when insulating cover 13 is transparent insulating cover, because its material problem, if only connect through adhesives such as viscose then its joint strength is relatively poor between insulating cover 13 and the connecting piece 12, easily take place to drop when the atress, and the cooperation through spacing portion 121 and spacing cooperation portion 131 sets up in this application, can strengthen the joint strength between insulating cover 13 and the connecting piece 12, effectively reduce insulating cover 13 and take place the possibility that drops in the operation in-process for insulating cover 13 can adopt transparent insulating cover. And because the sheath body 11 needs to be flexible and tensile material, its material can be connected firmly with connecting piece 12 only through bonding glue such as viscose, satisfies the intensity requirement, but its colour is opaque colour usually, for example black, therefore insulating cover 13 can not adopt the same material with sheath body 11. Of course, in other embodiments, the sheath body 11 and the connecting element 12 may also adopt a manner that the limiting portion is in limiting fit with the limiting fitting portion, so as to enhance the connection strength between the sheath body 11 and the connecting element 12.

In one embodiment, referring to fig. 3-5, 21 and 22, surgical instrument 100 includes a link 40, link 40 coupled to a proximal end of joint 20, sheath 10 including a fastener 14, fastener 14 secured to a proximal end of sheath body 11 for coupling to joint 20 or link 40; specifically, the sheath body 11 may be sleeved on the fixing element 14, and the sheath body 11 and the fixing element 14 may be connected by an adhesive such as a viscose, so as to improve the connection strength.

With this arrangement, the proximal end of the sheath body 11 can be connected to the joint 20 or the connecting rod 40 through the fixing member 14, and the distal end of the sheath body 11 can be connected to the distal end of the joint 20 or the end effector 30 through the connecting member 12, so as to fix the opposite ends of the sheath body 11, thereby facilitating the sheath body 11 to stretch and deform along with the movement of the joint 20, and preventing the sheath body 11 from falling off.

Alternatively, in one embodiment, the fixture 14 may be a metal fixture, i.e., made of a metallic material.

The arrangement is such that the fixing piece 14 has enough strength to ensure the stability of the sheath body 11 and prevent it from falling off; and when metal is adopted, the sheath is beneficial to having smaller size, namely higher strength, can meet the requirements on the size of components on a surgical instrument, and prevents plastic from influencing the stability of the sheath body 11 due to insufficient strength caused by size limitation.

Referring to fig. 3 and 21-24, a surgical instrument 100 is also provided in accordance with an embodiment of the present application, the surgical instrument 100 including a joint 20, an end effector 30, a link 40, and a sheath 10 according to any of the embodiments described above, the end effector 30 being coupled to a distal end of the joint 20, the link 40 being coupled to a proximal end of the joint 20; the sheath body 11 is sleeved on the joint 20, the proximal end of the sheath body 11 is connected to the joint 20 or the connecting rod 40, the connecting element 12 is connected to the distal end of the joint 20 or the end effector 30, and the insulating sleeve 13 is sleeved on the end effector 30. It will be appreciated that the surgical instrument 100 may include other components in addition to those described above, and that the improvements herein are primarily directed to, and other components not described may be employed with components of existing surgical robotic surgical instruments.

Since the surgical instrument 100 provided in the embodiment of the present application uses the sheath 10 of the above embodiment, the surgical instrument also has the technical effects brought by the technical solutions of the sheath 10 of the above embodiment, and details are not described herein again.

In one embodiment, referring to fig. 22 to 24, the distal end of the joint 20 or the end effector 30 has an abutting portion 22, specifically, the abutting portion 22 may be provided on the joint member at the distal end of the joint 20, or the abutting portion 22 may be provided on the proximal end of the end effector 30, and the proximal end of the connecting member 12 abuts against the abutting portion 22. The abutting portion 22 may be a flange, a protrusion or a protruding strip, but is not limited thereto.

With such an arrangement, after the sheath body 11 is sleeved on the joint 20 from the distal end of the joint 20 to the proximal direction, the connecting member 12 can abut against the abutting portion 22, so that the distal end of the sheath body 11 is fixed, and the sheath is more convenient and faster.

In one embodiment, referring to fig. 22 to 24, the surgical instrument 100 includes an insulating adaptor 50, the connecting rod 40 is connected to the joint 20 through the insulating adaptor 50 in an insulating manner, and the insulating adaptor 50 is made of an insulating material, such as, but not limited to, a plastic material; the sheath 10 comprises a fixing piece 14 fixed at the proximal end of the sheath body 11, the fixing piece 14 is provided with a locking part 141, the insulating adaptor 50 is provided with a locking matching part 51, and the locking part 141 is matched with the locking matching part 51 in a locking way; the locking portion 141 may have a sliding groove structure, and the locking mating portion 51 may have a protrusion structure, but the specific structures of the locking portion 141 and the locking mating portion 51 are not limited thereto, and reference may be made to the patent document with application number CN202010083306.3 previously applied by the applicant of the present application, and details thereof are not repeated.

By such arrangement, the insulating adaptor 50 is connected between the connecting rod 40 and the joint 20, so that insulation can be formed between the connecting rod 40 and the joint 20, and the fixing piece 14 is connected to the insulating adaptor 50, thereby preventing short-circuit discharge and electric leakage at the proximal end of the fixing piece 14 and improving the operation safety. Moreover, the locking part 141 and the locking matching part 51 are in locking matching, so that the detachable connection between the fixing piece 14 and the insulating adapter 50 is facilitated.

Optionally, in an embodiment, referring to fig. 22, the fixing element 14 is a metal fixing element, and a creepage distance L is provided between the proximal end of the joint 20 and the fixing element 14, where the creepage distance L is a shortest distance between the proximal end of the joint 20 and the metal fixing element 14 to avoid electrical conduction.

With such an arrangement, since the creepage distance L is provided between the proximal end of the joint 20 and the fixing member 14, that is, an insulating region is provided therebetween, the phenomenon of electric discharge and leakage at the proximal end of the fixing member 14 due to the electrical conduction between the proximal end of the joint 20 and the fixing member 14 can be avoided.

Optionally, in an embodiment, the creepage distance L is greater than or equal to 8mm, optionally, the creepage distance may be 8mm, 9mm, 10mm, 11mm, and the like, but is not limited thereto.

With such an arrangement, the creepage distance is greater than or equal to 8mm, the safety is high, and the electrical conduction between the proximal end of the joint 20 and the fixing member 14 can be avoided.

Alternatively, in one embodiment, referring to fig. 22 to 24, the outer wall of the insulating adaptor 50 is provided with a tapered structure 52, the outer diameter of the tapered structure 52 gradually increases along the connecting rod 40 toward the joint 20, and the fixing member 14 is located between the tapered structure 52 and the joint 20.

So set up, owing to the setting of toper structure 52, can protect the near-end of sheath body 11, can avoid surgical instruments to carry out the in-process sheath 10 of operation to collide the seal part of stabbing the card when the seal part of stabbing the card to avoid causing the damage to the seal part of stabbing the card and sheath body 11. And the tapered structure 52 is disposed on the insulating adaptor 50 and is an insulating component, so as to prevent the occurrence of leakage discharge.

Alternatively, in an embodiment, referring to fig. 22 to 24, a metal connecting tube 21 is disposed at a proximal end of the joint 20, a first torsion-resistant portion 53 and a second torsion-resistant portion 54 are disposed on the insulating adapter 50, a first torsion-resistant portion 41 is disposed at a distal end of the connecting rod 40, a second torsion-resistant portion 211 is disposed at a proximal end of the metal connecting tube 21, a proximal end of the insulating adapter 50 is inserted into the connecting rod 40, the first torsion-resistant portion 53 is matched with the first torsion-resistant portion 41, a distal end of the insulating adapter 50 is inserted into the metal connecting tube 21, and the second torsion-resistant portion 54 is matched with the second torsion-resistant portion 211. In this case, a creepage distance L is formed between the distal end of the fixing member 14 and the metal connection pipe 21.

Due to the arrangement, the metal connecting pipe 21 is made of metal, so that the strength can be improved, the joint 20 can be supported conveniently, and the strength of the insulating adapter 50 made of insulating material can be compensated; moreover, the proximal end of the insulating adaptor 50 is inserted into the connecting rod 40, the first torsion-resistant portion 53 is matched with the first torsion-resistant matching portion 41, the distal end of the insulating adaptor 50 is inserted into the metal connecting pipe 21, and the second torsion-resistant portion 54 is matched with the second torsion-resistant matching portion 211, so that the insulating adaptor 50 is firmly connected with the connecting rod 40 and the metal connecting pipe 21, the connection strength between the joint 20 and the connecting rod 40 is improved, the torsion strength between the insulating adaptor 50 and the connecting rod 40 and the torsion strength between the insulating adaptor 50 and the metal connecting pipe 21 are improved, and the stability and reliability of the whole structure are improved.

It should be noted that in other embodiments, the proximal end of the joint 20 may not have the metal connecting tube 21.

Alternatively, in one embodiment, referring to fig. 23 and 24, the first anti-torque portion 53 is a key structure and may protrude from the outer surface of the insulating adaptor 50, and the first anti-torque fitting portion 41 is a key slot structure, and the key slot structure may extend through the sidewall of the connecting rod 40, but may not extend through the sidewall of the connecting rod 40 in other embodiments; the side wall of the key groove structure is arranged along the radial direction (i.e. the diameter direction) of the connecting rod 40, and may be understood as the side wall of the key groove structure is coplanar with the diameter direction of the connecting rod 40, or may be understood as the tangent line of the outer surface of the connecting rod 40 where the side wall of the key groove structure is located is perpendicular to the side wall of the key groove structure. Of course, in other embodiments, the first torsion resistant portion 53 may be a key groove structure, the first torsion resistant portion 53 is a key structure, and a sidewall of the key groove structure is disposed along a radial direction (i.e., a diameter direction) of the insulating adapter 50, and may be understood as a sidewall of the key groove structure being coplanar with a diameter direction of the insulating adapter 50, or may be understood as a tangent line of an outer surface of the insulating adapter 50 where the sidewall of the key groove structure is located being perpendicular to the sidewall of the key groove structure.

By such an arrangement, when the first torsion-resistant portion 53 is stressed after being matched with the first torsion-resistant portion 41, compared with the condition that the side wall of the key groove structure is inclined to the diameter direction of the connecting rod 40 or the diameter direction of the insulating adapter 50, the effective stressed contact area between the first torsion-resistant portion 53 and the first torsion-resistant portion 41 is the largest, and the torsion strength can be improved.

It should be noted that, the first anti-torsion portion 53 and the first anti-torsion mating portion 41 may be, in addition to the key structure and the key groove structure, a clamping portion and a clamping mating portion in clamping mating, or an internal thread and an external thread in threaded mating, but are not limited thereto.

Alternatively, in an embodiment, referring to fig. 23 and 24, the second torsion resistant portion 54 is a key structure, the key structure may be protruded on the outer surface of the insulating adaptor 50, the second torsion resistant matching portion 211 is a key groove structure, and the key groove structure may penetrate through the sidewall of the metal connecting pipe 21, but may not penetrate through the sidewall of the metal connecting pipe 21 in other embodiments; the side wall of the key groove structure is arranged along the radial direction (i.e., the diameter direction) of the metal connecting pipe 21, and may be understood as the side wall of the key groove structure is coplanar with the diameter direction of the metal connecting pipe 21, or may be understood as the tangent line of the outer surface of the metal connecting pipe 21 where the side wall of the key groove structure is located is perpendicular to the side wall of the key groove structure. Of course, in some other embodiments, the second torsion resistant portion 54 may be a key groove structure, the second torsion resistant portion 54 is a key structure, and a sidewall of the key groove structure is disposed along a radial direction (i.e., a diameter direction) of the insulating adapter 50, and may be understood as a sidewall of the key groove structure being coplanar with a diameter direction of the insulating adapter 50, or may be understood as a tangent line of an outer surface of the insulating adapter 50 where the sidewall of the key groove structure is located being perpendicular to the sidewall of the key groove structure.

With such an arrangement, when the second torsion-resistant portion 54 is stressed after being matched with the second torsion-resistant matching portion 211, compared with the condition that the side wall of the key groove structure is inclined to the diameter direction of the metal connecting pipe 21 or the diameter direction of the insulating adapter 50, the effective stressed contact area between the second torsion-resistant portion 54 and the second torsion-resistant matching portion 211 is the largest, and the torsion strength can be improved.

It should be noted that, the second torque resisting part 54 and the second torque resisting matching part 211 may be a clamping part and a clamping matching part for clamping matching, or an internal thread and an external thread for threaded matching, in addition to the key structure and the key groove structure, but are not limited thereto.

Referring to fig. 1, the present embodiment further provides a slave manipulator 1000, where the slave manipulator 1000 includes a mechanical arm and the surgical instrument 100 of any one of the above embodiments, and the surgical instrument 100 is disposed on the mechanical arm, and the mechanical arm is used to manipulate the surgical instrument 100 to move.

Since the slave operation device 1000 provided in the embodiment of the present application adopts the surgical instrument 100 of the above embodiment, the slave operation device also has the technical effects brought by the technical solutions of the surgical instrument 100 and the sheath 10 of the above embodiment, and details are not described herein again.

Referring to fig. 1 and fig. 2, an embodiment of the present application further provides a surgical robot, where the surgical robot includes the slave operation device 1000 and the master operation device 2000, and the master operation device 2000 is used to control the slave operation device 1000.

Since the surgical robot provided in the embodiment of the present application adopts the slave operation device 1000 of the above embodiment, the surgical robot also has the technical effects brought by the technical solutions of the surgical instrument 100 and the sheath 10 of the above embodiment, and details are not described herein again.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

Claims (25)

1. A sheath for use with a surgical instrument including a joint and an end effector coupled to a distal end of the joint, the sheath comprising:

the sheath body is used for sleeving the joint;

the connecting piece is fixed at the far end of the sheath body and is used for being connected with the far end of the joint or the end effector; and

the insulating sleeve is connected to the connecting piece and is used for being sleeved on the end effector;

the connecting piece is provided with a limiting part, the insulating sleeve is provided with a limiting matching part, and the limiting part is in limiting matching with the limiting matching part.

2. The sheath of claim 1, wherein: the limiting part is of a concave structure, and the limiting matching part is of a convex structure; or, the limiting part is of a convex structure, and the limiting matching part is of a concave structure.

3. The sheath of claim 2, wherein: the outer wall of the connecting piece is provided with the limiting part, the inner wall of the insulating sleeve is provided with the limiting matching part, and the part of the insulating sleeve with the limiting matching part is sleeved on the part of the connecting piece with the limiting part;

or the inner wall of the connecting piece is provided with the limiting part, the outer wall of the insulating sleeve is provided with the limiting matching part, and the part of the connecting piece provided with the limiting part is sleeved on the part of the insulating sleeve provided with the limiting matching part.

4. A sheath as recited in claim 3, wherein: the limiting part is of an annular structure arranged along the circumferential direction of the connecting piece; and/or the limiting matching part is of an annular structure arranged along the circumferential direction of the insulating sleeve.

5. A sheath as recited in claim 3, wherein: the limiting part is of a concave structure, the limiting matching part is of a convex structure, and the convex structure is obliquely arranged along the direction from the near end of the insulating sleeve to the far end of the insulating sleeve;

or, spacing portion is protruding structure, spacing cooperation portion is the concave structure, just protruding structure follows the distal end of connecting piece court the direction slope setting of the near-end of connecting piece.

6. A sheath as recited in claim 3, wherein: the limiting part is a concave structure, the limiting matching part is a convex structure, the convex structure is provided with a first plane close to the far end of the insulating sleeve, the concave structure is provided with a second plane matched with the first plane, and the second plane is parallel to the first plane;

or, the limiting part is a convex structure, the limiting matching part is a concave structure, the convex structure is provided with a third plane close to the near end of the connecting piece, the concave structure is provided with a fourth plane matched with the third plane, and the fourth plane is parallel to the third plane.

7. The sheath of claim 6, wherein: an included angle between the first plane and the insulating sleeve is a, and a is more than 0 and less than or equal to 90 degrees;

or the included angle between the third plane and the insulating sleeve is b, and b is more than 0 and less than or equal to 90 degrees.

8. The sheath of claim 1, wherein: the limiting part is in threaded fit with the limiting matching part.

9. A sheath according to any one of claims 1 to 8, wherein: the connecting piece is a metal connecting piece.

10. The sheath of claim 9, wherein: the far end of the sheath body is sleeved on the connecting piece and is superposed with the insulating sleeve.

11. The sheath of claim 10, wherein: the near end of the connecting piece is connected to the inner wall of the sheath body, and the far end of the connecting piece is connected to the inner wall of the insulating sleeve; the far end of the sheath body is sleeved on the near end of the insulating sleeve, or the near end of the insulating sleeve is sleeved on the far end of the insulating sleeve.

12. The sheath of claim 11, wherein: a first annular groove structure is arranged on the outer wall end edge of the near end of the insulating sleeve, the far end of the sheath body extends into the first annular groove structure, and the outer surface of the far end of the sheath body is flush with the outer surface of the near end of the insulating sleeve;

or a second annular groove structure is arranged on the outer wall end edge of the far end of the sheath body, the near end of the insulating sleeve extends into the second annular groove structure, and the outer surface of the near end of the insulating sleeve is flush with the outer surface of the far end of the sheath body.

13. A sheath according to any one of claims 1 to 8, wherein: the insulating sleeve is a transparent insulating sleeve; the sheath body is a non-transparent sheath body that is flexible and stretchable.

14. A sheath according to any one of claims 1 to 8, wherein: the surgical instrument comprises a connecting rod, the connecting rod is connected to the near end of the joint, the sheath comprises a fixing piece, and the fixing piece is fixed to the near end of the sheath body and used for being connected to the joint or the connecting rod.

15. A surgical instrument, characterized in that the surgical instrument comprises:

a joint;

an end effector connected to a distal end of the joint;

a link connected to a proximal end of the joint; and

the sheath of any one of claims 1 to 14, wherein the sheath body is sleeved on the joint, the proximal end of the sheath body is connected to the joint or the connecting rod, the connecting element is connected to the distal end of the joint or the end effector, and the insulating sleeve is sleeved on the end effector.

16. A surgical instrument as recited in claim 15, wherein: the distal end of the joint or the end effector has an abutment against which the proximal end of the connector abuts.

17. A surgical instrument as recited in claim 15, wherein: the surgical instrument comprises an insulating adapter, and the connecting rod is in insulating connection with the joint through the insulating adapter; the sheath comprises a fixing piece fixed at the near end of the sheath body, the fixing piece is provided with a locking part, the insulating adaptor is provided with a locking matching part, and the locking part is in locking matching with the locking matching part.

18. A surgical instrument as recited in claim 17, wherein: the fixing piece is a metal fixing piece, and a creepage distance is reserved between the near end of the joint and the fixing piece.

19. A surgical instrument as recited in claim 18, wherein: the creepage distance is greater than or equal to 8 mm.

20. A surgical instrument as recited in claim 17, wherein: the outer wall of the insulating adapter is provided with a conical structure, the outer diameter of the conical structure is gradually increased towards the joint along the connecting rod, and the fixing piece is located between the conical structure and the joint.

21. A surgical instrument as claimed in any one of claims 17 to 20, wherein: the joint comprises a joint body, and is characterized in that a metal connecting pipe is arranged at the near end of the joint body, a first torsion-resistant part and a second torsion-resistant part are arranged on an insulating adapter, a first torsion-resistant matching part is arranged at the far end of the connecting rod, a second torsion-resistant matching part is arranged at the near end of the metal connecting pipe, the near end of the insulating adapter is inserted into the connecting rod, the first torsion-resistant part is matched with the first torsion-resistant matching part, and the far end of the insulating adapter is inserted into the metal connecting pipe, and the second torsion-resistant part is matched with the second torsion-resistant matching part.

22. A surgical instrument as recited in claim 21, wherein: the first anti-torsion portion is of a key structure, the first anti-torsion matching portion is of a key groove structure, and the side wall of the key groove structure is arranged along the radial direction of the connecting rod; or, the first torsion-resistant part is a key groove structure, the first torsion-resistant part is a key structure, and the side wall of the key groove structure is arranged along the radial direction of the insulating adapter.

23. A surgical instrument as recited in claim 21, wherein: the second torsion resistant part is of a key structure, the second torsion resistant matching part is of a key groove structure, and the side wall of the key groove structure is arranged along the radial direction of the metal connecting pipe; or the second torsion resistant part is of a key groove structure, the second torsion resistant part is of a key structure, and the side wall of the key groove structure is arranged along the radial direction of the insulating adapter piece.

24. A slave operation apparatus characterized by comprising:

a mechanical arm; and

the surgical instrument of any of claims 15 to 23, disposed on the robotic arm.

25. A surgical robot, characterized in that the surgical robot comprises:

the slave operating device of claim 24; and

a master operating device for controlling the slave operating device.

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