CN220898786U - Actuator joint seat, surgical instrument and surgical robot - Google Patents

Abstract

The utility model relates to an actuator joint seat, a surgical instrument and a surgical robot; the actuator joint seat comprises a seat body, wherein a wire head fixing groove for receiving a wire head is formed in the seat body, and the wire head fixing groove is provided with a notch and a groove bottom which are far away from each other in the longitudinal direction; the bottom of the groove is provided with an opening, the base is provided with a passage leading to the opening, the passage is connected with the opening, and the passage is provided with at least one disassembly opening exposed outside the base. The disassembly opening is arranged at the position on the joint seat corresponding to the opening at the bottom of the wire head fixing groove, so that the wire head is conveniently disassembled after being placed in the wire head fixing groove.

Description

Actuator joint seat, surgical instrument and surgical robot

Technical Field

The utility model relates to the technical field of medical instruments, in particular to an actuator joint seat, a surgical instrument and a surgical robot.

Background

With the continuous development of medical instruments, computer technology and control technology, minimally invasive surgery has been increasingly used with the advantages of small surgical trauma, short rehabilitation time, less pain of patients and the like. The minimally invasive surgery robot has the characteristics of high dexterity, high control precision, visual surgery images and the like, can avoid operation limitations, such as tremble of hands during filtering operation, and is widely applied to surgery areas such as abdominal cavities, pelvic cavities, thoracic cavities and the like.

At present, the minimally invasive surgery robot comprises a main control console and a slave manipulator arm, wherein the main control console collects operation signals of doctors, generates control signals of the slave manipulator arm after the operation signals are processed by a control system, and performs surgery operation by the slave manipulator arm. The minimally invasive surgical robot is provided with a matched surgical instrument, and generally has more multiple degrees of freedom of movement compared with the minimally invasive instrument, and the most common implementation mode is to drive an actuator of the instrument by using a driving wire so as to realize the multiple degrees of freedom of movement.

In chinese patent publication No. CN216749340U, a cable guide structure is disclosed, in which an actuator joint seat is disclosed, a driving wire is fixed by a wire head, the wire head is accommodated in a square hole in the lower right drawing, and both ends of the driving wire enter a wrist around a winding groove below the joint seat. Because of the high precision requirement, the spinneret is required to be fixed tightly without moving in the square hole.

The above-mentioned scheme of the spinneret and the accommodation hole of joint seat are fixed closely, and the size and the hole of spinneret are close promptly, in the assembly process or after assembling, are difficult to dismantle the spinneret from the hole, and in the manufacturing process, there are many situations that need dismantle the spinneret to take place, for example: the finished product is inspected to find that the wire head is unqualified and disassembled, and the joint seat in the scheme is difficult or even impossible to disassemble the wire head.

Disclosure of utility model

Based on the above, the utility model provides an actuator joint seat, a surgical instrument and a surgical robot, wherein the actuator joint seat and the surgical instrument are convenient to detach.

In a first aspect, the utility model provides an actuator joint seat, comprising a seat body, wherein a wire head fixing groove for receiving a wire head is formed in the seat body, and the wire head fixing groove is provided with a notch and a groove bottom which are far away from each other in the longitudinal direction; the bottom of the groove is provided with an opening, the base is provided with a passage leading to the opening, the passage is connected with the opening, and the passage is provided with at least one disassembly opening exposed outside the base.

According to the scheme, the disassembly opening is formed in the joint seat at the position corresponding to the opening of the bottom of the wire head fixing groove, so that the wire head can be conveniently disassembled after being placed in the wire head fixing groove.

In a specific embodiment, the seat body is provided with a through hole, the through hole defines the passageway, the through hole has a pair of opposite orifices, and the pair of orifices form a pair of the dismounting ports.

In a specific embodiment, the seat body is provided with a blind hole having a single aperture, the blind hole defining the passage, the aperture forming one of the removal openings.

In a specific embodiment, the aisle extends in a transverse direction perpendicular to the longitudinal direction. The spinneret fixing grooves in the embodiment are perpendicular to the extending direction of the corridor, so that special tools are not needed during disassembly, and the operation can be performed by using a straight rod such as a screwdriver.

In a specific embodiment, the spinneret fixing groove has a rectangular cross section and has a width direction and a length direction, and the width direction is consistent with the thickness direction of the base. The fixing device can not only effectively ensure the fixing reliability of the wire head, but also ensure the structural strength of the joint seat, and is helpful for the reliability and the service life of surgical instruments.

In a specific embodiment, the passageway has a center line passing through the at least one removal opening, the passageway being divided into a first portion and a second portion by a center plane passing through the center line, the first portion being closer to the slot than the second portion, the opening interfacing with the first portion. According to the scheme of the embodiment, the passageway is ensured to have enough area to be plugged into the tool, the stroke of the tool is reduced, and the tool is easy to use.

In a specific embodiment, the base is provided with a mounting shaft hole, an orifice of the mounting shaft hole is positioned at a side surface of the base, and a flange part surrounding the periphery of the orifice is arranged on the side surface. The flange portion in this example can reduce friction between the joint seat and the wrist.

In a second aspect, the present utility model provides a surgical instrument, comprising an actuator coupled to a distal end of an instrument shaft, the actuator comprising a wrist, at least one drive wire extending from the wrist, an actuator socket provided in the first aspect, and a surgical tool, the actuator socket being rotatably coupled to the wrist, the surgical tool being rotatably coupled to the actuator socket, the actuator socket having a pair of rotatable guide wheel assemblies, one of the drive wires being fixedly coupled to a spinneret disposed in the spinneret fixing slot.

In a specific embodiment, the surgical tool is a clamp, an electric hook, scissors, or an endoscope.

In a third aspect, the present utility model provides a surgical robot comprising a master hand portion configured for operation by a doctor and for collecting a doctor's operation signal to generate a control signal for transmission to the slave hand portion, the slave hand portion being arranged to perform a surgical operation under control of the control signal, the slave hand portion being detachably mounted with a surgical instrument provided in the second aspect.

Other advantages of the present utility model will be apparent from the following detailed description of the utility model when taken in conjunction with the accompanying drawings.

Drawings

FIG. 1 is a schematic view of an actuator according to an embodiment of the present utility model;

FIG. 2 is a schematic view illustrating an actuator joint seat and wrist assembly according to an embodiment of the present utility model;

FIG. 3 is an enlarged schematic view of FIG. 2 at A;

FIG. 4 is a schematic view of an actuator knuckle mount and spinneret assembly in accordance with one embodiment of the utility model;

FIG. 5 is a left side schematic view of FIG. 4;

FIG. 6 is a schematic diagram of the top view of FIG. 4;

FIG. 7 is an enlarged schematic view of FIG. 6 at D;

FIG. 8 is a schematic cross-sectional view taken in the direction B-B of FIG. 4;

FIG. 9 is a schematic view of an actuator joint seat according to an embodiment of the utility model

Fig. 10 is a schematic cross-sectional view in the direction C-C of fig. 9.

Wherein: 100. an actuator; 1. a wrist; 2. an actuator joint seat; 21. a base; 211. a side surface; 212. a flange portion; 213. a wire winding groove; 22. a spinneret fixing groove; 221. a notch; 222. a groove bottom; 23. an opening; 24. an aisle; 241. a first portion; 242. a second portion; 25. a disassembly port; 26. mounting a shaft hole; 261. an orifice; 3. a surgical tool; 4. a joint seat driving wire; 5. an actuator drive wire; 10. a first rotating shaft; 20. a second rotating shaft; 6. a first idler assembly; 7. a second idler assembly; 61. the first guide wheel; 62. a first axle; 71. the second guide wheel; 72. a second axle; 8. a wire head.

Detailed Description

The technical solutions in the embodiments of the present utility model will be described below with reference to the accompanying drawings in the embodiments of the present utility model.

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

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

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

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

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

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

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

The utility model provides an actuator joint seat, a surgical instrument and a surgical robot; the surgical instrument consists of an instrument box, an actuator and an instrument shaft; wherein, instrument box and executor are located the proximal end and the distal end of instrument axle respectively. A typical surgical robot includes a master hand portion configured for a doctor to operate and collect a doctor's operation signal to generate a control signal transmitted to a slave hand portion, and a slave hand portion configured to perform a surgical operation under control of the control signal. The surgical instrument is detachably mountable to the surgical robot at a hand slave portion to perform a controlled task; and the instrument box will be coupled with the surgical instrument manipulator at the end of the robotic arm when the surgical instrument is mounted to the surgical robot at the slave hand.

The following describes the components of the surgical robot and the working process of each component by taking a master-slave teleoperated endoscopic surgical robot commonly used in surgery as an example.

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

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

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

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

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

Referring to fig. 1, there is illustrated an actuator 100 for a surgical instrument comprising a wrist 1, an actuator joint seat 2 and a surgical tool 3. The surgical tool in this example is a clamp; in other embodiments, the surgical tool configured may also be an electric hook, scissors, or an endoscope, among others.

As shown in fig. 2, the wrist 1 is adapted to engage with the distal end of the instrument shaft, and two drive wires, namely an articulation seat drive wire 4 and an actuator drive wire 5, extend through the interior of the wrist 1. The actuator joint seat 2 is rotatably connected with the wrist 1 through a first rotating shaft 10. The surgical tool 3 is rotatably connected to the actuator joint holder 2 via a second rotary shaft 20. The joint seat drive wire 4 and the actuator drive wire 5 are responsible for the deflection of the actuator joint seat 2 and the surgical tool 3, respectively.

As shown in fig. 4, 5 and 6, the actuator knuckle mount 2 is provided with a first guide wheel assembly 6 and a second guide wheel assembly 7. First idler assembly 6 and second idler assembly 7 are configured to guide the travel of actuator drive wire 5. The first guide wheel assembly 6 and the second guide wheel assembly 7 are rotatably supported on the actuator joint seat 2 and are positioned on two opposite sides of the actuator joint seat 2. First idler assembly 6 includes a first idler 61 and a first axle 62; second idler assembly 7 includes a second idler 71 and a second axle 72. The lower portion of the seat body 21 has a winding groove 213, and the joint seat driving wire 4 may be wound in the winding groove 213.

As shown in fig. 6, 8, 9 and 10, the actuator joint seat 2 includes a seat body 21, and a head fixing groove 22 for receiving the head 8 is provided on the seat body 21. The spinneret fixing groove 22 has a notch 221 and a groove bottom 222 which are distant from each other in the longitudinal direction. An opening 23 is provided at the groove bottom 222.

The seat 21 is provided with a passageway 24 leading to the opening 23, the passageway 24 interfacing with the opening 23. As shown in fig. 3, the aisle 24 has at least one disassembly port 25 exposed to the outside of the seat 21.

A user can insert a tool from the removal opening 25 into the passageway 24 and out to the opening 23 by means of a removal tool to effect jacking up of the spinneret 8 at the opening 23 to effect assisting in the removal of the spinneret 8.

The aisle 24 is preferably a straight aisle extending in a transverse direction perpendicular to the longitudinal direction; the design scheme of the straight passage ensures that a user does not need special tools when dismantling, and the user only needs to use a straight rod such as a screwdriver.

In this case, the aisle 24 is defined by a through hole in the seat 21, extending in a transverse direction, having an opposite pair of apertures, each of which is exposed outside the seat 21 and constitutes a pair of dismounting ports 25. The user can reach the opening 23 no matter from which disassembly port the straight rod tool is put in.

In other embodiments, the passageway may be defined by a blind hole in the housing having a single aperture that forms a removal port.

As shown in fig. 6 and 7, the spinneret fixing grooves 22 have a rectangular cross section and have a width direction W and a length direction L, and the width direction W coincides with the thickness direction of the base 21. According to the structural design, the reliability of fixing the spinneret 8 and the joint seat driving wire 4 can be guaranteed by the pair of groove walls corresponding to the length direction, the small occupation of the entity part is guaranteed by the pair of groove walls corresponding to the width direction, the structural strength of the joint seat 2 is guaranteed, and the reliability and the service life of a surgical instrument are facilitated.

As shown in fig. 10, the aisle 24 has a center line X passing through the disassembly port 25, and the aisle 24 is divided into a first portion 241 and a second portion 242 by a center plane passing through the center line 224. The first portion 241 is closer to the slot 221 than the second portion 242. The opening 23 interfaces with the first portion 241. This solution ensures that the aisle 24 has enough area to be plugged into the removal tool, and reduces the travel of the removal tool, which is easier to use.

As shown in fig. 4, 5, 8, 9 and 10, the housing 21 is provided with a mounting shaft hole 26 into which the first rotation shaft 10 is fitted, and an orifice 261 of the mounting shaft hole 26 is located at a side surface 211 of the housing 21. The side surface 211 is provided with a flange portion 212 around the periphery of the orifice 261; the flange portion reduces friction between the joint seat 2 and the wrist portion 1.

By providing the passage 24 leading to the opening 23 on the actuator joint seat 2, the spinneret can be conveniently detached by a user.

The actuator 100 of the present case can be used in combination with an instrument case and an instrument shaft to form a surgical instrument. After assembly, the actuator 100 and the instrument pod are located at opposite ends of the instrument shaft, respectively. The surgical instrument can be detachably mounted to the surgical robot for use from the hand, in particular to a surgical instrument manipulator at the end of a robotic arm, for controlled actuation.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

Claims (10)

1. An actuator joint seat comprises a seat body, wherein a wire head fixing groove for receiving a wire head is formed in the seat body, and the wire head fixing groove is provided with a notch and a groove bottom which are far away from each other in the longitudinal direction; the novel portable electric power tool is characterized in that an opening is formed in the bottom of the groove, a passageway which is communicated with the opening is formed in the base body, the passageway is connected with the opening, and at least one dismounting opening which is exposed out of the base body is formed in the passageway.

2. The actuator joint seat according to claim 1, wherein said seat body is provided with a through hole defining said passageway, said through hole having a pair of opposed apertures, said pair of apertures forming a pair of said removal openings.

3. The actuator joint seat according to claim 1, wherein said seat body is provided with a blind hole having a single aperture, said blind hole defining said passageway, said aperture defining said removal opening.

4. The actuator joint seat according to claim 1, wherein the aisle extends in a transverse direction perpendicular to the longitudinal direction.

5. The actuator joint seat according to claim 1, wherein said spinneret fixing groove has a rectangular cross section and has a width direction and a length direction, said width direction being aligned with a thickness direction of said seat body.

6. The actuator joint seat according to claim 1 wherein said passageway has a centerline through said at least one removal opening, said passageway being divided into a first portion and a second portion by a center plane passing through said centerline, said first portion being closer to said notch than said second portion, said opening interfacing with said first portion.

7. The actuator joint seat according to claim 1, wherein said seat body is provided with a mounting shaft hole, a pair of apertures of said mounting shaft hole being respectively located at a pair of side surfaces of said seat body, each of said side surfaces being provided with a flange portion surrounding a periphery of a corresponding one of said apertures.

8. A surgical instrument having an actuator coupled to a distal end of an instrument shaft, the actuator comprising a wrist, at least one drive wire extending from the wrist, an actuator socket according to any one of claims 1-7, and a surgical tool, the actuator socket being rotatably coupled to the wrist, the surgical tool being rotatably coupled to the actuator socket, the actuator socket having a pair of rotatable guide wheel assemblies, one of the drive wires being fixedly coupled to a spinneret disposed in the spinneret fixing slot.

9. The surgical instrument of claim 8, wherein the surgical tool is a clamp, an electrical hook, scissors, or an endoscope.

10. A surgical robot comprising a master hand portion configured for a doctor to operate and collect a doctor's operation signal to generate a control signal to be transmitted to the slave hand portion, the slave hand portion being arranged to perform a surgical operation under the control of the control signal, characterized in that the slave hand portion is detachably mounted with a surgical instrument according to claim 8 or 9.