CN221266291U - Surgical instrument and medical system - Google Patents

Abstract

The utility model discloses a surgical instrument and a medical system. The surgical instrument includes: the device comprises a shaft, a first joint seat, a second joint seat, an end execution assembly, a lead and a driving wire; the first joint seat is arranged at the far end of the shaft, and the far end of the first joint seat is provided with first tooth parts which are distributed around a first axis; the second joint seat is arranged at the far end of the first joint seat, the near end of the second joint seat is provided with second tooth parts which are distributed around a second axis, and the second tooth parts are meshed with the first tooth parts; the end effector is rotatably connected to the distal end of the second joint seat about a third axis that is different from the first and second axes; one end of the lead is connected to the end effector assembly, and the other end extends to the distal end of the shaft; one end of the drive wire is connected to the end effector and the other end extends to the distal end of the shaft. According to the utility model, by arranging the rolling joint and the rotating joint, the axial size of the joint is smaller, the occupied space is small during movement, and higher dexterity can be obtained in a narrow space.

Description

Surgical instrument and medical system

Technical Field

The present utility model relates generally to the field of surgical robotics, and more particularly to a surgical instrument and medical system.

Background

In robot-assisted minimally invasive surgery, surgical instruments connected to the ends of a robot penetrate through a wound or a natural duct on the surface of a human body to enter the human body, and operate tissues in the human body. Such surgical instruments generally include an actuator (e.g., forceps, cutting or cauterizing tool) at the front end, a wrist, shaft and/or other joint providing multiple degrees of freedom of movement to the actuator, a main conduit extending from the rear end to the front end of the instrument, and power and transmission means at the rear end of the instrument. The front end effector and the various joints are typically driven by a plurality of cables secured thereto, which extend through the main tubing of the surgical tool and are driven by the power and transmission means at the rear end.

For forceps and other clamping or shearing type tools, the wrist joint typically needs to achieve three degrees of freedom, pitch, yaw and clamping. The robot can realize the movement required by the operation by matching with the additional degree of freedom of the rear end of the robot.

The existing surgical instrument connected with the tail end of the robot has large space occupied by joint movement, which is not beneficial to the operation in a narrow space; the joint structure is complex, the number of parts is large, the manufacture and the assembly are difficult, and the miniaturization of the surgical instrument is not facilitated.

Disclosure of utility model

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the utility model is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

A first aspect of the utility model provides a surgical instrument comprising:

A shaft;

The first joint seat is arranged at the far end of the shaft, and the far end of the first joint seat is provided with first tooth parts which are distributed around a first axis;

The second joint seat is arranged at the far end of the first joint seat, the near end of the second joint seat is provided with second tooth parts which are arranged around a second axis, and the second tooth parts are meshed with the first tooth parts;

An end effector assembly rotatably coupled to a distal end of the second joint seat about a third axis, the third axis being different from the first axis and the second axis;

A lead having one end connected to the end effector and another end extending to a distal end of the shaft;

A drive wire having one end connected to the end effector and another end extending to a distal end of the shaft.

According to the surgical instrument disclosed by the application, the pitching joint adopts the rolling joint form, the yawing joint adopts the rotating joint form, and compared with the serial transmission joint adopted by the combination of the rolling joint and the rotating joint, the number of parts of the joint can be effectively reduced, the manufacturing and assembling difficulty of the surgical instrument is reduced, and the miniaturization of the surgical instrument is facilitated on the premise of ensuring the strength and the rigidity of the surgical instrument; compared with a transmission joint adopting a rolling joint, the movable occupation space of the surgical instrument is reduced, and higher dexterity can be obtained in a narrow space.

Optionally, a connecting member is provided between the first and second joint seats, the connecting member being rotatably connected to the first joint seat about the first axis and rotatably connected to the second joint seat about the second axis.

Optionally, the distal end of the first joint seat is provided with a first arc surface protruding towards the second joint seat and extending around the first axis, the proximal end of the second joint seat is provided with a second arc surface protruding towards the first joint seat and extending around the second axis, and the first arc surface contacts with the second arc surface.

Optionally, the end effector assembly includes a first jaw and a second jaw each rotatably connected to a distal end of the second articulation seat about a third axis.

Optionally, the drive line comprises a first drive line pair connected to the first jaw and for driving the first jaw to rotate about the third axis, and a second drive line pair connected to the second jaw and for driving the second jaw to rotate about the third axis;

The wires include a first wire connected to the first jaw and for energizing the first jaw and a second wire connected to the second jaw and for energizing the second jaw.

Optionally, the first axis and the second axis define a first plane, between the first joint seat and the second joint seat, the first drive wire pair and the first wire are disposed on one side of the first plane, and the second drive wire pair and the second wire are disposed on the other side of the first plane.

Optionally, the first clamping jaw is provided with a first driving wire groove and a first wire groove which extend around the third axis respectively, and the first driving wire groove and the first wire groove are arranged in parallel along the third axis;

The second clamping jaw is provided with a second driving wire groove and a second wire groove which extend around the third axis respectively, and the second driving wire groove and the second wire groove are arranged in parallel along the third axis.

Optionally, the respective extending tracks of the first driving wire groove, the first wire groove, the second driving wire groove and the second wire groove are perpendicular to the third axis.

Optionally, the second joint seat is provided with a second wire through hole through which the first wire and the second wire pass, and a second drive wire through hole through which the first drive wire pair and the second drive wire pair pass, the second wire through hole is aligned with the first wire groove and the second wire groove, and the second drive wire through hole is aligned with the first drive wire groove and the second drive wire groove.

Optionally, the first joint seat is provided with a first drive line via through which the first drive line pair and the second drive line pair pass, and when the surgical instrument is in a neutral state, the first drive line via and the second drive line via are aligned.

Optionally, the first joint seat is further provided with a first wire through hole through which the first wire and the second wire pass;

The first and second wire grooves are disposed between the first and second drive wire grooves, the first drive wire via is closer to the first axis than the first wire via, and the second wire via is closer to the second axis than the second drive wire via, or

The first drive wire slot and the second drive wire slot are disposed between the first wire slot and the second wire slot, the first wire via is closer to the first axis than the first drive wire via, and the second drive wire via is closer to the second axis than the second wire via.

Optionally, the distal end of the first joint seat is provided with a first surface facing the second joint seat, the first surface being perpendicular to the first plane and coplanar with the first axis, the opening of the first drive line via being located on the first surface;

A second surface facing the first joint seat is arranged at the proximal end of the second joint seat, the second surface is perpendicular to the first plane and coplanar with the second axis, and an opening of the second drive line via is positioned on the second surface;

The first drive wire pair is symmetrical about the first plane relative to the second drive wire pair between the first and second joint seats when the surgical instrument is in a neutral state.

Optionally, the surgical instrument further comprises a rear end transmission disposed at the proximal end of the shaft, the rear end transmission for braking the drive line.

A second aspect of the utility model provides a medical system comprising:

a slave operating device comprising at least one robotic arm; and

The surgical instrument according to any one of the above claims, which is provided on the robotic arm.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the application will be apparent from the description and drawings, and from the claims.

Drawings

The following drawings of embodiments of the present utility model are included as part of the utility model. Embodiments of the present utility model and their description are shown in the drawings to explain the principles of the utility model. In the drawings of which there are shown,

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

fig. 2 is a schematic view of a robot beside a patient according to an embodiment of the utility model;

FIG. 3 is a perspective view of a surgical instrument according to an embodiment of the present utility model, the surgical instrument being in a zero position;

FIG. 4 is an exploded view of a surgical instrument according to an embodiment of the present utility model;

FIG. 5 is a perspective view of a surgical instrument according to an embodiment of the present utility model, the surgical instrument being in a pitched state;

FIG. 6 is a perspective view of a surgical instrument according to an embodiment of the present utility model, the surgical instrument being in a pitched state;

FIG. 7 is a perspective view of a surgical instrument according to an embodiment of the present utility model, the surgical instrument being in both a pitched state and a yaw state;

FIG. 8 is a cross-sectional view of a surgical instrument according to an embodiment of the present utility model, the surgical instrument being shown in a null position;

FIG. 9 is a cross-sectional view of a surgical instrument according to an embodiment of the present utility model, the surgical instrument being in a pitched state;

FIG. 10 is a perspective view of a connector according to an embodiment of the present utility model;

FIG. 11 is a perspective view of a surgical instrument according to an embodiment of the present utility model, the surgical instrument being in a zero position;

FIG. 12 is a perspective view of a first jaw according to an embodiment of the utility model;

FIG. 13 is a perspective view of a second jaw according to an embodiment of the utility model;

FIG. 14 is a perspective view of a first joint seat according to an embodiment of the present utility model;

FIG. 15 is a perspective view of a second joint seat according to an embodiment of the present utility model;

FIG. 16 is a perspective view of a second joint seat according to an embodiment of the present utility model;

FIG. 17 is a combined perspective view of a first joint seat and a second joint seat according to an embodiment of the present utility model;

Fig. 18 is a perspective view of a surgical instrument according to an embodiment of the present utility model, the surgical instrument being in a pitched state.

Reference numerals illustrate:

100: surgical instrument 120: end effector assembly

121: First jaw 122: second clamping jaw

130: Shaft 140: shaft portion

150: Rear end transmission 160: a first arc surface

170: Second arc surface 101: first tissue contacting portion

102: First insulator 103: first clamping jaw base

1031: First drive slot 1032: first clamping groove

1033: First through hole 1034: first wire groove

1035: Third shaft hole 104: first wire

105: First drive line pair 106: second tissue contacting portion

107: Second insulator 108: second clamping jaw base

1081: Second drive slot 1084: second wire groove

1085: Fourth shaft hole 109: second conducting wire

110: Second drive line pair 111: second joint seat

1111: Second main body 1112: second support plate

1113: Second tooth 1114: fifth threading hole

1115: Sixth threading hole 1116: seventh threading hole

1117: Eighth threading hole 1118: second accommodating groove

1119: Second shaft hole 112: third pin shaft

113: Connector 1131: main rod body

1132: First coupling shaft 1133: shaft hole

1134: Second connection shaft 1135: shaft hole

1136: Third connection shaft 1137: shaft hole

114: Second pin 115: first pin shaft

116: First joint block 1161: first main seat body

1162: First support plate 1163: first tooth part

1164: First threading hole 1165: second threading hole

1166: Third threading hole 1167: fourth threading hole

1168: First receiving groove 1169: first shaft hole

117: Gasket 118: first clamping terminal

119: Second clamping terminal 200: medical system

210: Doctor console 220: robot beside patient

221: Mechanical arm 222: arm for holding a tool

230: Image forming apparatus

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present utility model. It will be apparent, however, to one skilled in the art that the utility model may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the utility model.

In the following description, a detailed description will be given for the purpose of thoroughly understanding the present utility model. It should be appreciated that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art. It will be apparent that embodiments of the utility model may be practiced without limitation to the specific details that are familiar to those skilled in the art. Preferred embodiments of the present utility model are described in detail below, however, the present utility model may have other embodiments in addition to these detailed descriptions.

Ordinal numbers such as "first" and "second" cited in the present utility model are merely identifiers and do not have any other meaning, such as a particular order or the like. Also, for example, the term "first component" does not itself connote the presence of "second component" and the term "second component" does not itself connote the presence of "first component".

It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and the like are used in the present utility model for illustrative purposes only and are not limiting.

The terms "distal" and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the procedure that is distal to the operator and "proximal" refers to the end of the procedure that is proximal to the operator. In a teleoperated surgical robotic system, "operator" refers to a patient side robot that holds and brakes surgical instruments.

As used herein, "parallel"/"perpendicular" and similar expressions include absolute parallel/perpendicular relationships and generally parallel/perpendicular relationships (e.g., relationships within-5 ° to +5° of absolute parallel/perpendicular) to be equally effective.

Exemplary embodiments according to the present utility model will now be described in more detail with reference to the accompanying drawings.

The medical system 200 according to an embodiment of the present utility model is a surgical robotic system that can remotely manipulate a completed surgery. Referring to fig. 1, a medical system 200 may include a physician console 210, a patient side robot 220, and an imaging device 230.

The doctor console 210 has a display unit for displaying the environment of the surgical instrument, a doctor operation control mechanism, and armrests. Wherein, set up the observation window on the display element and be used for the doctor to observe, operation control mechanism constructs for its action can correspond the action of surgical instruments, and the handrail is used for placing doctor's arm. In addition, the doctor console 210 is further provided with other control switches for performing various functional operations to complete man-machine interaction.

The imaging device 230 has a display screen, an endoscope controller, system electronics, an image processor, and the like.

Referring to fig. 2, the patient side robot 220 may include at least one mechanical arm 221, where the mechanical arm 221 has several sections of connecting arms, and two adjacent sections of connecting arms relatively move with a specific degree of freedom, so that the end of the mechanical arm may reach the movement of multiple degrees of freedom (e.g. 7 degrees of freedom, different degrees of freedom may be different according to different surgical instruments), the end of the mechanical arm 221 is provided with a holding arm 222, and the surgical instrument 100 is detachably mounted on the holding arm 222. The surgical instrument 100 may be an instrument that performs a surgical operation, such as an electrocautery, a clamp, a vascular occlusion device, etc., a camera for image acquisition of a surgical field, such as an endoscope, etc., or other surgical instruments.

In some application scenarios, the robotic arm 221 may be configured to mechanically move about a remote center of motion (remote center of motion, RCM). For example, in laparoscopic surgery, RCM is defined as the port into the abdominal cavity of a patient during surgery, where the robotic arm 221 is manipulated such that the manipulator arm 222 moves the surgical instrument 100 through pitch, yaw, insertion, and rotation, and the longitudinal axis of the surgical instrument 100 remains passing through the RCM point throughout the motion to avoid non-surgical damage to the abdominal incision of the patient by the surgical instrument 100.

Surgical instrument 100 includes, in order from the proximal end to the distal end, a rear end drive 150, a shaft portion 140, and an end effector assembly 120. The rear end transmission 150 is in driving connection with a driving device arranged in the holding arm 222. The rear end actuator 150 may be coupled to the end effector 120 via a transmission member, which may include a push-pull rod, wire, rope, belt, etc., and brake the end effector 120 via the transmission member. The shaft 140 is connected between the rear end effector 150 and the end effector 120 for spacing the rear end effector 150 from the end effector 120 and for supporting the end effector 120. The end effector assembly 120 may include tools for performing surgical procedures, such as cutting tissue, such as hooks, spades, clamps, scissors, etc., or may be an endoscope lens for image acquisition, etc.

Further, a joint, such as a pitch joint, a yaw joint, etc., may also be provided between the end effector 120 and the shaft 140 to increase the mobility of the end effector 120. The rear end driving device 150 can drive the joint to move through transmission parts such as push-pull rods, wires, ropes and belts.

However, the inventors found that: the joint movement of the current surgical instrument occupies a larger space, which is not beneficial to the operation in a narrow space; the joint structure is complex, the number of parts is large, the manufacture and the assembly are difficult, and the miniaturization of the surgical instrument is not facilitated.

The surgical instrument of the embodiments of the present utility model may improve or solve at least one of the above problems.

As shown in fig. 3 and 4, a surgical instrument 100 according to an embodiment of the present utility model includes: shaft 130, first joint mount 116, second joint mount 111, end effector assembly 120, leads, and drive wires.

The distal end of the shaft 130 may support the first joint seat 116, the second joint seat 111, and the end effector 120, and the proximal end of the shaft 130 may be coupled to a rear end drive 150. The shaft 130 is generally configured as a hollow rod to allow the guide wire and drive wire to pass therethrough. The cross section of the shaft 130 perpendicular to the length direction thereof may be a circular, oval, or the like shape without corners. The shaft 130 has a central axis extending in a length direction.

The first joint seat 116 and the second joint seat 111 are capable of rolling relative to each other to form a pitch joint of the surgical device 100. Specifically, the first joint seat 116 is disposed at a distal end of the shaft 130, and the distal end of the first joint seat 116 is provided with first teeth 1163 arranged around the first axis AX 1. The first axis AX1 is fixed relative to the first joint seat 116. The first axis AX1 may intersect or be out of plane with the central axis of the shaft 130. In this example, the first axis AX1 perpendicularly intersects the central axis of the shaft 130. The second joint seat 111 is disposed at a distal end of the first joint seat 116, and a second tooth 1113 arranged around the second axis AX2 is disposed at a proximal end of the second joint seat 111, and the second tooth 1113 is engaged with the first tooth 1163. The second axis AX2 is fixed relative to the second joint seat 111. The second axis AX2 may be parallel to the first axis AX1, and when the surgical device 100 is in the neutral state, the central axis of the shaft 130 is parallel to a first plane defined by the first axis AX1 and the second axis AX2, or the central axis of the shaft 130 lies on the first plane.

As shown in fig. 3, when the surgical instrument 100 does not deflect, the neutral state (also referred to as a zero state) of the surgical instrument is referred to.

The end effector assembly 120 and the second joint mount 111 are rotatable relative to one another to form at least a yaw joint of the surgical instrument 100. Specifically, the end effector 120 is rotatably connected to the distal end of the second joint seat 111 about a third axis AX3, the third axis AX3 being out of plane with the first axis AX1 and the second axis AX 2. In this example, the third axis AX3 is perpendicular to the first axis AX1 and the second axis AX2, and when the surgical instrument 100 is in the neutral state, the third axis AX3 is perpendicular to a first plane defined by the first axis AX1 and the second axis AX 2.

One end of the lead is connected to the parapatient robot 220 and the other end extends to the distal end of the shaft 130 to connect to the end effector assembly 120. The leads are used to provide electrical power to the end effector assembly 120.

One end of the drive wire is connected to the rear end transmission 150 and the other end extends to the distal end of the shaft 130 for connection to the end effector assembly 120. The drive lines are used to brake the end effector assembly 120 for pitch or yaw motion. Further, for end effector assembly 120 that includes clamps, scissors, etc. for clamping or shearing-type tools, the drive wire may also be used to brake end effector assembly 120 for opening and closing movement.

As shown in fig. 5 and 6, the end effector 120 is in a pitching motion, and the first tooth 1163 and the second tooth 1113 are engaged, so that the end effector 120 can perform a pitching motion, and the direction of performing the operation is selected according to the surgical needs.

As shown in fig. 7, the end effector 120 simultaneously performs a pitch motion and a yaw motion, and the first tooth 1163 and the second tooth 1113 are engaged such that the end effector 120 can pitch, the direction of performing the operation is selected according to the surgical needs, and the end effector 120 rotates about the third axis AX3 such that the end effector 120 can yaw, the direction of performing the operation is selected according to the surgical needs.

The surgical instrument 100 in this embodiment, the pitch joint adopts the form of a roll joint, the yaw joint adopts the form of a rotation joint, and by combining such roll joint and rotation joint, compared with the use of a series transmission joint, the number of parts of the joint can be effectively reduced (for example, an idler pulley for guiding a driving wire can be omitted), the difficulty in manufacturing and assembling the surgical instrument 100 is reduced, the miniaturization of the surgical instrument is facilitated on the premise of ensuring the strength and rigidity of the surgical instrument 100, and the reduction of the axial dimension of the surgical instrument 100 is particularly facilitated, and in addition, the joint has enough space for arranging the wires and the driving wire, so that the wires and the driving wire can have larger diameters, and the rigidity and the service life of the wires and the driving wire are improved; compared to the use of a roll-on drive joint, the present invention advantageously reduces the active footprint of the surgical instrument 100, provides greater dexterity in confined spaces, and, for end effector 120 including clamps, scissors, etc. for clamping or shearing-type tools, the existing components of the yaw joint may be utilized to effect the opening and closing motion of the end effector 120 without the need for additional components.

In one example, the first joint seat 116 further includes a first main seat 1161 and a first support plate 1162. The first main body 1161 is substantially cylindrical, a proximal end of the first main body 1161 is fixed to the shaft 130, for example, by screwing, clamping, gluing, welding, or the like, and the first main body 1161 is coaxial with the shaft 130. The first tooth 1163 is disposed on a sidewall of the first main block 1161. The first support plate 1162 is surrounded by a sidewall of the first main housing 1161 and is disposed near the distal end. The first support plate 1162 intersects the central axis of the first main body 1161, optionally perpendicular to the central axis of the first main body 1161. The first support plate 1162 is provided with a plurality of threading holes through which driving wires and guide wires pass.

In one embodiment, the second joint seat 111 further includes a second main seat 1111 and a second support plate 1112, the second main seat 1111 being generally cylindrical, and a distal end of the second main seat 1111 being hinged to the end effector assembly 120, for example, by a shaft hole and pin structure. The second tooth 1113 is provided at a side wall of the second main housing 1111. The second support plate 1112 is surrounded by a sidewall of the second main housing 1111 and is disposed near the proximal end. The second support plate 1112 intersects the central axis of the second main housing 1111, optionally perpendicularly to the central axis of the second main housing 1111. The second support plate 1112 is provided with a plurality of threading holes through which the driving wires and the guide wires pass.

In one example, the first tooth 1163 includes n driving teeth and n-1 tooth slots, where n is a positive integer and n is greater than or equal to 3, and the driving teeth and the tooth slots are alternately arranged; correspondingly, the second tooth portion 1113 includes n-1 driving teeth and n tooth slots, and the driving teeth and the tooth slots are alternately arranged. For example, in the example shown in the figures, the first tooth 1163 includes three drive teeth and two tooth slots, and the second tooth 1113 includes two drive teeth and three tooth slots. Alternatively, the drive teeth in the first and second teeth 1163, 1113 may take the form of involute profiles.

In one example, as shown in fig. 8, 9, and 10, a connection 113 is provided between the first joint seat 116 and the second joint seat 111 for transmitting force between the first joint seat 116 and the second joint seat 111 to increase stiffness of the pitch joint and reduce wear of the teeth. The link 113 is rotatably connected to the first joint seat 116 about a first axis AX1 and rotatably connected to the second joint seat 111 about a second axis AX 2.

In one example, the connector 113 includes a main rod body 1131, the distal end of the main rod body 1131 being hinged to the second joint seat 111, and the proximal end of the main rod body 1131 being hinged to the first joint seat 116. The main rod body 1131 may further be provided with an avoidance groove 1138, so that when the second joint seat 111 and the first joint seat 116 roll relatively, the avoidance groove 1138 provides enough movement space for the wire and the driving wire, that is, the main rod body 1131 will not interfere with the wire and the driving wire. The specific location of the relief slots 1138 is as desired and will be described by way of example.

The application is not limited to a specific implementation of the articulation. In this example, the articulation may be achieved by way of a shaft bore and pin fit for ease of installation. For example, as shown in fig. 4, 10, 14, and 16, the connecting member 113 further includes a first pin 115 and a second pin 114. The distal end of the first main body 1161 is provided with a first shaft hole 1169, the center of the first shaft hole 1169 is located on the first axis AX1, the proximal end of the second main body 1111 is provided with a second shaft hole 1119, the center of the second shaft hole 1119 is located on the second axis AX2, and two ends of the main body 1131 are respectively provided with a proximal shaft hole 1137 and distal shaft holes 1133 and 1135. The proximal shaft hole 1137 is aligned with the first shaft hole 1169, and the first pin 115 passes through the proximal shaft hole 1137 and the first shaft hole 1169 to enable the connection member 113 to articulate with the first articulation seat 116. The distal shaft holes 1133, 1135 are aligned with the second shaft hole 1119, and the second pin 114 passes through the distal shaft holes 1133, 1135 to effect articulation of the connector 113 with the second joint mount 111.

The distal end of the connecting member 113 is provided with a first connecting shaft 1132, a second connecting shaft 1134, and the proximal end is provided with a third connecting shaft 1136. The escape groove 1138 is located between the first coupling shaft 1132 and the second coupling shaft 1134. The first coupling shaft 1132 is axially provided with a shaft hole 1133, the second coupling shaft 1134 is axially provided with a shaft hole 1135, and the third coupling shaft 1136 is axially provided with a shaft hole 1137. Further, a first accommodating groove 1168 is formed on the first supporting plate 1162 corresponding to the proximal end of the connecting piece 113, the first accommodating groove 1168 can accommodate a part of the third connecting shaft 1136, a second accommodating groove 1118 is formed on the second supporting plate 1112 corresponding to the distal end of the connecting piece 113, and the second accommodating groove 1118 can accommodate a part of the first connecting shaft 1132 and a part of the second connecting shaft 1134. By providing the first and second receiving grooves 1168 and 1118, the link 113 is facilitated to rotate relative to the first and second joint bases 116 and 111.

In another example, as shown in fig. 17 and 18, the connecting member 113 may be omitted, and the force may be transmitted by providing the first joint base 116 and the second joint base 111 with a load-carrying structure.

Specifically, the distal end of the first joint seat 116 is provided with a first arc surface 160 protruding toward the second joint seat 111 and extending around the first axis, and the proximal end of the second joint seat 111 is provided with a second arc surface 170 protruding toward the first joint seat 116 and extending around the second axis, the first arc surface 160 and the second arc surface 170 being in contact. The extended trace of the first arc surface 160 coincides with the pitch circle portion of the first tooth 1163, and the extended trace of the second arc surface 170 coincides with the pitch circle portion of the second tooth 1113. When the first joint seat 116 and the second joint seat 111 roll relative to each other, the engagement of the first tooth 1163 and the second tooth 1113 may ensure that the first arc surface 160 and the second arc surface 170 remain in contact and roll purely relative to each other. The arc surface can bear the interaction force between the first joint seat 116 and the second joint seat 111 caused by the tension of the driving wire, and abrasion of the tooth part can be reduced.

In the example shown in the figures, the first circular arc surface 160 is provided on the side wall of the first main body 1161 and is located closer to the outside than the first tooth 1163, and the second circular arc surface 170 is provided on the side wall of the second main body 1111 and is located closer to the outside than the second tooth 1113. However, it is understood that in other examples not shown, the first circular arc 160 may be closer to the inner side of the first main housing 1161 than the first tooth 1163, and/or the second circular arc 170 may be closer to the inner side of the second main housing 1111 than the second tooth 1113, without affecting the force transmission function of the circular arc.

Through setting up the arc surface, can dispense with the connecting piece between first joint seat 116 and the second joint seat 111, under the restriction of the pulling force of drive line, first joint seat 116 and second joint seat 111 can also roll steadily to reduce spare part quantity, simplified the mechanism, be favorable to manufacturing and assembly, also avoided the activity interference to drive line and wire simultaneously.

In one example, end effector assembly 120 includes a clamp, scissors, or the like, for holding or shearing tools that feature two mutually rotatable parts that require an opening and closing motion during use.

For example, in an example of the application, end effector assembly 120 comprises an electrical clamp. As shown in fig. 11, 12, and 13, the end effector assembly 120 includes a first jaw 121 and a second jaw 122, each of the first jaw 121 and the second jaw 122 being rotatably coupled to a distal end of the second joint seat 111 about a third axis AX 3.

The rotational axis of the opening and closing motion and the rotational axis of the yaw motion of the end effector assembly 120 are collinear with the third axis AX3, which facilitates a reduction in the number of joints, thereby further reducing the active footprint of the surgical instrument 100, as well as reducing the number of parts and drive lines.

In one example, the first jaw 121 includes a first tissue contact portion 101, a first insulator 102, and a first jaw base 103, the first tissue contact portion 101 being configured to connect to a wire, the first tissue contact portion 101 forming an electrode upon energizing the wire, the first jaw base 103 being configured to connect to a drive wire, the power and transmission at the rear end of the instrument being configured to brake the first jaw base 103 via the drive wire to move the first jaw 121. The first insulator 102 serves to electrically isolate the first tissue contact portion 101 from the first jaw base 103. The first insulating member 102 is provided with a through hole inside, and a wire is connected to the first tissue contact portion 101 through the through hole.

Similarly, the second jaw 122 comprises a second tissue contact 106, a second insulator 107 and a second jaw base 108, the second tissue contact 106 being adapted to be connected to a wire, the second tissue contact 106 forming an electrode after energizing the wire, the second jaw base 108 being adapted to be connected to a drive wire, the power and transmission means at the rear end of the instrument being adapted to brake the second jaw base 108 via the drive wire to bring the second jaw 122 into motion. The second insulator 107 serves to electrically isolate the second tissue contact portion 106 from the second jaw base 108. The second insulator 107 is provided with a through hole inside, and a wire is connected to the second tissue contact portion 106 through the through hole.

In one example, the first jaw base 103 is provided with a third axis hole 1035 along the third axis AX3, the second jaw base 108 is provided with a fourth axis hole 1085 along the third axis, a third pin 112 is provided in the third axis hole 1035 and the fourth axis hole 1085, the third pin 112 is hinged to the second joint base 111, the first jaw 121 and the second jaw 122 rotate around the third pin 112 when opened and closed, and the first jaw 121 and the second jaw 122 also rotate around the third pin 112 when yaw swung.

In one example, the wires include a first wire 104 and a second wire 109, the first wire 104 being connected to the first jaw 121 and used to energize the first jaw 121, the second wire 109 being connected to the second jaw 122 and used to energize the second jaw 122.

In one example, as shown in fig. 4 and 11, the drive lines include a first drive line pair 105 and a second drive line pair 110, the first drive line pair 105 being connected to the first jaw 121 for driving the first jaw 121 in rotation about the third axis AX3, and the second drive line pair 110 being connected to the second jaw 122 for driving the second jaw 122 in rotation about the third axis AX 3. Further, pulling the first drive line pair 105 and releasing the second drive line pair 110 simultaneously, or pulling the second drive line pair 110 and releasing the first drive line pair 105 simultaneously, pitch motion of the end effector assembly 120 may also be achieved.

The first driving wire pair 105 includes two traction ropes extending in parallel, the two traction ropes may be integrated or connected together in a split manner, the first driving wire pair 105 is connected to the first jaw base 103, one of the traction ropes may be pulled separately through a rear end transmission device, or both the traction ropes may be pulled simultaneously, when one of the traction ropes is pulled, the first jaw 121 performs an opening and closing motion or a yaw motion, and when the two traction ropes are pulled simultaneously, the first jaw 121 performs a pitching motion.

The second driving wire pair 110 includes two parallel traction ropes, which may be integrated or separately connected together, and the second driving wire pair 110 is connected to the second jaw base 108, and may pull one of the traction ropes through a rear end transmission device, or pull both traction ropes simultaneously, where when one traction rope is pulled, the second jaw 122 performs an opening and closing motion or a yaw motion, and when two traction ropes are pulled simultaneously, the second jaw 122 performs a pitch motion.

In one example, as shown in fig. 11, the first axis AX1 and the second axis AX2 define a first plane, and between the first joint seat 116 and the second joint seat 111, the first drive line pair 105 and the first wire 104 are disposed on one side of the first plane, and the second drive line pair 110 and the second wire 109 are disposed on the other side of the first plane.

The first plane is a virtual plane, not shown in the drawing, and the first axis AX1 and the second axis AX2 are two parallel straight lines, and may define a plane according to a geometric relationship. During relative rolling of the first joint seat 116 and the second joint seat 111, the first plane may be considered to rotate about the first axis AX1 or the second axis AX 2.

The first drive line pair 105 and the second drive line pair 110 are located on opposite sides of the first plane, respectively, and the end effector 120 may be controlled to perform a pitch motion by the drive lines.

Placing the first drive line pair 105 on one side with the first conductor 104 and the second drive line pair 110 on the other side with the second conductor 109, the drive line and conductor placed on the same side can be tied at the proximal end of the shaft 130, with the conductor being braked by the drive line. Thus, when the end effector 120 performs a pitching motion, the same side of the drive wire and the wire are simultaneously wound or wound, which reduces the pulling of the wire and prevents the wire from stacking at the joint.

In one example, as shown in fig. 12 and 13, the first clamping jaw 121 is provided with a first driving wire groove 1031 and a first wire groove 1034 extending around a third axis, and the first driving wire groove 1031 and the first wire groove 1034 are arranged in parallel along the third axis. Similarly, the second clamping jaw 122 is provided with a second drive wire slot 1081 and a second wire slot 1084, respectively, extending about a third axis, the second drive wire slot 1081 and the second wire slot 1084 being juxtaposed along the third axis.

Thus, the first wire 104 may be wound in the first wire slot 1034, the first drive wire pair 105 may be wound in the first drive wire slot 1031, the second wire 109 may be wound in the second wire slot 1084, and the second drive wire pair 110 may be wound in the second drive wire slot 1081. Such that first conductor 104 and one of first drive line pair 105 may be disposed in parallel at end effector 120 and second conductor 109 and one of second drive line pair 110 may be disposed in parallel at end effector 120. When the end effector 120 performs a deflection motion or an opening and closing motion, the driving wire and the wire arranged in parallel simultaneously take up or pay out, which can reduce the pulling of the wire and prevent the wire from falling out of the wire groove.

Optionally, a first wire groove 1034 and a first drive wire groove 1031 are provided on the first jaw base 103, and a second wire groove 1084 and a second drive wire groove 1081 are provided on the second jaw base 108.

In one example, the respective extension trajectories of the first drive wire groove 1031, the first wire groove 1034, the second drive wire groove 1081, and the second wire groove 1084 are perpendicular to the third axis AX3. With this arrangement, it is advantageous to control the rotation of the first jaw 121 and the second jaw 122 so that the driving wire is braked with a smaller driving force, friction between the driving wire and the wire and other components is reduced, and it is advantageous to extend the service life of the driving wire and the wire.

Optionally, the first drive wire groove 1031 and the first wire groove 1034 have equal radii, and the second drive wire groove 1081 and the second wire groove 1084 have equal radii. Thus, when the end effector 120 performs a deflection motion or an opening and closing motion, the length of the driving wire and the length of the guide wire, which are arranged in parallel, at the end effector 120 are the same, so that the pulling of the guide wire can be further reduced and the guide wire can be prevented from falling out of the guide wire groove.

Optionally, the first driving wire slot 1031 is provided with a first clamping groove 1032, the driving wire is provided with a clamping terminal, the clamping terminal is clamped with the first clamping groove 1032, and when the driving wire is pulled, the clamping terminal drives the first clamping jaw 121. The first card slot 1032 is provided with a first through hole 1033 through which the driving wire passes.

Optionally, the second driving slot 1081 is provided with a second clamping groove, the driving wire is provided with a clamping terminal, the clamping terminal is clamped with the second clamping groove, and when the driving wire is pulled, the second clamping jaw 122 is driven by the clamping terminal. The second clamping groove is provided with a second through hole for the driving wire to pass through.

In one example, as shown in fig. 14, the first joint seat 116 is provided with a first wire via through which the first wire 104 and the second wire 109 pass, and a first driving wire via through which the first driving wire pair 105 and the second driving wire pair 110 pass.

The first wire passing hole includes a third passing hole 1166 (single hole) and a fourth passing hole 1167 (single hole), the first wire 104 passes through the third passing hole 1166 (single hole), and the second wire 109 passes through the fourth passing hole 1167 (single hole).

The first drive line via includes a first threading hole 1164 (double hole) and a second threading hole 1165 (double hole), the first drive line pair 105 passes through the first threading hole 1164 (double hole), and the second drive line pair 110 passes through the second threading hole 1165 (double hole).

In one example, as shown in fig. 15 and 16, the second joint seat 111 is provided with a second wire via through which the first wire 104 and the second wire 109 pass, and a second drive wire via through which the first drive wire pair 105 and the second drive wire pair 110 pass.

The second wire passing hole includes a seventh passing hole 1116 (single hole) and an eighth passing hole 1117 (single hole), the first wire 104 passes through the seventh passing hole 1116 (single hole), and the second wire 109 passes through the eighth passing hole 1117 (single hole).

The second driving wire via hole includes a fifth wire hole 1114 (double hole) and a sixth wire hole 1115 (double hole), the first driving wire pair 105 passes through the fifth wire hole 1114 (double hole), and the second driving wire pair 110 passes through the sixth wire hole 1115 (double hole).

Optionally, the first wire vias are aligned with the first wire slots 1034 and the second wire slots 1084, and the first drive wire vias are aligned with the first drive wire slots 1031 and the second drive wire slots 1081 such that the path of extension of each wire or drive wire within a wire slot and the path of extension from the corresponding wire slot to the second joint seat 111 are substantially in one plane, which helps to reduce friction between the drive wire and the second joint seat 111, and extends the life of the drive wire and wire. It should be understood that "alignment" as described herein may be understood as the projection of the slot of the drive slot and the opening of the via onto a plane perpendicular to the central axis of the second joint seat 111 overlapping or partially overlapping.

Further optionally, when the surgical instrument 100 is in a neutral state, the second drive wire via and the first drive wire via are aligned such that the path of extension of each wire or drive wire within the wire slot and the path of extension from the corresponding wire slot to the first joint seat 116 lie substantially in one plane, helping to reduce friction between the drive wire and the first joint seat 116, extending the useful life of the drive wire and wire. It should be understood that "alignment" as described herein may be understood as the projection of the opening of the second drive line via and the opening of the first drive line via onto a plane perpendicular to the central axis of the shaft 130 overlap or partially overlap when the surgical instrument 100 is in the neutral state.

At least the fifth threading hole 1114 and the sixth threading hole 1115 are conical holes, and the larger-aperture end faces the clamping jaw; the seventh through hole 1116 and the eighth through hole 1117 are each a special-shaped hole. Through setting up the through wires hole into bell mouth and dysmorphism hole, can reduce the hindrance of pore wall to drive line and wire for the removal of drive line, wire is more smooth and easy.

In the example shown in the figures, along the third axis AX3, the first drive wire groove 1031 is farther from the second jaw 122 than the first wire groove 1034, and the second drive wire groove 1081 is farther from the first jaw 121 than the second wire groove 1084. That is, along the third axis AX3, the first wire groove 1034 and the second wire groove 1084 are provided between the first drive wire groove 1031 and the second drive wire groove 1081. To minimize the difference in length variation between the first joint seat 116 and the second joint seat 111 between the drive wires and the wires bound to each other during the pitch motion, it is advantageous that the drive wires and the wires bound to each other can move as synchronously as possible, the first drive wire via being closer to the first axis than the first wire via and the second wire via being closer to the second axis than the second drive wire via.

In another example, not shown, along the third axis AX3, the first drive wire way 1031 is closer to the second jaw 122 than the first wire way 1034, and the second drive wire way 1081 is closer to the first jaw 121 than the second wire way 1084. That is, along the third axis AX3, the first drive wire groove 1031 and the second drive wire groove 1081 are disposed between the first wire groove 1034 and the second wire groove 1084. To minimize the difference in length variation of the drive wires and conductors bound to each other during pitch motion between the first joint seat 116 and the second joint seat 111, it is advantageous that the drive wires and conductors bound to each other can move as synchronously as possible, with the first wire vias being closer to the first axis than the first drive wire vias and the second drive wire vias being closer to the second axis than the second wire vias.

In one example, as shown in fig. 14, the distal end of the first joint seat 116 is provided with a first surface facing the second joint seat 111, the first surface being perpendicular to the first plane and coplanar with the first axis AX1, the opening of the first drive line via being located on the first surface. Optionally, the first surface is a surface of the first support plate 1162 facing the second joint seat 111.

In one example, as shown in fig. 16, the proximal end of the second joint seat 111 is provided with a second surface facing the first joint seat 116, the second surface being perpendicular to the first plane and coplanar with the second axis AX2, the opening of the second drive line via being located on the second surface. Optionally, the second surface is a surface of the second support plate 1112 facing the first joint seat 116.

When the surgical instrument 100 is in the neutral state, the first drive wire pair 105 is symmetrical about the first plane relative to the second drive wire pair 110 between the first joint seat 116 and the second joint seat 111.

With this arrangement, during pitch motion, it can be ensured that the length of extension (retraction) of the first drive wire pair is the same as the length of retraction (extension) of the second drive wire, facilitating control of the pitch motion of the surgical instrument 100 by the back end transmission 150.

In one example, the back end actuator 150 includes a plurality of rotating members, each of which is coupled to a drive motor in the back end actuator 150, the drive wire being wound around the rotating member, and controlling operation of the drive motor controls rotation of the rotating member, and as the rotating member rotates, the drive wire is further wound around or released from the surface of the rotating member, thereby operating the end effector assembly 120. In the example of the present application, since there are two pairs of drive lines, the pitch, yaw and open and close motions of the end effector assembly 120 can be controlled by four-wire drive. The control of the four-wire drive mode and the specific construction and operation of the rear end transmission 150 may be referred to in the prior art, such as that disclosed in chinese patent No. 113208732a or chinese patent No. 113367796a, and will not be described in detail herein.

In one example, as shown in fig. 4, the surgical device 100 further includes a gasket 117. A gasket 117 is disposed within the first joint seat 116, optionally on a proximally facing surface of the first support plate 1162. The drive wires and leads pass through the gasket 117, and the gasket 117 prevents liquid from entering the lumen of the shaft 130.

The processes, steps described in all the preferred embodiments described above are examples only. Unless adverse effects occur, various processing operations may be performed in an order different from that of the above-described flow. The step sequence of the above-mentioned flow can also be added, combined or deleted according to the actual requirement.

In understanding the scope of the present utility model, the term "comprising" and its derivatives, as used herein, are intended to be open ended terms that specify the presence of the stated features, elements, components, groups, integers, and/or steps, but do not exclude the presence of other unstated features, elements, components, groups, integers and/or steps. This concept also applies to words having similar meanings such as the terms "including", "having" and their derivatives.

The terms "attached" or "attached" as used herein include: a construction in which an element is directly secured to another element by directly securing the element to the other element; a configuration for indirectly securing an element to another element by securing the element to an intermediate member, which in turn is secured to the other element; and the construction in which one element is integral with another element, i.e., one element is substantially part of the other element. The definition also applies to words having similar meanings such as the terms, "connected," "coupled," "mounted," "adhered," "secured" and their derivatives. Finally, terms of degree such as "substantially", "about" and "approximately" as used herein mean a deviation of the modified term such that the end result is not significantly changed.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model pertains. The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the utility model. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features unless the features are not applicable or otherwise indicated in the other embodiment.

The present utility model has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the utility model to the embodiments described. In addition, it will be understood by those skilled in the art that the present utility model is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present utility model, which fall within the scope of the claimed utility model.

Claims (14)

1. A surgical instrument, comprising

A shaft;

The first joint seat is arranged at the far end of the shaft, and the far end of the first joint seat is provided with first tooth parts which are distributed around a first axis;

The second joint seat is arranged at the far end of the first joint seat, the near end of the second joint seat is provided with second tooth parts which are arranged around a second axis, and the second tooth parts are meshed with the first tooth parts;

An end effector assembly rotatably coupled to a distal end of the second joint seat about a third axis, the third axis being different from the first axis and the second axis;

A lead having one end connected to the end effector and another end extending to a distal end of the shaft;

A drive wire having one end connected to the end effector and another end extending to a distal end of the shaft.

2. A surgical instrument as recited in claim 1, wherein a link is disposed between the first and second articulation seats, the link being rotatably connected to the first articulation seat about the first axis and rotatably connected to the second articulation seat about the second axis.

3. A surgical instrument as recited in claim 1, wherein the distal end of the first articulation seat is provided with a first arcuate surface that projects toward the second articulation seat and extends about the first axis, and the proximal end of the second articulation seat is provided with a second arcuate surface that projects toward the first articulation seat and extends about the second axis, the first arcuate surface and the second arcuate surface being in contact.

4. The surgical instrument of claim 1, wherein the end effector assembly comprises a first jaw and a second jaw, each rotatably coupled to a distal end of the second articulation seat about a third axis.

5. A surgical instrument as recited in claim 4, wherein,

The drive line comprises a first drive line pair connected to the first jaw and used for driving the first jaw to rotate around the third axis, and a second drive line pair connected to the second jaw and used for driving the second jaw to rotate around the third axis;

The wires include a first wire connected to the first jaw and for energizing the first jaw and a second wire connected to the second jaw and for energizing the second jaw.

6. A surgical instrument as recited in claim 5, wherein the first axis and the second axis define a first plane, the first drive wire pair and the first lead being disposed on one side of the first plane and the second drive wire pair and the second lead being disposed on the other side of the first plane between the first and second joint seats.

7. A surgical instrument as recited in claim 6, wherein,

The first clamping jaw is provided with a first driving wire groove and a first wire groove which extend around the third axis respectively, and the first driving wire groove and the first wire groove are arranged in parallel along the third axis;

The second clamping jaw is provided with a second driving wire groove and a second wire groove which extend around the third axis respectively, and the second driving wire groove and the second wire groove are arranged in parallel along the third axis.

8. A surgical instrument as recited in claim 7, wherein the respective trajectories of extension of the first drive wire slot, the first wire slot, the second drive wire slot, and the second wire slot are perpendicular to the third axis.

9. A surgical instrument as recited in claim 7, wherein the second articulation seat is provided with a second wire via through which the first and second wires pass and a second drive wire via through which the first and second drive wire pairs pass, the second wire via being aligned with the first and second wire slots, the second drive wire via being aligned with the first and second drive wire slots.

10. The surgical instrument of claim 9, wherein the first articulation seat is provided with a first drive line via through which the first and second drive line pairs pass, the first and second drive line vias being aligned when the surgical instrument is in a neutral state.

11. The surgical instrument of claim 10, wherein the first joint seat is further provided with a first wire-passing hole through which the first wire and the second wire pass;

The first and second wire grooves are disposed between the first and second drive wire grooves, the first drive wire via is closer to the first axis than the first wire via, and the second wire via is closer to the second axis than the second drive wire via, or

The first drive wire slot and the second drive wire slot are disposed between the first wire slot and the second wire slot, the first wire via is closer to the first axis than the first drive wire via, and the second drive wire via is closer to the second axis than the second wire via.

12. A surgical instrument as recited in claim 11, wherein,

The distal end of the first joint seat is provided with a first surface facing the second joint seat, the first surface is perpendicular to the first plane and coplanar with the first axis, and the opening of the first drive line via is positioned on the first surface;

A second surface facing the first joint seat is arranged at the proximal end of the second joint seat, the second surface is perpendicular to the first plane and coplanar with the second axis, and an opening of the second drive line via is positioned on the second surface;

The first drive wire pair is symmetrical about the first plane relative to the second drive wire pair between the first and second joint seats when the surgical instrument is in a neutral state.

13. A surgical instrument as recited in any one of claims 1-12, further comprising a rear end transmission disposed at a proximal end of the shaft, the rear end transmission configured to brake the drive line.

14. A medical system, comprising:

a slave operating device comprising at least one robotic arm; and

The surgical instrument according to any one of claims 1 to 13, which is provided on the robotic arm.