WO2020038233A1 - 蛇形手术器械及蛇形手术器械套件 - Google Patents

蛇形手术器械及蛇形手术器械套件 Download PDF

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Publication number
WO2020038233A1
WO2020038233A1 PCT/CN2019/099684 CN2019099684W WO2020038233A1 WO 2020038233 A1 WO2020038233 A1 WO 2020038233A1 CN 2019099684 W CN2019099684 W CN 2019099684W WO 2020038233 A1 WO2020038233 A1 WO 2020038233A1
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WO
WIPO (PCT)
Prior art keywords
snake
wrist
surgical instrument
rotation
movement
Prior art date
Application number
PCT/CN2019/099684
Other languages
English (en)
French (fr)
Inventor
陈功
何超
高旭
袁帅
师云雷
瞿旻
王燕
Original Assignee
微创（上海）医疗机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 微创（上海）医疗机器人有限公司 filed Critical 微创（上海）医疗机器人有限公司
Priority to BR112021003342-4A priority Critical patent/BR112021003342A2/pt
Publication of WO2020038233A1 publication Critical patent/WO2020038233A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable

Definitions

  • the present application relates to the technical field of medical instruments, and in particular, to a snake-shaped surgical instrument and a snake-shaped surgical instrument kit.
  • the surgeon operates on the handheld end of the snake-like surgical instrument in a sterile environment.
  • the reusable snake-shaped surgical instrument needs to be cleaned and disinfected after the operation as a whole.
  • internal components such as driving devices, sensing devices, and electrical connectors of electrically driven surgical instruments cannot usually be sterilized using conventional methods. For example, disinfection methods using steam, heat, pressure, or chemicals can cause damage to internal components.
  • Various exemplary embodiments disclosed herein provide a snake-shaped surgical instrument.
  • An aspect of the present application proposes a snake-shaped surgical instrument, including:
  • the hand-held end includes a grip structure having a proximal mount and a distal mount, a wrist structure, and a control structure of the proximal mount connected to the grip structure through the wrist structure.
  • the control structure and The wrist structure is detachably connected;
  • An exchangeable instrument is detachably connected to the distal mount.
  • the snake-shaped surgical instrument is detachably connected to the replaceable instrument at the hand-held end, thereby achieving rapid replacement, simple design and convenient sterilization.
  • the snake-shaped surgical instrument further comprises a sterile bag for removably covering the outer surface of the holding structure, and the sterile bags have sequential connections and communicate with each other. Wrist end collar, aseptic bag body and instrument end collar, wherein the wrist end collar of the sterile bag is used to seal the connection between the control structure and the wrist structure, and The instrument end collar is used to seal the connection between the replaceable instrument and the handheld end.
  • the wrist structure is provided on a distal surface of the proximal mount, and the wrist structure and the control structure are detachably connected through an interface.
  • the interface includes a connection post provided at a proximal end of the control structure, and a hollow connection shaft provided on the wrist structure and detachably connected to the connection post.
  • the interface further includes an axial stop structure configured to limit an axial movement of the connecting post, and a circumferential limit configured to limit a circumferential direction rotation of the connecting post. Bit structure.
  • the circumferential limiting structure includes a connection member located on a surface of the connection post and disposed along an axial direction of the connection post, and an inner wall of the hollow connection shaft and connected along the hollow connection.
  • a first positioning groove extending axially of the shaft, wherein the first positioning groove is configured to cooperate with the connecting member to limit rotation of the connecting post in a circumferential direction; and the axial limiting structure It comprises a second positioning groove provided on the surface of the connecting post and provided along the circumferential direction, and an elastic positioning device provided on the inner wall of the hollow connection shaft, wherein the elastic positioning device is matched with the second positioning groove.
  • the elastic positioning device includes at least one elastic protrusion.
  • control structure and the connecting post are connected to each other through a bearing to realize the rotation movement of the control structure relative to the wrist structure.
  • the proximal end of the control structure includes a bearing mount, and the outer ring of the bearing is fixedly connected to the bearing mount; and the distal end of the connection post includes a first step, so The first step is fixedly connected with the inner ring of the bearing in a radial direction.
  • the connecting post further includes a second step provided at a distal end of the first step, the second step extending through the bearing mount, and at the second step A groove is provided at the step near the distal end surface of the bearing mounting seat for receiving the spring.
  • the replaceable instrument includes a serpentine structure, a tool support base, and an end effector connected in sequence
  • the snake-shaped surgical instrument further includes: a quick-change joint, and the replaceable instrument and the The hand-held end is detachably connected through the quick-change joint; and the transmission device;
  • the wrist structure has at least a first degree of freedom of rotation, so that the wrist structure can perform a first rotational movement;
  • the snake structure has at least a fifth degree of freedom of rotation, so that the snake structure can perform a first Five rotation motions;
  • the transmission device is configured to drive the serpentine structure to perform the fifth rotation motion with the first rotation motion of the wrist structure.
  • the wrist structure further has a second degree of freedom of rotation, so that the wrist structure can perform a second rotational movement;
  • the snake-shaped structure also has a sixth degree of freedom of rotation, such that the snake The shape structure is capable of performing a sixth rotation motion;
  • the transmission device is further configured to drive the snake-shaped structure to perform the sixth rotation motion with the second rotation motion of the wrist structure.
  • the quick-change joint includes a detachable joint driver
  • the detachable joint driver includes: a first part provided on the holding structure; and a first part provided on the replaceable instrument. Two parts; wherein the first part is detachably connected to the second part and can move synchronously.
  • the transmission device includes: a first portion located on the handheld end; and a second portion located on the replaceable instrument;
  • the proximal end of the first part is connected to the snake-shaped structure, the distal end of the first part is connected to the first part, and the first part is configured to drive the first part with the A snake-like structure moves; and a proximal end of the second portion is connected to the second member, a distal end of the second portion is connected to the snake-shaped structure, and the second portion is configured to The snake-shaped structure is driven to move with the movement of the second component.
  • the snake-shaped surgical instrument further includes: a driving device, a sensing device, and a controller provided on the holding structure;
  • the sensing device is communicatively connected to the controller, and is configured to detect movement of the wrist structure to obtain a motion signal; and the controller controls the motion signal according to the motion signal detected by the sensing device.
  • a driving device to drive the movement of the first component; and the transmission device at the interchangeable instrument is configured to connect the second component to the snake-shaped structure, and is configured to make the snake-shaped structure It can move with the movement of the second component.
  • the wrist structure further has a second degree of freedom of rotation, so that the wrist structure can perform a second rotational movement;
  • the snake-shaped structure also has a sixth degree of freedom of rotation, such that the snake The shape structure can perform a sixth rotational movement;
  • the first member is a Hooke hinge provided at a distal mount of the holding structure, and the Hooke hinge has a ninth degree of freedom and a tenth degree of freedom.
  • the Hooker hinge can perform a ninth rotation movement and a tenth rotation movement, respectively; and the sensing device detects the first rotation movement and / or the second rotation movement of the wrist structure to obtain a movement Signal, and transmits the motion signal to the controller; the controller controls the driving device to drive the Hooke hinge to perform the ninth rotation motion and the motion signal according to the motion signal transmitted by the sensing device; / Or the tenth rotational movement; the second component is a connector provided on the replaceable instrument, and the Hooke hinge is detachably connected to the connector; and the transmission device is connected to all The serpentine structure, The connector is connected, and is configured to drive the serpentine structure to perform the fifth rotational movement with the ninth rotational movement of the Hook hinge, and is further configured to drive the serpentine structure with the The tenth rotation of the Hook hinge performs the sixth rotation.
  • the transmission device includes a first transmission wire group and a second transmission wire group provided on the interchangeable instrument; and the driving device includes a first motor and a second motor, wherein the A first motor is configured to drive the first transmission wire group to move, and a second motor is configured to drive the second transmission wire group to move, so that the snake-shaped structure moves with the Hook hinge And exercise.
  • the quick-change joint further includes a locking structure configured to limit the rotation and the rotation of the Hooke hinge and the connector in the circumferential direction of the interchangeable instrument. / Or axial movement.
  • the end effector includes at least one tool flap, and the tool flap is rotatably connected to the tool support base; the handheld end further includes an opening and closing control device capable of moving relative to the control structure; And the transmission device further includes a first flexible transmission structure, and the opening and closing control device controls the rotation of the tool flap through the first flexible transmission structure.
  • the quick-change joint further includes a first connection shaft and a first elastic telescopic post removably connected to the first connection shaft, wherein the first connection axially extends proximally through the first connection shaft.
  • the second component, the first elastic telescopic post extends distally through the first component; and the driving device further includes a third motor, and the sensing device further includes a third sensor, wherein the first Three sensors are configured to detect the opening and closing motion of the opening and closing control device to obtain an opening and closing motion signal, and the controller is configured to control the third based on the opening and closing motion signal detected by the third sensor.
  • An output of the motor; and the third motor is configured to drive the first flexible transmission structure through the first elastic telescopic column and the first connection shaft.
  • control structure is configured to be rotatable about its own axis relative to the wrist structure;
  • tool support base is configured to be rotatable about its own axis relative to the serpentine joint;
  • the transmission device further includes a second flexible transmission structure, wherein the second flexible transmission structure is configured to transmit a rotation motion of the control structure to the tool support base to rotate the end effector.
  • the quick-change joint further includes a second connection shaft, and a second elastic telescopic post detachably connected to the second connection shaft, wherein the second connection axially extends distally through the second connection shaft.
  • the second component, and the second elastic telescopic column extends proximally through the first component; and the driving device further includes a fourth motor, and the sensing device further includes a fourth sensor, wherein the A fourth sensor is configured to detect a rotation motion of the control structure to obtain a rotation motion signal, the controller controls the fourth motor output according to the rotation motion signal detected by the fourth sensor, and the first The four motors are configured to drive the second flexible transmission structure through the second elastic telescopic column and the second connection shaft.
  • the wrist end collar clings to the outside of the connection between the control structure and the wrist structure by elastic restoring force; and the instrument end collar clings by elastic restoring force. Outside the connection of the interchangeable instrument to the handheld end.
  • the aseptic bag body is glued to the wrist end collar, and the aseptic bag body is glued to the instrument end collar.
  • the snake-shaped surgical instrument includes:
  • the handheld end includes a grip structure, a wrist structure, and a control structure, wherein the grip structure has a proximal mount and a distal mount, and the control structure is connected to the grip through the wrist structure The proximal mount of the structure;
  • An exchangeable instrument detachably connected to the distal mount;
  • a sterile bag having a wrist end collar, a sterile bag body, and an instrument end collar which are sequentially connected and communicated with each other, wherein the sterile bag is removably covered on the outer surface of the holding structure,
  • the wrist end collar of the sterile bag is configured to seal a connection between the manipulation structure and the wrist structure, and the instrument end collar is configured to connect the interchangeable instrument to the The hand-held connection is sealed.
  • the snake-shaped surgical instrument can seal the connection between the wrist structure and the operating structure and the connection between the replaceable instrument and the handheld end through a sterile bag covered on the holding structure, so that during the operation, The hand-held end can be in a sterile state, avoiding post-operative sterilization, and thus avoiding damage to internal components in the hand-held end.
  • FIG. 1 shows a schematic diagram of a snake-shaped surgical instrument in an embodiment of the present application
  • FIG. 2 shows an exploded schematic view of a sterile bag of the snake-shaped surgical instrument shown in FIG. 1;
  • FIG. 3 shows an exploded schematic view of a handheld end covered with a sterile bag according to an embodiment of the present application
  • FIG. 4 shows a schematic diagram of a handheld end covered with a sterile bag according to an embodiment of the present application
  • FIG. 5 is a schematic diagram showing a state where a control structure and a grip knot are separated in an embodiment of the present application
  • FIG. 6 shows a schematic diagram of an interface of a snake-shaped surgical instrument in an embodiment of the present application
  • FIG. 7 shows a cross-sectional view of the control device in an assembled state according to an embodiment of the present application
  • FIG. 8 is a schematic diagram of an assembly for realizing a rotation function of a control structure in an embodiment of the present application
  • FIG. 9 shows a detailed enlarged view of the assembly in FIG. 8;
  • FIG. 10 is a schematic diagram showing the rotation of a snake-shaped surgical instrument and the degree of freedom of movement thereof in an embodiment of the present application;
  • FIG. 11 is a schematic diagram of disassembling a snake-shaped surgical instrument according to an embodiment of the present application.
  • FIG. 12 is a schematic diagram of a handheld end of a snake-shaped surgical instrument according to an embodiment of the present application.
  • FIG. 13 and FIG. 14 are schematic diagrams showing the arrangement of a sensing device in an embodiment of the present application.
  • FIG. 15 shows a schematic diagram of a connection between a transmission device and an end effector in an embodiment of the present application
  • FIG. 16 shows a schematic diagram of a driving device in an embodiment of the present application.
  • FIG. 17 is a schematic diagram of a quick-change joint in an embodiment of the present application.
  • FIG. 18 is a schematic diagram of a detachable joint driver on a handheld end side according to an embodiment of the present application.
  • FIG. 19 shows a schematic diagram of a removable joint driver on the end side of a replaceable instrument in an embodiment of the present application
  • 20-21 are schematic diagrams illustrating the connection between the removable joint driver and the transmission device of the end of the replaceable instrument in an embodiment of the present application;
  • 22-24 are schematic diagrams illustrating a connection between a handheld end-side detachable joint driver and a driving device in an embodiment of the present application
  • 25-26 illustrate a schematic layout of a sensing device in another embodiment of the present application.
  • FIG. 27 shows a schematic diagram of the installation of a sterile bag when a locking structure is provided between the handheld end and the exchangeable instrument according to an embodiment of the present application.
  • proximal and distal refer to elements relative to each other from the perspective of the physician using the medical device Or the relative position, relative position, or direction of the action.
  • Proximal and distal are not restrictive, but “proximal” and “lower” generally refer to the end of the medical device that is close to the operator during normal operation, and “ “Remote” and “upper end” usually refer to the end far from the operator.
  • an embodiment of the present application provides a snake-shaped surgical instrument.
  • the snake-shaped surgical instrument includes a handheld end 1, a replaceable instrument 2, a quick-change joint 3, and a sterile bag 100.
  • the hand-held end 1 of the snake-like surgical instrument is reusable.
  • the exchangeable device 2 is designed to be disposable or designed to be used a limited number of times.
  • the sterile bag 100 is designed to be disposable.
  • the hand-held end 1 is detachably connected to the exchangeable instrument 2. Specifically, the hand-held terminal 1 and the replaceable instrument 2 are quickly disassembled and replaced by the quick-change joint 3.
  • the sterile bag 100 can be wrapped on the outer surface of the hand-held end 1 in a loose form, so that the hand-held end 1 is always kept sterile during the surgical operation, thereby avoiding damage to internal components due to post-operative sterilization .
  • the handheld end 1 includes a holding structure 11, a control structure 12, and a wrist structure 14.
  • the control structure 12 is detachably connected to the wrist structure 14 through the interface 200, thereby facilitating the installation and replacement of the aseptic bag 100.
  • the holding structure 11 includes a proximal mounting base 111, a holding structure body 112 and a distal mounting base 113.
  • the wrist structure 14 is accommodated in the distal surface of the proximal mounting base 111 of the holding structure 11, and is connected to the holding structure 11.
  • the aseptic bag 100 includes a wrist end collar 110, an aseptic bag body 120, and an instrument end collar 130 that are sequentially connected and communicate with each other.
  • the wrist end collar 110 and the instrument end collar 130 have a deformed structure and / or are made of a deformed material, so as to achieve a contraction and tightening function after the external force is removed.
  • the deformation structure may be an elastic structure such as an elastic ring.
  • the deformation material is, for example, an elastic material such as spandex or a shape memory material such as PTT (polytrimethylene terephthalate).
  • the sterile bag 100 is configured to be operable to be covered on and removed from the surface of the holding structure 11.
  • the wrist end collar 110 is configured to closely fit the distal end surface of the wrist structure 14 and the diameter of the wrist end collar 110 in a naturally tightened state (without external force) is smaller than the interface
  • the diameter of 200 ensures that the gripping structure 11 can achieve a sealed state after the control structure 12 is installed through the interface 200.
  • the instrument end collar 130 can closely fit on the distal surface of the distal mounting base 113 of the holding structure 11, and the diameter of the instrument end collar 130 in the naturally tightened state is smaller than that of the distal mounting base 113 of the holding structure 11.
  • the outer diameter makes the instrument end collar 130 fit tightly on the distal surface of the distal mounting base 113 of the holding structure 11 in a stretched state.
  • the instrument end collar 130 does not affect the installation and removal of the quick-change joint 3.
  • the instrument end collar 130 and / or the wrist end collar 110 are configured to have at least a maximum diameter larger than the diameter of the cross-section of the holding structure 11 so that the instrument end collar 130 and / or the wrist end collar 110 may pass through various parts of the holding structure 11 to cover the holding structure 11.
  • the “maximum diameter” here can be understood as the maximum endurance of the instrument end collar 130 or the wrist end collar 110 when the instrument end collar 130 or the wrist end collar 110 can recover the original shape after the force is removed.
  • the "diameter of the cross section” herein refers to the diameter of the smallest circumscribed circle of the cross section.
  • the aseptic bag body 120 is made of medical polyethylene material, and the aseptic bag body 120 is connected to the instrument end collar 130 and the wrist end collar 110 by thermal bonding.
  • the following description uses the device end collar 130 configured to be at least at a maximum diameter larger than the diameter of the cross-section of the holding structure 11 as an example to explain how to cover the sterile bag 100 through one end of the device end collar 130 ⁇ ⁇ 11 ⁇ 11.
  • Structure When the surgical instrument is needed, first, the control structure 12 is separated from the wrist structure 14, and the replaceable instrument 2 is separated from the handheld end 1, as shown in FIG. 2. Then, the instrument end collar 130 of the aseptic bag 100 is covered on the gripping structure 11 from the wrist structure 14 side, until the loops on both ends of the aseptic bag 100 respectively cover both ends of the gripping structure 11.
  • the wrist end collar 110 can fit tightly on the distal end surface of the proximal mounting base 111 of the holding structure 11 and the instrument end collar 130 can fit tightly on the grip
  • the distal end surface of the distal mounting base 113 of the holding structure 11, and the aseptic bag body 120 covers the outside of the holding structure body 112, as shown in FIG. 3.
  • the exchangeable instrument 2 and the handheld end 1 are connected through the quick-change joint 3, respectively, and the control structure 12 and the holding structure 11 of the handheld end 1 are connected through the interface 200.
  • the hand-held part can be aseptically isolated, as shown in Figures 4 and 1.
  • the aseptic bag body 120 has a suitable diameter, which can accommodate the holding structure body 112 of the hand-held end 1 without affecting the operation of the operator.
  • the aseptic bag body 120 has sufficient elasticity, abrasion resistance, and non-slip property, and can prevent the aseptic bag body 120 from being broken during the operation.
  • the replaceable instrument 2 and the control structure 12 may be removed from the handheld end 1 respectively for post-operative disinfection. Then, in the opposite direction from the installation of the sterile bag 100, starting from the distal mounting seat 113 of the holding structure 11, the instrument end collar 130 of the sterile bag 100 drives the sterile bag body 120 to gradually release from the handheld end 1 until The sterile bag 100 is completely separated from the hand-held end 1.
  • the aseptic bag body 120 is not necessarily provided with a tightening function. That is, at this time, as long as the instrument end collar 130 and / or the wrist end collar 110 have deformability, the diameter of the aseptic bag body 120 is large enough to be able to pass through the holding structure body 112. Of course, the entire aseptic bag 100 can be provided with deformability, and can be restored to its natural tightening state after the external force is removed.
  • the control structure 12 and the wrist structure 14 are detachably connected through the interface 200.
  • the wrist structure 14 has more than one degree of freedom, so the manipulation structure 12 can be rotated in more than one direction relative to the holding structure 11.
  • the interface 200 includes a connection post 210 provided at the proximal end of the control structure 12, and a hollow structure provided at the wrist structure 14 of the handheld end 1 and matching the connection post 210.
  • Connection shaft 220 As shown in FIGS. 5-9, the interface 200 includes a connection post 210 provided at the proximal end of the control structure 12, and a hollow structure provided at the wrist structure 14 of the handheld end 1 and matching the connection post 210.
  • Connection shaft 220 A through hole 221 is provided at the center of the hollow connecting shaft 220. The diameter of the through hole 221 matches the outer diameter of the connecting post 210 to be detachably connected to the connecting post 210.
  • the interface 200 further includes an axial limiting structure that limits the axial movement of the connecting post 210 and a circumferential limiting structure that limits the circumferential rotation of the connecting post.
  • the circumferential limiting structure includes a connecting member 211 and a first positioning groove 222.
  • the connecting member 211 is located on a cylindrical surface of the connecting post 210 and is disposed along the axial direction.
  • the first positioning groove 222 is located on an inner surface of the through hole 221 of the hollow connection shaft 220 and is disposed along the axial direction. The first positioning groove 222 cooperates with the connecting member 211 located on the surface of the post to limit the relative rotation of the connecting post 210 and the hollow connecting shaft 220.
  • the axial limiting structure includes a second positioning groove 212 and an elastic positioning device 230 that is snap-connected to the second positioning groove 212.
  • the number of the connecting members 211 and the first positioning grooves 222 is not particularly limited, that is, the number of the connecting members 211 and the first positioning grooves 222 may be one or more, and the number of the connecting members 211 may be equal to or less than The number of the first positioning grooves 222.
  • the second positioning groove 212 is located on a cylindrical surface of the connecting post 210 and is disposed along a circumferential direction of the cylindrical surface. Accordingly, the elastic positioning device 230 is located on the inner surface of the through hole 221 of the hollow connecting shaft 220.
  • the elastic positioning device 230 may be snapped into the second positioning groove 212 of the connecting post 210, so as to realize the pillar of the connecting post 210 along the axial direction.
  • the elastic positioning device 230 may be at least one elastic protrusion.
  • the second positioning groove 212 may extend along the circumferential direction of the connecting post 210 to form a closed loop.
  • the number of the second positioning grooves 212 along the axial direction of the connecting post 210 and the number of the elastic positioning devices 230 along the axial direction of the through hole 221 are not particularly limited.
  • the elastic positioning device 230 and the second positioning groove 212 cooperate to form an axial limiting structure to limit the axial movement of the connecting member 210.
  • the first positioning groove 222 cooperates with the connecting member 211 to form a circumferential limiting structure to limit the rotation of the connecting post 210 in the circumferential direction.
  • Both the axial limiting structure and the circumferential limiting structure may be replaced with other suitable structures.
  • the wrist structure 14 is disposed on the proximal mounting base 111 of the holding structure 11 of the handheld end 1.
  • a channel 1112 through which the hollow connecting shaft 220 passes is provided on the proximal mounting base 111, and the diameter of the channel 1112 is large enough to avoid limiting the movement range of the control structure 12, thereby allowing the control structure 12 to freely drive the wrist structure through the interface 200. 14 movement without being affected by the proximal mount 111.
  • the connecting piece 211 on the cylindrical surface of the connecting post 210 is aligned with the first positioning groove 222 on the inner surface of the hollow connecting shaft 220 to limit the circumferential displacement of the connecting post 210.
  • the track formed by cooperating the post of the connecting post 210 with the first positioning groove 222 along the connecting member 211 passes through the channel 1112 on the proximal mounting base 111 and is pushed into the hollow connecting shaft 220 along the axis.
  • the elastic protrusion 230 overcomes the elastic force of the internal spring under the pressure of the cylinder to move radially toward the spring along the hollow connecting shaft 220 and compresses the spring. Continue to push the cylinder of the connecting post 210 into the hollow connecting shaft 220.
  • the elastic protrusion 230 is inside Under the action of the elastic force of the spring, it is clamped in the second positioning groove 212 to limit the further displacement of the cylinder of the connecting post 210 in the axial direction. At this point, the installation of the control structure 12 is completed.
  • the manipulation structure 12 can also rotate relative to the wrist structure 14 about its own axis.
  • a through hole 217 is provided at the center of the connection post 210 in the axial direction.
  • the control structure 12 is connected to the connecting post 210 through a bearing 213 to realize the rotation movement of the control structure 12.
  • the proximal end of the control structure 12 includes a bearing mount 121, and an outer ring of the bearing 213 is fixedly connected to the bearing mount 121.
  • the distal end of the connecting post 210 includes a first step 214, and the first step 214 is fixedly connected to the inner ring of the bearing 213 in the radial direction.
  • the first step 214 is adjacent to the proximal end surface of the bearing mount 121 in the axial direction.
  • the bearing mount 121 has a ring shape with an irregular longitudinal cross-section, such as a torus shape, and includes a base portion 1211 and an extension portion 1212 fixedly connected to the base portion 1211.
  • a cavity is provided in the extension portion 1212 to receive and fix the bearing 213.
  • the diameter of the cavity of the extension 1212 matches the diameter of the outer ring of the bearing 213.
  • the first step 214 may cooperate with the bearing 121, and a distal end surface of the first step 214 is in contact with a proximal end of a base portion 1211 of the bearing mounting base 121. Further, as shown in FIG.
  • the connecting post 210 further includes a second step 215.
  • the second step 215 is located at the distal end of the first step 214 of the connecting post 210 and extends through the bearing mount 121, and at the second step 215 near the distal end surface of the bearing mount 121
  • a groove (not labeled) is provided for receiving the snap spring 216.
  • the replaceable instrument 2 includes a serpentine structure 21, a tool support base 22, and an end effector 23 connected in this order.
  • Figure 10 also shows the freedom of movement of the snake-like surgical instrument.
  • the handheld end 1 can drive the snake-shaped structure 21 to move synchronously, thereby driving the end effector 23 to move.
  • the movement direction of the snake-shaped structure 21 is further configured to be the same as the movement direction of the control structure 12 of the handheld end 1.
  • the wrist structure 14 has two degrees of freedom: a first degree of freedom R1 and a second degree of freedom R2.
  • the wrist structure 14 can perform a first rotational motion (a pitching swing in this embodiment) about the first axis L1, and can perform a second rotational motion (a deflecting motion in this embodiment) about the second axis L2. ).
  • the serpentine structure 21 has two degrees of freedom of rotation: a fifth degree of freedom R5 and a sixth degree of freedom R6.
  • the snake-like structure 21 can perform a fifth rotational movement (a pitching swing in this embodiment) about the fifth axis L5, and can perform a sixth rotational movement (a deflection movement in this embodiment) about the sixth axis L6.
  • the control structure 12 drives the wrist structure 14 to tilt and swing about the first axis L1, and drives the snake-shaped structure 21 to swing correspondingly in the same direction about the fifth axis L5, thereby driving the end effector 23 in the same direction. Pitch swing.
  • the first axis L1 is parallel to the fifth axis L5.
  • the control structure 12 drives the wrist structure 14 to deflect and swing about the second axis L2, and drives the snake-shaped structure 21 to deflect and swing in the same direction about the corresponding sixth axis L6, thereby driving the end effector 23 to deflect and swing in the same direction.
  • the second axis L2 is parallel to the sixth axis L6. Therefore, the end effector 23 has two degrees of freedom R5 ', R6'.
  • the type and shape of the end effector 23 are not particularly limited, and can be selected by a doctor according to the needs of the operation, such as scissors, grasping forceps, clamps, forceps, and other multi-tool flap types
  • the actuator 23 may also be an electric end effector 23 such as a resistance heater or a motor drive element.
  • the end effector 23 may also be selected as other forms according to the needs of the doctor, such as a single-tool flap type end effector 23 such as a hook.
  • the snake-shaped surgical instrument may have different degrees of freedom.
  • the end effector 23 includes at least one tool petal 231, and the tool petal 231 is rotatably connected to the tool support base 22, as shown in FIG. 11. At this time, the end effector 23 adds one degree of freedom.
  • the end effector 23 is a pliers. Therefore, the end effector 23 also has a third degree of freedom: the opening and closing degree of freedom R7 to complete the clamping action.
  • the handheld terminal 1 further includes an opening and closing control device 13 located on the control structure 12.
  • the opening and closing control device 13 can be rotated relative to the control structure 12 to form a third degree of freedom R3 to control the end execution.
  • the opening and closing movement of the actuator 23, and the movement configuration of the opening and closing control device 13 at the handheld end is configured to be the same as the opening and closing configuration of the end effector 23, that is, the opening and closing control device 13 is opened, and the end effector 23 performs the opening operation,
  • the opening and closing control device 13 is closed, and the end effector 23 performs a closing operation to complete the clamping action.
  • control structure 12 of the handheld terminal 1 also has a fourth degree of freedom R4, so that the control structure 12 can rotate about its own axis L4 relative to the wrist structure 14.
  • the tool support base 22 has an eighth degree of freedom R8, so that the tool support base 22 can rotate around its own axis L8 relative to the snake-shaped structure 21.
  • the control structure 12 rotates, thereby driving the tool support base 22 to rotate in the same direction about its own axis L8, so that the end effector 23 has a fourth degree of freedom R8 '.
  • the snake-shaped surgical instrument further includes a sensing device, a controller (not shown), a driving device 5 and a transmission device 6.
  • the sensing device, the controller and the driving device 5 are arranged on the handheld terminal 1.
  • a transmission device 6 is provided on the interchangeable instrument 2.
  • the sensing device is communicatively connected to the controller, and is configured to detect the movement of the wrist structure 14 and the opening and closing control device 13 to obtain a motion signal, and transmit the detected motion signal to the controller.
  • the controller controls the driving device 5 to output power according to a motion signal detected by the sensing device.
  • the driving device 5 may be a motor to control the snake-shaped structure 21, the tool support 22 or the end effector 23 to complete the corresponding actions through the transmission device 6.
  • the snake-shaped structure 21 is driven to pitch about the fifth axis L5. 2.
  • the snake-shaped structure 21 is driven to deflect and swing about the sixth axis L6, the end effector 23 is driven to open and close, or the tool support seat 22 is driven to rotate about its own axis L8.
  • the sensing device may include a first sensor 41 for detecting a pitching swing of the manipulation structure 12.
  • the sensing device may include a second sensor 42 for detecting a yaw of the manipulation structure 12.
  • the sensing device may include a third sensor 43 for detecting the opening and closing movement of the opening and closing control device 13.
  • the sensing device may include a fourth sensor 44 for detecting a rotation motion of the manipulation structure 12.
  • the wrist structure 14 includes an inner frame 141 and an outer frame 142, and the outer frame 142 and the holding structure 11 are rotationally connected through a first rotation shaft 143.
  • the inner frame 141 and the outer frame 142 are rotatably connected through a second rotating shaft 144.
  • the axis of the first rotation shaft 143 is a first axis.
  • the axis of the second rotating shaft 144 is a second axis.
  • the hollow connecting shaft 220 is connected to the inner frame 141.
  • first rotation shaft 143 and the second rotation shaft 144 are perpendicular to each other, and the plane defined by the axis of the first rotation shaft 143 and the axis of the second rotation shaft 144 is the middle surface of the wrist structure 14.
  • the included angle formed by the first rotating shaft 143 and the second rotating shaft 144 may also be other suitable angles, and is not limited to being perpendicular to each other.
  • the first sensor 41 and the second sensor 42 may each be a rotary axis code disc, which are respectively disposed on the first rotary shaft 143 and the second rotary shaft 144 of the wrist structure 14 and are respectively used to detect the pitch of the wrist structure 14 , Deflection movement.
  • the first sensor 41 and the second sensor 42 may also be linear sensors.
  • the opening and closing control device 13 includes at least one opening and closing flap 131.
  • the proximal end of the opening and closing flap 131 is rotatably connected to the manipulation structure 12 through a rotating shaft.
  • the distal end (ie, the free end) of the opening and closing flap 131 is far from the manipulation structure 12.
  • the third sensor 43 may be a Hall sensor, which is disposed on the opening and closing flap 131 and the control structure 12 and is used to detect the distance between the opening and closing flap 131 of the opening and closing control device 13 and the control structure 12 so as to detect the opening and closing.
  • the third sensor 43 may also be at least one rotation axis code disc, which is disposed on the rotation axis at the proximal end of the opening and closing flap 131 of the opening and closing control device 13 for detecting the rotational movement of the opening and closing flap 131. .
  • the control structure 12 and the connecting post 210 are connected by a bearing 213 to realize the rotation movement of the control structure 12, and further, the connecting post 210 is hollow with the connecting post 210.
  • the relatively fixed relationship of the connecting shaft 220 is rotatably connected to the inner frame 141.
  • the control structure 12 is further provided with a magnet 218 at a proximal end, and the magnet 218 extends through the through hole 217 of the connecting post 210.
  • the fourth sensor 44 may be a Hall sensor, and the Hall sensor obtains a rotation signal of the control structure 12 according to the magnet 218.
  • the fourth sensor 44 can be installed as follows.
  • the back of the inner frame 141 of the wrist structure 14 is provided with a fixing bracket.
  • the fourth sensor 44 is disposed at the center of the fixed bracket and is used to detect the rotation movement of the control structure 12 about its own axis, as shown in FIG. 13.
  • the mounting manner of the fourth sensor 44 may be similar to the aforementioned manner.
  • the first sensor 41 and the second sensor 42 of the sensing device respectively detect the pitching and yaw motions of the control structure 12, the third sensor 43 detects the opening and closing motion of the opening and closing control device 13, and the fourth sensor 44 detects
  • the rotation motion of the structure 12 is controlled, and the detected motion signal is transmitted to the controller.
  • the controller controls the output of the driving device 5 according to a signal detected by the sensing device.
  • the driving device 5 drives the snake-shaped structure 21, the tool support base 22, and the end effector 23 through the transmission device 6 to complete the corresponding pitching, yaw, rotation, and opening and closing actions. Further, the movement direction of the end effector 23 is configured to be the same as the movement direction of the control structure 12 and the opening and closing control device 13.
  • the transmission device 6 includes a first transmission wire group 61 and a second transmission wire group 62 for controlling the movement of the serpentine structure 21.
  • the transmission device 6 includes a first flexible transmission structure 63 for controlling the opening and closing movement of the end effector 23.
  • the transmission device 6 includes a second flexible transmission structure 64 for controlling the rotation of the tool support base 22.
  • the driving device 5 is disposed at the distal end of the handheld end 1.
  • the driving device 5 includes a first motor 51 and a second motor 52.
  • the first motor 51 and the second motor 52 work together to drive the movement of the quick-change joint 3, and drive the pitch and deflection of the serpentine structure 21 through the first and second transmission wire groups 61 and 62 to drive The end effector 23 swings in pitch and yaw.
  • the driving device 5 includes a third motor 53, which drives the opening and closing movement of the end effector 23 through the quick-change joint 3 and the first flexible transmission structure 63.
  • the driving device 5 includes a fourth motor 54 that drives the rotation of the end effector 23 through the quick-change joint 3 and the second flexible transmission structure 64.
  • the quick-change joint 3 includes a removable joint driver 32.
  • the detachable joint driver 32 includes a first component (not labeled) provided on the holding structure 11 and a second component (not labeled) provided on the replaceable instrument 2.
  • the first component is detachably connected to the second component, and the first component can drive the second component to move synchronously.
  • the instrument end collar 130 seals the connection between the first component and the second component.
  • the specific structures of the first component and the second component are not limited, as long as the detachable connection and synchronous movement of the holding structure 11 and the exchangeable instrument 2 can be achieved.
  • the first component may be a hooker hinge 321 provided on the distal mount 113 on the side of the handheld end 1, and the second component may be provided on the interchangeable instrument 2 side.
  • the Hooke hinge 321 includes a first outer frame 3211 and a first inner frame 3212.
  • the first outer frame 3211 is connected to the shell of the handheld end 1 and performs a tenth rotational movement about the tenth axis.
  • the Hook hinge 321 has a tenth degree of freedom.
  • the first inner frame 3212 is connected to the first outer frame 3211 and performs a ninth rotational movement about a ninth axis.
  • the Hook hinge 321 has a ninth degree of freedom.
  • the connector 322 includes an elastic connection device and a connection plate 3222.
  • the connecting plate 3222 is fixed to the housing 201 of the replaceable instrument 2 by an elastic connection device, so that the connecting plate 3222 can be deflected relative to the housing 201 of the replaceable instrument 2.
  • an outer edge of the connecting plate 3222 is not larger than an outer edge of the first inner frame 3212. Specifically, as shown in FIG.
  • the elastic connection device includes four connection springs 3221 respectively disposed at four corner positions of the connection plate 3222.
  • the connection plate 3222 is fixed to the housing of the interchangeable instrument 2 through the four connection springs 3221.
  • the transmission device 6 is connected to the serpentine structure 21 and the connector 322, and is configured to drive the serpentine structure 21 to perform a fifth rotational movement following the ninth rotational movement of the Hook hinge 321. It is configured to drive the snake-shaped structure 21 to perform a sixth rotational movement following the tenth rotational movement of the Hook hinge 321.
  • a limiting device is provided on the first inner frame 3212 to limit the displacement of the Hook hinge 321 and the connector 322 in the axial direction of the interchangeable instrument 2.
  • the limiting device is at least one pin 3213.
  • the stud 3213 includes a stud body and a protruding structure formed along an axial extension of the stud body, and the outer diameter of the protruding structure is larger than the outside diameter of the stud 3213 body.
  • the connecting plate 3222 is provided with a gourd-shaped pin hole 3223 at a position corresponding to the post pin 3213. Referring to FIG.
  • the gourd-shaped pin hole 3223 includes a large-diameter portion 32231 and a small-diameter portion 32232.
  • the diameter of the large-diameter portion 32231 of the gourd-shaped pin hole 3223 is adapted to the outer diameter of the protruding structure on the stud 3213 so as to accommodate the stud 3213.
  • the diameter of the small diameter portion 32232 of the gourd-shaped pin hole 3223 is at least partially adapted to the outer diameter of the body of the pin 3213.
  • the pin 3213 passes through the large-diameter portion 32231 of the gourd-shaped pin hole 3223 to realize the connection between the Hook hinge 321 and the connector 322.
  • the quick-change joint 3 further includes a locking structure 31 for limiting the axial and / or axial movement between the hand-held end 1 and the replaceable instrument 2.
  • a locking structure 31 for limiting the axial and / or axial movement between the hand-held end 1 and the replaceable instrument 2.
  • the distal end of the handheld end 1 has a protrusion 25 extending inwardly
  • the proximal end of the replaceable instrument 2 has a recess 26 matching the protrusion.
  • the sterile bag 100 may cover the distal end of the protrusion 25 to be isolated from the exchangeable instrument 2.
  • the controller controls the first motor 51 and the second motor 52 to drive the end effector 23 to follow the wrist according to the swing signal of the wrist structure 14 detected by the sensing device.
  • the structure 14 rotates.
  • the first motor 51 drives the Hooke hinge 321 to rotate through the first motor inner wire 55, and then drives the connector 322 to rotate synchronously.
  • the second motor 52 drives the Hooke hinge 321 to rotate through the second motor inner wire 56, and then drives the connector 322 to rotate synchronously.
  • the two ends of the inner wire 55 of the first motor are respectively fixed to the upper left corner and the lower right corner of the Hook hinge 321, and the first transmission wire group 61 and the connector 322 and the serpentine structure 21
  • the connection fixed point corresponds to it.
  • the two ends of the inner wire 56 of the second motor are respectively fixed to the lower left corner and the upper right corner of the Hook hinge 321, and the connection and fixing points of the second transmission wire group 62, the connector 322, and the serpentine structure 21 also correspond to them.
  • the first motor 51 and the second motor 52 cooperatively drive the first transmission wire group 61 and the second transmission wire group 62 to move, so as to drive the snake-shaped structure 21 to rotate.
  • first electric motor inner wire 55 are respectively fixed on the tenth axis of the Hook hinge 321
  • two ends of the second electric motor inner wire 56 are respectively fixed on the tenth axis.
  • Hooke hinge 321 is on the ninth axis.
  • the first transmission wire group 61 and the second transmission wire group 62 are respectively corresponding to the connection fixing points of the connector 322 and the serpentine structure 21.
  • the proximal end of the first transmission wire group 61 is connected to the quick-change joint 3 and driven by the quick-change joint 3 to drive the end effector 23 to open and close.
  • the proximal end of the second transmission wire group 62 is connected to the quick-change joint 3 and driven by the quick-change joint 3 to drive the end effector 23 to perform a rotation motion.
  • the quick-change joint 3 further includes a first elastic telescopic post 3214 and a first connecting shaft 3224. Further, the quick-change joint 3 further includes a second elastic telescopic column 3215 and a second connecting shaft 3225. Further, the first elastic telescopic column 3214 and the second elastic telescopic column 3215 can be moved to the proximal end under the action of external force, and moved to the distal end to the original position under the action of the elastic force after the external force is removed.
  • the Hooke hinge inner frame 3212 is provided with a central hole.
  • the first elastic telescopic column 3214 and the second elastic telescopic column 3215 extend to the distal end through the central hole of the Hook hinge 321 (that is, the first component). Accordingly, the first connecting shaft 3224 and the second connecting shaft 3225 extend proximally through the central hole of the connector 322 (ie, the second component).
  • the proximal end of the first connecting shaft 3224 is detachably connected to the distal end of the first elastic telescopic post 3214, and the proximal end of the second connecting shaft 3225 is detachably connected to the distal end of the second elastic telescopic post 3215, so as to realize the transmission of driving force. Or disconnected. Further, as shown in FIG.
  • two positioning grooves 3226 are respectively provided on the proximal end surfaces of the first connection shaft 3224 and the second connection shaft 3225.
  • two positioning protrusions 3216 are respectively provided on the distal end surfaces of the first elastic telescopic column 3214 and the second elastic telescopic column 3215.
  • the positioning grooves 3226 on the connecting shaft and the positioning protrusions 3216 on the elastic telescopic post are correspondingly arranged in shape and position, so as to realize the latching of the two.
  • the steel wire of the first flexible transmission structure 63 is wound and fixed on the first connecting shaft 3224.
  • the second flexible transmission structure 64 is fixedly connected with the second connection shaft 3225. With the rotation of the first connecting shaft 3224 and the second connecting shaft 3225, the first flexible transmission structure 63 realizes the winding and unwinding movement, and further realizes the rotation movement into the axial movement.
  • the second flexible transmission structure 64 The torque is transmitted to the tool support seat 22.
  • the end effector 23 further includes a first reversing device (not labeled).
  • the first flexible transmission structure 63 includes a steel wire and an elastic structure.
  • the elastic structure is configured to provide a driving force to maintain the tool flap 231 in a normally open state.
  • a proximal end of the steel wire is wound on the first connecting shaft 3224, and a distal end of the steel wire is connected to the first commutation device.
  • the first reversing device is used for mutual conversion between the translational movement of the steel wire and the opening and closing movement of the tool flap 231.
  • the third motor 53 can drive the first flexible transmission structure 63 through the first elastic telescopic column 3214 and the first connecting shaft 3224.
  • the translation movement of the first flexible transmission structure 63 is converted into the opening and closing of the end effector 23 by the first reversing device. motion.
  • the fourth motor 54 can drive the second flexible transmission structure 64 through the second elastic telescopic column 3215 and the second connecting shaft 3225, so as to control the rotation movement of the end effector 23.
  • the third sensor 43 and the fourth sensor 44 respectively detect the opening and closing motion signals of the opening and closing control device 13 of the handheld terminal 1 and the rotation motion signals of the control structure 12 and transmit the detected signals to Controller, the controller analyzes the detected signals, and controls the movement of the third motor 53 and the fourth motor 54 respectively, and then moves through the first flexible transmission structure 63 and the second flexible transmission structure 64 to realize the end effector 23 Opening and closing, rotation movement in the same direction.
  • the end effector 23 further includes a second reversing device and a third reversing device.
  • the first flexible transmission structure 63 includes a flexible shaft. Compared with the steel wire, the flexible shaft can be reciprocated by applying force at one end. At this time, the first connecting shaft 3224 is connected to the second reversing device, and the proximal end of the soft shaft of the first flexible transmission structure 63 can be directly fixed to the second reversing device, and the distal end is connected to the third reversing device. The tool flap is driven to realize the opening and closing movement.
  • the rotation movement of the first connecting shaft 3224 can be converted into the translation movement of the soft shaft of the first flexible transmission structure 63, thereby controlling the opening and closing movement of the end effector 23.
  • the second reversing device is a device capable of converting the rotational movement of the first connecting shaft into a translational movement of a soft shaft
  • the third reversing device is a device capable of converting the translational movement of the soft shaft into Device for opening and closing movement of the tool flap 231.
  • a rack and pinion structure a structure in which a linear track matches a rotating shaft, a worm gear structure, and the like.
  • the transmission device 6 includes a first portion located at the hand-held end 1 and a second portion located at the replaceable instrument 2.
  • a proximal end of the first portion is connected to the serpentine structure 21, and a distal end thereof is connected to the first component, and is configured to drive the first component to move as the serpentine structure 21 moves.
  • a proximal end of the second portion is connected to the second component, and a distal end thereof is connected to the snake-shaped structure 21 and is configured to drive the snake-shaped structure 21 to move as the second component moves.
  • the snake-shaped surgical instrument in this embodiment adopts a full manual driving manner to realize the operation of the end effector 23.
  • the snake-shaped surgical instrument includes a handheld end 1 and an exchangeable instrument 2.
  • the hand-held end 1 includes a holding structure 11, a wrist structure 14 and a control structure 12.
  • the holding structure 11 has a proximal mounting base 111 and a distal mounting base 113
  • the control structure 12 is connected to the proximal mounting base 111 of the holding structure 11 through the wrist structure 14.
  • the replaceable instrument 2 is detachably connected to the distal mount 113.
  • the aseptic bag 100 includes a wrist end collar 110, an aseptic bag body 120, and an instrument end collar 130 which are connected and communicate with each other in sequence.
  • the aseptic bag 100 is removably covered on the outer surface of the holding structure 11, and the wrist end collar 110 of the aseptic bag 100 is configured to connect the control structure 12 with the control structure 12.
  • the connection between the wrist structures 14 is sealed, and the instrument end collar 130 is configured to seal the connection between the replaceable instrument 2 and the handheld end 1.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)

Abstract

一种蛇形手术器械，包括手持端（1），手持端（1）包括握持结构（11）、腕部结构（14）、操控结构（12）及可拆卸地连接至握持结构（11）的可换器械（2），无菌袋（100）可移除地包覆在握持结构（11）的外表面上，无菌袋（100）具有依次连接且连通的手腕端套环（110）、无菌袋本体（120）和器械端套环（130），无菌袋（100）包覆在握持结构（11）的外表面时，无菌袋（100）的手腕端套环（110）将操控结构（12）与腕部结构（14）之间的连接进行密封，器械端套环（130）将可换器械（2）与手持端（1）之间的连接进行密封。通过套在握持结构（11）上的无菌袋（100），可以实现对腕部结构（14）与操控结构（12）连接的密封，及对可换器械（2）与手持端（1）的连接进行密封，从而使得手术过程中，手持端（1）能够处于无菌状态，避免术后消毒灭菌，及避免对手持端（1）中的内部元器件造成损坏。

Description

蛇形手术器械及蛇形手术器械套件
援引加入
本申请要求于2018年08月24日提交中国专利局、申请号为201810971612.3、发明名称为“蛇形手术器械”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及医疗器械技术领域，特别是涉及一种蛇形手术器械及蛇形手术器械套件。
背景技术
在微创伤手术过程中，为了实现创口小，达到更佳的治疗效果，减少手术过程中对于其他组织的损害，多采用具有蛇形关节的手术器械以及具有蛇形关节的内窥镜，以实现手术过程中对于其他器官的避让。但发明人所知的蛇形手术器械的末端运动方向与操作端的操作方向相反，这加大了医生的操作难度，增大了手术风险。
外科医生在无菌环境下操作蛇形手术器械的手持端进行手术。为使与患者相邻的操作区域保持无菌条件，可重复使用的蛇形手术器械需术后整体清洗消毒。但电动驱动的手术器械的驱动装置、传感装置、电连接件等内部元器件通常不能使用常规方法进行消毒。例如，采用蒸汽、热、压力或化学品等的消毒方法可能会对内部元器件造成损坏。
此外，手术过程中需要准备多把具有相同或不同的末端执行器的蛇形手术器械，这既浪费资源又加重了患者的负担。而发明人所知的可更换的蛇形手术器械大多设计复杂，成本昂贵。
发明内容
本申请公开的各示例性实施例提供一种蛇形手术器械。
本申请的一方面提出一种蛇形手术器械，包括：
手持端，包括具有近端安装座和远端安装座的握持结构、腕部结构及通过所述腕部结构连接至所述握持结构的近端安装座的操控结构，所述操控结构与所述腕部结构可拆卸连接；以及
可换器械，可拆卸地连接至所述远端安装座。
上述蛇形手术器械，手持端与可换器械可拆卸式连接，从而实现快速更换，设计简单，方便消毒。
在其中一个实施例中，所述蛇形手术器械还包括无菌袋，用于可移除地包覆在所述握持结构的外表面上，且所述无菌袋具有依次连接且彼此连通的手腕端套环、无菌袋本体和器械端套环，其中，所述无菌袋的手腕端套环用于将所述操控结构与所述腕部结构之间的连接进行密封，且所述器械端套环用于将所述可换器械与所述手持端的连接进行密封。
在其中一个实施例中，所述腕部结构设于所述近端安装座的远端面，且所述腕部结构与所述操控结构通过接口可拆卸连接。
在其中一个实施例中，所述接口包括设置在所述操控结构的近端的连接柱，以及设置在所述腕部结构上且与所述连接柱可拆卸地连接的空心连接轴。
在其中一个实施例中，所述接口还包括被配置为限制所述连接柱的轴向方向移动的轴向限位结构，以及被配置为限制所述连接柱的周向方向转动的周向限位结构。
在其中一个实施例中，所述周向限位结构包括位于所述连接柱的表面且沿所述连接柱的轴向设置的连接件，以及位于所述空心连接轴内壁且沿所述空心连接轴的轴向延伸的第一定位槽，其中，所述第一定位槽配置为与所述连接件相配合以限制所述连接柱在周向方向上的转动；以及所述轴向限位结构包括设于所述连接柱的表面且沿周向设置的第二定位槽，以及设于所述 空心连接轴内壁的弹性定位装置，其中，所述弹性定位装置与所述第二定位槽相配合以限制所述连接柱在轴向方向上的移动。
在其中一个实施例中，所述弹性定位装置包括至少一个弹性凸起。
在其中一个实施例中，所述操控结构与所述连接柱之间通过轴承彼此连接以实现所述操控结构相对于所述腕部结构的自转运动。
在其中一个实施例中，所述操控结构的近端包括轴承安装座，且所述轴承的外圈与所述轴承安装座固定连接；以及所述连接柱的远端包括第一级台阶，所述第一级台阶在径向方向上与所述轴承的内圈固定连接。
在其中一个实施例中，所述连接柱还包括设置在第一级台阶的远端处的第二级台阶，所述第二级台阶延伸通过所述轴承安装座，且在所述第二级台阶靠近所述轴承安装座的远端面处设置用于容纳卡簧的凹槽。
在其中一个实施例中，所述可换器械包括依次连接的蛇形结构、工具支撑座和末端执行器，且所述蛇形手术器械还包括：快换接头，所述可换器械与所述手持端通过所述快换接头可拆卸连接；以及传动装置；
其中，所述腕部结构至少具有第一转动自由度，使得所述腕部结构能够进行第一转动运动；所述蛇形结构至少具有第五转动自由度，使得所述蛇形结构能够进行第五转动运动；以及所述传动装置被配置为驱动所述蛇形结构随着所述腕部结构的所述第一转动运动而进行所述第五转动运动。
在其中一个实施例中，所述腕部结构还具有第二转动自由度，使得所述腕部结构能够进行第二转动运动；所述蛇形结构还具有第六转动自由度，使得所述蛇形结构能够进行第六转动运动；以及所述传动装置还被配置为驱动所述蛇形结构随着所述腕部结构的所述第二转动运动而进行所述第六转动运动。
在其中一个实施例中，所述快换接头包括可拆卸接头驱动器，所述可拆卸接头驱动器包括：设置在所述握持结构上的第一部件；以及设置在所述可换器械上的第二部件；其中，所述第一部件与所述第二部件可拆卸地连接，且可同步运动。
在其中一个实施例中，所述传动装置包括：位于所述手持端的第一部分；以及位于所述可换器械的第二部分；
其中，所述第一部分的近端与所述蛇形结构连接，所述第一部分的远端与所述第一部件连接，且所述第一部分被配置为驱动所述第一部件随着所述蛇形结构的运动而运动；以及所述第二部分的近端与所述第二部件连接，所述第二部分的远端与所述蛇形结构连接，且所述第二部分被配置为驱动所述蛇形结构随着所述第二部件的运动而运动。
在其中一个实施例中，所述蛇形手术器械还包括：设置在所述握持结构上的驱动装置、传感装置和控制器；
其中，所述传感装置与所述控制器通信连接，且被配置为检测所述腕部结构的运动以获取运动信号；所述控制器根据传感装置检测的所述运动信号，控制所述驱动装置以驱动所述第一部件的运动；以及位于所述可换器械的所述传动装置被配置为连接所述第二部件与所述蛇形结构，且被配置为使所述蛇形结构能够随着所述第二部件的运动而运动。
在其中一个实施例中，所述腕部结构还具有第二转动自由度，使得所述腕部结构能够进行第二转动运动；所述蛇形结构还具有第六转动自由度，使得所述蛇形结构能够进行第六转动运动；其中，所述第一部件为设置在所述握持结构的远端安装座的虎克铰，且所述虎克铰具有第九自由度和第十自由度，使得所述虎克铰能够分别进行第九转动运动和第十转动运动；所述传感装置检测所述腕部结构的所述第一转动运动和/或所述第二转动运动以获取运动信号，并向所述控制器传递所述运动信号；所述控制器根据所述传感装置传递的所述运动信号，控制所述 驱动装置驱动所述虎克铰进行所述第九转动运动和/或所述第十转动运动；所述第二部件为设置在所述可换器械上的连接器，且所述虎克铰与所述连接器可拆卸地连接；以及所述传动装置与所述蛇形结构、所述连接器连接，且被配置为驱动所述蛇形结构随着所述虎克铰的第九转动运动而进行所述第五转动运动，还被配置为驱动所述蛇形结构随着所述虎克铰的第十转动运动而进行所述第六转动运动。
在其中一个实施例中，所述传动装置包括设置于所述可换器械的第一传动丝组和第二传动丝组；以及所述驱动装置包括第一电机和第二电机，其中，所述第一电机被配置为驱动所述第一传动丝组移动，所述第二电机被配置为驱动所述第二传动丝组移动，以使所述蛇形结构随着所述虎克铰的运动而运动。
在其中一个实施例中，所述快换接头还包括卡定结构，所述卡定结构被配置为限制所述虎克铰和所述连接器沿所述可换器械的周向方向的转动和/或轴向方向的移动。
在其中一个实施例中，所述末端执行器包括至少一个工具瓣，所述工具瓣与所述工具支撑座转动连接；所述手持端还包括可相对所述操控结构运动的开合控制装置；以及所述传动装置还包括第一柔性传动结构，且所述开合控制装置通过所述第一柔性传动结构控制所述工具瓣的转动。
在其中一个实施例中，所述快换接头还包括第一连接轴，以及与第一连接轴可拆卸地连接的第一弹性伸缩柱，其中，所述第一连接轴向近端延伸通过所述第二部件，所述第一弹性伸缩柱向远端延伸通过所述第一部件；以及所述驱动装置还包括第三电机，所述传感装置还包括第三传感器，其中，所述第三传感器被配置为检测所述开合控制装置的开合运动以获取开合运动信号，所述控制器被配置为根据所述第三传感器检测的所述开合运动信号，控制所述第三电机的输出；以及所述第三电机被配置为通过所述第一弹性伸缩柱和所述第一连接轴来驱动所述第一柔性传动结构。
在其中一个实施例中，所述操控结构被配置为相对于所述腕部结构可绕自身轴线旋转；所述工具支承座被配置为可相对于所述蛇形关节绕自身轴线旋转；以及所述传动装置还包括第二柔性传动结构，其中，所述第二柔性传动结构被配置为将所述操控结构的自转运动传递至所述工具支承座以使所述末端执行器自转。
在其中一个实施例中，所述快换接头还包括第二连接轴，以及与第二连接轴可拆卸地连接的第二弹性伸缩柱，其中，所述第二连接轴向远端延伸通过所述第二部件，且所述第二弹性伸缩柱向近端延伸通过所述第一部件；以及所述驱动装置还包括第四电机，所述传感装置还包括第四传感器，其中，所述第四传感器被配置为检测所述操控结构的自转运动以获取自转运动信号，所述控制器根据所述第四传感器检测的所述自转运动信号，控制所述第四电机输出，且所述第四电机被配置为通过所述第二弹性伸缩柱和所述第二连接轴来驱动所述第二柔性传动结构。
在其中一个实施例中，所述手腕端套环依靠弹性恢复力紧贴在所述操控结构与所述腕部结构之间的连接的外部；以及所述器械端套环依靠弹性恢复力紧贴在所述可换器械与所述手持端的连接的外部。
在其中一个实施例中，所述无菌袋本体与所述手腕端套环胶合连接，且所述无菌袋本体与所述器械端套环胶合连接。
本申请的另一方面还提出一种蛇形手术器械套件，包括蛇形手术器械。所述蛇形手术器械包括：
手持端，包括握持结构、腕部结构及操控结构，其中，所述握持结构具有近端安装座和远端安装座，且所述操控结构通过所述腕部结构连接至所述握持结构的近端安装座；
可换器械，可拆卸地连接至所述远端安装座；以及
无菌袋，具有依次连接且彼此连通的手腕端套环、无菌袋本体和器械端套环，其中，所述无菌袋可移除地包覆在所述握持结构的外表面上，所述无菌袋的手腕端套环被配置为将所述操控结构与所述腕部结构之间的连接进行密封，且所述器械端套环被配置为将所述可换器械与所述手持端的连接进行密封。
上述蛇形手术器械，通过包覆在握持结构上的无菌袋，可以实现对腕部结构与操作结构连接处的密封，及对可换器械与手持端的连接进行密封，从而使得手术过程中，手持端能够处于无菌状态，避免术后消毒灭菌，进而避免对手持端中的内部元器件造成损坏。
附图说明
图1示出了本申请一实施例中蛇形手术器械的示意图；
图2示出了图1所示的蛇形手术器械的无菌袋的分解示意图；
图3示出了本申请一实施例中包覆有无菌袋的手持端的分解示意图；
图4示出了本申请一实施例中包覆有无菌袋的手持端的示意图；
图5示出了本申请一实施例中操控结构与握持结处于分离状态的示意图；
图6示出了本申请一实施例中蛇形手术器械的接口的示意图；
图7示出了本申请一实施例中操控装置在装配状态时的剖视图；
图8示出了本申请一实施例中操控结构实现自转功能的装配体示意图；
图9示出了图8中装配体的细节放大图；
图10示出了本申请一实施例中蛇形手术器械的转动以及其运动自由度的示意图；
图11示出了本申请一实施例中蛇形手术器械的拆卸示意图；
图12示出了本申请一实施例中蛇形手术器械的手持端示意图；
图13和图14示出了本申请一实施例中的传感装置的布置示意图；
图15示出了本申请一实施例中的传动装置与末端执行器的连接示意图；
图16示出了本申请一实施例中驱动装置示意图；
图17示出了本申请一实施例中的快换接头的示意图；
图18示出了本申请一实施例中手持端侧的可拆卸接头驱动器的示意图；
图19示出了本申请一实施例中可换器械端侧的可拆卸接头驱动器的示意图；
图20-21示出了本申请一实施例中可换器械端侧的可拆卸接头驱动器与传动装置的连接示意图；
图22-24示出了本申请一实施例中手持端侧的可拆卸接头驱动器与驱动装置的连接示意图；
图25-26示出了本申请另一实施例中传感装置的布置示意图；
图27示出了本申请一实施例中当手持端与可换器械之间设置有卡定结构时无菌袋的安装示意图。
具体实施方式
为使本申请的上述目的、特征和优点能够更加明显易懂，下面结合附图对本申请的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本申请。但是本申请能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本申请内涵的情况下做类似改进，因此本申请不受下面公开的具体实施例的限制。
以下结合附图和具体实施例对本申请所公开的各示例性实施例中提出的蛇形手术器械作进一步详细说明。在本申请中，为了便于理解，使用了“近端”和“远端”、“上端”和“下端”等术语，这些术语是指从使用该医疗器械的医生角度来看相对于彼此的元件或动作的相对方位、相 对位置、方向。“近端”和“远端”、“上端”和“下端”并非是限制性的，但是“近端”、“下端”通常指该医疗设备在正常操作过程中靠近操作者的一端，而“远端”、“上端”通常是指远离操作者的一端。
如图1、图2所示，本申请一实施例提供一种蛇形手术器械，该蛇形手术器械包括手持端1、可换器械2、快换接头3、无菌袋100。蛇形手术器械的手持端1是可重复使用的。可换器械2设计为一次性的或设计为可有限次使用。无菌袋100设计为一次性的。手持端1与可换器械2可拆卸连接。具体而言，手持端1与可换器械2通过快换接头3实现两者之间快速的拆卸和更换。无菌袋100能够以松散的形式包覆在手持端1的外表面上，以使在手术操作过程中，手持端1始终保持无菌状态，从而避免术后消毒灭菌对内部元器件造成损坏。
进一步，如图2所示，所述手持端1包括握持结构11、操控结构12和腕部结构14。操控结构12通过接口200与腕部结构14可拆卸连接，从而便于无菌袋100的安装和更换。进一步，所述握持结构11包括近端安装座111、握持结构本体112和远端安装座113。所述腕部结构14容纳于所述握持结构11的近端安装座111的远端面，且与所述握持结构11连接。
如图2所示，无菌袋100包括依次连接且彼此连通的手腕端套环110、无菌袋本体120和器械端套环130。手腕端套环110、器械端套环130具有形变结构和/或由形变材质制备，以实现在外力撤除后收缩扎紧功能。所述形变结构可以为松紧环等弹性结构。形变材质例如为氨纶等弹性材料或者PTT(聚对苯二甲酸丙二酯)等形状记忆材料。无菌袋100被配置为能够被操作以包覆在握持结构11的表面上，及自握持结构11上移除。
进一步，如图4所示，手腕端套环110被配置为紧密贴合在腕部结构14远端端面，且处于自然收紧状态(无外力作用下)的手腕端套环110的直径小于接口200的直径，以保证操控结构12通过接口200安装后，握持结构11能实现密封状态。器械端套环130可紧密贴合在握持结构11的远端安装座113的远端面，且处于自然收紧状态的器械端套环130的直径小于握持结构11的远端安装座113的外径，使得器械端套环130以撑开的状态紧密贴合在握持结构11的远端安装座113的远端面。因而，器械端套环130不影响快换接头3的安装和拆卸。进一步，所述器械端套环130和/或手腕端套环110被配置为至少最大直径大于所述握持结构11横截面的直径，使得所述器械端套环130和/或手腕端套环110可以通过握持结构11的各个部分，以覆盖所述握持结构11。这里的“最大直径”，可以理解为在由撤除外力后所述器械端套环130或手腕端套环110仍能恢复原有形状的最大外力作用时，所述器械端套环130或手腕端套环110的直径。在横截面为非圆形时，这里“横截面的直径”是指横截面最小外接圆的直径。无菌袋本体120由医用聚乙烯原料制成，无菌袋本体120与器械端套环130、手腕端套环110均经热胶合连接。
下面以所述器械端套环130被配置为在至少最大直径大于所述握持结构11横截面的直径为例进行说明如何通过所述器械端套环130的一端将无菌袋100包覆握持结构11。当需要使用该手术器械时，首先，将操控结构12与腕部结构14分离，可换器械2与手持端1分离，如图2所示。然后，将无菌袋100的器械端套环130从腕部结构14一侧开始包覆在握持结构11上，直至无菌袋100两端的套环分别包覆握持结构11两端。由于无菌袋100两端的套环均具有收缩扎紧功能，因此手腕端套环110可紧密贴合在握持结构11近端安装座111的远端端面，器械端套环130可紧密贴合在握持结构11的远端安装座113的远端端面，并且无菌袋本体120覆盖在握持结构本体112的外部，如图3所示。最后，分别将可换器械2与手持端1通过快换接头3连接，操控结构12与手持端1的握持结构11通过接口200连接。至此，手持部分可实现无菌隔离，如图4、图1所示。无菌袋本体120具有适宜的直径，可容纳手持端1的握持结构本体112而不会影响操作者的操作。而且，无菌袋本体120具有足够的弹性、耐磨性和防滑性，可防止在手术过程中无菌袋本体120破裂。
当完成手术时，可先将可换器械2、操控结构12分别从手持端1拆卸进行术后消毒。然后，按照与安装无菌袋100相反的方向，从握持结构11的远端安装座113开始，使无菌袋100的器械端套环130带动无菌袋本体120逐步脱离手持端1，直至无菌袋100与手持端1完全分离。
在上述的实施例中，无菌袋本体120不一定设置为具有收紧功能。即此时，只要器械端套环130和/或手腕端套环110具有形变能力即可，而无菌袋本体120的直径足够大，以能够通过握持结构本体112。当然，整个无菌袋100都可以具备形变能力，能够在外力撤去后恢复自然收紧状态。
在本实施例中，操控结构12与腕部结构14通过接口200实现可拆卸连接。所述腕部结构14具有一个以上自由度，因而所述操控结构12可相对于握持结构11沿一个以上方向转动。具体的，如图5-9所示，所述接口200包括设置在操控结构12近端的连接柱210，和设置在手持端1的腕部结构14并与所述连接柱210相匹配的空心连接轴220。所述空心连接轴220中心设置通孔221，该通孔221的直径与连接柱210的柱体外径相匹配，以与连接柱210可拆卸连接。进一步，所述接口200还包括限制连接柱210轴向移动的轴向限位结构，及限制连接柱周向方向转动的周向限位结构。所述周向限位结构包括连接件211和第一定位槽222。其中，连接件211位于连接柱210的柱体表面且沿轴向设置。第一定位槽222位于空心连接轴220的通孔221内表面上且沿轴向设置。第一定位槽222与位于柱体表面的连接件211相配合以限制所述连接柱210与空心连接轴220的相对转动。此外，所述轴向限位结构包括第二定位槽212和与第二定位槽212卡扣连接的弹性定位装置230。本实施例对连接件211、第一定位槽222的数量没有特别的限制，即，连接件211、第一定位槽222的数量可以是一个或多个，连接件211的数量可以等于也可以小于第一定位槽222的数量。所述第二定位槽212位于连接柱210的柱体表面且沿柱体表面周向设置。相应地，弹性定位装置230位于空心连接轴220的通孔221内表面上。当连接柱210的柱体安装在空心连接轴220的通孔221内时，弹性定位装置230可卡设在连接柱210的第二定位槽212内，以实现连接柱210的柱体沿轴向的限位。进一步，弹性定位装置230可为至少一个弹性凸起。更进一步，如图6所示，所述弹性凸起设置3个。进一步，所述第二定位槽212可以沿连接柱210周向延伸以形成闭环。类似地，沿连接柱210轴向方向的第二定位槽212的数量，沿通孔221轴向的弹性定位装置230数量没有特别的限制。
本实施例中，弹性定位装置230、第二定位槽212相配合形成以限制连接件210轴向移动的轴向限位结构。第一定位槽222与连接件211相配合形成以限制连接柱210周向方向的转动的周向限位结构。轴向限位结构和周向限位结构均可以用其他适合的结构代替。
进一步，如图7所示，腕部结构14设置在手持端1的握持结构11的近端安装座111上。近端安装座111上设置供空心连接轴220通过的通道1112，且通道1112直径足够大以避免限制所述操控结构12的运动范围，从而允许操控结构12可自由的通过接口200驱动腕部结构14运动，而不受到近端安装座111的影响。
安装操控结构12时，使连接柱210的柱体表面的连接件211与空心连接轴220内表面的第一定位槽222对齐，以限制连接柱210的柱体沿周向的位移。将连接柱210的柱体沿连接件211与第一定位槽222相配合所形成的轨道穿过近端安装座111上的通道1112，并沿轴线推入空心连接轴220。弹性凸起230在柱体的压力下克服内部弹簧的弹性力沿空心连接轴220径向向弹簧方向移动并将弹簧压缩。继续将连接柱210的柱体推入空心连接轴220，当连接柱210的柱体表面的第二定位槽212与空心连接轴220内表面的弹性凸起230对应时，弹性凸起230在内部弹簧的弹性力作用下，卡设在第二定位槽212内，以限制连接柱210的柱体进一步沿轴向的位移。至此，完成操控结构12的安装。
在另一个实施例中，操控结构12还可相对于腕部结构14围绕自身轴线转动。进一步，在连接柱210中心处沿轴向设置贯穿孔217。操控结构12与所述连接柱210之间通过轴承213连接以实现操控结构12的自转运动。具体的，如图7-9所示，所述操控结构12的近端包括轴承安装座121，所述轴承213的外圈与所述轴承安装座121固定连接。所述连接柱210的远端包括第一级台阶214，所述第一级台阶214在径向上与所述轴承213的内圈固定连接。进一步，所述第一级台阶214在轴向上与所述轴承安装座121的近端面邻接。更具体地，所述轴承安装座121呈具有不规则纵截面的环状，例如花托状，且包括基部1211和与基部1211固定连接的延伸部1212。所述延伸部1212内部设有一空腔，以容纳并固定所述轴承213。所述延伸部1212的空腔直径与所述轴承213的外圈直径相匹配。所述第一级台阶214可以与所述轴承121相配合，第一台阶214的远端端面与所述轴承安装座121的基部1211的近端接触。进一步，如图9所示，连接柱210还包括第二级台阶215。所述第二级台阶215位于连接柱210的第一级台阶214的远端，并延伸通过所述轴承安装座121，且在第二级台阶215靠近所述轴承安装座121的远端面处设置一凹槽(未标号)，用于容纳卡簧216。如此，当连接柱210通过轴承213装配在操控结构12的轴承安装座121上时，卡簧216和/或第一级台阶214与轴承121的配合关系限制连接柱210的轴向和周向运动。由此，操控结构12可实现自转运动。
所述可换器械2包括依次连接的蛇形结构21、工具支撑座22和末端执行器23。
图10还示出了蛇形手术器械的运动自由度。在图10所示的实施例中，手持端1可驱动蛇形结构21同步地运动，从而带动所述末端执行器23运动。在本实施例中，所述蛇形结构21的运动方向还进一步被配置为与所述手持端1的操控结构12的运动方向相同。具体地，所述腕部结构14具有两个自由度：第一自由度R1、第二自由度R2。相应地，所述腕部结构14可以围绕第一轴线L1做第一转动运动(本实施例中为俯仰摆动)，及可以围绕第二轴线L2做第二转动运动(本实施例中为偏转运动)。所述蛇形结构21具有两个转动自由度：第五自由度R5、第六自由度R6。相应地，所述蛇形结构21可以围绕第五轴线L5做第五转动运动(本实施例中为俯仰摆动)，及可以围绕第六轴线L6做第六转动运动(本实施例中为偏转运动)。进一步，所述操控结构12驱动所述腕部结构14绕第一轴线L1俯仰摆动，并驱动蛇形结构21相应地绕第五轴线L5同向地俯仰摆动，从而带动末端执行器23同向的俯仰摆动。进一步，第一轴线L1与第五轴线L5平行。所述操控结构12驱动所述腕部结构14绕第二轴线L2偏转摆动，并驱动蛇形结构21绕相应第六轴线L6同向地偏转摆动，从而带动末端执行器23同向地偏转摆动。进一步，第二轴线L2与第六轴线L6平行。由此，所述末端执行器23具有两个自由度R5’、R6’。
在本实施例中，所述末端执行器23的种类、形状没有特别的限制，可以由医生根据手术需要进行选择，例如可以为剪刀、抓钳、夹钳、镊子以及其他多工具瓣类型的末端执行器23，还可以为电阻加热器、马达驱动元件等电动式的末端执行器23。当然末端执行器23还可以根据医生需要选择为其它形式，例如钩等单工具瓣类型的末端执行器23。
由于末端执行器23的类型不同，所述蛇形手术器械可以具有不同的自由度。例如，所述末端执行器23包括至少一工具瓣231，所述工具瓣231与工具支撑座22转动连接，如图11所示。此时，末端执行器23增加一个自由度。在如图10所示的实施例中，所述末端执行器23为钳子。因此，末端执行器23还具有第三个自由度：开合自由度R7，以完成夹持动作。参见图12，相应地，手持端1还包括位于操控结构12上的开合控制装置13，所述开合控制装置13可相对于操控结构12旋转，形成第三自由度R3，从而控制末端执行器23的开合运动，且手持端的开合控制装置13的运动构型被配置为与末端执行器23的开合构型相同，即开合控制装置13打开，末端执行器23执行打开操作，开合控制装置13关闭，末端执行器23执行关闭操作，以完成夹持动作。
在另外一个实施例中，手持端1的操控结构12还具有第四自由度R4，使得所述操控结构12可相对于腕部结构14绕自身轴线L4自转。相应地，所述工具支撑座22具有第八自由度R8，使得所述工具支撑座22可以相对于所述蛇形结构21围绕自身轴线L8自转。所述操控结构12自转，从而带动工具支撑座22绕自身轴线L8同向地自转，进而使末端执行器23具有第四个自由度R8’。
如图12、图15所示，蛇形手术器械还包括传感装置、控制器(未图示)、驱动装置5和传动装置6。所述传感装置、控制器、驱动装置5设置在手持端1上。传动装置6设置在所述可换器械2上。所述传感装置与所述控制器通信连接，以用于检测所述腕部结构14、开合控制装置13的运动以获取运动信号，并将检测的运动信号传递给控制器。所述控制器根据传感装置检测的运动信号，控制驱动装置5输出动力。所述驱动装置5可以为电机，以通过传动装置6控制蛇形结构21、工具支撑座22或者末端执行器23完成相应动作，例如，蛇形结构21被驱动绕第五轴线L5做的俯仰摆动、蛇形结构21被驱动绕第六轴线L6做的偏转摆动、末端执行器23被驱动做的开合运动、或者所述工具支撑座22被驱动绕自身轴线L8做的自转运动。
如图13和图14所示，传感装置可以包括第一传感器41，所述第一传感器41用于检测操控结构12的俯仰摆动。传感装置可以包括第二传感器42，所述第二传感器42用于检测操控结构12的偏摆摆动。传感装置可以包括第三传感器43，所述第三传感器43用于检测开合控制装置13的开合运动。传感装置可以包括第四传感器44，所述第四传感器44用于检测操控结构12的自转运动。
在一个具体实施例中，如图14所示，所述腕部结构14包括内框141和外框142，所述外框142与所述握持结构11通过第一转轴143转动连接。所述内框141与所述外框142通过第二转轴144转动连接。第一转轴143的轴线为第一轴线。第二转轴144的轴线为第二轴线。所述空心连接轴220连接于所述内框141。进一步，第一转轴143与第二转轴144相互垂直，且第一转轴143的轴线与第二转轴144的轴线所限定的平面为所述腕部结构14的中面。第一转轴143和第二转轴144形成的夹角也可以是其他适合的角度，不限于彼此垂直。
所述第一传感器41、第二传感器42可以各自为转轴码盘，分别设置在所述腕部结构14的第一转轴143与第二转轴144上，并且分别用于检测腕部结构14的俯仰、偏转运动。在又一个具体实施例中，第一传感器41、第二传感器42还可以为直线传感器。
在一个具体实施例中，如图13所示，所述开合控制装置13包括至少一个开合瓣131。所述开合瓣131的近端与所述操控结构12通过转轴转动连接。所述开合瓣131的远端(即自由端)远离所述操控结构12。所述第三传感器43可以为霍尔传感器，其设置在开合瓣131与操控结构12上，用于检测开合控制装置13的开合瓣131与操控结构12之间的距离，从而检测开合瓣131相对于操控结构12的转动运动。在又一个具体实施例中，第三传感器43还可为至少一个转轴码盘，其设置在开合控制装置13的开合瓣131近端的转轴上，用于检测开合瓣131的转动运动。
在一个具体实施例中，如图7-9所示，所述操控结构12与所述连接柱210之间通过轴承213连接以实现操控结构12的自转运动，进一步通过所述连接柱210与空心连接轴220的相对固定关系实现与所述内框141可转动地连接。所述操控结构12在近端还设有一磁铁218，所述磁铁218延伸通过连接柱210的穿孔217。相应的，所述第四传感器44可为霍尔传感器，所述霍尔传感器根据磁铁218获取所述操控结构12的转动信号。第四传感器44可以采取如下方式安装。例如，所述腕部结构14的内框141背面设置固定支架。所述第四传感器44设置在所述固定支架的中心，用于检测操控结构12绕自身轴线的自转运动，如图13所示。在其他的实施例中，当操控结构12与腕部结构14不通过轴承231实现转动连接而是直接达成转动连接时，第四传感器44的安装方式可以与前述的方式相似。
手术器械工作时，传感装置的第一传感器41、第二传感器42分别检测操控结构12的俯仰、偏转运动，第三传感器43检测开合控制装置13的开合运动，以及第四传感器44检测操控结构12的自转运动，并将检测的运动信号传递给控制器。所述控制器根据传感装置检测的信号，控制驱动装置5的输出。所述驱动装置5通过传动装置6驱动蛇形结构21、工具支撑座22以及末端执行器23以完成相应俯仰、偏转、自转及开合动作。进一步，末端执行器23的运动方向被配置与操控结构12、开合控制装置13的运动方向相同。
如图15、19至21所示，传动装置6包括用于控制所述蛇形结构21运动的第一传动丝组61和第二传动丝组62。传动装置6包括用于控制所述末端执行器23开合运动的第一柔性传动结构63。传动装置6包括用于控制工具支撑座22自转的第二柔性传动结构64。
如图12所示，所述驱动装置5设置在手持端1远端。在图16所示的一个具体实施例中，驱动装置5包括第一电机51、第二电机52。其中，第一电机51、第二电机52协同工作，以驱动快换接头3运动，并通过第一传动丝组61、第二传动丝组62驱动蛇形结构21的俯仰、偏转摆动，进而驱动末端执行器23的俯仰、偏转摆动。驱动装置5包括第三电机53，第三电机53通过快换接头3、第一柔性传动结构63驱动末端执行器23的开合运动。驱动装置5包括第四电机54，第四电机54通过快换接头3、第二柔性传动结构64驱动末端执行器23的自转运动。
如图17所示，快换接头3包括可拆卸接头驱动器32。可拆卸接头驱动器32包括设置在所述握持结构11上的第一部件(未标号)，和设置在可换器械2上的第二部件(未标号)。所述第一部件与第二部件可拆卸地连接，而且所述第一部件可以驱动第二部件同步运动。所述器械端套环130将所述第一部件与第二部件的连接进行密封。第一部件与第二部件的具体结构没有限制，只要能实现握持结构11与可换器械2的可拆卸连接和同步运动即可。
如图18和图19所示的具体实施例中，第一部件可以为设置在手持端1侧的远端安装座113的虎克铰321，而第二部件可以为设置在可换器械2侧的连接器322。虎克铰321包括第一外框3211和第一内框3212。所述第一外框3211与手持端1的外壳连接，并围绕第十轴线作第十转动运动。如此，虎克铰321具有第十自由度。所述第一内框3212与第一外框3211连接，并围绕第九轴线作第九转动运动。如此，虎克铰321具有第九自由度。进一步，所述第十轴线平行第六轴线L6。更进一步，所述第十轴线还平行第二轴线L2。进一步，所述第九轴线平行第五轴线L5。更进一步，所述第九轴线还平行第一轴线L1。所述连接器322包括弹性连接装置和连接板3222。其中，所述连接板3222通过弹性连接装置固定在可换器械2的壳体201上，以使所述连接板3222可相对于可换器械2的壳体201偏转。进一步，所述连接板3222的外边缘不大于第一内框3212的外边缘。具体地，如图19所示，所述弹性连接装置包括四个连接弹簧3221，其分别设置在连接板3222的四个转角位置。连接板3222通过所述四个连接弹簧3221固定在可换器械2的外壳上。本实施例中，传动装置6与所述蛇形结构21、连接器322连接，且被配置为驱动所述蛇形结构21跟随虎克铰321的第九转动运动而进行第五转动运动，还被配置为驱动所述蛇形结构21跟随虎克铰321的第十转动运动而进行第六转动运动。
进一步，所述第一内框3212上设置限位装置，以限定虎克铰321与连接器322沿可换器械2轴向上的位移。参见图18，进一步，所述限位装置为至少一个柱销3213。柱销3213包括柱销本体和沿柱销本体轴向延伸形成的凸起结构，所述凸起结构的外径大于柱销3213本体的外径。相应地，所述连接板3222在与柱销3213对应的位置上设置葫芦形销孔3223。参见图19，所述葫芦形销孔3223包括大径部分32231和小径部分32232。所述葫芦形销孔3223的大径部分32231的孔径与柱销3213上的凸起结构的外径适配，以便于容纳所述柱销3213。而葫芦形销孔3223的小径部分32232的孔径至少部分与柱销3213本体的外径适配。在装配状态时，所述柱销3213通过所述葫芦形销孔3223的大径部分32231，实现虎克铰321与连接器322的 连接。然后相对旋转虎克铰321与连接器322，使所述柱销3213运动至小径部分32232，实现虎克铰321与连接器322之间保持连接，且不能轴向相对移动。
进一步地，所述快换接头3还包括卡定结构31，用以限制所述手持端1、可换器械2之间的轴向和/或轴向移动。本申请对具体结构没有特别的限制，可以是现有技术中任一可实现锁定和限位功能的结构。在如图27所示的实施例中，所述手持端1的远端具有一向内延伸的突起25，而所述可换器械2的近端具有与突起相匹配的内凹26。所述无菌袋100可以覆盖所述突起25的远端端部，以与所述可换器械2隔离。
参见图20至图22，当蛇形手术器械工作时，控制器根据传感装置检测的腕部结构14的摆动信号，控制第一电机51、第二电机52以驱动末端执行器23随腕部结构14的转动而转动。具体地，参见图23和图24，第一电机51通过第一电机内钢丝55驱动所述虎克铰321转动，进而带动连接器322同步转动。同样地，第二电机52通过第二电机内钢丝56驱动所述虎克铰321转动，进而带动连接器322同步的转动。从近端往远端观察，第一电机内钢丝55的两端分别固定于所述虎克铰321的左上角和右下角，而第一传动丝组61与连接器322、蛇形结构21的连接固定点与之相对应。第二电机内钢丝56的两端分别固定于所述虎克铰321的左下角和右上角，而第二传动丝组62与连接器322、蛇形结构21的连接固定点亦与之相对应。通过上述结构，第一电机51、第二电机52协同地驱动第一传动丝组61、第二传动丝组62运动，以带动蛇形结构21转动。在一个替代性的实施例中，所述第一电机内钢丝55的两端分别固定于所述虎克铰321的第十轴线上，而第二电机内钢丝56的两端分别固定于所述虎克铰321的第九轴线上。第一传动丝组61、第二传动丝组62分别与连接器322、蛇形结构21的连接固定点相应设置。
进一步，参见图20，所述第一传动丝组61的近端与快换接头3连接，并在快换接头3的驱动下驱使末端执行器23进行开合运动。所述第二传动丝组62的近端与快换接头3连接，并在快换接头3的驱动下驱使末端执行器23进行自转运动。
进一步地，参见图18至图19及图23，所述快换接头3还包括第一弹性伸缩柱3214、和第一连接轴3224。进一步，所述快换接头3还包括第二弹性伸缩柱3215和第二连接轴3225。进一步，第一弹性伸缩柱3214、第二弹性伸缩柱3215分别可以在外力作用下向近端移动，并在外力撤除后再自身弹性力作用下向远端移动直至原来的位置。虎克铰内框3212设置有中心孔。其中，第一弹性伸缩柱3214、第二弹性伸缩柱3215向远端延伸通过所述虎克铰321(即第一部件)的中心孔。相应地，第一连接轴3224、第二连接轴3225向近端延伸通过所述连接器322(即第二部件)的中心孔。第一连接轴3224的近端与第一弹性伸缩柱3214的远端可拆卸连接，而第二连接轴3225的近端与第二弹性伸缩柱3215远端可拆卸连接，从而实现驱动力的传递或断开。进一步，如图19所示，所述第一连接轴3224、第二连接轴3225的近端端面上分别设置两个定位凹槽3226。对应地，如图18所示，第一弹性伸缩柱3214、第二弹性伸缩柱3215的远端端面上分别设置两个定位凸起3216。连接轴上的定位凹槽3226与弹性伸缩柱上的定位凸起3216在形状、位置上对应设置，以实现两者的卡接。
同时，如图21所示，第一柔性传动结构63的钢丝缠绕固定在第一连接轴3224上。第二柔性传动结构64与第二连接轴3225固定连接。随着第一连接轴3224、第二连接轴3225的转动，所述第一柔性传动结构63实现缠绕、退绕运动，进而实现将旋转运动变为轴向移动，所述第二柔性传动结构64将扭矩传递至所述工具支撑座22。
进一步，所述末端执行器23还包括第一换向装置(未标号)。所述第一柔性传动结构63包括钢丝和弹性结构。所述弹性结构被配置为提供使所述工具瓣231保持常开状态的驱动力。所述钢丝的近端缠绕在所述第一连接轴3224上，而所述钢丝的远端连接所述第一换向装置。所述第一换向装置用于所述钢丝的平移运动与工具瓣231的开合运动相互转换。第三电机53 可通过第一弹性伸缩柱3214、第一连接轴3224驱动第一柔性传动结构63，第一柔性传动结构63的平移运动通过第一换向装置转换为末端执行器23的开合运动。此外，第四电机54可通过第二弹性伸缩柱3215、第二连接轴3225来驱动第二柔性传动结构64，从而控制末端执行器23的自转运动。
在蛇形手术器械工作时，第三传感器43、第四传感器44分别检测手持端1的开合控制装置13的开合运动信号、操控结构12的自转运动信号，并将所检测的信号传递给控制器，控制器对所检测的信号进行分析，并分别控制第三电机53、第四电机54的运动，进而通过第一柔性传动结构63、第二柔性传动结构64运动，从而实现末端执行器23同向的开合、自转运动。
在一个替代性实施例中，所述末端执行器23还包括第二换向装置，第三换向装置。所述第一柔性传动结构63包括软轴。软轴相较于钢丝可以在一端施力即可实现往复移动。此时，第一连接轴3224与第二换向装置相连，第一柔性传动结构63的软轴的近端可以直接固定在第二换向装置上，而远端与第三换向装置连接，以带动所述工具瓣实现开合运动。如此配置，可以实现将第一连接轴3224的旋转运动转换为第一柔性传动结构63的软轴的平移运动，从而控制末端执行器23的开合运动。其中，所述第二换向装置为能将所述第一连接轴的旋转运动转换为软轴的平移运动的装置，所述第三换向装置为能将所述软轴的平移运动转换为工具瓣231的开合运动的装置。例如，齿轮齿条结构、直线轨道与转轴配合的结构、蜗轮蜗杆结构等。
在其他的替代性实施例中，所述传动装置6包括位于手持端1的第一部分和位于可换器械2的第二部分。所述第一部分的近端与所述蛇形结构21连接，其远端与所述第一部件连接，并被配为驱动所述第一部件随着蛇形结构21运动而运动。所述第二部分的近端与所述第二部件连接，其远端与所述蛇形结构21连接，并被配置为驱动所述蛇形结构21随着第二部件运动而运动。如此，本实施例中的蛇形手术器械采用全手动驱动的方式来实现对末端执行器23的操作。
本申请另外一些实施例还提供一种蛇形手术器械套件，包括蛇形手术器械，和无菌袋100。蛇形手术器械包括手持端1和可换器械2。手持端1包括握持结构11、腕部结构14及操控结构12。其中，所述握持结构11具有近端安装座111和远端安装座113，且所述操控结构12通过所述腕部结构14连接至所述握持结构11的近端安装座111。可换器械2可拆卸地连接至所述远端安装座113。无菌袋100，具有依次连接且彼此连通的手腕端套环110、无菌袋本体120和器械端套环130。其中，所述无菌袋100可移除地包覆在所述握持结构11的外表面上，所述无菌袋100的手腕端套环110被配置为将所述操控结构12与所述腕部结构14之间的连接进行密封，且所述器械端套环130被配置为将所述可换器械2与所述手持端1的连接进行密封。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (25)

  1. 一种蛇形手术器械，包括：
    手持端，包括具有近端安装座和远端安装座的握持结构、腕部结构及通过所述腕部结构连接至所述握持结构的近端安装座的操控结构，所述操控结构与所述腕部结构可拆卸连接；以及
    可换器械，可拆卸地连接至所述远端安装座。
  2. 根据权利要求1所述的蛇形手术器械，其中，所述蛇形手术器械还包括：
    无菌袋，用于可移除地包覆在所述握持结构的外表面上，且所述无菌袋具有依次连接且彼此连通的手腕端套环、无菌袋本体和器械端套环，其中，所述无菌袋的手腕端套环用于将所述操控结构与所述腕部结构之间的连接进行密封，且所述器械端套环用于将所述可换器械与所述手持端的连接进行密封。
  3. 根据权利要求1所述的蛇形手术器械，其中，所述腕部结构设于所述近端安装座的远端面，且所述腕部结构与所述操控结构通过接口可拆卸连接。
  4. 根据权利要求3所述的蛇形手术器械，其中，所述接口包括设置在所述操控结构的近端的连接柱，以及设置在所述腕部结构上且与所述连接柱可拆卸地连接的空心连接轴。
  5. 根据权利要求4所述的蛇形手术器械，其中，所述接口还包括被配置为限制所述连接柱的轴向方向移动的轴向限位结构，以及被配置为限制所述连接柱的周向方向转动的周向限位结构。
  6. 根据权利要求5所述的蛇形手术器械，其中，
    所述周向限位结构包括位于所述连接柱的表面且沿所述连接柱的轴向设置的连接件，以及位于所述空心连接轴内壁且沿所述空心连接轴的轴向延伸的第一定位槽，其中，所述第一定位槽配置为与所述连接件相配合以限制所述连接柱在周向方向上的转动；以及
    所述轴向限位结构包括设于所述连接柱的表面且沿周向设置的第二定位槽，以及设于所述空心连接轴内壁的弹性定位装置，其中，所述弹性定位装置与所述第二定位槽相配合以限制所述连接柱在轴向方向上的移动。
  7. 根据权利要求6所述的蛇形手术器械，其中，所述弹性定位装置包括至少一个弹性凸起。
  8. 根据权利要求4所述的蛇形手术器械，其中，所述操控结构与所述连接柱之间通过轴承彼此连接以实现所述操控结构相对于所述腕部结构的自转运动。
  9. 根据权利要求8所述的蛇形手术器械，其中，
    所述操控结构的近端包括轴承安装座，且所述轴承的外圈与所述轴承安装座固定连接；以及
    所述连接柱的远端包括第一级台阶，所述第一级台阶在径向方向上与所述轴承的内圈固定连接。
  10. 根据权利要求9所述的蛇形手术器械，其中，所述连接柱还包括设置在第一级台阶的远端处的第二级台阶，所述第二级台阶延伸通过所述轴承安装座，且在所述第二级台阶靠近所述轴承安装座的远端面处设置用于容纳卡簧的凹槽。
  11. 根据权利要求1或2所述的蛇形手术器械，其中，
    所述可换器械包括依次连接的蛇形结构、工具支撑座和末端执行器，且所述蛇形手术器械还包括：
    快换接头，所述可换器械与所述手持端通过所述快换接头可拆卸连接；以及
    传动装置；
    其中，所述腕部结构至少具有第一转动自由度，使得所述腕部结构能够进行第一转动运动；
    所述蛇形结构至少具有第五转动自由度，使得所述蛇形结构能够进行第五转动运动；以及
    所述传动装置被配置为驱动所述蛇形结构随着所述腕部结构的所述第一转动运动而进行所述第五转动运动。
  12. 根据权利要求11所述的蛇形手术器械，其中，
    所述腕部结构还具有第二转动自由度，使得所述腕部结构能够进行第二转动运动；
    所述蛇形结构还具有第六转动自由度，使得所述蛇形结构能够进行第六转动运动；以及
    所述传动装置还被配置为驱动所述蛇形结构随着所述腕部结构的所述第二转动运动而进行所述第六转动运动。
  13. 根据权利要求11所述的蛇形手术器械，其中，所述快换接头包括可拆卸接头驱动器，所述可拆卸接头驱动器包括：
    设置在所述握持结构上的第一部件；以及
    设置在所述可换器械上的第二部件；
    其中，所述第一部件与所述第二部件可拆卸地连接，且可同步运动。
  14. 根据权利要求13所述的蛇形手术器械，其中，所述传动装置包括：
    位于所述手持端的第一部分；以及
    位于所述可换器械的第二部分；
    其中，所述第一部分的近端与所述蛇形结构连接，所述第一部分的远端与所述第一部件连接，且所述第一部分被配置为驱动所述第一部件随着所述蛇形结构的运动而运动；以及
    所述第二部分的近端与所述第二部件连接，所述第二部分的远端与所述蛇形结构连接，且所述第二部分被配置为驱动所述蛇形结构随着所述第二部件的运动而运动。
  15. 根据权利要求13所述的蛇形手术器械，其中，所述蛇形手术器械还包括：
    设置在所述握持结构上的驱动装置、传感装置和控制器；
    其中，所述传感装置与所述控制器通信连接，且被配置为检测所述腕部结构的运动以获取运动信号；
    所述控制器根据传感装置检测的所述运动信号，控制所述驱动装置以驱动所述第一部件的运动；以及
    位于所述可换器械的所述传动装置被配置为连接所述第二部件与所述蛇形结构，且被配置为使所述蛇形结构能够随着所述第二部件的运动而运动。
  16. 根据权利要求15所述的蛇形手术器械，其中，
    所述腕部结构还具有第二转动自由度，使得所述腕部结构能够进行第二转动运动；
    所述蛇形结构还具有第六转动自由度，使得所述蛇形结构能够进行第六转动运动；
    其中，所述第一部件为设置在所述握持结构的远端安装座的虎克铰，且所述虎克铰具有第九自由度和第十自由度，使得所述虎克铰能够分别进行第九转动运动和第十转动运动；
    所述传感装置检测所述腕部结构的所述第一转动运动和/或所述第二转动运动以获取运动信号，并向所述控制器传递所述运动信号；
    所述控制器根据所述传感装置传递的所述运动信号，控制所述驱动装置驱动所述虎克铰进行所述第九转动运动和/或所述第十转动运动；
    所述第二部件为设置在所述可换器械上的连接器，且所述虎克铰与所述连接器可拆卸地连接；以及
    所述传动装置与所述蛇形结构、所述连接器连接，且被配置为驱动所述蛇形结构随着所述虎克铰的第九转动运动而进行所述第五转动运动，还被配置为驱动所述蛇形结构随着所述虎克铰的第十转动运动而进行所述第六转动运动。
  17. 根据权利要求16所述的蛇形手术器械，其中，
    所述传动装置包括设置于所述可换器械的第一传动丝组和第二传动丝组；以及
    所述驱动装置包括第一电机和第二电机，其中，所述第一电机被配置为驱动所述第一传动丝组移动，所述第二电机被配置为驱动所述第二传动丝组移动，以使所述蛇形结构随着所述虎克铰的运动而运动。
  18. 根据权利要求16所述的蛇形手术器械，其中，所述快换接头还包括卡定结构，所述卡定结构被配置为限制所述虎克铰和所述连接器沿所述可换器械的周向方向的转动和/或轴向方向的移动。
  19. 根据权利要求15所述的蛇形手术器械，其中，
    所述末端执行器包括至少一个工具瓣，所述工具瓣与所述工具支撑座转动连接；
    所述手持端还包括可相对所述操控结构运动的开合控制装置；以及
    所述传动装置还包括第一柔性传动结构，且所述开合控制装置通过所述第一柔性传动结构控制所述工具瓣的转动。
  20. 根据权利要求19所述的蛇形手术器械，其中，
    所述快换接头还包括第一连接轴，以及与第一连接轴可拆卸地连接的第一弹性伸缩柱，其中，所述第一连接轴向近端延伸通过所述第二部件，所述第一弹性伸缩柱向远端延伸通过所述第一部件；以及
    所述驱动装置还包括第三电机，所述传感装置还包括第三传感器，其中，所述第三传感器被配置为检测所述开合控制装置的开合运动以获取开合运动信号，所述控制器被配置为根据所述第三传感器检测的所述开合运动信号，控制所述第三电机的输出；以及
    所述第三电机被配置为通过所述第一弹性伸缩柱和所述第一连接轴来驱动所述第一柔性传动结构。
  21. 根据权利要求15所述的蛇形手术器械，其中，
    所述操控结构被配置为相对于所述腕部结构可绕自身轴线旋转；
    所述工具支承座被配置为可相对于所述蛇形关节绕自身轴线旋转；以及
    所述传动装置还包括第二柔性传动结构，其中，所述第二柔性传动结构被配置为将所述操控结构的自转运动传递至所述工具支承座以使所述末端执行器自转。
  22. 根据权利要求19所述的蛇形手术器械，其中，
    所述快换接头还包括第二连接轴，以及与第二连接轴可拆卸地连接的第二弹性伸缩柱，其中，所述第二连接轴向远端延伸通过所述第二部件，且所述第二弹性伸缩柱向近端延伸通过所述第一部件；以及
    所述驱动装置还包括第四电机，所述传感装置还包括第四传感器，其中，所述第四传感器被配置为检测所述操控结构的自转运动以获取自转运动信号，所述控制器根据所述第四传感器检测的所述自转运动信号，控制所述第四电机输出，且所述第四电机被配置为通过所述第二弹性伸缩柱和所述第二连接轴来驱动所述第二柔性传动结构。
  23. 根据权利要求2所述的蛇形手术器械，其中，
    所述手腕端套环依靠弹性恢复力紧贴在所述操控结构与所述腕部结构之间的连接的外部；以及
    所述器械端套环依靠弹性恢复力紧贴在所述可换器械与所述手持端的连接的外部。
  24. 根据权利要求2所述的蛇形手术器械，其中，所述无菌袋本体与所述手腕端套环胶合连接，且所述无菌袋本体与所述器械端套环胶合连接。
  25. 一种蛇形手术器械套件，包括：
    蛇形手术器械，包括：
    手持端，包括握持结构、腕部结构及操控结构，其中，所述握持结构具有近端安装座和远端安装座，且所述操控结构通过所述腕部结构连接至所述握持结构的近端安装座；
    可换器械，可拆卸地连接至所述远端安装座；以及
    无菌袋，具有依次连接且彼此连通的手腕端套环、无菌袋本体和器械端套环，其中，所述无菌袋可移除地包覆在所述握持结构的外表面上，所述无菌袋的手腕端套环被配置为将所述操控结构与所述腕部结构之间的连接进行密封，且所述器械端套环被配置为将所述可换器械与所述手持端的连接进行密封。
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