WO2020216317A1 - 内窥镜及操作臂 - Google Patents

内窥镜及操作臂 Download PDF

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Publication number
WO2020216317A1
WO2020216317A1 PCT/CN2020/086605 CN2020086605W WO2020216317A1 WO 2020216317 A1 WO2020216317 A1 WO 2020216317A1 CN 2020086605 W CN2020086605 W CN 2020086605W WO 2020216317 A1 WO2020216317 A1 WO 2020216317A1
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WO
WIPO (PCT)
Prior art keywords
soft rod
wire
drive
assembly
area
Prior art date
Application number
PCT/CN2020/086605
Other languages
English (en)
French (fr)
Inventor
王建辰
高元倩
徐桂银
李由
姚雪峰
Original Assignee
深圳市精锋医疗科技有限公司
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.)
Filing date
Publication date
Application filed by 深圳市精锋医疗科技有限公司 filed Critical 深圳市精锋医疗科技有限公司
Priority to EP20794723.5A priority Critical patent/EP3960112A4/en
Priority to US17/605,773 priority patent/US20220226060A1/en
Priority to KR1020217036877A priority patent/KR102571499B1/ko
Priority to BR112021021418A priority patent/BR112021021418A8/pt
Priority to JP2021563322A priority patent/JP7331135B2/ja
Publication of WO2020216317A1 publication Critical patent/WO2020216317A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
    • 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
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • 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
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2908—Multiple segments connected by articulations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00053—Mechanical features of the instrument of device
    • A61B2018/00059—Material properties
    • A61B2018/00071—Electrical conductivity
    • A61B2018/00083—Electrical conductivity low, i.e. electrically insulating
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00589—Coagulation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots

Definitions

  • This application relates to the field of medical devices, in particular to a surgical device.
  • Minimally invasive surgery refers to a surgical method that uses modern medical instruments and related equipment such as laparoscopy and thoracoscopy to perform operations inside human cavities. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.
  • surgical instruments for minimally invasive surgery have gradually matured and been widely used.
  • surgical instruments usually have a connecting component that can adjust the posture and position of the end device.
  • the posture and position of the end device are adjusted by the bending and movement of the connecting component, so that the end device can perform a surgical operation at a desired position.
  • the connecting components need to be turned frequently during the operation, the driving of the end instrument has become a design difficulty in the surgical instrument, and it is necessary to provide a better solution to solve the driving problem of the end instrument.
  • This application provides a surgical instrument, including:
  • a connecting component which is connected to the end device
  • the end driving part has a soft rod and a driving wire, the driving wire passes through the soft rod and is connected with the end instrument, the soft rod passes through the connecting assembly, and at least one end of the driving wire is a free end.
  • This application also provides a surgical instrument, including:
  • the connecting assembly has a plurality of connecting units connected in sequence, and the terminal device is connected with the connecting unit;
  • the end driving part has a soft rod and a driving wire, the driving wire passes through the soft rod and is connected to the end instrument, the soft rod passes through the connecting assembly, and at least one end of which is a free end;
  • a gap is left between two adjacent connection units for turning, and the soft rod covers at least part of the gap in the connection assembly;
  • the soft rod is provided with a bending opening to assist the bending of the soft rod.
  • This application also provides a surgical instrument, including:
  • the connecting assembly has a plurality of connecting units connected in sequence, and the terminal device is connected with the connecting unit;
  • the end driving part has a soft rod and a driving wire, the driving wire passes through the soft rod and is connected to the end instrument, the soft rod passes through the connecting assembly, and at least one end of which is a free end;
  • a gap is left between two adjacent connection units for turning, and the soft rod covers at least part of the gap in the connection assembly;
  • the end drive part further has a drive assembly and a positioning assembly, the drive wire has a drive connection area, the drive connection area is connected to the drive assembly, and the drive wire is located at least part of the area outside the connection assembly through The positioning component is positioned so that the driving component drives the driving wire to move in a straight line.
  • Fig. 1 is a schematic structural diagram of an embodiment of a surgical robot
  • FIGS. 2 and 3 are partial schematic diagrams of different embodiments of the surgical robot
  • Figure 4 is a schematic structural view of an embodiment of a surgical instrument
  • FIGS 5 to 32 and Figure 34 are partial schematic views of different embodiments of surgical instruments respectively;
  • Figure 33 is a partial enlarged view of Figure 32A.
  • distal and proximal used in this article are locators, which are commonly used terms in the field of interventional medical devices, where “distal” refers to the end far away from the operator during surgery, and “proximal” refers to surgery The end close to the operator during the process.
  • the surgical robot includes a master operating table 1 and a slave operating device 2.
  • the master console 1 is used to send control commands to the slave operation device 2 according to the doctor's operation to control the slave operation device 2, and it is also used to display the image obtained by the slave device 2.
  • the slave operating device 2 is used for responding to the control commands sent by the master console 1 and performing corresponding operations, and the slave operating device 2 is also used for acquiring images in the body.
  • the slave operating device 2 includes a robotic arm 21, a power mechanism 22 provided on the robotic arm 21, a surgical instrument 23 provided on the power mechanism 22, and a sleeve 24 on which the surgical instrument 23 is sheathed.
  • the mechanical arm 21 is used to adjust the position of the surgical instrument 23;
  • the power mechanism 22 is used to drive the surgical instrument 23 to perform corresponding operations;
  • the surgical instrument 23 is used to extend into the body and perform surgical operations through its distal end instruments, and/or Obtain in-vivo images.
  • the surgical instrument 23 is passed through the sleeve 24, and the end instrument 100 of the surgical instrument 23 extends out of the sleeve 24 and is driven by the power mechanism 22 to perform operations.
  • FIG. 1 the surgical instrument 23 is passed through the sleeve 24
  • the end instrument 100 of the surgical instrument 23 extends out of the sleeve 24 and is driven by the power mechanism 22 to perform operations.
  • the area where the surgical instrument 23 is located in the sleeve 24 is a rigid area; in FIG. 3, the area where the surgical instrument 23 is located in the sleeve 24 is a flexible area, and the sleeve is bent with the flexible area.
  • the sleeve 24 can also be omitted.
  • the surgical instrument 23 includes: a terminal instrument 100, a connecting assembly 200, a connecting rod 300, a driving housing 400 and a terminal driving part 500.
  • the end instrument 100, the connecting assembly 200, the connecting rod 300, and the drive housing 400 are connected in sequence, and the end drive part 500 is partially disposed in the drive housing and connected with the end instrument 100 for driving the end instrument to perform surgical operations
  • the connecting rod and the drive housing may also be omitted.
  • the connection assembly 200 includes a plurality of connection units 210 connected in sequence.
  • a plurality of connecting units can be directly connected, for example, the connecting unit has a connecting shaft, and two adjacent connecting units are rotatably connected by the connecting shaft; it can also be connected to each other through other components, for example, a plurality of connecting units drive wires through the connecting unit.
  • the connecting unit drive wire is used to drive the connecting assembly 200.
  • the specifications and structures of the multiple connection units may be the same or different.
  • the connecting component may also have other structures.
  • the end driving part 500 includes a soft rod 510 and a driving wire 520 through which the soft rod 510 is inserted.
  • the driving wire 520 is connected to the end instrument 100 for driving the end instrument 100 and the soft rod 510 is used for restricting the movement of the driving wire 520.
  • the rigidity of the drive wire is greater than the rigidity of the soft rod, which can be bent with the connecting component and can drive the jaws to open and close.
  • the stiffness is 50 to 70N/mm.
  • the soft rod can limit its bending, thereby making the end instrument more precise.
  • the coefficient of friction between the drive wire and the soft rod is smaller than the friction coefficient between it and the connecting component. In this way, the soft rod can reduce the friction during driving, while extending The life of the drive wire, on the other hand, further improves the accuracy of the drive.
  • the soft rod 510 is located in the axial region of the connecting assembly 200 and extends along the connecting assembly 200. That is, the soft rod is located in the middle area of the connecting component and extends along the connecting component.
  • the gap is 0.1-3mm; for another example, the gap is 0.2mm.
  • the soft rod 510 may not be located in the middle area of the connecting assembly 200, for example, the soft rod is located in the edge area of the connecting assembly and extends along the connecting assembly.
  • the connecting unit can also have a plurality of accommodating holes spaced apart, and the soft rod is located in one of the accommodating holes. In this way, the accommodating hole for the soft rod can be selected as required.
  • the soft rod 510 is provided with a threading hole 511, and the driving wire 520 is threaded with a threading hole 511.
  • the threading hole 511 is located in the axial area of the soft rod 510 and extends along the soft rod 510, that is, the driving wire 520 is located in the middle area of the soft rod 510.
  • the threading hole may also be located in other areas.
  • the threading hole is arranged adjacent to the axis of the soft rod 510 and extends along the soft rod 510, that is, the driving wire 520 is deviated from the central area of the soft rod 510.
  • the driving wire 520 is located in one or part of the threading holes.
  • the gap is 0.05 to 0.5 mm; for another example, the gap is 0.2 mm.
  • the flexible rod 510 passes through the connecting assembly 200, and at least one end thereof is a free end.
  • the free end refers to the end that can change the direction of the end according to the force. In this way, when the soft rod 510 is bent under force, its deformation can be reduced, so that the position of the driving wire 520 through the soft rod 510 is more accurate, and further guarantees The accuracy of the instrument drive.
  • the free end is the unfixed end of the soft rod 510, and the position is restricted by the barrier layer 220 on the connecting assembly 200. Please refer to the following for details.
  • the free end is the end of the soft rod 510 arranged on the connecting unit through a universal structure, so that the free end can change the direction of the end according to its force, thereby reducing the stretching of the soft rod 510.
  • the position of the free end can also be restricted by other structures, as long as it can reduce deformation when subjected to force.
  • the soft rod may not have a free end, and the ends are fixed.
  • the soft rod 510 When the soft rod 510 has two ends, it may have one free end or two free ends. When the soft rod 510 has one free end, the other end is fixedly arranged. For example, the distal end of the soft rod 510 is a free end, and the proximal end of the soft rod 510 is connected to at least one of the connecting assembly 200, the connecting rod 300, and the drive housing 400. A fixed connection.
  • the fixed setting may be a non-detachable connection or a detachable connection.
  • the two free ends of the soft rod 510 respectively correspond to the structure restricting its position and are arranged adjacently. For example, the two free ends are arranged corresponding to the two barrier layers 220 respectively.
  • one of the two free ends corresponds to the barrier layer, and the other corresponds to the universal structure.
  • the soft rod 510 is a soft rod 510 with multiple ends
  • the number of free ends can be configured according to actual needs.
  • the proximal end of the soft rod 510 has one end
  • the distal end has two ends
  • the distal end has two ends. Both ends can be free ends.
  • the connecting unit 210 is provided with a receiving hole 211, and the soft rod 510 passes through the receiving hole 211.
  • At least one of the connecting units is provided with a blocking layer 220, and a blocking portion of the receiving hole 211 is used to block the free end of the soft rod 510 to limit the displacement of the free end.
  • the connecting unit provided with the barrier layer 220 does not close the receiving hole 211 so that the driving wire 520 can pass through the receiving hole 211 to be connected to the terminal instrument 100.
  • the barrier layer 220 and the receiving hole 211 form a receiving cavity for receiving the free end of the soft rod 510.
  • the connecting assembly includes two connecting units with barrier layers, the two barrier layers and the receiving holes of the connecting unit between the two barrier layers form a receiving cavity for receiving the soft rod. It should be noted that the accommodating hole specifications of multiple connection units are the same or may be different.
  • the barrier layer can have various structures.
  • the barrier layer 220 is a continuous area, that is, only the channel of the driving wire 520 is left on the barrier layer 220, and the rest of the receiving hole 211 is closed.
  • the barrier layer 220 is a mesh structure, and the driving wire 520 extends from the mesh, or the driving wire 520 extends from the opening of the barrier layer.
  • the surface of the barrier layer 220 for blocking the driving rod is a curved surface.
  • the soft rod 510 may have a corresponding curved surface.
  • the barrier layer can be formed integrally with the connection unit, or can be a detachable structure, for example, detachably connected with the connection unit.
  • the end of the soft rod 510 for fixing is extended with a clamping edge 512, and the clamping edge 512 is clamped with the connecting component.
  • the connecting unit 210 is provided with a blocking layer 220, the clamping edge 512 is clamped with the blocking layer 220, and the connecting assembly has a blocking cover 230 that is clamped with the blocking layer 220, so that the clamping edge 512 is located between the blocking cover 230 and the blocking layer 220. Between the layers 220, the end of the soft rod 510 is further fixed.
  • the barrier layer may also be omitted, and in this case, the clamping edge clamps the edge area of the connection component.
  • the blocking cover can also be omitted, and at this time, it can be clamped by the adjacent structure, for example, the clamped edge can be clamped by the adjacent connecting unit.
  • the soft rod can also be fixed in other ways, such as pasting.
  • the positions of the soft rod 510 and the driving wire 520 can also be restricted by restricting the position of the middle area of the soft rod 510.
  • the receiving hole 211 has a first receiving hole 211A, a second receiving hole 211B, the diameter of the second receiving hole 211B is smaller than the diameter of the first receiving hole 211A, so that the soft rod 510 and the first receiving hole
  • the gap between the inner wall of the hole 211A is larger than the gap with the inner wall of the second receiving hole 211B.
  • the soft rod can swing relative to the second receiving hole, that is, there is a large gap between the two, and it can swing in the hole, or it can be fixed relative to the second receiving hole, that is, there is no gap or gap between the two It is smaller, so that the position of the first soft rod relative to the second receiving hole is basically fixed, or the soft rod and the connecting component are fixed to each other through a fixing structure.
  • the connecting unit opening the second accommodating hole can be a splicing structure to facilitate the installation of the soft rod.
  • the second receiving hole can reduce the swing of the soft rod, thereby making the control of the end device more precise.
  • the connecting assembly has a plurality of second receiving holes
  • the plurality of second receiving holes are arranged at intervals, that is, at most one of two adjacent connecting units is provided with a second receiving hole. This can reduce the deformation of the soft rod during bending.
  • the second receiving hole can be located either in the middle area of the soft rod, or at the proximal end or the distal end of the soft rod.
  • the soft rod can also have different sizes, so that the gaps between the different areas and the receiving holes of the same specification are different, thereby restricting the position of the soft rod.
  • the gap between the two can be adjusted by the size of the soft rod and the size of the receiving hole together.
  • the gap distribution between the soft rod and the accommodating hole can be the same as the above embodiment, and will not be repeated here.
  • the connecting component can also not restrict the swing of the middle area of the soft rod, and it swings according to the force condition like the free end, which can reduce the deformation of the soft rod when it is bent.
  • connection assembly 200 there is a gap 240 between two adjacent connection units 210 of the connection assembly 200 to facilitate relative movement of the connection units.
  • the soft rod 510 covers at least a part of the gap 240 in the connection assembly 200.
  • the soft rod 510 can limit the bending of the driving wire 520 in the gap area, thereby reducing the bending of the driving wire 520, and thus the driving accuracy is better.
  • the soft rod can either cover every gap in the connection assembly, or only cover part of the gap in the connection assembly.
  • the gaps covered by the connecting components are basically evenly distributed along the connecting components, or the gaps between the connecting units with relatively large relative movement are covered. In this way, the bending of the driving wire can be minimized.
  • the uncovered gap and the covered gap are spaced apart, wherein there may be one uncovered gap or multiple uncovered gaps between the two covered gaps.
  • the connecting units in the connecting assembly may also have different structures, for example, there is no gap between some of the connecting units.
  • the covered gap can either be closed by the soft rod, that is, all the gaps are covered, or partly closed by the soft rod, that is, the gap is not completely covered by the soft rod. When the gap is partially covered by the soft rod, it can limit the bending of the drive wire. In one embodiment, the height of the unclosed area of the gap is 1 to 4 mm.
  • the soft rod 510 is located in the area of the gap 240 and is not contained in the receiving hole 211, and only blocks the driving wire 520 from bending at the gap.
  • the diameter of the receiving hole is set according to the driving wire 520, which may be slightly larger than the diameter of the driving wire 520 to limit the bending of the driving wire 520, and it may also leave a larger space for the driving wire 520 to reduce friction.
  • the soft rod can also be penetrated by at least part of the connecting unit.
  • the soft rod 510 is received in the receiving hole 211 and covers the gap 240, wherein at least one end of the soft rod 510 is received in the connecting unit 210 forming the gap, that is, the end of the soft rod 510 The part is not in the void area.
  • both ends of the soft rod are correspondingly received in the receiving hole of the connecting unit forming the gap.
  • the soft rod may also be pierced with a complete connecting unit, for example, the soft rod may be pierced with three connecting units arranged in sequence.
  • a connecting unit is penetrated by the soft rod, and a connecting unit adjacent to the connecting unit is partially penetrated.
  • the end of the soft rod may also be located in the gap area, for example, the free end of the soft rod is located in the gap area.
  • the position restriction method and fixing method of the soft rod can refer to the above-mentioned embodiments, which will not be repeated here.
  • the multiple soft rods 510 are arranged in sequence along the extending direction of the connecting assembly 200, and the driving wire 520 passes through the multiple soft rods 510 in sequence.
  • the multiple soft rods 510 are spaced apart from each other, that is, the ends of the multiple soft rods 510 are not connected to each other, and when they rotate with the connecting assembly 200, the ends of two adjacent soft rods 510 do not interfere with each other.
  • the connecting assembly 200 is bent, the multiple soft rods 510 deform less than one soft rod 510, thereby making the control more accurate.
  • the adjacent ends of the two soft rods 510 are located in the connecting unit 210.
  • the critical ends of the two soft rods may also be located in the area of the gap, for example, in the same gap, for example, in different gaps.
  • each soft rod covers at least one gap.
  • each soft rod covers only one gap.
  • each soft rod covers multiple gaps. Among them, each soft rod can either completely cover the gap or partially cover the gap
  • the multiple soft rods 510 have the same length. In other embodiments, at least two soft rods 510 have different lengths. For example, the lengths of the soft rods 510 are all different. For another example, the length of the soft rod 510 of the often bent portion of the connecting assembly 200 is shorter, and the length of the less bent area is longer. For another example, the length of the soft rod 510 at the distal end is less than the length of the soft rod 510 at the proximal end.
  • the gaps between the multiple soft rods and the receiving holes can be set according to needs. For example, the gaps between at least two soft rods and the corresponding receiving holes are different. For another example, the gaps between the multiple soft rods and the corresponding receiving holes are the same.
  • the gap specification can be limited by the size of the different areas of the soft rod and the size of the receiving hole.
  • the cross-sectional specifications of the multiple soft rods are the same.
  • the soft rods have a cylindrical structure, and the cross-sectional specifications are the same everywhere.
  • the specifications include shapes and sizes.
  • the cross-sections of the soft rods can have various shapes. , For example, circle, ellipse, triangle, polygon, etc.
  • the cross-sectional specifications of at least two soft rods are different.
  • the cross-sectional size of the soft rod at the distal end is smaller than the cross-sectional size of the soft rod at the proximal end, so that the gap between the soft rod at the distal end and the receiving hole is larger than the soft rod at the proximal end and the receiving hole The gap between.
  • the size of the soft rod in the frequently bent part of the connecting assembly is smaller than the size of the soft rod in the less bent area, so that the gap between the soft rod in the frequently bent part and the receiving hole is larger than the soft rod in the less bent area The gap with the receiving hole.
  • the cross section of the soft rod includes two sizes, and the soft rods with different sizes are arranged at intervals.
  • the cross-section of the same soft rod may also have different specifications in different areas.
  • the cross-sectional size of the soft rod at the proximal end is smaller than the cross-sectional size at the distal end.
  • the cross-sectional shape of the soft rod in the proximal region is different from the cross-sectional shape in the distal region.
  • the gap between the soft rod and the receiving hole is different, and the area with a larger gap is more flexible when the soft rod turns with the connecting component.
  • the soft rod can reduce it in the receiving hole. , And then better limit the position of the drive wire.
  • the stiffness of multiple soft rods can also be set as required.
  • multiple soft rods have the same stiffness.
  • at least two soft rods have different stiffnesses.
  • the rigidity of the soft rod located in the area where the connecting component is often bent is smaller, and the rigidity of the area with less bending is greater.
  • the soft rod may also be located in the connecting unit, which does not cover the gap, or partially covers the gap.
  • the specific arrangement mode, structure and connection mode can be the same as the above embodiments, and will not be repeated here.
  • the soft rod 510 is provided with a bending opening 513 to assist the soft rod 510 in bending, thereby further reducing the deformation of the soft rod 510 when the soft rod 510 is bent.
  • the bending opening can have multiple distribution modes. In the embodiment shown in FIG. 15, there are multiple bending openings 513, all of which are located on one side of the center line of the soft rod 510. In the embodiment shown in FIG. 16, there are multiple bending openings 513 located on opposite sides of the center line of the soft rod 510. In this embodiment, the bending openings 513 on both sides are staggered along the soft rod 510.
  • the staggered arrangement means that the bending opening on the first side 11 is between the two bending openings on the second side 12, where the bending opening on the first side is both It can be arranged adjacent to the two second side bending openings or not adjacent to each other. For example, three first side bending openings are located between two second side bending openings, and three first side bending openings are arranged in sequence . It should be noted that the staggered bending openings on both sides can be staggered regularly or irregularly.
  • the soft rod 510 has a plurality of bending openings 513, and the plurality of bending openings 513 are distributed along the periphery of the soft rod 510 in the extending direction of the soft rod 510.
  • a plurality of bending openings 513 are distributed along the extension direction of the soft rod 510 in a stepped shape.
  • the bending opening may be located in the gap area of the connection assembly 200, or in the connection unit of the connection assembly 200, or partly in the gap area and partly in the connection unit.
  • the bending opening can have various shapes, for example, the bending opening is a strip-shaped opening.
  • the bending opening is a strip tangent, that is, the bending opening is a cut on the soft rod 510.
  • the bend is wavy
  • the inner wall of the receiving hole 211 and/or the soft rod 510 has abutting area, so that the soft rod 510 partially abuts the receiving hole 211, that is, when the soft rod and the connecting component both extend along a straight line, And when the soft rod is located on one side of the connecting assembly, the soft rod abuts against the receiving hole through the abutting area, and the side other than the receiving hole abuts against the soft rod.
  • the abutment area makes a part of the soft rod 510 abut the connection assembly 200, which reduces its contact area with the connection assembly 200, thereby reducing friction.
  • the abutting area can have a variety of structures, and the abutting area can be a curved surface or a flat surface.
  • the receiving hole 211 is a tapered hole
  • the contact area is an area with a smaller diameter of the tapered hole. That is, the abutment area is an opening area with a smaller diameter of the tapered hole.
  • the connecting unit with a tapered hole can also be used to limit the position of the free end of the soft rod. When one of the opening areas is small so that the soft rod 510 cannot pass through, the position of the free end of the soft rod is restricted. In the embodiment shown in FIG.
  • the inner wall of the receiving hole 211 is extended with a protrusion, and the abutting area is located on the protrusion.
  • the receiving hole 211 is in the shape of an hourglass, and the convex area of the inner wall thereof is the abutting area.
  • the receiving hole 211 is two conical holes communicating with each other, and the protruding area is the area where the two tapered holes are connected, and the two tapered holes forming the receiving hole can have the same or similar specifications.
  • the raised area can be located either in the middle of the connecting unit or close to the edge.
  • the abutting area is provided on the soft rod 510.
  • the soft rod 510 is provided with protrusions to abut against the inner wall of the receiving hole.
  • the abutting areas of the connecting units are all the same. In other embodiments, the abutting areas of at least two connecting units may be different.
  • the end instrument 100 has two clamping parts 110 that are rotatably connected, wherein the clamping part 110 has a clamp 111, an insulating member 112, and a rotating member 113 connected in sequence, and the clamp 111 forms an electrode.
  • the insulating member 112 is insulated from the rotating member 113, and the two rotating members 113 are rotatably connected to drive the two jaws 111 to open and close.
  • the clamp 111 is insulated from the rotating member 113 and the connecting assembly 200 by the insulating member 112, which improves the stability of the surgical instrument.
  • both the clamp 111 and the rotating member 113 are made of metal materials to ensure their rigidity; in other embodiments, the rotating member 113 may also be made of insulating material, and in this case, the rotating member 113 passes through the insulating member 112. It is connected to the clamp 111, or the insulating member 112 may be omitted.
  • the end instrument 100 may also have other structures.
  • the insulating member 112 is located between the two rotating members 113 to insulate the two rotating members 113 from each other.
  • the clamp 111 is connected to the rotating part 113
  • the insulating part 112 is located on the body to insulate the clamp 111 from the connecting assembly 200
  • the insulating part 112 insulates the two rotating parts 113 from each other, two of the rotating parts 113
  • the rotating shaft is arranged on the main body to rotate relative to the main body, and the connecting component is connected with the main body.
  • the insulating part is omitted from the clamping part.
  • the clamp 111 extends from the insulating member 112, which extends from the insulating member 112 in the distal direction. In the embodiment shown in FIG. 24, the clamp 111 does not protrude from the insulating member 112 in the distal direction. Specifically, the clamp 111 is embedded in the insulating member 112 and has a clamping surface 101. The clamping of the two clamps The faces 101 are arranged oppositely. At this time, the clamping surface 101 of the clamp 111 protrudes from the insulating member 112. In other embodiments, the clamping surface 101 of the clamp 111 may also be flush with the surface of the insulating member 112 or embedded in the insulating member 112.
  • one clamping surface 101 protrudes from the insulating member 112, and the other clamping surface 101 is embedded in the insulating member 112.
  • the two clamping surfaces 101 are both flush with the insulating member 112. It should be noted that when the clamping surface is embedded in the insulating member 112, the degree of embedding can still ensure that the two electrodes can be conducted when the tissue is clamped.
  • each clamp 111 forms one electrode.
  • multiple electrodes 102 may also be formed on each clamp 111.
  • the electrodes 102 on the two clamps 111 are correspondingly arranged.
  • a conductive sheet is provided on the clamp 111, and the conductive sheet forms an electrode.
  • the entire clamp 111 can also form one electrode.
  • the insulating member 112 wraps at least two surfaces of the end of the clamp 111 and/or the rotating member 113, so that it is firmly connected to the clamp 111 and/or the rotating member 113.
  • the clamp 111 and/or the rotating member 113 may wrap at least two surfaces of the distal end of the insulating member 112 to be firmly connected.
  • the insulating member 112 and the clamp 111 and/or the connecting member can be connected in a variety of ways, for example, connected by a connecting structure; another example is integrally formed; another example, the insulating member 112 and the clamp 111 and/or the rotating member 113 Riveted.
  • the insulating member 112 may also be connected to only one surface of the clamp 111 and/or the rotating member 113.
  • the end instrument 100 further has a main body 120, and two rotating parts 113 are arranged on the main body 120 via a rotating shaft to rotate relative to the main body 120, wherein the position of the rotating shaft is fixed relative to the main body 120.
  • the end instrument 100 further includes a push rod 130 connected to the rotating member 113, and the push rod 130 and the rotating member 113 form a four-bar mechanism to drive the jaw 111 to open and close by driving the push rod 130.
  • the driving wire 520 of the end driving part 500 is connected with the push rod, and the jaw 111 is driven by the push rod.
  • the clamping portion 110 may also be driven by other structures.
  • the push rod may be omitted.
  • the driving wire 520 of the end driving part 500 is directly connected to the rotating member 113 to drive it to rotate.
  • the surgical instrument further includes an electrocoagulation component.
  • the electrocoagulation component has a wire 610, and the distal end of the wire is electrically connected to the clamp 111, so that the clamp 111 forms an electrode; the portion of the wire 610 located in the connecting assembly 200 is in a relaxed state; the wire has a fixed connection area 611 fixed to
  • the main body and/or the end device 100 are attached so that the distal region of the guide wire is close to the end device 100.
  • the main body includes at least one of a connecting component, a connecting rod, and a driving housing.
  • the main body includes a connecting component and a connecting rod; for another example, the main body includes a connecting component and a driving housing.
  • the slack state means that when the connecting component extends in a straight line, the length of the wire in the connecting component is greater than the length of the connecting component; or when the connecting component is bent, the length of at least one wire in the connecting component is greater than when the connecting component extends in a straight line.
  • the length of the inner wire and the tension of the wire remain basically unchanged. For example, the length of the wire located in the connecting rod is greater than the length of the connecting rod.
  • the end instrument may also be an electric hook or other surgical instrument. When it is an electric hook, the electric hook is connected with the wire to form an electrode.
  • the fixed connection area can limit the slack of the lead, thereby avoiding excessive slack of the lead in the end instrument area.
  • the fixed connection area can be set as required.
  • the fixed connection area 611 is located in the area of the rotating member 113.
  • the area of the rotating member 113 may be on the rotating member 113, on the main body 130, on the rotating shaft and other elements located in the area of the rotating member 113.
  • the fixed connection area 611 is fixed on the area of the main body 130 adjacent to the rotating shaft, so that when the clamping portion 110 is opened and closed, the main body 130 is provided between the area of the fixed connection area 611 and the area of the distal end of the clamp 111.
  • the first distance remains basically unchanged.
  • the second distance between the fixed connection area and the distal end of the wire is substantially the same as the first distance, so that the wire and the clamping portion 110 are basically fit, and the wire is too loose to affect operation or bring safety hazards. .
  • the first distance remains basically unchanged, it will not cause the wire to be pulled.
  • the fixed connection area of the wire located in the area of the rotating element 113 may also be provided on the rotating element 113, for example, in the area of the rotation axis of the rotating element 113.
  • the fixed connection area can also be provided on the rotating shaft.
  • the fixed connection area 611 is not on the shaft area. It can also be understood that it is not on the shaft or on other areas corresponding to the shaft.
  • the second distance needs to be slightly larger than the first distance in order to clamp When the holding part 110 is opened and closed, a space is left to prevent the wire from being tight.
  • the second distance on the wire can also be slightly larger than the first distance, for example, the second distance is 1 to 3 mm larger than the first distance.
  • the wire extends along the clamping portion and is in a relaxed state.
  • the fixed connection area can also be located on the main body of the surgical instrument. In one embodiment, the fixed connection area is located at the proximal end of the main body and is closer to the proximal end than the proximal end of the connection assembly 200. As shown in FIG. 29, the fixed connection area is arranged in the connecting rod 300; for another example, the fixed connection area is arranged on the drive housing. In one embodiment, the fixed connection area is provided on the connection unit at the proximal end of the connection component. In this way, it can be ensured that the connecting component will not be taut when bent, and the proximal end of the wire will not be pulled.
  • the fixed connection area may also be provided on the connection component.
  • the fixed connection area divides the wire located in the connection assembly into at least two areas, wherein at least one area is in a relaxed state, for example, both are in a relaxed state.
  • the displacement of the wire when the connection assembly is deflected can be reduced.
  • the fixed connection area of the wire may be one or multiple. When there are more than one, it can be set at the position in the above embodiment. For example, one of them is located in the area of the rotating member 113, and one is located in the connecting rod 300 or the drive housing. For another example, one of them is located in the connecting rod 300, and the others are located in the connecting assembly 200.
  • the clamping portion 110 is provided with a guide, and the area of the wire on the clamping portion 110 extends along the guide, so that the wire is close to the clamping portion 110.
  • the guide 114 is provided with a guide hole 103 and an opening 104 communicating with the guide hole 103, so that the wire is received in the guide hole through the opening.
  • the opening may also be omitted.
  • a guide hole is provided for the wire to be received in the guide hole.
  • the guide member is a guide groove opened in the clamping portion 110, and the wire is received in the guide groove, wherein the guide groove is located on the opposite surface of the clamping portion 110.
  • the guide groove may also be located on other surfaces of the clamping portion 110, for example, on the side surface of the clamping portion 110, where the side surface refers to the surface adjacent to the opposite surfaces of the two clamping portions 110.
  • the guide includes a guide groove opened on the clamping portion 110 and a guide unit guided by the guide groove. The wire is accommodated in the guide groove, and the wire is restricted in the guide groove by the guide unit.
  • the guide unit is a gear lever, and its extending direction is arranged non-parallel to the extending direction of the guide groove.
  • the wire passes through the connection component and extends along the connection component, and is located in the axial region of the connection component.
  • the wire extends along the axis of the connecting component.
  • the wire is arranged adjacent to the axis of the connecting component. Two wires can pass through one through hole to pass through the connection component, or through two through holes to pass through the connection component.
  • the surgical instrument further includes a wire receiving rod through which the connecting assembly is inserted, and the receiving cavity is opened, the wire is passed through the wire receiving rod, and the wire is spaced from the inner wall of the receiving cavity, that is, there is a gap.
  • the structure of the receiving rod can be the same as the soft rod in the foregoing embodiments, and is used to protect and restrict the wire, which will not be repeated here.
  • the end driving part 500 of the surgical instrument has a driving wire 520, a driving component 530 and a positioning component 540.
  • the driving wire 520 passes through the connecting assembly 200 and is connected to the end instrument 100, which is bendable with the connecting assembly 200, and the driving wire 520 has a driving connection area 521, which is connected to the driving assembly 530, and the driving wire 520 is located outside the connecting assembly 200 At least a part of the area is positioned by the positioning component 540 so that the driving component drives the driving wire 520 to move in a straight line, thereby driving the end instrument 100.
  • the rigidity of the driving wire 520 is greater than the rigidity of the driving wire 520 of the connecting unit that drives the connecting assembly 200 to bend, and it can be bent with the connecting assembly 200.
  • the driving assembly 530 drives the driving wire 520 to move in a straight line, which means that the driving wire 520 at least drives the connection
  • the area 521 moves linearly with the driving assembly 530.
  • the end instrument 100 can be selected according to needs. For example, it has a clamp 111, and the driving wire 520 drives the clamp 111 to open and close by feeding; for another example, the driving wire 520 drives the end instrument 100 to rotate through the feeding, and the end instrument 100 can It has a worm gear structure and is connected to the distal end of the driving wire 520.
  • the positioning mechanism can limit its position, thereby reducing the error caused by the bending of the driving wire 520, and making the operation of the surgical instrument more accurate.
  • the moving direction of the driving connection area is the same as the extending direction of the connecting component 200.
  • the initial position of the connecting component 200 means that the connecting component 200 extends along a straight line without bending.
  • the driving wire 520 is in a straight state, which is the same as the movement direction of the upper driving connection area.
  • the moving direction of the driving connection area forms an angle with the extension direction of the connection assembly 200, for example, the included angle is an obtuse angle.
  • the driving wire 520 is located in the area inside the connection assembly 200
  • the position of the connecting assembly 200 is restricted by the internal structure, for example, the position of the driving wire is restricted by the receiving hole 211 on the connecting unit.
  • the drive wire 520 extends along the axis of the connection assembly 200, that is, the drive wire 520 is located in the middle area of the connection assembly 200, which further improves the operation accuracy.
  • the positioning assembly can have various structures.
  • the end driving part 500 has a soft rod 510 passing through the connecting assembly 200, the driving wire 520 passes through the soft rod 510, and the soft rod 510 extends out of the connecting assembly 200 so that the soft rod 510 extends out of the connecting assembly 200.
  • Part of the assembly 200 forms a positioning assembly 540, thereby reducing the bending of the driving wire 520.
  • the positioning component 540 includes a positioning groove, and the driving wire 520 is located in the positioning groove and moves along the positioning groove to restrict its bending by the positioning groove. As shown in FIG. 34, the positioning component 540 wraps the driving connection area to avoid bending of the area.
  • the positioning component is disposed on the driving component and moves with the driving component together with the driving wire 520.
  • the drive connection area can be set on the drive assembly through the positioning assembly, or directly set on the drive assembly.
  • the positioning component is strip-shaped, for example, the length of the positioning component is 5-10 mm.
  • the positioning component can also be a combination of the above embodiments.
  • the positioning component includes an area where the soft rod 510 extends out of the positioning component and a positioning groove.
  • the soft rod 510 is located in the positioning groove, and the positioning groove passes through the soft rod. 510 Position the driving wire 520.
  • the positioning component 540 is disposed adjacent to the driving connection area 521 to minimize the distance between the positioning component and the connection area, thereby improving accuracy.
  • the extension area of the soft rod 510 is located adjacent to the connection area 521, and the extension area of the soft rod 510 does not interfere with the driving assembly 530.
  • the drive connection area 521 is located at the extreme position in the distal direction, it is basically located at the proximal area of the soft rod 510, that is, when the drive assembly drives the connection area to move to the distal extreme position, the proximal end of the soft rod 510 is connected to the The edges of the area are basically on the same plane.
  • the proximal end of the soft rod 510 is positioned at the distal end of the driving connection area, and the distance between the two is 3-10 mm.
  • the side wall on one side of the positioning groove covers the driving connection area when the driving connection area moves, so that the side wall on one side is located at the extreme position of the moving connection area to the far end.
  • the drive assembly is a belt transmission assembly, which includes two pulleys and a conveyor belt connecting the two pulleys.
  • the drive connection area of the drive wire 520 is connected to the conveyor belt and moves along a straight line with the conveyor belt.
  • the drive assembly is a synchronous wheel assembly.
  • the pulley can drive the conveyor belt to move by friction.
  • the drive assembly may also have other structures to drive the drive wire 520 to move.
  • the drive assembly is a rack and pinion mechanism, and the drive wire 520 is arranged on the rack.
  • the drive wire 520 is welded to the drive assembly, for example, the drive connection area of the drive wire 520 is welded to the conveyor belt.
  • the welding area is strip-shaped, it can also be understood that the welding area is a positioning component that wraps the driving connection area.
  • the driving wire 520 may also be provided on the driving assembly through a connecting member.
  • the connecting piece is welded to the drive wire.
  • the driving wire 520 is clamped with the connecting piece, and the connecting piece is arranged on the conveyor belt.
  • the driving wire 520 extends with a clamping edge, and the clamping edge is clamped with the connecting member.
  • the connecting member is provided with a clamping groove, the clamping edge is clamped with the clamping groove, and the clamping edge is located inside the connecting member.
  • the positioning assembly includes a connector.
  • the distal end of the driving wire 520 is the driving connection area.
  • the driving assembly is at least partially disposed in the driving housing.
  • the proximal end of the driving wire 520 may also be a driving connection area, that is, the driving assembly is at least partially disposed adjacent to the end instrument 100.
  • the drive connection area may also be the area in the middle of the drive wire 520, not the end area.

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Abstract

一种手术器械，包括：末端器械、连接组件及末端驱动部，连接组件具有多个依次连接的连接单元，末端器械与连接单元相连接；末端驱动部具有软杆及驱动丝，驱动丝穿设软杆并与末端器械相连接，软杆穿设连接组件，其至少一个端部为自由端。由于软杆的设置，能够减少驱动时的摩擦，不仅能够延长驱动丝寿命，而且能够提高驱动的准确性。

Description

内窥镜及操作臂
本申请要求于2019年04月25日提交中国专利局、申请号为CN201910338326.8、申请名称为“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领域，特别是涉及一种手术器械。
背景技术
微创手术是指利用腹腔镜、胸腔镜等现代医疗器械及相关设备在人体腔体内部施行手术的一种手术方式。相比传统手术方式微创手术具有创伤小、疼痛轻、恢复快等优势。
随着科技的进步，微创手术的手术器械逐渐成熟，并被广泛应用。目前手术器械通常具有能够调整末端器械姿态及位置的连接组件，手术过程中通过连接组件的弯转及移动来调节末端器械姿态及位置，以使末端器械在期望位置执行手术操作。由于连接组件在手术过程中需要经常弯转，末端器械的驱动成为手术器械中的设计难点，需要提供更优的方案解决末端器械的驱动问题。
发明内容
基于此，有必要提供一种驱动性能较好的手术器械。
本申请提供了一种手术器械，包括：
末端器械；
连接组件，与所述末端器械相连接；
末端驱动部，具有软杆及驱动丝，所述驱动丝穿设所述软杆并与所述末端器械相连接，所述软杆穿设所述连接组件，其至少一个端部为自由端。
本申请还提供了一种手术器械，包括：
末端器械；
连接组件，具有多个依次连接的连接单元，所述末端器械与所述连接单元相连接；
末端驱动部，具有软杆及驱动丝，所述驱动丝穿设所述软杆并与所述末端器械相连接，所述软杆穿设所述连接组件，其至少一个端部为自由端；
相邻两个所述连接单元之间留有空隙，以进行弯转，所述软杆至少遮盖所述连接组件中的部分所述空隙；
所述软杆开设有弯折口，以辅助所述软杆弯折。
本申请还提供了一种手术器械，包括：
末端器械；
连接组件，具有多个依次连接的连接单元，所述末端器械与所述连接单元相连接；
末端驱动部，具有软杆及驱动丝，所述驱动丝穿设所述软杆并与所述末端器械相连接，所述软杆穿设所述连接组件，其至少一个端部为自由端；
相邻两个所述连接单元之间留有空隙，以进行弯转，所述软杆至少遮盖所述连接组件中的部分所述空隙；
所述末端驱动部还具有驱动组件及定位组件，所述驱动丝具有驱动连接区域，所述驱动连接区域与所述驱动组件相连接，所述驱动丝位于所述连接组件外的至少部分区域通过所述定位组件定位，以使所述驱动组件驱动所述驱动丝沿直线运动。
本申请的手术器械，具有如下有益效果：
通过设置软杆并将驱动丝穿设软杆进而与末端器械相连接，能够减少驱动时的摩擦，不仅能够延长驱动丝寿命，而且能够提高驱动的准确性。
附图说明
图1为手术机器人一实施例的结构示意图；
图2、图3为手术机器人不同实施例的局部示意图；
图4为手术器械一实施例的结构示意图；
图5至图32、图34分别为手术器械不同实施例的局部示意图；
图33为图32A处局部放大图。
具体实施方式
为了便于理解本申请，下面将参照相关附图对本申请进行更全面的描述。附图中给出了本申请的较佳实施方式。但是，本申请可以以许多不同的形式来实现，并不限于本文所描述的实施方式。相反地，提供这些实施方式的目的是使对本申请的公开内容理解的更加透彻全面。
需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。当一个元件被认为是“耦合”另一个元件，它可以是直接耦合到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。本文所使用的术语“远端”、“近端”作为方位词，该方位词为介入医疗器械领域惯用术语，其中“远端”表示手术过程中远离操作者的一端，“近端”表示手术过程中靠近操作者的一端。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
如图1所示，手术机器人包括主操作台1及从操作设备2。其中，主操作台1用于根据医生的操作向从操作设备2发送控制命令，以控制从操作设备2，其还用于显示从设备2获取的影像。从操作设备2用于响应主操作台1 发送的控制命令，并进行相应的操作，并且从操作设备2还用于获取体内的影像。
从操作设备2包括机械臂21、设置于机械臂21上的动力机构22、设置于动力机构22上的手术器械23，以及套设手术器械23的套管24。机械臂21用于调节手术器械23的位置；动力机构22用于驱动手术器械23执行相应操作；手术器械23用于伸入体内，并通过其位于远端的末端器械执行手术操作，及/或获取体内影像。具体的，如图2、图3所示，手术器械23穿设套管24，其末端器械100伸出套管24外，并通过动力机构22驱动其执行操作。图2中，手术器械23位于套管24内的区域为刚性区域；图3中，手术器械23位于套管24内的区域为柔性区域，套管随柔性区域弯曲。也可以省略套管24。
如图4、图5所示，手术器械23包括：末端器械100、连接组件200、连杆300、驱动壳体400及末端驱动部500。末端器械100、连接组件200、连杆300、驱动壳体400依次连接，末端驱动部500部分设置于驱动壳体内，并与末端器械100相连接，用于驱动末端器械，以使其执行手术操作，例如，当末端器械为夹持器时，驱动末端器械开合。其他实施例中也可以省略连杆及驱动壳体。
连接组件200包括多个依次连接的连接单元210。其中，多个连接单元既可以直接连接，例如，连接单元具有连接轴，相邻两个连接单元通过连接轴转动连接；也可以通过其他组件彼此连接，例如，多个连接单元通过连接单元驱动丝彼此连接，连接单元驱动丝用于驱动连接组件200。其中，多个连接单元的规格及结构既可以相同也可以相异。其他实施例中，连接组件也可以为其他结构。
末端驱动部500包括软杆510及穿设软杆510的驱动丝520，驱动丝520与末端器械100相连接，用于驱动末端器械100，软杆510用于限制驱动丝520的移动。其中，驱动丝的刚度大于软杆的刚度，其能随连接组件弯曲，且能够驱动钳夹开合。例如刚度为50～70N/mm。当驱动丝沿近端到远端方向 移动驱动末端器械时，软杆能够限制其弯曲，进而令末端器械运动更精准。驱动丝与软杆之间的摩擦系数小于其与连接组件之间的摩擦系数，这样，相比驱动丝不通过软杆直接设置于连接组件内，软杆能够减少驱动时的摩擦，一方面延长驱动丝寿命，另一方面进一步提高驱动的准确性。
一实施例中，软杆510位于连接组件200的轴线区域，且沿连接组件200延伸。即软杆位于连接组件的中部区域，且沿连接组件延伸。其中，软杆510与连接组件200之间具有间隙，以令软杆510相对连接组件200可摆动，减少两者之间的摩擦。例如，间隙为0.1～3mm；再如，间隙为0.2mm。其他实施例中，软杆510也可以不位于连接组件200的中部区域，例如，软杆位于连接组件的边缘区域，并沿连接组件延伸。再如，连接单元也可以间隔开设多个收容孔，软杆位于其中给一个收容孔内，这样，软杆可根据需要选择安装的收容孔。
如图6所示，软杆510开设有穿线孔511，驱动丝520穿设穿线孔511。一实施例中，穿线孔511位于软杆510的轴线区域，且沿软杆510延伸，即驱动丝520位于软杆510的中部区域。其他实施例中，穿线孔也可以位于其他区域，例如，穿线孔临近软杆510的轴线设置，且沿软杆510延伸，即驱动丝520偏离软杆510中部区域。再如，穿线孔为多个，彼此间隔设置，驱动丝520位于其中一个或部分穿线孔内。其中，驱动丝520与穿线孔的内壁之间具有间隙。例如，间隙为0.05～0.5mm；再如，间隙为0.2mm。
一实施例中，软杆510穿设连接组件200，其至少一个端部为自由端。其中，自由端指可根据受力情况改变端部方向的端部，这样，当软杆510受力弯曲时，能够减少其形变，令穿设软杆510的驱动丝520位置更加准确，进一步保证器械驱动的准确度。如图6、图7所示实施例中，自由端为软杆510上未被固定的端部，其通过连接组件200上的阻挡层220限制位置，具体请参照下文。一实施例中，自由端为软杆510通过万向结构设置于连接单元上的端部，这样令自由端可根据其受力情况改变端部方向，减少软杆510的拉伸。其他实施例中，自由端也可以通过其他结构限制位置，只要保证其 在受力时可减少形变即可。需要说明的是，其他实施例中软杆也可以不具有自由端，其端部均被固定设置。
当软杆510具有两个端部时，其既可以具有一个自由端，也可以具有两个自由端。当软杆510具有一个自由端时，另一端固定设置，例如，软杆510的远端为自由端，软杆510的近端与连接组件200、连杆300、驱动壳体400中的至少其一固定连接。其中固定设置既可以为不可拆卸连接，也可为可拆卸连接。当具有两个自由端时，软杆510的两个自由端分别与限制其位置的结构分别对应，并临近设置。例如，两个自由端分别与两个阻挡层220对应设置。再如，两个自由端一个与阻挡层对应，另一个与万向结构对应。当软杆510为具有多个端部的软杆510时，自由端的数量可根据实际需要进行配置，例如，软杆510的近端具有一个端部，远端具有两个端部，远端的两个端部均可为自由端。
如图6、图7所示，当自由端通过阻挡层220限制位置时，连接单元210开设有收容孔211，软杆510穿设收容孔211。其中至少一个连接单元设有阻挡层220，阻挡部分收容孔211，用于阻挡软杆510的自由端，以限制自由端的位移。其中，设有阻挡层220的连接单元，其阻挡层并不封闭收容孔211，以使驱动丝520能够穿过收容孔211与末端器械100连接。阻挡层220与收容孔211形成收容腔，以收容软杆510的自由端。当连接组件包括两个具有阻挡层的连接单元，两个阻挡层与两个阻挡层之间的连接单元的收容孔形成收容腔，以收容软杆。需要说明的是，多个连接单元的收容孔规格相同，也可以相异。
阻挡层可具有多种结构。例如，图6、7所示实施例中，阻挡层220为连续区域，即阻挡层220上仅留出驱动丝520的通道，收容孔211的其余部分被封闭。再如，图8所示实施例中，阻挡层220为网状结构，驱动丝520从其网孔伸出，或者驱动丝520从阻挡层开设的开口伸出。又如，图9所示实施例中，阻挡层220用于阻挡驱动杆的表面为弧面，此时，软杆510可具有与其对应的弧面。需要说明的是，阻挡层既可以与连接单元一体成型，也可 以为可分离结构，例如，可拆卸地与连接单元相连接。
软杆510固定端的连接方式具有多种，如图10所示实施例中，软杆510用于固定的端部延伸有卡接边缘512，卡接边缘512与连接组件卡接。具体地，连接单元210设有阻挡层220，卡接边缘512与阻挡层220卡接，且连接组件具有配合阻挡层220卡接的阻挡盖230，以令卡接边缘512位于阻挡盖230与阻挡层220之间，进而固定软杆510的端部。其他实施例中，也可以省略阻挡层，此时卡接边缘卡接连接组件的边缘区域。或者，也可以省略阻挡盖，此时可通过临近结构卡接，例如，通过临近的连接单元卡接所述卡接边缘。其他实施例中，软杆也可以通过其他方式固定，例如粘贴等。
一实施例中，也可以通过限制软杆510中部区域的位置，限制软杆510及驱动丝520的位置。如图11所示实施例中，收容孔211具有第一收容孔211A、第二收容孔211B，第二收容孔211B的直径小于第一收容孔211A的直径，以使软杆510与第一收容孔211A内壁之间的间隙大于与第二收容孔211B内壁之间的间隙。其中，软杆既可以相对第二收容孔可摆动，即两者之间具有较大间隙，另其能够在孔内摆动，也可以相对第二收容孔固定，即两者之间没有间隙或者间隙较小，使第软杆相对第二收容孔位置基本固定，或者通过固定结构令软杆与连接组件彼此固定。当软杆相对第二收容孔位置基本固定时，开设该第二收容孔的连接单元可为拼接结构，以方便软杆的安装。第二收容孔能够减少软杆的摆动，进而令末端器械的控制更加精准。
当连接组件具有多个第二收容孔时，多个第二收容孔间隔设置，即相邻两个连接单元最多一个设有第二收容孔。这样能够减少软杆在弯曲时的形变。需要说明的是，第二收容孔既可以位于软杆的中部区域，也可以位于软杆的近端或者远端。
需要说明的是，也可以通过令软杆不同区域具有不同的尺寸，以令其不同区域与相同规格收容孔之间的间隙不同，从而限制软杆的位置。或者，通过软杆的尺寸与收容孔的尺寸一同调节两者之间的间隙。软杆与收容孔之间的间隙分布可与上述实施例相同，此处不再复述。此外，连接组件也可以不 限制软杆中部区域的摆动，另其与自由端一样根据受力情况摆动，这样能够减少软杆弯曲时的形变。
如图4至图16所示实施例中，连接组件200相邻两个连接单元210之间具有空隙240，以便于连接单元彼此相对运动，软杆510至少遮盖连接组件200中的部分空隙240。当软杆510遮盖空隙240时，软杆510能够限制驱动丝520位于空隙区域的弯曲，进而减小驱动丝520的弯曲，令驱动精度较好。
软杆既可以遮盖连接组件中的每个空隙，也可以仅遮盖连接组件中的部分空隙。当仅遮盖连接组件中的部分空隙时，连接组件被覆盖的空隙沿连接组件基本均匀分布，或者令相对运动较大的连接单元之间的空隙被覆盖，这样，能够尽量减少驱动丝的弯曲。一实施例中，未被遮盖的空隙与被遮盖的空隙间隔设置，其中，两个被遮盖的空隙之间既可以具有一个未被遮盖的空隙，也可以具有多个未被覆盖的空隙。需要说明的是，连接组件中的连接单元也可以结构相异，例如，部分连接单元之间不具有空隙。
被遮盖的空隙既可以被软杆封闭，即空隙均被遮盖，也可以被软杆部分封闭，即空隙没有被软杆全部遮盖。当空隙被软杆部分遮盖时，其能够限制驱动丝的弯曲，一实施例中，空隙未被封闭的区域高度为1～4mm。
如图12所示实施例中，软杆510位于空隙240区域，并不收容于收容孔211内，仅在空隙处阻挡驱动丝520弯曲。此时，收容孔的直径根据驱动丝520设置，其可略大于驱动丝520的直径，以限制驱动丝520弯曲，也可为驱动丝520留有较大的活动空间，以减小摩擦。其中，软杆510可为多个，均设置于对应的连接单元上，并遮盖对应的空隙。
软杆也可以穿设至少部分连接单元。如图13所示实施例中，软杆510收容于收容孔211内，且遮盖空隙240，其中，软杆510至少一个端部收容于形成该空隙的连接单元210内，即软杆510的端部不在空隙区域。例如，软杆的两个端部均对应收容于形成该空隙的连接单元的收容孔内。其他实施例中，软杆也可以穿设完整的连接单元，例如，软杆顺序穿设依次排列的三个连接单元。再如，软杆穿设一个连接单元，并部分穿设与该连接单元相邻的 连接单元。其他实施例中，软杆的端部也可以位于空隙区域，例如，软杆的自由端位于空隙区域。软杆的位置限制方式及固定方式可参照上述各实施例，此处不再复述。
如图14所示实施例中，软杆510为多个，多个软杆510沿连接组件200延伸方向依次排列，驱动丝520依次穿设多个软杆510。其中，多个软杆510彼此间隔设置，即多个软杆510的端部彼此不连接，且其随连接组件200转动时，相邻两个软杆510的端部彼此不干涉。在连接组件200弯曲时，多个软杆510相比一个软杆510形变较小，进而令控制更加准确。
本实施例中，两个软杆510的临近端部位于连接单元210内。其他实施例中，两个软杆的临界端部也可以位于空隙的区域，例如，位于同一个空隙内，再如，位于不同的空隙内。
一实施例中，每个软杆至少遮盖一个空隙。例如，每个软杆仅遮盖一个空隙。再如，每个软杆遮盖多个空隙。其中，每个软杆既可以完全遮盖空隙也可以部分遮盖空隙
一实施例中，多个软杆510长度相同。其他实施例中，至少两个软杆510长度相异。例如，多个软杆510长度均相异。再如，连接组件200经常弯曲部分的软杆510长度较短，弯曲较少的区域长度较长。又如，位于远端的软杆510长度小于位于近端的软杆510长度。
一实施例中，多个软杆与收容孔之间的间隙，可根据需要进行设置。例如，至少两个软杆与对应的收容孔之间的间隙相异。再如，多个软杆与对应的收容孔之间的间隙相同。其间隙规格可通过软杆不同区域的尺寸与收容孔的尺寸进行限定。
一实施例中，多个软杆的横截面规格相同，此时，软杆为柱状结构，且各处横截面规格相同，其中，规格包括形状及尺寸，软杆的横截面可具有多种形状，例如，圆形、椭圆形、三角形、多角形等。其他实施例中，至少两个软杆的横截面规格相异。例如，位于远端的软杆的横截面的尺寸小于位于近端的软杆的横截面尺寸，以使位于远端的软杆与收容孔之间的间隙大于位 于近端的软杆与收容孔之间的间隙。再如，连接组件经常弯曲部分的软杆的尺寸小于弯曲较少的区域的软杆的尺寸，以使位于经常弯曲部分的软杆与收容孔之间的间隙大于弯曲较少的区域的软杆与收容孔之间的间隙。又如，软杆的横截面包括两种尺寸，具有不同尺寸的软杆间隔设置。
同一个软杆的横截面也可以在不同区域规格不同，例如，位于软杆位于近端的横截面尺寸小于位于远端的横截面尺寸。又如，软杆位于近端区域的横截面形状与位于远端区域的横截面形状相异。
当软杆横截面规格相异时，软杆与收容孔之间的间隙相异，间隙较大的区域软杆随连接组件弯转时更加灵活，间隙较小时软杆能够减少其在收容孔内的移动，进而较好地限制驱动丝的位置。
多个软杆的刚度也可根据需要进行设置。例如，多个软杆刚度均相同。再如，至少两个软杆的刚度相异。又如，位于连接组件经常弯曲区域的软杆刚度较小，弯曲较少的区域刚度较大。
需要说明的是，其他实施例中，也可以令软杆位于连接单元内，其不遮盖空隙，或者遮盖部分空隙。其具体排列方式、结构及连接方式可与上述各实施例相同，此处不再复述。
一实施例中，软杆510开设有弯折口513，以辅助软杆510弯折，进而进一步减小软杆510弯折时的形变。弯折口可具有多种分布方式。如图15所示实施例中，弯折口513为多个，均位于软杆510中心线的一侧。如图16所示实施例中，弯折口513为多个，位于软杆510中心线的相对两侧。本实施例中，位于两侧的弯折口513沿软杆510交错设置，交错设置指第一侧11的弯折口在两个第二侧12弯折口之间，其中，第一侧的弯折口既可以与两个第二侧的弯折口相邻设置，也可以非相邻设置，例如，三个第一侧弯折口位于两个第二侧弯折口之间，三个第一侧弯折口依次设置。需要说明的是，交错设置的两侧的弯折口既可以规律交错，也可以非规律交错。如图17所示实施例中，软杆510具有多个弯折口513，多个弯折口513在软杆510的延伸方向上，沿软杆510周缘分布。如图18所示实施例中，多个弯折口513呈阶梯 状沿软杆510的延伸方向分布。
需要说明的是，弯折口既可以位于连接组件200的空隙区域，也可以位于连接组件200的连接单元内，或者部分位于空隙区域，部分位于连接单元内。
弯折口可具有多种形状，例如，弯折口为条状开口。再如，弯折口为条状切线，即弯折口为软杆510上的切口。又如，弯折口为波浪状
如图19至图22所示，收容孔211的内壁及/或软杆510具有抵接区域，以使软杆510与收容孔211部分抵接，即当软杆与连接组件均沿直线延伸，且软杆位于连接组件内的一侧时，软杆与收容孔通过抵接区域抵接，而非收容孔的一侧均与软杆抵接。这样，抵接区域令软杆510部分区域与连接组件200抵接，减少了其与连接组件200的接触面积，进而减小了摩擦。
抵接区域可具有多种结构，其中抵接区域可为弧面，或者平面等。如图19所示实施例中，收容孔211为锥形孔，抵接区为锥形孔直径较小的区域。即抵接区域为锥形孔直径较小的开口区域。需要说明的是，具有锥形孔的连接单元也可以用于限制软杆自由端的位置，当其中一个开口区域较小，令软杆510无法穿过时，软杆自由端的位置被限制。如图20所示实施例中，收容孔211的内壁延伸有凸起部，抵接区域位于凸起部上。其中，凸起部可为一个，也可为多个。例如，凸起部为多个，且沿连接单元的周缘分布，即沿收容孔的周缘分布。如图21所示实施例中，收容孔211为沙漏状，其内壁凸起的区域为抵接区域。也可以理解为，收容孔211为两个彼此联通的锥形孔，凸起区域为两个锥形孔相连接的区域，其中形成收容孔的两个锥形孔规格既可以相同，也可以相异，即凸起区域既可以位于连接单元的中部也可以靠近边缘设置。如图22所示实施例中，抵接区域设置于软杆510上，具体地，软杆510设有凸起，以与收容孔内壁相抵接。
一实施例中，各连接单元的抵接区域均相同，其他实施例中，也可以至少两个连接单元的抵接区域相异。
如图23所示实施例中，末端器械100具有转动连接的两个夹持部110， 其中，夹持部110具有依次连接的钳夹111、绝缘件112、转动件113，钳夹111形成电极，且通过绝缘件112与转动件113绝缘，两个转动件113转动连接，以带动两个钳夹111开合。这样，通过绝缘件112将钳夹111与转动件113、连接组件200绝缘，提高手术器械的稳定性。本实施例中，钳夹111及转动件113均为金属材料制成，以保证其刚度；其他实施例中，转动件113也可以为绝缘材料制成，此时，转动件113通过绝缘件112与钳夹111连接，或者也可以省略绝缘件112。
需要说明的是，末端器械100也可以具有其他结构，例如，绝缘件112位于两个转动件113之间，以使两个转动件113彼此绝缘。再如，钳夹111与转动件113相连接，绝缘件112位于本体上，以使钳夹111与连接组件200绝缘，且绝缘件112令两个转动件113彼此绝缘，其中两个转动件113通过转轴设置于本体上，以相对本体转动，连接组件与本体相连接。又如，夹持部省略绝缘件。
如图23所示实施例中，钳夹111伸出绝缘件112，其沿远端方向伸出绝缘件112。如图24所示实施例中，钳夹111在远端方向上不伸出绝缘件112，具体地，钳夹111嵌入绝缘件112内，且具有夹持面101，两个夹钳的夹持面101相对设置。此时，钳夹111的夹持面101凸出于绝缘件112。其他实施例中，钳夹111的夹持面101也可以与绝缘件112的表面平齐或者嵌入绝缘件112内。例如，一个夹持面101凸出绝缘件112，另一夹持面101嵌入绝缘件112内。再如，两个夹持面101均与绝缘件112平齐。需要说明的是，当夹持面嵌入绝缘件112内时，其嵌入程度仍能保证夹持组织时，两个电极可导通。
一实施例中，每个钳夹111形成一个电极，图25所示实施例中，也可以每个钳夹111上形成多个电极102，此时两个钳夹111上的电极102对应设置，以当夹持组织时形成回路。本实施例中，钳夹111上设有导电片，导电片形成电极，当一个钳夹111具有一个电极时，导电片为一个。此外，也可以整个钳夹111形成一个电极。
如图23、图24所示，绝缘件112至少包裹钳夹111及/或转动件113端 部的两个表面，以另其与钳夹111及/或转动件113牢固连接。或者也可以钳夹111及/或转动件113包裹绝缘件112远端的至少两个表面，以牢固连接。其中，绝缘件112与钳夹111及/或连接件可通过多种方式连接，例如，通过连接结构连接；再如，一体成型；又如，绝缘件112与钳夹111及/或转动件113铆接。其他实施例中，绝缘件112也可以仅与钳夹111及/或转动件113的一个表面连接。
图23至图26所示实施例中，末端器械100还具有本体120，两个转动件113通过转轴设置于本体120上，以相对本体120转动，其中转轴位置相对本体120固定。本实施例中，末端器械100还包括与转动件113连接的推杆130，推杆130与转动件113形成四杆机构，以通过驱动推杆130驱动钳夹111开合。其中，末端驱动部500的驱动丝520与推杆相连接，并通过推杆驱动钳夹111。
其他实施例中，夹持部110也可以通过其他结构驱动。或者也可以省略推杆，此时末端驱动部500的驱动丝520直接与转动件113相连接，以驱动其转动。
图27至图29所示实施例中，手术器械还包括电凝组件。具体地，电凝组件具有导线610，导线的远端与钳夹111电连接，以使钳夹111形成电极；导线610位于连接组件200的部分为松弛状态；导线具有固定连接区域611，固定于主体及/或末端器械100上，以使导线的远端区域贴近末端器械100。其中，主体包括连接组件、连杆、驱动壳体中至少其一，例如，主体包括连接组件及连杆；又如，主体包括连接组件及驱动壳体。当导线的固定连接区域在连接组件内时，连接组件内的导线的多个区域中，至少一个区域为松弛状态。松弛状态指当连接组件沿直线延伸时，位于连接组件内的导线的长度大于连接组件的长度；或者当连接组件弯曲时，位于连接组件内的至少一条导线的长度大于连接组件沿直线延伸时其内导线的长度，并且导线的张力基本保持不变。例如，导线位于连杆内的长度，大于连杆的长度，当连接组件弯曲时，导线位于连杆内的部分被移动至连接组件内，以满足连接组件的弯 转需求；再如，导线通过导线收纳部收纳，收纳部能够收放导线，当连接组件弯转时，收放部释放导线以使位于导线位于连接组件内的部分变长。需要说明的是，末端器械也可以为电钩等手术用器械，当为电钩时，电钩与导线连接形成电极。
上述手术器械由于连接组件部分为松弛状态，连接组件弯曲时，导线不会过于绷紧，提高了手术器械操作的精准度，且延长了其寿命。固定连接区域能够限制导线的松弛度，进而避免位于末端器械区域的导线过于松弛。
固定连接区域可根据需要进行设置。如图27所示实施例中，固定连接区域611位于转动件113区域。其中，转动件113区域可为转动件113上、本体130上、转轴上等位于转动件113所在区域的元件上。本实施例中，固定连接区域611固定于本体130临近转轴的区域上，以使夹持部110开合时，本体130设置该固定连接区域611的区域与钳夹111设置远端的区域之间的第一距离基本保持不变。并且本实施例中，该固定连接区域与导线远端之间的第二距离与第一距离基本相同，以令导线与夹持部110基本贴合，避免导线过于松弛影响操作或带来安全隐患。此时，由于第一距离基本保持不变，其不会令导线拉扯。
其他实施例中，位于转动件113区域的导线的固定连接区域也可以设置在转动件113上，例如，位于转动件113的转动轴区域。或者，固定连接区域也可以设置于转轴上。或者如图28所示，固定连接区域611不在转轴区域，也可以理解为，其不在转轴上，或者其他与转轴对应的区域上，此时，第二距离需略大于第一距离，以在夹持部110开合时留有空间，避免导线紧绷。
其他实施例中，也可以令导线上的第二距离略大于第一距离，例如，第二距离比第一距离大1～3mm。此时，导线沿夹持部延伸，且为松弛状态。
固定连接区域也可以位于手术器械的主体上。一实施例中，固定连接区域位于主体近端，且相比连接组件200的近端更靠近近端的位置。如图29所示，固定连接区域设置于连杆300内；又如，固定连接区域设置于驱动壳体上。一实施例中，固定连接区域设置于连接组件近端的连接单元上。这样， 既能够保证连接组件弯曲时不会绷紧，又不会令导线的近端被拉扯。
一实施例中，固定连接区域也可以设置于连接组件上。固定连接区域将位于连接组件内的导线至少分成两个区域，其中，至少一个区域为松弛状态，例如，均为松弛状态。固定连接区域位于连接组件内时能够减少导线在连接组件偏转时的位移。
导线的固定连接区域既可以为一个，也可以为多个。当为多个时，其可设置于上述实施例中的位置。例如，其中一个位于转动件113区域，一个位于连杆300或驱动壳体内。再如，其中一个位于连杆300内，其余的位于连接组件200内。
一实施例中，夹持部110上设有导向件，导线位于夹持部110上的区域沿导向件延伸，以使导线贴近夹持部110。如图30所示，导向件114开设有导向孔103及与导向孔103连通的开口104，以使导线通过开口收容于导向孔内。其他实施例中，也可以省略开口，此时导线穿设导向孔，以收容于导向孔内。再如，导向件为开设于夹持部110的导向槽，导线收容于导向槽内，其中，导向槽位于夹持部110相对的表面上。其他实施例中，导向槽也可以位于夹持部110的其他表面上，例如位于夹持部110的侧面上，其中侧面指与两个夹持部110相对的表面相邻的表面。又如，导向件包括开设于夹持部110上的导向槽及配合导向槽导向的导向单元，导线收容于导向槽内，并通过导向单元将导线限制于导向槽内。例如，导向单元为档杆，其延伸方向与导向槽延伸方向非平行设置。
一实施例中，导线穿设连接组件，且沿连接组件延伸，其位于连接组件轴线区域。例如，导线沿连接组件的轴线延伸。再如，导线临近连接组件的轴线设置。两根导线既可以通过一个穿孔穿设连接组件，也可以通过两个穿孔穿设连接组件。
一实施例中，手术器械还包括穿设连接组件的导线收纳杆，其开设有收纳腔，导线穿设导线收纳杆，且导线与收纳腔的内壁间隔设置，即具有空隙。其中，收纳杆的结构可与上述各实施例中的软杆相同，用于保护及限制导线， 此处不再复述。
如图31至图34所示实施例中，手术器械的末端驱动部500具有驱动丝520、驱动组件530及定位组件540。驱动丝520穿设连接组件200与末端器械100相连接，其随连接组件200可弯曲，并且驱动丝520具有驱动连接区域521，其与驱动组件530相连接，驱动丝520位于连接组件200外的至少部分区域通过定位组件540定位，以使驱动组件驱动所述驱动丝520沿直线运动，进而驱动末端器械100。其中，驱动丝520的刚度大于驱动连接组件200弯曲的连接单元驱动丝520的刚度，其可随连接组件200弯曲，驱动组件530驱动所述驱动丝520沿直线运动，指驱动丝520至少驱动连接区域521随驱动组件530做直线运动。末端器械100可根据需要进行选择，例如其具有钳夹111，驱动丝520通过进给驱动钳夹111开合；再如，驱动丝520通过进给驱动末端器械100旋转，此时末端器械100可具有蜗轮蜗杆结构，与驱动丝520的远端连接。
上述手术器械当驱动丝520朝远端方向推动时，定位机构能够对其限位，进而能够减少驱动丝520弯曲而产生的误差，令手术器械操作更加精准。
一实施例中，连接组件200位于初始状态时，驱动连接区域的移动方向与连接组件200的延伸方向相同，其中，连接组件200的初始位置指连接组件200沿直线延伸，没有弯曲的状态，初始状态时，驱动丝520为直线状态，与其上驱动连接区域的移动方向相同。其他实施例中，连接组件200位于初始状态时，驱动连接区域的移动方向与连接组件200的延伸方向形成夹角，例如，夹角为钝角，此时，驱动丝520位于连接组件200内的区域通过连接组件200的内部结构限制其位置，例如，通过连接单元上的收容孔211限制驱动丝的位置。需要说明的是，一实施例中，驱动丝520沿连接组件200的轴线延伸，即驱动丝520位于连接组件200的中部区域，这样进一步提高操作精度。
定位组件可具有多种结构。如图31所示实施例中，末端驱动部500具有穿设连接组件200的软杆510，驱动丝520穿设软杆510，软杆510伸出连接 组件200，以使软杆510伸出连接组件200的部分形成定位组件540，进而减少驱动丝520的弯曲。如图32、33所示实施例中，定位组件540包括定位槽，驱动丝520位于定位槽内，并沿定位槽移动，以通过定位槽限制其弯曲。如图34所示，定位组件540包裹驱动连接区域，以避免该区域弯曲，定位组件设置于驱动组件上，并与驱动丝520一起随驱动组件移动。其中，驱动连接区域既可以通过定位组件设置于驱动组件上，也可以直接设置于驱动组件上。一实施例中，定位组件为条状，例如，定位组件的长度为5～10mm。或者，定位组件也可以为多个，多个定位组件间隔设置，并沿直线分布。
需要说明的是，定位组件也可以为上述各实施例的结合，例如，定位组件包括软杆510伸出定位组件的区域及定位槽，其中，软杆510位于定位槽内，定位槽通过软杆510定位驱动丝520。
一实施例中，定位组件540临近驱动连接区域521设置，以尽量减少定位组件与连接区域之间的距离，从而提高精度。如图31所示，软杆510伸出区域临近连接区域521设置，并且软杆510伸出区域与驱动组件530不会产生干涉。例如，驱动连接区域521位于远端方向的极限位置时，其基本位于软杆510的近端区域，即当驱动组件带动连接区域运动至远端的极限位置时，软杆510的近端与连接区域的边缘基本位于同一平面上。再如，驱动连接区域位于远端方向的极限位置时，软杆510的近端位于驱动连接区域的远端，且两者之间的距离为3～10mm。如图32所示实施例中，定位槽一侧的侧壁在驱动连接区域移动时覆盖驱动连接区域，令一侧的侧壁位于移动连接区域移动至远端的极限位置。
一实施例中，驱动组件为带传动组件，包括两个带轮、连接两个带轮的传送带，驱动丝520的驱动连接区域与传送带相连接，并随传送带沿直线运动。其中，驱动组件为同步轮组件。其他实施例中，带轮可通过摩擦力驱动传送带移动。或者，其他实施例中，驱动组件也可以具有其他结构，以驱动驱动丝520运动，例如，驱动组件为齿轮齿条机构，驱动丝520设置于齿条上。
一实施例中，驱动丝520与驱动组件焊接，例如，驱动丝520的驱动连接区域与传送带焊接。当焊接区域为条状时，也可以理解为，焊接区域为定位组件，其包裹驱动连接区域。一实施例中，驱动丝520也可以通过连接件设置于驱动组件上。例如，连接件与驱动丝焊接。再如驱动丝520与连接件卡接，连接件设置于传送带上。具体地，驱动丝520延伸有卡接边缘，卡接边缘与连接件卡接，其中，连接件开设有卡接槽，卡接边缘与卡接槽卡接，且卡接边缘位于连接件内部。此时，也可以理解为，定位组件包括连接件。
一实施例中，驱动丝520的远端为驱动连接区域，此时，驱动组件至少部分设置于驱动壳体内。其他实施例中，驱动丝520的近端也可以为驱动连接区域，即驱动组件至少部分临近末端器械100设置。或者驱动连接区域也可以为驱动丝520中部的区域，非端部区域。
以上所述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。
以上所述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，本申请专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种手术器械，其特征在于，包括：
    末端器械；
    连接组件，具有多个依次连接的连接单元，所述末端器械与所述连接单元相连接；
    末端驱动部，具有软杆及驱动丝，所述驱动丝穿设所述软杆并与所述末端器械相连接，所述软杆穿设所述连接组件，其至少一个端部为自由端。
  2. 根据权利要求1所述的手术器械，其特征在于，相邻两个所述连接单元之间留有空隙，以进行弯转，所述软杆至少遮盖所述连接组件中的部分所述空隙。
  3. 根据权利要求1所述的手术器械，其特征在于，所述软杆开设有弯折口，以辅助所述软杆弯折。
  4. 根据权利要求1所述的手术器械，其特征在于，所述软杆为多个，多个所述软杆沿所述连接组件延伸方向依次排列，所述驱动丝穿设多个所述软杆并与所述末端器械相连接。
  5. 根据权利要求1所述的手术器械，其特征在于，所述末端器械具有转动连接的两个夹持部，所述夹持部具有依次连接的钳夹、绝缘件、转动件，所述钳夹形成电极，且通过所述绝缘件与所述转动件绝缘，两个所述转动件转动连接，以带动两个所述钳夹开合。
  6. 根据权利要求1所述的手术器械，其特征在于，所述末端器械具有钳夹，所述手术器械还包括：
    主体，所述主体具有所述连接组件，用于调节所述末端器械的位置及/或姿态；
    电凝组件，具有导线，导线的远端与所述钳夹电连接，以使所述钳夹形成电极，所述导线位于所述连接组件的部分为松弛状态，所述导线具有固定连接区域，固定于所述主体及/或所述末端器械上，以使所述导线的远端区域 贴近所述末端器械。
  7. 根据权利要求1所述的手术器械，其特征在于，所述末端驱动部还具有驱动组件及定位组件，所述驱动丝具有驱动连接区域，所述驱动连接区域与所述驱动组件相连接，所述驱动丝位于所述连接组件外的至少部分区域通过所述定位组件定位，以使所述驱动组件驱动所述驱动丝沿直线运动。
  8. 根据权利要求7所述的手术器械，其特征在于，所述定位组件包括定位槽，所述驱动丝位于所述定位槽内，并沿所述定位槽可移动，所述定位槽一侧的侧壁在驱动连接区域移动时覆盖驱动连接区域，令一侧的侧壁位于移动连接区域移动至远端的极限位置。
  9. 根据权利要求7所述的手术器械，其特征在于，所述定位组件设置于所述驱动组件上，并包裹所述驱动连接区域，其随所述驱动组件移动。
  10. 根据权利要求7所述的手术器械，其特征在于，所述驱动组件为带传动组件，所述带传动组件包括两个带轮、连接两个所述带轮的传送带，所述驱动丝的所述驱动连接区域与所述传送带相连接，并随传送带沿直线运动；或者，所述驱动组件为齿轮齿条机构，所述驱动丝设置于所述齿条上。
  11. 根据权利要求1所述的手术器械，其特征在于，所述连接单元开设有收容孔，所述软杆收容于所述收容孔内，所述收容孔的内壁及/或所述软杆具有抵接区域，以使软杆与所述收容孔部分抵接。
  12. 根据权利要求11所述的手术器械，其特征在于，所述收容孔为锥形孔，所述抵接区为锥形孔直径较小的区域；或者，所述收容孔的内壁延伸有凸起部，所述凸起部沿所述连接单元的周缘分布，所述抵接区域位于所述凸起部上。
  13. 根据权利要求1所述的手术器械，其特征在于，所述连接单元开设有收容孔，所述软杆穿设所述收容孔，其中至少一个所述连接单元设有阻挡层，阻挡部分所述收容孔，以限制所述自由端的位移。
  14. 根据权利要求13所述的手术器械，其特征在于，所述软杆具有两个所述自由端，所述连接组件包括两个具有所述阻挡层的所述连接单元，分别 与两个所述自由端对应，并临近设置。
  15. 根据权利要求13所述的手术器械，其特征在于，所述阻挡层为连续区域，其上开设有套设所述驱动丝的通道；所述阻挡层具有网状结构，所述驱动丝从其网孔伸出。
  16. 根据权利要求1所述的手术器械，其特征在于，所述连接单元开设有收容孔，所述软杆穿设所述收容孔，至少两个所述收容孔与所述软杆之间的间隙相异；所述收容孔具有第一收容孔、第二收容孔，所述第二收容孔的直径小于所述第一收容孔的直径，以使所述软杆与所述第一收容孔内壁之间的间隙大于与所述第二收容孔内壁之间的间隙，进而用于限制所述软杆的摆动。
  17. 根据权利要求1所述的手术器械，其特征在于，所述软杆开设有穿线孔，所述穿线孔位于所述软杆的周线区域或者邻近所述软杆的轴线设置，且沿所述软杆延伸，所述驱动丝穿设所述穿线孔。
  18. 根据权利要求1所述的手术器械，其特征在于，所述驱动丝的刚度大于所述软杆的刚度；所述驱动丝与所述软杆之间的摩擦系数小于其与所述连接组件之间的摩擦系数。
  19. 一种手术器械，其特征在于，包括：
    末端器械；
    连接组件，具有多个依次连接的连接单元，所述末端器械与所述连接单元相连接；
    末端驱动部，具有软杆及驱动丝，所述驱动丝穿设所述软杆并与所述末端器械相连接，所述软杆穿设所述连接组件，其至少一个端部为自由端；
    相邻两个所述连接单元之间留有空隙，以进行弯转，所述软杆至少遮盖所述连接组件中的部分所述空隙；
    所述软杆开设有弯折口，以辅助所述软杆弯折。
  20. 一种手术器械，其特征在于，包括：
    末端器械；
    连接组件，具有多个依次连接的连接单元，所述末端器械与所述连接单元相连接；
    末端驱动部，具有软杆及驱动丝，所述驱动丝穿设所述软杆并与所述末端器械相连接，所述软杆穿设所述连接组件，其至少一个端部为自由端；
    相邻两个所述连接单元之间留有空隙，以进行弯转，所述软杆至少遮盖所述连接组件中的部分所述空隙；
    所述末端驱动部还具有驱动组件及定位组件，所述驱动丝具有驱动连接区域，所述驱动连接区域与所述驱动组件相连接，所述驱动丝位于所述连接组件外的至少部分区域通过所述定位组件定位，以使所述驱动组件驱动所述驱动丝沿直线运动。
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BR112021021418A2 (pt) 2022-02-01
EP3960112A1 (en) 2022-03-02
JP2022530122A (ja) 2022-06-27
US20220226060A1 (en) 2022-07-21
EP3960112A4 (en) 2023-02-01
KR102571499B1 (ko) 2023-08-28
BR112021021418A8 (pt) 2022-08-30
KR20210152525A (ko) 2021-12-15

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