WO2022116215A1 - 手术器械、执行机构及手术机器人 - Google Patents

手术器械、执行机构及手术机器人 Download PDF

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Publication number
WO2022116215A1
WO2022116215A1 PCT/CN2020/134113 CN2020134113W WO2022116215A1 WO 2022116215 A1 WO2022116215 A1 WO 2022116215A1 CN 2020134113 W CN2020134113 W CN 2020134113W WO 2022116215 A1 WO2022116215 A1 WO 2022116215A1
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WO
WIPO (PCT)
Prior art keywords
locking
instrument
assembly
outer sheath
surgical
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Application number
PCT/CN2020/134113
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English (en)
French (fr)
Inventor
潘鲁锋
黄善灯
柳建飞
闫泳利
Original Assignee
诺创智能医疗科技(杭州)有限公司
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Application filed by 诺创智能医疗科技(杭州)有限公司 filed Critical 诺创智能医疗科技(杭州)有限公司
Priority to PCT/CN2020/134113 priority Critical patent/WO2022116215A1/zh
Publication of WO2022116215A1 publication Critical patent/WO2022116215A1/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
    • 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

Definitions

  • the present application relates to the field of medical instruments, and in particular, to a surgical instrument, an executive mechanism and a surgical robot.
  • Minimally invasive surgery refers to opening a tiny wound on the patient's body. Part of the actuator of the surgical robot passes through the tiny wound and enters the lesion position, and makes the telecentric fixed point of the actuator coincide with the position of the wound. The robotic arm part of the robot is controlled to drive the actuator to swing in space within a certain angle range with the telecentric fixed point as the hinge point, assisting the action of the actuator itself to complete the minimally invasive surgery. Minimally invasive surgery is gradually gaining favor among medical staff and patients in recent years due to its small incision and less bleeding.
  • the structure of the actuator generally includes: a surgical instrument for extending to the lesion position, and a driving component for driving the surgical instrument to rotate, open and close, etc. Driven by the driving component, the surgical instrument extends into the human body. The operation end completes the preset surgical action. After the surgical instruments are used, or when necessary, they need to be disassembled and cleaned.
  • the existing surgical instrument structures have many dead corners that are difficult to clean, which is not conducive to cleaning and disinfection of the surgical instruments.
  • the surgical instrument can be divided into a plurality of parts that are easy to clean, so as to meet the needs of cleaning and disinfection of the surgical instrument.
  • Embodiments of the present application first provide a surgical instrument, including an outer sheath, an instrument rod, a surgical tool, and a head disassembly and assembly assembly, wherein: the head disassembly assembly is installed at one end of the outer sheath; the surgical tool It is arranged on the head disassembly assembly and can be disassembled from one end of the outer sheath through the head disassembly assembly; the instrument rod is slidably arranged in the outer sheath, and one end of the instrument rod is drivingly connected to the surgical tools.
  • the surgical tool is arranged on the head disassembly and assembly assembly, and is driven to connect to the instrument shaft, and the head disassembly and assembly assembly enables the surgical tool to be disassembled from the outer sheath through the head disassembly assembly, so that the surgical instrument can be removed before cleaning and sterilization.
  • the surgical tool and the outer sheath are separated by the head disassembly assembly, so as to realize the separation of the surgical tool and the instrument rod from the outer sheath, so as to clean and sterilize multiple parts respectively, reducing the difficulty of cleaning due to the inseparable structure. Tiny gaps.
  • the head disassembly and assembly assembly includes a head connector, a locking block is fixed in the outer sheath, and the head connector can cooperate with the locking block to be connected with the locking block.
  • the outer sheath is locked or unlocked, and the surgical tool is provided on the head connector.
  • the locking block and the outer sheath are fixed to each other, and the head connecting piece and the locking block cooperate with each other.
  • the head connecting piece and the locking block cooperate and separate, so that the head connecting piece and the surgical tools on it can be realized. It is separated from the outer sheath together, and the disassembly and assembly are more convenient.
  • the head connector is provided with a first locking groove, and the first locking groove includes a sliding-in section and a locking section that communicate with each other;
  • the locking block can be used with any The axial relative movement of the outer sheath and the head connector slides in the sliding section, and slides into the locking section with the circumferential relative movement of the outer sheath and the head connector, so as to The outer sheath and the head connector are locked.
  • the locking blocks are arranged in two or more, and the two or more locking blocks are arranged at intervals along the circumferential direction, and the number and position of the first locking grooves are the same as those of the first locking grooves.
  • the number and position of the locking blocks correspond.
  • the two or more locking blocks arranged at intervals in the circumferential direction form a plurality of connection and fixing positions between the head connector and the outer sheath, and the connection between the two is more stable.
  • an instrument rod sliding hole for slidingly supporting the instrument rod is formed on the head connector.
  • the sliding hole of the instrument rod can support and guide the axial sliding of the instrument rod in the outer sheath, so that the axial movement precision of the instrument rod is higher.
  • the surgical instrument further includes a tail disassembly and assembly assembly, and the tail disassembly assembly includes an outer locking member detachably connected to the outer sheath, the outer locking member is provided with an opening for The guide hole of the instrument shaft is slidably supported.
  • the instrument rod can be guided by the guide hole to have higher axial movement accuracy.
  • the guide A certain gap needs to be left between the hole and the instrument rod, and the outer locking member and the outer sheath are detachably connected to ensure that the gap and other narrow spaces can be thoroughly cleaned by disassembly.
  • an inner locking member is fixed on the outer sheath, one of the outer locking member and the inner locking member is provided with a second locking groove, and the other is provided with a second locking groove.
  • a locking protrusion is arranged on the top, and the second locking groove includes a sliding-in section and a locking section that communicate with each other; the locking protrusion can be axially opposite to the outer locking piece and the inner locking piece The movement slides in the sliding-in section, and slides into the locking section with the circumferential relative movement of the outer locking piece and the inner locking piece, so as to lock the outer locking piece and the inner locking piece .
  • the detachable connection between the outer lock and the outer sheath is achieved through the inner lock that is fixedly connected to the outer sheath, so the tail of the outer sheath itself does not need to be provided with a complex structure, but only needs to be through interference, gluing, It is sufficient to fix the inner locking piece by welding or the like, which simplifies the processing of the outer sheath and also simplifies the assembly of the surgical instrument.
  • the inner locking member is sleeved and fixed outside the outer sheath, and has an insertion section that can extend into the outer locking member, and the locking protrusion is fixed on the outer sheath. Insert paragraph.
  • the outer sheath is arranged in the inner locking member, and the insertion section of the inner locking member extends into the outer locking member, and the three are nested inside and outside, which is beneficial to ensure that the local position of the assembled surgical instrument is the same.
  • the shaft degree is higher, and the assembly operation is also more convenient.
  • the disassembly and assembly of the head part and the disassembly and assembly of the tail part are realized by axial sliding and circumferential rotation relative to the outer sheath, and the outer sheath is in the same direction Turning through the preset angle can realize the disassembly and assembly of the head disassembly and assembly assembly and the tail disassembly assembly at the same time.
  • the surgical instrument is sterilized and assembled, it is necessary to align the head disassembly assembly and the tail disassembly assembly with the instrument rod in the axial direction, and then rotate relative to the circumferential direction to realize the connection.
  • the installation and locking directions of the tail disassembly and assembly components are set to rotate in the same direction, which is beneficial to simplify the disassembly process and facilitate the process of piercing the guide hole and the instrument rod sliding hole with the instrument rod respectively.
  • one end of the outer locking member is detachably connected to the outer sheath, and the other end is provided with a rotation stop surface, and the rotation stop surface can be used for locking the surgical instrument to the outer sheath.
  • the limiting element in the assembled state is matched and used to limit the circumferential rotation of the outer locking piece relative to the limiting element.
  • the circumferential rotation of the limiting element is restricted in the surgical robot to which the surgical instrument is adapted, and the circumferential rotation of the outer locking element is limited by using the limiting element to cooperate with the stop surface on the outer locking piece.
  • the unnecessary circumferential rotation of the surgical instrument in the assembled state can be synchronously restricted, and the connection relationship of each position of the surgical instrument is more reliable.
  • one end of the outer locking member is detachably connected to the outer sheath, and the other end is provided with a locking groove, so that the limiting element for locking the surgical instrument can be snapped into the outer sheath.
  • a locking groove to lock the surgical instrument in the assembled state.
  • the surgical tool includes a pair of swing members rotatably connected to one end side of the head disassembly and assembly assembly, and each of the instrument rods is drivingly connected to one of the swing members , the sliding of the instrument rod in the outer sheath can independently drive the corresponding swinging members to swing.
  • the surgical instrument further includes two connecting rods, one end of each of the connecting rods is rotatably connected to one of the swinging members, and the other end is rotatably connected to one of the instruments. rod.
  • a sliding groove is provided on one of each of the swinging member and each of the instrument rods, and a connecting portion slidingly matched with the sliding groove is provided on the other, and the Each of the instrument bars can drive the corresponding swinging member to swing through the sliding cooperation of the connecting portion and the sliding slot.
  • the degree of freedom of the surgical tool is greater than that driven by a single instrument rod.
  • a second aspect of the embodiments of the present application further provides an actuator, including the above-mentioned surgical instrument.
  • the actuator further includes: a base for slidingly connecting the surgical instrument; an outer sheath limiting component installed on the base and comprising a base capable of being relative to the base A limiting element perpendicular to the sliding direction of the surgical instrument, the limiting element is used for locking or unlocking the outer sheath assembly of the surgical instrument; the instrument rod limiting assembly, including a locking/unlocking the instrument rod An instrument rod locking sleeve; a disassembly and assembly control assembly includes a joint unlocking member, the joint unlocking member can move relative to the instrument rod locking sleeve to a position where the instrument rod is unlocked, and is engaged with the limiting element to unlock the outer sheath assembly.
  • the movement of the joint unlocking member in the disassembly and assembly control assembly relative to the machine base can not only unlock the instrument rod, but also unlock the outer sheath components of the surgical instrument except the instrument rod.
  • the disassembly and assembly of the machine base is convenient for the disassembly, assembly and replacement of surgical instruments or the cleaning and disinfection process.
  • the base has a sliding stroke space perpendicular to the sliding direction of the outer sheath, and the limiting element is slidably connected to the sliding stroke space; the limiting element has an unlocking socket , the joint unlocking piece includes an inserting part that can be inserted into the unlocking socket, and the process of inserting the inserting part into the unlocking socket can drive the limiting element to gradually slide in the sliding stroke space until it is unlocked The location of the sheath assembly.
  • the insertion portion has an inclined insertion guide inclined surface, and the insertion guide inclined surface can cooperate with the hole wall of the unlocking socket to drive the limiting element in the sliding travel space Slide gradually.
  • the obliquely arranged insertion guide slope cooperates with the unlocking socket on the limiting element, so that: as the depth of insertion of the insertion part into the unlocking socket is different, the limiting element gradually slides in the sliding travel space to the position where the outer sheath assembly is unlocked, Therefore, the unlocking process of the surgical instrument is more stable and smooth.
  • the outer sheath limiting assembly further includes a gap adjusting member, and the gap adjusting member is sandwiched between the outer sheath assembly and the machine base, so as to adjust the distance between the limiting element and the machine base.
  • a certain gap needs to be left between the limit element and the side wall of the sliding stroke space.
  • this gap may cause the axial movement of the surgical instrument. Shaking or motion error, the gap can be compensated by the gap adjusting member, so that the surgical instrument is not affected by the gap.
  • the disassembly and assembly control assembly further includes a first elastic member, and the elastic force of the first elastic member makes the joint unlocking member have a tendency to keep and lock the instrument rod.
  • the disassembly and assembly control assembly further includes a limit seat, the limit seat is fixed on the machine base and can limit the movement of the joint unlocking member in the direction of locking the instrument rod of extreme exercise.
  • the surgical instrument further includes a tail disassembly and assembly assembly, and the tail disassembly assembly includes an outer locking member detachably connected to the outer sheath, and a stopper is provided on the outer locking member. a rotation blocking surface; the limiting element has a rotation-stopping socket capable of accommodating the outer locking piece to be inserted, and the hole edge of the rotation-stopping socket can abut against the rotation-stopping blocking surface to limit the outer lock The rotation of the assembly relative to the base.
  • the instrument rod limiting assembly further includes a locking member, one end of the instrument rod is inserted into the instrument rod locking sleeve; the locking member is movably installed on the pusher The rod locking sleeve is in the locking hole, and can be pushed to the position where the instrument rod is locked by the joint unlocking piece.
  • each of the instrument rods corresponds to an instrument rod locking sleeve; the actuator further includes two sets of instrument rod drivers corresponding to each of the instrument rods respectively
  • Each group of the instrument shaft drive assemblies includes a linear drive device, and the linear drive device is directly installed on the machine base.
  • a third aspect of the embodiments of the present application further provides a surgical robot, including the above-mentioned execution mechanism.
  • FIG. 1 is a schematic structural diagram of an actuator according to an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of the actuator shown in FIG. 1 after removing the casing.
  • FIG. 3 is a schematic diagram of an exploded structure of the actuator shown in FIG. 2 .
  • Fig. 4 is a schematic perspective view of the half-section structure of the actuator shown in Fig. 2, in which the instrument rod driving assembly is omitted.
  • FIG. 5 is a schematic structural diagram of the structure shown in FIG. 4 after further dismantling and disassembling the control assembly, and the figure shows the relative installation relationship between the outer sheath limiting assembly and the machine base.
  • FIG. 6 is an enlarged view of part A of the structure shown in FIG. 5 .
  • FIG. 7 is a schematic perspective view of a half-section structure of a machine base according to an embodiment of the present application.
  • FIG. 8 is a perspective view of a stand according to an embodiment of the present application.
  • FIG. 9 is another perspective view of a stand according to an embodiment of the present application.
  • FIG. 10 is an exploded structural diagram of the structure in which the actuator part has a linkage relationship.
  • Fig. 11 is an exploded structural view of the limit assembly of the instrument rod and the joint unlocking member.
  • FIG. 12 is a schematic structural diagram of the joint unlocking member shown in FIG. 11 .
  • FIG. 13 is a schematic structural diagram showing the connection relationship between the outer sheath assembly and the base to prevent rotation.
  • FIG. 14 is a schematic structural diagram of an instrument rod locking sleeve according to an embodiment of the present application.
  • FIG. 15 is a schematic structural diagram of a surgical instrument according to an embodiment of the present application.
  • FIG. 16 is a schematic diagram of an exploded structure of the surgical instrument shown in FIG. 15 .
  • FIG. 17 is a schematic structural diagram of a head connector according to an embodiment of the present application.
  • Fig. 18a is a schematic structural diagram of an outer locking member according to an embodiment of the present application.
  • Fig. 18b is a schematic structural diagram of an outer locking member according to another embodiment of the present application.
  • FIG. 19 is a schematic structural diagram of a surgical instrument head structure according to an embodiment of the present application.
  • FIG. 20 is a schematic structural diagram of a head structure of a surgical instrument according to another embodiment of the present application.
  • FIG. 21 is a schematic structural diagram of a surgical robot according to an embodiment of the present application.
  • a component when referred to as being “mounted on” another component, it can be directly mounted on the other component or there may also be an intervening component.
  • a component When a component is considered to be “set on” another component, it may be directly set on the other component or there may be a co-existing centered component.
  • a component When a component is said to be “fixed” to another component, it may be directly fixed to the other component or there may also be an intervening component.
  • the surgical instrument involved in the first aspect of the present application is adapted to the front end of the surgical robot, also referred to as the distal end.
  • the head of the surgical instrument needs to extend into the lesion position through the wound on the patient's body to complete the preset surgical action at this position. cleaning and disinfection.
  • the surgical instrument 14 includes an outer sheath 141 , an instrument shaft 142 , a surgical tool, a head disassembly assembly 147 and a tail assembly assembly 148 .
  • the instrument rod 142 is configured as a hard rod and can slide in the sliding chamber formed in the outer sheath 141 ;
  • the surgical tool includes a pair of swinging members 143 , and the pair of swinging members 143 are rotatably connected to the central rotating shaft 146 .
  • the head disassembly assembly 147 one end of the instrument rod 142 is drivingly connected to the surgical tool to drive the surgical tool to complete the preset surgical action;
  • the head structure and the tail structure so that the surgical instrument 14 can be divided into a plurality of discrete structures, which is convenient for cleaning and disinfection.
  • the head disassembly assembly 147 may include a locking block 1471 and a head connecting piece 1472 , wherein: the locking block 1471 is fixed in the outer sheath 141 , and the head connecting piece 1472 can be connected to the outer sheath 141 .
  • the locking block 1471 cooperates with the outer sheath 141 for installation/removal.
  • the head connector 1472 is provided with a first locking groove 14721, and the first locking groove 14721 includes a sliding-in section and a locking section that communicate with each other.
  • the outer sheath 141 When the outer sheath 141 is used, it is first necessary to align the opening of the first locking groove 14721 with the opening of the sliding-in segment to the locking block 1471, and through the relative axial movement of the outer sheath 141 and the head connector 1472, the locking block 1471 is relatively slid After reaching the locking section, through the relative rotation of the outer sheath 141 and the head connector 1472 in the circumferential direction, the locking block 1471 slides to the locking position of the first locking groove 14721. At this time, the outer sheath 141 and the head The connector 1472 is locked.
  • the head connector 1472 when the head connector 1472 is disassembled from the outer sheath 141 , the head connector 1472 can be reversely driven to make the locking block 1471 slide out of the first locking groove 14721 in reverse.
  • the number of the locking blocks 1471 can be configured as one, two or more. When there are two or more locking blocks 1471, the two or more locking blocks 1471 are fixed to the outer sheath at intervals along the circumferential direction. 141, correspondingly, the number and position of the first locking grooves 14721 are correspondingly set.
  • the surgical tool is installed on the head connector 1472. Since the head connector 1472 can be detached from the outer sheath 141 in the aforementioned manner, the surgical tool installed on it can also be combined with the outer sheath 141 along with the head connector 1472. split.
  • the head connecting member 1472 may include a pair of circumferentially spaced rotational support portions 14722, and the central shaft 146 for rotationally connecting the pair of swinging members 143 passes through the pair of rotational support portions 14722.
  • the head connector 1472 may also be provided with an instrument rod sliding hole 14723. One end of the instrument rod 142 passes through the instrument rod sliding hole 14723 and is drivingly connected with the surgical tool to drive the surgical tool to complete a preset surgical action.
  • the tail assembly 148 may include an outer locking member 1481 and an inner locking member 1482 , wherein: the inner locking member 1482 and the outer sheath 141 are formed by interference fit, welding, adhesion
  • the outer locking member 1481 and the inner locking member 1482 are detachably connected.
  • one end of the inner locking member 1482 is sleeved and fixed on the outer tail of the outer sheath 141 , and the other end has an insertion section.
  • the insertion section is protruded with a locking protrusion 14821 ;
  • a hole for accommodating the insertion section of the inner locking piece 1482 is opened, and a second locking groove 14811 for accommodating the sliding of the locking protrusion 14821 is formed on the hole wall of the hole.
  • the second locking groove 14811 Similar to the first locking groove 14721 and the first locking groove 14721, the second locking groove 14811 also includes a sliding segment and a locking segment.
  • the process of locking the outer locking member 1481 to the inner locking member 1482 first align the locking protrusion 14821 with the opening of the second locking groove 14811 slid into the section, and then make the outer locking piece 1481 and the inner locking piece 1482 move relative to each other in the axial direction, when the locking protrusion 14821 slides to During the locking segment, the inner and outer locking members are rotated relative to each other to complete the locking process of the outer locking member 1481 and the inner locking member 1482 .
  • the disassembly of the outer locking member 1481 can be realized by performing the above process in reverse.
  • the number of the locking protrusions 14821 and the second locking grooves 14811 can be correspondingly set to two or more, and is not limited to the one shown in the figure. Two or more locking protrusions 14821 are arranged at intervals along the circumferential direction. The number and position of the two locking grooves 14811 may correspond to them.
  • a guide hole 14815 is also opened on the outer locking member 1481, and the instrument rod 142 passes through the guide hole 14815 and protrudes.
  • the head connector 1472 is provided with an instrument rod sliding hole 14723, and the guide hole 14815 has a similar function and is used to guide the axial sliding of the instrument rod 142 relative to the outer sheath 141.
  • the axial direction of the instrument shaft 142 is supported by sliding at two places, and the axial sliding precision of the instrument shaft 142 is higher.
  • the surgical instrument 14 is adapted to a surgical robot for performing minimally invasive surgery, its radial size is relatively limited.
  • the shape of the instrument rod 142 may constitute a long and thin rod structure, and the two-point support is beneficial to avoid the instrument.
  • the rod 142 is bent and deformed due to the excessive support span, which affects the accuracy of its axial movement.
  • one group of holes for guiding on the head connecting member 1472 or the outer locking member 1481 can also be eliminated, which does not affect the realization of the function of the surgical instrument.
  • the disassembly of the head connector 1472 and the outer lock 1481 includes axial sliding and turnover relative to the outer sheath 141, in order to facilitate the disassembly and assembly of the two and the outer sheath 141 , through the design of the first locking groove 14721 and the second locking groove 14811, when the outer sheath 141 rotates through a preset angle in one direction, the locking block 1471 and the locking protrusion 14821 simultaneously slide to the first locking At the locking position of the groove 14721 and the second locking groove 14811.
  • the functions of the two structures will be described in detail in conjunction with the limiting element. It can be understood that the surgical instrument can be installed with the surgical robot in any other way. Therefore, the stop surface 14812 and the locking groove 14813 can also not be provided as shown in Fig. 18a, and the installation limit can be realized by other matching structures.
  • the two instrument rods 142 are both configured as rigid rods, compared to traditional surgical robots that use steel cables as surgical tools to drive
  • the rigid rod is used as the driving part of the operation of the surgical tool, which can overcome the problems of elongation and creep of the wire rope, and the movement precision of the surgical tool is higher.
  • 19 and 20 show an embodiment in which the instrument shaft 142 is drive-connected to the rocker 143 .
  • the instrument rod 142 and the swinging member 143 are connected by a connecting rod 144 , one end of the connecting rod 144 is rotatably connected to the instrument rod 142 , and the other end is rotatably connected to the swinging member 143 through the connecting portion 145 .
  • the pair of swinging members 143 are rotatably connected to the head connecting member 1472 through the central shaft 146 , and the rotational connection of the connecting portion 145 is staggered from the penetration of the central shaft 146 .
  • the connecting rod 144 can be driven to slide and/or deflect relative to the instrument rod 142 , so that the connecting rod 144 can drive the swinging member through the connecting portion 145 143 rotates around the central axis 146 through a preset angle.
  • the two ends of the connecting rod 144 are respectively rotatably connected with the instrument rod 142 and the swinging member 143.
  • the degree of freedom of the entire movement mechanism is increased, and the movement of the swinging member 143 is more flexible and the movement The range is also larger.
  • FIG. 20 compared with the embodiment shown in FIG. 19 , there is no connecting rod 144 in the surgical instrument in FIG. 20 , but a connecting portion 145 is provided at the end of the instrument rod 142 , and corresponding to the swinging A sliding slot 1431 slidably connected to the connecting portion 145 is defined on the member 143 .
  • the instrument rod 142 telescopically slides along its own axis in the outer sheath 141, the position of the connecting portion 145 installed on the instrument rod 142 changes accordingly, and the swinging member 143 is driven by the sliding fit of the connecting portion 145 and the sliding groove 1431. Swing around the central axis 146 .
  • FIGS. 19 and 20 can both realize the driving connection between the instrument rod 142 and the swinging member 143.
  • the connection structure formed by the connecting portion 145 and the chute 1431 in FIG. 20 can be regarded as a motion high pair.
  • the connection structure at the rotational connection at both ends of the connecting rod 144 is a low movement pair. Therefore, compared with the connecting rod structure shown in FIG. 19 , the structure shown in FIG. 20 is more compact and the transmission accuracy is higher.
  • the swinging motion range of the swinging member 143 in FIG. 20 depends on the length of the chute 1431, and the size of the swinging member 143 itself cannot be designed to be large. Therefore, the length of the chute 1431 has a certain range, as shown in FIG. 19 .
  • the structure shown in FIG. 19 has no such limitation. Therefore, the swinging member 143 of the structure shown in FIG. 19 can obtain a larger swinging range.
  • other equivalent alternative forms can also be used on the basis of the structures shown in Figs.
  • the second aspect of the embodiments of the present application further provides an actuator 100 , including the surgical instrument 14 of any of the above-mentioned embodiments, and the actuator 100 may further include a detachable manipulation assembly 11 , an external The sheath limit assembly 12 , the instrument rod limit assembly 13 , the instrument rod drive assembly 15 , the machine base 16 , the housing 17 , the bottom plate 18 and the torque sensor 19 are multiple components, among which: the disassembly and assembly control assembly 11 is used to realize the surgical instrument 14
  • the disassembly of the whole and the base 16, the outer sheath limit assembly 12 and the instrument rod limit assembly 13 are respectively used to lock/unlock the outer sheath assembly and the instrument rod 142, and the outer sheath assembly referred to here refers to the outer sheath 141 and the instrument rod 142.
  • the tail assembly 148 is attached to it.
  • the outer sheath assembly refers to that single piece.
  • the surgical instrument 14 is slidably connected to the base 16 , and a torque sensor 19 is provided on the side of the base 16 away from the sliding connection of the surgical instrument 14 for sensing the force of the actuator 100 . It is easy for the doctor at the control end to perceive the force of the current surgical tool in the human body. It can be understood that it is precisely because the instrument rod 142 adopts a hard rod that can transmit force, so the environmental torque at the surgical tool can be used. Torque sensor 19 senses.
  • the casing 17 of the machine base 16 is provided with a casing 17 , and the surgical instrument 14 extends from the casing 17 .
  • the casing 17 is used to protect the base 16 and the components mounted thereon, so as to prevent these structures from being exposed.
  • the instrument rod 142 needs to slide along its own axis direction.
  • the actuator 100 is provided with an instrument rod limiting assembly 13 and an instrument rod driving assembly 15, wherein: the instrument rod limiting assembly 13 is used to drive the instrument rod 142 and the instrument rod driving assembly 15 to be connected.
  • each instrument rod 142 corresponds to a group of instrument rod driving assemblies 15 respectively, and each group of instrument rod driving assemblies 15 includes a linear motor 151 and a guide member 152 .
  • the usual structure of the linear motor 151 includes at least an ordinary stepping or servo motor that outputs rotary motion, and a screw-nut pair that converts the rotary motion into linear motion. In order to increase the transmission accuracy, a ball screw nut can be used as the motion conversion. mechanism.
  • the guide member 152 is fixedly installed on the base 16 and is used to limit the rotation of the linear motor 151 so that it can only output linear motion outward to drive the instrument rod 142 to slide axially.
  • the base 16 may include two large parts, a base 161 and a support portion 162.
  • a first inner cavity 1611 is formed on the side of the base 161 where the torque sensor 19 is installed.
  • the base 161 is also provided with a penetration hole 1612 that communicates with the first inner cavity 1611 , and the motion output end of the linear motor 151 passes through the penetration hole 1612 and the instrument rod limiting assembly 13 Drive connections.
  • the linear motor 151 is directly installed on the side surface of the base 161 that faces away from the first inner cavity 1611. In this direct installation method, the linear motor 151 uses the surface of the base 161 as the positioning surface, which can reduce the distance with the instrument rod. The coaxiality error when the limit assembly 13 is installed.
  • the instrument rod limiting assembly 13 includes an instrument rod locking sleeve 131 and a locking member 132 , wherein: the instrument rod locking sleeve 131 is provided with an axial Towards the arranged instrument shaft insertion hole 1314 , the end of the instrument shaft 142 is inserted into the instrument shaft insertion hole 1314 and can be locked by the locking member 132 .
  • the end of the instrument rod locking sleeve 131 opposite to the opening position of the instrument rod insertion hole 1314 has a drive connection end 1311 , and the drive connection end 1311 is provided with a guide member sliding hole 1313 through which the aforementioned guide member 152 passes.
  • the instrument rod locking sleeve 131 is connected with the linear motor 151 through the driving connection end 1311 and is guided by the guide member 152. In this way, the linear motor 151 can drive the instrument rod locking sleeve 131 to linearly move and then drive and fix it in the instrument rod insertion hole 1314.
  • the inner instrument shaft 142 slides axially.
  • the instrument rod locking sleeve 131 is also provided with a locking hole 1312 that communicates with the instrument rod insertion hole 1314.
  • the locking piece 132 is installed in the locking hole 1312, and when an external force pushes the locking piece 132 to move along the locking hole 1312 to When the locking hole 1312 is partially exposed and inserted into the locking groove 1421 (marked in FIG. 15 ) on the instrument shaft 142 , the instrument shaft 142 is securely locked on the instrument shaft locking sleeve 131 .
  • the outer sheath limiting assembly 12 may include a limiting element 121 , a second elastic member 122 and a blocking piece 123 , wherein: the upper edge of the support portion 162 of the base 16 is perpendicular to the instrument A sliding travel space 1625 is provided in the sliding direction of the rod 142 , and the limiting element 121 is slidably disposed in the sliding travel space 1625 .
  • the limiting element 121 has an unlocking socket 1211 and a rotation-stopping socket 1212.
  • the outer locking member 1481 in the surgical instrument is provided with a pair of rotation-stopping surfaces 14812, the rotation-stopping surfaces 14812 and the rotation-stopping inserts
  • the edges of the hole 1212 cooperate with each other, by restricting the relative rotation of the outer locking piece 1481 and the limiting element 121, and restricting the rotation of other structures of the surgical instrument in the assembled state with the outer locking piece 1481 relative to the limiting element 121, and Since the limiting element 121 can only slide along the sliding travel space 1625 and cannot rotate relative to the base 16 , the surgical instrument 14 and the base 16 will not rotate relative to each other.
  • the blocking piece 123 is fixed on the base 16
  • the second elastic member 122 is disposed between the blocking piece 123 and the limiting element 121 , and is used to keep the limiting element 121 at the position of locking the outer sheath assembly.
  • a locking groove 14813 is formed on the outer locking member 1481 of the outer sheath assembly, and the limiting element 121 is held at the edge of the rotation-stopping socket 1212 under the elastic force of the second elastic member 122 It is inserted into the position of the locking groove 14813 , so that the limiting element 121 remains at the position of locking the outer sheath assembly under the condition that no external force overcomes the elastic force of the second elastic member 122 .
  • the outer sheath limiting assembly 12 may further include a gap adjusting member 124, and a recess for embedding the gap adjusting member 124 is formed on the base 16.
  • the gap adjusting member 124 is fixed on the base 16 through the groove, and elastically pushes against the pressing surface 14814 on the outer locking member 1481 (marked in FIG. 18 b ).
  • the actuator 100 may further include a disassembly and assembly control assembly 11 .
  • the disassembly and assembly control assembly 11 includes a joint unlocking member 111 , a first elastic member 112 and a limit seat 113 , wherein: the joint unlocking member 111 includes a sliding sleeve 1111 and an installation Or the insertion portion 1114 integrally provided on the sliding sleeve 1111 .
  • the first elastic member 112 is installed between the sliding sleeve 1111 and the limiting seat 113 , and the limiting seat 113 is fixedly mounted on the base 16 .
  • the first elastic member 112 can elastically push the sliding sleeve 1111 in the direction of the limiting seat 113 , and the limiting seat 113 is used to limit the limit movement amount of the joint unlocking member 111 moving in the direction of the locking instrument rod 142 .
  • the sliding sleeve 1111 is slidably sleeved on the outside of the instrument rod locking sleeve 131 , and can push the locking piece 132 to move in the direction of being inserted into the locking groove 1421 .
  • the inner hole of the sliding sleeve 1111 includes an unlocking hole segment 11111 and a locking hole segment 11112, wherein: the radial dimension of the locking hole segment 11112 is smaller than the radial dimension of the unlocking hole segment 11111, so that when the locking hole segment 11112 is locked against the instrument rod When it is outside the sleeve 131, the inner hole wall of the locking hole section 11112 can push the locking piece 132 into the locking groove 1421; and when the unlocking hole section 11111 is facing the outside of the instrument shaft locking sleeve 131, the inner hole wall of the unlocking hole section 11111 There is a gap between it and the outer wall of the instrument rod locking sleeve 131, and the locking piece 132 can move outward along the locking hole 1312, thereby releasing the connection relationship between the instrument rod 142 and the instrument rod locking sleeve 131.
  • the instrument rod 142 can Pull out from the instrument shaft receptacle 1314.
  • the sliding sleeve 1111 has a tendency to remain in the position where the locking hole section 11112 faces the instrument shaft locking sleeve 131 .
  • the outside of the sliding sleeve 1111 is further provided with a connecting portion 1113 , and the inserting portion 1114 is fixedly connected to the sliding sleeve 1111 through the connecting portion 1113 .
  • the insertion portion 1114 can be gradually inserted into the unlocking socket 1211 as the sliding sleeve 1111 slides toward the limiting element 121 .
  • the insertion portion 1114 has an inclined insertion guide slope 11141.
  • the end of the insertion portion 1114 can remain inserted into the unlocking socket 1211, but at this time, the insertion guide slope 11141 does not drive the limiting element 121 to move to the position.
  • the insertion guide slope 11141 on the inserting portion 1114 slides relative to the hole wall of the unlocking socket 1211, and gradually drives the limiting element 121 to slide in the sliding travel space 1625 until the anti-rotation socket
  • the hole wall of 1212 exits the locking groove 14813, and at this time, because the limiting element 121 no longer interferes with the axial disassembly of the surgical instrument 14.
  • the sliding sleeve 1111 is connected with a lever 1112 , and the outer casing 17 is correspondingly provided with a second sliding hole 171 into which the lever 1112 extends. .
  • the second sliding hole 171 is configured as a waist-shaped hole extending along the sliding direction of the sliding sleeve 1111 .
  • the sliding sleeve 1111 in the joint unlocking member 111 slides along the axial direction of the instrument rod 142, which can simultaneously unlock the locking of the instrument rod locking sleeve 131 on the instrument rod 142, and the unlocking limit.
  • the positioning element 121 locks the outer locking member 1481 in the outer sheath assembly.
  • the "simultaneous unlocking" referred to here does not necessarily mean the consistency in time, but means that one action of the sliding sleeve 1111 can complete the release of the two locking relationships. As for whether there is a sequence in the time sequence, It can be designed by those skilled in the art as required.
  • the unlocking timing of the outer sheath assembly can be changed;
  • the length ratio between the hole section 11111 and the locking hole section 11112, changing the opening position of the locking hole 1312 on the instrument rod locking sleeve 131, etc., can all change the unlocking timing of the instrument rod.
  • the present application provides a structure of the base 16 of an embodiment.
  • the machine base 16 mainly includes two parts, a base 161 and a support portion 162 .
  • the base 161 is provided with a first inner cavity 1611, and the first inner cavity 1611 is used for accommodating the instrument rod driving assembly 15 and the instrument rod limiting assembly 13 in the first inner cavity 1611. .
  • two inner cavities with different diameters are roughly opened in the support portion 162 : the second inner cavity 1621 and the third inner cavity 1623 , and the first inner cavity 1611 and the second inner cavity 1621 are opened through the center of the base 161 .
  • the first communication hole 1613 communicates with each other, and the second inner cavity 1621 communicates with the third inner cavity 1623 through the second communication hole 1624 .
  • the hole diameter of the second inner cavity 1621 is slightly larger than that of the third inner cavity 1623 , and the inner cavity can be used for accommodating part or all of the structures in the disassembly and assembly control assembly 11 .
  • the third inner cavity 1623 mainly accommodates the tail assembly 148 in the surgical instrument 14 .
  • the cavity wall of the third inner cavity 1623 is also provided with a rotation stopper Slot 1626.
  • the locking protrusion 14821 on the inner locking member 1482 is inserted into the anti-rotation groove 1626, so that in the surgical instrument 14, the circumferential rotation of the inner locking member 1482 is limited, thereby limiting the outer sheath 141
  • the relative rotation between the inner locking member 1482 , the outer locking member 1481 and the head disassembly assembly 147 prevents the relative circumferential rotation of the internal components of the surgical instrument 14 from being separated from each other in the working state.
  • the limiting element 121 in the outer sheath limiting assembly 12 is in position-limiting cooperation with the outer locking member 1481 of the surgical instrument 14 . Therefore, the seat 16 is used to accommodate the limiting element 121
  • the sliding sliding travel space 1625 is opened at the corresponding position of the third inner cavity 1623 and communicated with the third inner cavity 1623 .
  • the cavity wall of the second inner cavity 1621 is provided with a through slot 1628 in the form of a strip hole, and the connecting portion 1113 and the inserting portion 1114 on the joint unlocking member 111 pass through the through slot 1628 It protrudes out of the second inner cavity 1621 and can slide along the extending direction of the through groove 1628 .
  • the other side cavity wall of the second inner cavity 1621 is provided with a first sliding hole 1627 having the same shape and corresponding position as the second sliding hole 171 on the outer casing 17 , and the lever 1112 extends from the first sliding hole 1627 .
  • the sliding hole 1627 extends out of the second inner cavity 1621 and can slide along the extending direction of the first sliding hole 1627 .
  • an unlocking slideway 1622 is further defined on the support portion 162 , and the unlocking slideway 1622 is used to accommodate the insertion portion 1114 on the joint unlocking member 111 to extend into.
  • the end of the insertion part 1114 is in the initial position (that is, the surgical instrument 14 remains assembled and connected to the base 16 without unlocking). position) that passes through the unlocking hole 1211.
  • the end of the insertion portion 1114 passing through the unlocking socket 1211 can extend into the unlocking slideway 1622.
  • the end portion is gradually inserted deeper into the unlocking slideway 1622, so that the sliding stroke of the insertion portion 1114 can be supported by the unlocking slideway 1622, and the displacement accuracy is higher.
  • a third aspect of the present application further provides a surgical robot, including the actuator 100 of the foregoing embodiment, a telecentric manipulation mechanism 200 , a preoperative positioning mechanism 300 , a frame 400 and a base 500 .
  • a plurality of sets of racks 400 are arranged on the base 500, and a group of preoperative positioning mechanisms 300, telecentric control mechanisms 200 and actuators 100 are correspondingly installed on each rack 400.
  • a possible implementation of the telecentric control mechanism 200 includes a moving platform, a static platform, and a plurality of telescopic units. Both ends of each telescopic unit are respectively connected to the moving platform and the static platform. The moving platform moves relative to the static platform.
  • the actuator 100 is arranged on the moving platform, and the surgical instrument 14 has a preset telecentric fixed point, and the deflection of the moving platform can drive the surgical instrument 14 to swing around the telecentric fixed point.
  • the preoperative positioning mechanism 300 is used to control the actuator 100 so that the telecentric fixed point on the surgical instrument 14 is coincident with the tiny wound on the patient's body.
  • the surgical instrument 14 swings in space with the telecentric fixed point as a fixed point, so the surgical instrument 14 will not pull the wound.

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Abstract

一种手术器械(14)、执行机构(100)及手术机器人，涉及医疗器械领域，该手术器械(14)包括外鞘(141)、器械杆(142)、手术工具、头部拆装组件(147)，其中：头部拆装组件(147)装设于外鞘(141)的一端；手术工具设置于头部拆装组件(147)并能够通过头部拆装组件(147)与外鞘(141)的一端拆分；器械杆(142)滑动设置于外鞘(141)的滑移腔室内，并且其一端驱动连接至手术工具。

Description

手术器械、执行机构及手术机器人 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、执行机构及手术机器人。
背景技术
微创手术是指在病人身体上开一个微小创口，手术机器人的部分执行机构穿过该微小创口并进入病灶位置，并使执行机构的远心不动点与创口位置重合，操作者通过对手术机器人的机械臂部分进行控制，带动执行机构以远心不动点为铰点做一定角度范围内的空间摆动，辅助以执行机构自身的动作，完成微创手术。微创手术由于创口小、出血少，近年来正逐步获得医务人员和患者的青睐。
执行机构的结构一般包括：用于伸入至病灶位置的手术器械，以及用于驱动手术器械进行旋转、开合等动作的驱动组件，在驱动组件的带动下，手术器械上伸入人体内的操作端完成预设的手术动作。手术器械在使用完毕后，或者在必要时，需要进行拆卸清洗，现有的手术器械结构，存在较多难以清理的死角位置，不利于手术器械的清洁消毒。
发明内容
有鉴于此，有必要提供一种改进的手术器械、执行机构及手术机器人，该手术器械的能够被拆分为多个便于清理的部分，以适应手术器械的清洁消毒的需要。
本申请实施例首先提供一种手术器械，包括外鞘、器械杆、手术工具、头部拆装组件，其中：所述头部拆装组件装设于所述外鞘的一端；所述手术工具设置于所述头部拆装组件并能够通过所述头部拆装组件与所述外鞘的一端拆分；所述器械杆滑动设置于所述外鞘内，并且其一端驱动连接至所述手术工具。手术工具设置于头部拆装组件上，并驱动连接至器械杆，而头部拆装组件使得手术工具能够通过头部拆装组件与外鞘拆分，这样，手术器械在清洁消毒之前，可以通过头部拆装组件将手术工具与外鞘分离，从而实现手术工具及器械杆与外鞘的分离，从而分别对多个零部件分别进行清理消毒，减少了由于结构不可拆分而难以清理的细小缝隙。
在一种可行的方案中，所述头部拆装组件包括头部连接件，所述外鞘内固设有锁合块，且所述头部连接件能够与所述锁合块配合以与所述外鞘锁定或解锁，所述手术工具设置于所述头部连接件上。锁合块与外鞘相互固定，而头部连接件与锁合块相互配合，在拆分时，头部连接件与锁合块配合分离，即可实现头部连接件及其上的手术工具共同与外鞘分离，拆装更加方便。
在一种可行的方案中，所述头部连接件上开设有第一锁合槽，所述第一锁合槽包括相互连通的滑入段和锁合段；所述锁合块能够随所述外鞘与所述头部连接件的轴向相对运动在 所述滑入段滑动，并随所述外鞘与所述头部连接件的周向相对运动滑入所述锁合段，以锁定所述外鞘与所述头部连接件。
在一种可行的方案中，所述锁合块设置为两个或多个，两个或多个所述锁合块沿周向间隔布置，所述第一锁合槽的数量及位置与所述锁合块的数量及位置对应。两个或多个沿周向间隔布置的锁合块使得头部连接件与外鞘之间形成多个连接固定位置，两者的连接更加稳固。
在一种可行的方案中，所述头部连接件上开设有用于滑动支承所述器械杆的器械杆滑孔。器械杆滑孔能够对器械杆在外鞘内的轴向滑移进行支撑和导向，从而使得器械杆的轴向运动精度更高。
在一种可行的方案中，所述手术器械还包括尾部拆装组件，所述尾部拆装组件包括可拆卸连接于所述外鞘的外锁合件，所述外锁合件上开设有用于滑动支承所述器械杆的导向孔。通过外锁合件上开设的导向孔，手术器械在装配状态下，器械杆能够受到导向孔的导向作用而具有更高的轴向运动精度，同时，为保证器械杆的顺畅滑移，该导向孔与器械杆之间需要留有一定的间隙，而外锁合件与外鞘之间可拆卸连接，保证了该间隙等狭小空间位置能够通过拆分而进行彻底的清理。
在一种可行的方案中，所述外鞘上固设有内锁合件，所述外锁合件和所述内锁合件中的一者上设置有第二锁合槽，另一者上设置有锁合凸起，所述第二锁合槽包括相互连通的滑入段和锁合段；所述锁合凸起能够随所述外锁合件与内锁合件的轴向相对运动在所述滑入段滑动，并随所述外锁合件与内锁合件的周向相对运动滑入所述锁合段，以锁定所述外锁合件和所述内锁合件。通过与外鞘固定连接的内锁合件，实现外锁合件与外鞘之间的可拆卸连接，因而外鞘的尾部本身不需要设置复杂的结构，而仅需要通过过盈、胶粘、焊接等固定内锁合件即可，简化了外鞘的加工，同时也简化了手术器械的装配。
在一种可行的方案中，所述内锁合件套设固定于所述外鞘外，并具有能够伸入所述外锁合件内的插入段，所述锁合凸起固设于所述插入段。如此设置，外鞘设置于内锁合件内，内锁合件的插入段又伸入外锁合件内，三者内外嵌套设置，有利于保证装配好的手术器械的这一局部位置同轴度更高，且装配的操作也更加便捷。
在一种可行的方案中，所述头部拆装组件与所述尾部拆装组件均通过相对于所述外鞘的轴向滑动及周向转动实现拆装，并且，所述外鞘同向转过预设角度能够同时实现与所述头部拆装组件和所述尾部拆装组件的拆装。手术器械在消毒完毕进行装配时，需要先沿轴向将头部拆装组件、尾部拆装组件分别与器械杆对准穿过，然后再相对周向转动实现连接，将头部拆装组件和尾部拆装组件的安装锁定方向设置为同向的周转，有利于简化拆卸过程，并有利于导向孔和器械杆滑孔分别与器械杆穿设的过程。
在一种可行的方案中，所述外锁合件的一端与所述外鞘可拆卸连接，另一端设置有止 转挡面，所述止转挡面能够与用于锁定所述手术器械于装配状态的限位元件配合，并用于限制所述外锁合件相对于所述限位元件的周向转动。限位元件在手术器械所适配的手术机器人中，周向的转动是被限制的，利用限位元件与外锁合件上的止转挡面配合，限制外锁合件的周向转动，可以同步限制手术器械在装配状态下非必要的周向转动，手术器械各个位置的连接关系更加可靠。
在一种可行的方案中，所述外锁合件的一端与所述外鞘可拆卸连接，另一端设置有锁止凹槽，用于锁定所述手术器械的限位元件能够卡入所述锁止凹槽，以将所述手术器械锁定于装配状态。手术器械处于装配状态时，外锁合件与手术器械的其他位置之间不可拆分，利用其上的锁止凹槽与限位元件配合，可以可靠且方便地实现手术器械的锁定。
在一种可行的方案中，所述器械杆有两根，所述手术工具包括一对转动连接于头部拆装组件一端侧的摆动件，每根所述器械杆驱动连接一个所述摆动件，所述器械杆在所述外鞘内的滑动能够分别独立驱动对应的所述摆动件摆动。
在一种可行的方案中，所述手术器械还包括两根连杆，每根所述连杆的一端转动连接至其中的一个所述摆动件，另一端转动连接至其中的一根所述器械杆。
在一种可行的方案中，每个所述摆动件和每个所述器械杆中的一者上设置有滑槽，另一者上设置有与所述滑槽滑动配合的连接部，所述器械杆均能够通过所述连接部和所述滑槽的滑动配合驱动对应的所述摆动件摆动。
通过两根器械杆分别独立驱动手术工具中的一个摆动件摆动，相比于单根器械杆驱动的形式，手术工具的自由度更大。
本申请实施例第二方面还提供一种执行机构，包括上述的手术器械。
在一种可行的方案中，所述执行机构还包括：机座，用于滑动连接所述手术器械；外鞘限位组件，装设于所述机座，并包括能够相对于所述机座沿垂直于所述手术器械滑动方向的限位元件，所述限位元件用于锁定或解锁所述手术器械的外鞘组件；器械杆限位组件，包括用于锁定/解锁所述器械杆的器械杆锁紧套；拆装操控组件，包括联合解锁件，所述联合解锁件能够相对所述器械杆锁紧套运动至解锁所述器械杆的位置，并与所述限位元件接合以解锁所述外鞘组件。拆装操控组件中的联合解锁件相对于机座的运动，既可以解锁器械杆，又可以解锁手术器械中除器械杆以外的外鞘组件，这样，用户能够通过操控联合解锁件实现手术器械与机座的拆装，便利于手术器械的拆装更换或清洁消毒过程。
在一种可行的方案中，所述机座具有垂直于所述外鞘滑移方向的滑动行程空间，所述限位元件滑动连接于所述滑动行程空间；所述限位元件具有解锁插孔，所述联合解锁件包括能够插入所述解锁插孔的插入部，并且，所述插入部插入所述解锁插孔的过程能够驱动所述限位元件在所述滑动行程空间内逐渐滑动至解锁所述外鞘组件的位置。
在一种可行的方案中，所述插入部具有倾斜设置的插入导向斜面，所述插入导向斜面 能够与所述解锁插孔的孔壁配合以驱动所述限位元件在所述滑动行程空间内逐渐滑动。倾斜设置的插入导向斜面与限位元件上的解锁插孔配合使得：随着插入部插入该解锁插孔的深度不同，限位元件逐渐在滑动行程空间内滑移至解锁外鞘组件的位置，从而使得手术器械的解锁过程更加平稳顺畅。
在一种可行的方案中，所述外鞘限位组件还包括间隙调整件，所述间隙调整件夹设于所述外鞘组件和所述机座之间，以调整所述限位元件与所述滑动行程空间侧壁之间沿所述器械杆轴向的间隙。为了使限位元件在滑动行程空间内顺畅滑动，限位元件与滑动行程空间的侧壁之间需要存留一定的间隙，但是，手术器械在动作时，这个间隙可能会导致手术器械轴向运动存在晃动或运动误差，通过间隙调整件补偿该间隙，可以使手术器械不受该间隙影响。
在一种可行的方案中，所述拆装操控组件还包括第一弹性件，所述第一弹性件的弹性力使得所述联合解锁件具有保持锁定所述器械杆的趋势。
在一种可行的方案中，所述拆装操控组件还包括限位座，所述限位座固设于所述机座上，并能够限制所述联合解锁件向锁定所述器械杆方向运动的极限运动量。
在一种可行的方案中，所述手术器械还包括尾部拆装组件，所述尾部拆装组件包括可拆卸连接于所述外鞘的外锁合件，所述外锁合件上设置有止转挡面；所述限位元件具有能够容所述外锁合件插入的止转插孔，所述止转插孔的孔缘能够与所述止转挡面抵止以限制所述外锁合件相对于所述机座的转动。
在一种可行的方案中，所述器械杆限位组件还包括锁定件，所述器械杆的一端插装于所述器械杆锁紧套内；所述锁定件可动装设于所述推杆锁紧套的锁定孔道内，并能够被所述联合解锁件推动至锁定所述器械杆的位置。
在一种可行的方案中，所述器械杆有两根，每根所述器械杆对应一个器械杆锁紧套；所述执行机构还包括分别对应每根所述器械杆的两组器械杆驱动组件，每组所述器械杆驱动组件均包括直线驱动装置，所述直线驱动装置直接装设于所述机座上。
本申请实施例第三方面还提供一种手术机器人，包括上述的执行机构。
附图说明
图1为本申请提供一种实施方式的执行机构的结构示意图。
图2为图1中所示执行机构去掉外壳后的结构示意图。
图3为图2中所示执行机构的分解结构示意图。
图4为图2中所示执行机构的半剖结构立体示意图，图中省去了器械杆驱动组件。
图5为图4中所示结构进一步拆除拆装操控组件后的结构示意图，图中显示了外鞘限位组件与机座的相对安装关系。
图6为图5中所示结构的A部放大图。
图7为本申请提供一种实施方式的机座的半剖结构立体示意图。
图8为本申请提供一种实施方式的机座的一个视角视图。
图9为本申请提供一种实施方式的机座的另一视角视图。
图10为执行机构部分存在联动关系的结构的分解结构图。
图11为器械杆限位组件与联合解锁件的分解结构图。
图12为图11中所示联合解锁件的结构示意图。
图13为显示外鞘组件与机座止转连接关系的结构示意图。
图14为本申请提供一种实施方式的器械杆锁紧套的结构示意图。
图15为本申请提供一种实施方式的手术器械的结构示意图。
图16为图15中所示手术器械的分解结构示意图。
图17为本申请提供一种实施方式的头部连接件的结构示意图。
图18a为本申请提供一种实施方式的外锁合件的结构示意图。
图18b为本申请提供另一种实施方式的外锁合件的结构示意图。
图19为本申请提供一种实施方式的手术器械头部结构的结构示意图。
图20为本申请提供另一种实施方式的手术器械头部结构的结构示意图。
图21为本申请提供一种实施方式的手术机器人的结构示意图。
100表示执行机构；200表示远心操控机构；300表示术前摆位机构；400表示机架；500表示基座；11表示拆装操控组件；111表示联合解锁件；1111表示滑套；11111表示解锁孔段；11112表示锁定孔段；1112表示拨杆；1113表示连接部；1114表示插入部；11141表示插入导向斜面；112表示第一弹性件；113表示限位座；12表示外鞘限位组件；121表示限位元件；1211表示解锁插孔；1212表示止转插孔；122表示第二弹性件；123表示挡片；124表示间隙调整件；13表示器械杆限位组件；131表示器械杆锁紧套；1311表示驱动连接端；1312表示锁定孔道；1313表示导向件滑孔；1314表示器械杆插孔；132表示锁定件；14表示手术器械；141表示外鞘；142表示器械杆；1421表示锁定槽；143表示摆动件；1431表示滑槽；144表示连杆；145表示连接部；146表示中心转轴；147表示头部拆装组件；1471表示锁合块；1472表示头部连接件；14721表示第一锁合槽；14722表示转动支撑部；14723表示器械杆滑孔；148表示尾部拆装组件；1481表示外锁合件；14811表示第二锁合槽；14812表示止转挡面；14813表示锁止凹槽；14814表示抵压面；14815表示导向孔；1482表示内锁合件；14821表示锁合凸起；15表示器械杆驱动组件；151表示直线电机；152表示导向件；16表示机座；161表示底座；1611表示第一内腔；1612表示伸入孔；1613表示第一连通孔；162表示支撑部；1621表示第二内腔；1622表示解锁滑道；1623表示第三内腔；1624表示第二连通孔；1625表示滑动行程空间；1626表示止转槽；1627表示第一滑孔；1628表示透槽；17表示外壳；171表示第二滑孔；18表示底板；19表示力矩传感器。
具体实施方式
下面将结合本申请实施方式中的附图，对本申请实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式仅仅是本申请一部分实施方式，而不是全部的实施方式。基于本申请中的实施方式，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施方式，都属于本申请保护的范围。
需要说明的是，当组件被称为“装设于”另一个组件，它可以直接装设在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。当一个组件被认为是“固定于”另一个组件，它可以是直接固定在另一个组件上或者可能同时存在居中组件。
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“或/及”包括一个或多个相关的所列项目的任意的和所有的组合。
本申请第一方面所涉及的手术器械，适配于手术机器人的前端，也称为远端。手术器械的头部需要通过患者身体上的创口伸入病灶位置，以在该位置完成预设的手术动作，为了避免手术器械携带病毒、细菌等，在安装手术器械前，需要对手术器械进行彻底的清洁消毒。
参考图15和图16中所示，根据本申请一种实施方式的手术器械14，包括外鞘141、器械杆142、手术工具、头部拆装组件147及尾部拆装组件148。其中：器械杆142配置为硬质杆件，并能够在外鞘141内形成的滑移腔室中滑移；手术工具包括一对摆动件143，且一对摆动件143通过中心转轴146转动连接于头部拆装组件147；器械杆142的一端驱动连接于手术工具，以驱动手术工具完成预设的手术动作；头部拆装组件147及尾部拆装组件148均用于拆分手术器械14的头部结构及尾部结构，以使手术器械14被拆分为多个离散结构，便于清洁消毒。
参考图16及图17中所示，头部拆装组件147可以包括锁合块1471及头部连接件1472，其中：锁合块1471固设于外鞘141内，头部连接件1472能够与锁合块1471配合以与外鞘141安装/拆卸。在图示的实施方式中，头部连接件1472上开设有第一锁合槽14721，该第一锁合槽14721包括相互连通的滑入段和锁合段，在连接头部连接件1472至外鞘141时，首先需要将第一锁合槽14721的划滑入段开口对准锁合块1471，通过外鞘141与头部连接件1472的轴向相对运动，使得锁合块1471相对滑动至锁合段处，此后，通过外鞘141与头部连接件1472的周向相对转动，锁合块1471滑动至第一锁合槽14721的锁定位置处，此时，外鞘141与头部连接件1472锁定。可以理解地，在拆分头部连接件1472与外鞘141时，可以反向驱动头部连接件1472动作，以使锁合块1471反向滑出第一锁合槽14721。此外，锁合块1471 的数量可以配置为一个、两个或多个，当锁合块1471有两个或多个时，两个或多个锁合块1471沿周向间隔固设于外鞘141内，对应地，第一锁合槽14721的数量及位置与之对应设置。
手术工具安装于头部连接件1472上，由于头部连接件1472能够依照前述方式与外鞘141拆分，因此，安装于其上的手术工具也可以随头部连接件1472共同与外鞘141拆分。头部连接件1472可以包括一对周向间隔设置的转动支撑部14722，用于转动连接一对摆动件143的中心转轴146穿设于该一对转动支撑部14722上。头部连接件1472上还可以开设有器械杆滑孔14723，器械杆142的一端穿过该器械杆滑孔14723并与手术工具驱动连接，以带动手术工具完成预设的手术动作。
参考图16、图18a和图18b所示，尾部拆装组件148可以包括外锁合件1481及内锁合件1482，其中：内锁合件1482与外鞘141通过过盈配合、焊接、粘接等方式固定，外锁合件1481与该内锁合件1482可拆卸连接。在图示的实施方式中，内锁合件1482的一端套设固定于外鞘141外侧尾部，另一端具有插入段，该插入段上凸设有锁合凸起14821；外锁合件1481上开设有能够容内锁合件1482的插入段插入的孔，且该孔的孔壁上开设有能够容锁合凸起14821滑动的第二锁合槽14811。类似于第一锁合槽14721第一锁合槽14721，第二锁合槽14811也包括有滑入段和锁止段，在将外锁合件1481锁合至内锁合件1482的过程中，首先将锁合凸起14821对准第二锁合槽14811滑入段的开口，然后使外锁合件1481与内锁合件1482发生相对的轴向运动，当锁合凸起14821滑动至锁止段时，使内外锁合件相对转动即可完成外锁合件1481与内锁合件1482的锁合过程。同理，反向进行上述过程即可实现外锁合件1481的拆卸。锁合凸起14821及第二锁合槽14811的数量可以对应设置为两个或多个，而不局限于图示的一个，两个或多个锁合凸起14821沿周向间隔布置，第二锁合槽14811的数量及位置与之对应即可。
外锁合件1481上还开设有导向孔14815，器械杆142穿过该导向孔14815并伸出。由前所述，头部连接件1472上开设有器械杆滑孔14723，导向孔14815与其作用类似，均是用于对器械杆142相对于外鞘141的轴向滑移进行导向。当两者兼有时，器械杆142的轴向受到两处滑移支承，器械杆142的轴向滑动精度更高。尤其是，由于手术器械14适配于执行微创手术的手术机器人，其自身的径向尺寸较为有限，因此，器械杆142的形态可能构成长细杆结构，两点支承的方式有利于避免器械杆142由于支承跨度过大而发生弯曲变形，影响其轴向运动精度。当然，在其他实施方式中，头部连接件1472或外锁合件1481上用于导向的孔也可以取消一组，这并不影响手术器械功能的实现。
参考图15和16中所示，头部连接件1472与外锁合件1481的拆卸动作，均包括相对于外鞘141的轴向滑移和周转，为了便于两者与外鞘141的拆装，通过对第一锁合槽14721和第二锁合槽14811的设计，使得外鞘141沿一个方向转过预设角度时，锁合块1471和锁合凸起14821同时滑动至第一锁合槽14721和第二锁合槽14811的锁止位置处。
对比图18a和图18b所示，为了便于手术器械与手术机器人的安装，外锁合件1481上还可以如图18b中所示，设置一对止转挡面14812，以及一个径向内凹的锁止凹槽14813，在后面关于执行机构100的实施例中，将结合限位元件对两处结构的作用进行详细阐述。可以理解，手术器械可以通过其他任意方式与手术机器人安装，因此，止转挡面14812及锁止凹槽14813也可以如图18a一样不设置，而通过其他配合结构实现安装限位。
参考图19和图20中所示，手术器械14中的器械杆142有两根，且两根器械杆142均配置为硬质杆件，相比于传统手术机器人中以钢索作为手术工具驱动件的形式，以硬质杆作为手术工具动作的驱动件，可以克服钢索的伸长、蠕变等问题，手术工具的运动精度更高。而采用两根器械杆142分别驱动手术工具中的一个摆动件143，相比于单根硬质杆连接平行四边形机构的驱动形式，手术工具的运动灵活度更高。图19和图20中给出了器械杆142驱动连接摆动件143的实施方式。
首先参考图19中所示，器械杆142与摆动件143之间通过连杆144连接，连杆144的一端与器械杆142可转动的连接，另一端与摆动件143通过连接部145可转动的连接，一对摆动件143通过中心转轴146可转动的连接至头部连接件1472上，并且，连接部145的转动连接处错开中心转轴146的穿设处。这样，当器械杆142在外鞘141内沿自身轴线方向伸缩滑移时，能够带动连杆144随之滑动和/或相对于器械杆142偏转，这样，连杆144能够通过连接部145带动摆动件143绕中心转轴146转过预设角度。
连杆144的两端分别与器械杆142和摆动件143转动连接，相比于直接将器械杆142与摆动件143转动连接，整个运动机构的自由度增加，摆动件143的运动更加灵活，运动范围也更大。
参考图20中所示，相比于图19中所示的实施方式，图20中的手术器械中不存在连杆144，而是在器械杆142的端部设置连接部145，并对应在摆动件143上开设与该连接部145滑动连接的滑槽1431。当器械杆142在外鞘141内沿自身轴线方向伸缩滑移时，装设在器械杆142上的连接部145的位置随之变化，通过连接部145与滑槽1431的滑动配合，带动摆动件143绕中心转轴146摆动。
图19和图20中的结构均可以实现器械杆142与摆动件143的驱动连接，图20中的连接部145与滑槽1431形成的连接结构可以看做是一个运动高副，而图19中的连杆144两端转动连接处的连接结构为运动低副，因此，相比于图19中全部以连杆结构连接的形式，图20中所示结构更为紧凑，传动精度也更高。
此外，图20中摆动件143的摆动运动范围取决于滑槽1431的长度，而摆动件143本身的尺寸并不能设计的很大，因此，滑槽1431的长度有一定的范围，图19中所示的结构则无此限制，因此，图19中结构的摆动件143可以获得更大的摆动范围。在实际设计手术器械14时，还可以在图19和图20中所示的结构基础上改为采用其他的等同替代形式，以获得相 同或近似的摆动件运动规律。
参考图1至图14中所示，本申请实施例第二方面还提供一种执行机构100，包括上述任一实施方式的手术器械14，该执行机构100还可以包括拆装操控组件11、外鞘限位组件12、器械杆限位组件13、器械杆驱动组件15、机座16、外壳17、底板18及力矩传感器19中多个零部件，其中：拆装操控组件11用于实现手术器械14整体与机座16的拆分，外鞘限位组件12和器械杆限位组件13分别用于锁定/解锁外鞘组件及器械杆142，这里所称的外鞘组件指代外鞘141及其上连接的尾部拆装组件148。当外鞘141采用单个零件时，外鞘组件指代该单个零件。
参考图1至图3中所示，手术器械14滑动连接于机座16上，该机座16远离手术器械14滑动连接的一侧设置有力矩传感器19，用于感测执行机构100处所受的环境力矩，便于操控端的医生感知当前手术工具在人体内的受力情况，可以理解，正是由于器械杆142采用硬质杆件，可以传递力，因此，手术工具处的环境力矩才能够被力矩传感器19感测到。
机座16外罩设有外壳17，手术器械14自外壳17伸出。外壳17用于保护机座16及其上装设的零部件，以避免这些结构外露。如前所述，为了使手术工具中的一对摆动件143能够被驱动完成预设的手术动作，器械杆142需要沿其自身轴线方向滑移，为实现器械杆142的轴向驱动，执行机构100中设置有器械杆限位组件13及器械杆驱动组件15，其中：器械杆限位组件13用于使器械杆142与器械杆驱动组件15驱动连接。
参考图2和图3中所示，每根器械杆142分别对应一组器械杆驱动组件15，每组器械杆驱动组件15均包括直线电机151及导向件152。直线电机151通常的结构至少包括一个输出旋转运动的普通的步进或伺服电机，以及一个将旋转运动转换为直线运动的丝杠螺母副，为了增加传动精度，可以采用滚珠丝杠螺母作为运动转换机构。导向件152固定装设于机座16上，用于限制直线电机151的转动，使其只能够向外输出直线运动以牵动器械杆142轴向滑移。
机座16可以包括底座161和支撑部162两个大的部分，底座161靠近力矩传感器19安装的一侧面上形成有第一内腔1611，器械杆限位组件13与直线电机151在该第一内腔1611中驱动连接。进一步结合图7至图9中所示，底座161上还开设有连通至第一内腔1611的伸入孔1612，直线电机151的运动输出端穿过该伸入孔1612与器械杆限位组件13驱动连接。直线电机151直接装设于底座161上背向第一内腔1611开设的一侧表面上，这种直接安装的方式下，直线电机151以底座161的表面为定位面，能够减小与器械杆限位组件13安装时的同轴度误差。
在图3的基础上结合图10、图11和图14中所示，器械杆限位组件13包括器械杆锁紧套131及锁定件132，其中：器械杆锁紧套131上开设有沿轴向布置的器械杆插孔1314，器械杆142的端部插入该器械杆插孔1314内，并能够被锁定件132锁定。器械杆锁紧套131 上与该器械杆插孔1314开设位置相对的一端具有驱动连接端1311，该驱动连接端1311上开设有容前述描述的导向件152穿过的导向件滑孔1313。器械杆锁紧套131通过驱动连接端1311与直线电机151连接，并受导向件152的导向，这样，直线电机151能够通过带动器械杆锁紧套131直线运动进而带动固定于器械杆插孔1314内的器械杆142轴向滑移。
器械杆锁紧套131上还开设有连通至器械杆插孔1314内的锁定孔道1312，锁定件132装设于该锁定孔道1312内，并且，当有外力推动锁定件132沿锁定孔道1312运动至部分露出该锁定孔道1312，并嵌入器械杆142上的锁定槽1421(标记于图15中)内时，器械杆142被可靠锁定于器械杆锁紧套131上。
参考图4、图5和图10中所示，外鞘限位组件12可以包括限位元件121、第二弹性件122以及挡片123，其中：机座16的支撑部162上沿垂直于器械杆142滑动的方向设置有滑动行程空间1625，限位元件121可滑动地设置于该滑动行程空间1625内。限位元件121具有解锁插孔1211以及止转插孔1212，如前所述，手术器械中的外锁合件1481上设置有一对止转挡面14812，该止转挡面14812与止转插孔1212的边缘相互配合，通过限制外锁合件1481与限位元件121的相对转动，限制与该外锁合件1481处于装配状态的手术器械的其他结构相对于限位元件121的转动，而由于限位元件121相对于机座16，仅能够沿滑动行程空间1625滑移而无法转动，因此，手术器械14与机座16也不会相对转动。
此外，挡片123固定于机座16上，第二弹性件122设置于挡片123与限位元件121之间，并用于保持限位元件121于锁定外鞘组件位置。依然如前所述，外鞘组件中的外锁合件1481上开设有锁止凹槽14813，限位元件121在该第二弹性件122的弹性力作用下，保持于止转插孔1212边缘嵌入锁止凹槽14813的位置，这样，在无外力克服第二弹性件122弹性力的情况下，限位元件121保持于锁止外鞘组件的位置。
参考图5和图6中所示，为了使限位元件121在滑动行程空间1625内顺畅滑动，限位元件121与该滑动行程空间1625的内壁之间需要存留一定的间隙。但是，这一间隙可能会造成手术器械14在轴向运动时产生晃动，因此，外鞘限位组件12还可以包括间隙调整件124，机座16上开设有用于嵌装间隙调整件124的凹槽，间隙调整件124通过该凹槽固定于机座16上，并弹性推抵外锁合件1481上的抵压面14814(标记于图18b中)。
在更换手术器械14时，需要将手术器械14整体自机座16上拆分下来，而手术器械14与执行机构100的其他位置共存在两处连接：器械杆142与器械杆锁紧套131之间的连接；以及外鞘组件与外鞘限位组件12之间的连接。为了使手术器械14能够方便地被拆卸，执行机构100还可以包括拆装操控组件11。
参考图1、图4、及图10中所示，拆装操控组件11包括联合解锁件111、第一弹性件112以及限位座113，其中：联合解锁件111包括一滑套1111以及装设或一体设置于该滑套1111上的插入部1114。第一弹性件112装设于滑套1111与限位座113之间，限位座113 固定安装至机座16上。第一弹性件112能够向限位座113的方向弹性推压滑套1111，限位座113则用于限制联合解锁件111向锁定器械杆142方向运动的极限运动量。
参考图10至图12中所示，滑套1111滑动套设于器械杆锁紧套131的外部，并能够推动锁定件132向嵌入锁定槽1421的方向运动。滑套1111的内孔包括解锁孔段11111和锁定孔段11112，其中：锁定孔段11112的径向尺寸小于解锁孔段11111的径向尺寸，这样，当锁定孔段11112正对器械杆锁紧套131的外部时，锁定孔段11112的内孔壁能够推动锁定件132嵌入锁定槽1421；而当解锁孔段11111正对器械杆锁紧套131的外部时，解锁孔段11111的内孔壁与器械杆锁紧套131的外壁之间存留有间隙，锁定件132能够沿锁定孔道1312向外运动，从而解除器械杆142与器械杆锁紧套131的连接关系，此时，器械杆142能够自器械杆插孔1314中拔出。在第一弹性件112的弹性力作用下，滑套1111具有保持于锁定孔段11112正对器械杆锁紧套131位置的趋势。
继续参考图10至图12中所示，滑套1111的外部还设置有连接部1113，插入部1114通过该连接部1113与滑套1111固定连接。该插入部1114能够随滑套1111向限位元件121的滑动而逐渐插入解锁插孔1211内。
插入部1114具有倾斜设置的插入导向斜面11141，在非解锁状态下，插入部1114的端部可以保持插入解锁插孔1211的状态，只是此时插入导向斜面11141并未带动限位元件121运动至解锁位置，此后移动滑套1111时，插入部1114上的插入导向斜面11141与解锁插孔1211的孔壁相对滑动，逐渐驱动限位元件121在滑动行程空间1625内滑移，直至止转插孔1212的孔壁退出锁止凹槽14813，此时，由于限位元件121不再干涉手术器械14的轴向拆卸。
此外，结合图1中所示，为了便于用户在外壳17外操控滑套1111，该滑套1111上连接有拨杆1112，外壳17上对应开设有容拨杆1112伸入的第二滑孔171。由于解锁手术器械14的过程中，需要通过拨杆1112带动滑套1111滑动，因此，第二滑孔171设置为沿滑套1111滑动方向延伸的腰型孔。
由前述对拆装操控组件11的描述可以看出：联合解锁件111中滑套1111沿器械杆142轴向的滑动，能够同时解锁器械杆锁紧套131对于器械杆142的锁定，以及解锁限位元件121对外鞘组件中外锁合件1481的锁定。应当说明的是，这里所称的“同时解锁”并不必然意味着时间上的一致，而是表示：滑套1111的一个动作，可以完成两处锁定关系的解除，至于时序上是否存在先后，是本领域技术人员可以依需设计的，例如，通过改变插入导向斜面11141的倾斜角度、改变锁止凹槽14813的径向深度等，均可以实现外鞘组件解锁时机的改变；而通过改变解锁孔段11111和锁定孔段11112之间的长度比例、改变器械杆锁紧套131上锁定孔道1312的开设位置的等，均可以实现器械杆解锁时机的改变。
此外，参考图5和图7中所示，为了配合执行机构100中各个部分结构的安装，本申 请提供一种实施方式的机座16的结构。以器械杆142的轴向和径向作为参考方向，沿轴向，机座16主要包括底座161和支撑部162两个部分。其中：由前述描述可知，底座161上开设有第一内腔1611，且该第一内腔1611用于容器械杆驱动组件15与器械杆限位组件13在该第一内腔1611中配合连接。
沿轴向，支撑部162内大致开设有两段直径不同的内腔：第二内腔1621和第三内腔1623，并且，第一内腔1611与第二内腔1621通过底座161中心开设的第一连通孔1613连通，第二内腔1621与第三内腔1623通过第二连通孔1624连通。
第二内腔1621的孔径稍大于第三内腔1623的孔径，其内可以用于容置拆装操控组件11中的部分或全部结构。第三内腔1623则主要容置手术器械14中的尾部拆装组件148。在前述图5和图7的基础上结合图9中所示，由于尾部拆装组件148容置于第三内腔1623内，因此，该第三内腔1623的腔壁上还开设有止转槽1626。在装配状态下，内锁合件1482上的锁合凸起14821嵌入该止转槽1626内，这样，手术器械14中，内锁合件1482的周向转动受限，进而限制了外鞘141与内锁合件1482、外锁合件1481与头部拆装组件147之间的相对转动，避免手术器械14在工作状态下内部的各部件之间发生相对周向转动而相互分离。
继续参考图5和图7中所示，外鞘限位组件12中的限位元件121与手术器械14的外锁合件1481限位配合，因此，机座16上用于容限位元件121滑动的滑动行程空间1625开设于第三内腔1623对应处，并与该第三内腔1623连通。
进一步结合图4与图9中所示，第二内腔1621的腔壁上开设有呈条形孔设置的透槽1628，联合解锁件111上的连接部1113及插入部1114自该透槽1628伸出至第二内腔1621外，并能够沿该透槽1628的延伸方向滑动。
参考图8中所示，第二内腔1621的另一侧腔壁上开设有与外壳17上的第二滑孔171形状相同且位置对应的第一滑孔1627，拨杆1112自该第一滑孔1627伸出第二内腔1621，并能够沿该第一滑孔1627的延伸方向滑动。
参考图4、图5和图7中所示，支撑部162上还开设有一解锁滑道1622，该解锁滑道1622用于容联合解锁件111上的插入部1114伸入。由前所述，为了使插入部1114能够准确地穿入限位元件121上的解锁插孔1211，插入部1114的端部在初始位置(即手术器械14保持与机座16装配连接不解锁的位置)即穿过解锁插孔1211。在开设有解锁滑道1622的实施方式中，穿过解锁插孔1211的插入部1114的端部可以伸入解锁滑道1622内，此后，通过拨杆1112滑套1111滑动时，插入部1114的端部逐渐地在解锁滑道1622内插入更深，这样，插入部1114的滑移行程可以受到该解锁滑道1622的支撑，位移精度更高。
参考图21中所示，本申请第三方面还提供一种手术机器人，包括前述实施方式的执行机构100，以及远心操控机构200、术前摆位机构300、机架400和基座500。基座500上配置有多组机架400，每个机架400上对应装设一组术前摆位机构300、远心操控机构200及 执行机构100。
远心操控机构200的一种可能的实施方式包括动平台、静平台以及多个伸缩单元，每个伸缩单元的两端均分别转动连接至动平台和静平台，多个伸缩单元协同伸缩以控制动平台相对于静平台运动。
执行机构100设置于动平台上，并且，手术器械14具有预设的远心不动点，动平台的偏转能够带动手术器械14绕该远心不动点摆动。在微创手术进行时，通过术前摆位机构300操控执行机构100，以使手术器械14上的远心不动点重合于患者身体上的微小创口，这样，在后续的手术过程中，由于手术器械14以该远心不动点为定点进行空间摆动，因此，手术器械14不会对创口造成拉扯。
以上所述实施方式的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施方式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。
本技术领域的普通技术人员应当认识到，以上的实施方式仅是用来说明本申请，而并非用作为对本申请的限定，只要在本申请的实质精神范围内，对以上实施方式所作的适当改变和变化都落在本申请要求保护的范围内。

Claims (25)

  1. 一种手术器械，其特征在于，包括外鞘、器械杆、手术工具、头部拆装组件，其中：
    所述头部拆装组件装设于所述外鞘的一端；
    所述手术工具设置于所述头部拆装组件并能够通过所述头部拆装组件与所述外鞘的一端拆分；
    所述器械杆滑动设置于所述外鞘的滑移腔室内，并且其一端驱动连接至所述手术工具。
  2. 根据权利要求1所述的手术器械，其特征在于，所述头部拆装组件包括头部连接件，所述外鞘内固设有锁合块，且所述头部连接件能够与所述锁合块配合以与所述外鞘锁定或解锁，所述手术工具设置于所述头部连接件上。
  3. 根据权利要求2所述的手术器械，其特征在于，所述头部连接件上开设有第一锁合槽，所述第一锁合槽包括相互连通的滑入段和锁合段；
    所述锁合块能够随所述外鞘与所述头部连接件的轴向相对运动在所述滑入段滑动，并随所述外鞘与所述头部连接件的周向相对运动滑入所述锁合段，以锁定所述外鞘与所述头部连接件。
  4. 根据权利要求3所述的手术器械，其特征在于，所述锁合块设置为两个或多个，两个或多个所述锁合块沿周向间隔布置，所述第一锁合槽的数量及位置与所述锁合块的数量及位置对应。
  5. 根据权利要求2所述的手术器械，其特征在于，所述头部连接件上开设有用于滑动支承所述器械杆的器械杆滑孔。
  6. 根据权利要求1所述的手术器械，其特征在于，所述手术器械还包括尾部拆装组件，所述尾部拆装组件包括可拆卸连接于所述外鞘的外锁合件，所述外锁合件上开设有用于滑动支承所述器械杆的导向孔。
  7. 根据权利要求6所述的手术器械，其特征在于，所述外鞘上固设有内锁合件，所述外锁合件和所述内锁合件中的一者上设置有第二锁合槽，另一者上设置有锁合凸起，所述第二锁合槽包括相互连通的滑入段和锁合段；
    所述锁合凸起能够随所述外锁合件与内锁合件的轴向相对运动在所述滑入段滑动，并随所述外锁合件与内锁合件的周向相对运动滑入所述锁合段，以锁定所述外锁合件和所述内锁合件。
  8. 根据权利要求7所述的手术器械，其特征在于，所述内锁合件套设固定于所述外鞘外，并具有能够伸入所述外锁合件内的插入段，所述锁合凸起固设于所述插入段。
  9. 根据权利要求6所述的手术器械，其特征在于，所述头部拆装组件与所述尾部拆装组件均通过相对于所述外鞘的轴向滑动及周向转动实现拆装，并且，所述外鞘同向转过预设角度能够同时实现与所述头部拆装组件和所述尾部拆装组件的拆装。
  10. 根据权利要求6所述的手术器械，其特征在于，所述外锁合件的一端与所述外鞘可拆卸连接，另一端设置有止转挡面，所述止转挡面能够与用于锁定所述手术器械于装配状态的限位元件配合，并用于限制所述外锁合件相对于所述限位元件的周向转动。
  11. 根据权利要求6所述的手术器械，其特征在于，所述外锁合件的一端与所述外鞘可拆卸连接，另一端设置有锁止凹槽，用于锁定所述手术器械的限位元件能够卡入所述锁止凹槽，以将所述手术器械锁定于装配状态。
  12. 根据权利要求1-11中任意一项所述的手术器械，其特征在于，所述器械杆有两根，所述手术工具包括一对转动连接于头部拆装组件一端侧的摆动件，每根所述器械杆驱动连接一个所述摆动件，所述器械杆在所述外鞘内的滑动能够分别独立驱动对应的所述摆动件摆动。
  13. 根据权利要求12所述的手术器械，其特征在于，所述手术器械还包括两根连杆，每根所述连杆的一端转动连接至其中的一个所述摆动件，另一端转动连接至其中的一根所述器械杆。
  14. 根据权利要求12所述的手术器械，其特征在于，每个所述摆动件和每个所述器械杆中的一者上设置有滑槽，另一者上设置有与所述滑槽滑动配合的连接部，所述器械杆均能够通过所述连接部和所述滑槽的滑动配合驱动对应的所述摆动件摆动。
  15. 一种执行机构，其特征在于，包括权利要求1-14中任意一项所述的手术器械。
  16. 根据权利要求15所述的执行机构，其特征在于，所述执行机构还包括：
    机座，用于滑动连接所述手术器械，并开设有垂直于所述手术器械滑动连接方向的滑动行程空间；
    外鞘限位组件，装设于所述机座，并包括能够在所述滑孔内滑动以锁定/解锁所述手术器械的外鞘的限位元件；
    器械杆限位组件，包括用于锁定/解锁所述器械杆的器械杆锁紧套；
    拆装操控组件，包括联合解锁件，所述联合解锁件能够相对所述器械杆锁紧套运动至解锁所述器械杆的位置，并与所述限位元件接合以解锁所述外鞘组件。
  17. 根据权利要求16所述的执行机构，其特征在于，所述限位元件具有解锁插孔，所述联合解锁件包括能够插入所述解锁插孔的插入部，并且，所述插入部插入所述解锁插孔的过程能够驱动所述限位元件在所述滑动行程空间内逐渐滑动至解锁所述外鞘组件的位置。
  18. 根据权利要求17所述的执行机构，其特征在于，所述插入部具有倾斜设置的插入导向斜面，所述插入导向斜面能够与所述解锁插孔的孔壁配合以驱动所述限位元件在所述滑动行程空间内逐渐滑动。
  19. 根据权利要求17所述的执行机构，其特征在于，所述外鞘限位组件还包括间隙调整件，所述间隙调整件夹设于所述外鞘组件和所述机座之间，以调整所述限位元件与所述滑动行程空间侧壁之间沿所述器械杆轴向的间隙。
  20. 根据权利要求16所述的执行机构，其特征在于，所述拆装操控组件还包括第一弹性件，所述第一弹性件的弹性力使得所述联合解锁件具有保持锁定所述器械杆的趋势。
  21. 根据权利要求20所述的执行机构，其特征在于，所述拆装操控组件还包括限位座，所述限位座固设于所述机座上，并能够限制所述联合解锁件向锁定所述器械杆方向运动的极限运动量。
  22. 根据权利要求16所述的执行机构，其特征在于，所述手术器械还包括尾部拆装组件，所述尾部拆装组件包括可拆卸连接于所述外鞘的外锁合件，所述外锁合件上设置有止转挡面；
    所述限位元件具有能够容所述外锁合件插入的止转插孔，所述止转插孔的孔缘能够与所述止转挡面抵止以限制所述外锁合件相对于所述机座的转动。
  23. 根据权利要求16所述的执行机构，其特征在于，所述器械杆限位组件还包括锁定件，所述器械杆的一端插装于所述器械杆锁紧套内；
    所述锁定件可动装设于所述器械杆锁紧套的锁定孔道内，并能够被所述联合解锁件推动至锁定所述器械杆的位置。
  24. 根据权利要求16所述的执行机构，其特征在于，所述器械杆有两根，每根所述器械杆对应一个器械杆锁紧套；
    所述执行机构还包括分别对应每根所述器械杆的两组器械杆驱动组件，每组所述器械杆驱动组件均包括直线驱动装置，所述直线驱动装置直接装设于所述机座上。
  25. 一种手术机器人，其特征在于，包括权利要求15-24中任意一项所述的执行机构。
PCT/CN2020/134113 2020-12-05 2020-12-05 手术器械、执行机构及手术机器人 WO2022116215A1 (zh)

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