WO2022116217A1 - Surgical instrument, execution mechanism, and surgical robot - Google Patents

Abstract

The present application relates to the field of medical instruments, and in particular to a surgical instrument, an execution mechanism, and a surgical robot. The surgical instrument comprises a sleeve rod (1), a first push-pull rod (2) and a second push-pull rod (3), and a surgical tool (6); the first push-pull rod (2) and the second push-pull rod (3) are slidably disposed in the sleeve rod (1); the surgical tool (6) comprises a first swing piece (61) and a second swing piece (62) which are rotatably connected to an end of the sleeve rod (1), and the first push-pull rod (2) and the second push-pull rod (3) are respectively in driving connection to the first swing piece (61) and the second swing piece (62).

Description

Surgical instruments, actuators and surgical robots technical field

The present application relates to the field of medical instruments, and in particular, to a surgical instrument, an executive mechanism and a surgical robot.

Background technique

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.

In the traditional actuators of some surgical robots, the steel wire is used as the driving member for the movement of the surgical tool. However, because the wire is easily stretched after a certain number of pulling, it will affect the manipulation accuracy of the surgical instrument, and other driving members are used to drive the operation. When the tool moves, it is difficult to meet the requirements for the freedom of movement of the surgical tool.

SUMMARY OF THE INVENTION

Embodiments of the present application first provide a surgical instrument, including a sleeve rod, a first push-pull rod, a second push-pull rod, and a surgical tool, wherein:

The sleeve rod is provided with a sliding chamber extending along the axial direction of the sleeve rod;

the first push-pull rod and the second push-pull rod are slidably disposed in the sliding chamber;

The surgical tool includes a first swing piece and a second swing piece that are rotatably connected to the end of the sleeve rod, and the first push-pull rod and the second push-pull rod are respectively drivingly connected to the first swing piece and the second push-pull rod. The second swinging member is independently driven to swing the first swinging member and the second swinging member at the end of the sleeve rod.

In this way, by using the hard first push-pull rod and the second push-pull rod as the swing driving members of the first swing piece and the second swing piece, the problems of reduced control accuracy and creep caused by the use of steel wire drive are avoided; , by sliding the first push-pull rod and the second push-pull rod axially along the sleeve rod in the sliding chamber, the first swing piece and the second swing piece can be respectively driven to swing at the end of the sleeve rod, which improves each The swinging range of each swinging member, in this way, the first swinging member and the second swinging member can flexibly complete the preset surgical action within a larger range.

In a feasible solution, the surgical instrument further includes a first link and a second link, and one ends of the first link and the second link are respectively connected to the first swinging member and the second link. The second swinging member is staggered, and the rotational connections between the first swinging member and the second swinging member and the sleeve rod are staggered, and the other ends of the first link and the second link are respectively connected to the The first push-pull rod and the second push-pull rod.

In a feasible solution, one end of the first link and the second link are rotatably connected to the first swing member and the second swing member, respectively, and the first link and The other ends of the second link are respectively rotatably connected to the first push-pull rod and the second push-pull rod. One end of the first connecting rod and the second connecting rod are respectively connected with the first push-pull rod and the second push-pull rod, and the other ends are respectively connected with the first swing piece and the second swing piece. The rotational connection relationship formed by the two ends increases the freedom of movement of each swing piece, and the movement of the surgical tool is more flexible.

In a feasible solution, the surgical instrument further comprises a central rotating shaft disposed at the end of the sleeve rod, and the first swinging member and the second swinging member are rotatably connected to the sleeve through the central rotating shaft the end of the rod; the first link is provided with a first escape portion, and when the first swing member swings to a limit position, the central pivot is located in the escape area of the first escape portion; And/or, the second link is provided with a second escape portion, and when the second swinging member swings to a limit position, the central pivot is located in the escape area of the second escape portion.

In a feasible solution, one side of the rod body of the first link and the second link is concave inward in the direction of avoiding the central rotation axis to form the first avoidance portion and the second avoidance portion, respectively. department.

Under the sliding drive of the first push-pull rod and the second push-pull rod, the first link and the second link drive the first swing member and the second swing member to rotate around the central axis, respectively. When the first swing member swings to one side When the central rotating shaft of the first connecting rod interferes with the side of the first connecting rod, the first swinging member reaches the limit of its swinging motion. The occurrence position further swings. During this swing, with the swing of the first swinging member, the central rotating shaft enters the avoidance area of the avoidance portion, and the swinging range of the first swinging member is wider than that without the avoidance portion. Similarly, the avoidance part on the second link can correspondingly increase the swing range of the second swinging member, and when the avoidance part is provided on both links, the surgical tool can make a wider range of movement to both sides. Free swinging, higher flexibility of surgical tools.

In a feasible solution, the partial rod bodies of the first link and the second link are respectively bent in a direction avoiding the central rotation axis to form the first avoidance portion and the second avoidance portion. By bending the partial rod bodies of the first link and the second link in the direction of avoiding the central rotating shaft, the time for the central rotating shaft to enter the avoidance area of the avoidance part is delayed, thereby allowing the two swinging members to have a larger swinging range.

In a feasible solution, along a direction perpendicular to the axis of the sleeve rod, the ends of the first push-pull rod and the second push-pull rod are concavely formed with a first mounting portion and a first mounting portion in a direction away from each other. Two mounting parts, the first link and the second link are respectively rotatably connected to a pair of opposite sides of the first mounting part and the second mounting part. A first mounting portion and a second mounting portion are formed by recessing the ends of the first push-pull rod and the second push-pull rod, and the first link and the second link are rotatably connected to the first mounting portion and the second mounting portion, respectively. In this way, along the direction perpendicular to the axis of the sleeve rod, the swing motion planes of the two connecting rods can be offset from each other, so as to avoid the movement interference of the first connecting rod and the second connecting rod when they swing.

In a feasible solution, the first link and the second link are both set as flat rods, and both the first link and the second link have a The first surface of the first mounting part and the second mounting part opposite a pair of side surfaces, and the second surface substantially parallel to the first surface, along the direction perpendicular to the axis of the sleeve rod, the The first surfaces of the first link and the second link are spaced up and down. The first and second surfaces of the first link and the second link are installed against the first mounting part and the second mounting part, respectively, and the first link and the second link are arranged in a flat shape The rod can make the first connecting rod and the second connecting rod spaced up and down between the first and second installation parts, so as to avoid the interference of the two when they move.

In a feasible solution, both the first swing member and the second swing member include a connecting portion and a clamping portion, and the two connecting portions are respectively connected to the first link and the second link. On the second surface of the connecting rod, along the direction perpendicular to the axis of the sleeve rod, the two clamping portions extend toward each other between the two connecting portions for butt fitting. The two clamping parts extend toward each other between the two connecting parts, so that the abutting and abutting positions of the two are also located between the two connecting parts, so that the connection of the swing piece can be operated without taking up too much space. The tool acquires a relatively large gripping surface.

In a feasible solution, both the first swinging member and the second swinging member include connecting portions, the edges of the two connecting portions each have a convex portion, and the two convex portions are respectively provided with The first rotating shaft and the second rotating shaft connecting the first connecting rod and the second connecting rod in rotation. By arranging a convex portion on the edge of the connecting portion of the first swinging member and the second swinging member respectively, the first rotating shaft and the second rotating shaft for rotatingly connecting the first link and the second link are respectively arranged on the two convex parts. In this way, the rotational connection position of the first link and the second link on the first swing piece and the second swing piece is farther from the central axis of rotation, so that the input of the first push-pull rod and the second push-pull rod, respectively, The force for driving the swinging of the first swing member and the second swing member is converted into a larger torque.

In a feasible solution, the end of the sleeve rod is provided with a pair of rotating support parts extending away from the end of the sleeve rod, and a pair of the rotation support parts are arranged at intervals on the axis of the sleeve rod On both sides of the direction, the first swinging member and the second swinging member are rotatably connected between a pair of the rotating support parts. An approximately U-shaped swing space can be formed outside the sliding chamber of the sleeve rod between the two rotating support parts arranged at intervals on both sides of the sleeve rod axis, so that the first swing member and/or the second swing member can swing into the U-shaped swing space without interfering with the end of the sleeve rod, therefore, the swing motion range of the first swing member and the second swing member is larger.

In a feasible solution, the surgical instrument further includes a guide limiter for limiting the sliding orientation of the first push-pull rod and the second push-pull rod.

In a feasible solution, the guide limiter is fixed in the sliding chamber of the sleeve rod, and the guide limiter is spaced apart from the first push-pull rod and the Two sliding holes for the second push-pull rod for sliding guidance. The guide limiter can make the first push-pull rod and the second push-pull rod slide along a preset axis without swinging away from the sliding direction, and the movement precision of the surgical instrument is higher.

In a feasible solution, the following relationship is satisfied between the displacement of the first push-pull rod and the rotation angle of the first swinging member:

Wherein: s is the displacement of the first push-pull rod, and is a vector with a direction;

a is the length of the connecting line from the connection between the first link and the first swinging member to the rotational connection between the first swinging member and the second swinging member;

b is the length of the first connecting rod;

c is the vertical distance between the central axis of the first push-pull rod and the zero position of the first swinging member;

d is the horizontal distance from the rotational connection between the first swing member and the second swing member to the rotational connection between the first link and the first push-pull rod;

α is the distance between the line connecting the rotational connection of the first swinging member and the second swinging member to the rotational connection of the first link and the first swinging member and the zero position of the first swinging member included angle;

θ is the angle that the first swinging member rotates when driven by the first push-pull rod, and is a vector with a direction.

In a feasible solution, the following relationship is satisfied between the displacement of the second push-pull rod and the rotation angle of the second swinging member:

Wherein: s is the displacement of the second push-pull rod, and is a vector with a direction;

a is the length of the connecting line from the connection between the second link and the second swinging member to the rotational connection between the first swinging member and the second swinging member;

b is the length of the second connecting rod;

c is the vertical distance between the central axis of the second push-pull rod and the zero position of the second swinging member;

d is the horizontal distance from the rotational connection between the first swing piece and the second swing piece to the rotational connection between the second link and the second push-pull rod;

α is the difference between the line connecting the rotational connection of the first swinging member and the second swinging member to the rotational connection of the second link and the second swinging member and the zero position of the second swinging member included angle;

θ is the angle that the second swinging member rotates under the driving of the second push-pull rod, and is a vector with a direction.

In a feasible solution, one of the first swing member and the first push-pull rod is provided with a first chute, and the other is provided with a first chute slidingly matched with the first chute. a sliding part, the first push-pull rod can drive the first swinging member to swing at one end of the sleeve rod through the sliding cooperation of the first sliding part and the first chute;

One of the second swinging member and the second push-pull rod is provided with a second chute, and the other is provided with a second sliding portion slidably matched with the second chute, the second The push-pull rod can drive the second swinging member to swing at one end of the sleeve rod through the sliding cooperation of the second sliding portion and the first sliding groove.

When the surgical instrument is working, the first swing piece and the second swing piece are driven by the first push-pull rod and the second push-pull rod respectively, so that the two swing pieces can swing independently of each other in a large range, or can be completed in cooperation with each other. The opening and closing action, at the same time, in a certain state, such as the clamping state, the two swinging parts can also be rotated at one end of the sleeve rod through the cooperation of the two push-pull rods. At the same time, the first push-pull rod and the second push-pull rod are not like flexible steel cables, and there is no elongation and deformation. Therefore, using the push-pull rods as the parts that drive the swinging piece can eliminate the use of steel cables as the driving structure of surgical instruments The creep problem that is common in the machine, and the high pair is formed between the chute and the connecting part, the transmission precision is high and the overall structure is relatively compact.

In a feasible solution, both the first chute and the second chute extend in a linear direction.

In this way, the first extension direction affects the swing rate of the first swing piece and the second swing piece. Setting the first chute and the second chute as grooves extending in a straight direction can simplify the first swing piece and the second swing piece. The calculation process of the movement rate of the two-swinging member further simplifies the movement control of the surgical instrument and improves the control precision.

In a feasible solution, both the first swing member and the second swing member include a connecting portion and a clamping portion, and the first chute and the second chute are respectively provided in two of the on the connecting part;

Both of the two clamping parts have clamping surfaces that can be butt-fitted, and both the first sliding groove and the second sliding groove extend in a direction perpendicular to the clamping surfaces. By arranging the first chute and the second chute along the direction perpendicular to the clamping surface, in this way, when the lengths of the first chute and the second chute are constant, the Swing range is greater.

In an optional solution, two of the connecting parts are provided with a central shaft for rotatably connecting the first swing member and the second swing member, along the first chute and the second chute The extension direction of the central axis is arranged at intervals from the first chute and the second chute, and/or,

When the two clamping surfaces of the two clamping parts are in contact with each other, the first sliding part and the second sliding part are respectively located at one end of the first sliding groove and the second sliding groove .

In a feasible solution, the dimensions of the two connecting portions along the extending direction of the first chute and the second chute are larger than the dimensions along other directions. By increasing the dimensions of the two connecting parts along the extending direction of the first and second sliding grooves, the length of the sliding grooves can be extended as much as possible on the premise that the overall size of the connecting parts is constant, so that the two swinging parts are at the same level. conditions to obtain a larger swing range.

In a feasible solution, the following relationship is satisfied between the displacement of the first push-pull rod and the rotation angle of the first swinging member:

Wherein: s is the displacement of the first push-pull rod sliding in the sliding chamber, and is a vector with a direction;

a is the distance between the central axis of the first push-pull rod and the center of rotation of the first swinging member on the sleeve rod; and, the displacement of the second push-pull rod and the displacement of the second swinging member The rotation angles satisfy the following relationship:

Wherein: s is the displacement of the second push-pull rod sliding in the sliding chamber, and is a vector with a direction;

a is the distance between the central axis of the second push-pull rod and the center of rotation of the second swinging member on the sleeve rod.

Using the above relationship to establish a control model between each push-pull rod and the corresponding swinging member, the rotation angles of the first swinging member and the second swinging member can be controlled more accurately, and the operation of the surgical tool can be precisely controlled through the cooperation of the two rotation angles. Parameters such as gripping force, deflection angle or opening angle.

In a feasible solution, the following relationship is satisfied between the swing range of the first swing member and the length of the first chute:

Wherein: a is the distance between the central axis of the first push-pull rod and the center of rotation of the first swinging member on the sleeve rod; L is the length of the first chute; and,

The following relationship is satisfied between the swing range of the second swing member and the length of the second chute:

Where: a is the distance between the central axis of the second push-pull rod and the center of rotation of the second swinging member on the sleeve rod; L is the length of the second chute.

In this way, when designing surgical instruments, the above mathematical relationship can guide the structural design of the chute, that is, the length of the chute can be designed according to the maximum deflection angle of the first swing piece and the second swing piece, so as to obtain a preset value. Surgical tool range of motion.

An embodiment of the present application further provides an actuator, including the above-mentioned surgical instrument, and a drive assembly for driving the first push-pull rod and the second push-pull rod to axially telescopically slide.

The embodiment of the present application also provides a surgical robot, including the above-mentioned execution mechanism.

In the above surgical instruments, actuators and surgical robots, the first and second swinging members in the surgical tool are respectively driven to swing by the hard first push-pull rod and the second push-pull rod, so that the two swing members can swing between the two swing members. Under the drive of the push-pull rod, the opening and closing movement can be completed together, and it can also swing left or right separately or together. The surgical tool has greater freedom of movement. At the same time, the creep of the steel wire when there is no flexible steel wire as the driving member affects the movement accuracy. The problem.

Description of drawings

In order to better describe and illustrate the embodiments and/or examples of those applications disclosed herein, reference may be made to one or more of the accompanying drawings. The additional details or examples used to describe the drawings should not be considered to limit the scope of the disclosed application, the presently described embodiments and/or examples, and the best mode of the presently understood of these applications. .

FIG. 1 is a schematic structural diagram of a surgical instrument according to a first embodiment of the present application.

Fig. 2 is a schematic diagram of an exploded structure of the surgical instrument shown in Fig. 1, in which the sleeve rod is moved away from the position of the surgical instrument along the axial direction thereof.

FIG. 3 is a schematic structural diagram of the surgical instrument shown in FIG. 2 being further disassembled, in which the surgical tool and two connecting rods are further disassembled.

FIG. 4 is a schematic structural diagram of the sleeve rod in the application.

FIG. 5 is a half cross-sectional view of the sleeve rod structure shown in FIG. 4 , in which the sleeve rod is integrally provided with a guiding and limiting member.

FIG. 6 is a partial structural schematic diagram of the first push-pull rod according to the first embodiment of the present application.

FIG. 7 is a schematic structural diagram of the first connecting rod according to the first embodiment of the present application.

FIG. 8 is a schematic diagram of the movement of the surgical instrument according to the first embodiment of the present application. In the figure, the first swinging member is in the zero position.

FIG. 9 is a schematic diagram of the movement of the surgical instrument according to the first embodiment of the present application. In the figure, the first swinging member is deployed to a 180° position.

FIG. 10 is a schematic structural diagram of the surgical instrument according to the first embodiment of the present application when both swinging members are in the zero position.

FIG. 11 is a schematic structural diagram of the surgical instrument shown in FIG. 10 after the sleeve rod is hidden.

FIG. 12 is a schematic structural diagram of the surgical instrument according to the first embodiment of the present application when two swinging members are at 180° to each other.

FIG. 13 is a schematic structural diagram of the surgical instrument shown in FIG. 12 after the sleeve rod is hidden.

Fig. 14 is a schematic structural diagram of the surgical instrument according to the second embodiment of the application, in which the sleeve rod structure is omitted.

FIG. 15 is a partial structural schematic diagram of the structure shown in FIG. 14 when the first swinging member and the second swinging member are in another orientation.

FIG. 16 is a schematic structural diagram of the first swinging member in the surgical instrument according to the second embodiment of the present application.

Fig. 17 is a schematic diagram of the movement of the surgical instrument according to the second embodiment of the present application, in the figure, the first swinging member is in the zero position.

Fig. 18 is a schematic diagram of the movement of the surgical instrument according to the second embodiment of the present application, in the figure, the first rocking member is deployed to the limit deployment position.

In the figure: 1 is the sleeve rod; 11 is the rotating support part; 12 is the sliding chamber; 2 is the first push-pull rod; 21 is the first installation part; 22 is the first sliding part; 3 is the second push-pull rod; 31 32 represents the second sliding part; 4 represents the first link; 41 represents the first surface; 42 represents the second surface; 43 represents the avoidance part; 44 represents the first shaft; 5 represents the second link; 61 denotes a surgical tool; 61 denotes a first swinging member; 611 denotes a first connecting portion; 6111 denotes a first convex portion; 6112 denotes a first chute; 612 denotes a first clamping portion; 6121 denotes a first clamping surface; 621 denotes the second connecting part; 6211 denotes the second chute; 622 denotes the second clamping part; 6221 denotes the second clamping surface; 7 denotes the guide limiter; 71 denotes the sliding hole; 8 Indicates the central axis of rotation; 9 represents the virtual crank.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

In the description of this application, it should be understood that the terms "center", "portrait", "horizontal", "top", "bottom", "front", "rear", "left", "right", " The orientation or positional relationship indicated by vertical, horizontal, top, bottom, inner, outer, axial, radial, circumferential, etc. is based on the drawings. The orientation or positional relationship shown is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a reference to the present application. limit.

In this application, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , it can also be integrated; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two components or two components. interactions, unless otherwise expressly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations. The technical solutions of the present application will be described in detail below with specific examples. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

Generally, the driving of surgical tools in the traditional technology is divided into flexible wire driving and rigid rod driving according to the structure of the driving element. Among them: the flexible steel wire drive is widely adopted because it can flexibly control the action of the surgical tool. However, the flexibility of the steel wire makes it creep after a period of use. This leads to a decrease in the precision of the operation of the surgical tool. Although the use of special steel as the manufacturing blank of the steel wire can alleviate the creep problem in its use, the cost of this material itself is relatively high, especially, the steel wire is flexible, and it cannot withstand the environment of the surgical tool. Force feedback to the control end side of the surgical robot.

In order to solve the problem of expensive steel wire materials and inability to establish force feedback, some surgical robot design schemes propose that a single rigid rod is used to connect a linkage mechanism similar to a scissor arm to realize the opening and closing of the two parts of the surgical tool. However, in this way, a single rigid rod is used as a driving member, and when the movement of the rigid rod is transmitted to the two parts of the surgical tool through the link mechanism, the two parts of the surgical tool act in concert, that is, due to The motion is output by the same linkage mechanism, therefore, the motion between the two parts of the surgical tool must be related, and the degree of freedom of motion is also subject to the degree of freedom of motion of the linkage mechanism itself, therefore, in this structure , Surgical tools often only have two degrees of freedom of movement, and the surgical tools themselves cannot perform yaw motion, so the movement of the surgical tools is not flexible enough.

When a surgical robot performs minimally invasive surgery, due to the small size of the wound on the patient's body, the operator often hopes that the surgical tool can touch a wide range of lesions as much as possible to complete the surgical action efficiently. Due to the lack of swinging freedom in the form of single-rod drive, the freedom and range of motion of surgical tools are greatly restricted.

Based on the above problems, referring to FIG. 1 , according to the present application, an embodiment of a surgical instrument is first provided, including a sleeve rod 1 , a first push-pull rod 2 and a second push-pull rod 3 , and a surgical tool 6 , wherein: the surgical tool 6 includes a first swinging member 61 and a second swinging member 62 rotatably connected to the end of the sleeve rod 1, the two can be combined to complete the clamping action, or the swinging members can be in an open state in a direction away from each other.

The first push-pull rod 2 and the second push-pull rod 3 are both hard rods, and the “hard rod” referred to here refers to: the first push-pull rod 2 and the second push-pull rod 3. It can output both the pulling force and the pushing force. In this way, taking the first swing member 61 as an example, when the first push-pull rod 2 drives the first swing member 61 to swing in two directions, it can directly pass the first swing member 61. The pulling or pushing force of a push-pull rod 2 is realized without having to cooperate with a pulley device when a flexible steel wire is used as a driving member; when the external force of the first push-pull rod 2 and the second push-pull rod 3 exceeds a certain magnitude, a certain elasticity may also occur. Deformation, but compared with the flexible steel wire, the rigid first push-pull rod 2 and the second push-pull rod 3 have a lower probability of elongation deformation under the same conditions, therefore, the flexible steel wire can be well overcome. caused by creep.

In addition, the first swinging member 61 and the second swinging member 62 can be configured as any surgical tools that have opening and closing motion and deflection motion. For example, when the first swinging member 61 and the second swinging member 62 are part of surgical scissors, the A swinging member 61 and a second swinging member 62 can constitute surgical scissors; similarly, when the first swinging member 61 and the second swinging member 62 are respectively a part of surgical forceps, they constitute surgical forceps. It can be understood that the first swinging member 61 and the second swinging member 62 can also be a two-part structure of any other surgical tool.

5, the sleeve rod 1 is provided with a sliding chamber 12 extending along the axial direction of the sleeve rod 1, and the sliding chamber 12 is slidably provided with a first push-pull rod 2 and a second push-pull rod 2. The pull rod 3 is respectively drivingly connected to the first swinging member 61 and the second swinging member 62 to independently drive the corresponding swinging member to swing. In this way, when the first swinging member 61 and the second swinging member 62 swing toward each other to a matching state, the surgical tool 6 can be in a clamping state, such as the state shown in FIG. 10 and FIG. 11 ; in this clamping state, The first push-pull rod 2 and the second push-pull rod 3 can also synchronously drive the first swinging member 61 and the second swinging member 62 to swing to one side together, so that the surgical tool 6 completes the swinging action in the clamped state. Down, the abutting surfaces of the two swinging members extend through the central axis of the sleeve rod 1; when the first swinging member 61 and the second swinging member 62 swing away from each other, the surgical tool 6 can be in an open state, for example, as shown in FIG. 12 And the limit state of 180° between the two swinging members shown in FIG. 13; Similarly, in the state where the surgical tool 6 is opened at any angle, the surgical tool 6 can also keep the open angle as a whole. Swing sideways.

In the surgical instrument in the embodiment of the present application, the swinging driving of the first swinging member 61 and the second swinging member 62 are separated by two push-pull rods, so that the swinging of the two swinging members in the surgical tool 6 is independent of each other at the driving level In actual operation, the first swing member 61 and the second swing member 62 can be independently driven to swing at a preset angle by controlling the axial sliding distance of the first push-pull rod 2 and the second push-pull rod 3; The cooperative control of the movement distance and movement direction of the push-pull rod can also enable the first swinging member 61 and the second swinging member 62 to cooperate to complete operations such as clamping, opening, and swinging, and the surgical tool 6 has a higher degree of freedom of movement. In contrast, in the form of single rigid rod drive, the two parts of the surgical tool are always driven by the same rigid rod, and there must be a kinematic relationship during the action, and in order to complete the opening and closing action, the surgery The relative motion relationship between the two parts of the tool is basically determined. Therefore, it is impossible for this structure to realize the overall swing of the surgical tool under the posture of clamping or opening a preset angle.

It can be understood that the first push-pull rod 2 and the second push-pull rod 3 are not limited to the direct connection between each push-pull rod and the corresponding swinging member, but can also be indirectly connected through a link mechanism, a gear transmission mechanism, etc., as long as it can be When the push-pull rod is pushed or pulled, the corresponding swinging member can swing.

Referring to FIGS. 2 and 3 , in the first embodiment, the surgical instrument further includes a first connecting rod 4 and a second connecting rod 5 , two ends of the first connecting rod 4 are respectively rotatably connected to the first push rod One end of the pull rod 2 and the first swinging member 61 , and similarly, two ends of the second link 5 are rotatably connected to one end of the second push-pull rod 3 and the second swinging member 62 , respectively. The first link 4 and the second link 5 form two rotational connections at their respective ends. In this way, in the motion mechanism where the first push-pull rod 2, the first link 4 and the first swinging member 61 are located, the first Both ends of the connecting rod 4 have one degree of freedom respectively, the degree of freedom of the entire motion mechanism increases, and the freedom of movement of the first swinging member 61 increases accordingly; the second push-pull rod 3, the second connecting rod 5 and the second swinging In the motion mechanism where the member 62 is located, both ends of the second link 5 have one degree of freedom respectively, and the degree of freedom of the entire motion mechanism increases, and the degree of freedom of movement of the second swing member 62 increases accordingly.

Continuing to refer to FIGS. 2 and 3 , the first swinging member 61 and the second swinging member 62 can establish a rotational connection with the sleeve rod 1 through the central shaft 8 passing through the pair of rotating support portions 11 . It can be understood that the central rotating shaft 8 is not necessarily an independent component independent of the first swinging member 61 and the second swinging member 62 , and it can also be a fixed one on the first swinging member 61 or the second swinging member 62 that can be used as a rotating shaft. The protruding structure, or it is a protruding structure which is installed on a pair of rotating support parts 11 or integrally formed and can be used as a rotating shaft.

It should be noted that, in the embodiment shown in the figure, the first push-pull rod 2 and the second push-pull rod 3 have the same structure, and the two connecting rods and the two swinging members corresponding to the two push-pull rods have the same structure. , the following description takes the first push-pull rod 2, the first connecting rod 4 and the first swinging member 61 as examples to illustrate, those skilled in the art can know that these structures can also be applied to the second push-pull rod 3, the second connecting rod The rod 5 and the second rocking member 62 .

Referring to FIGS. 2 and 3 , when the first swinging member 61 swings to the side where the second swinging member 62 is shown in the figure, the central rotating shaft 8 will gradually approach the side of the first link 4 . When the movement interferes, the side of the first link 4 prevents the first swing member 61 from further swinging in the above-mentioned direction. In order to obtain a larger swinging range for the first swinging member 61, the first link 4 needs to be “delayed” to interfere with the central rotating shaft 8. Therefore, in the embodiment shown in the figure, the first link 4 is provided with a second link 4. With an escape portion 43 , when the first swing member 61 swings to the limit position, the central shaft 8 is located in the escape area of the first escape portion 43 . When the swinging member 61 is swung to interfere with the side of the first link 4, since the avoidance area formed by the avoidance portion 43 can accommodate the entry of the central rotating shaft 8, the first swinging member 61 can further swing in the original direction, expanding the first swinging member 61. The swing range of the swing member 61 .

In one embodiment, one side of the rod body of the first connecting rod 4 is concave in the direction of avoiding the central rotating shaft 8 to form the first avoiding portion 43 . Alternatively, the entire partial rod body of the first link 4 is bent in a direction to escape the central rotating shaft 8 to form the first escape portion 43 . It can be understood that the first avoidance portion 43 is formed by the partial bending of the rod body of the first connecting rod 4 . At this time, even if the width of the first connecting rod 4 along the formation direction of the first avoidance portion 43 is small, the first avoidance portion 43 will not be affected. avoidance distance.

Similarly, the second link 5 is provided with a second avoidance portion (same position as the first avoidance portion 43 , but the second avoidance portion is not marked), and the second avoidance portion can also pass through the second link 5 The concave on one side of the rod body or the bending of the partial rod body is formed. In addition, the first link 4 and the second link 5 may also form the first escape portion 43 and the second escape portion through the two methods described above, which does not affect the realization of the overall solution.

In addition, it can be understood that the setting positions of the first avoidance portion 43 and the second avoidance portion are related to the position where the two connecting rods and the central rotating shaft 8 interfere with movement; The shape and size are related to the extreme positions of the two swinging members, that is, still taking the first swinging member 61 as an example, when the first swinging member 61 swings until the central axis 8 abuts against the edge of the empty area of the first avoidance portion 43 , the movement interference between the first connecting rod 4 and the central rotating shaft 8 will occur again, and at this time, the first swinging member 61 cannot rotate further when it reaches the limit position.

Referring to FIG. 4 , the end of the sleeve rod 1 is provided with a pair of rotation support parts 11 , the pair of rotation support parts 11 extend in a direction away from the end part of the sleeve rod 1 , and the pair of rotation support parts 11 are arranged at intervals on the On both sides of the sleeve rod 1 in the axial direction, an approximately U-shaped swing space is formed between the two rotating support parts 11 .

On the basis of FIG. 4 and shown in FIG. 1 , the first swinging member 61 and the second swinging member 62 are rotatably connected to the pair of rotating supports 11 , and can swing the U-shaped between them. Make a larger swing movement in the space.

2, 3 and 6, along the direction perpendicular to the axis of the sleeve rod 1, the ends of the first push-pull rod 2 and the second push-pull rod 3 are concavely formed with a first mounting portion in a direction away from each other 21 and the second mounting part 31, the first link 4 and the second link 5 are respectively rotatably connected to a pair of opposite sides of the first mounting part 21 and the second mounting part 31, so that the first link 4 and the The two planes on which the second link 5 swings are shifted along the direction perpendicular to the axis of the sleeve rod 1 . The first push-pull rod 2 and the second push-pull rod 3 can be formed by removing part of the material at the ends to form the first mounting portion 21 and the second mounting portion 31, where the first mounting portion 21 and the second mounting portion 31 The two functions mentioned above: first, the movement planes of the first link 4 and the second link 5 are staggered to avoid movement interference between the two; second, the concave concave A connecting plane for positioning and installing one end of the first connecting rod 4 and the second connecting rod 5 is formed there.

Referring to FIGS. 2 , 3 and 7 , the first link 4 and the second link 5 are both provided as flat rods. As mentioned above, the first link 4 and the second link 5 can be Substantially the same structure is adopted, therefore, the following description is still mainly carried out with the first link 4 as the main body. The first link 4 has a first surface 41 and a second surface 42 that are substantially parallel to each other, and in the assembled state of the surgical instrument, the first surface 41 abuts against a side surface of the first mounting portion 21 . Similarly, the first surface of the second link 5 also abuts against a side surface of the second mounting portion 31 accordingly, so that since the first mounting portion 21 and the second mounting portion 31 are concave in the direction away from each other, therefore , the first surface 41 of the first link 4 and the first surface of the second link 5 are spaced up and down, that is, referring to the orientation shown in FIG. 2 , the first surface 41 of the first link 4 and the second link 5 The upper and lower surfaces are not coplanar.

Continuing to refer to FIG. 2 , the structures of the first rocking member 61 and the second rocking member 62 are substantially the same. Taking the structure of the first rocking member 61 as an example, it includes a first connecting portion 611 and a first clamping portion 612 . The connecting parts of the two swinging pieces are respectively abutted against the second surfaces of the two connecting rods. In the direction perpendicular to the axis of the sleeve rod 1, the two clamping parts extend toward each other between the two connecting parts, so that the area where the first swinging piece 61 and the second swinging piece 62 are matched and clamped is between the two connecting parts. between.

Combined with the installation directions of the first mounting part 21 and the second mounting part 31, and the first link 4 and the second link 5, which are arranged as flat rods, the connection between the first swing member 61 and the second swing member 62 is made. The upper and lower parts are spaced up and down, and the two clamping parts extend opposite to each other, so that a larger clamping abutment surface can be obtained while satisfying the clamping requirements.

Referring to FIG. 2 , the edge of the first connecting portion 611 of the first swinging member 61 is provided with a first convex portion 6111 , and the first convex portion 6111 is provided with a first rotating shaft 44 for rotatably connecting the first link 4 . Similarly, the second connecting portion of the second swinging member 62 is also provided with a second convex portion and a second rotating shaft. The first rotating shaft 44 and the second rotating shaft may be separate components and installed on the first convex portion 6111 and the second convex portion, or the first rotating shaft 44 and the second rotating shaft may be integrally provided rotating shafts on the two connecting portions Alternatively, the first rotating shaft 44 and the second rotating shaft are rotating shaft-shaped protrusions integrally provided on the first connecting rod 4 and the second connecting rod 5 .

1 and 5, in order to determine the sliding path of the first push-pull rod 2 and the second push-pull rod 3 in the sleeve rod 1 and avoid movement interference when the two slide, the surgical instrument may also include a guide. The limiter 7 is used to guide the first push-pull rod 2 and the second push-pull rod 3 on their sliding paths.

In the embodiment shown in FIG. 1 and FIG. 5 , the guide limiting member 7 is disposed in the sliding chamber 12 of the sleeve rod 1 , or is integrally formed therewith. The guide limiting member 7 is provided with two sliding holes 71 at intervals, and the hole axis directions of the two sliding holes 71 are both parallel to the axis direction of the sliding chamber 12 (or the sleeve rod 1 ). The first push-pull rod 2 and the second push-pull rod 3 protrude from the two sliding holes 71 respectively.

In this embodiment, the ends of the first push-pull rod 2 and the second push-pull rod 3 protruding from the sleeve rod 1 form two driving ends, which can be used to connect an external driving mechanism to drive the first push-pull rod The push-pull rod 2 and the second push-pull rod 3 slide along the telescopic sliding of the sliding hole 71 .

It can be understood that, in other embodiments, the guide limiter 7 may adopt other forms, and its setting position is not limited to being fixed in the sleeve rod 1. The push-pull rod guides the sliding direction.

Figure 8 shows a schematic diagram of the movement of the surgical instrument, in which the first swinging member 61 is in the zero position; Figure 9 shows a schematic diagram of the movement of the surgical instrument, in the figure, the first swinging member 61 is deployed to 180° Location.

Referring to FIGS. 8 and 9 , in the surgical instrument provided by the present application, the structures of the first swinging member 61 and the second swinging member 62 are the same. Therefore, the first swinging member 61 is the analysis object in FIGS. 8 and 9 . . According to the first push-pull rod 2, the first connecting rod 4, the first swinging member 61 and the rotational connection structure between them, the driving structure of the first swinging member 61 approximately constitutes an eccentric crank-slider mechanism, wherein: the first connecting rod 4. The connection line between the first rotating shaft 44 at the rotational connection with the first swinging member 61 and the central rotating shaft 8 constitutes a virtual crank, and the motion law of the virtual crank is the same as that of the first swinging member 61. Therefore, it can be The movement law of the virtual crank is used to grasp the movement law of the first swinging member 61 . In addition, the first push-pull rod 2 slides in the sliding hole 71, and its movement mode can be regarded as sliding driven by a slider having a preset sliding direction.

Referring to FIGS. 8 , 10 and 11 , the orientation of the first swinging member 61 and the second swinging member 62 when they are arranged along the extending direction of the first push-pull rod 2 is defined as zero position; refer to FIGS. 9 , 12 and 13 As shown in , the first swinging member 61 and the second swinging member 62 swing away from each other on the basis of the zero position until the first swinging member 61 and the second swinging member 62 form a 180° expansion angle with each other and stop at this position. The first swing piece 61 and the second swing piece 62 are deployed to the 180° position. In addition, the meanings of each symbol in the definition diagram are as follows:

a is the length of the virtual crank, that is, the length of the connecting line between the first rotating shaft 44 and the central rotating shaft 8;

b is the length of the first connecting rod 4;

c is the vertical distance between the central axis of the first push-pull rod 2 and the zero position of the first swing member 61, which is a fixed value;

d is the horizontal distance from the central rotating shaft 8 to the connection point of the first connecting rod 4 and the first push-pull rod 2, which is a variable;

α is the angle between the virtual crank and the zero position of the first swing member 61, which is a variable;

θ is the angle that the virtual crank rotates around the central axis of rotation 8, or the angle that the first swinging member 61 rotates, which is a vector with a direction;

β is the angle between the first connecting rod 4 and the vertical direction, which is a variable;

s is the displacement of the first push-pull rod 2 sliding with the slider, and is a vector with a direction;

When the first push-pull rod 2 moves to the right and the displacement is s, the following equations can be obtained with reference to the geometric relationship in Figure 9:

By combining the above equations, the mathematical relationship between s and θ can be obtained as:

As mentioned above, θ is the angle that the virtual crank rotates, which simultaneously represents the angle and direction that the first swinging member 61 rotates. Therefore, based on the above mathematical relationship, the displacement of the first push-pull rod 2 and the first swinging member 61 can be obtained. The relationship between the angles of motion to facilitate precise control of surgical instruments.

It can be understood that the structure formed between the first push-pull rod 2 , the first link 4 and the first swing member 61 is the same as the structure formed between the second push-pull rod 3 , the second link 5 and the second swing member 62 . The same, therefore, the above relationship is also satisfied between the displacement of the second push-pull rod 3 and the angle rotated by the second swinging member 62, that is,

The following relationship is satisfied between the displacement of the second push-pull rod 3 and the rotation angle of the second swinging member 62:

Where: s is the displacement of the second push-pull rod 3, and is a vector with a direction;

a is the virtual crank length here, that is, the length of the connecting line between the second rotating shaft and the central rotating shaft 8;

b is the length of the second connecting rod 5;

c is the vertical distance between the central axis of the second push-pull rod 3 and the zero position of the second swing member 62;

d is the horizontal distance from the central rotating shaft 8 to the rotational connection of the second connecting rod 5 and the second push-pull rod 3;

α is the included angle between the connection line from the central axis of rotation 8 to the rotational connection of the second connecting rod 5 and the second swinging member 62 (ie, the virtual crank here) and the zero position of the second swinging member 62;

θ is the angle that the second swinging member 62 rotates when the second push-pull rod 3 is driven, and is a vector with a direction.

Referring to FIGS. 14 and 15, the figures show the structure of the surgical instrument of the second embodiment except for the sleeve 1. It can be understood that the surgical instrument shown in FIGS. 14 and 15 is the same as the aforementioned The difference between the surgical instruments of one embodiment mainly lies in the different driving connection structures between the two push-pull rods and the two swinging members. Therefore, the surgical instruments of the two embodiments can use the sleeve rods 1 of the same structure. In the description, for the part related to the sleeve rod 1, still refer to the structural description of the sleeve rod 1 in the previous embodiment.

In the second embodiment of the surgical instrument, one of the first swing member 61 and the first push-pull rod 2 is provided with a first chute 6112, and the other is provided with a sliding connection to the first chute 6112 One of the first sliding part 22, the second swinging member 62 and the second push-pull rod 3 is provided with a second chute 6211, and the other is provided with a second chute 6211 slidably connected to the second chute 6211. sliding part 32 .

When the first push-pull rod 2 slides in the axial direction relative to the sleeve rod 1, through the cooperation of the first sliding portion 22 and the first sliding groove 6112, the telescopic sliding of the first push-pull rod 2 can be transformed into the first swinging member 61 facing each other. is related to the swing of the sleeve rod 1; similarly, when the second push-pull rod 3 slides relative to the sleeve rod 1 in the axial direction, the cooperation of the second sliding portion 32 and the second sliding groove 6211 can make the second swinging member 62 relative to the sleeve rod 11. Sleeve 1 swings.

In this embodiment, the first swinging member 61 and the second swinging member 62 can still be pivotally connected to one end of the sleeve rod 1 through the central rotating shaft 8 in the previous embodiment. In the illustrated embodiment, the first chute 6112 and the second chute 6211 are respectively opened on the first swing piece 61 and the second swing piece 62, and the first chute 6112 and the second chute 6211 avoid the center The position where the rotating shaft 8 is pivotally connected is opened. Correspondingly, the first sliding portion 22 and the second sliding portion 32 are respectively disposed on the first push-pull rod 2 and the second push-pull rod 3 . In other embodiments, the settings of the chute and the connecting portion are interchangeable, that is, a first chute is provided on the first push-pull rod 2, and a first sliding portion is provided on the first swinging member 61, which does not affect Motion transfer between the two.

It can be understood that the driving form of the connection between the first push-pull rod 2 and the first swinging member 61 is substantially the same as the driving connection form between the second push-pull rod 3 and the second swinging member 62 . Therefore, some principles are described below. , the connection form between the first push-pull rod 2 and the first swinging member 61 is used as an example. From the relative motion relationship between the first sliding part 22 and the first sliding groove 6112, it can be known that there is not only relative sliding between the first sliding part 22 and the first sliding groove 6112, but the first sliding part 22 is in the first sliding groove. 6112 can also be adapted to rotate. Therefore, two sets of motion pairs are formed between the first push-pull rod 2 and the first swing member 61 and between the second push-pull rod 3 and the second swing member 62. In the previous embodiment, the driving connection between the swing piece and the push-pull rod is realized by two connecting rods. The transmission is more precise, and the compactness of the structure is greatly improved due to less use of connecting rods throughout the structure.

Both the first sliding groove 6112 and the second sliding groove 6211 extend in a linear direction. The groove shapes of the first chute 6112 and the second chute 6211 affect the relationship between the telescopic sliding distance of the first push-pull rod 2 and the swing angle of the first swing member 61, and the telescopic sliding distance of the second push-pull rod 3 and the first swinging member 61. The relationship between the swing angles of the two swing members 62 .

On the basis of FIGS. 14 and 15 , and further combined with that shown in FIG. 16 , the first swinging member 61 and the second swinging member 62 respectively include a first connecting portion 611 and a second connecting portion 621 , and a first clamping portion 612 and the second clamping part 622, the first sliding groove 6112 and the second sliding groove 6211 are respectively opened on the first connecting part 611 and the second connecting part 621; Clamping surfaces, when the two swinging pieces are in the clamping station, the two clamping surfaces are in contact with each other. Taking the structure of the first swinging member 61 as an example, the first connecting portion 611 and the first clamping portion 612 of the first swinging member 61 can be integrally formed or separately formed and then fixedly connected to each other. on a connecting portion 611 . The first clamping surface 6121 on the first clamping portion 612 can be butt-fitted with the second clamping surface 6221 on the second swinging member 62 to generate clamping force between the clamping portions of the two swinging members.

Further, continuing to refer to as shown in FIG. 16 , the first sliding groove 6112 on the first swinging member 61 extends in a direction perpendicular to the first clamping surface, and, along this direction, the first connecting portion 611 slides along the first sliding The dimension in the extending direction of the groove 6112 is larger than the dimension along the other directions. In this way, when the size of the first connecting portion 611 is constant, the length of the first sliding groove 6112 can be set to be longer. It can be understood that the above structure description about the first rocking member 61 is completely applicable to the second rocking member 62 , that is, the two can adopt substantially the same structure.

Along the extending direction of the first sliding slot 6112 , the shaft hole on the first connecting portion 611 for penetrating the central rotating shaft 8 is arranged at intervals from the first sliding slot 6112 . When the two clamping surfaces of the two clamping parts are in contact with each other, the first sliding part 22 and the second sliding part 32 are respectively located at one end of the first sliding groove 6112 and the second sliding groove 6211 .

Similar to the description in the previous embodiment: the first swinging member 61 and the second swinging member 62, as surgical tools on the surgical robot, can relatively swing to switch between the clamping station, the opening station and the deflection station, in:

In the clamping station, the clamping surfaces of the first swinging member 61 and the second swinging member 62 are in contact with each other, and the clamping surfaces extend through the central axis of the sleeve rod 1. At this time, the first sliding part 22 is located at the first One end of the chute 6112;

In the opening station, the first swinging member 61 and the second swinging member 62 are at an angle to each other, and the opening angle range between them is θ1, that is, when the first sliding part 22 slides to the other end of the first chute 6112 , and when the second sliding portion 32 slides to the other end of the second sliding slot 6211, the included angle between the clamping surfaces of the two swinging members is θ1;

At the deflection station, the first swinging member 61 and the second swinging member 62 are butt-fitted, and the clamping surface formed by the butt-fitted and the two is at an angle to the central axis of the sleeve rod 1, that is, the first swinging member 61 and the The second rocking member 62 is jointly deflected relative to the sleeve rod 1 in a clamped state.

Referring to FIGS. 17 and 18, in the second driving connection method between the swinging member and the push-pull rod, from the perspective of the motion relationship, the connection line between the first sliding part 22 and the central rotating shaft 8 can be regarded as a virtual For the crank 9, since the first sliding part 22 slides in the first sliding groove 6112, the length of the virtual crank 9 is a variable. Pushing the first push-pull rod 2 in the direction shown by the arrow in the figure under the orientation shown in Figure 17 is equivalent to sliding the slider in Figure 17 to the left by a distance of s, where s is a vector including the direction, and the slider When sliding, the virtual crank 9 swings counterclockwise by an angle θ in the direction indicated by the arrow in FIG. 17 , where θ is also a vector with a direction, and the direction of θ is related to the direction of s.

Referring further to FIG. 18 , the figure shows two extreme positions of the first swinging member 61 with solid lines and dot-dash lines, respectively, and the included angle θ1 between the two represents the swinging range of the first swinging member 61 . Taking one of the positions of the first swinging member 61 as an example, based on the geometric relationship, it can be known that the displacement s of the first push-pull rod 2 and the rotation angle θ of the first swinging member 61 satisfy the following relationship:

Wherein: s is the displacement of the first push-pull rod 2 sliding in the sleeve rod 1, and is a vector with a direction;

a is the distance between the central axis of the first push-pull rod 2 and the center of rotation of the first swing member 61 on the sleeve rod 1 .

The following relationship is satisfied between the swing range θ1 of the first swing member 61 and the length L of the first chute 6112:

Similarly, the above mathematical relationship between the first swing member 61 and the first push-pull rod 2 is applicable to the second swing member 62 and the second push-pull rod 3 , that is, the displacement s of the second push-pull rod 3 and the displacement of the second swing member 62 The following relationship is satisfied between the rotation angles θ:

Where: s is the displacement of the second push-pull rod 3, and is a vector with a direction;

a is the distance between the central axis of the second push-pull rod 3 and the center of rotation of the second swing member 62 on the sleeve rod 1 .

Referring back to what is shown in FIGS. 14 and 15 , the first sliding part 22 and the second sliding part 32 may be configured as a convex shaft structure fixed on the first push-pull rod 2 and the second push-pull rod 3 , the convex shaft structure having a swivel Alternatively, the first sliding part 22 and the second sliding part 32 can also be configured as a convex shaft structure independent of the first push-pull rod 2 and the second push-pull rod 3, and assembled to the first push-pull rod 2 and the second push-pull rod 3 in a manner similar to a pin connection. The corresponding positions of the push-pull rod 2 and the second push-pull rod 3.

In addition, in order to guide the sliding of the first push-pull rod 2 and the second push-pull rod 3 in the axial direction in this embodiment, the surgical instrument may also include the guide limiter 7 described in the previous embodiment.

The present application also provides an actuator, which includes the surgical instrument of any of the foregoing embodiments, and a drive assembly for driving the first push-pull rod 2 and the second push-pull rod 3 to axially telescopically slide. It can be understood that the drive assembly can respectively drive the two push-pull rods to telescopically slide, but it is not necessarily realized by using two separate drive assemblies. Each of the motion output positions can be respectively connected to the two driving ends on the aforementioned two push-pull rods.

In addition, the present application also provides a surgical robot, which includes the above-mentioned execution mechanism. In some embodiments, the surgical robot may adopt a stewart platform structure as a telecentric control mechanism, and an actuator may be correspondingly installed on the moving platform of the telecentric control mechanism.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the patent application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims (24)

1. A surgical instrument, characterized in that it comprises a sleeve rod, a first push-pull rod and a second push-pull rod, and a surgical tool, wherein:

   The sleeve rod is provided with a sliding chamber extending along the axial direction of the sleeve rod;

   the first push-pull rod and the second push-pull rod are slidably disposed in the sliding chamber;

   The surgical tool includes a first swing piece and a second swing piece that are rotatably connected to the end of the sleeve rod, and the first push-pull rod and the second push-pull rod are respectively drivingly connected to the first swing piece and the second push-pull rod. The second swinging member is independently driven to swing the first swinging member and the second swinging member at the end of the sleeve rod.
2. The surgical instrument according to claim 1, wherein the surgical instrument further comprises a first link and a second link, and one ends of the first link and the second link are respectively connected to the The first swinging member and the second swinging member are staggered at the rotational connection points of the first swinging member and the second swinging member and the sleeve rod. The other ends are respectively connected to the first push-pull rod and the second push-pull rod.
3. The surgical instrument according to claim 2, wherein one end of the first link and the second link are rotatably connected to the first swing member and the second swing member, respectively, and the The other ends of the first link and the second link are respectively rotatably connected to the first push-pull rod and the second push-pull rod.
4. The surgical instrument according to claim 3, characterized in that, the surgical instrument further comprises a central rotating shaft disposed at the end of the sleeve rod, and the first swinging member and the second swinging member pass through the central rotating shaft rotatably connected to the end of the sleeve rod;

   The first link is provided with a first escape portion, and when the first swinging member swings to a limit position, the central pivot is located in the escape area of the first escape portion; and/or,

   The second link is provided with a second avoidance portion, and when the second swinging member swings to a limit position, the central pivot is located in the avoidance area of the second avoidance portion.
5. The surgical instrument according to claim 4, wherein one side of the first link and the second link rod body is concave inward in the direction of avoiding the central rotating shaft to form the first avoidance portion, respectively. and the second escape portion.
6. The surgical instrument according to claim 4, wherein the partial rod bodies of the first link and the second link are respectively bent in a direction to avoid the central rotation axis to form the first avoidance portion and the Second Avoidance Department.
7. The surgical instrument according to claim 2, characterized in that, along a direction perpendicular to the axis of the sleeve rod, the ends of the first push-pull rod and the second push-pull rod are concavely formed in a direction away from each other. A first mounting portion and a second mounting portion, the first link and the second link are respectively rotatably connected to a pair of opposite side surfaces of the first mounting portion and the second mounting portion.
8. The surgical instrument according to claim 7, wherein the first link and the second link are both configured as flat rods, and the first link and the second link are Each has a first surface abutting a pair of opposite sides of the first mounting portion and the second mounting portion, and a second surface substantially parallel to the first surface, along a direction perpendicular to the sleeve rod In the direction of the axis, the first surfaces of the first link and the second link are spaced up and down.
9. The surgical instrument according to claim 8, wherein the first swinging member and the second swinging member each include a connecting portion and a clamping portion, and the two connecting portions are respectively connected to the first connecting portion. On the second surface of the rod and the second connecting rod, along the direction perpendicular to the axis of the sleeve rod, the two clamping parts extend toward each other between the two connecting parts for butt fitting.
10. The surgical instrument according to claim 3, wherein the first swinging member and the second swinging member each include a connecting portion, the edges of the two connecting portions each have a convex portion, and the two connecting portions have a convex portion. The convex portion is respectively provided with a first rotating shaft and a second rotating shaft for rotatably connecting the first link and the second link.
11. The surgical instrument according to claim 1, wherein the end of the sleeve rod is provided with a pair of rotating support parts extending away from the end of the sleeve rod, and the pair of rotating support parts are arranged at intervals on the On both sides of the sleeve rod in the axial direction, the first swinging member and the second swinging member are rotatably connected between a pair of the rotation support parts.
12. The surgical instrument according to any one of claims 1-11, characterized in that, the surgical instrument further comprises a guide limiter for restricting the sliding orientation of the first push-pull rod and the second push-pull rod.
13. The surgical instrument according to claim 12, wherein the guide limiter is fixed in the sliding chamber of the sleeve rod, and the guide limiter is spaced apart from A push-pull rod and two sliding holes for sliding guidance of the second push-pull rod.
14. The surgical instrument according to claim 3, wherein the following relationship is satisfied between the displacement of the first push-pull rod and the rotation angle of the first swinging member:

    

    Wherein: s is the displacement of the first push-pull rod, and is a vector with a direction;

    a is the length of the connecting line from the connection between the first link and the first swinging member to the rotational connection between the first swinging member and the second swinging member;

    b is the length of the first connecting rod;

    c is the vertical distance between the central axis of the first push-pull rod and the zero position of the first swinging member;

    d is the horizontal distance from the rotational connection between the first swing member and the second swing member to the rotational connection between the first link and the first push-pull rod;

    α is the distance between the line connecting the rotational connection of the first swinging member and the second swinging member to the rotational connection of the first link and the first swinging member and the zero position of the first swinging member included angle;

    θ is the angle that the first swinging member rotates when driven by the first push-pull rod, and is a vector with a direction.
15. The surgical instrument according to claim 3, wherein the displacement of the second push-pull rod and the rotation angle of the second swinging member satisfy the following relationship:

    

    Wherein: s is the displacement of the second push-pull rod, and is a vector with a direction;

    a is the length of the connecting line from the connection between the second link and the second swinging member to the rotational connection between the first swinging member and the second swinging member;

    b is the length of the second connecting rod;

    c is the vertical distance between the central axis of the second push-pull rod and the zero position of the second swinging member;

    d is the horizontal distance from the rotational connection between the first swing piece and the second swing piece to the rotational connection between the second link and the second push-pull rod;

    α is the difference between the line connecting the rotational connection of the first swinging member and the second swinging member to the rotational connection of the second link and the second swinging member and the zero position of the second swinging member included angle;

    θ is the angle that the second swinging member rotates under the driving of the second push-pull rod, and is a vector with a direction.
16. The surgical instrument according to claim 1, wherein one of the first swing member and the first push-pull rod is provided with a first chute, and the other is provided with a connection with the first push-pull rod. a first sliding part that slides with the sliding groove, and the first push-pull rod can drive the first swing piece to swing at one end of the sleeve rod through the sliding cooperation between the first sliding part and the first sliding groove;

    One of the second swinging member and the second push-pull rod is provided with a second chute, and the other is provided with a second sliding portion slidably matched with the second chute, the second The push-pull rod can drive the second swinging member to swing at one end of the sleeve rod through the sliding cooperation of the second sliding portion and the first sliding groove.
17. The surgical instrument according to claim 16, wherein the first chute and the second chute both extend in a linear direction.
18. The surgical instrument according to claim 17, wherein the first swinging member and the second swinging member each comprise a connecting portion and a clamping portion, and the first sliding groove and the second sliding groove are respectively open on two of the connecting parts;

    Both of the two clamping parts have clamping surfaces that can be butt-fitted, and both the first sliding groove and the second sliding groove extend in a direction perpendicular to the clamping surfaces.
19. The surgical instrument according to claim 18, wherein the two connecting parts are provided with a central rotating shaft for rotatably connecting the first swinging member and the second swinging member, along the first sliding groove and the extending direction of the second chute, the central axis of rotation is spaced apart from the first chute and the second chute, and/or,

    When the two clamping surfaces of the two clamping parts are in contact with each other, the first sliding part and the second sliding part are respectively located at one end of the first sliding groove and the second sliding groove .
20. The surgical instrument according to claim 18 or 19, wherein the dimensions of the two connecting portions along the extending direction of the first sliding groove and the second sliding groove are larger than those along other directions.
21. The surgical instrument according to claim 17, wherein the displacement of the first push-pull rod and the rotation angle of the first swing member satisfy the following relationship:

    

    Wherein: s is the displacement of the first push-pull rod sliding in the sliding chamber, and is a vector with a direction;

    a is the distance between the central axis of the first push-pull rod and the center of rotation of the first swing member on the sleeve rod; and,

    The following relationship is satisfied between the displacement of the second push-pull rod and the rotation angle of the second swinging member:

    

    Wherein: s is the displacement of the second push-pull rod sliding in the sliding chamber, and is a vector with a direction;

    a is the distance between the central axis of the second push-pull rod and the center of rotation of the second swinging member on the sleeve rod.
22. The surgical instrument according to claim 17, wherein the swing range of the first swing member and the length of the first chute satisfy the following relationship:

    

    Wherein: a is the distance between the central axis of the first push-pull rod and the center of rotation of the first swing member on the sleeve rod;

    L is the length of the first chute; and,

    The following relationship is satisfied between the swing range of the second swing member and the length of the second chute:

    

    Wherein: a is the distance between the central axis of the second push-pull rod and the center of rotation of the second swinging member on the sleeve rod;

    L is the length of the second chute.
23. An actuator, characterized in that it comprises the surgical instrument according to any one of claims 1-22, and a drive assembly for driving the first push-pull rod and the second push-pull rod to slide in an axial direction. .
24. A surgical robot, characterized in that it comprises the actuator of claim 23 .

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