WO2022135356A1

WO2022135356A1 - Instrument effector, instrument effector assembly and surgical instrument

Info

Publication number: WO2022135356A1
Application number: PCT/CN2021/139822
Authority: WO
Inventors: 何裕源; 蒋友坤; 何超
Original assignee: 上海微创医疗机器人（集团）股份有限公司
Priority date: 2020-12-24
Filing date: 2021-12-20
Publication date: 2022-06-30
Also published as: CN112690836A; CN112690836B

Abstract

An instrument effector (1), an instrument effector assembly and a surgical instrument; the instrument effector (1) comprises an interference portion for acting on target tissue, a first guide assembly (30), a second guide assembly (40), a base body (50), and a base (60); the interference portion is connected to the base body (50) in a manner of being rotatable around a first axis (91); the base body (50) is connected to the base (60) in a manner of being rotatable around a second axis (92); the first guide assembly (30) and the second guide assembly (40) are used for guiding pulling bodies and are arranged on the two sides of the base body (50) in the direction of the second axis (92); the base (60) has channels for guiding the pulling bodies, and the channels are located on the proximal sides of the first guide assembly (30) and the second guide assembly (40). By means of the described configuration, the deflection angles of the pulling bodies at each guide assembly are improved, and the guide radius of the guide assembly is effectively increased while not increasing the external diameter of an instrument rod (2), thereby prolonging the service life of the instrument effector assembly.

Description

Instrument Ends, Instrument End Components, and Surgical Instruments

technical field

The invention relates to the technical field of medical instruments, in particular to an instrument end, an instrument end assembly and a surgical instrument.

Background technique

In recent years, with the application and development of robotics, especially the development of computing technology, the role of medical surgical robots in clinical practice has attracted more and more attention. The micro-traumatic surgical robot can reduce the physical labor of the doctor during the operation, and at the same time achieve the purpose of precise surgery, so that the patient has micro-trauma, less blood loss, less postoperative infection, and faster postoperative recovery. The design of the surgical instruments for the minimally invasive surgical robot directly determines the success or failure of the surgical robot system. The performance of the surgical instrument is a key factor affecting the performance level of the surgical robot system.

In the instrument end components of the existing surgical instruments, there are often disadvantages of complex transmission structure and large space occupation. In particular, under the limitation of the outer diameter of the instrument shaft, when the diameter of the guide wheel is too small or the declination position of the wire rope is not good, the service life of the instrument end assembly of the surgical instrument will be reduced.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an instrument end, an instrument end assembly and a surgical instrument to solve at least one of the problems of complex transmission structure, large space occupation and short service life of the existing instrument end assembly.

In order to solve the above-mentioned technical problems, based on the first aspect of the present invention, there is provided an instrument tip, which includes: an interference portion for acting on a target tissue, a first guide assembly, a second guide assembly, a base body, and a base;

the interference portion is rotatably connected to the base body around a first axis;

the base body is rotatably connected to the base about a second axis;

The first guide assembly and the second guide assembly are used to guide the traction body and are arranged on both sides of the base body along the direction of the second axis;

The base has a channel for guiding the traction body, and the channel is located on the proximal end side of the first guide assembly and the second guide assembly.

In order to solve the above technical problem, based on the second aspect of the present invention, there is also provided an instrument end assembly, which includes the above-mentioned instrument end and a plurality of traction bodies;

One end of a part of the traction body is connected with the interference part, and the other end extends to the proximal end under the guidance of the channel after passing through the first guide assembly and the second guide assembly, and is used for connecting with the drive unit connection;

One end of a part of the traction body is connected with the base body, and the other end is extended toward the proximal end under the guidance of the channel for connecting with the driving unit.

In order to solve the above technical problems, based on the third aspect of the present invention, a surgical instrument is further provided, which includes the above-mentioned instrument end assembly, an instrument shaft and a driving unit connected to the instrument end assembly.

To sum up, in the instrument end, instrument end assembly and surgical instrument provided by the present invention, the instrument end includes an interference portion for acting on the target tissue, an interference portion for acting on the target tissue, a first guide assembly, a second guide assembly, a base body and a base; the interference portion is rotatably connected to the base body around a first axis; the base body is rotatably connected to the base around a second axis; the first guide assembly and the second guide assembly is used to guide the traction body and is arranged on both sides of the base body along the direction of the second axis; the base has a channel for guiding the traction body, the channel on the proximal side of the first guide assembly and the second guide assembly. This configuration improves the deflection angle of the traction body at each guide assembly, effectively increases the guide radius of the guide assembly without increasing the outer diameter of the instrument shaft, and thus increases the service life of the instrument end assembly. In addition, the assembly structure is simplified, the stability of the end of the instrument is improved, and the end of the instrument has a larger range of motion and flexibility.

Description of drawings

Those of ordinary skill in the art will appreciate that the accompanying drawings are provided for a better understanding of the present invention and do not constitute any limitation on the scope of the present invention. in:

Fig. 1 is the overall schematic diagram of the surgical instrument according to the first embodiment of the present invention;

2 is a schematic diagram of the instrument end assembly according to the first embodiment of the present invention;

3 is an exploded view of the instrument end assembly according to the first embodiment of the present invention;

4 is a schematic diagram of the end of the instrument according to the first embodiment of the present invention;

5 is a schematic diagram of a first opening and closing assembly and a second opening and closing assembly according to Embodiment 1 of the present invention;

6a is a schematic diagram of a first opening and closing assembly according to Embodiment 1 of the present invention;

6b is a schematic diagram of another angle of the first opening and closing assembly according to the first embodiment of the present invention;

7a is a schematic diagram of a second opening and closing assembly according to Embodiment 1 of the present invention;

7b is a schematic diagram of another angle of the second opening and closing assembly according to the first embodiment of the present invention;

Fig. 8a is a schematic diagram of the substrate of the first embodiment of the present invention;

Fig. 8b is a schematic diagram of another angle of the substrate according to the first embodiment of the present invention;

9 is a side view of the first opening and closing assembly, the second opening and closing assembly and the base body according to the first embodiment of the present invention;

10 is a schematic diagram of the base of the first embodiment of the present invention;

11 is a bottom view of the base of the first embodiment of the present invention;

12 is a top view of the base of the first embodiment of the present invention;

13 is a top view of the base body and the base after being assembled according to the first embodiment of the present invention;

14 is a side view of the base body and the base after being assembled according to the first embodiment of the present invention;

Figure 15 is a schematic diagram of an instrument rod connection seat according to Embodiment 1 of the present invention;

Figure 16 is a top view of the instrument rod connection seat according to the first embodiment of the present invention;

17 is a schematic diagram of the assembled base and the instrument rod connecting seat according to the first embodiment of the present invention;

Fig. 18 is the bottom view after the assembly of the base and the connecting seat of the instrument rod according to the first embodiment of the present invention;

Fig. 19 is a schematic diagram of the instrument end assembly according to the second embodiment of the present invention;

Figure 20 is an exploded view of the instrument end assembly according to the second embodiment of the present invention;

Fig. 21 is an exploded view of another angle of the instrument end assembly according to the second embodiment of the present invention;

Figure 22 is an exploded view of the device end assembly according to the third embodiment of the present invention;

23 is a schematic diagram of the base of the third embodiment of the present invention;

24 is a schematic diagram of the instrument end assembly according to the fourth embodiment of the present invention;

Fig. 25 is an exploded view of the instrument end assembly according to the fourth embodiment of the present invention;

26 is a schematic diagram of the base of the fourth embodiment of the present invention;

FIG. 27 is a schematic diagram of the substrate of the fourth embodiment of the present invention.

In the attached picture:

1-instrument end; 2-instrument shaft; 3-drive unit;

10 - the first opening and closing assembly; 100 - the first opening and closing piece; 101 - the first opening and closing piece connecting part; 102 - the second opening and closing piece connecting part;

20 - the second opening and closing assembly; 200 - the second opening and closing piece; 203 - the third opening and closing piece connecting part; 204 - the fourth opening and closing piece connecting part;

30-first guide assembly; 31-first guide wheel; 33-third guide wheel; 35-first guide column; 40-second guide assembly; 42-second guide wheel; 44-fourth guide wheel; 45 - the second guide column;

50-base body; 51-opening and closing arm; 52-tilting arm;

60 - base; 600 - base plate; 601 - first traction body perforation hole; 602 - second traction body perforation hole; 603 - third traction body perforation hole; 604 - fourth traction body perforation hole; 605 - the fifth traction body through hole; 606 - the sixth traction body through hole; 61 - support beam; 631 - the first guide groove; 632 - the second guide groove; 633 - the third guide groove; 634 - the fourth guide 651- the first traction body groove; 652- the second traction body groove; 653- the third traction body groove; 654- the fourth traction body groove; 655- the fifth traction body groove; 656- the sixth traction body groove; 66-clip; 671-first guide slot; 672-second guide slot;

71 - the first traction body; 72 - the second traction body; 73 - the third traction body; 74 - the fourth traction body; 75 - the fifth traction body; 76 - the sixth traction body;

80-instrument rod connection seat; 801-seventh traction body groove; 802-eighth traction body groove; 803-ninth traction body groove; 804-tenth traction body groove; 805-eleventh traction body groove; 806- The twelfth traction body slot; 81-limiting plate; 82-card slot; 83-avoidance slot; 810-main body section; 820-diameter reduction section;

91-first axis; 910-first pin; 92-second axis; 920-second pin; 93-third axis.

Detailed ways

In order to make the objects, advantages and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the accompanying drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clearly assist the purpose of explaining the embodiments of the present invention. Furthermore, the structures shown in the drawings are often part of the actual structure. In particular, each drawing needs to show different emphases, and sometimes different scales are used.

As used herein, the singular forms "a," "an," and "the" include plural referents, the term "or" is generally employed in its sense including "and/or", and the term "a number" It is usually used in the sense including "at least one", the term "at least two" is usually used in the sense including "two or more", in addition, the terms "first", "the second" "Second" and "Third" are for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined as "first", "second", "third" may expressly or implicitly include one or at least two of these features, the term "proximal" is generally the end close to the operator, the term "proximal" "Distal" is usually the end close to the patient, that is, close to the surgical site, "one end" and "the other end" and "proximal" and "distal" usually refer to the corresponding two parts, which not only include the end point, the term " "Installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integrated; it may be a mechanical connection or an electrical connection; it may be a direct connection, or a It can be indirectly connected through an intermediate medium, and it can be the communication between the two elements or the interaction relationship between the two elements. In addition, as used in the present invention, the arrangement of one element on another element generally only means that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the relationship between the two elements may be direct or indirect through intermediate elements connection, coupling, cooperation or transmission, and should not be construed as indicating or implying the spatial positional relationship between two elements, that is, one element can be in any position inside, outside, above, below or on one side of the other element, unless the content Also clearly stated. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

The core idea of the present invention is to provide an instrument end, an instrument end assembly and a surgical instrument to solve at least one of the problems of complex transmission structure, large space occupation and short service life of the existing instrument end assembly.

The following description is made with reference to the accompanying drawings.

[Example 1]

Please refer to FIG. 1 to FIG. 18 , wherein, FIG. 1 is an overall schematic diagram of the surgical instrument according to the first embodiment of the present invention; FIG. 2 is a schematic diagram of the end assembly of the instrument according to the first embodiment of the present invention; FIG. 3 is the instrument according to the first embodiment of the present invention. An exploded view of the end assembly; Fig. 4 is a schematic diagram of the device end of the first embodiment of the present invention; Fig. 5 is a schematic diagram of the first opening and closing assembly and the second opening and closing assembly of the first embodiment of the present invention; Fig. 6a is an embodiment of the present invention Fig. 6b is a schematic diagram of the first opening and closing assembly of the first embodiment of the present invention from another angle; Fig. 7a is a schematic diagram of the second opening and closing assembly of the first embodiment of the present invention; Fig. 7b is a schematic diagram of another angle of the second opening and closing assembly of the first embodiment of the present invention; FIG. 8a is a schematic diagram of the base body of the first embodiment of the present invention; FIG. 8b is a schematic diagram of another angle of the base body of the first embodiment of the present invention; 9 is a side view of the first opening and closing assembly, the second opening and closing assembly and the base body of the first embodiment of the present invention; FIG. 10 is a schematic diagram of the base of the first embodiment of the present invention; FIG. 11 is the first embodiment of the present invention. Bottom view of the base; Figure 12 is a top view of the base of the first embodiment of the present invention; Figure 13 is a top view of the base body and the base of the first embodiment of the present invention after assembly; Figure 14 is the base body and the base of the first embodiment of the present invention. The side view after the seat is assembled; FIG. 15 is a schematic diagram of the instrument rod connection seat of the first embodiment of the present invention; FIG. 16 is a top view of the instrument rod connection seat of the first embodiment of the present invention; FIG. 17 is the base of the first embodiment of the present invention. Figure 18 is a bottom view after assembly of the base and the connecting seat of the instrument rod according to the first embodiment of the present invention.

As shown in FIG. 1 , the first embodiment of the present invention provides a surgical instrument, which includes: an instrument end 1 and six traction bodies, and the instrument end 1 and the six traction bodies constitute an instrument end assembly. Optionally, the surgical instrument further includes an instrument rod 2 and a drive unit 3. One end of the six traction bodies is respectively connected to the instrument end 1, and the other end is connected to the drive unit 3 through the instrument rod 2. The drive unit 3 passes through the six traction bodies. The traction body drives the instrument end 1 to perform actions to achieve the operation.

Please refer to FIG. 2 and FIG. 3 , which show the instrument end assembly provided in the first embodiment; the six traction bodies are the first traction body 71 , the second traction body 72 , the third traction body 73 , and the fourth traction body respectively. 74. The fifth traction body 75 and the sixth traction body 76, the six traction bodies can be filamentary traction bodies such as wire ropes. In the following, a clip-type surgical tool including two opening and closing pieces is used as an example for description. The instrument end 1 includes two interference parts, namely a first opening and closing component and a second opening and closing component; The two-opening assembly is used to perform surgery/act on the target tissue. The instrument end 1 further includes: a first guide assembly 30, a second guide assembly 40, a base body 50 and a base 60;

The first opening and closing assembly 10 and the second opening and closing assembly 20 are respectively rotatably connected to the base body 50 around the first axis 91; the first opening and closing assembly 10 includes a first opening and closing piece 100, a second opening and closing An opening and closing piece connecting part 101 and a second opening and closing piece connecting part 102, the first opening and closing piece 100 rotates around the first axis 91; the first opening and closing piece connecting part 101 and the second opening and closing piece The opening and closing pieces 102 are fixedly connected with the first opening and closing piece 100 or extend integrally from the first opening and closing piece 100 , and the first opening and closing piece connecting part 101 is connected with the second opening and closing piece The parts 102 are arranged on opposite sides of the base body 50 along the first axis 91; the first opening and closing piece connecting part 101 and the second opening and closing piece connecting part 102 are respectively used for the first traction body 71 and the second traction body 72 are wound in opposite directions; the first opening and closing assembly 10 is configured to be driven by the first traction body 71 and the second traction body 72 in opposite directions. said first axis 91 rotates; and/or,

The second opening and closing assembly 20 includes a second opening and closing piece 200 , a third opening and closing piece connecting portion 203 and a fourth opening and closing piece connecting portion 204 , and the second opening and closing piece 200 rotates around the first axis 91 ; The third opening and closing piece connecting portion 203 and the fourth opening and closing piece connecting portion 204 are fixedly connected with the second opening and closing piece 200 or extend integrally from the second opening and closing piece 200. The third opening and closing piece connecting part 203 and the fourth opening and closing piece connecting part 204 are arranged on both sides of the base body 50 along the first axis 91 ; the third opening and closing piece connecting part 203 and the first opening and closing piece connecting part 203 and the first The four opening and closing piece connecting parts 204 are respectively used for the third pulling body 73 and the fourth pulling body 74 to be wound in opposite directions; the second opening and closing assembly 20 is configured to connect the third pulling body 73 and all the Driven by the fourth traction body 74, it rotates around the first axis 91 in the opposite direction; it can be understood that in some embodiments, one of the first opening and closing assembly 10 and the second opening and closing assembly 20 rotates around One axis 91 rotates, and the other can be rotated or fixed, and both can realize opening and closing movement.

The base body 50 is rotatably connected to the base 60 around a second axis 92, and the second axis 92 is perpendicular to the first axis 91; the base body 50 is used for the fifth traction body 75 and the sixth The traction body 76 is connected and used to rotate around the second axis 92 in opposite directions under the driving of the fifth traction body 75 and the sixth traction body 76;

The first guide assembly 30 and the second guide assembly 40 are used to guide the traction body and are arranged on both sides of the base body 50 along the direction of the second axis 92. The first traction body 71 and the third traction body 73 are wound around, and the second guide assembly 40 is used for the second traction body 72 and the fourth traction body 74 to be wound around; in a preferred implementation In the example, the first guide assembly 30 and the second guide assembly 40 are coaxially arranged along the second axis 92. Of course, in other embodiments, the first guide assembly 30 and the second guide assembly 40 are not limited to being along the second axis 92, one or both of the first guide assembly 30 and the second guide assembly 40 may also form a certain eccentricity with the second axis 92.

The base 60 has a channel for guiding the traction body (for details, please refer to the first to fourth guide grooves 631-634 and the first to sixth traction body grooves 651-656 in FIG. 10 , etc.), The channel is located on the proximal side of the first guide assembly 30 and the second guide assembly 40 . Further, the base 60 includes a base plate 600 , the base plate 600 is parallel to the second axis 92 , and the channel extends from the base plate 600 along the axial direction of the base plate 600 and passes through the base plate. The channel penetrates through the base plate 600 to form at least a first pulling body through hole 601 , a second pulling body through hole 602 , a third pulling body through hole 603 , a fourth pulling body through hole 604 , and a fifth pulling body through hole 604 . The body through holes 605 and the sixth traction body through holes 606 are respectively used for the first to sixth traction bodies 71 to 76 to pass through. It should be noted that the channel here extends along the axial direction of the substrate 600 , and is not limited to the extending direction of the channel being perpendicular to the substrate 600 , it may extend approximately along the axial direction of the substrate 600 , for example, the channel may be curved or skewed, etc. , as long as its general extension direction is along the axial direction of the substrate 600 , it should be regarded as extending along the axial direction of the substrate 600 .

In actual assembly, one end of the first traction body 71 is connected to the first opening and closing piece 100 , and the other end is wound around the first opening and closing piece connecting portion 101 and the first guide assembly 30 in sequence, Passing through the hole 601 of the first traction body to connect with the drive unit 3; one end of the second traction body 72 is connected to the first opening and closing piece 100, and the other end is wound around the second opening in turn. After the sheet connecting part 102 and the second guide assembly 40, pass through the through hole 602 of the second traction body to connect with the drive unit 3; one end of the third traction body 73 is opened and closed with the second traction body The plate 200 is connected, and the other end is wound around the third opening and closing plate connecting portion 203 and the first guide assembly 30 in turn, and passes through the third traction body through hole 603 to connect with the drive unit 3; One end of the fourth traction body 74 is connected to the second opening and closing piece 200, and the other end is sequentially wound around the fourth opening and closing piece connecting portion 204 and the second guide assembly 40, and passes through the first opening and closing piece 40. The four traction body through holes 604 are connected to the drive unit 3 ; one end of the fifth traction body 75 is connected to the base body 50 , and the other end passes through the fifth traction body through holes 605 and is connected to the drive unit 3 ; One end of the sixth traction body 76 is connected to the base body 50 , and the other end passes through the hole 606 of the sixth traction body and is connected to the drive unit 3 .

The driving unit 3 preferably includes three drivers, and each driver is connected with two traction bodies respectively, so that the driving unit 3 can realize three degrees of freedom for the instrument end 1 (respectively the first opening and closing pieces) through the six traction bodies. The opening and closing degrees of freedom of the 100, the opening and closing degrees of freedom of the second opening and closing piece 200, and the pitching degrees of freedom of the base body 50) drive control. Specifically, the driving unit 3 can drive the first opening and closing piece 100 to rotate around the first axis 91 through the first pulling body 71 and the second pulling body 72 , and can drive the first opening and closing piece 100 through the third pulling body 73 and the fourth pulling body 74 . The two opening and closing pieces 200 rotate around the first axis 91, that is, the relative opening and closing movement of the two opening and closing pieces is realized; the driving unit 3 can drive the base body 50 to surround the second When the axis 92 rotates, the driving base 50 can be tilted relative to the base 60 .

As mentioned above, the first opening and closing piece 100 and the second opening and closing piece 200 are correspondingly provided with the first opening and closing piece connecting part 101 , the second opening and closing piece connecting part 102 , the third opening and closing piece connecting part 203 and the fourth opening and closing piece The opening and closing piece connecting parts 204 are arranged coaxially along the first axis 91; the first guide assembly 30 and the second guide assembly 40 are arranged coaxially along the second axis 92; The opening and closing direction of the closing piece is perpendicular to the first axis 91; on the premise that the radial dimension of the instrument end 1 is constant, the guide radius of the guide assembly and the guide radius of the connecting part of the opening and closing piece can be effectively increased, thereby reducing the traction The bending degree of the body increases the service life of the end components of the instrument. In addition, the above-mentioned arrangement is simple, simplifies the assembly structure, improves the stability of the instrument end 1, and at the same time enables the instrument end 1 to have a larger range of motion and flexibility.

Referring to FIGS. 4 to 8 b , in an exemplary embodiment, the base body 50 has an opening and closing arm 51 disposed along the direction of the first axis 91 , a first opening and closing piece connecting portion 101 and a second opening and closing piece connecting portion 102 The distance is adapted to the axial length of the opening and closing arm 51 along the first axis 91 . Further, the distance between the third opening and closing piece connecting part 203 and the fourth opening and closing piece connecting part 204 is the same as that when the first opening and closing piece connecting part 101 and the second opening and closing piece connecting part 102 are clamped on both sides of the opening and closing arm 51 . The maximum axial length of the first axis 91 (that is, the distance between the two ends of the first opening and closing piece connecting portion 101 and the second opening and closing piece connecting portion 102 away from each other) is adapted, and the third opening and closing piece connecting portion 203 and the fourth opening and closing piece connecting portion 203 and the fourth The opening and closing piece connecting parts 204 are respectively clamped on both sides of the first opening and closing piece connecting part 101 and the second opening and closing piece connecting part 102 . Each of the first, second, third and fourth opening and closing piece connecting parts is arc-shaped around the first axis 91 respectively, and the cross-sectional shape of the opening and closing piece connecting parts in the radial direction It is matched with the cross-sectional shape of the corresponding traction body to accommodate the traction body, and can guide and restrict the traction body to prevent the traction body from slipping out of the connecting part of the opening and closing piece. Further, each opening and closing piece connecting portion also has a traction body fixing point, so as to fix the traction body. Of course, in some other embodiments, the arrangement order of the four opening and closing piece connecting parts is not limited to the third opening and closing piece connecting part 203 , the first opening and closing piece connecting part 101 , the second opening and closing piece connecting part 102 and the first opening and closing piece connecting part 102 . The four opening and closing piece connecting parts 204 are arranged in sequence, or the third opening and closing piece connecting part 203 , the second opening and closing piece connecting part 102 , the first opening and closing piece connecting part 101 and the fourth opening and closing piece connecting part 204 in sequence Arrangement and other arrangements, those skilled in the art can adjust the arrangement sequence of the four opening and closing piece connecting parts according to the actual situation. Optionally, the four opening and closing piece connecting parts and the opening and closing arm 51 respectively have a first shaft hole, and the four opening and closing piece connecting parts and the opening and closing arm 51 are connected by a first pin shaft 910 passing through the first shaft hole. . Preferably, the direction in which the first pulling body 71 is wound on the first opening and closing piece connecting portion 101 is opposite to the direction in which the second pulling body 72 is wound on the second opening and closing piece connecting portion 102; the third pulling body The direction in which the 73 is wound around the third opening and closing piece connecting portion 203 is opposite to the direction in which the fourth pulling body 74 is wound around the fourth opening and closing piece connecting portion 204 .

Referring to FIGS. 9 to 14 , in an alternative embodiment, the base 60 has two supporting beams 61 arranged at intervals along the second axis 92 , and the base 50 has the tilting arms 52 arranged along the second axis 92 . , the distance between the two support beams 61 is adapted to the axial length of the pitch arm 52 along the second axis 92 , and the two support beams 61 are respectively clamped on both sides of the pitch arm 52 . Optionally, the two support beams 61 and the pitch arm 52 respectively have second shaft holes, and the two support beams 61 and the pitch arm 52 are connected by a second pin shaft 920 passing through the second shaft holes. Preferably, the fixing point of the fifth traction body 75 on the base body 50 and the fixing point of the sixth traction body 76 on the base body 50 are located on both sides of the second axis 92 respectively, so that it is convenient to pass the fifth traction body 75 and the second axis. The six traction bodies 76 exert torques in different directions relative to the second axis 92 to the base body 50 , so as to drive the base body 50 to pitch and swing around the second axis 92 .

In one embodiment, the first guide assembly 30 includes a first guide wheel 31 and a third guide wheel 33, and the second guide assembly 40 includes a second guide wheel 42 and a fourth guide wheel 44; the first guide wheel 42 and the fourth guide wheel 44; To the fourth guide wheel (ie the first guide wheel 31, the second guide wheel 42, the third guide wheel 33 and the fourth guide wheel 44) are respectively rotatably connected to the base 60 around the second axis 92; The first to fourth guide wheels are respectively used for the first to fourth traction bodies (ie the first traction body 71 , the second traction body 72 , the third traction body 73 and the fourth traction body 74 ) to be wound around . Optionally, the direction in which the first traction body 71 is wound around the first guide wheel 31 is opposite to the direction in which the second traction body 72 is wound around the second guide wheel 42 , and the third traction body 73 is wound around the third The direction on the guide wheel 33 is opposite to the direction in which the fourth traction body 74 is wound around the fourth guide wheel 44 . In an exemplary embodiment, the first guide wheel 31 , the second guide wheel 42 , the third guide wheel 33 and the fourth guide wheel 44 respectively have third shaft holes, the third guide wheel 33 and the first guide wheel 31 The second guide wheel 42 and the fourth guide wheel 44 are arranged on the other side of the other support beam 61 along the second axis 92, that is, the two support beams 61 are Sandwiched between four guide wheels. Preferably, the second pin shaft 920 not only penetrates through and connects the two support beams 61 and the pitch arm 52 , but also penetrates through the third shaft holes of the four guide wheels, so that the four guide wheels are rotatably connected with the second pin shaft 920 .

Preferably, the base 60 includes a third guide assembly and a fourth guide assembly, the third guide assembly is located at the proximal end of the first guide assembly 30 along the axial direction of the base 60 , and the fourth guide assembly The guide assembly is located at the proximal end of the second guide assembly 40 along the axial direction of the base 60 ; the third guide assembly and the fourth guide assembly are used to guide the traction body and are arranged along the third axis 93 at the proximal end of the second guide assembly 40 ; On both sides of the base body 50, the third axis 93 is parallel to the second axis 92; the third guide assembly is used to change the extension direction of the first traction body 71 and the third traction body 73, The fourth guide assembly is used to change the extending directions of the second traction body 72 and the fourth traction body 74 . Further, the channel includes a plurality of guide grooves located at the distal end side of the base plate 600 , a part of the guide grooves is disposed on the third guide assembly, and the other part of the guide grooves is disposed on the third guide assembly. On the fourth guide assembly, each of the guide grooves is used for a traction body to be wound around, and is used to guide the traction body to extend proximally from the first guide assembly 30 and the second guide assembly 40 . Preferably, the guide grooves include first to fourth guide grooves (ie, a first guide groove 631, a second guide groove 632, a third guide groove 633 and a fourth guide groove 634). The third guide groove 633 is located on the third guide assembly, the second guide groove 632 and the fourth guide groove 634 are located on the fourth guide assembly; the first to fourth guide grooves are respectively Corresponding one-to-one with the first to fourth guide wheels, the first to fourth guide grooves are respectively used for the first to fourth traction bodies (ie the first traction body 71, the second traction body 72, the The third traction body 73 and the fourth traction body 74) are wound around.

Optionally, each guide groove includes a circular arc segment and a straight line segment, the circular arc segment is centered on the third axis 93, and the straight segment is perpendicular to the base plate 600 and is tangent to the circular arc segment. The through hole of the traction body is located at the intersection of the straight line segment and the base plate 600 . In this configuration, each guide groove can change the direction of the corresponding pulling body, so that the pulling body can vertically pass through the corresponding pulling body through hole on the base plate 600 .

Optionally, the base 60 defines a first base surface passing through the second axis 92 and the third axis 93 , the first traction body through holes 601 and the third traction body through The hole 603 and the fifth pulling body through hole 605 are located on one side of the first base surface, the second pulling body through hole 602, the fourth pulling body through hole 604 and the sixth The pulling body through hole 606 is located on the other side of the first base surface. Since the winding directions of the two pulling bodies corresponding to each opening and closing piece on the connecting part of the opening and closing piece are opposite, correspondingly, the two pulling bodies corresponding to each opening and closing piece are pierced through holes respectively. It is placed on both sides of the first base surface to reduce the traction resistance of the traction body.

Optionally, the four guide grooves (ie the first guide groove 631, the second guide groove 632, the third guide groove 633 and the fourth guide groove 634) are axially distributed along the third axis 93, and the four guide wheels (ie the first guide wheel 31 , the second guide wheel 42 , the third guide wheel 33 and the fourth guide wheel 44 ) the axial distribution positions along the second axis 92 are in one-to-one correspondence, so that the four traction bodies (ie the first traction body When the body 71, the second traction body 72, the third traction body 73 and the fourth traction body 74) extend from the guide wheel to the corresponding guide groove, there is no need to generate an axial direction along the second axis 92 or the third axis 93. The offset effectively reduces the offset stretching of the traction body and reduces the friction of the guide wheel or the guide groove on the traction body.

Preferably, as shown in FIG. 14 , the radius of the circular arc segment of the guide groove is ra, and the cross-sections of the third guide component and the fourth guide component along the second axis 92 are circular (ie, The first guide wheel 31, the second guide wheel 42, the third guide wheel 33 and the fourth guide wheel 44 are all circular guide wheels), the third guide assembly and the fourth guide assembly are used to change the traction body The radius of the circle at the cross-section of the (that is, the radius of the four guide wheels) is rb, and the distance T between the second axis 92 and the third axis 93 satisfies: ra+rb≤T≤ra+rb+3mm . This configuration can reduce the frictional resistance of the four traction bodies when they extend from the guide wheels to the corresponding guide grooves.

Preferably, the channel defines a circumscribed circle parallel to the substrate 600 , and the circumscribed circles of the channel have different radii along the axial direction of the substrate 600 . More preferably, the channel includes a traction body groove located at the proximal end side of the base plate 600, and the traction body groove is used to guide and change the extension direction of the traction body; the traction body groove is far from the base plate The radius of the circumscribed circle defined closer to 600 is greater than the radius of the circumscribed circle defined farther from the substrate 600 . More preferably, the channel includes a plurality of the traction body grooves, and the plurality of traction body grooves are respectively used to guide and change the extending directions of the plurality of the traction bodies; There are a plurality of pulling body through holes, and the plurality of pulling body grooves are respectively connected to the pulling body grooves in a one-to-one correspondence with the plurality of pulling body through holes. In an exemplary example, please refer to FIG. 10 to FIG. 12 , the channel includes six traction body grooves, which are the first to sixth traction body grooves (ie, the first traction body groove 651 , the second traction body groove 651 , the second traction body groove 651 , the second traction body groove slot 652 , third pulling body slot 653 , fourth pulling body slot 654 , fifth pulling body slot 655 and sixth pulling body slot 656 ), the first to sixth pulling body slots are arranged near the base plate 600 On the end side, the first to sixth traction body grooves are respectively used to change the first to sixth traction bodies (ie, the first traction body 71 , the second traction body 72 , the third traction body 73 , the fourth traction body 74, the extension direction of the fifth traction body 75 and the sixth traction body 76); the first to sixth traction body grooves are respectively connected with the first to sixth traction body through holes (that is, the first traction body through Hole 601, second traction body through hole 602, third traction body through hole 603, fourth traction body through hole 604, fifth traction body through hole 605 and sixth traction body through hole 606) one by one Correspondingly connected to form communication; the diameter of the circumscribed circle of the first to sixth traction body grooves farther from the base plate 600 (the proximal side of the first to sixth traction body grooves) is smaller than the diameter of the first to sixth traction body grooves. The diameter of the circumscribed circle from where the sixth traction body groove is closer to the base plate 600 (the distal end side of the first to sixth traction body grooves). In an exemplary example, the circumscribed circle of the distal ends of the first to sixth traction body grooves (ie, one end of the first to sixth traction body grooves connected to the base plate 600 ) is the outer circumference of the base plate 600 , and its diameter is D. The first to sixth traction body grooves are all curved, and gradually approach the axis of the base plate 600 toward the proximal end, so that the circumscribed circle of the traction body groove toward the proximal end is gradually reduced, so that the six traction bodies can be After the guide of the traction body grooves changes direction, the distance between them gradually decreases, so that the radial distance between the traction body and the base 60 or the inner wall of the instrument rod connecting seat 80 (see below for details) can be increased, thereby preventing traction. There is friction between the body and the base 60 or the inner wall of the instrument rod connecting seat 80, which improves the efficiency and reliability, and at the same time can reserve the layout space for additional degrees of freedom joints on the periphery. The joint of the overall yaw of the end assembly to increase the range of motion or degree of freedom of the end of the instrument.

Please refer to FIG. 15 to FIG. 18 , preferably, the instrument end 1 further includes an instrument rod connecting seat 80 , the instrument rod connecting seat 80 is detachably connected to the base 60 and is restricted relative to the base Circumferential rotation of the seat 60; the instrument shaft connecting seat 80 includes a plurality of traction body grooves, and the plurality of traction body grooves form a guide channel for guiding and defining at least a portion of the traction body. The instrument rod connecting seat 80 includes seventh to twelfth traction body grooves (respectively, the seventh pull-in body groove 801, the eighth traction body groove 802, the ninth traction body groove 803, the tenth traction body groove 804, the tenth traction body groove 804, the A traction body groove 805 and a twelfth traction body groove 806), the seventh to twelfth traction body grooves are respectively connected with the first to sixth traction body grooves one by one opposite to each other, and are formed for guiding and limiting the The guide channels of the first to sixth traction bodies, for example, for the first traction body 71, the guide channel is composed of two parts, which are the first traction body groove 651 on the base 60 and the first traction body groove 651 on the instrument rod connecting seat 80. The seventh traction body slot 801 . In an exemplary embodiment, the instrument rod connecting base 80 is substantially cylindrical, and has an axially penetrating inner cavity therein, and the seventh to twelfth traction body grooves are all defined in the inner cavity. The instrument rod connecting seat 80 can be nested and assembled with the base 60, and can be positioned with the base 60 through the special-shaped contour of the inner cavity to prevent circumferential rotation. When the instrument rod connecting seat 80 can be nested and assembled with the base 60, the two corresponding traction body grooves cooperate with each other to form a guide channel for the traction body to pass through. For example, the cross-sections of the first traction body groove 651 and the seventh traction body groove 801 are two semicircles respectively, and after the two are connected and spliced together, a circular guide channel is formed for the first traction body 71 to pass through, preferably The cross section of the guide channel formed by splicing the two traction body grooves is slightly larger than the outer diameter of the traction body, so as to guide and define the traction body. The instrument rod connecting seat 80 cooperates with the base 60, so that the first to sixth traction body grooves are connected with the seventh to twelfth traction body grooves respectively, forming a complete traction body guiding channel, which can prevent the traction body from detaching from it and avoid the traction body. Interfere with other parts and affect the transmission effect. Preferably, the proximal end of the instrument rod connecting seat 80 has a reduced diameter section 820 , the outer diameter of which is smaller than the main body section 810 of the instrument rod connecting seat 80 , so as to be connected with the instrument rod 2 . The cross section of the diameter-reducing section is preferably circular; optionally, a protruding buckle or a stopper may be provided on the diameter-reducing section, so as to limit the connection seat between the instrument rod 2 and the instrument rod after connecting with the instrument rod 2 80 circumferential rotation of both.

Preferably, the diameters of the circumscribed circles of the distal ends of the seventh to twelfth traction body grooves are smaller than the diameters of the circumscribed circles of the proximal ends of the seventh to twelfth traction body grooves. The traction body grooves are all curved, and gradually approach the axis direction of the instrument rod connecting seat 80, so that the circumscribed circle of the proximal end of the traction body groove is reduced, so that the six traction bodies can be guided by the traction body groove and change their direction. The distance between them is further reduced, so that the friction between the traction body and the inner wall of the instrument shaft 2 can be further prevented.

Optionally, at least one of the instrument rod connecting seat 80, the base 60 and the first to fourth opening and closing piece connecting parts is made of materials with low friction coefficient and good wear resistance, such as PEEK, PTFE, FEP, Nylon etc. It should be understood that the entirety of the instrument rod connecting seat 80 , the base 60 and the opening and closing piece connecting part are all made of materials with low friction coefficient and good wear resistance. In some embodiments, it can also be an instrument The rod connecting seat 80 , the base 60 and the part of the opening and closing piece connecting part for contacting the traction body (such as the traction body groove, etc.) are made of materials with low friction coefficient and good wear resistance to reduce cost.

It can be understood that the above examples exemplify the instrument end assembly provided in this embodiment, rather than limit the instrument end assembly provided in this embodiment. In some other embodiments, the number of traction bodies, the number of grooves (including the number of traction body grooves and the number of guide grooves), and the number of each guide assembly can be adjusted according to the actual situation. Therefore, this embodiment The provided instrument end assembly includes the above-mentioned instrument end and a plurality of traction bodies, one end of a part of the traction bodies is connected with the interference part, and the other end passes through the first guide assembly and the second guide assembly. , under the guidance of the channel, it extends to the proximal end for connecting with the drive unit; one end of a part of the traction body is connected to the base body, and the other end extends to the proximal end under the guidance of the channel, For connection to the drive unit.

Since the surgical instrument provided in this embodiment includes the above-mentioned instrument end assembly, an instrument shaft and a driving unit connected to the instrument end assembly, the surgical instrument also has the beneficial effects brought by the instrument end assembly. Those skilled in the art can set other components and structures of the surgical instrument according to the actual prior art, and the setting principle of the surgical instrument and other components will not be described in detail here.

Through the above configuration, the deflection angle of the traction body at each guide assembly is improved, and the guide radius of the guide assembly is effectively increased without increasing the outer diameter of the instrument shaft, thereby increasing the service life of the instrument end assembly. In addition, the assembly structure is simplified, the stability of the end of the instrument is improved, and the end of the instrument has a larger range of motion and flexibility.

[Example 2]

Please refer to FIGS. 19 to 21 , wherein, FIG. 19 is a schematic diagram of the distal part of the instrument end assembly according to the second embodiment of the present invention; FIG. 20 is an exploded view of the instrument end assembly according to the second embodiment of the present invention; FIG. 21 is the present invention Another perspective exploded view of the instrument tip assembly of the second embodiment.

The instrument end, instrument end assembly and surgical instrument provided in the second embodiment of the present invention are basically the same as the instrument end, instrument end assembly and surgical instrument provided in the first embodiment, and the same parts will not be described, and only the differences will be described below.

In this embodiment, the guiding manner of the first to sixth traction bodies after passing through the holes of the first to sixth traction bodies is different from that of the first embodiment. The end of the instrument further includes a plurality of limit holes located on the proximal side of the base plate 600, the limit holes are arranged along the axial direction of the base plate 600, and are used for the pulling body to pass through and for restricting the The radial displacement of the traction body; the radius of the circumscribed circle defined by the limiting hole is smaller than the radius of the circumscribed circle defined by the channel at the base plate 600 .

Specifically, the instrument rod connecting seat 80 is detachably connected to the base 60, and is restricted from circumferential rotation relative to the base 60; the instrument rod connecting seat includes a limit plate 81, the The limit plate 81 is located at the proximal end side of the instrument rod connecting seat 80 , and the limit plate 81 is provided with first to sixth limit holes, which are respectively used for the first to sixth traction bodies to pass through. , and is used to limit the radial displacement of the first to sixth traction bodies; wherein, the diameters of the circumscribed circles of the first to sixth limiting holes on the limiting plate 81 are smaller than those of the first to sixth limiting holes. The diameter of the circumscribed circle of the sixth traction body is drilled through the hole on the base plate 600 to increase the radial dimension between the traction body and the instrument shaft 2 to prevent friction between the two.

In an exemplary embodiment, the base 60 is not provided with a traction body groove on the proximal end side of the base plate 600, and the inner cavity of the instrument shaft connecting seat 80 is also not provided with a traction body groove. The first to sixth traction bodies are formed by After the distal end passes through the holes of the first to sixth traction bodies, it is no longer in contact with the base 60 and the side walls of the instrument rod connecting seat 80 until it passes through the first to sixth limits on the limiting plate 81 respectively. Bit hole, extending proximally.

Preferably, the distal end of the instrument rod connecting seat 80 has a locking groove 82, and the proximal end of the base 60 has a locking tooth 66 that matches the locking groove 82. When the instrument rod connecting seat 80 is assembled and connected to the base 60, The locking teeth 66 are engaged in the locking grooves 82 to realize the positioning and cooperation of the instrument rod connecting seat 80 and the base 60, and the relative circumferential rotation of the two is restricted.

Optionally, in order to make the guide radius of the guide assembly as large as possible within a limited circumference, a part of the through holes of the traction body are configured to be close to the outer circumference of the base plate 600 . Therefore, after a part of the traction body passes through the hole through which the traction body is inserted, it is easy to interfere with the side wall of the instrument shaft connecting seat 80 . Based on this, in some embodiments, an escape groove 83 is formed on the side wall of the instrument rod connection base 80 , and the escape groove 83 opens along the distal end of the instrument rod connection base 80 and extends along the axial direction of the instrument rod connection base 80 .

Through the above configuration, after the first to sixth traction bodies pass through the holes of the first to sixth traction bodies from their distal ends, they do not generate friction with the traction body grooves, which reduces the transmission frictional resistance of the traction bodies and improves the transmission. efficiency.

[Example 3]

Please refer to FIG. 22 and FIG. 23 , wherein, FIG. 22 is an exploded view of the instrument end assembly according to the third embodiment of the present invention; and FIG. 23 is a schematic diagram of the base of the third embodiment of the present invention.

The instrument end, instrument end assembly and surgical instrument provided in the third embodiment of the present invention are basically the same as the instrument end, instrument end assembly and surgical instrument provided in the first embodiment, and the same parts will not be described, and only the differences will be described below.

In this embodiment, the cross-sectional shape of the traction body is different from that of the first embodiment. Specifically, at least one of the traction bodies is in the shape of a flat belt. Specifically, at least one of the first to sixth traction bodies is in the shape of a flat belt.

In an exemplary embodiment, the first to sixth traction bodies use steel belts instead of wire ropes, and their cross-sections are flat belt-shaped. This configuration can effectively reduce the ratio of the radial thickness of the traction body to the diameter of the guide structure, which can significantly improve the service life of the traction body.

It can be understood that, in order to adapt to the flat-belt-shaped traction body, the cross-sectional shape of each component for contacting the traction body should also be changed accordingly. For example, components such as the connecting part of the opening and closing piece, the guide assembly, the groove of the traction body and the hole for the traction body are also arranged in a flat groove shape according to the winding direction of the traction body.

[Example 4]

Please refer to FIGS. 24 to 27, wherein, FIG. 24 is a schematic diagram of the distal part of the instrument end assembly according to the fourth embodiment of the present invention; FIG. 25 is an exploded view of the instrument end assembly according to the fourth embodiment of the present invention; FIG. 26 is the present invention A schematic diagram of the base of the fourth embodiment; FIG. 27 is a schematic diagram of the base of the fourth embodiment of the present invention.

The instrument end, instrument end assembly and surgical instrument provided in Embodiment 4 of the present invention are basically the same as the instrument end, instrument end assembly and surgical instrument provided in Embodiment 1, and the same parts will not be described, and only the differences will be described below.

In this embodiment, the arrangement of the guide assembly is different from that of the first embodiment. Specifically, the first guide assembly 30 includes a first guide column 35, and the second guide assembly 40 includes a second guide column 45; both the first guide column 35 and the second guide column 45 are along the The second axis 92 is disposed, the base 60 has a first guide groove 671 and a second guide groove 672, the first guide post 35 is rotatably disposed in the first guide groove 671, and the second guide The column 45 is rotatably disposed in the second guide groove 672; the first guide column 35 is used for the first traction body 71 and the third traction body 73 to be wound around, the second guide column 45 is used for the second traction body 72 and the fourth traction body 74 to be wound around.

In an alternative embodiment, the first guide post 35 and the second guide post 45 are cylindrical, and the shape of the first guide slot 671 and the second guide slot 672 are respectively the same as the shape of the first guide post 35 and the second guide post 45 is adapted to the shape, the first guide post 35 and the second guide post 45 can be inserted into the first guide groove 671 and the second guide groove 672 respectively, and can rotate around the second axis 92 . The first to fourth traction bodies can be arranged around the outer circumference of the first guide column 35 and the second guide column 45 , and the extension direction of the first guide column 35 and the second guide column 45 can be changed. Thus, the first guide column 35 and the second guide column 45 can replace the guide wheel. The solution has the advantages of simple assembly, compact and reliable structure.

In the instrument end, instrument end assembly and surgical instrument provided by the present invention, the instrument end includes an interference portion for acting on the target tissue, an interference portion for acting on the target tissue, a first guide assembly, a second guide assembly, a base body and a base; the interference part is rotatably connected to the base body around a first axis; the base body is rotatably connected to the base around a second axis; the first guide assembly and the second The guide assembly is used to guide the traction body and is arranged on both sides of the base body along the direction of the second axis; the base has a channel for guiding the traction body, and the channel is located in the first A guide assembly and the proximal side of the second guide assembly. This configuration improves the deflection angle of the traction body at each guide assembly, effectively increases the guide radius of the guide assembly without increasing the outer diameter of the instrument shaft, and thus increases the service life of the instrument end assembly. In addition, the assembly structure is simplified, the stability of the end of the instrument is improved, and the end of the instrument has a larger range of motion and flexibility.

In the above-mentioned embodiments, a clip-type surgical tool including two opening and closing pieces is used as an example for description, that is, the surgical tool includes two interference parts for performing surgery/acting on the target tissue. In some embodiments , the surgical tool is scissors, coagulation forceps, electric hook, etc., and the surgical tool includes one or more than two interference parts, for example, when the surgical tool is an electric hook, it includes one interference part, correspondingly, the above In the embodiments of the present invention, the components used to pull the interference portion are adjusted accordingly, and those skilled in the art can obviously make corresponding modifications according to the concept of the present invention, which will not be repeated here.

It should be noted that the above-mentioned several embodiments may be combined with each other. The above description is only a description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any changes and modifications made by those of ordinary skill in the field of the present invention based on the above disclosure all belong to the protection scope of the claims.

Claims

An instrument tip, characterized by comprising: an interference portion for acting on target tissue, a first guide assembly, a second guide assembly, a base body and a base;

the interference portion is rotatably connected to the base body around a first axis;

the base body is rotatably connected to the base about a second axis;

The first guide assembly and the second guide assembly are used to guide the traction body and are arranged on both sides of the base body along the direction of the second axis;

The base has a channel for guiding the traction body, and the channel is located on the proximal end side of the first guide assembly and the second guide assembly.
The instrument tip of claim 1, wherein the base comprises a base plate disposed parallel to the second axis, and the channel extends from the base plate in an axial direction of the base plate and passes through the base plate A base plate, the channel defines a plurality of circumscribed circles parallel to the base plate and having different radii along the axial direction of the base plate.
The instrument tip according to claim 2, wherein the channel comprises a traction body groove located on the proximal end side of the base plate, and the traction body groove is used for guiding and changing the extension direction of the traction body; The radius of the circumscribed circle defined by the traction body slot closer to the base plate is larger than the radius of the circumscribed circle defined farther from the base plate.
The instrument tip according to claim 3, wherein the channel comprises a plurality of the traction body grooves, and the plurality of traction body grooves are respectively used to guide and change the extension directions of the plurality of the traction bodies; The channel penetrates through the base plate to form a plurality of pulling body through holes, and the plurality of pulling body grooves are respectively connected with the plurality of pulling body through holes in a one-to-one correspondence.
The instrument end according to claim 1, wherein the instrument end further comprises an instrument shaft connection seat, the instrument shaft connection seat is detachably connected with the base, and the instrument shaft connection seat is opposite to Circumferential rotation of the base is restricted; the instrument shaft connection base includes a plurality of traction body grooves, and the plurality of traction body grooves form a guide channel for guiding and defining at least a portion of the traction body.
The instrument tip of claim 1, wherein the base comprises a base plate disposed parallel to the second axis, and the channel extends from the base plate in an axial direction of the base plate and passes through the base plate a base plate; the end of the instrument further includes a limit hole located on the proximal side of the base plate, the limit hole is arranged along the axial direction of the base plate, and is used for the pulling body to pass through and for restricting the pulling body the radial displacement; the radius of the circumscribed circle defined by the limiting hole is smaller than the radius of the circumscribed circle defined by the channel at the base plate.
6. The instrument tip of claim 6, wherein the instrument tip further comprises an instrument stem connection seat, the instrument stem connection seat being detachably connected to the base and constrained relative to the base the circumferential rotation of the instrument rod; the instrument rod connection seat includes a limit plate, the limit plate is located on the proximal end side of the instrument rod connection seat, the instrument end includes a plurality of the limit holes, a plurality of the The limiting holes are all opened on the limiting plate.
The instrument tip according to claim 3 or 6, wherein the base comprises a third guide assembly and a fourth guide assembly, and the third guide assembly is located at the first guide assembly along the axial direction of the base The proximal end of the guide assembly, the fourth guide assembly is located at the proximal end of the second guide assembly along the axial direction of the base; the third guide assembly and the fourth guide assembly are used to guide the traction body and are arranged on both sides of the base body along a third axis, the third axis being parallel to the second axis.
9. The instrument tip of claim 8, wherein the channel includes guide grooves on a distal side of the base plate, the guide grooves being respectively provided on the third guide assembly and the fourth guide The assembly is used to guide the traction body to extend from the first guide assembly and the second guide assembly to the proximal end.
The instrument tip according to claim 9, wherein the guide groove comprises a plurality of guide grooves, a part of the guide groove is located on the third guide assembly, and another part of the guide groove is located on the first guide groove on four guide assemblies; each of the guide grooves is used for a traction body to be wound around.
The instrument tip according to claim 10, wherein the guide groove comprises a circular arc segment centered on the third axis, the radius of the circular arc segment is ra, the first guide component and the The cross-section of the second guide assembly along the second axis is a circle, and the radius of the circle at the cross-section of the first guide assembly and the second guide assembly for changing the traction body is both rb, and the The distance T between the second axis and the third axis satisfies: ra+rb≤T≤ra+rb+3mm.
The instrument tip of claim 10, wherein the first guide assembly includes a first guide wheel and a third guide wheel, the second guide assembly includes a second guide wheel and a fourth guide wheel; the The first to fourth guide wheels are respectively connected to the base rotatably around the second axis; the first to fourth guide wheels are in one-to-one correspondence with the first to fourth guide grooves, and the The first to fourth guide wheels are respectively used for winding the first to fourth traction bodies.
The instrument tip of claim 10, wherein the first guide assembly comprises a first guide post, the second guide assembly comprises a second guide post; the first guide post and the second guide post The posts are all arranged along the second axis, the base has a first guide slot and a second guide slot, the first guide post is rotatably arranged in the first guide slot, the second guide post It is rotatably arranged in the second guide groove; the first guide column is used for the first traction body and the third traction body to be wound around, and the second guide column is used for the second traction body and the fourth traction body. The traction body is wound around.
The device end according to claim 8, wherein the groove penetrates through the base plate to form at least a first pulling body through hole, a second pulling body through hole, a third pulling body through hole, a fourth pulling body through hole, and a fourth pulling body through hole. The traction body through holes, the fifth traction body through holes and the sixth traction body through holes, the base defines a first base surface passing through the second axis and the third axis, the first The pulling body through hole, the third pulling body through hole and the fifth pulling body through hole are located on one side of the first base surface, the second pulling body through hole, the fourth pulling body through hole The pulling body through hole and the sixth pulling body through hole are located on the other side of the first base surface.
The device end according to claim 1, wherein the device end includes at least two interference parts, which are a first opening and closing component and a second opening and closing component respectively; the first opening and closing component includes a first opening and closing component. an opening and closing piece, a first opening and closing piece connecting part and a second opening and closing piece connecting part, the first opening and closing piece rotates around the first axis; the first opening and closing piece connecting part and the second opening and closing piece Both the opening and closing piece connecting parts are fixedly connected with the first opening and closing piece or extend integrally from the first opening and closing piece, and the first opening and closing piece connecting part and the second opening and closing piece connecting part are along each other. The first axis is arranged on both sides of the base body; the first opening and closing piece connecting part and the second opening and closing piece connecting part are respectively used for the first traction body and the second traction body to wind around in opposite directions. The first opening and closing assembly is configured to rotate around the first axis in opposite directions under the driving of the first traction body and the second traction body; and/or

The second opening and closing assembly includes a second opening and closing piece, a third opening and closing piece connecting part and a fourth opening and closing piece connecting part, and the second opening and closing piece rotates around the first axis; the third opening and closing piece rotates around the first axis; Both the closing piece connecting part and the fourth opening and closing piece are fixedly connected with the second opening and closing piece or extend integrally from the second opening and closing piece, and the third opening and closing piece connecting part and the The fourth opening and closing piece connecting part is arranged on both sides of the base body along the first axis; the third opening and closing piece connecting part and the fourth opening and closing piece connecting part are respectively used for the third traction body and the The fourth traction body is wound in opposite directions; the second opening and closing assembly is configured to rotate around the first axis in opposite directions under the driving of the third traction body and the fourth traction body;

The second axis is perpendicular to the first axis; the base body is used for connecting the fifth traction body and the sixth traction body, and is used for driving the lower edge of the fifth traction body and the sixth traction body The opposite direction rotates about the second axis;

The first guide assembly and the second guide assembly are arranged at intervals along the second axis, the first guide assembly is used for the first traction body and the third traction body to be wound around, the The second guide assembly is used for the second traction body and the fourth traction body to be wound around.
An instrument end assembly, comprising the instrument end according to any one of claims 1 to 15 and a plurality of traction bodies;

One end of a part of the traction body is connected with the interference part, and the other end extends to the proximal end under the guidance of the channel after passing through the first guide assembly and the second guide assembly, and is used for connecting with the drive unit connection;

One end of a part of the traction body is connected with the base body, and the other end is extended toward the proximal end under the guidance of the channel for connecting with the driving unit.
The instrument tip assembly of claim 16, wherein at least one of the traction bodies is in the shape of a flat belt.
A surgical instrument is characterized by comprising the instrument end assembly according to claim 16 or 17, an instrument shaft and a driving unit connected with the instrument end assembly.