WO2023226828A1 - 腹腔镜手术器械及手术机器人 - Google Patents

腹腔镜手术器械及手术机器人 Download PDF

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Publication number
WO2023226828A1
WO2023226828A1 PCT/CN2023/094551 CN2023094551W WO2023226828A1 WO 2023226828 A1 WO2023226828 A1 WO 2023226828A1 CN 2023094551 W CN2023094551 W CN 2023094551W WO 2023226828 A1 WO2023226828 A1 WO 2023226828A1
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WO
WIPO (PCT)
Prior art keywords
instrument
outer rod
quick
rod
laparoscopic surgical
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PCT/CN2023/094551
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English (en)
French (fr)
Inventor
陈为贵
唐小娟
毛颖
Original Assignee
瑞龙诺赋(上海)医疗科技有限公司
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Application filed by 瑞龙诺赋(上海)医疗科技有限公司 filed Critical 瑞龙诺赋(上海)医疗科技有限公司
Publication of WO2023226828A1 publication Critical patent/WO2023226828A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • This application relates to the technical field of medical devices, for example, to a laparoscopic surgical instrument and a surgical robot.
  • Robot-assisted surgical systems have been widely adopted around the world to replace surgical procedures in related technologies, reducing discomfort during the patient's recovery period and ongoing hospital stay.
  • the robot-assisted surgical system uses electric laparoscopic surgical instruments to perform operations, which improves the accuracy of surgical operations and reduces doctor operating fatigue.
  • Electric laparoscopic surgical instruments are disclosed in the related art.
  • a robotic surgical system has multiple mechanical control arms, and the control arms have multiple sets of motors for driving laparoscopic surgical instruments.
  • the electric laparoscopic surgical instruments are installed on the robotic arm through quick buckles and are connected to the motor at the same time.
  • the motor drives the laparoscopic surgical instruments to realize cutting, grabbing, suturing, electrocoagulation and other surgical operations.
  • the related technology mostly adopts the method of fixing the front-end instrument and the instrument body, and fixing the instrument body and the end of the robotic arm, and realizing the power transmission through transmission mechanisms such as cables.
  • Control each time a front-end instrument is configured on the robotic arm, the instrument body must be replaced. This leads to problems such as laparoscopic surgical instruments having many types of instrument bodies, which cannot be quickly replaced and disassembled, production and installation are complicated, and manufacturing costs are high.
  • This application provides a laparoscopic surgical instrument and a surgical robot, which can be quickly disassembled and assembled through the front-end instrument and the instrument main body.
  • the same set of instrument main bodies can be paired with multiple front-end instruments, which is easy to produce and install, and reduces manufacturing costs.
  • an embodiment of the present application provides a laparoscopic surgical instrument, including:
  • the instrument main body includes a shell and an instrument quick-change component installed in the housing.
  • the instrument quick-change component includes an instrument button, an instrument quick buckle and an instrument button elastic member.
  • the instrument quick buckle is provided with a There is a through hole for the outer rod of the instrument and a snap stop;
  • the front-end instrument includes an outer rod of the instrument and an inner rod of the instrument.
  • the outer rod of the instrument can be inserted into the through hole of the outer rod of the instrument.
  • the outer rod of the instrument is provided with a quick clamping groove for the outer rod.
  • the quick buckle of the instrument is set to When the outer rod of the instrument is inserted into place, under the action of the elastic member of the button of the instrument, the buckle stop portion is snapped into the quick slot of the outer rod; the button of the instrument is configured to The buckle stop portion is withdrawn from the outer rod quick-lock groove.
  • an embodiment of the present application provides a surgical robot, including the above-mentioned laparoscopic surgical instrument.
  • Figure 1 is a schematic structural diagram of a laparoscopic surgical instrument provided by an embodiment of the present application
  • Figure 2 is an exploded schematic diagram of a laparoscopic surgical instrument provided by an embodiment of the present application
  • Figure 3 is a schematic structural diagram of a front-end instrument provided by an embodiment of the present application.
  • Figure 4 is an internal schematic diagram of a laparoscopic surgical instrument provided by an embodiment of the present application.
  • Figure 5 is a second internal schematic diagram of a laparoscopic surgical instrument provided by an embodiment of the present application.
  • Figure 6 is a third internal schematic diagram of a laparoscopic surgical instrument provided by an embodiment of the present application.
  • Figure 7 is a schematic diagram of the installation of the instrument quick-change assembly and the front-end instrument provided by an embodiment of the present application;
  • Figure 8 is a schematic structural diagram of a quick buckle of an instrument provided by an embodiment of the present application.
  • Figure 9 is a schematic structural diagram of an end closing transmission assembly provided by an embodiment of the present application.
  • Figure 10 is an internal schematic diagram 4 of a laparoscopic surgical instrument provided by an embodiment of the present application.
  • Figure 11 is an internal schematic diagram 5 of a laparoscopic surgical instrument provided by an embodiment of the present application.
  • Figure 12 is a schematic structural diagram of the reset component, the end gear and the inner rod of the instrument provided by an embodiment of the present application;
  • Figure 13 is an internal schematic diagram 6 of a laparoscopic surgical instrument provided by an embodiment of the present application.
  • Figure 14 is an internal schematic diagram 7 of a laparoscopic surgical instrument provided by an embodiment of the present application.
  • Figure 15 is a schematic structural diagram of an axis-rotating transmission assembly provided by an embodiment of the present application.
  • Figure 16 is a schematic diagram of the installation of the axis-rotating transmission assembly and the outer rod provided by an embodiment of the present application;
  • Figure 17 is a schematic structural diagram of a rotating sleeve provided by an embodiment of the present application.
  • Figure 18 is a schematic structural diagram of an end closing transmission assembly provided by yet another embodiment of the present application.
  • Figure 19 is a schematic diagram of the installation of the axis-rotating transmission assembly and the outer rod provided by yet another embodiment of the present application.
  • connection should be understood in a broad sense.
  • it can be a fixed connection, a detachable connection, or an integral body.
  • It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interaction between two elements.
  • the specific meanings of the above terms in this application can be understood on a case-by-case basis.
  • an embodiment of the present application provides a laparoscopic surgical instrument, including an instrument main body 100 and a front-end instrument 110, wherein the front-end instrument 110 can be one or more, and the instrument body 100 may be removably paired with one or more front-end instruments 110 .
  • the instrument main body 100 of this embodiment includes a shell 104 and an instrument quick-change assembly 101 installed in the shell 104.
  • the instrument quick-change assembly 101 includes an instrument button 1011, an instrument quick buckle 1012 and an instrument button elastic member 1013.
  • the instrument quick buckle 1012 There is a through hole 10121 for the outer rod of the instrument and a buckle stop portion 10122.
  • the front-end instrument 110 includes an outer instrument rod 111 and an inner instrument rod 112.
  • the outer instrument rod 111 is sleeved on the outside of the instrument inner rod 112.
  • the instrument inner rod 112 can move axially relative to the instrument outer rod 111 under the action of external force, thereby achieving Front-end instrument 110 jaw opening Open and closed.
  • the outer rod 111 of the instrument can be inserted into the through hole 10121 of the outer rod of the instrument.
  • the outer rod 111 is provided with a quick-catch slot 1111 for the outer rod.
  • the size of the quick-catch slot 1111 matches the size of the snap stop 10122.
  • the instrument button elastic member 1013 can be a compression spring, which is pre-installed in the housing 104 in a compressed state; the instrument button 1011 is provided at the first end of the instrument quick buckle 1012 along the first direction, and the compression spring is arranged along the first direction.
  • the direction is set at the second end of the instrument quick buckle 1012, so that the instrument quick buckle 1012 can make the buckle stop portion 10122 snap into the outer rod quick buckle groove 1111 under the action of the compression spring.
  • the first direction is perpendicular to the axial direction of the outer rod 111 of the instrument, so that the buckling stop portion 10122 and the outer rod quick-locking groove 1111 can be snap-fitted more quickly and accurately.
  • the instrument button elastic member 1013 can also be a tension spring. The tension spring and the instrument button 1011 are located at the same end of the instrument quick buckle 1012. The above functions can also be achieved and are not limited to this embodiment.
  • the installation and disassembly process of the front-end instrument 110 and the instrument body 100 is as follows: when the front-end instrument 110 is first inserted into the instrument body 100, the instrument outer rod 111 is located in the instrument outer rod through hole 10121 of the instrument quick buckle 1012. At this time, the outer rod 111 of the instrument can move freely in the axial direction; as the outer rod 111 of the instrument continues to be inserted into place, the quick-locking groove 1111 of the outer rod 1111 on the outer rod 111 of the instrument moves to the buckling stop position of the quick buckle 1012 of the instrument. 10122.
  • the instrument quick buckle 1012 pushes the buckle stop portion 10122 into the outer rod quick-locking groove 1111 on the instrument outer rod 111.
  • the instrument outer rod 111 cannot be directly pulled out, thus realizing the rapid installation of the front-end instrument 110 in the instrument body 100.
  • this embodiment realizes rapid assembly and quick disassembly of the front-end instrument 110 and the instrument main body 100, and the same set of instrument main bodies 100 can be paired with one or more front-end instruments 110.
  • front-end instruments 110 there is no need to replace the instrument body 100, only the front-end instrument 110, thereby reducing the types of instrument bodies 100, making the entire instrument easy to produce and install, and reducing the overall manufacturing cost of the instrument.
  • the laparoscopic surgical instrument in this embodiment is an electric laparoscopic surgical instrument.
  • the instrument body 100 of this embodiment also includes a mounting
  • the end closing transmission assembly 102 is located in the housing 104.
  • the end closing transmission assembly 102 includes a closing motor coupling plate 1024 and an end gear 1021.
  • the closing motor coupling plate 1024 can drive the end gear 1021 to rotate.
  • the end closing transmission assembly 102 of this embodiment also includes a closing input gear 1023 and an intermediate gear 1022, wherein the output shaft of the closing motor coupling plate 1024 is transmission connected with the closing input gear 1023, the closing input gear 1023 meshes with the intermediate gear 1022, and the intermediate gear 1022 meshes with the final gear 1021, thus realizing the driving of the final gear 1021 by the closed motor coupling plate 1024.
  • the closing motor coupling plate 1024 can also be driven to drive the final gear 1021 through other transmission methods, which is not limited to this embodiment.
  • the final gear 1021 is a toothed member with partial gear teeth on the outer periphery.
  • the end gear 1021 is provided with a chute 10211.
  • the chute 10211 is a cylindrical groove.
  • the side wall of the chute 10211 is provided with an escape opening parallel to its own axis.
  • the end of the inner rod 112 of the instrument is provided with a limiter. 1121.
  • the diameter of the limiting portion 1121 is larger than the width of the escape opening and smaller than the diameter of the cylindrical groove. This arrangement allows the limiting portion 1121 to be inserted into the chute 10211 along the axial direction and engage with the escape opening.
  • the limiting part 1121 in this embodiment is a ball head.
  • the working process of the end closing transmission assembly 102 in this embodiment is as follows: when the front-end instrument 110 has just been inserted into the instrument body 100, and the instrument quick buckle 1012 has not yet been locked into the outer rod quick buckle groove 1111, the limiting part of the instrument inner rod 112 1121 can enter the chute 10211 of the end gear 1021 along with the axial movement of the front end instrument 110, and at the same time drive the end gear 1021 to rotate.
  • the instrument quick buckle 1012 snaps into the outer rod quick buckle 1111, and the axial movement of the instrument outer rod 111 is restricted.
  • the limiting part 1121 of the instrument inner rod 112 enters the end gear. Inside the chute 10211 of 1021.
  • the closing motor coupling plate 1024 After the front-end instrument 110 is installed, during the operation, when the closing motor coupling plate 1024 is driven to rotate, it will drive the closing input gear 1023 to rotate, the closing input gear 1023 drives the intermediate gear 1022 to rotate, and the intermediate gear 1022 drives the end gear 1021 to rotate.
  • the inner rod 112 of the instrument When the end gear 1021 rotates, the inner rod 112 of the instrument will be driven to move along the axial direction of the end gear 1021.
  • the outer rod 111 of the instrument is fixed, and the inner rod 112 of the instrument moves axially, so that the jaws of the front-end instrument 110 can be opened and closed.
  • the outer rod 111 of the instrument can drive the inner rod 112 of the instrument to move along its own axial direction and exit, and the limiting portion 1121 of the inner rod 112 of the instrument can drive the end gear 1021 to rotate and exit from the chute 10211 of the end gear 1021.
  • this embodiment enables the front-end instrument 110 to be quickly installed into the end-closure transmission assembly 102 without disassembling the instrument body 100 , and the front-end instrument 110 can be removed from the end-closure transmission assembly 102 without disassembling the instrument body 100 . out, and achieve normal power transmission between the end closing transmission assembly 102 and the instrument inner rod 112.
  • the end closing transmission assembly 102 of this embodiment also includes a reset assembly 1025.
  • the reset assembly 1025 includes an on-wheel rotating shaft 10251, a guide shaft 10252, a fixed rotating shaft 10253, and a reset elastic member 10254.
  • the rotating shaft 10253 is fixed on the housing 104
  • the wheel rotating shaft 10251 is fixed on the end gear 1021
  • the guide shaft 10252 connects the fixed rotating shaft 10253 and the wheel rotating shaft 10251
  • the reset elastic member 10254 is sleeved on the guide shaft 10252
  • the reset elastic member 10254 is arranged along the The axial direction of the guide shaft 10252 provides elastic force.
  • the return elastic member 10254 of this embodiment is a compression spring and is configured to provide compressive stress along the axial direction of the guide shaft 10252.
  • the axis of the guide shaft 10252 is located on the right side of the rotation center of the end gear 1021.
  • the end gear 1021 is in the reset assembly.
  • a limiting structure is provided to limit the movement of the end gear 1021, so that the end gear 1021 moves clockwise to the extreme position (ie, the first extreme position). In this position, the inner rod 112 of the front instrument 110 can smoothly enter the slide groove 10211 of the end gear 1021 when inserted along the axial direction.
  • the instrument quick buckle 1012 is locked into the outer rod quick-locking groove 1111, and the axial movement of the instrument outer rod 111 is restricted.
  • the limiting portion 1121 of the inner rod 112 of the instrument enters the chute 10211 of the end gear 1021 and pushes the end gear 1021 to rotate counterclockwise.
  • the rotating shaft 10251 on the wheel follows the end gear 1021 to rotate counterclockwise and drives the guide shaft 10252 to rotate around the fixed rotating axis. 10253 rotates to a new position.
  • the axis of the guide shaft 10252 is located on the left side of the rotation center of the end gear 1021.
  • the end gear 1021 continues to rotate counterclockwise under the action of the reset assembly 1025. trend, so the end gear 1021 continues to move counterclockwise to the extreme position (ie, the second extreme position). Since the movement of the outer rod 111 of the front instrument 110 is limited at this time, when the end gear 1021 continues to move counterclockwise to the extreme position, the end gear 1021 pulls the inner rod 112 of the instrument inward through the chute 10211, thereby achieving Closing of the jaws of the front instrument 110.
  • the instrument outer rod 111 can drive the instrument inner rod 112 to move along its own axial direction, and the limiting portion 1121 of the instrument inner rod 112 can drive the end gear 1021 to rotate clockwise, so that The axis of the guide shaft 10252 returns to the right side of the rotation center of the end gear 1021, and the end gear 1021 returns to the first limit position.
  • this embodiment realizes the reset of the end closing transmission assembly 102 in two different positions before and after the assembly of the front-end instrument 110, thereby realizing the reset of the front-end instrument 110 after the replacement of the front-end instrument 110.
  • the jaws can close by themselves to avoid affecting normal surgical use.
  • the end closing transmission assembly 102 of this embodiment also includes a mistake-proofing assembly 1026.
  • the mistake-proofing assembly 1026 includes a mistake-proofing shaft 10261 on the wheel and a mistake-proofing stopper 10262.
  • the instrument can be quickly buckled
  • the error-proofing hole 10123 is also provided on the wheel 1012; the error-proofing rotating shaft 10261 on the wheel is installed on the end gear 1021 and can freely rotate around its own axis, and the long rod part of the error-proofing stop lever 10262 passes through the error-proofing hole 10123.
  • the inner rod 112 of the front-end instrument 110 can enter the chute 10211 of the end gear 1021 along with the axial movement of the front-end instrument 110, and at the same time drive the rotation of the end gear 1021, and the end The rotation of the gear 1021 will drive the error-proofing shaft 10261 on the wheel to move.
  • the error-proofing rotating shaft 10261 will drive the error-proofing rod 10262 to move along the axis direction of the error-proofing hole 10123.
  • the error-proof stopper 10262 can just completely exit the error-proof hole 10123 on the instrument quick buckle 1012.
  • the outer rod quick buckle 1111 also moves to the instrument quick buckle 1012 position, at this time, under the elastic force of the instrument button elastic member 1013, the instrument quick buckle 1012 can be smoothly clicked into the outer rod quick buckle 1111 , so that the front-end instrument 110 is smoothly installed in the instrument body 100.
  • the movement in the direction of elasticity prevents the instrument quick buckle 1012 from being smoothly stuck into the outer rod quick buckle groove 1111. At this time, as long as the front-end instrument 110 is moved outward, it can be pulled out from the instrument main body 100, so that the incorrectly paired front-end instrument 110 cannot be successfully installed in the instrument main body 100.
  • this embodiment realizes that the unsuitable front-end instrument 110 cannot be installed and error-proofed using a simple error-proofing stopper structure, so that the unsuitable front-end instrument 110 cannot be assembled to the corresponding instrument body 100 .
  • the instrument body 100 of this embodiment also includes an axis-rotating transmission assembly 130 disposed in the housing 104.
  • the axis-rotating transmission assembly 130 includes a rotating motor coupling plate 134 and a rotating sleeve 131.
  • the rotating motor coupling plate 134 It can drive the rotating sleeve 131 to rotate.
  • the axis-rotating transmission assembly 130 of this embodiment also includes a rotating input gear 133 and a rotating output gear 132, wherein the output shaft of the rotating motor coupling plate 134 is drivingly connected to the rotating input gear 133, and the rotating input gear 133 meshes with the rotating output gear 132,
  • the rotating output gear 132 is drivingly connected to the rotating sleeve 131, so that the rotating motor coupling plate 134 drives the rotating sleeve 131.
  • the axis directions of the rotating input gear 133 and the rotating output gear 132 are perpendicular, and they can adopt the form of bevel gear transmission or worm gear transmission, so as to realize the change of the direction of motion and facilitate the coupling plate 134 and the rotating motor.
  • the outer rod 111 of the instrument is coaxially inserted into the rotating sleeve 131, and the outer rod 111 of the instrument and the rotating sleeve 131 are engaged and limited along the circumferential direction.
  • the rotating motor coupling plate 134 rotates, it will drive the rotating input gear 133 to rotate.
  • the rotating input gear 133 will drive the rotating output gear 132 to rotate.
  • the rotating output gear 132 The rotating sleeve 131 is driven to rotate.
  • the outer rod 111 of the instrument will be driven to rotate around the axis, thereby realizing the overall rotation of the front-end instrument 110. Therefore, this embodiment realizes that while the front-end instrument 110 can be quickly assembled and disassembled, it can also realize rotational movement around its own axis through motor driving.
  • the number of the guide protrusions 1311 may be one or more, and the number of the corresponding guide sinks 1112 may also be one or more, so as to improve the accuracy of guiding and limiting the guide sinks 1112 .
  • This application also provides a surgical robot, including the above-mentioned laparoscopic surgical instrument.
  • the surgical robot realizes the pairing of the same set of instrument main bodies and multiple front-end instruments, and is fast in disassembly and assembly, easy to produce, and reduces manufacturing costs.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
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Abstract

一种腹腔镜手术器械及机器人，腹腔镜手术器械包括器械主体（100）和前端器械（110），器械主体（100）包括外壳（104）和器械快换组件（101），器械快换组件（101）包括器械按钮（1011）、器械快速卡扣（1012）和器械按钮弹性件（1013），器械快速卡扣（1012）上设置有器械外杆通孔（10121）和卡扣止位部（10122）；前端器械（110）包括器械外杆（111）和器械内杆（112），器械外杆（111）能插入器械外杆通孔（10121）内，器械外杆（111）上设有外杆快速卡槽（1111），器械快速卡扣（1012）设置为当器械外杆（111）插入到位后，在器械按钮弹性件（1013）作用下，使卡扣止位部（10122）卡入外杆快速卡槽（1111）内；器械按钮（1011）设置为当被按压时，使卡扣止位部（10122）由外杆快速卡槽（1111）内退出。该腹腔镜手术器械通过前端器械（110）与器械主体（100）能快速拆卸、快速组装，同一套器械主体（100）能配对多种前端器械（110），易于生产安装，降低制造成本。

Description

腹腔镜手术器械及手术机器人
本申请要求申请日为2022年5月27日、申请号为202210591850.8的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及医疗器械技术领域，例如涉及一种腹腔镜手术器械及手术机器人。
背景技术
机器人辅助手术系统已经在世界各地被广泛采用来代替相关技术中的手术程序，减少了在病人的恢复期的不适感，以及持续的住院时间。机器人辅助外科手术系统利用电动腹腔镜手术器械来实施手术，提高了手术操作的精准度，减少了医生操作疲劳。
相关技术中公开了电动腹腔镜手术器械，一般地，机器人外科系统具有多条机械操纵臂，操纵臂上具有用于驱动腹腔镜手术器械的多组电机。电动腹腔镜手术器械通过快速卡扣安装到机械臂上，并同时与电机卡接，通过电机驱动实现腹腔镜手术器械的剪切、抓取、缝线、电凝等手术操作。
通常，为实现机械臂上电机到腹腔镜手术器械末端刀头的动力传递，相关技术多采用将前端器械与器械主体固定，器械主体与机械臂末端固定，经由拉索等传动机构实现动力传递与控制，导致机械臂上每配置一种前端器械，就要更换器械主体，导致腹腔镜手术器械的器械主体种类多，不能快换拆装，生产安装复杂，制造成本高等问题。
发明内容
本申请提供了一种腹腔镜手术器械及手术机器人，通过前端器械与器械主体能快速拆卸、快速组装，同一套器械主体能配对多种前端器械，易于生产安装，降低制造成本。
第一方面，本申请一实施例提供了一种腹腔镜手术器械，包括：
器械主体，包括外壳和安装于所述外壳内的器械快换组件，所述器械快换组件包括器械按钮、器械快速卡扣和器械按钮弹性件，所述器械快速卡扣上设 置有器械外杆通孔和卡扣止位部；及
前端器械，包括器械外杆和器械内杆，所述器械外杆能插入所述器械外杆通孔内，所述器械外杆上设置有外杆快速卡槽，所述器械快速卡扣设置为当所述器械外杆插入到位后，在所述器械按钮弹性件的作用下，使所述卡扣止位部卡入所述外杆快速卡槽内；所述器械按钮设置为当被按压时使所述卡扣止位部由所述外杆快速卡槽内退出。
第二方面，本申请一实施例提供了一种手术机器人，包括以上所述的腹腔镜手术器械。
附图说明
图1是本申请一实施例提供的腹腔镜手术器械的结构示意图；
图2是本申请一实施例提供的腹腔镜手术器械的分解示意图；
图3是本申请一实施例提供的前端器械的结构示意图；
图4是本申请一实施例提供的腹腔镜手术器械的内部示意图一；
图5是本申请一实施例提供的腹腔镜手术器械的内部示意图二；
图6是本申请一实施例提供的腹腔镜手术器械的内部示意图三；
图7是本申请一实施例提供的器械快换组件与前端器械的安装示意图；
图8是本申请一实施例提供的器械快速卡扣的结构示意图；
图9是本申请一实施例提供的末端闭合传动组件的结构示意图；
图10是本申请一实施例提供的腹腔镜手术器械的内部示意图四；
图11是本申请一实施例提供的腹腔镜手术器械的内部示意图五；
图12是本申请一实施例提供的复位组件、末端齿轮及器械内杆的结构示意图；
图13是本申请一实施例提供的腹腔镜手术器械的内部示意图六；
图14是本申请一实施例提供的腹腔镜手术器械的内部示意图七；
图15是本申请一实施例提供的绕轴旋转传动组件的结构示意图；
图16是本申请一实施例提供的绕轴旋转传动组件与外杆的安装示意图；
图17是本申请一实施例提供的旋转套筒的结构示意图；
图18是本申请又一实施例提供的末端闭合传动组件的结构示意图；
图19是本申请又一实施例提供的绕轴旋转传动组件与外杆的安装示意图。
图中：
100-器械主体；
101-器械快换组件；1011-器械按钮；1012-器械快速卡扣；10121-器械外
杆通孔；10122-卡扣止位部；10123-防错孔；1013-器械按钮弹性件；
102-末端闭合传动组件；1021-末端齿轮；10211-滑槽；1022-中间齿轮；
1023-闭合输入齿轮；1024-闭合电机耦合盘；1025-复位组件；10251-轮上转轴；10252-导向轴；10253-固定转轴；10254-复位弹性件；1026-防错组件；10261-轮上防错转轴；10262-防错挡杆；
130-绕轴旋转传动组件；131-旋转套筒；1311-导向凸起；132-旋转输出齿
轮；133-旋转输入齿轮；134-旋转电机耦合盘；
104-外壳；
110-前端器械；111-器械外杆；1111-外杆快速卡槽；1112-导向沉槽；112-
器械内杆；1121-限位部。
具体实施方式
在本申请的描述中，除非另有明确的规定和限定，术语“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
现有技术中，腹腔镜手术器械多将器械主体与前端器械固定，每更换一种前端器械时，就要一并更换器械主体，导致器械主体种类多，不能快换拆装，生产安装复杂，制造成本高等问题。
为解决上述问题，如图1-图8所示，本申请一实施例提供一种腹腔镜手术器械，包括器械主体100和前端器械110，其中前端器械110可以是一种或者多种，器械主体100可以与一种或者多种前端器械110可拆卸地配对。本实施例的器械主体100包括外壳104和安装于外壳104内的器械快换组件101，器械快换组件101包括器械按钮1011、器械快速卡扣1012和器械按钮弹性件1013，器械快速卡扣1012上设置有器械外杆通孔10121和卡扣止位部10122。前端器械110包括器械外杆111和器械内杆112，器械外杆111套设于器械内杆112的外部，器械内杆112在外力作用下能相对于器械外杆111沿轴向移动，从而实现前端器械110钳口的打 开和闭合。器械外杆111能插入器械外杆通孔10121内，器械外杆111上设置有外杆快速卡槽1111，外杆快速卡槽1111的尺寸与卡扣止位部10122的尺寸相适配。本实施例中，器械按钮弹性件1013可选为压缩弹簧，预先以压缩状态安装在外壳104内；器械按钮1011沿第一方向设置于器械快速卡扣1012的第一端，压缩弹簧沿第一方向设置于器械快速卡扣1012的第二端，如此设置使得器械快速卡扣1012能在压缩弹簧的作用下，使卡扣止位部10122卡入外杆快速卡槽1111内。在一实施例中，第一方向垂直于器械外杆111的轴向，如此能更快速准确地实现卡扣止位部10122与外杆快速卡槽1111的卡接配合。在其他实施例中，器械按钮弹性件1013也可以为拉伸弹簧，拉伸弹簧与器械按钮1011位于器械快速卡扣1012的同一端，同样可以实现上述功能，并不以本实施例为限。
本实施例中，前端器械110与器械主体100的安装和拆卸过程如下：当前端器械110刚插入器械主体100时，器械外杆111位于器械快速卡扣1012的器械外杆通孔10121中，此时器械外杆111可以自由地沿轴向运动；随着器械外杆111继续往里插入到位后，器械外杆111上的外杆快速卡槽1111移动到器械快速卡扣1012的卡扣止位部10122处，此时，器械快速卡扣1012在器械按钮弹性件1013的预先弹力作用下，卡扣止位部10122被推到器械外杆111上的外杆快速卡槽1111内。此时，在卡扣止位部10122的作用下，无法直接拔出器械外杆111，如此实现了前端器械110在器械主体100中的快速安装。
当需要将器械外杆111拔出时，只需要手动按压器械按钮1011，此时，器械按钮弹性件1013的作用力被抵消，器械快速卡扣1012上的卡扣止位部10122从器械外杆111上的外杆快速卡槽1111内退出。此时卡扣止位部10122无法再起到卡接作用，器械外杆111可以自由轴向移动并拔出，如此实现了前端器械110在器械主体100中的快速拆卸。
因此，本实施例实现了前端器械110与器械主体100的快速组装，快速拆卸，同一套器械主体100可以配对一种或多种前端器械110。在配置其他前端器械110时，不需要更换器械主体100，只需要更换前端器械110，从而实现减少器械主体100的种类，使得器械整体易于生产安装，降低器械整体的制造成本。本实施例的腹腔镜手术器械为电动腹腔镜手术器械。
相关技术中的腹腔镜手术器械在更换前端器械110时，前端器械110和器械主体100通常需要拆开并重新组装之后才能实现传动机构的正常工作，操作较为繁琐。为此，如图4-图6，图9及图18所示，本实施例的器械主体100还包括安装 于外壳104内的末端闭合传动组件102，末端闭合传动组件102包括闭合电机耦合盘1024和末端齿轮1021，闭合电机耦合盘1024能驱动末端齿轮1021转动。本实施例的末端闭合传动组件102还包括闭合输入齿轮1023和中间齿轮1022，其中，闭合电机耦合盘1024的输出轴与闭合输入齿轮1023传动连接，闭合输入齿轮1023与中间齿轮1022啮合，中间齿轮1022与末端齿轮1021啮合，如此实现闭合电机耦合盘1024对末端齿轮1021的驱动。在其他实施例中，也可以通过其他传动方式实现闭合电机耦合盘1024对末端齿轮1021的驱动，并不以本实施例为限。在一实施例中，末端齿轮1021为外周具有部分轮齿的齿形件。末端齿轮1021上设有滑槽10211，在一实施例中，滑槽10211为圆柱形槽，滑槽10211的侧壁开设有平行于自身轴线的避让口，器械内杆112的端部设有限位部1121，限位部1121的直径大于避让口的宽度，并小于圆柱形槽的直径，如此设置使得限位部1121能沿轴向插入滑槽10211，并与避让口相卡接。本实施例的限位部1121为球头。
本实施例末端闭合传动组件102的工作过程如下：当前端器械110刚插入器械主体100，而器械快速卡扣1012还未卡入外杆快速卡槽1111内时，器械内杆112的限位部1121可以随着前端器械110的轴向移动而进入末端齿轮1021的滑槽10211，同时带动末端齿轮1021旋转。当前端器械110插入到位时，器械快速卡扣1012卡入外杆快速卡槽1111内，器械外杆111的轴向移动被限死，此时，器械内杆112的限位部1121进入末端齿轮1021的滑槽10211内。安装完前端器械110后，在手术过程中，闭合电机耦合盘1024被驱动转动时，将带动闭合输入齿轮1023转动，闭合输入齿轮1023带动中间齿轮1022转动，中间齿轮1022带动末端齿轮1021转动，当末端齿轮1021转动时，将带动器械内杆112沿着末端齿轮1021的轴向进行移动。此时，器械外杆111固定，而器械内杆112轴向移动，从而可实现前端器械110钳口的打开和闭合。
当需要将前端器械110从器械主体100拔出时，只需要手动按压器械按钮1011，使器械快速卡扣1012从器械外杆111上的外杆快速卡槽1111退出。此时，器械外杆111可以带动器械内杆112沿自身轴向移动退出，而器械内杆112的限位部1121又可以带动末端齿轮1021旋转并且从末端齿轮1021的滑槽10211中退出。
因此，本实施例实现了无需拆开器械主体100即可实现前端器械110快速安装到末端闭合传动组件102中，以及无需拆开器械主体100即可实现前端器械110从末端闭合传动组件102中拆出，并且实现末端闭合传动组件102与器械内杆112之间的正常动力传递。
在一实施例中，在腹腔镜手术器械使用的过程中，更换前端器械110之后，通常需要让前端器械110的钳口闭合，以免影响正常的手术使用。为此，如图10-图12所示，本实施例的末端闭合传动组件102还包括复位组件1025，复位组件1025包括轮上转轴10251、导向轴10252、固定转轴10253和复位弹性件10254，固定转轴10253固定于外壳104上，轮上转轴10251固定于末端齿轮1021上，导向轴10252连接固定转轴10253与轮上转轴10251，复位弹性件10254套设于导向轴10252上，复位弹性件10254沿着导向轴10252的轴线方向提供弹性力。本实施例的复位弹性件10254为压缩弹簧，设置为提供沿导向轴10252的轴线方向的压应力。
本实施例中，当前端器械110还未插入器械主体100时，导向轴10252的轴线位于末端齿轮1021的旋转中心右侧，通过对末端齿轮1021受力分析可知，此时末端齿轮1021在复位组件1025的作用下有顺时针旋转的趋势。而本实施例通过设置限位结构对末端齿轮1021的运动进行限制，使得末端齿轮1021顺时针运动到极限位置(即第一极限位置)。在此位置下，前端器械110中的器械内杆112在沿轴向运动插入时，可顺利进入末端齿轮1021的滑槽10211中。
当前端器械110插入器械主体100到位时，器械快速卡扣1012卡入外杆快速卡槽1111内，器械外杆111的轴向移动被限死。此时，器械内杆112的限位部1121进入末端齿轮1021的滑槽10211内，并推动末端齿轮1021逆时针旋转，轮上转轴10251跟随末端齿轮1021逆时针旋转并带动导向轴10252绕固定转轴10253旋转到新位置，此时导向轴10252的轴线位于末端齿轮1021的旋转中心左侧，通过对末端齿轮1021受力分析可知，此时末端齿轮1021在复位组件1025的作用下有继续逆时针旋转的趋势，因此末端齿轮1021继续逆时针运动到极限位置(即第二极限位置)。由于此时前端器械110的器械外杆111的运动被限定，因此在末端齿轮1021继续逆时针运动到极限位置的过程中，末端齿轮1021通过滑槽10211将器械内杆112向内拉动，从而实现前端器械110钳口的闭合。
当前端器械110从器械主体100拔出时，器械外杆111可以带动器械内杆112沿自身轴向移动退出，而器械内杆112的限位部1121又可以带动末端齿轮1021顺时针旋转，使得导向轴10252的轴线又回到末端齿轮1021的旋转中心右侧，末端齿轮1021又回到第一极限位置。
因此，本实施例实现了末端闭合传动组件102在前端器械110组装之前与组装之后的两个不同位置的复位，从而实现前端器械110更换后，前端器械110的 钳口可以自行闭合，避免影响正常的手术的使用。
另外，在腹腔镜手术器械使用的过程中，若有些前端器械110错装到某些特殊的器械主体100上，会导致用户人身安全等问题。为此，如图13-图14所示，本实施例的末端闭合传动组件102还包括防错组件1026，防错组件1026包括轮上防错转轴10261和防错挡杆10262，器械快速卡扣1012上还设有防错孔10123；轮上防错转轴10261安装于末端齿轮1021上并可绕自身轴自由转动，防错挡杆10262的长杆部分穿过防错孔10123。
在前端器械110插入器械主体100的过程中，前端器械110中器械内杆112可以随着前端器械110的轴向移动而进入末端齿轮1021的滑槽10211，同时带动末端齿轮1021的旋转，而末端齿轮1021的旋转会带动轮上防错转轴10261运动。此时，由于防错挡杆10262的长杆部分穿过器械快速卡扣1012上的防错孔10123，因此防错转轴10261会带动防错挡杆10262沿着防错孔10123的轴线方向运动。
当插入器械主体100的前端器械110为正确配对器械，且前端器械110插入到位时，防错挡杆10262能刚好全部退出器械快速卡扣1012上的防错孔10123。此时，由于外杆快速卡槽1111也同时移动到器械快速卡扣1012位置，此时在器械按钮弹性件1013的弹力作用下，器械快速卡扣1012可以顺利卡入外杆快速卡槽1111内，从而使得前端器械110在器械主体100中顺利安装到位。
然而，当插入器械主体100的前端器械110为错误配对器械时，以器械内杆112太短为例：当前端器械110插入到位时，由于错误配对的前端器械110的器械内杆112太短，无法推动末端齿轮1021进行足够的旋转运动，导致防错挡杆10262无法全部退出器械快速卡扣1012上的防错孔10123。此时，即便外杆快速卡槽1111移动到器械快速卡扣1012位置，然而由于防错挡杆10262在防错孔10123中的限位，器械快速卡扣1012无法朝着器械按钮弹性件1013的弹力方向移动，使得器械快速卡扣1012无法顺利卡入外杆快速卡槽1111内。此时只要将前端器械110往外移动，即可从器械主体100中拔出，使得错误配对的前端器械110在器械主体100中无法顺利安装到位。
因此，本实施例实现了用简单的防错挡杆结构即可实现不适配的前端器械110的无法安装和防错，使得不适配的前端器械110无法组装到相应器械主体100上。
在一实施例中，在腹腔镜手术器械使用的过程中，除了驱动前端器械110的钳口闭合外，还需要实现前端器械110绕自身轴的旋转。为此，如图15-图17及 图19所示，本实施例的器械主体100还包括设置于外壳104内的绕轴旋转传动组件130，绕轴旋转传动组件130包括旋转电机耦合盘134和旋转套筒131，旋转电机耦合盘134能驱动旋转套筒131转动。本实施例的绕轴旋转传动组件130还包括旋转输入齿轮133和旋转输出齿轮132，其中旋转电机耦合盘134的输出轴与旋转输入齿轮133传动连接，旋转输入齿轮133与旋转输出齿轮132啮合，旋转输出齿轮132与旋转套筒131传动连接，如此实现旋转电机耦合盘134对旋转套筒131的驱动。在一实施例中，旋转输入齿轮133和旋转输出齿轮132的轴线方向垂直，两者可采用锥齿轮传动或蜗轮蜗杆传动等形式，以此实现运动方向的改变，同时方便旋转电机耦合盘134和旋转套筒131的布置。在其他实施例中，也可以通过其他传动方式实现旋转电机耦合盘134对旋转套筒131的驱动，并不以本实施例为限。器械外杆111同轴穿设于旋转套筒131内，且器械外杆111与旋转套筒131沿圆周方向卡接限位。如图3和图17所示，本实施例的旋转套筒131的内孔侧壁上和器械外杆111上，其中一个设有导向凸起1311，另一个设有导向沉槽1112；当前端器械110插入器械主体100时，导向凸起1311插入导向沉槽1112，此时器械外杆111可以相对于旋转套筒131进行正常的轴向移动，但是圆周方向因为导向凸起1311的限位，使得器械外杆111和旋转套筒131只能同步运动。
当前端器械110插入器械主体100到底并卡入到位后，此时当旋转电机耦合盘134转动时，将带动旋转输入齿轮133转动，旋转输入齿轮133将带动旋转输出齿轮132转动，旋转输出齿轮132带动旋转套筒131转动，当旋转套筒131转动时，将带动器械外杆111绕轴线旋转，从而实现前端器械110整体旋转。由此，本实施例实现了在前端器械110可以快装快拆的同时，还可以经由电机驱动实现绕自身轴的旋转运动。本实施例中旋转电机耦合盘134可以为一个或多个，对应的旋转输入齿轮133也为一个或多个，以便适应不同的前端器械110的工作需求。本实施例的导向凸起1311的数量可以为一个或多个，对应的导向沉槽1112的数量也为一个或多个，以提高导向沉槽1112的导向和限位的精确性。
本申请还提供一种手术机器人，包括上述的腹腔镜手术器械，该手术机器人实现了同一套器械主体与多种前端器械的配对，且拆卸、组装快速，易于生产，降低制造成本。

Claims (10)

  1. 一种腹腔镜手术器械，包括：
    器械主体(100)，包括外壳(104)和安装于所述外壳(104)内的器械快换组件(101)，所述器械快换组件(101)包括器械按钮(1011)、器械快速卡扣(1012)和器械按钮弹性件(1013)，所述器械快速卡扣(1012)上设置有器械外杆通孔(10121)和卡扣止位部(10122)；及
    前端器械(110)，包括器械外杆(111)和器械内杆(112)，所述器械外杆(111)能插入所述器械外杆通孔(10121)内，所述器械外杆(111)上设置有外杆快速卡槽(1111)，所述器械快速卡扣(1012)设置为当所述器械外杆(111)插入到位后，在所述器械按钮弹性件(1013)的作用下，使所述卡扣止位部(10122)卡入所述外杆快速卡槽(1111)内；所述器械按钮(1011)设置为当被按压时，使所述卡扣止位部(10122)由所述外杆快速卡槽(1111)内退出。
  2. 根据权利要求1所述的腹腔镜手术器械，其中，所述器械主体(100)还包括安装于所述外壳(104)内的末端闭合传动组件(102)，所述末端闭合传动组件(102)包括闭合电机耦合盘(1024)和末端齿轮(1021)，所述闭合电机耦合盘(1024)设置为驱动所述末端齿轮(1021)转动；所述末端齿轮(1021)上设有滑槽(10211)，所述器械内杆(112)的端部设有限位部(1121)，所述限位部(1121)设置为随所述器械内杆(112)插入或退出所述滑槽(10211)，并带动所述末端齿轮(1021)转动；所述闭合电机耦合盘(1024)设置为当所述器械外杆(111)插入到位后，通过驱动所述末端齿轮(1021)转动，带动所述器械内杆(112)沿轴向移动，以打开或闭合钳口。
  3. 根据权利要求2所述的腹腔镜手术器械，其中，所述末端闭合传动组件(102)还包括复位组件(1025)，所述复位组件(1025)包括轮上转轴(10251)、导向轴(10252)、固定转轴(10253)和复位弹性件(10254)，所述固定转轴(10253)固定于所述外壳(104)上，所述轮上转轴(10251)固定于所述末端齿轮(1021)上，所述导向轴(10252)连接所述固定转轴(10253)与所述轮上转轴(10251)，所述复位弹性件(10254)套设于所述导向轴(10252)上。
  4. 根据权利要求3所述的腹腔镜手术器械，其中，当所述前端器械(110)未插入所述器械主体(100)时，所述导向轴(10252)的轴线位于所述末端齿轮(1021)的旋转中心右侧，所述末端齿轮(1021)位于第一极限位置，此时所述限位部(1121)能随所述器械内杆(112)插入所述滑槽(10211)中；当所述前端器械(110)插入到位时，所述导向轴(10252)的轴线位于所述末端 齿轮(1021)的旋转中心左侧，所述末端齿轮(1021)在所述复位组件(1025)作用下运动至第二极限位置，所述滑槽(10211)向内拉动所述器械内杆(112)，使所述前端器械(110)的钳口闭合。
  5. 根据权利要求2所述的腹腔镜手术器械，其中，所述末端闭合传动组件(102)还包括防错组件(1026)，所述防错组件(1026)包括轮上防错转轴(10261)和防错挡杆(10262)，所述器械快速卡扣(1012)上还设有防错孔(10123)；所述轮上防错转轴(10261)安装于所述末端齿轮(1021)上并可绕自身轴转动，所述防错挡杆(10262)的长杆部分穿过所述防错孔(10123)，所述末端齿轮(1021)设置为带动所述轮上防错转轴(10261)运动，所述轮上防错转轴(10261)设置为带动所述防错挡杆(10262)沿所述防错孔(10123)的轴线方向运动；所述防错挡杆(10262)设置为当所述前端器械(110)为正确配对器械并插入到位时，全部退出所述防错孔(10123)，以使所述卡扣止位部(10122)卡入所述外杆快速卡槽(1111)内。
  6. 根据权利要求1-5任一项所述的腹腔镜手术器械，其中，所述器械主体(100)还包括设置于所述外壳(104)内的绕轴旋转传动组件(130)，所述绕轴旋转传动组件(130)包括旋转电机耦合盘(134)和旋转套筒(131)，所述旋转电机耦合盘(134)设置为驱动所述旋转套筒(131)转动；所述器械外杆(111)同轴穿设于所述旋转套筒(131)内，且所述器械外杆(111)与所述旋转套筒(131)沿圆周方向卡接限位。
  7. 根据权利要求6所述的腹腔镜手术器械，其中，所述旋转套筒(131)的内孔侧壁上和所述器械外杆(111)上，其中一个设有导向凸起(1311)，另一个设有导向沉槽(1112)；所述导向凸起(1311)设置为当所述前端器械(110)插入所述器械主体(100)时，插入所述导向沉槽(1112)。
  8. 根据权利要求1-5任一项所述的腹腔镜手术器械，其中，所述器械按钮弹性件(1013)为压缩弹簧，所述器械按钮(1011)沿第一方向设置于所述器械快速卡扣(1012)的第一端，所述器械按钮弹性件(1013)沿第一方向设置于所述器械快速卡扣(1012)的第二端；所述第一方向垂直于所述器械外杆(111)的轴向。
  9. 根据权利要求2所述的腹腔镜手术器械，其中，所述滑槽(10211)为圆柱形槽，所述滑槽(10211)的侧壁开设有避让口，所述限位部(1121)的直径大于所述避让口的宽度，并小于所述圆柱形槽的直径。
  10. 一种手术机器人，包括权利要求1-9任一项所述的腹腔镜手术器械。
PCT/CN2023/094551 2022-05-27 2023-05-16 腹腔镜手术器械及手术机器人 WO2023226828A1 (zh)

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