RU2772213C1 - Serpentine surgical instrument and set of parts for the serpentine surgical instrument - Google Patents

Abstract

FIELD: medical equipment.

SUBSTANCE: group of inventions relates to medical equipment, namely to a serpentine surgical instrument and to a set of parts therefor. Serpentine surgical instrument comprises a hand-held end and a replaceable tool. The hand-held end comprises a retaining structure with a proximal seat and a distal seat, a wrist element and a manipulation element connected with the proximal seat of the retaining structure by means of the wrist element. The manipulation element is detachably connected with the wrist element. The replaceable tool is detachably connected with the distal seat. The wrist element is located on the distal surface of the proximal seat, and the wrist element is detachably connected with the manipulation element by means of a coupling apparatus. The coupling apparatus comprises a connecting pin located at the proximal end of the manipulation element and a hollow connecting shaft located on the wrist element and detachably connected with the connecting pin. Set of parts for the serpentine surgical instrument comprises the serpentine surgical instrument and a sterile package.

EFFECT: inventions are characterised by the fact that the coupling apparatus comprises a connecting pin located at the proximal end of the manipulation element and a hollow connecting shaft located on the wrist element and detachably connected with the connecting pin, providing a reliable detachable connection between the wrist element and the manipulation element.

23 cl, 27 dwg

Description

CROSS-REFERENCE TO RELATED APPLICATION

[1] This application claims the priority of Chinese Patent Application No. 201810971612.3 entitled "serpentine surgical instrument", filed on August 24, 2018, the contents of which are incorporated herein by reference in their entirety.

FIELD OF TECHNOLOGY

[2] The present invention relates to the field of medical devices and, in particular, to a serpentine surgical instrument and a set of parts for it.

BACKGROUND OF THE INVENTION

[3] Minimally invasive surgery often uses serpentine surgical instruments and serpentine endoscopes to bypass other organs during surgery, which can provide a smaller incision for better therapeutic effect, and reduce damage to other tissues during surgery. However, the direction of movement of the terminal end of the existing serpentine surgical instrument known to the present inventor is opposite to the direction of operation of the working end, which increases the complexity of the operation for physicians and surgical risks.

[4] Surgeons operate the hand held end of a serpentine surgical instrument to perform a surgical operation in a sterile environment. To maintain a sterile condition in the operating area next to the patient, it is necessary to completely clean and disinfect the reusable serpentine surgical instrument after surgery. However, internal components such as actuators, sensor devices, electrical connectors, and the like, of electrically operated surgical instruments cannot generally be sterilized by conventional methods. For example, steam, heat, pressure, or chemical sterilization methods, and the like. may cause damage to internal components.

[5] In addition, during the operation, it is necessary to prepare several serpentine surgical instruments with the same or different end actuators, which wastes resources and increases the burden on the patient. Moreover, most of the interchangeable serpentine surgical instruments known to the present inventor are complex and expensive.

SHORT DESCRIPTION

[6] In various exemplary embodiments disclosed in this specification, a serpentine surgical instrument is provided.

[7] One aspect of the present invention provides a serpentine surgical instrument comprising:

[8] a hand-held end comprising a holding structure having a proximal seat and a distal seat, a wrist member, and a manipulation member connected to the proximal seat of the holding structure via a wrist member, wherein the manipulation member is operably connected detachable with wrist element; and

[9] an interchangeable tool releasably connected to the distal seat, wherein the wrist element is located on the distal surface of the proximal seat, and the wrist element is releasably connected to the manipulation element by means of an interface device, and the interface device comprises a connecting pin located at the proximal end of the element for manipulation, and a hollow connecting shaft located on the element for the wrist and connected with the possibility of detachment with the connecting pin.

[10] In the aforementioned serpentine surgical instrument, the hand-held end is detachably connected to the exchangeable instrument, thereby realizing quick replacement, which is simple in structure and convenient for sterilization.

[11] In one embodiment, the serpentine surgical instrument further comprises a sterile wrapping pouch that can be removed from the outer surface of the retaining structure. The sterile pouch has an annular wrist end sleeve, a sterile pouch body and an annular instrument end sleeve that are connected in series and in communication with each other. The annular sleeve of the wrist end of the sterile pouch is used to seal the connection between the manipulation element and the wrist element, and the annular sleeve of the instrument end is used to seal the connection between the interchangeable instrument and the hand held end.

[12] In one embodiment, the interface device further comprises an axial limiting element configured to limit axial movement of the connecting pin, and a circumferential limiting element configured to limit rotation around the circumference of the connecting pin.

[13] In one embodiment, the circumferential restrictor includes a connecting element located on the surface of the connecting pin and located along the axial direction of the connecting pin, and the first locking groove located on the inner wall of the hollow connecting shaft and extending along the axial direction of the hollow connecting shaft. The first locking groove is configured to interact with the connecting element to limit the circumferential rotation of the connecting pin in the circumferential direction. The axial limiting element comprises a second locking groove located on the surface of the connecting pin and located along the circumferential direction, and an elastic locking device located on the inner wall of the hollow connecting shaft. The resilient locking device cooperates with the second locking slot to limit the axial movement of the connecting pin.

[14] In one embodiment, the resilient locking device comprises at least one resilient protrusion.

[15] In one embodiment, the manipulation element and the connecting pin are connected to each other by a bearing to achieve rotational movement of the manipulation element relative to the wrist element.

[16] In one embodiment, the proximal end of the handling element includes a bearing support, and the outer ring of the bearing is fixedly attached to the bearing support. The distal end of the connecting pin contains the first step fixedly attached to the inner ring of the bearing in the radial direction.

[17] In one embodiment, the connecting pin further comprises a second shoulder located at the distal end of the first shoulder, the second shoulder extending through the bearing support. The groove for accommodating the spring ring is located on the distal surface of the second ledge adjacent to the bearing seat.

[18] In one embodiment, the change tool includes a serpentine element, a tool support socket, and an end actuator that are connected in series. The serpentine surgical instrument further comprises an attachment unit, wherein the replaceable instrument is detachably connected to the end held by the hand through the attachment unit, and a transmission device.

[19] The wrist member at least has a first rotational degree of freedom such that the wrist member is capable of performing a first rotational movement. The serpentine element has at least a fifth rotational degree of freedom such that the serpentine element is capable of performing a fifth rotational movement. The transmission device is configured to cause the serpentine element to perform the fifth rotational movement together with the first rotational movement of the wrist element.

[20] In one embodiment, the wrist element further has a second rotational degree of freedom such that the wrist element can perform a second rotational movement. The serpentine element has at least a sixth rotational degree of freedom such that the serpentine element can perform a sixth rotational movement. The transmission device is configured to allow the serpentine element to perform the sixth rotational movement together with the second rotational movement of the wrist element.

[21] In one embodiment, the attachment assembly comprises a releasable connection element, wherein the releasable connection element comprises: a first component located on the retaining structure; and a second component located on the interchangeable tool. The first component and the second component are releasably connected and can move synchronously.

[22] In one embodiment, the transfer device comprises: a first portion located at a hand held end; and the second part located on the interchangeable tool.

[23] The proximal end of the first part is connected to the serpentine element, and the distal end of the first part is connected to the first component. The first part is configured to ensure the movement of the first component along with the movement of the serpentine element. The proximal end of the second part is connected to the second component, and the distal end of the second part is connected to the serpentine element. The second part is configured to ensure the movement of the serpentine element along with the movement of the second component.

[24] In one embodiment, the serpentine surgical instrument further comprises a drive device, a sensor device, and a controller located on the holding structure.

[25] The sensor device is communicatively coupled to the controller and configured to detect motion of the wrist member to obtain a motion signal; the controller controls the driving device to move the first component according to the motion signal detected by the sensor device; and the transmission device located in the change tool is configured to connect the second component and the serpentine element so that the serpentine element is able to move along with the movement of the second component.

[26] In one embodiment, the wrist element further has a second rotational degree of freedom such that the wrist element can perform a second rotational movement. The serpentine element has at least a sixth rotational degree of freedom such that the serpentine element is capable of performing a sixth rotational movement. The first component is a Hooke joint located at the distal seat of the retaining structure, and the Hooke joint has a ninth degree of freedom and a tenth degree of freedom such that the Hooke joint is capable of a ninth rotational movement and a tenth rotational movement. The sensor device detects the first rotational movement and/or the second rotational movement of the wrist member to obtain a movement signal, and transmits the movement signal to the controller. The controller controls the drive device to cause the Hooke joint to perform the ninth rotational movement and/or the tenth rotational movement according to the movement signal transmitted by the sensor device. The second component is a connector located on the interchangeable tool, and the Hooke's hinge is detachably connected to the connector. The transmission device is connected to the serpentine element and the connector and is configured to ensure that the serpentine element performs the fifth rotational movement together with the ninth rotational movement of Hooke's hinge and is additionally configured to ensure that the serpentine element performs the sixth rotational movement along with the tenth rotational movement of Hooke's hinge.

[27] In one embodiment, the transfer device includes a first group of transfer wires and a second group of transfer wires located on the change tool, and the drive device includes a first motor and a second motor. The first motor is configured to move the first set of transfer wires, and the second motor is configured to drive the second set of transfer wires so that the serpentine moves with movement of the Hooke joint.

[28] In one embodiment, the attachment assembly further comprises a snap-in element configured to restrict rotation of Hooke's joint and connector in a circumferential direction of the tool changer and/or limit movement of Hooke's joint and connector along the axial direction of the tool changer.

[29] In one embodiment, the end actuator comprises at least one operable end, the operable end being rotatably coupled to a tool support socket; and the hand held end further comprises an opening and closing control device that is releasable with respect to the manipulation element; the transfer device further comprises a first flexible transfer element; and the opening and closing control device controls the rotation of the working end through the first flexible transmission member.

[30] In one embodiment, the attachment assembly further comprises a first connecting shaft, and the first resilient telescopic pin is releasably connected to the first connecting shaft. The first connecting shaft extends towards the proximal end and through the second component, and the first resilient telescopic pin extends towards the distal end and through the first component. The drive device further comprises a third electric motor, and the sensor device further comprises a third sensor, wherein the third sensor is configured to detect the opening and closing movement of the opening and closing control device to obtain an opening and closing movement signal. The controller is configured to control the output of the third motor according to the opening and closing movement signal detected by the third sensor. The third electric motor is configured to drive the first flexible transmission element by means of the first resilient telescopic pin and the first connecting shaft.

[31] In one embodiment, the manipulation element is rotatable about its axis relative to the wrist element, the tool support is rotatable about its axis about the serpentine joints, and the transmission device further comprises a second flexible transmission element configured to transmitting the rotational movement of the manipulation member to the tool seat to rotate the tool seat.

[32] In one embodiment, the attachment assembly further comprises a second connecting shaft, and the second resilient telescopic pin is releasably connected to the second connecting shaft. The second connecting shaft extends towards the distal end and through the second component, and the second resilient telescopic pin extends towards the proximal end and through the first component. The drive device further comprises a fourth electric motor, and the sensor device further comprises a fourth sensor. The fourth sensor is configured to detect rotational movement of the manipulation element to obtain a rotational movement signal. The controller controls the output of the fourth motor according to the rotational motion signal detected by the fourth sensor, and the fourth motor is configured to drive the second flexible transmission member through the second elastic telescopic pin and the second connecting shaft.

[33] In one embodiment, the annular sleeve of the wrist end fits snugly against the outside of the connection between the manipulation element and the wrist element by means of an elastic restoring force. The annular sleeve of the tool end fits snugly against the outside of the connection between the tool change and the hand-held end by means of an elastic restoring force.

[34] In one embodiment, the body of the sterile pouch is adhesively attached to the annular sleeve of the wrist end, and the body of the sterile pouch is adhesively attached to the annular sleeve of the instrument end.

[35] Another aspect of the present invention also provides a set of parts for a serpentine surgical instrument, containing a serpentine surgical instrument. The serpentine surgical instrument contains:

[36] a hand held end comprising a retaining structure, a wrist member, and a manipulation member, wherein the retaining structure has a proximal seat and a distal seat, and the manipulation member is connected to the proximal seat of the retaining structure via the wrist member;

[37] an interchangeable instrument releasably coupled to the distal seat; and

[38] a sterile pouch having a wrist-end annular sleeve, a sterile pouch main body, and an instrument-end annular sleeve that are connected in series and in communication with each other, the sterile pouch being releasably wrapped onto the outer surface of the retaining structure, and the annular sleeve of the wrist end of the sterile pouch is configured to seal the connection between the manipulation element and the wrist element, and the annular sleeve of the instrument end is configured to seal the connection between the interchangeable instrument and the hand held end, the wrist element being located on the distal surface of the proximal seat, and the element for the wrist is connected with the possibility of detachment with the element for manipulation through the interface device, and the interface device contains a connecting pin located at the proximal end of the element for manipulation, and a hollow joint a connecting shaft located on the element for the wrist and connected with the possibility of detachment with the connecting pin.

[39] In the above serpentine surgical instrument, by means of a sterile pouch wrapped around the holding structure, it is possible to achieve sealing of the connection between the wrist member and the handling member, and sealing the connection between the interchangeable instrument and the hand-held end so that during operation, the hand-held end is able to be in a sterile condition, avoiding post-operative disinfection and sterilization, thereby avoiding damage to the internal components in the hand held end.

BRIEF DESCRIPTION OF GRAPHICS

[40] FIG. 1 is a schematic representation of a serpentine surgical instrument according to an embodiment of the present invention;

[41] in FIG. 2 is a schematic exploded view of the sterile package of the serpentine surgical instrument shown in FIG. one;

[42] in FIG. 3 shows a schematic exploded view of the hand held end wrapped with a sterile pouch in an embodiment of the present invention;

[43] in FIG. 4 is a schematic representation of the hand held end wrapped with a sterile pouch in an embodiment of the present invention;

[44] in FIG. 5 shows a exploded view of the handling element and the retaining structure in an embodiment of the present invention;

[45] in FIG. 6 is a schematic representation of a serpentine surgical instrument interface device in an embodiment of the present invention;

[46] in FIG. 7 is a cross-sectional view of the assembled handling device in an embodiment of the present invention;

[47] in FIG. 8 is a schematic representation of a node in which the manipulation element implements a rotation function in an embodiment of the present invention;

[48] in FIG. 9 shows a detailed, enlarged view of the assembly shown in FIG. eight;

[49] FIG. 10 is a schematic representation of the rotation and degrees of freedom of movement of a serpentine surgical instrument in an embodiment of the present invention;

[50] in FIG. 11 is a schematic diagram of an exploded view of a serpentine surgical instrument in an embodiment of the present invention;

[51] in FIG. 12 is a schematic representation of the hand held end of a serpentine surgical instrument according to an embodiment of the present invention;

[52] in FIG. 13 and 14 are schematic illustrations of the layout of a sensor device in an embodiment of the present invention;

[53] in FIG. 15 is a schematic representation of the connection between the transfer device and the end effector in an embodiment of the present invention;

[54] in FIG. 16 is a schematic representation of a driving device in an embodiment of the present invention;

[55] in FIG. 17 is a schematic representation of a quick change mount in an embodiment of the present invention;

[56] in FIG. 18 is a schematic representation of the releasable connection element on the side of the hand held end in an embodiment of the present invention;

[57] in FIG. 19 is a schematic representation of a releasable connection element on the end side of an interchangeable tool in an embodiment of the present invention;

[58] in FIG. 20-21 are schematic representations of the connection between the releasable connection element and the transfer device on the end side of the interchangeable tool in an embodiment of the present invention;

[59] in FIG. 22-24 are schematic representations of the connection between the releasable connection element and the drive device on the side of the hand held end in an embodiment of the present invention;

[60] in FIG. 25-26 are schematic illustrations of the layout of a sensor device in another embodiment of the present invention; and

[61] in FIG. 27 shows a schematic illustration of a sterile pouch attachment in an embodiment of the present invention, in which the snap-in feature is positioned between the hand held end and the change tool.

DETAILED DESCRIPTION OF EMBODIMENTS

[62] Below, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that the above objects, features and advantages of the present invention are more clear and understandable. In the following description, many specific details are explained in order to fully understand the present invention. However, the present invention may be practiced in many other ways than those described herein, and similar modifications may be made by those skilled in the art without departing from the present invention, and therefore the present invention is not limited to the specific embodiments disclosed. below.

[63] The serpentine surgical instruments provided in the exemplary embodiments disclosed in the present invention will be further described in detail below with reference to the drawings and specific embodiments. In the present invention, for ease of understanding, the terms "proximal end" and "distal end", "upper end" and "lower end" are used, and these terms refer to the relative orientation, relative position and direction of elements or actions relative to each other, as it sees doctor using medical instruments. The terms "proximal end", "distal end", "upper end", and "lower end" are non-limiting, but the terms "proximal end" and "lower end" generally refer to the end of a medical device that, during normal use, is close to the operating surgeon, and the terms "distal end" and "upper end" usually refer to the end located far from the operating surgeon.

[64] As shown in FIG. 1 and 2, an embodiment of the present invention provides a serpentine surgical instrument comprising a hand-held end 1, an interchangeable instrument 2, a quick-change attachment 3, and a sterile bag 100. The hand-held end 1 of the serpentine surgical instrument is reusable. The change tool 2 is made disposable or made to be used for a limited period of time. Sterile package 100 is disposable. The hand-held end 1 is releasably connected to the change tool 2. In particular, the hand-held end 1 and the change tool 2 can be quickly disengaged and replaced by means of a quick-change attachment 3. The sterile bag 100 can be loosely wrapped around the outer surface of the hand-held end 1 so that the hand-held end 1 remains sterile at all times during surgery to prevent damage to internal components caused by post-operative disinfection and sterilization.

[65] In addition, as shown in FIG. 2, the hand held end 1 comprises a holding structure 11, a handling element 12 and a wrist element 14. The handling member 12 is releasably coupled to the wrist member 14 via an interface device 200, thereby facilitating insertion and replacement of the sterile bag 100. In addition, the containment structure 11 includes a proximal seat 111, a main portion 112 of the containment structure, and a distal seat 113 The wrist member 14 is placed in the distal surface of the proximal seat 111 of the retaining structure 11 and connected to the retaining structure 11.

[66] As shown in FIG. 2, the sterile pouch 100 has an annular wrist end sleeve 110, a sterile pouch body 120, and an annular instrument end sleeve 130 that are connected in series and in communication with each other. The annular wrist end sleeve 110 and the tool end annular sleeve 130 are of a deformable design and/or are made of deformable materials to realize the function of tightening and sealing after the external force is removed. The deformable structure may be an elastic structure such as a clamp ring or the like. The deformable material is, for example, an elastic material such as spandex and the like, or a shape memory material such as PTT (polytrimethylene terephthalate) and the like. The sterile package 100 is functionally wrapped on the surface of the holding structure 11 and removed from the holding structure 11.

[67] In addition, as shown in FIG. 4, the annular wrist end sleeve 110 is configured to fit snugly on the distal surface of the wrist member 14, and the diameter of the annular wrist end sleeve 110 in a natural fit (without application of external force) is smaller than the diameter of the interface device 200 to ensure that so that the holding structure 11 can achieve a sealed state after the element 12 is installed to be manipulated by the interface device 200 . The annular instrument end sleeve 130 can fit snugly on the distal surface of the distal seat 113 of the retaining structure 11, and the diameter of the annular instrument end sleeve 130 in a natural fit state is smaller than the outer diameter of the distal seat 113 of the retaining structure 11 so that the annular instrument end sleeve 130 fit snugly on the distal surface of the distal seat 113 of the retaining structure 11 in an extended state. Therefore, the tool end annular sleeve 130 will not affect the installation and detachment of the quick change mount 3 . In addition, the annular tool end sleeve 130 and/or the annular wrist end sleeve 110 are configured such that their maximum diameter is at least larger than the cross-sectional diameter of the holding structure 11 so that the annular tool end sleeve 130 and/or the annular the wrist end sleeve 110 may pass through various portions of the containment structure 11 to wrap the containment structure 11. The term "maximum diameter" as used herein may refer to the diameter of the annular tool end sleeve 130 or the annular wrist end sleeve 110 when maximum external force is applied. The maximum external force refers to the maximum external force that can be applied so long as the tool end annular sleeve 130 or the wrist end annular sleeve 110 can still regain its original shape after the application of the external force has ceased. When the cross section is not circular, the term "diameter of the cross section" in the context of this document refers to the diameter of the smallest circle circumscribed around the cross section. The sterile pouch main body 120 is made of medical-grade polyethylene raw materials, and the sterile pouch main body 120 is bonded to the instrument end annular sleeve 130 and the wrist end annular sleeve 110 with a hot-applied adhesive.

[68] Further, taking as an example an annular instrument end sleeve 130 provided with at least a maximum diameter larger than the cross-sectional diameter of the containment structure 11, to illustrate how to wrap the containment structure 11 with a sterile bag 100 through the end where the annular sleeve 130 end for the tool. When a surgical instrument is to be used, first, the manipulation member 12 is separated from the wrist member 14, and the interchangeable instrument 2 is separated from the hand held end 1, as shown in FIG. 2. Then, the annular sleeve 130 of the instrument end of the sterile pouch 100 is wrapped around the retaining structure 11 from the side of the wrist element 14 until the annular sleeves located at the two ends of the sterile pouch 100 are respectively wrapped over the two ends of the retaining structure 11. Since the annular sleeves at both ends of the sterile bag 100 have the functions of tightening and sealing, the annular sleeve 110 of the wrist end can fit snugly on the distal surface of the proximal seat 111 of the holding structure 11, and the annular sleeve 130 of the instrument end can fit snugly on the distal surface of the distal seat 111 seats 113 of the containment structure 11, and the sterile pouch main body 120 wraps the outside of the containment structure main body 112 as shown in FIG. 3. Finally, the interchangeable tool 2 is connected to the hand-held end 1 via the quick-change attachment 3, and the handling member 12 is connected to the holding structure 11 of the hand-held end 1 via the interface device 200. At this stage, aseptic isolation of the hand held part can be achieved, as shown in FIG. 4 and 1. The main body 120 of the sterile pouch has a suitable diameter to accommodate the main body 112 of the retaining structure of the hand held end 1 without affecting the operation of the operating surgeon. Moreover, the sterile pouch main body 120 has sufficient resilience, abrasion resistance, and slip resistance, which can prevent the sterile pouch main body 120 from breaking during operation.

[69] After the end of the operation, first the interchangeable instrument 2 and the manipulation member 12 can be detached from the hand held end 1 for postoperative disinfection. Then, in a direction opposite to the insertion direction of the sterile pouch 100, starting at the distal seat 113 of the retaining structure 11, the annular sleeve 130 of the instrument end of the sterile pouch 100 causes the sterile pouch body 120 to gradually separate from the hand held end 1 until the sterile pouch 100 is completely separated from the hand held end 1.

[70] In the above embodiment, the sterile pouch body 120 is not necessarily configured with a sealing function. That is, at this time, if the instrument end annular sleeve 130 and/or the wrist end annular sleeve 110 are deformable and the diameter of the sterile pouch body 120 is large enough to allow the containment structure main body 112 to pass through. Of course, the entire sterile package 100 may be deformable and may return to a natural fit when the external force is removed.

[71] In an embodiment, the manipulation element 12 and the wrist element 14 are detachably connected to each other via the interface device 200 . The wrist member 14 may have more than one degree of freedom so that the manipulation member 12 can rotate in more than one direction relative to the holding structure 11. In particular, as shown in FIG. 5-9, interface device 200 includes a connecting pin 210 located at the proximal end of the manipulation element 12 and a hollow connecting shaft 220 located on the wrist element 14 of the hand held end 1 and mating with the connecting pin 210. The hollow connecting shaft 220 is provided with a through hole 221 at its center, and the diameter of the through hole 221 is the same as the outer diameter of the main part of the pin of the connecting pin 210 for detachable connection with the connecting pin 210. In addition, the interface device 200 further includes an axial limiting element that limits the axial movement of the connecting pin 210 , and a circumferential limiting element that restricts rotation around the circumference of the connecting pin 210. The circumferential limiting element includes a connecting element 211 and a first locking groove 222. pin 210 and is located along the axial direction. The first locking groove 222 is located on the inner surface of the through hole 221 of the hollow connecting shaft 220 and is located along the axial direction. The first locking groove 222 interacts with the connecting element 211 located on the surface of the main part of the pin to limit the relative rotation of the connecting pin 210 and the hollow connecting shaft 220. In addition, the axial limiting element includes a second locking groove 212 and an elastic locking device 230 connected by snapping to the second locking groove 212. In this embodiment, there is no particular limitation on the number of connecting members 211 and first locking grooves 222, that is, the number of connecting members 211 and first locking grooves 222 may be one or more, and the number of connecting members 211 may be equal to or less than the number of the first locking slots 222. The second locking slot 212 is located on the surface of the pin body of the connecting pin 210 and is located along the circumference of the surface of the pin body. Accordingly, the elastic locking device 230 is located on the inner surface of the through hole 221 of the hollow connecting shaft 220. When the main part of the pin of the connecting pin 210 is installed in the through hole 221 of the hollow connecting shaft 220, the elastic locking device 230 can be clamped in the second locking groove 212 of the connecting pin 210 to implement the axial restriction of the main part of the pin of the connecting pin 210. In addition, the elastic locking device 230 may be at least one elastic protrusion. In addition, as shown in FIG. 6, three resilient protrusions are provided. In addition, the second locking groove 212 may extend in the circumferential direction of the connecting pin 210 to form a closed loop. Similarly, the number of the second locking slots 212 along the axial direction of the connecting pin 210 and the number of the elastic locking devices 230 along the axial direction of the through hole 221 are not specifically limited.

[72] In this embodiment, the resilient locking device 230 cooperates with the second locking slot 212 to form an axial limiting member to restrict axial movement of the coupling member 210. The first locking slot 222 engages with the coupling member 211 to form a circumferential restraining member to restrict rotation around the circumference of the coupling member. pin 210. Both the axial limiting element and the circumferential limiting element can be replaced by other suitable elements.

[73] In addition, as shown in FIG. 7, the wrist member 14 is positioned on the proximal seat 111 of the retaining structure 11 of the hand held end 1. The proximal seat 111 is provided with a channel 1112 for the hollow connecting shaft 220 to pass through, and the diameter of the channel 1112 is large enough to avoid limiting the member's range of motion. 12 for manipulation, thereby allowing free movement of the element 12 for manipulation of the element 14 for the wrist through the interface device 200 without the influence of the proximal seat 111.

[74] When the manipulation member 12 is installed, the connecting member 211 on the surface of the pin body of the connection pin 210 is aligned with the first locking groove 222 in the inner surface of the hollow connecting shaft 220 to limit displacement in the circumferential direction of the pin body of the connection pin 210. The main body the pin of the connecting pin 210 passes through the channel 1112 on the proximal seat 111 along the track formed by the interaction of the connecting element 211 with the first locking groove 222, and is pushed into the hollow connecting shaft 220 along the axis. Under the pressure of the main body of the pin, the elastic protrusion 230 overcomes the elastic force of the inner spring, moves along the radial direction of the hollow connecting shaft 220 in the direction of the spring, and compresses the spring. The pin body of the connecting pin 210 is continuously pushed into the hollow connecting shaft 220. When the second locking groove 212 on the surface of the pin body of the connecting pin 210 matches the resilient protrusion 230 on the inner surface of the hollow connecting shaft 220, the resilient protrusion 230 snaps onto the second fixing groove 212 under the action of elastic force of the internal spring to limit the additional axial displacement of the main part of the pin of the connecting pin 210. At this point, the installation of the element 12 for manipulation is completed.

[75] In another embodiment, the element 12 for manipulation can also rotate around its own axis relative to the element 14 for the wrist. In addition, a through hole 217 is provided at the center of the connecting pin 210 along the axial direction. The handling member 12 and the connecting pin 210 are connected to each other by a bearing 213 to realize rotational movement of the handling member 12. In particular, as shown in FIG. 7-9, the proximal end of the handling element 12 comprises a bearing support 121 to which the outer bearing ring 213 is fixedly attached. In addition, the first ledge 214 is adjacent to the proximal surface of the bearing support 121 in the axial direction. More specifically, the longitudinal section of the bearing support 121 is in the shape of an irregular end, such as a toric shape, and includes a base 1211 and an additional part 1212 fixedly attached to the base 1211. The additional part 1212 is provided with a cavity and is configured to receive and fix the bearing 213 The diameter of the cavity of the additional part 1212 matches the diameter of the outer ring of the bearing 213. The first step 214 can engage with the bearing 121 and the distal surface of the first step 214 is in contact with the proximal end of the base 1211 of the bearing support 121. In addition, as shown in FIG. 9, the connecting pin 210 further comprises a second shoulder 215. The second shoulder 215 is located at the distal end of the first shoulder 214 of the connecting pin 210 and extends through the bearing support 121, and a slot (not indicated) is provided on the second shoulder 215 near the distal surface of the bearing support 121. to receive snap ring 216. Thus, when connecting pin 210 is assembled on bearing support 121 of member 12 to be manipulated through bearing 213, the fit relationship between snap ring 216 and/or first shoulder 214 and bearing 121 limits axial and circumferential movement of the connecting pin 210. Thus, the manipulation member 12 can realize a rotational movement.

[76] The change tool 2 includes a serpentine element 21, a support seat 22 for a tool, and an end actuator 23, which are connected in series.

[77] FIG. 10 also shows the degrees of freedom of movement of the serpentine surgical instrument. In the embodiment shown in FIG. 10, the hand-held end 1 can synchronously drive the serpentine 21 and thereby drive the end actuator 23. In this embodiment, the direction of movement of the serpentine 21 is also set to be the same as the direction of movement of the serpentine 12 for manipulating the hand-held end. 1. Specifically, the wrist member 14 has two degrees of freedom: a first degree of freedom R1 and a second degree of freedom R2. Accordingly, the wrist member 14 can perform a first rotational motion about the first axis L1 (a lateral axis pivot motion in the embodiment) and a second rotational motion about the second axis L2 (a yaw motion in the embodiment). The serpentine member 21 has two rotational degrees of freedom: a fifth degree of freedom R5 and a sixth degree of freedom R6. Accordingly, the serpentine member 21 can perform a fifth rotational motion about the fifth axis L5 (a lateral axis rotation motion in the embodiment) and a sixth rotational motion about the sixth axis L6 (a yaw motion in the embodiment). In addition, the manipulation member 12 causes the wrist member 14 to perform a lateral rotation motion with respect to the first axis L1, and accordingly causes the serpentine element 21 to perform a lateral rotation motion in the same direction with respect to the fifth axis L5, thereby causing the end actuator 23 perform a pivoting movement around the transverse axis in the same direction. In addition, the first axis L1 is parallel to the fifth axis L5. The manipulation member 12 causes the wrist member 14 to perform a yaw motion with respect to the second axis L2, and causes the serpentine member 21 to perform a yaw motion in the same direction with respect to the corresponding sixth axis L6, thereby causing the end actuator 23 to perform a yaw motion around the vertical axis in the same direction. In addition, the second axis L2 is parallel to the sixth axis L6. Thus, the end actuating element 23 has two degrees of freedom R5' and R6'.

[78] In this embodiment, there are no particular restrictions on the type and shape of the end actuator 23, and it can be selected by a physician depending on the needs of a surgical operation. For example, the end effector 23 may be scissors, tongs, clamp, tweezers, and other end effector 23 with multiple types of working ends, or may also be electrodynamic end effectors 23 such as a resistance heater, motor drive components, etc. Of course, depending on what the doctor needs, the end actuator 23 can also be chosen in other forms, such as the end actuator 23 with one type of working end, such as a hook.

[79] Due to the different types of end actuators 23, the serpentine surgical instruments may have different degrees of freedom. For example, the end actuator 23 includes at least one working end 231 which is rotatably connected to the tool support socket 22 as shown in FIG. 11. In this case, the end actuating element 23 receives one degree of freedom. In the embodiment shown in FIG. 10, the end actuating element 23 is a pincer. Therefore, the end actuator 23 further has a third degree of freedom, such as the degree of freedom R7 for opening and closing, so that clamping is performed. As shown in FIG. 12, respectively, the hand held end 1 further comprises an opening and closing control device 13 located on the manipulation element 12, the opening and closing control device 13 can be rotated relative to the manipulation element 12 to provide a third degree of freedom R3, thereby controlling the movement opening and closing of the end actuator 23. The motion configuration of the opening and closing control device 13 of the hand held end is set to the same as the opening and closing configuration of the end actuator 23, that is, when the opening and closing control device 13 opens, the opening of the end actuator element 23, and when the opening and closing control device 13 closes, the end actuating element 23 closes, with the result that the clamping is completed.

[80] In another embodiment, the manipulation element 12 of the hand held end 1 may also have a fourth degree of freedom R4 so that the manipulation element 12 can be rotatable about its own axis L4 relative to the wrist element 14. Accordingly, the tool seat 22 has an eighth degree of freedom R8 so that the tool seat 22 can be rotatable about its own axis L8 relative to the serpentine member 21. The manipulation member 12 rotates about its own axis to rotate the tool seat 22 around its own axis L8 in the same direction, so that the end actuator 23 has a fourth degree of freedom R8'.

[81] As shown in FIG. 12 and 15, the serpentine surgical instrument also includes a sensor, a controller (not shown), an actuator 5, and a transmitter 6. The sensor, controller, and actuator 5 are located at the hand-held end 1. The transmitter 6 is located on the exchange instrument 2. The sensor device is communicatively connected to the controller to detect movement of the wrist member 14 and the opening and closing control device 13 to receive a motion signal, and transmits the detected motion signal to the controller. The controller controls the driving device 5 to generate power according to the motion signal detected by the sensor device. The driving device 5 may be a motor for driving the serpentine element 21, the tool holder 22 or the end actuator 23 through the transmission device 6 to complete the respective actions. For example, the serpentine member 21 is driven to perform a rotational motion about a transverse axis about the fifth axis L5, the serpentine member 21 is driven to perform a pivotal motion about a vertical axis about the sixth axis L6, the end actuator 23 is driven to perform an opening motion, and closing, or the support seat 22 for the tool is driven to perform a rotational movement about its own axis L8.

[82] As shown in FIG. 13 and 14, the sensor device may include a first sensor 41 for detecting a movement of rotation about the transverse axis of the element 12 to be manipulated. The sensor device may include a second sensor 42 for detecting yaw movement of the manipulation element 12 . The sensor device may include a third sensor 43 for detecting the opening and closing movement of the opening and closing control device 13 . The sensor device may include a fourth sensor 44 for detecting the rotational movement of the element 12 to be manipulated.

[83] In a specific embodiment, as shown in FIG. 14, the wrist member 14 includes an inner frame 141 and an outer frame 142 rotatably connected to the holding structure 11 via a first rotary shaft 143. The inner frame 141 is rotatably connected to the outer frame 142 via a second rotary shaft 144. The axis of the first rotary shaft 143 represents the first axis. The axis of the second rotary shaft 144 is the second axis. The hollow connecting shaft 220 is connected to the inner frame 141. In addition, the first rotary shaft 143 and the second rotary shaft 144 are perpendicular to each other, and the plane bounded by the axis of the first rotary shaft 143 and the axis of the second rotary shaft 144 is the middle plane of the wrist member 14 . The angle formed by the first rotary shaft 143 and the second rotary shaft 144 may also be other suitable angles and is not limited to being perpendicular to each other.

[84] The first sensor 41 and the second sensor 42 may be rotary shaft code disks, which are respectively located on the first rotary shaft 143 and the second rotary shaft 144 of the wrist member 14, and are respectively used to detect the yaw motion and the yaw motion. axis element 14 for the wrist. In another specific embodiment, the first sensor 41 and the second sensor 42 may also be linear sensors.

[85] In a specific embodiment, as shown in FIG. 13, the opening and closing control device 13 includes at least one shutter 131 for opening and closing. The proximal end of the shutter 131 for opening and closing is rotatably connected to the element 12 for manipulation by means of a rotating shaft. The distal end (ie the free end) of the flap 131 for opening and closing is at a distance from the element 12 for manipulation. The third sensor 43 may be a Hall sensor, which is located on the opening and closing shutter 131 and the manipulation member 12 to detect the distance between the opening and closing shutter 131 of the opening and closing control device 13 and the manipulation member 12, and thereby detect rotational movement of the shutter 131 for opening and closing relative to the element 12 for manipulation. In another particular embodiment, the third sensor 43 may also be at least one rotary shaft encoder disc which is located on the rotating shaft of the proximal end of the shutter 131 to open and close the opening and closing control device 13 to detect the rotational movement of the shutter 131 to open and close .

[86] In a specific embodiment, as shown in FIG. 7-9, the manipulation element 12 is connected to the connecting pin 210 by means of a bearing 213 to realize rotational movement of the manipulation element 12. In addition, a rotatable connection between the manipulation element 12 and the inner frame 141 is achieved by a relatively fixed relationship between the connecting pin 210 and the hollow connecting shaft 220. The magnet 218 is further located at the proximal end of the manipulation element 12 and passes through the through hole 217 of the connecting pin 210. Accordingly, the fourth sensor 44 may be a Hall sensor that can receive the rotation signal of the manipulation member 12 via the magnet 218. The fourth sensor 44 may be installed as follows. For example, the mounting bracket is located on the rear side of the inner frame 141 of the element 14 for the wrist. The fourth sensor 44 is located in the center of the mounting bracket to detect the rotational movement of the element 12 for manipulation around its own axis, as shown in FIG. 13. In other embodiments, when the rotatable connection between the manipulation element 12 and the wrist element 14 is not realized through the bearing 231, but is realized through a direct connection between the manipulation element 12 and the wrist element 14, the installation method of the fourth sensor 44 may be similar to the above method.

[87] When the surgical instrument is operated, the first sensor 41 and the second sensor 42 of the sensor device respectively detect the trunnion motion and the yaw motion of the manipulation member 12, the third sensor 43 of the sensor device detects the opening and closing motion of the opening and closing control device 13 , and the fourth sensor 44 of the sensor device detects the rotational movement of the manipulation member 12 and transmits the detected motion signal to the controller. The controller controls the output power of the driving device 5 according to the signal detected by the sensor device. The drive device 5 drives the serpentine member 21, the tool support seat 22 and the end actuating member 23 via the transmission device 6 to complete the respective traverse action, yaw action, rotational action and opening and closing action. In addition, the direction of movement of the end actuating element 23 is set to be the same as the direction of movement of the element 12 for manipulation and the opening and closing control device 13 .

[88] As shown in FIG. 15 and 19-21, the transfer device 6 includes a first group of transfer wires 61 and a second group of transfer wires 62, which are used to control the movement of the serpentine element 21. The transfer device 6 includes a first flexible transfer element 63 to control the opening and closing movement of the end actuator 23 The transmission device 6 includes a second flexible transmission element 64 for controlling the rotation of the support seat 22 for the tool.

[89] As shown in FIG. 12, the drive device 5 is located at the distal end of the hand held end 1. In the particular embodiment shown in FIG. 16, the driving device 5 includes a first motor 51 and a second motor 52. The first motor 51 and the second motor 52 work in cooperation to drive the quick change attachment 3 and cause the serpentine member 21 to perform traverse and yaw movements by means of the first group 61 transmission wires and the second group 62 transmission wires, thereby providing movement of rotation around the transverse axis and rotation around the vertical axis of the end actuator 23. The drive device 5 contains a third electric motor 53 that provides the opening and closing movement of the end actuator 23 by means of a quick-change assembly 3 fasteners and the first flexible transmission element 63. The drive device 5 contains a fourth electric motor 54, which provides rotational movement of the end actuator 23 through a quick-change assembly 3 fasteners niya and the second flexible transmission element 64.

[90] As shown in FIG. 17, the quick-change fastener 3 includes a releasable connection element 32 . The releasable connection element 32 comprises a first component (not indicated) located on the holding structure 11 and a second component (not indicated) located on the interchangeable tool 2. The first component is releasably connected to the second component and can synchronously drive the second component. . The tool end annular sleeve 130 seals the connection between the first component and the second component. The specific structures of the first component and the second component are not limited as long as the releasable connection and synchronous movement of the holding structure 11 and the change tool 2 can be realized.

[91] In the specific embodiment shown in FIG. 18 and 19, the first component may be a Hooke hinge 321 of the distal seat 113 on the hand end 1 side, and the second component may be a connector 322 located on the tool change 2 side. The Hooke hinge 321 includes a first outer frame 3211 and a first inner frame 3212. The first outer frame 3211 is connected to the shell of the hand held end 1 and can perform the tenth rotational movement around the tenth axis. Thus, Hooke's hinge 321 has a tenth degree of freedom. The first inner frame 3212 is connected to the first outer frame 3211 and is capable of performing a ninth rotation about a ninth axis. Thus, Hooke's hinge 321 has a ninth degree of freedom. In addition, the tenth axis is parallel to the sixth axis L6. In addition, the tenth axis is further parallel to the second axis L2. In addition, the ninth axis is parallel to the fifth axis L5. In addition, the ninth axis is further parallel to the first axis L1. The connector 322 includes a resilient connector and a connector plate 3222. The connector plate 3222 is fixedly fixed to the tool changer 2 body 201 by the resilient connector so that the connector plate 3222 can perform a yaw motion relative to the tool changer 2 body 201. In addition, the outer edge connecting plate 3222 is not larger than the outer edge of the first inner frame 3212. Specifically, as shown in FIG. 19, the resilient coupler comprises four coupler springs 3221 which are respectively located at four angular positions of the coupler plate 3222. The coupler plate 3222 is fixedly fixed to the tool sheath 2 by means of four coupler springs 3221. In an embodiment, the transmission device 6 is connected to the serpentine member 21 and connector 322 and is configured to allow the serpentine element 21 to perform the fifth rotational movement together with the ninth rotational movement of the Hooke joint 321 and is also configured to ensure that the serpentine element 21 performs the sixth rotational movement along with the tenth rotational movement of the Hooke joint 321.

[92] In addition, on the first inner frame 3212, to limit the displacement of the Hooke joint 321 and the connector 322 along the axial direction of the change tool 2, a limiting device is provided. As shown in FIG. 18, in addition, the restrictive device is at least one pin 3213. The pin 3213 includes a pin body and a protrusion formed in the axial direction of the pin body. The outer diameter of the projecting member is larger than the outer diameter of the pin body of said pin 3212. Accordingly, a gourd-like pin hole 3223 is located at a location on the connecting plate 3222 corresponding to the pin 3213. As shown in FIG. 19, the gourd-like pin hole 3223 includes a large diameter portion 32231 and a small diameter portion 32232. The hole diameter of the large diameter gourd hole 3223 pin hole portion 32231 corresponds to the outer diameter of the projection on the pin 3213 for receiving the pin 3213. When assembled, the pin 3213 passes through the large-diameter gourd hole portion 32231 3223 for the pin to implement the connection between the Hooke joint 321 and the connector 322. Therefore, the Hooke joint 321 and the connector 322 rotate relative to each other to move the pin 3213 into the small portion 32232. diameter so that the connection between the Hooke joint 321 and the connector 322 can be maintained, and the Hooke joint 321 and the connector 322 cannot move relative to each other in the axial direction.

[93] In addition, the quick-change attachment assembly 3 further comprises a snap-in member 31 for restricting axial and/or circumferential movement between the hand held end 1 and the change tool 2. The present invention does not specifically limit the specific design of the snap-in member, and the snap-on element may be any element of the prior art capable of implementing blocking and limiting functions. In the embodiment shown in FIG. 27, the distal end of the hand held end 1 has a protrusion 25 extending inwardly, and the proximal end of the tool changer 2 has a recess 26 that mates with the protrusion 25. A sterile bag 100 may cover the distal end of the protrusion 25 to isolate it from the tool changer 2.

[94] As shown in FIG. 20-22, during operation of the serpentine surgical instrument, the controller controls the first motor 51 and the second motor 52 to cause the end actuator 23 to rotate along with the rotation of the wrist member 14 according to the motion signal of the wrist member 14 detected by the sensor device. In particular, as shown in FIG. 23 and 24, the first motor 51 rotates the Hooke joint 321 through the steel wire 55 of the first motor, thereby allowing the synchronous rotation of the connector 322. Similarly, the second motor 52 rotates the Hooke joint 321 through the steel wire 56 of the second motor, thereby allowing the synchronous rotation connector 322. Seen from the proximal end towards the distal end, the two ends of the steel wire 55 of the first motor are respectively fixed on the upper left corner and lower right corner of the Hooke hinge 321. The positions of the connecting and fixed attachment points between the first transmission wire group 61 and the connector 322 and between the first transmission wire group 61 and the serpentine member 21 correspond to the positions of the fixed attachment points of the two ends of the steel wire 55 of the first electric motor on the upper left and lower right corners of Hooke's hinge 321. Two to the ends of the steel wire 56 of the second motor are respectively fixedly fixed on the lower left corner and upper right corner of the Hooke hinge 321. fixedly attaching the two ends of the steel wire 56 of the second motor at the lower left and upper right of the Hooke joint 321. Through the above construction, the first motor 51 and the second motor 52 jointly drive the first transmission wire group 61 and the second transmission wire group 62 to rotate serpentine member 21. In an alternative embodiment, both ends of the steel wire 55 of the first motor are respectively fixed on the tenth axis of the Hooke hinge 321, and both ends of the steel wire 56 of the second motor fixedly fixed on the ninth axis of the Hooke hinge 321. The first group of transfer wires 61 and the second group of transfer wires 62 are respectively located in accordance with the connection and fixed attachment points of the connector 322 and the serpentine member 21.

[95] In addition, as shown in FIG. 20, the proximal end of the first group of transfer wires 61 is connected to the quick change attachment 3, and the first group of transfer wires 61 causes the end actuator 23 to perform an opening and closing movement under the action of the quick change attachment 3. The proximal end of the second group 62 of transfer wires is connected to the quick-change attachment 3, and the second group of transfer wires 62 ensures that the end actuator 23 performs rotational movement under the action of the quick-change attachment 3.

[96] In addition, as shown in FIG. 18-19 and 23, the quick change mount 3 further comprises a first elastic telescopic pin 3214 and a first connecting shaft 3224. In addition, the quick change mount 3 further comprises a second elastic telescopic pin 3215 and a second connecting shaft 3225. In addition, the first elastic telescopic pin 3214 and the second elastic telescopic pin 3215 can respectively move towards the proximal end under the action of an external force, and can move towards the distal end until they reach the initial positions under the action of their own elastic force after the application of the external force ceases. Hooke's inner frame 3212 is provided with a central hole. The first resilient telescopic pin 3214 and the second elastic telescopic pin 3215 extend towards the distal end through the central hole of the Hooke hinge 321 (ie, the first component). Accordingly, the first connecting shaft 3224 and the second connecting shaft 3225 extend towards the proximal end through the central opening of the connector 322 (ie, the second component). The proximal end of the first connecting shaft 3224 is releasably connected to the distal end of the first resilient telescopic pin 3214, and the proximal end of the second connecting shaft 3225 is releasably connected to the distal end of the second resilient telescopic pin 3215, thereby transmitting or canceling the driving force. In addition, as shown in FIG. 19, the end surfaces of the proximal ends of the first connecting shaft 3224 and the second connecting shaft 3225 are provided with two locking slots 3226. Accordingly, as shown in FIG. 18, each of the end surfaces of the distal ends of the first elastic telescopic pin 3214 and the second elastic telescopic pin 3215 is provided with two locking protrusions 3216. between connecting shafts and elastic telescopic pins.

[97] At the same time, as shown in FIG. 21, the steel wire of the first flexible transmission element 63 is wound and fixedly fixed on the first connecting shaft 3224. The second flexible transmission element 64 is fixedly connected to the second connecting shaft 3225. When the first connecting shaft 3224 and the second connecting shaft 3225 rotate, the first flexible transmission element 63 performs movements winding and unwinding so that the rotational movement is converted into an axial movement, and the second flexible transmission element 64 transmits the torque to the support seat 22 for the tool.

[98] In addition, the end actuator 23 further comprises a first reversing device (not indicated). The first flexible transmission element 63 contains a steel wire and an elastic element. The resilient member is configured to provide a driving force to maintain the working end 231 in a normally open state. The proximal end of the steel wire is wound around the first connecting shaft 3224, and the distal end of the steel wire is connected to the first reversing device. The first reversing device is used to convert between the translational motion of the steel wire and the opening and closing motion of the working end 231. The third motor 53 can drive the first flexible transmission member 63 through the first elastic telescopic pin 3214 and the first connecting shaft 3224, and the translational motion of the first flexible transmission element 63 is converted into an opening and closing movement of the end actuator 23 by means of the first reversing device. In addition, the fourth motor 54 can drive the second flexible transmission element 64 through the second elastic telescopic pin 3215 and the second connecting shaft 3225 to control the rotational movement of the end actuator 23.

[99] When the serpentine surgical instrument is operated, the third sensor 43 and the fourth sensor 44 respectively detect the opening and closing movement signal of the opening and closing control device 13 of the hand held end 1 and the rotational movement signal of the manipulation member 12, and transmit the detected signals to the controller, which analyzes the detected signals and controls the movement of the third motor 53 and the fourth motor 54, respectively, thereby driving the first flexible transmission member 63 and the second flexible transmission member 64 so that the opening and closing motion and the rotary motion of the end actuator 23 can be realized in the same direction.

[100] In an alternative embodiment, the end actuator 23 further comprises a second reversing device and a third reversing device. The first flexible transmission element 63 includes a flexible shaft. Compared to steel wire, reciprocating motion can only be realized by applying a force at one end of the flexible shaft. At this time, the first connecting shaft 3224 is connected to the second reversing device, the proximal end of the flexible shaft of the first flexible transmission member 63 can be directly fixedly fixed on the second reversing device, and its distal end is connected to the third reversing device so that the working end is driven to realize opening and closing movements. With this configuration, it is possible to convert the rotational motion of the first connecting shaft 3224 into the translational motion of the flexible shaft of the first flexible transmission member 63, and thereby control the opening and closing motion of the end actuator 23. The second reversing device is a device capable of converting the rotational motion of the first connecting shaft into a translational flexible shaft movement. The third reversing device is a device capable of converting the translational motion of the flexible shaft into the opening and closing motion of the working end 231. For example, a rack and pinion structure, a structure involving the interaction of a straight path and a rotating shaft, a worm gear structure, and the like.

[101] In another alternative embodiment, the transfer device 6 includes a first part located at the hand held end 1 and a second part located on the change tool 2. The proximal end of the first part is connected to the serpentine element 21, and its distal end is connected to the first component and is configured to ensure the movement of the first component along with the movement of the serpentine element 21. The proximal end of the second part is connected to the second component, and its distal end is connected to the serpentine element 21 and is configured to ensure the movement of the serpentine element 21 along with the movement of the second component. Thus, for the serpentine surgical instrument in the embodiment, a fully manual actuation method is applied to realize the operation of the end actuator 23.

[102] In other embodiments, the implementation of the present invention further provides a kit of parts for a serpentine surgical instrument, containing a serpentine surgical instrument and a sterile package 100. The serpentine surgical instrument includes a hand held end 1 and a replaceable tool 2. 14 for the wrist and element 12 for manipulation. The retaining structure 11 has a proximal seat 111 and a distal seat 113, and the manipulation member 12 is connected to the proximal seat 111 of the retaining structure 11 via a wrist member 14. The interchangeable instrument 2 is detachably connected to the distal seat 113. The sterile pouch 100 has an annular wrist end sleeve 110, a sterile pouch body 120, and an annular instrument end sleeve 130, which are connected in series and in communication with each other. The sterile pouch 100 is releasably wrapped onto the outer surface of the retaining structure 11, and the annular sleeve 110 of the wrist end of the sterile pouch 100 is configured to seal the connection between the manipulation element 12 and the wrist element 14, and the annular sleeve 130 of the instrument end is configured to sealing the connection between the interchangeable tool 2 and the hand held end 1.

[103] The technical features in the above embodiments can be combined in any order. For the sake of brevity, not all possible combinations of technical features are described in the above embodiments. However, as long as there is no contradiction in the combination of these technical features, everything should be considered the scope described in this description.

In the embodiments described above, only a few embodiments of the present invention are presented, and their description is more specific and detailed, but should not be construed as limiting the scope of the present invention. It should be noted that certain changes and improvements may be made to those skilled in the art without departing from the spirit of the present invention, all of which fall within the scope of the present invention. Therefore, the scope of legal protection of the present invention will be determined by the appended claims.

Claims (80)

1. A serpentine surgical instrument, comprising: a hand held end comprising a holding structure having a proximal seat and a distal seat, a wrist member and a manipulation member connected to the proximal seat of the holding structure via a wrist member, the manipulation member being releasably coupled to the wrist member; and an interchangeable tool connected with the possibility of detachment with a distal seat, wherein the element for the wrist is located on the distal surface of the proximal seat, and the element for the wrist is connected with the possibility of detachment with the element for manipulation through the interface device, and wherein the interface device includes a connecting pin located at the proximal end of the element for manipulation, and a hollow connecting shaft located on the element for the wrist and connected with the possibility of detachment with the connecting pin. 2. The serpentine surgical instrument according to claim 1, characterized in that the serpentine surgical instrument further comprises: a sterile package for wrapping with the possibility of removing the outer surface of the retaining structure, wherein the sterile package has an annular end sleeve for the wrist, the main part of the sterile package and an annular end sleeve for the instrument, which are connected in series and are in communication with each other, while the annular end sleeve for of the wrist of the sterile pouch is configured to seal the connection between the manipulation element and the wrist element, and the tool end annular sleeve is configured to seal the connection between the interchangeable instrument and the hand held end. 3. Serpentine surgical instrument according to claim 1, characterized in that the interface device further comprises an axial limiting element configured to limit the axial movement of the connecting pin, and a circumferential limiting element configured to limit rotation around the circumference of the connecting pin. 4. Serpentine surgical instrument according to claim 3, characterized in that circumferential limiting element contains a connecting element located on the surface of the connecting pin and located along the axial direction of the connecting pin, and the first locking groove located on the inner wall of the hollow connecting shaft and extending along the axial direction of the hollow connecting shaft, while the first locking groove is made with the possibility of interaction with a connecting element to limit rotation around the circumference of the connecting pin, and the axial limiting element contains a second locking groove located on the surface of the connecting pin and located along the circumferential direction, and an elastic locking device located on the inner wall of the hollow connecting shaft, while the elastic locking device interacts with the second locking groove to limit the axial movement of the connecting pin. 5. Serpentine surgical instrument according to claim. 4, characterized in that the elastic locking device contains at least one elastic protrusion. 6. Serpentine surgical instrument according to claim 1, characterized in that the manipulation element and the connecting pin are connected to each other by means of a bearing to achieve rotational movement of the manipulation element relative to the wrist element. 7. Serpentine surgical instrument according to claim 6, characterized in that the proximal end of the element for manipulation contains a support for the bearing, the outer ring of the bearing is fixedly attached to the support for the bearing; and the distal end of the connecting pin contains the first step fixedly attached to the inner ring of the bearing in the radial direction. 8. Serpentine surgical instrument according to claim 7, characterized in that the connecting pin further comprises a second ledge located at the distal end of the first ledge, the second ledge passes through the bearing support, and the groove for accommodating the spring ring is located on the distal surface of the second ledge adjacent to bearing seat. 9. Serpentine surgical instrument according to claim 1 or 2, characterized in that the replaceable tool contains a serpentine element, a support socket for the tool and an end actuating element, which are connected in series, and the serpentine surgical instrument additionally contains: an attachment point, wherein the interchangeable tool is releasably connected to the hand-held end via the attachment point, and transfer device; wherein the wrist member at least has a first rotational degree of freedom such that the wrist member is capable of performing a first rotational movement; the serpentine element has at least a fifth rotational degree of freedom such that the serpentine element is capable of performing a fifth rotational movement; and the transmission device is configured to cause the serpentine element to perform the fifth rotational movement together with the first rotational movement of the wrist element. 10. Serpentine surgical instrument according to claim 9, characterized in that the wrist element further has a second rotational degree of freedom such that the wrist element is capable of performing a second rotational movement; the serpentine element has at least a sixth rotational degree of freedom such that the serpentine element is capable of performing a sixth rotational movement; and the transmission device is configured to cause the serpentine element to perform the sixth rotational movement along with the second rotational movement of the wrist element. 11. A serpentine surgical instrument according to claim 9, characterized in that the mount contains an element for providing a detachable connection, while the element for providing a detachable connection contains: the first component located on the holding structure; and a second component located on the interchangeable tool; wherein the first component and the second component are releasably connected and able to move synchronously. 12. Serpentine surgical instrument according to claim 11, characterized in that the transmission device contains: the first part located at the end held by the hand; and the second part located on the interchangeable tool; wherein the proximal end of the first part is connected to the serpentine element, the distal end of the first part is connected to the first component, and the first part is configured to ensure the movement of the first component along with the movement of the serpentine element, and the proximal end of the second part is connected to the second component, the distal end of the second part is connected to the serpentine element, and the second part is configured to ensure the movement of the serpentine element along with the movement of the second component. 13. The serpentine surgical instrument according to claim 11, characterized in that the serpentine surgical instrument further comprises: a driving device, a sensor device and a controller, which are located on the holding structure; wherein the sensor device is communicatively coupled to the controller and configured to detect motion of the wrist member to obtain a motion signal; the controller controls the driving device to move the first component according to the motion signal detected by the sensor device; and the transmission device located in the replaceable tool is configured to connect the second component and the serpentine element and is configured to ensure the movement of the serpentine element along with the movement of the second component. 14. Serpentine surgical instrument according to claim 13, characterized in that the wrist element further has a second rotational degree of freedom such that the wrist element is capable of performing a second rotational movement, the serpentine element has at least a sixth rotational degree of freedom such that the serpentine element is capable of performing a sixth rotational movement, the first component is a Hooke's joint located at the distal seat of the retaining structure, and the Hooke's joint has a ninth rotational degree of freedom and a tenth rotational degree of freedom, so that the Hooke's joint is capable of performing a ninth rotational movement and a tenth rotational movement, respectively, the sensor device detects the first rotational movement and/or the second rotational movement of the wrist member to obtain a motion signal, and transmits the motion signal to the controller; the controller controls the driving device to cause the Hooke joint to perform the ninth rotational movement and/or the tenth rotational movement according to the movement signal transmitted by the sensor device; the second component is a connector located on the interchangeable tool, and Hooke's hinge is detachably connected to the connector; and the transmission device is connected to the serpentine element and the connector and is configured to ensure that the serpentine element performs the fifth rotational movement together with the ninth rotational movement of Hooke's hinge and is additionally configured to ensure that the serpentine element performs the sixth rotational movement along with the tenth rotational movement of Hooke's hinge. 15. Serpentine surgical instrument according to claim 14, characterized in that the transfer device includes a first group of transfer wires and a second group of transfer wires, which are located on the interchangeable tool; and the drive device comprises a first electric motor and a second electric motor, the first electric motor is configured to provide movement of the first group of transfer wires, and the second electric motor is configured to provide movement of the second group of transfer wires, so that the serpentine element moves along with the movement of Hooke's hinge. 16. Serpentine surgical instrument according to claim 14, characterized in that the attachment assembly further comprises a snap-in element configured to limit the rotation of Hooke's hinge and connector in the circumferential direction of the replaceable instrument and/or limit the movement of Hooke's hinge and connector along the axial direction replacement tool. 17. Serpentine surgical instrument according to claim 13, characterized in that the end actuating element comprises at least one working end rotatably connected to the tool support socket; the hand-held end further comprises an opening and closing control device that is removable from the manipulation member; and the transmission further comprises a first flexible transmission element, and the opening and closing control device controls the rotation of the working end through the first flexible transmission element. 18. Serpentine surgical instrument according to claim 17, characterized in that the fastening unit further comprises a first connecting shaft and a first elastic telescopic pin connected with the possibility of detachment with the first connecting shaft, wherein the first connecting shaft passes in the direction of the proximal end and through the second component, and the first elastic telescopic pin passes in the direction of the distal end and through the first component; the driving device further comprises a third motor, and the sensor device further comprises a third sensor, wherein the third sensor is configured to detect the opening and closing motion of the opening and closing control device to obtain an opening and closing motion signal, and the controller is configured to control the output of the third motor according to the opening and closing motion signal detected by the third sensor; and the third electric motor is configured to drive the first flexible transmission element through the first elastic telescopic pin and the first connecting shaft. 19. Serpentine surgical instrument according to claim 13, characterized in that the manipulation element is rotatable about its axis relative to the wrist element; the tool support socket is rotatable about its axis relative to the serpentine joints; and the transfer device further comprises a second flexible transfer element, wherein the second flexible transfer element is configured to transmit the rotational movement of the element to be manipulated to the tool support seat to rotate the tool support seat. 20. Serpentine surgical instrument according to claim 17, characterized in that the fastening unit further comprises a second connecting shaft and a second elastic telescopic pin connected with the possibility of detachment with the second connecting shaft, while the second connecting shaft passes in the direction of the distal end and through the second component, and the second elastic telescopic pin passes in the direction of the proximal end and through the first component; and the driving device further comprises a fourth motor, the sensor device further comprises a fourth sensor, wherein the fourth sensor is configured to detect rotational motion of the manipulation member to obtain a rotational motion signal, the controller controls the output of the fourth motor according to the rotational motion signal detected by the fourth sensor, and the fourth the electric motor is configured to actuate the second flexible transmission element by means of the second elastic telescopic pin and the second connecting shaft. 21. Serpentine surgical instrument according to claim 2, characterized in that the annular sleeve of the wrist end fits snugly against the outer part of the connection between the manipulation element and the wrist element by means of an elastic restoring force; and the annular sleeve of the tool end fits snugly against the outside of the connection between the tool change and the hand-held end by means of an elastic restoring force. 22. A serpentine surgical instrument according to claim 2, characterized in that the body of the sterile pouch is glued to the annular sleeve of the wrist end and the body of the sterile pouch is glued to the annular sleeve of the instrument end. 23. A set of parts for a serpentine surgical instrument, containing a serpentine surgical instrument, comprising: a hand held end comprising a retaining structure, a wrist element and a manipulation element, wherein the retaining structure has a proximal seat and a distal seat, and the manipulation element is connected to the proximal seat of the retaining structure via the wrist element; a replaceable tool connected with the possibility of detachment with the distal seat; and a sterile pouch having a wrist end annular sleeve, a sterile pouch body and an instrument end annular sleeve connected in series and in communication with each other, wherein the sterile pouch is releasably wrapped around the outer surface of the retaining structure, and the annular end sleeve for the wrist of the sterile bag is configured to seal the connection between the element for manipulation and the element for the wrist, and the annular sleeve of the end for the instrument is configured to seal the connection between the replaceable instrument and the end held by the hand, wherein the element for the wrist is located on the distal surface of the proximal seat, and the element for the wrist is connected with the possibility of detachment with the element for manipulation through the interface device, and wherein the interface device includes a connecting pin located at the proximal end of the element for manipulation, and a hollow connecting shaft located on the element for the wrist and connected with the possibility of detachment with the connecting pin.

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