WO2024245352A1 - Surgical instrument and surgical robot - Google Patents

Abstract

Disclosed in the present invention are a surgical instrument and a surgical robot. The surgical instrument comprises a tubular body, an inner rod mechanism movably arranged in the tubular body, and an end effector in transmission connection with the inner rod mechanism. The tubular body comprises a first tubular member and a second tubular member pivotally connected to the first tubular member via a first shaft rod. The inner rod mechanism is used for driving the second tubular member to rotate relative to the first tubular member. The end effector is pivotally connected to the second tubular member via a second shaft rod. The axis of the first shaft rod is located at the outer side of the axis of the first tubular member and/or the axis of the second tubular member, so that the movement range of the end effector avoids movement dead points of the first tubular member and the second tubular member, and the second tubular member can bilaterally deflect relative to the first tubular member, thereby expanding the movement range of the end effector.

Description

Surgical instruments and surgical robots Technical Field

The present invention relates to the technical field of medical instruments, and in particular to a surgical instrument and a surgical robot.

Background Art

In recent years, surgical robots have emerged that can replace human hands in performing surgical operations. The surgical instruments are mounted on the robotic arms of the surgical robots. The doctor holds the handles at the doctor's console and moves them. The surgical robot solves and restores the controller's action instructions, drives the robotic arms to allow the surgical instruments to enter the patient's body, and controls the actuators of the end effectors of the surgical instruments to perform corresponding surgical operations, such as clamping, cutting, suturing, etc.

During surgery, it is necessary to adjust the opening and closing angle between the two actuators of the end effector and the overall swing angle so that the two actuators can complete the corresponding surgical operation. However, the opening and closing movement and the swinging movement of the two actuators of the existing surgical instrument are driven and completed by two transmission components. Therefore, the opening and closing movement between the two actuators and the swinging movement of the end effector are coupled, resulting in the disadvantage of a small range of motion of the end effector.

Summary of the invention

In view of this, an object of the present invention is to provide a surgical instrument and a surgical robot.

The present invention provides a surgical instrument, comprising a tube body, an inner rod mechanism movably arranged in the tube body, and an end effector transmission-connected to the inner rod mechanism, the tube body comprising a first tube member and a second tube member pivotally connected to the first tube member via a first shaft rod, the inner rod mechanism is used to drive the second tube member to rotate relative to the first tube member, the end effector is pivotally connected to the second tube member via a second shaft rod, the axis of the first shaft rod is located outside the axis of the first tube member and/or the second tube member, so that the motion range of the end effector avoids the motion dead point between the first tube member and the second tube member, and the second tube member can swing on both sides relative to the first tube member to expand the motion range of the end effector.

In some embodiments, the inner rod mechanism is also used to drive the end effector to rotate around the axis of the second shaft and/or swing around the axis of the first shaft, thereby expanding the motion range of the end effector.

In some embodiments, the shortest distance from the axis of the first shaft to the axis of the second shaft is smaller than the distance from the axis of the second shaft to the distal end of the end effector. By shortening the distance between the first shaft and the second shaft, the load-bearing capacity of the end effector is improved.

In some embodiments, the internal rod mechanism includes a movable rod and a transmission assembly, one end of the transmission assembly is movably connected to the movable rod, and the other end of the transmission assembly is movably connected to the end actuator. A connecting part is formed at one end of the transmission assembly close to the end actuator, and the movable rod drives the connecting part to move along the axis of the second tube, thereby driving the end actuator to rotate around the second axis rod.

In some embodiments, the axis of the first tube and the axis of the second tube are coaxially arranged at an initial position, the axis of the first shaft is located between the axis and the busbar of the first tube, and between the axis and the busbar of the second tube, and an inner rod mechanism forms a connecting portion at one end close to the end effector, and the inner rod mechanism drives the connecting portion to move along the axis of the second tube, thereby driving the end effector to rotate around the second shaft, thereby expanding the motion range of the end effector.

In some embodiments, the internal rod mechanism includes a movable rod and a transmission assembly, one end of the transmission assembly is movably connected to the movable rod, and the other end of the transmission assembly is movably connected to the end actuator, and the transmission assembly is configured as follows: when the movable rod rotates, the end actuator is driven to rotate relative to the second tube around the axis of the second shaft rod; when the movable rod moves along its axial direction, the end actuator and the second tube are driven to swing relative to the first tube around the axis of the first shaft rod. Different movements of a single internal rod mechanism are used to drive the end actuator to achieve different movements, so that the overall structure of the surgical instrument is simple and the diameter of the tube body is small.

In some embodiments, the end effector includes two actuators, and the transmission assembly forms a connecting portion at one end close to the two actuators. The two side ends of the connecting portion are respectively connected to the proximal ends of the two connecting rods through two connection points, and the distal ends of the two connecting rods are respectively rotatable with the two actuators. The two connecting points are located on opposite sides of the axis of the second shaft, and the two connecting rods are symmetrically arranged on opposite sides of the second shaft, so that the end effector has good bearing capacity.

In some embodiments, the transmission assembly includes a first transmission member and a second transmission member, the first transmission member is movably connected between the movable rod and the second transmission member, and the second transmission member is movably connected between the first transmission member and the end effector.

In some embodiments, the first transmission member is movably accommodated at the connection between the first tube and the second tube, and/or the second transmission member is at least partially movably accommodated in the second tube, and the movable rod is at least partially movably accommodated in the first tube.

In some embodiments, the first transmission member includes a connecting rod and a first connector and a second connector respectively arranged at both ends of the connecting rod, the first connector is rotationally connected to the movable rod, the second connector is rotationally connected to the second transmission member, and/or the second transmission member includes a nut rotationally connected to the second pipe member, and a screw threaded in the nut, the nut is rotationally connected to the first transmission member, and one end of the screw extends out of the nut and is rotationally connected to the end actuator. Through the screw connection, the rotation of the movable rod can be effectively converted into the linear motion of the screw, thereby realizing the opening and closing motion of the actuator. By adopting the above-mentioned transmission assembly, the overall structure of the surgical instrument is effectively simplified, the structure of the surgical instrument is simple, and the diameter of the tube body is small.

In some embodiments, the end effector includes two actuators, a limiter is provided between the two actuators, one end of the limiter is fixedly connected to one of the actuators, and the other end of the limiter is movably connected to a movable groove provided in the other actuator. By providing the limiter and the movable groove, the opening and closing angle between the two actuators is limited.

In some embodiments, the axis of the first shaft is located between the axis of the first tube and/or the second tube and the generatrix.

In some embodiments, the axis of the first shaft extends in a radial direction parallel to the first tube, or the axis of the second shaft is perpendicular to the axis of the second tube. The projections of the axis of the first shaft and the axis of the second shaft on the radial cross-section of the first tube are arranged in parallel and spaced apart. The first shaft and the second shaft are arranged in parallel and spaced apart, and the overall structure is still an axisymmetric structure with more balanced force.

In some embodiments, the inner rod mechanism is a hollow structure with both ends passing through, which is not only convenient for threading wires to connect the end effector and the driver, power supply, etc., but also convenient for exhausting smoke generated during surgical operations.

In some embodiments, the internal rod mechanism includes a movable rod and a transmission assembly, one end of the transmission assembly is movably connected to the movable rod, and the other end of the transmission assembly is movably connected to the end actuator, the movable rod is a hollow rod body, and the transmission assembly includes a first transmission member and a second transmission member, the first transmission member includes a connecting rod with a hollow cylindrical structure, and the second transmission member includes a hollow screw rod, the internal spaces of the movable rod, the connecting rod, and the screw rod are interconnected, and the internal rod mechanism as a whole is a hollow structure with both ends passing through.

In some embodiments, the tube body includes a first limiting structure, and the first limiting structure limits the rotation angle of the second tube member to one side relative to the first tube member.

In some embodiments, the first tube includes a first support portion, the second tube includes a second support portion and a boss, the first support portion and the second support portion are pivotally connected via a first shaft, the first support portion and the boss form a first limiting structure, and/or the first limiting structure is distributed on one side of the axis of the first tube.

The present invention also provides a surgical robot, comprising a mechanical arm and the above-mentioned surgical instrument. The mechanical arm is provided with a driver, the driver comprising an inner rod driver, and the inner rod driver is transmission-connected to the inner rod mechanism of the surgical instrument.

In some embodiments, the driver further comprises a tube body driver, which is connected to the tube body for rotational driving, and drives the tube body, the inner rod mechanism and the end effector to rotate synchronously.

The present invention also provides a surgical robot, comprising an aspirator and the above-mentioned surgical instrument, wherein the aspirator is connected to an inner rod mechanism of the surgical instrument.

The surgical instrument and surgical robot provided by the present invention deviate the axis of the first shaft from the outside of the axis of the first tube body and/or the second tube body, so that the motion range of the end effector avoids the motion dead points of the first tube and the second tube. The second tube can swing on both sides relative to the first tube to expand the motion range of the end effector.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

FIG. 1 is a schematic diagram of a surgical instrument according to an embodiment of the present invention, wherein the surgical instrument is in an initial position.

FIG. 2 is a front view of the surgical instrument shown in FIG. 1 .

FIG. 3 is a cross-sectional view of the surgical instrument shown in FIG. 1 .

FIG. 4 is a schematic diagram of a tube body of the surgical instrument shown in FIG. 1 .

FIG. 5 is a schematic diagram of an end effector of the surgical instrument shown in FIG. 1 .

FIG. 6 is a schematic diagram of the inner rod mechanism of the surgical instrument shown in FIG. 1 .

FIG. 7 is a schematic diagram of a first transmission member of the inner rod mechanism shown in FIG. 6 .

FIG. 8 is a schematic diagram of a second transmission member of the inner rod mechanism shown in FIG. 6 and a connecting rod of the end effector.

FIG. 9 is a positional relationship diagram of the first shaft and the second shaft of the surgical instrument shown in FIG. 1 in the XY plane.

FIG. 10 is a schematic diagram of a surgical instrument in use according to an embodiment of the present invention.

FIG. 11 is a schematic diagram of the yaw motion of the surgical instrument shown in FIG. 10 .

FIG. 12 is a schematic diagram of the opening and closing movement of the surgical instrument shown in FIG. 10 .

FIG. 13 is a schematic diagram of the state of the actuator of the surgical instrument of the present invention when it is closed.

FIG. 14 is a schematic diagram of the state of the actuator when it is opened.

FIG. 15 is a schematic diagram of a surgical instrument according to another embodiment of the present invention.

FIG. 16 is a schematic diagram of a first limiting position of a surgical instrument according to an embodiment of the present invention.

FIG. 17 is a schematic diagram of a second limiting position of a surgical instrument according to an embodiment of the present invention.

FIG. 18 is a schematic diagram of a surgical robot according to an embodiment of the present invention.

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

It should be noted that the terms "proximal end" and "distal end" used below can be understood according to the usual meanings in the field of medical devices, where "proximal end" refers to the end close to the operator (such as a doctor, etc.), or the end close to the device drive; "distal end" refers to the end away from the operator, or the end close to the patient.

The present invention provides a surgical instrument, which is mainly used in minimally invasive surgery, such as general surgery, urology, cardiovascular surgery, thoracic surgery, gynecology, ENT, pediatric surgery, etc. FIG1-3 shows a specific embodiment of the surgical instrument provided by the present invention, wherein the surgical instrument 100 includes a tube body 10, an inner rod mechanism 30 movably disposed in the tube body 10, and an end effector 50 connected to the inner rod mechanism 30 by transmission.

Please refer to Figures 4-5 at the same time. The tube body 10 is a cylindrical structure as a whole, including a first tube 12 and a second tube 14 that are rotatably connected. The proximal end of the second tube 14 is pivotally connected to the distal end of the first tube 12 via a first shaft 20, and the end effector 50 is pivotally connected to the distal end of the second tube 14 via a second shaft 40, so that the end effector 50 can not only rotate relative to the second tube 14 to adjust its opening and closing angle or rotation angle, but also can swing with the second tube 14 relative to the first tube 12 to adjust its swing angle. Usually, the end effector 50 is a cylindrical structure, including a first tube 12 and a second tube 14. The actuator 50 includes two pivotally connected actuators. The opening and closing angle refers to the angle between the two actuators. When the end actuator 50 includes only one actuator, the rotation angle refers to the rotation angle of the actuator relative to the axis X2 of the second shaft 40. The yaw angle refers to the deflection angle of the central axis of the end actuator 50 as a whole relative to the axis O1 of the first tube 12.

Please refer to FIG. 2 and FIG. 9 , the axis X1 of the first shaft rod 20 is located outside the axis O1 of the first tube 12 and/or the axis O2 of the second tube 14. Here, the axis refers to the central symmetry axis, and the outside of the axis refers to the radial direction of the central symmetry axis, not on the central symmetry axis. In this way, the axis X1 of the first shaft rod 20 avoids intersecting with the axis O1 of the first tube 12 and/or the axis O2 of the second tube 14, thereby avoiding the structural dead point, so that the second tube 14 can swing on both sides relative to the first tube 12, and has a larger swing angle.

It should be noted that the dead point here refers to the position point where the axis O1 of the first tube 12 and the second tube 14 intersects with the axis O2 of the first shaft 20 and the first tube 12 and the second tube 14 cannot rotate relative to each other. By avoiding the dead point, the second tube 14 can swing relative to the first tube 12 on both sides, and the end effector 50 can have a larger swing angle and a larger range of motion.

The axis X1 of the first shaft 20 is perpendicular to the axis O1 of the first tube 12 and deviates from the axis O1 of the first tube 12 by a certain distance; the axis X2 of the second shaft 40 is perpendicular to the axis O2 of the second tube 14. The two actuators of the end effector 50 are symmetrically arranged relative to the axis O2 of the second tube 14 and the second shaft 40, and the yaw angle of the end effector 50 is the angle between the axis O2 of the second tube 14 and the axis O1 of the first tube 12.

In other embodiments, the axis X2 of the second shaft 40 extends along the radial direction of the second tube 14, the axis X1 of the first shaft 20 is eccentrically arranged relative to the first tube 12, and its extension direction is offset by a certain distance relative to the radial direction of the first tube 12, and the second shaft 40 and the first shaft 20 are arranged at an angle so that the extension directions of the axes X1 and X2 of the two intersect, so that the end actuator 50 can also have a larger swing angle.

The shortest distance from the axis X1 of the first shaft 20 to the axis X2 of the second shaft 40 is shorter than the distance from the axis X2 of the second shaft 40 to the far end of the end effector 50. By shortening the distance between the first shaft 20 and the second shaft 40, the bearing capacity of the end effector 50 is improved. It should be noted that the shortest distance from the axis X1 of the first shaft 20 to the axis X2 of the second shaft 40 means that in a plane perpendicular to the axis X1 of the first shaft 20 and the axis X2 of the second shaft 40, the projections of the axis X1 of the first shaft 20 and the axis X2 of the second shaft 20 are two points, and the shortest distance is the straight-line distance between the two points.

It should be noted that the axis X1 of the first shaft 20 is located outside the axis O1 of the first tube 12 and/or the axis O2 of the second tube 14, which means that the axis X1 of the first shaft 20 is located at a position that does not intersect with the axis O1 of the first tube 12 and/or the axis O2 of the second tube 14. The axis X1 of the first shaft 20 is located between the axis O1 of the first tube 12 and the busbar 120, and between the axis O2 of the second tube 14 and the busbar 140.

It should be noted that the first pipe 12 and the second pipe 14 are roughly cylindrical structures, and their axes O1 and O2 refer to central symmetry axes. The busbars 120 and 140 rotate one circle around the axes O1 and O2 to form the outer circumferential surfaces of the pipes 12 and 14.

The end effector 50 is a specific device for performing surgical operations, which can be scissors, separating forceps, clamping forceps, etc., and is driven by the inner rod mechanism 30 to replicate or map the operation of the operator (such as a doctor) on the surgical object. As shown in Figure 5, the end effector 50 includes two actuators 52a and 52b arranged opposite to each other, and the proximal ends of the two actuators 52a and 52b are pivotally connected to the distal end of the second pipe 14 through the second shaft 40, and the distal ends of the two actuators 52a and 52b respectively form an actuator 54a and 54b. By rotating the two actuators 52a and 52b towards each other or rotating them in opposite directions, the opening and closing angle between the two actuators 54a and 54b is adjusted to achieve surgical operations such as clamping and shearing objects or human tissues. Therefore, the actuators 54a and 54b of the two actuators 52a and 52b need to have a larger clamping force or shearing force when they are close to each other, and have basically the same clamping force or shearing force when they are in the same swing position.

In the illustrated embodiment, the end effector 50 is a clamping forceps, and corresponding clamping openings are formed on the surfaces of the actuators 54a and 54b of the two actuators 52a and 52b facing each other, and are used in conjunction with the hemlock clamp. Specifically, when the two actuators 52a and 52b rotate toward each other with the second shaft 40 as the rotation center, the two actuators 54a and 54b move closer to each other to apply the clamp; when the two actuators 54a and 54b rotate away from each other, the clamp is released.

In another embodiment of the surgical instrument 100', as shown in FIG. 15, the end effector 50' may be a separation forceps, and the execution parts 54a', 54b' of the two execution elements 52a', 52b' form a serrated clamping surface, etc., which is convenient for clamping or gripping tissue and increasing the tissue grip. Clamping force: When the two actuators 52a' and 52b' rotate toward each other with the second shaft 40 as the rotation center, the two actuators 54a' and 54b' move closer to each other to clamp the tissue; when rotating away from each other, the two actuators 54a' and 54b' move away from each other to release the clamped tissue.

In other embodiments, the end effector 50 may also be a pair of scissors (not shown), wherein the surfaces of the actuators 54a and 54b of the two actuators 52a and 52b respectively form shearing surfaces, and when the two actuators 54a and 54b rotate toward each other with the second shaft 40 as the rotation center, the two shearing surfaces move closer to each other to shear the tissue. In other embodiments, the end effector 50 may also be an electric hook (not shown).

Preferably, a limiting member 53 is also connected between the two actuators 52a and 52b. As shown in FIG3 , the limiting member 53 is a rod-shaped structure, arranged parallel to the second shaft 40 and spaced apart, one end of which is fixedly arranged in the actuator 52a, and the actuator 52b is provided with a movable groove 520, which is an arc-shaped through hole, and the other end of the limiting member 53 is movably connected to the movable groove 520, and the length of the movable groove 520 is greater than the diameter of the limiting member 53, so that the limiting member 53 can have a certain movable space. By setting the limiting member 53 and the movable groove 520, the opening and closing angle between the two actuators 52a and 52b is limited. The length of the movable groove 520 determines the moving range of the limiting member 53, and also determines the angle at which the two actuators 52a and 52b can be relatively opened, thereby reducing the risk of the clamps etc. coming out of the jaws, and the specific length thereof can be determined according to the size of the clamps used. By providing the limiter 53 , the opening angle of the two actuators 52 a and 52 b can be controlled, which is also applicable to end actuators such as clamps and scissors.

The two actuators 52a and 52b always maintain symmetry with respect to the axis O2 of the second pipe 14 during the opening and closing process. The clamping force of the two actuators 52a and 52b remains consistent and is not affected by the swing angle of the end actuator 50, so that better clamping force feedback can be achieved.

For the convenience of description, the present invention is explained below with the aid of the XYZ coordinate system. As shown in FIG1 , the axis O1 of the first tube 12 of the tube body 10 is taken as the Z axis, and the radial cross section of the first tube 12 is the XY plane. As shown in FIG2 and FIG13 , when the surgical instrument 100 is in the initial position, the first tube 12 and the second tube 14 are coaxially arranged, the axis O1 of the first tube 12 and the axis O2 of the second tube 14 are coaxially arranged, the end effector 50 has no deflection and its two actuators 52a and 52b are in a closed state, that is, the central axis of the end effector 50 as a whole coincides with the axis O1 and O2 (i.e., the Z axis) of the first tube 12 and the second tube 14, the deflection angle of the end effector 50 is 0 degrees, and the opening and closing angle between the two actuators 52a and 52b is 0 degrees.

At this time, as shown in FIG9 , the axis X2 of the second shaft rod 40 extends along the X direction, and the axis X1 of the first shaft rod 20 extends parallel to the X direction and deviates from the X axis by a certain distance. On the projection of the XY plane, the axis X2 of the second shaft rod 40 and the axis X1 of the first shaft rod 20 are arranged parallel to each other and spaced apart by a certain distance in the Y direction. The axis X2 of the second shaft rod 40 intersects perpendicularly with the axes O1 and O2 of the first pipe 12 and the second pipe 14; the axis X1 of the first shaft rod 20 deviates from the outside of the axis O1 of the first pipe 12 and the axis O2 of the second pipe 14, and the axis X1 of the first shaft rod 20 is perpendicularly non-intersecting with the axis O1 of the first pipe 12 and the axis O2 of the second pipe 14.

As shown in Figures 10-12, when the yaw angle of the end effector 50 needs to be adjusted, the second tube 14 swings relative to the first tube 12 with the axis X1 of the first shaft 20 as the rotation center, so that the axis O2 of the second tube 14 forms a certain angle α with respect to the axis O1 of the first tube 12. In this process, the second shaft 40 is displaced in the three directions of X, Y, and Z as the second tube 14 swings with the axis X1 of the first shaft 20 as the rotation center. As the swing angle of the second shaft 40 changes, its relative position with the first shaft 20 changes, and the projections of the axes X1 and X2 of the two on the XY plane can be parallel and spaced, or can be overlapped. As shown in Figure 14, when the end effector 50 needs to adjust the opening and closing angle between its two actuators 52a and 52b, the two actuators 52a and 52b rotate relative to each other with the axis X2 of the second shaft 40 as the rotation center. During this process, the second pipe 14 remains stationary, and the relative positions of the second shaft 40 and the first shaft 20 remain unchanged. It should be noted that the swing angle and the opening and closing angle of the end effector 50 can be adjusted simultaneously, or the swing angle or the opening and closing angle of the end effector 50 can be adjusted separately.

Please refer to FIG. 3 and FIG. 6 . The inner rod mechanism 30 transmits the power of a driver, such as a motor (not shown), to the end effector 50. The inner rod mechanism 30 includes a movable rod 32 and a transmission assembly. One end of the transmission assembly is movably connected to the movable rod 32, and the other end is movably connected to the end effector 50. The transmission assembly includes a first transmission member 34 and a second transmission member 36. The first transmission member 34 is movably connected between the movable rod 32 and the second transmission member 36, and the second transmission member 36 is movably connected between the first transmission member 34 and the end effector 50. The inner rod mechanism 30 is used to drive the end effector 50 to rotate around the axis X2 of the second shaft 40 and/or swing around the axis X1 of the first shaft 20. The decoupling between the yaw motion and the opening and closing motion of the end effector 50 is achieved.

The movable rod 32 is a longitudinal rod-shaped structure, which can move along its axial direction or rotate with its axis as the center of rotation under the action of a driver. The rotation and movement of the movable rod 32 can be driven by different drivers, or can be achieved by the same driver with different transmission components, which will not be elaborated here. At least part of the movable rod 32, such as its far end, is accommodated in the first tube 12 and can move along its axial direction in the first tube 12. Through the action of the first transmission member 34, the end actuator 50 is caused to swing with the axis X1 of the first shaft 20 as the center of rotation; when the movable rod 32 rotates in the first tube 12, the two actuators 52a, 52b of the end actuator 50 are caused to open and close with the axis X2 of the second shaft 40 as the center of rotation through the action of the second transmission member 36.

In this way, the rotation of the end actuator 50 around the axis X2 of the second shaft 40 is driven by the axial movement of the movable rod 32, and the opening and closing of the two actuators 52a and 52b around the axis X1 of the first shaft 20 is driven by the rotational movement of the movable rod 32. The magnitude of the clamping force of the end actuator 50 is only determined by the torque of the movable rod 32 and is not affected by the yaw angle. In addition, the relative positions of the two actuators 52a and 52b of the end actuator 50 remain unchanged during the yaw movement, and the yaw angle is not affected by the angle between the actuators 52a and 52b, which can more accurately meet the clamping requirements of the same position. Within the yaw range of the end actuator 30, the torque transmission loss of the movable rod 32 is small, and the feedback of the clamping force can be better realized at various positions according to the torque of the input end of the movable rod 32. The overall yaw movement of the end actuator 50 of the present invention is not coupled with the opening and closing movement between its two actuators 52a and 52b, and will not restrict or affect each other.

As shown in FIG7 , the first transmission member 34 is movably accommodated at the connection between the first pipe member 12 and the second pipe member 14. The first transmission member 34 includes a first connector 343 and a second connector 345. The first connector 343 and the second connector 345 can be directly rotatably connected or indirectly connected through a connecting rod 341. The connecting rod 341 can be a solid structure or a hollow cylindrical structure. The first connector 343 and the second connector 345 are arranged in the connecting rod 341 and are rotatably connected to the connecting rod 341. Preferably, the first connector 343 and the second connector 345 are both cross connectors, and each cross connector has two connecting shafts perpendicular to each other. The first connecting shaft 346 of the first connector 343 is pivoted to the proximal end 344 of the connecting rod 341, and the second connecting shaft 347 is pivoted to the movable rod 32; the first connecting shaft 348 of the second connector 345 is pivoted to the distal end 342 of the connecting rod 341, and the second connecting shaft 349 is pivoted to the second transmission member 36.

In other embodiments, the connecting rod 341 may not have a cylindrical structure in the middle, that is, the proximal end 344 and the distal end 342 thereof may not be connected via a cylindrical structure, but may be directly connected.

As shown in FIG8 , the main body of the second transmission member 36 is accommodated in the second tube member 14, and its distal end can extend out of the second tube member 14 to connect with the end effector 50. The second transmission member 36 includes a nut 361 and a screw rod 363 screwed into the nut 361, wherein the nut 361 is pivotally connected to the second connecting shaft 349 of the second connector 345 through its connecting arm 362, and the proximal end of the screw rod 363 is combined with the nut 361, and the distal end extends out of the nut 361 to connect with the end effector 50. By adopting the inner rod mechanism 30, the overall structure of the surgical instrument 100 is effectively simplified, so that the surgical instrument 100 has a simple structure and a small diameter of the tube body 10.

As shown in Fig. 3 and Fig. 5, the end of the second transmission member 36 close to the end effector 50 forms a connection portion 365, and the movable rod 32 drives the connection portion 365 to move along the axis O2 of the second tube 14, thereby driving the end effector 50 to rotate around the axis X2 of the second shaft 40. Further, the distal end of the screw rod 363 forms a connection portion 365, and the two side ends of the connection portion 365 form two connection points, and the two connection points are rotatably connected to the proximal ends of the two actuators 52a and 52b through two connecting rods 367, respectively. The two connecting rods 367 are symmetrically arranged on opposite sides of the second shaft 40, and the connection points between the proximal ends of the connecting rods 367 and the two side ends of the connecting portion 365 are symmetrically arranged relative to the axis of the screw 363. The connection points between the distal ends of the connecting rods 367 and the corresponding actuators 52a and 52b deviate from the second shaft 40 and are roughly symmetrically arranged relative to the second shaft 40, which can ensure that the closed surfaces of the two actuators 54a and 54b coincide with the axis O2 of the second pipe 14. In conventional surgical instruments, the actuators 52a and 52b form a diamond structure with the connecting rods 367, and the distance between the axis X1 of the first shaft 20 and the axis X2 of the second shaft 40 is greater than the distance between the axis X2 of the second shaft 40 and the distal ends of the actuators 52a and 52b.

The connection points of the connecting rod 367, the connecting part 365 and the actuators 52a and 52b constitute the four vertices of the trapezoidal structure. The trapezoidal structure is a double crank common slider structure, which has the effect of shortening the distance between the first shaft rod 20 and the second shaft rod 40, so that the distance between the axis X1 of the first shaft rod 20 and the axis X2 of the second shaft rod 40 is smaller than the distance from the axis X2 of the second shaft rod 40 to the far end of the end actuator 50, thereby shortening the length of the second tube 14 to a certain extent.

When the sizes of the end effector 50 and the inner rod mechanism 30 remain unchanged, the smaller the length of the second tube 14, the better the clamping force and bearing capacity of the end effector 50, and the movement path of the end effector 50 is easier to determine. That is to say, when the end effector 50 swings from one side of the axis O2 of the second tube 14 to the other side, the swept area is smaller, which is convenient for surgical operations.

When the first transmission member 36 drives the nut 361 to rotate, so that the screw rod 363 moves along its axial direction, the two actuators 52a and 52b are driven to rotate toward or away from each other with the second shaft rod 40 as the rotation center through the two connecting rods 367, so as to adjust the opening and closing angle between the two actuators 52a and 52b. During the opening and closing process of the end effector 50, the two actuators 52a and 52b are always arranged symmetrically relative to the axis of the screw rod 363, the second pipe member 14, etc., so that the forces on the two actuators 52a and 52b are always consistent. Under the condition that the required clamping force remains unchanged, the driving force required to be provided by the driver 80 in the following text can be smaller.

The axis X1 of the first shaft 20 is located outside the axis O1 of the first tube 12 and/or the axis O2 of the second tube 14. The swing and opening and closing of the actuators 52a and 52b can be respectively realized through the movement and rotation of the single inner rod mechanism 30, which can effectively simplify the overall structure of the surgical instrument 100 and make the diameter of the tube body 10 small. During surgery, it can not only reduce the obstruction of the field of view of the endoscope by the surgical instrument, but also reduce the aperture of the puncture hole when the surgical instrument enters the patient's body, which is beneficial to the patient's postoperative recovery.

In this embodiment, the movable rod 32 is a hollow rod body, the connecting rod 341 of the first transmission member 34 is a hollow cylindrical structure, the screw rod 363 of the second transmission member 36 is a hollow rod body, and the internal spaces of the movable rod 32, the connecting rod 341, and the screw rod 363 are interconnected, so that the inner rod mechanism 30 is a hollow structure with both ends penetrated as a whole, which facilitates the connection between the end effector 50 connected to the distal end of the inner rod mechanism 30 and other components arranged at the proximal end of the inner rod mechanism 30. In particular, when the end effector 50 is an active instrument, a wire can be passed through the hollow inner rod mechanism 30 to connect the end effector 50 and the driver, power supply, etc. In addition, when the end effector 50 is an active instrument, the smoke generated by the end effector 50 in the surgical operation can also be discharged to the outside in a timely manner through the hollow inner rod mechanism 30.

As shown in FIG4 , a pair of first supporting portions 121 are formed at the distal end of the first tube 12, and a pair of second supporting portions 141 are formed at the proximal end of the second tube 14. The two second supporting portions 141 are respectively attached to the inner sides of the two first supporting portions 121 and are pivotally connected through the first shaft 20. Since the two second supporting portions 141 are respectively attached to the inner sides of the two first supporting portions 121, the connection between the cylindrical second tube 14 and the two second supporting portions 141 is formed as a boss 142.

As shown in Figure 16, when the second pipe fitting 14 rotates to the right side relative to the first pipe fitting 12, the two first support parts 121 contact the boss 142 to form a first limiting structure, and the first limiting structure is distributed on the side where the axis O1 of the first pipe fitting 12 is located. At this time, the tube body 10 is in the first limiting position, and the second pipe fitting 14 cannot continue to rotate to the right side relative to the first pipe fitting 12. At this time, the angle between the axis O1 of the first pipe fitting 12 and the axis O2 of the second pipe fitting 14 is 30-90 degrees, and can be preferably 45 degrees, 55 degrees, 60 degrees, 75 degrees and 85 degrees.

As shown in FIG17 , when the second pipe 14 rotates to the left relative to the first pipe 12, the stroke of the inner rod assembly 30 is controlled by the limiting structure or algorithm (not shown) provided in the driver 80, thereby limiting the second pipe 14 from continuing to rotate to the right relative to the first pipe 12. At this time, the pipe body 10 is in the second limiting position, and the angle between the axis O1 of the first pipe 12 and the axis O2 of the second pipe 14 is 30-90 degrees, preferably 45 degrees, 55 degrees, 60 degrees, 75 degrees and 85 degrees. It can be understood that a second limiting structure can also be provided at a corresponding position of the pipe body 10 to limit the second pipe 14 from continuing to rotate to the right relative to the first pipe 12. It can be understood that the stroke of the inner rod assembly 30 can also be controlled by the limiting structure or algorithm (not shown) provided in the driver 80, thereby limiting the second pipe 14 from continuing to rotate to the right relative to the first pipe 12.

By setting the first limiting structure and the second limiting structure, the second tube 14 is mechanically prevented from rotating beyond the stroke relative to the first tube 12, thereby ensuring that the second tube 14 avoids the dead point of movement during the rotation relative to the first tube 12, thereby reducing the risk of accidents during surgical operations.

In the illustrated embodiment, there are two first shafts 20, and a space is provided between the two first shafts 20 to facilitate the arrangement and movement of the first transmission member 34. In some embodiments, the two first shafts 20 can also be combined into one shaft, which is not limited to the specific embodiment. In addition, a pair of third support portions 143 are formed at the distal end of the second pipe member 14, and the proximal ends of the two actuators 52a and 52b are located between the third support portions 143 and are pivotally connected through the second shaft 40.

As shown in FIGS. 6-8 , the distal end of the connecting rod 341 extends outwardly along the axial direction to form a pair of connecting arms 342, and the first connecting shaft 348 of the second connecting head 345 is pivotally connected between the pair of connecting arms 342; the proximal end of the nut 361 extends outwardly along the axial direction to form a pair of nut connecting arms 362, and the second connecting shaft 349 of the second connecting head 345 is pivotally connected between the pair of nut connecting arms 362. The connecting arms 362 at the proximal end of the nut 361 and the connecting arms 342 at the distal end of the connecting rod 341 are alternately arranged in the circumferential direction and spaced from each other, which facilitates the relative rotation of the nut 361 and the connecting rod 341.

Similarly, the proximal end of the connecting rod 341 extends outwardly along the axial direction to form a pair of connecting arms 344, and the first connecting shaft 346 of the first connecting head 343 is pivoted between the pair of connecting arms 344; the distal end of the movable rod 32 extends outwardly along the axial direction to form a pair of movable rod connecting arms 321, and the second connecting shaft 347 of the first connecting head 343 is pivoted between the pair of movable rod connecting arms 321. The connecting arms 321 at the distal end of the movable rod 32 and the connecting arms 344 at the proximal end of the connecting rod 341 are alternately arranged in the circumferential direction and spaced from each other, which facilitates the relative rotation of the movable rod 32 and the connecting rod 341. Preferably, a movable rod joint 323 is fixed to the distal end of the movable rod 32, and the movable rod connecting arms 321 are formed on the movable rod joint 321.

As shown in FIG. 3 and FIG. 4 , the first transmission member 34 is substantially located in the first pipe member 12 , and there is a certain interval between the two in the radial direction, so as to avoid friction between the first transmission member 34 and the first pipe member 12 during movement or rotation. The second transmission member 36 is substantially located in the connection between the second pipe member 14 and the first pipe member 12 , that is, at the position of the first support portion 121 at the distal end of the first pipe member 12 or the second support portion 141 at the proximal end of the second pipe member 14 . Preferably, a bearing 38 is provided between the second pipe member 14 and the nut 361 , which effectively reduces the friction when the nut 361 rotates and makes the rotation of the nut 361 more stable, thereby making the movement of the screw rod 363 more stable. In conjunction with FIG. 8 , preferably, the two ends of the nut 361 extend radially outward to form a flange 369 , and the bearing 38 is clamped between the two flanges 369 in the axial direction, so as to limit the nut 361 in the axial direction, so that the nut 361 can drive the screw rod 363 to move axially when rotating.

As shown in FIG3 , the tube body 10 further includes a longitudinal sleeve 16, which is connected to the distal end of the first tube 12 and is used to accommodate the movable rod 32. In some embodiments, the sleeve 16 and the first tube 12 may also be an integral structure. Preferably, a shaft sleeve 18 is provided between both ends of the movable rod 32 and the sleeve 16. The shaft sleeve 18 may be directly provided between the movable rod 32 and the sleeve 16, or may be provided between the movable rod 32 and the first tube 12. The shaft sleeve 18 guides the movement of the movable rod 32 to a certain extent, and supports the rotation of the movable rod 32, so that the longitudinal movable rod 32 reduces the friction loss with the sleeve 16 during the movement or rotation, and enables the movable rod 32 and the sleeve 16 to maintain good coaxiality, thereby driving the end effector 50 to open and close or deflect, and adjust its opening and closing angle or deflection angle.

As shown in FIG. 11 , when the movable rod 32 moves axially, the nut 361 of the second transmission member 36 is driven by the first transmission member 34 to generate an axial movement trend. Since the nut 361 is fixed in the second tube member 14, the second tube member 14 is caused to swing relative to the first tube member 12 with the first shaft 20 as the rotation center, thereby driving the second transmission member 36 and the end effector 50 to swing, and adjusting the swing angle of the end effector 50. In the swing motion operation of the end effector 50, the movable rod 32, the first transmission member 34, and the second transmission member 36 can be regarded as a crank slider structure as a whole. The second transmission member 36 only plays a connecting role between the first transmission member 34 and the end effector 50. The second transmission member 36 itself will not drive the end effector 50 to generate any action. The swing angle of the end effector 50 is determined by the amplitude of the axial movement of the movable rod 32, and has nothing to do with the opening and closing angle between the two actuators 52a and 52b.

As shown in Figures 12-14, when the movable rod 32 rotates, the nut 361 of the second transmission member 36 is driven to rotate relative to the second pipe member 14 through the first transmission member 34. Since the nut 361 is fixed in the second pipe member 14, the screw rod 363 moves axially relative to the nut 361, and then the two actuators 52a and 52b are driven to rotate relative to each other with the second shaft 40 as the rotation center through the connecting rod 367, thereby adjusting the opening and closing angle between the two actuators 52a and 52b. During the opening and closing movement of the end actuator 50, the movable rod 32, the first transmission member 34, and the second transmission member 36 can be regarded as a crank slider structure. At the same time, the screw 363, the connecting rod 367, and the actuators 52a and 52b of the second transmission member 36 can be regarded as a crank slider structure. As a whole, they can be regarded as two crank slider mechanisms and share a slider. The first transmission member 34 only serves as a connection between the movable rod 32 and the second transmission member 36. The various components of the first transmission member 34 themselves will not rotate to cause the screw 363 of the second transmission member 36 to move relative to the nut 361. The opening and closing angle between the two actuators 52a and 52b is determined by the rotation angle of the movable rod 32 and has nothing to do with the swing angle of the end actuator 50.

As shown in FIG. 18 , the present invention further provides a surgical robot 200, including a mechanical arm 70, the end of which is provided with a driver 80 (not shown), the driver 80 being transmission-connected to the movable rod 32 of the inner rod mechanism 30 of the above-mentioned surgical instrument 100 and/or being transmission-connected to the tubular body 10. In actual surgery, the operator will first determine the expected position and/or posture of the end effector 50 of the surgical instrument 100, and then, based on the position and/or posture achieved by the end effector 50, control the driver 80 through a predetermined algorithm to actuate the inner rod mechanism 30 and/or the tubular body 10 of the surgical instrument 100, thereby causing the end effector 50 to reach the expected position and/or posture.

The driver 80 includes an inner rod driver, which is connected to the inner rod assembly 30 in a transmission manner and is used to drive the movable rod 32 of the inner rod mechanism 30 to move along its axial direction or rotate with its axis as the rotation center, so that the end effector 50 has an opening and closing degree of freedom and a yaw degree of freedom. The driver 80 also includes a tube driver, which is connected to the proximal end of the first tube 12 of the tube body 10 in a rotational driving manner, and the tube driver drives the tube The body 10, the inner rod mechanism 30 and the end effector 50 rotate synchronously, so that the surgical instrument 100 as a whole has the degree of freedom of rotation. By setting the driver 80, the surgical instrument 100 has at least one of the three degrees of freedom of movement mentioned above, or has three degrees of freedom of movement.

In other embodiments, the inner rod driver in the driver 80 is provided with a limiting structure or algorithm (not shown) to control the stroke of the inner rod assembly 30, thereby controlling the swing angle of the end effector 50 to avoid the structural dead point.

In other embodiments, the surgical instrument may also be a handheld surgical instrument (not shown), the driver of which is manually and/or automatically driven, and may be used for traditional laparoscopic surgery or open surgery, as well as surgical robotic surgery.

The present invention also relates to a surgical robot including the above-mentioned surgical instrument 100, wherein the surgical instrument 100 cooperates with an aspirator (not shown) to discharge smoke generated during surgery. Specifically, the aspirator includes a main body and a suction tube, and the suction tube is connected to the proximal end of the inner rod mechanism 30. The smoke generated during surgery enters the inner rod mechanism 30 through the screw 363, the first connector 343, the second connector 345, etc., and is then discharged through the suction tube.

It should be noted that the present invention is not limited to the above-mentioned embodiments. Based on the creative spirit of the present invention, those skilled in the art may also make other changes. These changes made based on the creative spirit of the present invention should be included in the scope of protection required by the present invention.

Claims (20)

A surgical instrument, characterized in that it includes a tube body, an inner rod mechanism movably arranged in the tube body, and an end actuator transmission connected to the inner rod mechanism, the tube body includes a first tube member and a second tube member pivotally connected to the first tube member via a first shaft rod, the inner rod mechanism is used to drive the second tube member to rotate relative to the first tube member, the end actuator is pivotally connected to the second tube member via a second shaft rod, and the axis of the first shaft rod is located outside the axis of the first tube member and/or the second tube member. The surgical instrument according to claim 1 is characterized in that the inner rod mechanism is also used to drive the end effector to rotate around the axis of the second shaft and/or swing around the axis of the first shaft. The surgical instrument according to claim 1, characterized in that the shortest distance from the axis center of the first shaft to the axis center of the second shaft is smaller than the distance from the axis center of the second shaft to the distal end of the end effector. The surgical instrument according to claim 1 is characterized in that the inner rod mechanism includes a movable rod and a transmission assembly, one end of the transmission assembly is movably connected to the movable rod, and the other end of the transmission assembly is movably connected to the end actuator, and an end of the transmission assembly close to the end actuator forms a connecting portion, and the movable rod drives the connecting portion to move along the axis of the second tube, thereby driving the end actuator to rotate around the second axis. The surgical instrument according to claim 2 is characterized in that the axis of the first tube and the axis of the second tube are coaxially arranged at the initial position, the axis of the first shaft is located between the axis and the generatrix of the first tube, and between the axis and the generatrix of the second tube, and the inner rod mechanism forms a connecting portion at one end close to the end effector, and the inner rod mechanism drives the connecting portion to move along the axis of the second tube, thereby driving the end effector to rotate around the second shaft. The surgical instrument according to claim 2, characterized in that the inner rod mechanism comprises a movable rod and a transmission assembly, one end of the transmission assembly is movably connected to the movable rod, the other end of the transmission assembly is movably connected to the end effector, and the transmission assembly is configured as follows: When the movable rod rotates, the end effector is driven to rotate relative to the second pipe around the axis of the second shaft; when the movable rod moves along its axial direction, the end effector and the second pipe are driven to swing relative to the first pipe around the axis of the first shaft. The surgical instrument according to claim 6 is characterized in that the end actuator includes two actuators, the transmission assembly forms a connecting portion at one end close to the two actuators, the two side ends of the connecting portion are respectively connected to the proximal ends of the two connecting rods through two connecting points, the distal ends of the two connecting rods are respectively rotatably connected to the two actuators, the two connecting points are located on opposite sides of the axis of the second shaft, and the two connecting rods are symmetrically arranged on opposite sides of the second shaft. The surgical instrument according to claim 6 is characterized in that the transmission assembly includes a first transmission member and a second transmission member, the first transmission member is movably connected between the movable rod and the second transmission member, and the second transmission member is movably connected between the first transmission member and the end actuator. The surgical instrument according to claim 8 is characterized in that the first transmission member is movably accommodated in the connection between the first tube and the second tube; and/or the second transmission member is at least partially movably accommodated in the second tube, and the movable rod is at least partially movably accommodated in the first tube. The surgical instrument according to claim 8 is characterized in that the first transmission member includes a connecting rod and a first connecting head and a second connecting head respectively arranged at both ends of the connecting rod, the first connecting head is rotatably connected to the movable rod, and the second connecting head is rotatably connected to the second transmission member; and/or the second transmission member includes a nut rotatably connected to the second tube member, and a screw threaded in the nut, the nut is rotatably connected to the first transmission member, and one end of the screw extends out of the nut and is rotatably connected to the end actuator. The surgical instrument according to claim 2 is characterized in that the end effector includes two actuators, a limit member is provided between the two actuators, one end of the limit member is fixedly connected to one of the actuators, and the other end of the limit member is movably connected to a movable groove provided in the other actuator. The surgical instrument according to claim 1 is characterized in that the axis of the first shaft is located between the axis and the generatrix of the first tube and/or the second tube. The surgical instrument according to claim 1 is characterized in that the axis of the first shaft extends in a radial direction parallel to the first tube; or the axis of the second shaft is perpendicular to the axis of the second tube, and the projections of the axis of the first shaft and the axis of the second shaft on the radial cross-section of the first tube are arranged in parallel and at intervals. The surgical instrument according to claim 1 is characterized in that the inner rod mechanism is a hollow structure with two ends passing through. The surgical instrument according to claim 14 is characterized in that the inner rod mechanism includes a movable rod and a transmission assembly, one end of the transmission assembly is movably connected to the movable rod, and the other end of the transmission assembly is movably connected to the end actuator, the movable rod is a hollow rod body, and the transmission assembly includes a first transmission member and a second transmission member, the first transmission member includes a connecting rod with a hollow cylindrical structure, and the second transmission member includes a hollow screw rod, the internal spaces of the movable rod, the connecting rod, and the screw rod are interconnected, and the inner rod mechanism as a whole is a hollow structure with both ends passing through. The surgical instrument according to claim 1 is characterized in that the tube body includes a first limiting structure, and the first limiting structure limits the rotation angle of the second tube member to one side relative to the first tube member. The surgical instrument according to claim 16 is characterized in that the first tube includes a first supporting portion, the second tube includes a second supporting portion and a boss, the second supporting portion is connected to the boss, the first supporting portion and the second supporting portion are pivotally connected via the first shaft, the first supporting portion and the boss constitute the first limiting structure, and/or the first limiting structure is distributed on one side of the axis of the first tube. A surgical robot, characterized in that it comprises a robotic arm and the surgical instrument according to any one of claims 1 to 17, wherein the robotic arm is provided with a driver, the driver comprises an inner rod driver, and the inner rod driver is transmission-connected to the inner rod mechanism of the surgical instrument. The surgical robot according to claim 18 is characterized in that the driver also includes a tube body driver, and the tube body driver is connected to the tube body for rotational driving, so that the tube body rotates synchronously with the inner rod mechanism and the end effector. A surgical robot, characterized in that it comprises an aspirator and the surgical instrument according to any one of claims 1 to 17, wherein the aspirator is connected to an inner rod mechanism of the surgical instrument.