Surgical instrument suitable for minimally invasive surgical robot

Abstract

The invention provides a surgical instrument suitable for a minimally invasive surgical robot. The surgical instrument comprises a driving mechanism; the connecting pipe extends in the first direction, and the first end of the connecting pipe is installed on the driving mechanism; the first end of the first adjusting mechanism is installed at the second end of the connecting pipe, and the first adjusting mechanism is constructed to be driven by the driving mechanism, the axis of the second end of the first adjusting mechanism is kept parallel to the first direction, and the first adjusting mechanism moves around a spherical surface with the first end of the first adjusting mechanism as the sphere center and the preset length as the radius; and the execution part is mounted at the second end of the first adjusting mechanism and is constructed to execute the surgical operation under the driving of the driving mechanism, so that the operation space and the degree of freedom of the surgical instrument are improved, and the surgical operation effect is favorably improved.

Description

Technical Field

[0001] At least one embodiment of the present disclosure relates to the technical field of surgical instruments, and in particular, to a surgical instrument suitable for a minimally invasive surgical robot. Background Art

[0002] With the development of science and technology, minimally invasive surgery has penetrated into all areas of surgical operations. Minimally invasive surgery performed using medical devices such as laparoscopes and thoracoscopes and related equipment has the advantages of less trauma, less pain, and faster recovery.

[0003] Single-port minimally invasive surgery is a surgical operation completed through a single-channel approach. Compared with multi-port minimally invasive surgery, single-port minimally invasive surgery further reduces the area of ​​trauma and alleviates the patient's pain. However, single-port minimally invasive surgery has higher technical requirements in terms of the operating space and operating freedom of the instrument. At present, the operating space of instruments suitable for minimally invasive surgery is limited in a single channel, and the degree of freedom of the surgical instruments is insufficient, resulting in poor operating effects. Summary of the invention

[0004] In view of this, the present disclosure provides a surgical instrument suitable for a minimally invasive surgical robot, which is used to at least partially solve the above technical problems, improve the operating space and degree of freedom of the surgical instrument, and help improve the surgical operation effect.

[0005] An embodiment of the present disclosure provides a surgical instrument suitable for a minimally invasive surgical robot, comprising a driving mechanism; a connecting tube extending in a first direction, a first end of the connecting tube being mounted on the driving mechanism; a first adjusting mechanism, a first end of which is mounted on a second end of the connecting tube, the first adjusting mechanism being configured such that, under the drive of the driving mechanism, the axis of the second end of the first adjusting mechanism remains parallel to the first direction and moves around a spherical surface with a preset length as the radius and the first end of the first adjusting mechanism as the center of the sphere; and an executing part mounted on the second end of the first adjusting mechanism, the first adjusting mechanism being configured to perform surgical operations under the drive of the driving mechanism.

[0006] According to an embodiment of the present disclosure, the first adjustment mechanism includes: a first joint, installed at the second end of the connecting tube and coaxial with the first axis of the connecting tube in the first direction; a connecting joint, ball-hinged at a position of the first joint away from the first axis of the connecting tube through a first connecting member, and in an initial state, the axis of the connecting joint extends on the first axis; and a second joint, ball-hinged at a position of the first axis at one end of the connecting joint away from the first joint in the initial state through a second connecting member, and is constructed so that the second joint moves on the spherical surface under the drive of the driving mechanism.

[0007] According to an embodiment of the present disclosure, the driving mechanism includes: a driving assembly; four groups of first transmission wires, the first ends of which are installed on the driving assembly, and the second ends of the four groups of first transmission wires respectively pass through the four first wire holes on the first joint and the four first wire holes on the connecting joint in sequence, and are installed on the four first wire holes on the second joint, wherein, in the initial state, the four groups of first transmission wires are evenly spaced around the first axis and form a first circular ring; and four groups of adjustment constraint wires, the first ends of which are respectively installed on the four constraint holes of the first joint, and the second ends pass through the four constraint holes on the connecting joint in sequence, and are installed on the four constraint holes on the second joint, wherein, in the initial state, the four groups of adjustment constraint wires are respectively located in the same radial direction as the four groups of first transmission wires, and form a second circular ring located inside the first circular ring; wherein, under the drive of the driving assembly, the pay-out length of one group of the first transmission wires in the two groups of the first transmission wires opposite to each other in the same radial direction is equal to the take-up length of the other group of the first transmission wires, so that the second joint moves on the spherical surface.

[0008] According to an embodiment of the present disclosure, it also includes a second adjusting mechanism, which is installed between the first adjusting mechanism and the executing part, and is constructed to rotate around an axis in a second direction perpendicular to the first direction and / or around an axis in a third direction perpendicular to both the first direction and the second direction under the drive of the driving mechanism; preferably, the second adjusting mechanism includes: a first adjusting part, which is installed at the end of the second joint; a second adjusting part, which is installed on the first adjusting part via a first pivot extending in the second direction, so as to swing around the first pivot under the drive of the driving mechanism; and a third adjusting part, which is installed on the second adjusting part via a second pivot extending in the third direction, so as to swing around the second pivot under the drive of the driving mechanism.

[0009] According to an embodiment of the present disclosure, the driving mechanism also includes four groups of second transmission wires, the first ends of the four groups of second transmission wires are installed on the driving assembly, and the second ends of the four groups of second transmission wires pass through the second wire holes on the first adjusting mechanism and the second wire holes on the second adjusting mechanism in sequence and are installed on one end of the second adjusting mechanism close to the actuator, wherein, in the initial state, the four groups of second transmission wires are evenly spaced and distributed on the first ring, and are alternately distributed with the four groups of first transmission wires; wherein, under the drive of the driving assembly, one group of the second transmission wires in the two groups of second transmission wires opposite to each other in the same radial direction pays out, and the other group of the second transmission wires takes up, so that the second adjusting mechanism rotates around the axis in the second direction, and / or rotates around the axis in the third direction.

[0010] According to an embodiment of the present disclosure, it also includes a third adjustment mechanism, which is installed between the second adjustment mechanism and the actuator. In an initial state, the third adjustment mechanism extends in the direction of the first axis and is configured to rotate around the first axis under the drive of the drive mechanism; preferably, the third adjustment mechanism includes: a sleeve, which is rotatably installed on the end of the second adjustment mechanism around the first axis in the initial state, and the actuator is installed on the sleeve; and a rotating wheel, which is installed on the sleeve and is configured to drive the sleeve to rotate under the drive of the drive mechanism; the drive mechanism also includes two groups of third transmission wires, the first ends of which are installed on the drive assembly, the second ends of one of the two groups of the third transmission wires are forwardly wound around the rotating wheel, and the second ends of the other group of the two groups of the third transmission wires are reversely wound around the rotating wheel, and are configured so that under the drive of the drive assembly, the pay-out length of one of the two groups of the third transmission wires is equal to the take-up length of the other group of the third transmission wires, so that the rotating wheel rotates.

[0011] According to an embodiment of the present disclosure, the driving mechanism also includes an isolation mechanism, the driving assembly is arranged in the isolation mechanism, and the isolation mechanism includes: a first shell, a first end of which is installed on the slave end of the minimally invasive surgical robot; an isolation plate, installed on the second end of the first shell, an isolation bag is arranged on the isolation plate to cover the first shell to isolate the external environment; and a second shell, installed on the isolation plate, and the connecting pipe is connected and arranged on the second shell.

[0012] According to an embodiment of the present disclosure, the first shell and the isolation plate, as well as the second shell and the isolation plate, are detachably connected via an installation assembly; preferably, the installation assembly comprises: a sliding rod, slidably mounted on the first shell or the second shell; a card block, mounted on the sliding rod, a card slot cooperating with the card block being provided on the isolation plate; and a reset member, elastically mounted between the sliding rod and the isolation plate; wherein, the sliding rod is moved in a direction away from the card slot against the elastic force of the reset member, allowing the first shell and / or the second shell to be separated from the isolation plate, or the card block is inserted into the card slot under the elastic force of the reset member, so that the first shell and / or the second shell are assembled with the isolation plate.

[0013] According to an embodiment of the present disclosure, the driving assembly includes a plurality of driving components, and a plurality of transmission disks respectively cooperating with the plurality of driving components are rotatably arranged on the isolation plate, and the driving components include: a power assembly installed in the first shell; a transmission shaft rotatably installed in the second shell, the transmission disk is arranged between the power assembly and the transmission shaft, so that the transmission shaft rotates under the drive of the power assembly; and a wire wheel installed on the transmission shaft to rotate with the transmission shaft to drive the first transmission wire, the second transmission wire or the third transmission wire to collect and release the wire.

[0014] According to an embodiment of the present disclosure, a connecting component is detachably connected between the transmission disk and the power assembly and / or between the transmission disk and the transmission shaft, and the connecting component includes: a connecting seat, installed on the output end of the power assembly or the transmission shaft; a limit block, slidably installed on the connecting seat near the transmission disk, and the transmission disk is provided with a limit groove that cooperates with the limit block; and a telescopic member, which can be elastically arranged between the limit block and the connecting seat.

[0015] According to the surgical instrument applicable to a minimally invasive surgical robot provided by the present disclosure, during the surgical operation, when the first adjustment mechanism is in the initial state, the axis of the first adjustment mechanism is collinear with the axis of the connecting tube. Driven by the driving mechanism, the second end of the first adjustment mechanism moves around a spherical surface with a radius of a preset length around the first end of the first adjustment mechanism as the center of the sphere to adjust the posture of the actuator, and the operation freedom is high. The axis of the second end of the first adjustment mechanism is parallel to the axis of the first end of the first adjustment mechanism, and is not collinear, thereby forming an operation space in a single channel, so that the actuator can perform surgical operations, thereby increasing the operation space and degree of freedom of the surgical instrument, and helping to improve the effect of the surgical operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0017] Figure 1 A three-dimensional schematic diagram of a surgical instrument according to an embodiment of the present disclosure is schematically shown.

[0018] Figure 2 A three-dimensional schematic diagram of a driving mechanism according to an embodiment of the present disclosure is schematically shown;

[0019] Figure 3 A three-dimensional schematic diagram of a first adjustment mechanism according to an embodiment of the present disclosure is schematically shown;

[0020] Figure 4 A state diagram schematically shows a first adjustment mechanism according to an embodiment of the present disclosure during use;

[0021] Figure 5 schematically illustrates a side view of a second joint according to an embodiment of the present disclosure;

[0022] Figure 6 A three-dimensional schematic diagram of a second adjustment mechanism according to an embodiment of the present disclosure is schematically shown;

[0023] Figure 7 Schematically shows a side view of a third adjustment portion according to an embodiment of the present disclosure;

[0024] Figure 8 A cross-sectional view schematically shows an execution portion and a third adjustment mechanism according to an embodiment of the present disclosure;

[0025] Fig. 9 schematically shows a cross-sectional view of a mounting assembly according to an embodiment of the present disclosure;

[0026] Fig.10 Schematically shows a side view of an isolation plate according to an embodiment of the present disclosure;

[0027] Fig.11 A perspective view of a first housing according to an embodiment of the present disclosure is schematically shown;

[0028] Fig.12 A perspective schematic diagram schematically shows a connection assembly according to an embodiment of the present disclosure; and

[0029] Fig.13 A cross-sectional view of a connection assembly according to an embodiment of the present disclosure is schematically shown.

[0030] Reference numerals

[0031] 1. Driving mechanism; 11. Driving assembly; 111. Driving component; 1111. Transmission shaft; 11111. Limiting table; 1112. Wire wheel; 1113. Power assembly; 12. First transmission wire; 13. Adjustment constraint wire; 14. Second transmission wire; 15. Third transmission wire; 2. Connecting pipe; 3. First adjusting mechanism; 31. First joint; 32. Connecting joint; 33. Second joint; 34. First connecting piece; 35. Second connecting piece; 36. Constraint hole; 37. First wire hole; 38. Second wire hole; 39. Third wire hole; 4. Executing part; 41. First clamp body; 42. Second clamp body; 43. Connecting shaft; 44. Sliding rod; 45. Elastic member; 46. 6. Slide groove; 47. Fourth thread hole; 5. Second adjusting mechanism; 51. First adjusting part; 52. Second adjusting part; 53. Third adjusting part; 54. First pivot; 55. Second pivot; 6. Third adjusting mechanism; 61. Sleeve; 62. Rotating wheel; 7. Isolation mechanism; 71. First shell; 72. Isolation plate; 721. Support rod; 7211. Slot; 722. Drive disc; 723. Limiting groove; 73. Second shell; 74. Slot; 75. Clearance groove; 8. Mounting assembly; 81. Sliding rod; 82. Block; 83. Reset member; 9. Connecting assembly; 91. Connecting seat; 92. Limiting block; 93. Telescopic member; 94. Bolt; 95. Guide tube. DETAILED DESCRIPTION

[0032] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0033] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0034] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0035] When using expressions such as "at least one of A, B, and C, etc.", it should generally be interpreted as the meaning of the expression generally understood by those skilled in the art. For example, "a system having at least one of A, B, and C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc. When using expressions such as "at least one of A, B, or C, etc.", it should generally be interpreted as the meaning of the expression generally understood by those skilled in the art. For example, "a system having at least one of A, B, or C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.

[0036] It should also be noted that the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are only reference directions of the drawings and are not intended to limit the scope of protection of the present disclosure. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or configurations will be omitted when they may cause confusion in the understanding of the present disclosure.

[0037] Single-port minimally invasive surgery is a surgical procedure performed through a single-channel approach. It has the advantages of less trauma, less pain, and faster recovery, which reduces the area of ​​trauma and relieves the patient's pain. However, single-port minimally invasive surgery has higher technical requirements for the operating space and operating freedom of the instrument. In single-port minimally invasive surgery, general surgical instruments guided by rigid arms will result in restricted posture after entry, insufficient degrees of freedom of the surgical instruments, and limited operating space, resulting in poor operating results.

[0038] Figure 1 A three-dimensional schematic diagram of a surgical instrument according to an embodiment of the present disclosure is schematically shown. Figure 2 A three-dimensional schematic diagram of a driving mechanism according to an embodiment of the present disclosure is schematically shown.

[0039] The embodiment of the present disclosure provides a surgical instrument suitable for a minimally invasive surgical robot. Figure 1 and Figure 2 As shown, the surgical instrument includes a driving mechanism 1, a connecting tube 2, a first adjusting mechanism 3 and an executing part 4. The connecting tube 2 extends in a first direction, and the first end of the connecting tube 2 is mounted on the driving mechanism 1. The first end of the first adjusting mechanism 3 is mounted on the second end of the connecting tube 2, and is configured such that under the drive of the driving mechanism 1, the axis of the second end of the first adjusting mechanism 3 is maintained parallel to the first direction, and moves around a spherical surface with a preset length as the radius and the first end of the first adjusting mechanism 3 as the center. The executing part 4 is mounted on the second end of the first adjusting mechanism 3, and is configured to perform a surgical operation under the drive of the driving mechanism 1.

[0040] According to the embodiment of the present disclosure, during the surgical operation, when the first adjustment mechanism 3 is in the initial state, the axis of the first adjustment mechanism 3 is collinear with the axis of the connecting tube 2. Driven by the driving mechanism 1, the second end of the first adjustment mechanism 3 moves around a spherical surface with a preset length as the radius, with the first end of the first adjustment mechanism 3 as the center of the sphere, to adjust the posture of the actuator 4, with a high degree of operational freedom. The axis of the second end of the first adjustment mechanism 3 is parallel to the axis of the first end of the first adjustment mechanism 3, and is not collinear, thereby forming an operating space within a single channel, so that the actuator can perform surgical operations, thereby increasing the operating space and degree of freedom of the surgical instrument, and helping to improve the surgical operation effect.

[0041] Furthermore, during single-port minimally invasive surgery, two surgical instruments can be placed in a single channel. The first adjustment mechanisms 3 of the two surgical instruments are driven by two driving mechanisms 1 respectively, and the second ends of the two first adjustment mechanisms 3 respectively move in directions away from each other around their own first ends as the center of the sphere, with the spheres having a preset length as the radius, thereby forming an operating space in the single channel to facilitate the execution end to perform surgical operations, thereby improving the operating space and freedom of the surgical instruments during surgical operations in the single channel.

[0042] It should be noted that the center of the sphere of the motion trajectory of the second end of the first adjustment mechanism 3 is the first end of the first adjustment mechanism 3 , and the radius of the preset length refers to the distance between the first end and the second end of the first adjustment mechanism 3 .

[0043] According to actual surgical needs, multiple surgical instruments can be placed in a single channel, and the execution part 4 at the end of the surgical instrument can be a laparoscope, a clamp, a cutting knife, etc. to meet different surgical needs.

[0044] In an exemplary embodiment, Figure 1 and Figure 2 As shown, the driving mechanism 1 is installed at the hand end of the minimally invasive surgical robot. The connecting tube 2 is a hollow cylindrical tube. A groove continuum can also be arranged between the connecting tube 2 and the first adjustment mechanism 3. In the initial state, the groove continuum is coaxial with the connecting tube 2. The groove continuum is a columnar body, and grooves alternating in orthogonal directions are arranged on the outer peripheral surface of the columnar body. The grooves are trapezoidal and are not limited here. The material of the groove continuum is Nitinol alloy, which can move with the adjustable posture guide arm system, so that the surgical instrument can be adjusted to face the internal mammary artery during single-port thoracoscopic surgery.

[0045] Figure 3 A three-dimensional schematic diagram of a first adjustment mechanism according to an embodiment of the present disclosure is schematically shown. Figure 4 The state diagram of the first adjustment mechanism during use according to an embodiment of the present disclosure is schematically shown.

[0046] In an exemplary embodiment, Figure 1 , Figure 3 and Figure 4 As shown, the first adjustment mechanism 3 includes a first joint 31, a connecting joint 32, and a second joint 33. The first joint 31 is installed at the second end of the connecting tube 2, or installed at the end of the groove continuum away from the connecting tube 2. The first joint 31 is coaxial with the first axis of the connecting tube 2 in the first direction. The connecting joint 32 is ball-hinged at a position of the first joint 31 away from the first axis of the connecting tube 2 through the first connecting member 34, and in the initial state, the axis of the connecting joint 32 extends on the first axis. The second joint 33 is ball-hinged at a position of the first axis of the connecting joint 32 located in the initial state away from the first joint 31 through the second connecting member 35, and is constructed so that the second joint 33 moves on a spherical surface under the drive of the driving mechanism 1. Under the drive of the driving mechanism 1, the second joint 33 can move on a spherical surface with the first connecting member 34 as the center and the distance between the first connecting member 34 and the second connecting member 35 as the radius.

[0047] Figure 5 A side view of a second joint according to an embodiment of the present disclosure is schematically shown.

[0048] In an exemplary embodiment, Figure 4 and Figure 5 As shown, the driving mechanism 1 includes a driving component 11, four groups of first transmission wires 12 and four groups of adjustment constraint wires 13. The driving component 11 is installed on the slave end of the minimally invasive surgical robot. The first ends of the four groups of first transmission wires 12 are installed on the driving component 11, and the second ends of the four groups of first transmission wires 12 respectively pass through the four first wire holes 37 on the first joint 31 and the four first wire holes 37 on the connecting joint 32 in sequence, and are installed at the positions of the four first wire holes 37 on the second joint 33 through threads. Among them, in the initial state, the four groups of first transmission wires 12 are evenly spaced around the first axis and form a first circular ring. As shown Figure 5 In the figure, four groups of first transmission wires 12 are respectively in the first wire holes 37 at the four quarter points of the first ring, namely, the upper left, the upper right, the lower left and the lower right.

[0049] The first ends of the four sets of adjustment constraint wires 13 are respectively installed in the four constraint holes 36 of the first joint 31 through threads, and the second ends of the four sets of adjustment constraint wires 13 pass through the four constraint holes 36 on the connecting joint 32 in turn, and are installed in the positions of the four constraint holes 36 on the second joint 33 through threads. In the initial state, the four sets of adjustment constraint wires 13 are respectively located in the same radial direction as the four sets of first transmission wires 12, and form a second circular ring located inside the first circular ring, and the first circular ring is concentric with the second circular ring. Figure 5In the embodiment, four groups of adjustment constraint wires 13 are respectively located in the constraint holes 36 at the four quarter points of the second ring at the upper left, upper right, lower left and lower right. The adjustment constraint wire 13 is a superelastic nickel-titanium alloy wire, so that the axis of the first end of the first adjustment mechanism 3 and the axis of the second end are maintained parallel to the first direction. Among them, under the drive of the drive assembly 11, the pay-out length of one group of the first transmission wires 12 in the two groups of first transmission wires 12 opposite to each other in the same radial direction is equal to the take-up length of the other group of first transmission wires 12, so that the second joint 33 moves on the spherical surface.

[0050] According to an embodiment of the present disclosure, in the initial state, the first adjustment mechanism 3 extends in the direction of the first axis. Driven by the drive assembly 11, the first transmission wire 12 located at the lower left is retracted, and the first transmission wire 12 located at the upper right is unwinding, and when the retracted length is equal to the unwinding length, the connecting joint 32 swings to the lower left around the first connecting member 34 and deviates from the first axis. Under the action of the restraining force of the adjusting restraining wire 13, when the second joint 33 swings with the connecting joint 32 on a spherical surface with the first joint 31 as the center and the distance between the first joint 31 and the second joint 33 as the radius, the axis of the second joint 33 is always maintained parallel to the first axis, thereby expanding the operating triangle space in a single channel, improving the operating space and degree of freedom of surgical instruments during surgical operations, and helping to improve the surgical operation effect.

[0051] Figure 6 A three-dimensional schematic diagram of a second adjustment mechanism according to an embodiment of the present disclosure is schematically shown.

[0052] In an exemplary embodiment, Figure 1 and Figure 6 As shown, the surgical instrument further includes a second adjustment mechanism 5. The second adjustment mechanism 5 is installed between the first adjustment mechanism 3 and the actuator 4, and is configured to rotate around an axis in a second direction perpendicular to the first direction and / or around an axis in a third direction perpendicular to both the first direction and the second direction under the drive of the drive mechanism 1. The first direction is the X-axis, the second direction is the Y-axis, and the third direction is the Z-axis.

[0053] Specifically, Figure 1 , Figure 3 and Figure 6 As shown, the second adjustment mechanism 5 includes a first adjustment portion 51, a second adjustment portion 52 and a third adjustment portion 53. The first adjustment portion 51 is installed at the end of the second joint 33. The second adjustment portion 52 is adjusted in the second direction ( Figure 6 The first pivot 54 extending in the horizontal direction (in the middle) is installed on the first adjusting part 51, so that the actuator 4 can complete the up and down pitching movement under the drive of the driving mechanism 1. Figure 6A second pivot 55 extending in a vertical direction (in the middle) is installed on the second adjusting part 52, so that under the drive of the driving mechanism 1, the actuator 4 swings around the second pivot 55, so that the actuator 4 completes the left and right deflection movement, and the actuator 4 at the end of the surgical instrument can adjust the posture in a wide range.

[0054] Figure 7 A side view of a third adjustment portion according to an embodiment of the present disclosure is schematically shown.

[0055] In an exemplary embodiment, Figure 5 , Figure 6 and Figure 7 As shown, the drive mechanism 1 also includes four groups of second transmission wires 14, the first ends of the four groups of second transmission wires 14 are installed on the drive assembly 11, and the second ends of the four groups of second transmission wires 14 pass through the second wire holes 38 on the first adjustment mechanism 3 and the second wire holes 38 on the second adjustment mechanism 5 in sequence and are installed on one end of the second adjustment mechanism 5 close to the actuator 4. In the initial state, the four groups of second transmission wires 14 are evenly spaced and distributed in the first ring, and are alternately distributed with the four groups of first transmission wires 12. Figure 7 In the figure, four groups of second transmission wires 14 are respectively in the second wire holes 38 at the four quarter points of the first ring, namely, the upper, lower, left and right quarters.

[0056] Among them, under the drive of the driving component 11, one group of second transmission wires 14 in two groups of second transmission wires 14 opposite to each other in the same radial direction is unwound, and the other group of second transmission wires 14 is reeled in, so that the second adjustment mechanism 5 rotates around the axis in the second direction and / or around the axis in the third direction.

[0057] According to the embodiment of the present disclosure, during the adjustment process of the second adjustment mechanism 5, driven by the drive assembly 11, the second transmission wire 14 located at the bottom is wound up, and the second transmission wire 14 located at the top is unwound, so that the second adjustment part 52 and the third adjustment part 53 of the second adjustment mechanism 5 rotate around the first pivot 54, so that the actuator 4 located at the end swings downward, and similarly, the actuator 4 can also swing upward. The second transmission wire located on the left is wound up, and the second transmission wire 14 located on the right is unwound, so that the third adjustment part 53 of the second adjustment mechanism 5 rotates around the second pivot 55, so that the actuator 4 located at the end swings to the left, and vice versa, it can swing to the right, completing the pitch and deflection movement, so that the actuator 4 at the end of the surgical instrument can adjust its posture in a wide range.

[0058] Figure 8 A cross-sectional view schematically shows an implementation portion and a third adjustment mechanism according to an embodiment of the present disclosure.

[0059] In an exemplary embodiment, Figure 1 and Figure 8As shown, the surgical instrument further includes a third adjustment mechanism 6 installed between the second adjustment mechanism 5 and the actuator 4. In an initial state, the third adjustment mechanism 6 extends in the direction of the first axis and is configured to rotate around the first axis under the drive of the drive mechanism 1.

[0060] Specifically, Figure 1 and Figure 8 As shown, the third adjustment mechanism 6 includes a sleeve 61 and a rotating wheel 62. In the initial state, the first end of the sleeve 61 is rotatably mounted on the end of the second adjustment mechanism 5 around the first axis, and a receiving groove for accommodating the rotating wheel 62 is provided in the sleeve 61, and the actuator 4 is mounted on the second end of the sleeve 61. The rotating wheel 62 is installed in the receiving groove of the sleeve 61, and the axis of the rotating wheel 62 extends in the direction of the first axis. The rotating wheel 62 is driven by the driving mechanism 1 to drive the sleeve 61 to rotate around its own axis.

[0061] like Figure 1 and Figure 8 As shown, the driving mechanism 1 also includes two groups of third transmission wires 15, the first ends of the two groups of third transmission wires 15 are both installed on the driving assembly 11, the second end of one of the two groups of third transmission wires 15 is forwardly wound on the rotating wheel 62; the second end of the other of the two groups of third transmission wires 15 is reversely wound on the rotating wheel 62. Under the drive of the driving assembly 11, the pay-out length of one of the two groups of third transmission wires 15 is equal to the take-up length of the other group of third transmission wires 15, so that the rotating wheel 62 drives the sleeve 61 to rotate around its own axis, thereby driving the actuator 4 to rotate, so as to adjust the posture of the actuator 4.

[0062] In an exemplary embodiment, Figure 2 and Figure 8 As shown, the actuator 4 includes a first caliper body 41, a second caliper body 42, a connecting shaft 43, a slide rod 44 and an elastic member 45. The connecting shaft 43 is mounted on the second end of the sleeve 61, and the middle of the first caliper body 41 and the first caliper body 42 are rotatably mounted on the connecting shaft 43. The first caliper body 41 and the first caliper body 42 are respectively provided with a slide groove 46 at one end close to the sleeve 61. Figure 8In the initial state, the axis of the actuator 4 is colinear with the first axis, the slide groove 46 on the first caliper body 41 is tilted upward toward the direction close to the sleeve 61, and the slide groove 46 on the first caliper body 42 is tilted downward toward the direction close to the sleeve 61. The two ends of the slide rod 44 are respectively located in the slide groove 46 of the first caliper body 41 and the slide groove 46 of the first caliper body 42. The slide rod 44 is located at the leftmost end of the slide groove 46. The two ends of the elastic member 45 are respectively in contact with the rightmost end of the slide groove 46 and the slide rod 44. The elastic member 45 can be a spring. The driving mechanism 1 also includes a fourth transmission wire (not shown in the figure), the first end of the fourth transmission wire is installed on the driving assembly 11, and the second end of the fourth transmission wire passes through the fourth wire hole 47 of the first adjustment mechanism 3, the second adjustment mechanism 5 and the third adjustment mechanism 6 and is installed in the middle of the slide rod 44.

[0063] According to an embodiment of the present disclosure, in the initial state, the second ends of the first pliers body 41 and the first pliers body 42 are close to each other and closed. Driven by the drive assembly 11, the fourth transmission wire retracts the wire against the elastic force of the elastic member 45, and drives the slide bar 44 to move in the direction close to the sleeve 61. At the same time, the first pliers body 41 and the first pliers body 42 rotate around the connecting shaft 43, and the slide bar 44 slides relative to the slide groove 46 on the first pliers body 41 and the first pliers body 42, so that the second ends of the first pliers body 41 and the first pliers body 42 rotate in the direction away from each other, thereby controlling the first pliers body 41 and the first pliers body 42 to open. Conversely, driven by the drive assembly 11, the fourth transmission wire releases the wire. Under the elastic force of the elastic member 45, the slide bar 44 moves in the direction away from the sleeve 61. At the same time, the first clamp body 41 and the first clamp body 42 rotate around the connecting shaft 43, and the sliding rod 44 slides relative to the sliding groove 46 on the first clamp body 41 and the first clamp body 42, so that the second ends of the first clamp body 41 and the first clamp body 42 rotate in the direction of approaching each other, thereby controlling the first clamp body 41 and the first clamp body 42 to close, thereby completing the control of the execution part 4 to open and close, and completing the clamping surgical operation.

[0064] In an exemplary embodiment, Figure 1 and Figure 2As shown, the driving mechanism 1 also includes an isolation mechanism 7, and the driving assembly 11 is arranged in the isolation mechanism 7. The isolation mechanism 7 includes a first shell 71, an isolation plate 72 and a second shell 73. The bottom end of the first shell 71 is installed on the slave end of the minimally invasive surgical robot. The isolation plate 72 is installed on the top of the first shell 71, and an isolation bag (not shown in the figure) is arranged on the isolation plate 72. The isolation bag is a sterile bag that can cover the first shell 71 and the mechanical arm of the slave end of the minimally invasive surgical robot, thereby isolating from the external environment to isolate dust and bacteria and other substances, and being in a sterile environment to minimize the risk of infection of patients. The isolation plate 72 is made of insulating material, such as plastic, which can play an insulating role. The second shell 73 is installed on the side of the isolation plate 72 opposite to the first shell 71, and the connecting pipe 2 is connected and arranged on the second shell 73.

[0065] Fig. 9 A cross-sectional view of a mounting assembly according to an embodiment of the present disclosure is schematically shown. Fig.10 A side view of an isolation plate according to an embodiment of the present disclosure is schematically shown.

[0066] In an exemplary embodiment, Figure 2 , Fig. 9 and Fig.10 As shown, the first housing 71 and the isolation plate 72, and the second housing 73 and the isolation plate 72 are detachably connected via the mounting assembly 8. A support rod 721 is provided on the side of the isolation plate 72 opposite to the first housing 71 and the second housing 73. The first housing 71 and the second housing 73 are provided with a slot 74 into which the support rod 721 is partially inserted.

[0067] like Figure 2 and Fig. 9 As shown, the mounting assembly 8 includes a sliding rod 81, a block 82 and a reset member 83. The sliding rod 81 can be slidably mounted on the first housing 71 or the second housing 73 to be close to or away from the support rod 721. The block 82 is mounted on the sliding rod 81, and a slot 7211 cooperating with the block 82 is provided on the support rod 721 of the isolation plate 72 to allow the block 82 to be inserted into the slot 7211. A placement groove is provided on the first housing 71 and the second housing 73, and the extending direction of the placement groove is the same as the sliding direction of the sliding rod 81. The reset member 83 can be a spring, and the reset member 83 is located in the placement groove and is elastically mounted between the sliding rod 81 and the isolation plate 72. A clearance groove 75 is provided on the first housing 71 and the second housing 73 to expose the end of the sliding rod 81 outside the first housing 71 and the second housing 73, so as to facilitate the operator to press the sliding rod 81.

[0068] According to the embodiment of the present disclosure, when assembling the isolation mechanism 7, a thrust is applied to the sliding rod 81 to counteract the elastic force of the reset member 83, so that the sliding rod 81 moves in a direction away from the card slot 7211, allowing the support rod 721 of the isolation plate 72 to be inserted into the slot 74 of the first shell 71. Subsequently, the external force on the sliding rod 81 is canceled, and under the elastic force of the reset member 83, the block 82 moves along with the sliding rod 81 in a direction close to the support rod 721 and is inserted into the card slot 7211, thereby realizing the assembly of the first shell 71 and the isolation plate 72. Similarly, the mounting assembly 8 mounts the second shell 73 on the top of the isolation plate 72. When disassembling the isolation mechanism 7, a thrust is applied to the sliding rod 81 to counteract the elastic force of the reset member 83, so that the sliding rod 81 drives the block 82 to move in a direction away from the support rod 721, thereby removing the block 82 from the slot 7211, and separating the first shell 71 or the second shell 73 from the isolation plate 72, which is convenient for disassembly and installation, and convenient for disinfection, thereby minimizing the risk of infection to patients and ensuring the safety of the operation.

[0069] Fig.11 A three-dimensional schematic diagram of a first shell according to an embodiment of the present disclosure is schematically shown. Fig.12 A three-dimensional schematic diagram of a connection assembly according to an embodiment of the present disclosure is schematically shown.

[0070] In an exemplary embodiment, Figure 2 , Fig.10 , Fig.11 and Fig.12 As shown, the drive assembly 11 includes a plurality of drive components 111. In the present embodiment, eight drive components 111 are provided. Eight transmission discs 722 respectively matched with the eight drive components 111 are rotatably provided on the isolation plate 72. Each drive component 111 includes a power assembly 1113, a transmission shaft 1111 and a wire wheel 1112. The power assembly 1113 is installed in the first housing 71, and the power assembly 1113 can be a motor, or a motor and a reducer are combined. The transmission shaft 1111 is rotatably installed in the second housing 73, and the transmission disc 722 is arranged between the power assembly 1113 and the transmission shaft 1111, so that the transmission shaft 1111 rotates under the drive of the power assembly 1113. The wire wheel 1112 is installed on the transmission shaft 1111 to rotate with the transmission shaft 1111.

[0071] Specifically, Figure 2As shown, a wire wheel 1112 is respectively arranged on the transmission shaft 1111 of four of the eight driving components 111, so as to respectively install the first end of the second transmission wire 14, thereby driving the four first transmission wires 12 to collect or release the wires. Two wire wheels 1112 are respectively arranged on the transmission shaft 1111 of the other three driving components 111 of the eight driving components 111, namely two first driving components 111 and one second driving component 111. The two wire wheels 1112 of the transmission shaft 1111 of the two first driving components 111 are respectively installed with two groups of two opposite first transmission wires 12. The first ends of two third transmission wires 15 are respectively installed on the two wire wheels 1112 of the transmission shaft 1111 of the second driving component 111. A wire wheel 1112 is arranged on the transmission shaft 1111 of the last driving component 111 of the eight driving components 111, and the first end of the fourth driving transmission wire is installed. The eight driving components 111 drive the first transmission wire 12, the second transmission wire 14, the third transmission wire 15 and the fourth driving wire to collect or release the wire as needed.

[0072] In an exemplary embodiment, Figure 1 , Figure 2 and Fig.10 As shown, a coupling is provided at one end of the transmission shaft 1111 close to the transmission disk 722, and a limiting platform 11111 is provided on the coupling. The limiting platform 11111 is a 90-degree fan-shaped boss, and a semicircular groove (not shown in the figure) cooperating with the limiting platform 11111 is provided on the first housing 71, so that the limiting platform 11111 slides in the semicircular groove. In the initial state, the limiting platform 11111 is located in the middle of the semicircular groove, and the power assembly 1113 drives the coupling and the transmission shaft 1111 to rotate, so that the limiting platform 11111 slides in the semicircular groove. When the power assembly 1113 drives the coupling to rotate 45 degrees in the forward direction and 45 degrees in the reverse direction, the limiting platform 11111 contacts the inner wall of the semicircular groove to limit the coupling, thereby limiting the collection and release of the wire.

[0073] In an exemplary embodiment, Fig.10 , Fig.11 and Fig.12 As shown, a detachably connected connecting component 9 can be provided between the transmission disc 722 and the power component 1113, and a detachably connected connecting component 9 can also be provided between the transmission disc 722 and the transmission shaft 1111. The connecting component 9 can also be installed between the coupling of the transmission shaft 1111 and the transmission disc 722.

[0074] Specifically, Fig.10 , Fig.12 and Fig.13As shown, the connecting assembly 9 includes a connecting seat 91, a limit block 92 and a telescopic member 93. The connecting seat 91 is installed at the output end of the power assembly 1113, or installed on the transmission shaft 1111. A guide groove is provided at a position of the connecting seat 91 relative to the transmission disk 722, and the guide groove is perpendicular to the transmission disk 722, and the limit block 92 can be slidably installed in the guide groove. A limit groove 723 cooperating with the limit block 92 is provided on the transmission disk 722. The telescopic member 93 can be elastically arranged between the limit block 92 and the connecting seat 91. The limit block 92 is a non-rotating body structure, which can rotate with the connecting seat 91 and drive the transmission disk 722 to rotate, thereby driving the transmission shaft 1111 to rotate, so as to control the rotation of the silk wheel 1112 to realize wire collection and wire release.

[0075] Fig.13 A cross-sectional view of a connection assembly according to an embodiment of the present disclosure is schematically shown.

[0076] In an exemplary embodiment, Fig.13 As shown, a bolt 94 is installed in the limit block 92, the bottom of the bolt 94 passes through the bottom of the limit block 92 and is threadedly connected to the connecting seat 91, and the bolt 94 head at the top of the bolt 94 limits the limit block 92, preventing the limit block 92 from popping out of the guide groove under the elastic force of the telescopic member 93. A guide tube 95 can be installed in the guide groove, the guide tube 95 is inserted into the bottom of the limit block 92, and is in sliding contact with the limit block 92, further guiding the limit block 92 to slide.

[0077] According to an embodiment of the present disclosure, during the process of assembling the first shell 71 and the isolation plate 72 or assembling the second shell 73 and the isolation plate 72, the transmission disc 722 pushes the limit block 92 into the guide groove against the elastic force of the telescopic member 93. The transmission disc 722 is then rotated so that the transmission disc 722 and the connecting seat 91 rotate relative to each other. When the limit groove 723 of the transmission disc 722 is directly opposite to the limit block 92, the limit block 92 is inserted into the limit groove 723 under the elastic force of the telescopic member 93 to prevent the transmission disc 722 and the connecting assembly 9 from rotating relative to each other. Driven by the power assembly 1113, the connecting assembly 9 rotates, and drives the transmission disc 722 and the wire wheel 1112 to rotate to control the wire collection and release.

[0078] According to the surgical instrument suitable for minimally invasive surgical robot provided in this embodiment, during the surgical operation, when the first adjustment mechanism 3 is in the initial state, the axis of the first adjustment mechanism 3 is collinear with the axis of the connecting tube 2. Driven by the driving mechanism 1, the second end of the first adjustment mechanism 3 moves around a spherical surface with a radius of a preset length and the first end of the first adjustment mechanism 3 as the center of the sphere to adjust the posture of the actuator 4, with a high degree of operational freedom. The axis of the second end of the first adjustment mechanism 3 is parallel to the axis of the first end of the first adjustment mechanism 3, and is not collinear, thereby forming an operating space in a single channel, so that the actuator can perform surgical operations, thereby increasing the operating space and degree of freedom of the surgical instrument and helping to improve the effect of surgical operations.

[0079] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A surgical instrument suitable for a minimally invasive surgical robot, characterized in that: include: Driving mechanism (1); A connecting tube (2) extending in a first direction, wherein a first end of the connecting tube (2) is mounted on the driving mechanism (1); A first adjusting mechanism (3), the first end of which is mounted on the second end of the connecting pipe (2), and is configured such that, under the drive of the driving mechanism (1), the axis of the second end of the first adjusting mechanism (3) remains parallel to the first direction and moves around a spherical surface with the first end of the first adjusting mechanism (3) as the center and a preset length as the radius; as well as The execution part (4) is mounted on the second end of the first adjustment mechanism (3) and is configured to execute a surgical operation under the drive of the drive mechanism (1).

2. The surgical instrument according to claim 1, characterized in that: The first adjustment mechanism (3) comprises: A first joint (31) is mounted on the second end of the connecting tube (2) and is coaxial with a first axis of the connecting tube (2) in a first direction; A connecting joint (32) is spherically hinged to a position of the first joint (31) away from a first axis of the connecting pipe (2) through a first connecting member (34), wherein in an initial state, the axis of the connecting joint (32) extends on the first axis; and The second joint (33) is spherically hinged to the position of the first axis at one end of the connecting joint (32) in the initial state away from the first joint (31) through a second connecting member (35), and is constructed so that the second joint (33) moves on the spherical surface under the drive of the driving mechanism (1).

3. The surgical instrument according to claim 2, characterized in that: The driving mechanism (1) comprises: A drive assembly (11); Four groups of first transmission wires (12), the first ends of which are mounted on the driving assembly (11), the second ends of which respectively pass through the four first wire holes (37) on the first joint (31) and the four first wire holes (37) on the connecting joint (32) in sequence, and are mounted on the four first wire holes (37) on the second joint (33), wherein in the initial state, the four groups of first transmission wires (12) are evenly spaced around the first axis and form a first circular ring; and Four groups of adjustment constraint wires (13), the first ends of which are respectively installed in the four constraint holes (36) of the first joint (31), and the second ends of which pass through the four constraint holes (36) on the connecting joint (32) in sequence and are installed in the four constraint holes (36) on the second joint (33), wherein, in the initial state, the four groups of adjustment constraint wires (13) are respectively located in the same radial direction as the four groups of the first transmission wires (12), and form a second circular ring located inside the first circular ring; Wherein, under the drive of the driving assembly (11), the pay-out length of one group of the first transmission wires (12) in two groups of the first transmission wires (12) opposite to each other in the same radial direction is equal to the take-up length of the other group of the first transmission wires (12), so that the second joint (33) moves on the spherical surface.

4. The surgical instrument according to claim 3, characterized in that: It also includes a second adjustment mechanism (5), which is installed between the first adjustment mechanism (3) and the execution part (4), and is configured to rotate around an axis in a second direction perpendicular to the first direction and / or around an axis in a third direction perpendicular to both the first direction and the second direction under the drive of the drive mechanism (1); Preferably, the second adjustment mechanism (5) comprises: A first adjusting portion (51) mounted at the end of the second joint (33); a second adjusting portion (52) mounted on the first adjusting portion (51) via a first pivot (54) extending in the second direction, so as to swing around the first pivot (54) under the drive of the driving mechanism (1); and The third adjusting portion (53) is mounted on the second adjusting portion (52) via a second pivot (55) extending in the third direction, so as to swing around the second pivot (55) under the drive of the driving mechanism (1).

5. The surgical instrument according to claim 4, characterized in that: The driving mechanism (1) further comprises four groups of second transmission wires (14), the first ends of the four groups of second transmission wires (14) being mounted on the driving assembly (11), the second ends of the four groups of second transmission wires (14) respectively and sequentially pass through the second wire holes (38) on the first adjusting mechanism (3) and the second wire holes (38) on the second adjusting mechanism (5) and being mounted on one end of the second adjusting mechanism (5) close to the actuator (4), wherein, in the initial state, the four groups of second transmission wires (14) are evenly spaced and distributed on the first ring, and are alternately distributed with the four groups of first transmission wires (12); Wherein, under the drive of the driving assembly (11), one group of the second transmission wires (14) in two groups of the second transmission wires (14) opposite to each other in the same radial direction releases the wires, while the other group of the second transmission wires (14) retracts the wires, so that the second adjustment mechanism (5) rotates around the axis in the second direction and / or around the axis in the third direction.

6. The surgical instrument according to claim 5, characterized in that: It also includes a third adjustment mechanism (6) installed between the second adjustment mechanism (5) and the actuator (4); in an initial state, the third adjustment mechanism (6) extends in the direction of the first axis and is configured to rotate around the first axis under the drive of the drive mechanism (1); Preferably, the third adjustment mechanism (6) comprises: a sleeve (61), wherein in the initial state, the sleeve (61) is rotatably mounted on the end of the second adjustment mechanism (5) around the first axis, and the actuator (4) is mounted on the sleeve (61); and A rotating wheel (62) is mounted on the sleeve (61) and is configured to drive the sleeve (61) to rotate under the drive of the driving mechanism (1); The driving mechanism (1) further comprises two groups of third transmission wires (15), the first ends of which are mounted on the driving assembly (11); the second end of one of the two groups of third transmission wires (15) is forwardly wound around the rotating wheel (62); and the second end of the other of the two groups of third transmission wires (15) is reversely wound around the rotating wheel (62); the driving mechanism (1) is configured such that, under the drive of the driving assembly (11), the pay-out length of one of the two groups of third transmission wires (15) is equal to the take-up length of the other group of third transmission wires (15), so that the rotating wheel (62) rotates.

7. The surgical instrument according to claim 6, characterized in that: The driving mechanism (1) further comprises an isolation mechanism (7), wherein the driving assembly (11) is arranged in the isolation mechanism (7), and the isolation mechanism (7) comprises: A first housing (71), a first end of which is mounted on the slave end of the minimally invasive surgical robot; an isolation plate (72) mounted on the second end of the first shell (71), wherein an isolation bag is provided on the isolation plate (72) so as to cover the first shell (71) to isolate the external environment; and The second shell (73) is mounted on the isolation plate (72), and the connecting pipe (2) is arranged in communication with the second shell (73).

8. The surgical instrument according to claim 7, characterized in that: The first shell (71) and the isolation plate (72), and the second shell (73) and the isolation plate (72) are detachably connected via a mounting assembly (8); Preferably, the mounting assembly (8) comprises: A sliding rod (81) slidably mounted on the first shell (71) or the second shell (73); A card block (82) is mounted on the sliding rod (81), and a card slot (7211) matching with the card block (82) is provided on the isolation plate (72); and A reset member (83) is elastically mounted between the sliding rod (81) and the isolation plate (72); The sliding rod (81) is moved in a direction away from the card slot (7211) against the elastic force of the reset member (83), allowing the first shell (71) and / or the second shell (73) to be separated from the isolation plate (72), or the card block (82) is inserted into the card slot (7211) under the elastic force of the reset member (83), so that the first shell (71) and / or the second shell (73) are assembled with the isolation plate (72).

9. The surgical instrument according to claim 7, characterized in that: The driving assembly (11) comprises a plurality of driving components (111), and a plurality of transmission discs respectively cooperating with the plurality of driving components (111) are rotatably arranged on the isolation plate (72), and the driving components (111) comprise: A power assembly (1113) installed in the first housing (71); a transmission shaft (1111) rotatably mounted in the second housing (73), the transmission plate being disposed between the power assembly (1113) and the transmission shaft (1111), so that the transmission shaft (1111) rotates under the drive of the power assembly (1113); and The wire wheel (1112) is mounted on the transmission shaft (1111) to rotate along with the transmission shaft (1111) to drive the first transmission wire (12), the second transmission wire (14) or the third transmission wire (15) to collect or release the wire.

10. The surgical instrument according to claim 9, characterized in that: A connection assembly (9) is detachably connected between the transmission disc and the power assembly (1113) and / or between the transmission disc and the transmission shaft (1111), and the connection assembly (9) comprises: A connecting seat (91) is installed on the output end of the power assembly (1113) or on the transmission shaft (1111); a limit block (92) slidably mounted on the connection seat (91) at a position adjacent to the transmission disc, the transmission disc being provided with a limit groove cooperating with the limit block (92); and The telescopic member (93) can be elastically arranged between the limiting block (92) and the connecting seat (91).

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