Surgical tool

Abstract

The surgical tool comprises a first mechanical arm, a first middle rod, a forceps head, a second middle rod and a container, the first mechanical arm, the first middle rod, the forceps head, the second middle rod and the container are located on a surgical robot, one end of the first middle rod is connected with the first mechanical arm, and the other end of the first middle rod is connected with the forceps head; the first mechanical arm drives the tong head to open, close and move, one end of the second middle rod is connected with the first mechanical arm, the other end of the second middle rod is connected with the container, the second middle rod is used for driving the container to move through the first mechanical arm, the container is installed at the tail end of the second middle rod, and the container is used for loading specified objects picked by the tong head. Therefore, not only is the moving times of the forceps holder tool reduced and the operation efficiency improved, but also the probability that human tissues in a non-operation area are damaged in the picking process is reduced.

Description

Technical Field

[0001] This manual relates to the field of medical technology, and in particular to a surgical tool. Background Art

[0002] With the development of minimally invasive surgical techniques, the requirements for minimally invasive and precise surgical operations are becoming increasingly stringent. Among these, clamping tools, such as nucleus pulposus clamps, are commonly used medical tools in endoscopic minimally invasive surgery. Clamping tools can be used to remove human tissue that needs to be removed. During robotic surgery, the operator can control the robotic arm of the surgical robot to open and close the clamping tool's end cap via a control console, achieving the removal objective.

[0003] Typically, when a surgical robot is required for surgery, the clamping tool is fixed to the robot's robotic arm and placed inside the endoscope. The robotic arm is then controlled to use the clamping tool to remove human tissue. Once the tissue is removed, the robotic arm can be moved to deliver the clamping tool and tissue out of the body. The robotic arm can then be controlled again to insert the clamping tool back into the body to remove more tissue, and this process can be repeated cyclically.

[0004] However, the process of using clamping tools to remove human tissue requires the operator to control the robotic arm multiple times to allow the clamping tools to enter and exit the human body and endoscope. This not only wastes manpower and increases the operation time, but also increases the probability of damage to human tissue in non-surgical areas.

[0005] Based on this, the present application specification provides a surgical tool. Summary of the Invention

[0006] This specification provides a surgical tool to partially solve the aforementioned problems existing in the prior art.

[0007] The following technical solution is adopted in this specification:

[0008] This specification provides a surgical tool, which includes: a first robotic arm 1, a first intermediate rod 3, a forceps head 4, a second intermediate rod 5, and a container 6 located on a surgical robot;

[0009] One end of the first intermediate rod 3 is connected to the first robotic arm 1, and the other end of the first intermediate rod 3 is connected to the clamp head 4; the first intermediate rod 3 is used to drive the clamp head 4 to open, close and move through the first robotic arm 1;

[0010] One end of the second intermediate rod 5 is connected to the first robotic arm 1, and the other end of the second intermediate rod 5 is connected to the container 6; the second intermediate rod 5 is used to move the container 6 through the first robotic arm 1;

[0011] The container 6 is installed at the end of the second intermediate rod 5, and the container 6 is used to hold the designated object picked up by the pliers 4.

[0012] Optionally, the surgical instrument further includes: a second robotic arm 2 located on the surgical robot and an endoscope 7;

[0013] Both the first intermediate rod 3 and the second intermediate rod 5 are deployed inside the lumen of the endoscope 7;

[0014] One end of the endoscope 7 is connected to the second robotic arm 2. The endoscope 7 is used to move via the second robotic arm 2 to observe the surgical area.

[0015] Optionally, the end of the first intermediate rod 3 is fixedly connected to the clamp head 4 at a preset angle.

[0016] Optionally, the end of the first intermediate rod 3 is hinged to the clamp head 4.

[0017] Optionally, the second intermediate rod 5 is connected to the first robotic arm 1 via a pulley.

[0018] Optionally, the surgical instrument further includes: an imaging device; the imaging device is installed inside the endoscope 7;

[0019] The imaging device is used to provide a field of view of the surgical area and a field of view within the lumen of the endoscope 7.

[0020] Optionally, the distance between the first intermediate rod 3 and the second intermediate rod 5 is within a preset range.

[0021] Optionally, the first intermediate rod 3 is connected to the first robotic arm 1 via a threaded structure.

[0022] The above-mentioned technical solutions adopted in this specification can achieve the following beneficial effects:

[0023] The surgical tools provided in this manual include a first robotic arm, a first intermediate rod, a forceps head, a second intermediate rod, and a container mounted on a surgical robot. One end of the first intermediate rod is connected to the first robotic arm, and the other end is connected to the forceps head. The first intermediate rod is used to open, close, and move the forceps head via the first robotic arm. One end of the second intermediate rod is connected to the first robotic arm, and the other end is connected to the container. The second intermediate rod is used to move the container via the first robotic arm. The container is mounted at the end of the second intermediate rod and is used to hold the designated object removed by the forceps head. Therefore, by fixing the second intermediate rod and the container to the first robotic arm of the surgical robot, the designated object removed by the forceps can be placed in the container during the removal of the designated object using the forceps tool. The designated object can be removed multiple times, and the container can be moved by controlling the first robotic arm and the second intermediate rod to transfer the designated object. This not only reduces the number of times the forceps tool needs to be moved and improves surgical efficiency, but also reduces the probability of injury to human tissue outside the surgical area during the removal process. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of this specification and form part of this specification, illustrate exemplary embodiments and are used to explain this specification, but do not constitute an undue limitation thereof. In the drawings:

[0025] Figure 1 This is a schematic diagram of one of the surgical tools described in this instruction manual;

[0026] Figure 2 This is a schematic diagram of a clamping tool described in this specification;

[0027] Figure 3 This is a schematic diagram of one of the surgical tools described in this instruction manual. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of this specification clearer, the technical solutions of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0029] Additionally, it should be noted that all actions involving the acquisition of signals, information, or data in this invention are carried out in compliance with the relevant data protection laws and regulations of the country where the invention is located, and with authorization from the owner of the corresponding device.

[0030] Currently, surgical procedures, including orthopedic and neurointerventional surgeries, can be performed using minimally invasive techniques. For these minimally invasive surgeries, precise surgical execution is essential to minimize trauma and accurately reach the affected area for effective treatment. Among these, spinal endoscopic minimally invasive techniques, as one of the earliest developed minimally invasive techniques, cause less damage to the paraspinal muscles and preserves the integrity of the spinal structure to the greatest extent possible, maintaining postoperative stability. It boasts advantages such as minimal trauma, less bleeding, faster recovery, fewer complications, and definite therapeutic effects.

[0031] Currently, the use of minimally invasive surgical equipment to assist surgeons (such as physicians) in performing surgical procedures is widely applied in the field of spinal endoscopic minimally invasive surgery. There are two main surgical methods commonly used in spinal endoscopic minimally invasive surgery: percutaneous endoscopic lumbar discectomy (PELD) and unilateral biportal endoscopy (UBE), both of which can be performed with the assistance of minimally invasive surgical equipment. In spinal endoscopic minimally invasive surgery, clamping tools are one of the commonly used medical instruments in spinal surgery. Endoscopic minimally invasive surgery using clamping tools is usually performed under endoscopy. The clamping tools are mainly used to remove intervertebral tissue from the spine. Clamping tools typically consist of a head, a shaft, and a handle. The head is a pair of clamps with beaks, and the handle controls and transmits the movement of the head. The head can be made of any existing instrument material suitable for endoscopic minimally invasive surgery, such as stainless steel.

[0032] Furthermore, with the development of technology, the use of surgical robots in surgery is becoming increasingly widespread. In current minimally invasive endoscopic surgeries, such as nucleotomy, surgical robots can be used to remove the nucleus pulposus from the body. During the removal of the nucleus pulposus by the surgical robot, a clamping tool, such as a nucleus pulposus forceps, needs to be fixed to the robotic arm of the surgical robot and placed inside the endoscope. The operator can then control the robotic arm of the surgical robot to remove the nucleus pulposus. Once the nucleus pulposus is grasped, the operator can control the robotic arm to move upwards to deliver the nucleus pulposus out of the body. Then, the operator can control the robotic arm again to put the nucleus pulposus forceps back into the body to remove the nucleus pulposus, and so on, repeating the removal process.

[0033] However, this process requires operators to continuously control the robotic arm to maneuver the nucleus pulposus forceps into and out of the body, which is time-consuming and labor-intensive. Furthermore, the forceps need to be repeatedly withdrawn and reinserted within the body, necessitating precise control of their position each time they are withdrawn or reinserted to avoid contact with nerves or other tissues in non-surgical areas.

[0034] Based on this, this specification provides a surgical tool that, by installing an intermediate rod and a container on the surgical robotic arm of a surgical robot, places the designated object picked up by the forceps each time into the container, and finally moves the container outside the body, thereby reducing the number of times the forceps are withdrawn and inserted from the body, saving surgical time, and reducing surgical risks.

[0035] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0036] Figure 1 This is a schematic diagram of one of the surgical tools described in this instruction manual.

[0037] The surgical tool provided in this manual can be used to clamp tissue requiring surgical manipulation under endoscopy for further surgical procedures. This surgical tool can be used in any existing minimally invasive surgical setting and can be configured on a surgical robot for automated control.

[0038] The surgical tools provided in this manual include: a first robotic arm 1, a first intermediate rod 3, a forceps head 4, a second intermediate rod 5, and a container 6, all located on a surgical robot. One end of the first intermediate rod 3 is connected to the first robotic arm 1, and the other end is connected to the forceps head 4. The first intermediate rod 3 is used to drive the forceps head 4 to open, close, and move via the first robotic arm 1. One end of the second intermediate rod 5 is connected to the first robotic arm 1, and the other end is connected to the container 6. The second intermediate rod 5 is used to drive the container 6 to move via the first robotic arm 1. The container 6 is installed at the end of the second intermediate rod 5 and is used to hold the designated object picked up by the forceps head 4.

[0039] In the embodiments described in this specification, the end of the first intermediate rod 3 can be hinged to the pliers head 4, and the end of the first intermediate rod 3 and the pliers head 4 are also fixedly connected at a preset angle, such as by welding, etc. Figure 2 The diagram shown is a schematic of a clamping tool provided in this specification. It can be seen that the clamp head 4 and the first intermediate rod 3 are fixedly connected at a preset angle. This specification does not specify how the first intermediate rod 3 and the clamp head 4 are connected.

[0040] In addition, in the embodiments of this specification, the end of the forceps head 4 may be toothless or have micro-tooths. The number and density of teeth can determine the contact area between the forceps head 4 and the specified object, and thus determine the clamping force of the forceps head 4. In the embodiments of this specification, the number and density of teeth of the forceps head 4 can be set in advance according to the usage scenario of the surgical tool. This specification does not limit this.

[0041] In this specification, the term "designated object" refers to the object to be removed, such as human tissues like the nucleus pulposus.

[0042] In practical applications, the first robotic arm 1 can extend its gripper head 4 into a designated part of the body via the first intermediate rod 3 to remove a designated object. The first robotic arm can also extend its container 6 into the designated part of the body via the second intermediate rod 5. Next, the first robotic arm 1 can control the gripper head to remove the designated object via the first intermediate rod 3. After removal, the first robotic arm 1 can control the gripper head to place the removed object into the container 6 via the first intermediate rod 3. This process is repeated until the specified conditions are met. Then, the first robotic arm 1 can control the container 6 via the second intermediate rod 5 to remove the container 6 from the designated part of the body, thus removing the designated object from the designated part. In subsequent processes, if it is necessary to remove the designated object again, the designated object can be removed from the container 6, and the first robotic arm 1 can be controlled again via the second intermediate rod 5 to extend the container 6 into the designated part of the body.

[0043] The specified conditions can be that the number of pickings meets a specified number, or that the volume of the specified object meets a specified volume threshold. This instruction manual does not impose any restrictions on the specific conditions.

[0044] like Figure 3 The diagram shown is a schematic representation of a surgical tool provided in this application specification. In this specification, the surgical tool further includes a second robotic arm 2 located on a surgical robot and an endoscope 7.

[0045] In the embodiments described in this specification, both the first intermediate rod 3 and the second intermediate rod 5 are deployed within the lumen of the endoscope 7. One end of the endoscope 7 is connected to the second robotic arm 2, and the endoscope 7 is moved via the second robotic arm 2 to observe the surgical area. That is, the endoscope 7 can be moved under the control of the second robotic arm 2 to observe the surgical area.

[0046] Specifically, in practical applications, the endoscope can be mounted on the second robotic arm 2 of the surgical robot. The operator can control the second robotic arm 2 to place the endoscope 7 on a designated part of the human body to observe the surgical area. The first robotic arm 1 of the surgical robot can also extend the forceps 4 into a designated part of the human body via the first intermediate rod 3 to remove a designated object. Furthermore, the first robotic arm can extend the container 6 into a designated part of the human body via the second intermediate rod 5. Then, the surgical area can be observed through the endoscope 7. The first robotic arm 1 can control the forceps via the first intermediate rod 3, and, in conjunction with the surgical area view provided by the endoscope 7, remove the designated object. After removal, the first robotic arm 1 can control the forceps via the first intermediate rod 3 to place the removed designated object into the container 6.

[0047] In this specification, the second intermediate rod 5 can be connected to the first robotic arm 1 via a pulley. Alternatively, the second intermediate rod 5 can also be connected to the first robotic arm 1 via a threaded or other snap-fit ​​structure; this specification does not impose any limitations on this connection. Similarly, in this specification, the first intermediate rod 3 can also be connected to the first robotic arm 1 via a threaded or other snap-fit ​​structure; this specification does not impose any limitations on this connection either.

[0048] In this specification, the surgical instrument may also include an imaging device that can be installed inside the endoscope 7, the imaging device being used to provide a view of the surgical area and a view of the lumen of the endoscope 7.

[0049] Furthermore, in this specification, the distance between the first intermediate rod 3 and the second intermediate rod 5 can be within a preset range.

[0050] Therefore, in a surgical scenario based on the aforementioned surgical tool, the operator can control the surgical tool to enter the patient's affected area. This surgical tool includes a first robotic arm, a first intermediate rod, a forceps head, a second intermediate rod, and a container, all mounted on a surgical robot. One end of the first intermediate rod is connected to the first robotic arm, and the other end is connected to the forceps head. The first intermediate rod is used to open, close, and move the forceps head via the first robotic arm. One end of the second intermediate rod is connected to the first robotic arm, and the other end is connected to the container. The second intermediate rod is used to move the container via the first robotic arm. The container is mounted at the end of the second intermediate rod and is used to hold the designated object removed by the forceps head. It is evident that by fixing the second intermediate rod and the container to the first robotic arm of the surgical robot, the designated object can be placed in the container during the removal of the object using the forceps. The object can be removed multiple times, and the container can be moved by controlling the first robotic arm and the second intermediate rod to transfer the object. This not only reduces the number of times the forceps need to be moved and improves surgical efficiency but also reduces the probability of injury to human tissue outside the surgical area during the removal process.

[0051] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0052] The above description is merely an embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this specification.

Claims

1. A surgical instrument, characterized in that, The surgical tools include: a first robotic arm (1), a first intermediate rod (3), a forceps head (4), a second intermediate rod (5), and a container (6) located on the surgical robot; One end of the first intermediate rod (3) is connected to the first robotic arm (1), and the other end of the first intermediate rod (3) is connected to the clamp head (4); the first intermediate rod (3) is used to drive the clamp head (4) to open, close and move through the first robotic arm (1); One end of the second intermediate rod (5) is connected to the first robotic arm (1), and the other end of the second intermediate rod (5) is connected to the container (6); the second intermediate rod (5) is used to drive the container (6) to move through the first robotic arm (1); The container (6) is installed at the end of the second intermediate rod (5) and is used to hold the designated object picked up by the pliers (4).

2. The surgical tool as described in claim 1, characterized in that, The surgical instruments also include: a second robotic arm (2) located on the surgical robot and an endoscope (7); Both the first intermediate rod (3) and the second intermediate rod (5) are deployed inside the lumen of the endoscope (7); One end of the endoscope (7) is connected to the second robotic arm (2), and the endoscope (7) is used to move via the second robotic arm (2) to observe the surgical area.

3. The surgical tool as described in claim 1, characterized in that, The end of the first intermediate rod (3) is fixedly connected to the pliers (4) at a preset angle.

4. The surgical tool as described in claim 1, characterized in that, The end of the first intermediate rod (3) is hinged to the pliers (4).

5. The surgical tool as described in claim 1, characterized in that, The second intermediate rod (5) is connected to the first robotic arm (1) via a pulley.

6. The surgical tool as described in claim 2, characterized in that, The surgical instrument also includes: an imaging device; the imaging device is installed inside the endoscope (7); The imaging device is used to provide a field of view of the surgical area and a field of view within the lumen of the endoscope (7).

7. The surgical tool as described in claim 1, characterized in that, The distance between the first intermediate rod (3) and the second intermediate rod (5) is within a preset range.

8. The surgical instrument as described in claim 1, characterized in that, The first intermediate rod (3) is connected to the first robotic arm (1) by a threaded structure.

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