A laparoscopic surgical instrument and surgical robot

Abstract

The present application relates to the technical field of medical apparatus, and discloses a laparoscopic surgical instrument, which comprises an instrument main body and a front-end instrument, the instrument main body comprises a terminal closed transmission assembly, and the front-end instrument comprises an instrument outer rod and an instrument inner rod; the terminal closed transmission assembly comprises a terminal gear and a reset assembly, the terminal gear is provided with a sliding groove, the instrument inner rod is provided with a limiting part, the limiting part can be inserted into or withdrawn from the sliding groove and drive the terminal gear to rotate; when the front-end instrument is not inserted into the instrument main body, the terminal gear moves to a first limit position under the action of the reset assembly, at this time, the limiting part can be inserted into the sliding groove along with the instrument inner rod; when the front-end instrument is inserted in place, the terminal gear moves to a second limit position under the action of the reset assembly, the sliding groove pulls the instrument inner rod inward, and the jaw of the front-end instrument is closed. The present application also discloses a surgical robot. When the front-end instrument is replaced, the present application facilitates the insertion of the instrument inner rod, and after the front-end instrument is replaced, the jaw of the front-end instrument can be automatically closed.

Description

[0001] This application is a divisional application of the patent application filed on May 27, 2022, with application number CN202210591850.8 and invention title "A Laparoscopic Surgical Instrument and Surgical Robot". Technical Field

[0002] This invention relates to the field of medical device technology, and in particular to a laparoscopic surgical instrument and surgical robot. Background Technology

[0003] Robot-assisted surgical systems are widely used worldwide to replace traditional surgical procedures, reducing patient discomfort during recovery and prolonged hospital stays. These systems utilize electrically powered laparoscopic surgical instruments, improving surgical precision and reducing surgeon fatigue.

[0004] Several patents disclose electrically powered laparoscopic surgical instruments. Generally, robotic surgical systems have multiple robotic arms, each equipped with multiple motors for driving the laparoscopic surgical instruments. The electrically powered laparoscopic surgical instruments are quickly snapped onto the robotic arms and simultaneously engaged with the motors. The motors drive the surgical instruments to perform surgical operations such as cutting, grasping, suturing, and electrocoagulation.

[0005] Existing laparoscopic surgical instruments suffer from several problems when changing the front-end instrument. First, the alignment of the instrument's inner rod with the slot of the transmission assembly is inaccurate, hindering the smooth insertion of the inner rod. Second, after changing the front-end instrument, the jaws remain open, interfering with normal surgical use. To address these issues, current technologies typically employ a drive source to move the transmission assembly to the appropriate position or close the jaws, but these procedures are quite cumbersome. Summary of the Invention

[0006] Based on the above, the purpose of this invention is to provide a laparoscopic surgical instrument and a surgical robot that facilitates the insertion of the instrument's inner rod when changing the front instrument, and allows the jaws of the front instrument to close automatically after the front instrument is replaced, thus avoiding interference with normal surgical procedures. The operation is simple and convenient.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A laparoscopic surgical instrument includes an instrument body and a front-end instrument. The instrument body includes a housing and an end-closing transmission assembly installed within the housing. The front-end instrument includes an outer rod and an inner rod. The end-closing transmission assembly includes an end gear and a reset assembly. The end gear is provided with a sliding groove, and the end of the inner rod of the instrument is provided with a limiting part. The limiting part can be inserted into or removed from the sliding groove along with the inner rod of the instrument, and drive the end gear to rotate. When the front-end instrument is not inserted into the instrument body, the reset assembly tends to rotate the end gear. Under the action of the reset assembly, the end gear moves to the first limit position, at which time the limiting part can be inserted into the slide groove along with the inner rod of the instrument. When the front-end instrument is inserted into place, the reset assembly tends to rotate the end gear in the opposite direction. Under the action of the reset assembly, the end gear moves to the second limit position, and the slide groove pulls the inner rod of the instrument inward, causing the jaws of the front-end instrument to close.

[0008] As a preferred embodiment of a laparoscopic surgical instrument, the end-closure transmission assembly further includes a closure motor coupling disk, which can drive the end gear to rotate; when the outer rod of the instrument is inserted into place, the closure motor coupling disk drives the end gear to rotate, which can drive the inner rod of the instrument to move axially to open or close the jaws.

[0009] As a preferred embodiment of a laparoscopic surgical instrument, the repositioning assembly includes a wheel-mounted axle, a guide shaft, a fixed axle, and a repositioning elastic element. The fixed axle is fixed to the housing, the wheel-mounted axle is fixed to the end gear, the guide shaft connects the fixed axle and the wheel-mounted axle, and the repositioning elastic element is sleeved on the guide shaft.

[0010] As a preferred embodiment of a laparoscopic surgical instrument, when the front-end instrument is not inserted into the instrument body, the axis of the guide shaft is located to the right of the rotation center of the end gear, and the end gear is located at the first extreme position. At this time, the limiting part can be inserted into the slide groove along with the inner rod of the instrument. When the front-end instrument is inserted into place, the axis of the guide shaft is located to the left of the rotation center of the end gear, and the end gear moves to the second extreme position under the action of the reset assembly. The slide groove pulls the inner rod of the instrument inward, so that the jaws of the front-end instrument close.

[0011] As a preferred embodiment of a laparoscopic surgical instrument, the instrument body further includes an instrument quick-change assembly installed within the housing. The instrument quick-change assembly includes an instrument button, an instrument quick-release buckle, and an instrument button elastic element. The instrument quick-release buckle is provided with an instrument outer rod through hole and a buckle stop part. The outer rod of the instrument can be inserted into the through hole of the outer rod of the instrument. The outer rod of the instrument is provided with a quick-release slot. When the outer rod of the instrument is inserted into place, the quick-release buckle can be engaged in the quick-release slot of the outer rod by the action of the elastic element of the instrument button. Pressing the instrument button can cause the quick-release buckle to retract from the quick-release slot of the outer rod.

[0012] As a preferred embodiment of a laparoscopic surgical instrument, the end-closure transmission assembly further includes an error-prevention component, which includes an error-prevention rotating shaft on a wheel and an error-prevention stop bar. The instrument quick-release buckle is also provided with an error-prevention hole. The error-prevention rotating shaft on the wheel is mounted on the end gear and can rotate around its own axis. The long rod portion of the error-prevention stop bar passes through the error-prevention hole. When the end gear rotates, it can drive the error-prevention rotating shaft on the wheel to move. The error-prevention rotating shaft on the wheel drives the error-prevention stop bar to move along the axial direction of the error-prevention hole. When the front-end instrument is a correctly matched instrument and is inserted into place, the error-prevention stop bar can be completely withdrawn from the error-prevention hole so that the buckle stop portion can be engaged in the outer rod quick-release slot.

[0013] As a preferred embodiment of a laparoscopic surgical instrument, the instrument body further includes an axial rotation transmission assembly disposed within the housing. The axial rotation transmission assembly includes a rotary motor coupling disk and a rotary sleeve. The rotary motor coupling disk can drive the rotary sleeve to rotate. The instrument outer rod is coaxially inserted into the rotary sleeve, and the instrument outer rod and the rotary sleeve are engaged and limited in a circumferential direction.

[0014] As a preferred embodiment of a laparoscopic surgical instrument, the inner wall of the rotating sleeve and the outer rod of the instrument are provided with a guide protrusion and a guide groove, respectively; when the front end instrument is inserted into the instrument body, the guide protrusion is inserted into the guide groove.

[0015] As a preferred embodiment of a laparoscopic surgical instrument, the elastic element of the instrument button is a compression spring, the instrument button is disposed at one end of the instrument quick-lock along a first direction, and the elastic element of the instrument button is disposed at the other end of the instrument quick-lock along the first direction; the first direction is perpendicular to the axial direction of the outer rod of the instrument.

[0016] As a preferred embodiment of a laparoscopic surgical instrument, the slide is a cylindrical groove, and the side wall of the slide has an clearance opening. The diameter of the limiting part is greater than the width of the clearance opening and smaller than the diameter of the cylindrical groove.

[0017] As a preferred embodiment of a laparoscopic surgical instrument, the end gear is a toothed component with partial teeth on its outer periphery.

[0018] A surgical robot comprising the laparoscopic surgical instruments described in any of the above embodiments.

[0019] The beneficial effects of this invention are as follows: The laparoscopic surgical instruments and surgical robot provided by this invention, when the front instrument is not inserted into the instrument body, the reset component has a tendency to rotate the end gear. Under the action of the reset component, the end gear moves to the first limit position, at which time the limiting part can be inserted into the slide groove along with the inner rod of the instrument. When the front instrument is inserted into the position, the reset component has a tendency to rotate the end gear in the opposite direction. Under the action of the reset component, the end gear moves to the second limit position, and the slide groove pulls the inner rod of the instrument inward, so that the jaws of the front instrument close.

[0020] This invention achieves the reset of the end-closing transmission assembly in two different positions before and after the front-end instrument is assembled through a reset component. This facilitates the smooth insertion of the instrument's inner rod when changing the front-end instrument, and allows the jaws of the front-end instrument to close automatically after replacement, avoiding interference with normal surgical use. Its operation is simple and convenient. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the laparoscopic surgical instruments provided in the embodiments of the present invention; Figure 2 This is an exploded view of the laparoscopic surgical instruments provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the front-end device provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the interior of the laparoscopic surgical instruments provided in the embodiments of the present invention. Figure 1 ; Figure 5 This is a schematic diagram of the interior of the laparoscopic surgical instruments provided in the embodiments of the present invention. Figure 2 ; Figure 6 This is a schematic diagram of the interior of the laparoscopic surgical instruments provided in the embodiments of the present invention. Figure 3 ; Figure 7 This is a schematic diagram of the installation of the quick-change instrument assembly and the front-end instrument provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the quick-release mechanism provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the end-closing transmission assembly provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the interior of the laparoscopic surgical instruments provided in the embodiments of the present invention. Figure 4 ; Figure 11This is a schematic diagram of the interior of the laparoscopic surgical instruments provided in the embodiments of the present invention. Figure 5 ; Figure 12 This is a schematic diagram of the structure of the reset assembly, the end gear, and the inner rod of the instrument provided in an embodiment of the present invention; Figure 13 This is a schematic diagram of the interior of the laparoscopic surgical instruments provided in the embodiments of the present invention. Figure 6 ; Figure 14 This is a schematic diagram of the interior of the laparoscopic surgical instruments provided in the embodiments of the present invention. Figure 7 ; Figure 15 This is a schematic diagram of the structure of the axial rotation transmission assembly provided in an embodiment of the present invention; Figure 16 This is a schematic diagram of the installation of the axial rotation transmission assembly and the outer rod provided in an embodiment of the present invention; Figure 17 This is a schematic diagram of the structure of the rotating sleeve provided in an embodiment of the present invention.

[0022] In the picture: 100 - Main body of the device; 101-Instrument quick-change assembly; 1011-Instrument button; 1012-Instrument quick-release buckle; 10121-Instrument outer rod through hole; 10122-Snap-stop part; 10123-Anti-misalignment hole; 1013-Instrument button elastic element; 102-End-closing transmission assembly; 1021-End gear; 10211-Slide groove; 1022-Intermediate gear; 1023-Closed input gear; 1024-Closed motor coupling disk; 1025-Reset assembly; 10251-Wheel shaft; 10252-Guide shaft; 10253-Fixed shaft; 10254-Reset elastic element; 1026-Error prevention assembly; 10261-Wheel error prevention shaft; 10262-Error prevention stop bar; 130 - Rotational transmission assembly around an axis; 131 - Rotating sleeve; 1311 - Guide protrusion; 132 - Rotating output gear; 133 - Rotating input gear; 134 - Rotating motor coupling disk; 104 - Outer shell; 110 - Front-end instrument; 111 - Outer rod of instrument; 1111 - Quick slot for outer rod; 1112 - Guide groove; 112 - Inner rod of instrument; 1121 - Limiting part. Detailed Implementation

[0023] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0024] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] In existing technologies, laparoscopic surgical instruments often have the instrument body and the front end instrument fixed together. Every time the front end instrument is replaced, the instrument body must also be replaced. This results in a variety of instrument bodies, making quick replacement and disassembly impossible, complex production and installation, and high manufacturing costs.

[0026] To solve the above problems, such as Figures 1-8As shown, this embodiment of the invention provides a laparoscopic surgical instrument, including an instrument body 100 and a front-end instrument 110, wherein the front-end instrument 110 can be one or more types, and the instrument body 100 can be detachably paired with one or more front-end instruments 110. Specifically, the instrument body 100 of this embodiment includes a housing 104 and an instrument quick-change assembly 101 installed in the housing 104. The instrument quick-change assembly 101 includes an instrument button 1011, an instrument quick-lock 1012, and an instrument button elastic element 1013. The instrument quick-lock 1012 is provided with an instrument outer rod through hole 10121 and a lock stop part 10122. The front-end instrument 110 includes an instrument outer rod 111 and an instrument inner rod 112. The instrument outer rod 111 is sleeved on the outside of the instrument inner rod 112. Under the action of external force, the instrument inner rod 112 can move axially relative to the instrument outer rod 111, thereby realizing the opening and closing of the jaws of the front-end instrument 110. The outer rod 111 of the instrument can be inserted into the through hole 10121 of the outer rod of the instrument. The outer rod 111 is provided with an outer rod quick-lock groove 1111, the size of which is adapted to the size of the latch stop part 10122. In this embodiment, the elastic element 1013 of the instrument button can be a compression spring, which is pre-installed in the housing 104 in a compressed state. The instrument button 1011 is disposed at one end of the instrument quick-lock 1012 along the first direction, and the compression spring is disposed at the other end of the instrument quick-lock 1012 along the first direction. This arrangement allows the instrument quick-lock 1012 to engage the latch stop part 10122 into the outer rod quick-lock groove 1111 under the action of the compression spring. Preferably, the first direction is perpendicular to the axial direction of the outer rod 111, so that the latch stop part 10122 and the outer rod quick-lock groove 1111 can be engaged more quickly and accurately. Of course, in other embodiments, the elastic element 1013 of the instrument button can also be a tension spring. The tension spring and the instrument button 1011 are located at the same end of the instrument quick-release buckle 1012, and the above functions can be achieved in the same way. This embodiment is not the only one that can achieve the above functions.

[0027] In this embodiment, the installation and disassembly process of the front-end instrument 110 and the instrument body 100 is as follows: When the front-end instrument 110 is just inserted into the instrument body 100, the outer rod 111 is located in the outer rod through hole 10121 of the quick-release buckle 1012, and at this time the outer rod 111 can move freely along the axial direction; as the outer rod 111 continues to be inserted into place, the outer rod quick-release groove 1111 on the outer rod 111 moves to the snap stop part 10122 of the quick-release buckle 1012. At this time, under the pre-spring force of the instrument button elastic element 1013, the snap stop part 10122 of the quick-release buckle 1012 is pushed into the outer rod quick-release groove 1111 on the outer rod 111. At this time, under the action of the snap stop part 10122, the outer rod 111 cannot be directly pulled out, thus realizing the quick installation of the front-end instrument 110 in the instrument body 100.

[0028] When it is necessary to pull out the outer rod 111 of the instrument, simply press the instrument button 1011 manually. At this time, the force of the elastic element 1013 of the instrument button is canceled out, and the locking stop 10122 on the quick-release buckle 1012 of the instrument disengages from the quick-release groove 1111 on the outer rod of the instrument 111. At this time, the locking stop 10122 can no longer perform the locking function, and the outer rod 111 of the instrument can move freely axially and be pulled out, thus realizing the quick disassembly of the front end instrument 110 in the instrument body 100.

[0029] Therefore, this embodiment enables rapid assembly and disassembly of the front-end instrument 110 and the instrument body 100. The same instrument body 100 can be paired with one or more front-end instruments 110. When configuring other front-end instruments 110, it is not necessary to replace the instrument body 100; only the front-end instrument 110 needs to be replaced. This reduces the variety of instrument bodies 100, making the overall instrument easier to manufacture and install, and lowering the overall manufacturing cost. Preferably, the laparoscopic surgical instrument in this embodiment is an electric laparoscopic surgical instrument.

[0030] Furthermore, with existing laparoscopic surgical instruments, when replacing the front-end instrument 110, the front-end instrument 110 and the instrument body 100 typically need to be disassembled and reassembled before the transmission mechanism can function properly, which is quite cumbersome. Therefore, such as... Figures 4-6 and Figure 9As shown, the main body 100 of this embodiment further includes an end-closing transmission assembly 102 installed within the housing 104. The end-closing transmission assembly 102 includes a closing motor coupling disk 1024 and an end gear 1021. The closing motor coupling disk 1024 can drive the end gear 1021 to rotate. Preferably, the end-closing transmission assembly 102 of this embodiment also includes a closing input gear 1023 and an intermediate gear 1022. The output shaft of the closing motor coupling disk 1024 is connected to the closing input gear 1023. The closing input gear 1023 meshes with the intermediate gear 1022, and the intermediate gear 1022 meshes with the end gear 1021, thus realizing the driving of the end gear 1021 by the closing motor coupling disk 1024. Of course, in other embodiments, the driving of the end gear 1021 by the closing motor coupling disk 1024 can also be realized by other transmission methods, and is not limited to this embodiment. Preferably, the end gear 1021 is a toothed member with partial teeth on its outer periphery. The end gear 1021 is provided with a sliding groove 10211, which is preferably a cylindrical groove. The side wall of the sliding groove 10211 has a clearance opening parallel to its axis. The end of the inner rod 112 of the instrument is provided with a limiting part 1121. The diameter of the limiting part 1121 is larger than the width of the clearance opening and smaller than the diameter of the cylindrical groove. This arrangement allows the limiting part 1121 to be inserted into the sliding groove 10211 axially and to engage with the clearance opening. Preferably, in this embodiment, the limiting part 1121 is a ball head.

[0031] The working process of the end-closing transmission assembly 102 in this embodiment is as follows: When the front end instrument 110 is just inserted into the instrument body 100, but the instrument quick-release buckle 1012 has not yet engaged in the outer rod quick-release slot 1111, the limiting part 1121 of the inner rod 112 can enter the slide groove 10211 of the end gear 1021 as the front end instrument 110 moves axially, thereby driving the end gear 1021 to rotate. When the front end instrument 110 is inserted into place, the instrument quick-release buckle 1012 engages in the outer rod quick-release slot 1111, and the axial movement of the outer rod 111 is restricted. At this time, the limiting part 1121 of the inner rod 112 enters the slide groove 10211 of the end gear 1021. After the front-end instrument 110 is installed, during the operation, when the closing motor coupling plate 1024 is driven to rotate, it will drive the closing input gear 1023 to rotate. The closing input gear 1023 drives the intermediate gear 1022 to rotate, and the intermediate gear 1022 drives the end gear 1021 to rotate. When the end gear 1021 rotates, it will drive the inner rod 112 of the instrument to move along its axial direction. At this time, the outer rod 111 of the instrument is fixed, while the inner rod 112 of the instrument moves axially, thereby realizing the opening and closing of the jaws of the front-end instrument 110.

[0032] When it is necessary to remove the front-end instrument 110 from the instrument body 100, simply press the instrument button 1011 manually to disengage the instrument quick-release latch 1012 from the outer rod quick-release slot 1111 on the outer rod 111. At this time, the outer rod 111 can drive the inner rod 112 to move axially and disengage, while the limiting part 1121 of the inner rod 112 can drive the end gear 1021 to rotate and disengage from the slide groove 10211 of the end gear 1021.

[0033] Therefore, this embodiment enables the front-end instrument 110 to be quickly installed into the end-closing transmission assembly 102 without disassembling the instrument body 100, and enables the front-end instrument 110 to be removed from the end-closing transmission assembly 102 without disassembling the instrument body 100, and enables normal power transmission between the end-closing transmission assembly 102 and the instrument inner rod 112.

[0034] Furthermore, during the use of laparoscopic surgical instruments, after changing the tip instrument 110, it is usually necessary to close the jaws of the tip instrument 110 to avoid affecting normal surgical use. Therefore, as... Figures 10-12 As shown, the end-closing transmission assembly 102 in this embodiment further includes a reset assembly 1025. The reset assembly 1025 includes a wheel-mounted shaft 10251, a guide shaft 10252, a fixed shaft 10253, and a reset elastic element 10254. The fixed shaft 10253 is fixed to the housing 104, the wheel-mounted shaft 10251 is fixed to the end gear 1021, the guide shaft 10252 connects the fixed shaft 10253 and the wheel-mounted shaft 10251, and the reset elastic element 10254 is sleeved on the guide shaft 10252, providing elastic force along the axial direction of the guide shaft 10252. Preferably, the reset elastic element 10254 in this embodiment is a compression spring, used to provide compressive stress along the axial direction of the guide shaft 10252.

[0035] In this embodiment, before the front end instrument 110 is inserted into the instrument body 100, the axis of the guide shaft 10252 is located to the right of the rotation center of the end gear 1021. Force analysis of the end gear 1021 shows that it tends to rotate clockwise under the action of the reset assembly 1025. This embodiment restricts the movement of the end gear 1021 by setting a limiting structure, allowing it to rotate clockwise to its limit position (i.e., the first limit position). At this position, when the inner rod 112 of the front end instrument 110 is inserted along the axial direction, it can smoothly enter the groove 10211 of the end gear 1021.

[0036] When the front-end instrument 110 is inserted into the instrument body 100, the instrument quick-release buckle 1012 engages in the outer rod quick-release slot 1111, restricting the axial movement of the outer rod 111. At this time, the limiting part 1121 of the inner rod 112 enters the slide groove 10211 of the end gear 1021 and pushes the end gear 1021 to rotate counterclockwise. The wheel shaft 10251 follows the end gear 1021 to rotate counterclockwise and drives the guide shaft 10252 to rotate around the fixed shaft 10253 to a new position. At this time, the axis of the guide shaft 10252 is located to the left of the rotation center of the end gear 1021. Through force analysis of the end gear 1021, it can be seen that the end gear 1021 has a tendency to continue to rotate counterclockwise under the action of the reset assembly 1025. Therefore, the end gear 1021 continues to move counterclockwise to the limit position (i.e., the second limit position). Since the movement of the outer rod 111 of the front instrument 110 is restricted at this time, as the end gear 1021 continues to move counterclockwise to the limit position, the slide groove 10211 of the end gear 1021 pulls the inner rod 112 of the instrument inward, thereby achieving the closing of the jaws of the front instrument 110.

[0037] When the front end instrument 110 is pulled out from the instrument body 100, the outer rod 111 of the instrument can drive the inner rod 112 of the instrument to move out along the axial direction, and the limiting part 1121 of the inner rod 112 of the instrument can drive the end gear 1021 to rotate clockwise, so that the axis of the guide shaft 10252 returns to the right side of the rotation center of the end gear 1021, and the end gear 1021 returns to the first limit position.

[0038] Therefore, this embodiment realizes the reset of the end-closing transmission assembly 102 in two different positions before and after the front-end instrument 110 is assembled, so that the jaws of the front-end instrument 110 can close automatically after the front-end instrument 110 is replaced, thus avoiding affecting the normal use of the surgery.

[0039] Furthermore, during the use of laparoscopic surgical instruments, if some front-end instruments 110 are mistakenly installed onto certain special instrument bodies 100, it can lead to problems such as user safety. Therefore, such as... Figures 13-14 As shown, the end-closing transmission assembly 102 in this embodiment also includes an error-prevention assembly 1026. The error-prevention assembly 1026 includes an error-prevention rotating shaft 10261 on the wheel and an error-prevention stop bar 10262. The quick-release buckle 1012 of the instrument is also provided with an error-prevention hole 10123. The error-prevention rotating shaft 10261 on the wheel is mounted on the end gear 1021 and can rotate freely around its own axis. The long rod part of the error-prevention stop bar 10262 passes through the error-prevention hole 10123.

[0040] During the insertion of the front-end instrument 110 into the instrument body 100, the inner rod 112 of the front-end instrument 110 can enter the groove 10211 of the end gear 1021 as the front-end instrument 110 moves axially, thereby driving the rotation of the end gear 1021. The rotation of the end gear 1021 will drive the anti-error rotating shaft 10261 on the wheel to move. At this time, since the long rod part of the anti-error stop 10262 passes through the anti-error hole 10123 on the instrument quick-release buckle 1012, the anti-error rotating shaft 10261 will drive the anti-error stop 10262 to move along the axial direction of the anti-error hole 10123.

[0041] When the front-end instrument 110 inserted into the instrument body 100 is a correctly matched instrument and is fully inserted, the anti-misoperation lever 10262 can just completely disengage from the anti-misoperation hole 10123 on the instrument quick-release buckle 1012. At this time, since the outer rod quick-release groove 1111 also moves to the position of the instrument quick-release buckle 1012, under the elastic force of the instrument button elastic element 1013, the instrument quick-release buckle 1012 can smoothly engage into the outer rod quick-release groove 1111, thereby allowing the front-end instrument 110 to be smoothly installed in the instrument body 100.

[0042] However, when the front-end instrument 110 inserted into the instrument body 100 is an incorrectly paired instrument, taking the example of an inner rod 112 being too short: when the front-end instrument 110 is inserted into place, because the inner rod 112 of the incorrectly paired front-end instrument 110 is too short, it cannot drive the end gear 1021 to rotate sufficiently, causing the anti-misalignment stop 10262 to not fully disengage from the anti-misalignment hole 10123 on the instrument quick-release buckle 1012. At this time, even if the outer rod quick-release slot 1111 moves to the position of the instrument quick-release buckle 1012, the instrument quick-release buckle 1012 cannot move in the direction of the elastic force of the instrument button elastic element 1013 due to the limitation of the anti-misalignment stop 10262 in the anti-misalignment hole 10123, making it impossible for the instrument quick-release buckle 1012 to smoothly engage in the outer rod quick-release slot 1111. At this time, simply moving the front-end instrument 110 outwards will allow it to be pulled out of the instrument body 100, preventing the incorrectly paired front-end instrument 110 from being smoothly installed in the instrument body 100.

[0043] Therefore, this embodiment achieves the inability to install and prevent errors of the incompatible front-end device 110 using a simple error-proofing barrier structure, so that the incompatible front-end device 110 cannot be assembled onto the corresponding device body 100.

[0044] Furthermore, during the use of laparoscopic surgical instruments, in addition to closing the jaws of the front-end instrument 110, it is also necessary to achieve the rotation of the front-end instrument 110 around its own axis. Therefore, as... Figures 15-17As shown, the main body 100 of this embodiment further includes a rotational transmission assembly 130 disposed within the outer casing 104. The rotational transmission assembly 130 includes a rotary motor coupling disk 134 and a rotary sleeve 131. The rotary motor coupling disk 134 can drive the rotary sleeve 131 to rotate. Preferably, the rotational transmission assembly 130 of this embodiment further includes a rotary input gear 133 and a rotary output gear 132. The output shaft of the rotary motor coupling disk 134 is connected to the rotary input gear 133, the rotary input gear 133 meshes with the rotary output gear 132, and the rotary output gear 132 is connected to the rotary sleeve 131, thus realizing the driving of the rotary motor coupling disk 134 on the rotary sleeve 131. More preferably, the axes of the rotary input gear 133 and the rotary output gear 132 are perpendicular. They can be in the form of bevel gear transmission or worm gear transmission, etc., to realize the change of motion direction and facilitate the arrangement of the rotary motor coupling disk 134 and the rotary sleeve 131. Of course, in other embodiments, the rotary motor coupling disk 134 can drive the rotary sleeve 131 through other transmission methods, and this embodiment is not the only one. The outer rod 111 of the instrument is coaxially inserted into the rotary sleeve 131, and the outer rod 111 of the instrument and the rotary sleeve 131 are engaged and limited in the circumferential direction. Preferably, in this embodiment, the inner wall of the rotary sleeve 131 and the outer rod 111 are provided with a guide protrusion 1311 and a guide groove 1112, respectively. When the front end instrument 110 is inserted into the instrument body 100, the guide protrusion 1311 is inserted into the guide groove 1112. At this time, the outer rod 111 of the instrument can move normally axially relative to the rotary sleeve 131, but in the circumferential direction, due to the limitation of the guide protrusion 1311, the outer rod 111 of the instrument and the rotary sleeve 131 can only move synchronously.

[0045] When the front-end instrument 110 is fully inserted into the instrument body 100 and locked in place, the rotation of the rotary motor coupling disk 134 drives the rotary input gear 133 to rotate. The rotary input gear 133 drives the rotary output gear 132 to rotate, and the rotary output gear 132 drives the rotary sleeve 131 to rotate. When the rotary sleeve 131 rotates, it drives the outer rod 111 of the instrument to rotate around its axis, thereby realizing the overall rotation of the front-end instrument 110. Thus, this embodiment achieves quick installation and removal of the front-end instrument 110, while also enabling rotational movement around its own axis via a motor drive. Preferably, in this embodiment, there can be one or more rotary motor coupling disks 134, and correspondingly one or more rotary input gears 133, to adapt to the different working requirements of the front-end instrument 110. Furthermore, in this embodiment, there can be one or more guide protrusions 1311, and correspondingly one or more guide grooves 1112, to improve the accuracy of guidance and limiting.

[0046] The present invention also provides a surgical robot, including the above-mentioned laparoscopic surgical instruments. The surgical robot realizes the pairing of the same instrument body with multiple front-end instruments. It can be quickly disassembled and assembled, is easy to produce, and reduces manufacturing costs.

[0047] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A laparoscopic surgical instrument, characterized in that, The device includes a main body (100) and a front end device (110). The main body (100) includes a housing (104) and an end-closing transmission assembly (102) installed in the housing (104). The front end device (110) includes an outer rod (111) and an inner rod (112). The end-closing transmission assembly (102) includes an end gear (1021) and a reset assembly (1025). The end gear (1021) is provided with a slide groove (10211). The end of the inner rod (112) of the instrument is provided with a limiting part (1121). The limiting part (1121) can be inserted into or removed from the slide groove (10211) along with the inner rod (112) of the instrument, and drive the end gear (1021) to rotate. When the front-end instrument (110) is not inserted into the instrument body (100), the reset assembly (1025) tends to rotate the end gear (1021). Under the action of the reset assembly (1025), the end gear (1021) moves to the first limit position. At this time, the limiting part (1121) can be inserted into the slide groove (10211) along with the inner rod (112) of the instrument. When the front-end instrument (110) is inserted into place, the reset assembly (1025) tends to rotate the end gear (1021) in the opposite direction. Under the action of the reset assembly (1025), the end gear (1021) moves to the second limit position. The slide groove (10211) pulls the inner rod (112) of the instrument inward, so that the jaws of the front-end instrument (110) close.

2. The laparoscopic surgical instrument according to claim 1, characterized in that, The end-closing transmission assembly (102) also includes a closing motor coupling disk (1024), which can drive the end gear (1021) to rotate. When the outer rod (111) of the instrument is inserted into place, the closing motor coupling disk (1024) drives the end gear (1021) to rotate, which can drive the inner rod (112) of the instrument to move axially to open or close the jaws.

3. The laparoscopic surgical instrument according to claim 2, characterized in that, The reset assembly (1025) includes a wheel shaft (10251), a guide shaft (10252), a fixed shaft (10253), and a reset elastic element (10254). The fixed shaft (10253) is fixed on the housing (104), the wheel shaft (10251) is fixed on the end gear (1021), the guide shaft (10252) connects the fixed shaft (10253) and the wheel shaft (10251), and the reset elastic element (10254) is sleeved on the guide shaft (10252).

4. The laparoscopic surgical instrument according to claim 3, characterized in that, When the front-end instrument (110) is not inserted into the instrument body (100), the axis of the guide shaft (10252) is located to the right of the rotation center of the end gear (1021), and the end gear (1021) is located at the first limit position. At this time, the limiting part (1121) can be inserted into the slide groove (10211) along with the inner rod (112) of the instrument. When the front-end instrument (110) is inserted into the position, the axis of the guide shaft (10252) is located to the left of the rotation center of the end gear (1021), and the end gear (1021) moves to the second limit position under the action of the reset assembly (1025). The slide groove (10211) pulls the inner rod (112) of the instrument inward, so that the jaws of the front-end instrument (110) close.

5. The laparoscopic surgical instrument according to claim 1, characterized in that, The instrument body (100) also includes an instrument quick-change assembly (101) installed in the outer shell (104). The instrument quick-change assembly (101) includes an instrument button (1011), an instrument quick buckle (1012), and an instrument button elastic element (1013). The instrument quick buckle (1012) is provided with an instrument outer rod through hole (10121) and a buckle stop part (10122). The outer rod (111) of the instrument can be inserted into the through hole (10121) of the outer rod of the instrument. The outer rod (111) of the instrument is provided with an outer rod quick slot (1111). When the outer rod (111) of the instrument is inserted into place, the quick buckle (1012) of the instrument can be engaged in the quick slot (1111) of the outer rod by the action of the elastic element (1013) of the instrument button. By pressing the instrument button (1011), the quick stop part (10122) can be disengaged from the quick slot (1111) of the outer rod.

6. The laparoscopic surgical instrument according to claim 5, characterized in that, The end-closing transmission assembly (102) further includes an error-prevention component (1026), which includes an on-wheel error-prevention shaft (10261) and an error-prevention stop bar (10262). The quick-release buckle (1012) of the instrument is also provided with an error-prevention hole (10123). The on-wheel error-prevention shaft (10261) is mounted on the end gear (1021) and can rotate around its own axis. The long rod portion of the error-prevention stop bar (10262) passes through the error-prevention hole (10123). When the gear (1021) rotates, it can drive the anti-misalignment shaft (10261) on the wheel to move. The anti-misalignment shaft (10261) on the wheel drives the anti-misalignment stop bar (10262) to move along the axial direction of the anti-misalignment hole (10123). When the front end instrument (110) is the correct matching instrument and is inserted into place, the anti-misalignment stop bar (10262) can be completely withdrawn from the anti-misalignment hole (10123) so that the buckle stop part (10122) can be engaged in the quick-release slot (1111) of the outer rod.

7. The laparoscopic surgical instrument according to any one of claims 1-6, characterized in that, The instrument body (100) also includes a axial rotation transmission assembly (130) disposed in the outer shell (104). The axial rotation transmission assembly (130) includes a rotary motor coupling disk (134) and a rotary sleeve (131). The rotary motor coupling disk (134) can drive the rotary sleeve (131) to rotate. The instrument outer rod (111) is coaxially inserted into the rotary sleeve (131), and the instrument outer rod (111) and the rotary sleeve (131) are engaged and limited in the circumferential direction.

8. The laparoscopic surgical instrument according to claim 7, characterized in that, On the inner wall of the rotating sleeve (131) and on the outer rod (111) of the instrument, one is provided with a guide protrusion (1311) and the other is provided with a guide groove (1112); when the front end instrument (110) is inserted into the instrument body (100), the guide protrusion (1311) is inserted into the guide groove (1112).

9. The laparoscopic surgical instrument according to claim 5 or 6, characterized in that, The instrument button elastic element (1013) is a compression spring. The instrument button (1011) is disposed at one end of the instrument quick buckle (1012) along the first direction, and the instrument button elastic element (1013) is disposed at the other end of the instrument quick buckle (1012) along the first direction. The first direction is perpendicular to the axial direction of the instrument outer rod (111).

10. The laparoscopic surgical instrument according to claim 1, characterized in that, The chute (10211) is a cylindrical chute, and the side wall of the chute (10211) is provided with a clearance opening. The diameter of the limiting part (1121) is greater than the width of the clearance opening and smaller than the diameter of the cylindrical chute.

11. A surgical robot, characterized in that, Includes the laparoscopic surgical instruments as described in any one of claims 1-10.

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