Surgical instruments

Abstract

A surgical instrument comprises: an end instrument, a connecting assembly and an end driving part, wherein the connecting assembly is connected to the end instrument; the end driving part has a soft rod and a driving wire, wherein the driving wire passes through the soft rod and is connected to the end instrument, and the soft rod passes through the connecting assembly, and at least one end thereof is a free end.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and in particular to a surgical instrument. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

[0003] With the advancement of science and technology, surgical instruments for minimally invasive surgery have gradually matured and are widely used. Currently, surgical instruments usually have a connection component that can adjust the posture and position of the end instrument. During the operation, the posture and position of the end instrument are adjusted by bending and moving the connection component so that the end instrument can perform the surgical operation at the desired position. Since the connection component needs to be bent frequently during the operation, the drive of the end instrument becomes a design difficulty in surgical instruments, and a better solution needs to be provided to solve the problem of driving the end instrument. Summary of the invention

[0004] Based on this, it is necessary to provide a surgical instrument with better driving performance.

[0005] A surgical instrument, comprising:

[0006] End instruments;

[0007] A connecting component connected to the end device;

[0008] The terminal driving part has a soft rod and a driving wire. The driving wire passes through the soft rod and is connected to the terminal instrument. The soft rod passes through the connecting assembly, and at least one end thereof is a free end. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a structural schematic diagram of an embodiment of a surgical robot;

[0010] Figure 2 , Figure 3 Partial schematic diagrams of different embodiments of the surgical robot;

[0011] Figure 4 It is a structural schematic diagram of an embodiment of a surgical instrument;

[0012] Figures 5 to 32 , Fig.34 They are partial schematic diagrams of different embodiments of surgical instruments;

[0013] Fig.33 for Fig.32 A partial enlarged view. DETAILED DESCRIPTION

[0014] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0015] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method. The terms "distal end" and "proximal end" used herein are directional terms, which are commonly used terms in the field of interventional medical devices, wherein the "distal end" refers to the end away from the operator during surgery, and the "proximal end" refers to the end close to the operator during surgery.

[0016] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0017] like Figure 1 As shown, the surgical robot includes a main operation console 1 and a slave operation device 2. The main operation console 1 is used to send control commands to the slave operation device 2 according to the doctor's operation to control the slave operation device 2, and is also used to display the image obtained by the slave device 2. The slave operation device 2 is used to respond to the control command sent by the main operation console 1 and perform corresponding operations, and the slave operation device 2 is also used to obtain images in the body.

[0018] The slave operation device 2 includes a mechanical arm 21, a power mechanism 22 disposed on the mechanical arm 21, a surgical instrument 23 disposed on the power mechanism 22, and a sleeve 24 for sleeves of the surgical instrument 23. The mechanical arm 21 is used to adjust the position of the surgical instrument 23; the power mechanism 22 is used to drive the surgical instrument 23 to perform corresponding operations; the surgical instrument 23 is used to extend into the body and perform surgical operations and / or obtain in-body images through its distal end instrument. Specifically, Figure 2 , Figure 3As shown, the surgical instrument 23 passes through a sleeve 24 , and its end instrument 100 extends out of the sleeve 24 and is driven by a power mechanism 22 to perform an operation. Figure 2 In the figure, the area where the surgical instrument 23 is located inside the sleeve 24 is a rigid area; Figure 3 In the embodiment, the area where the surgical instrument 23 is located inside the sleeve 24 is a flexible area, and the sleeve bends along with the flexible area. The sleeve 24 may also be omitted.

[0019] like Figure 4 , Figure 5 As shown, the surgical instrument 23 includes: an end instrument 100, a connecting assembly 200, a connecting rod 300, a driving housing 400 and an end driving part 500. The end instrument 100, the connecting assembly 200, the connecting rod 300, and the driving housing 400 are connected in sequence, and the end driving part 500 is partially disposed in the driving housing and connected to the end instrument 100, and is used to drive the end instrument to perform a surgical operation, for example, when the end instrument is a clamp, it drives the end instrument to open and close. In other embodiments, the connecting rod and the driving housing may also be omitted.

[0020] The connection assembly 200 includes a plurality of connection units 210 connected in sequence. The plurality of connection units may be directly connected, for example, the connection unit has a connection shaft, and two adjacent connection units are connected by rotation through the connection shaft; or they may be connected to each other through other components, for example, the plurality of connection units are connected to each other through a connection unit drive wire, and the connection unit drive wire is used to drive the connection assembly 200. The specifications and structures of the plurality of connection units may be the same or different. In other embodiments, the connection assembly may also be other structures.

[0021] The terminal driving part 500 includes a soft rod 510 and a driving wire 520 passing through the soft rod 510. The driving wire 520 is connected to the terminal instrument 100 and is used to drive the terminal instrument 100. The soft rod 510 is used to limit the movement of the driving wire 520. Among them, the stiffness of the driving wire is greater than the stiffness of the soft rod. It can bend with the connecting component and can drive the clamp to open and close. For example, the stiffness is 50 to 70 N / mm. When the driving wire moves from the proximal to the distal direction to drive the terminal instrument, the soft rod can limit its bending, thereby making the movement of the terminal instrument more precise. The friction coefficient between the driving wire and the soft rod is smaller than the friction coefficient between it and the connecting component. In this way, compared with the driving wire being directly set in the connecting component without passing through the soft rod, the soft rod can reduce the friction during driving, which on the one hand prolongs the life of the driving wire and on the other hand further improves the accuracy of the driving.

[0022] In one embodiment, the soft rod 510 is located in the axial area of ​​the connecting component 200 and extends along the connecting component 200. That is, the soft rod is located in the middle area of ​​the connecting component and extends along the connecting component. There is a gap between the soft rod 510 and the connecting component 200 so that the soft rod 510 can swing relative to the connecting component 200 to reduce the friction between the two. For example, the gap is 0.1 to 3 mm; for another example, the gap is 0.2 mm. In other embodiments, the soft rod 510 may not be located in the middle area of ​​the connecting component 200. For example, the soft rod is located in the edge area of ​​the connecting component and extends along the connecting component. For another example, the connecting unit may also have a plurality of receiving holes spaced apart, and the soft rod is located in one of the receiving holes. In this way, the soft rod can select the receiving hole to be installed according to needs.

[0023] like Figure 6 As shown, the soft rod 510 is provided with a threading hole 511, and the drive wire 520 is passed through the threading hole 511. In one embodiment, the threading hole 511 is located in the axial area of ​​the soft rod 510 and extends along the soft rod 510, that is, the drive wire 520 is located in the middle area of ​​the soft rod 510. In other embodiments, the threading hole can also be located in other areas. For example, the threading hole is arranged near the axis of the soft rod 510 and extends along the soft rod 510, that is, the drive wire 520 deviates from the middle area of ​​the soft rod 510. For another example, there are multiple threading holes, which are arranged at intervals from each other, and the drive wire 520 is located in one or part of the threading holes. There is a gap between the drive wire 520 and the inner wall of the threading hole. For example, the gap is 0.05-0.5 mm; for another example, the gap is 0.2 mm.

[0024] In one embodiment, the flexible rod 510 passes through the connecting assembly 200, and at least one end thereof is a free end. The free end refers to an end that can change its direction according to the force applied, so that when the flexible rod 510 is bent by force, its deformation can be reduced, so that the position of the driving wire 520 passing through the flexible rod 510 is more accurate, further ensuring the accuracy of the instrument drive. Figure 6 , Figure 7 In the illustrated embodiment, the free end is the unfixed end of the soft rod 510, and its position is limited by the barrier layer 220 on the connecting assembly 200, please refer to the following for details. In one embodiment, the free end is the end of the soft rod 510 set on the connecting unit through a universal structure, so that the free end can change the direction of the end according to the force it is subjected to, thereby reducing the stretching of the soft rod 510. In other embodiments, the free end can also be limited in position by other structures, as long as it can reduce deformation when subjected to force. It should be noted that in other embodiments, the soft rod may not have a free end, and its ends are all fixedly set.

[0025] When the soft rod 510 has two ends, it can have one free end or two free ends. When the soft rod 510 has one free end, the other end is fixedly set. For example, the distal end of the soft rod 510 is a free end, and the proximal end of the soft rod 510 is fixedly connected to at least one of the connecting assembly 200, the connecting rod 300, and the driving housing 400. The fixed setting can be a non-detachable connection or a detachable connection. When it has two free ends, the two free ends of the soft rod 510 correspond to the structures that limit its position respectively and are arranged adjacent to each other. For example, the two free ends are respectively arranged corresponding to the two blocking layers 220. For another example, one of the two free ends corresponds to the blocking layer, and the other corresponds to the universal structure. When the soft rod 510 is a soft rod 510 with multiple ends, the number of free ends can be configured according to actual needs. For example, the proximal end of the soft rod 510 has one end, the distal end has two ends, and both ends of the distal end can be free ends.

[0026] like Figure 6 , Figure 7 As shown, when the free end is restricted in position by the blocking layer 220, the connection unit 210 is provided with a receiving hole 211, and the soft rod 510 is penetrated by the receiving hole 211. At least one of the connection units is provided with a blocking layer 220, which blocks part of the receiving hole 211 and is used to block the free end of the soft rod 510 to limit the displacement of the free end. Among them, the connection unit provided with the blocking layer 220, its blocking layer does not close the receiving hole 211, so that the driving wire 520 can pass through the receiving hole 211 and connect with the end instrument 100. The blocking layer 220 and the receiving hole 211 form a receiving cavity to accommodate the free end of the soft rod 510. When the connection assembly includes two connection units with blocking layers, the two blocking layers and the receiving holes of the connection unit between the two blocking layers form a receiving cavity to accommodate the soft rod. It should be noted that the specifications of the receiving holes of multiple connection units may be the same or different.

[0027] The barrier layer can have a variety of structures. For example, Figure 6 , 7 In the illustrated embodiment, the barrier layer 220 is a continuous area, that is, only a passage for the driving wire 520 is left on the barrier layer 220, and the rest of the receiving hole 211 is closed. Figure 8 In the illustrated embodiment, the barrier layer 220 is a mesh structure, and the driving wire 520 extends from its mesh, or the driving wire 520 extends from an opening in the barrier layer. Fig. 9 In the embodiment shown, the surface of the blocking layer 220 for blocking the driving rod is a curved surface, and in this case, the soft rod 510 may have a curved surface corresponding thereto. It should be noted that the blocking layer may be integrally formed with the connecting unit or may be a detachable structure, for example, detachably connected to the connecting unit.

[0028] There are many ways to connect the fixed end of the soft rod 510, such as Fig.10 In the illustrated embodiment, the end of the soft rod 510 for fixing is extended with a clamping edge 512, and the clamping edge 512 is clamped with the connecting component. Specifically, the connecting unit 210 is provided with a barrier layer 220, the clamping edge 512 is clamped with the barrier layer 220, and the connecting component has a blocking cover 230 that cooperates with the blocking layer 220 to clamp the clamping edge 512 so that the clamping edge 512 is located between the blocking cover 230 and the barrier layer 220, thereby fixing the end of the soft rod 510. In other embodiments, the barrier layer can also be omitted, in which case the clamping edge clamps the edge area of ​​the connecting component. Alternatively, the blocking cover can also be omitted, in which case the clamping can be clamped by an adjacent structure, for example, the clamping edge is clamped by an adjacent connecting unit. In other embodiments, the soft rod can also be fixed by other means, such as gluing.

[0029] In one embodiment, the position of the soft rod 510 and the driving wire 520 can also be limited by limiting the position of the middle area of ​​the soft rod 510. Fig.11 In the illustrated embodiment, the receiving hole 211 has a first receiving hole 211A and a second receiving hole 211B, and the diameter of the second receiving hole 211B is smaller than the diameter of the first receiving hole 211A, so that the gap between the soft rod 510 and the inner wall of the first receiving hole 211A is larger than the gap between the soft rod 510 and the inner wall of the second receiving hole 211B. The soft rod can be swingable relative to the second receiving hole, that is, there is a larger gap between the two, and it can swing in the hole, or it can be fixed relative to the second receiving hole, that is, there is no gap or the gap is small between the two, so that the position of the first soft rod relative to the second receiving hole is basically fixed, or the soft rod and the connecting component are fixed to each other by a fixing structure. When the position of the soft rod relative to the second receiving hole is basically fixed, the connecting unit with the second receiving hole can be a splicing structure to facilitate the installation of the soft rod. The second receiving hole can reduce the swing of the soft rod, thereby making the control of the end instrument more precise.

[0030] When the connecting assembly has a plurality of second receiving holes, the plurality of second receiving holes are arranged at intervals, that is, at most one second receiving hole is provided between two adjacent connecting units. This can reduce the deformation of the soft rod when it is bent. It should be noted that the second receiving hole can be located in the middle area of ​​the soft rod, or at the proximal end or distal end of the soft rod.

[0031] It should be noted that the position of the soft rod can also be limited by making different areas of the soft rod have different sizes so that the gaps between different areas and the receiving holes of the same specifications are different. Alternatively, the gap between the two can be adjusted by the size of the soft rod and the size of the receiving hole. The distribution of the gap between the soft rod and the receiving hole can be the same as in the above embodiment and will not be repeated here. In addition, the connecting component can also not limit the swing of the middle area of ​​the soft rod, and it can swing according to the force conditions like the free end, which can reduce the deformation of the soft rod when it is bent.

[0032] like Figures 4 to 16 In the illustrated embodiment, a gap 240 is provided between two adjacent connection units 210 of the connection assembly 200 to facilitate relative movement of the connection units, and the soft rod 510 at least covers a portion of the gap 240 in the connection assembly 200. When the soft rod 510 covers the gap 240, the soft rod 510 can limit the bending of the drive wire 520 in the gap area, thereby reducing the bending of the drive wire 520 and improving the driving accuracy.

[0033] The soft rod can cover every gap in the connecting assembly, or only cover part of the gaps in the connecting assembly. When only part of the gaps in the connecting assembly are covered, the covered gaps in the connecting assembly are basically evenly distributed along the connecting assembly, or the gaps between the connecting units with larger relative motion are covered, so that the bending of the drive wire can be minimized. In one embodiment, the uncovered gaps are spaced apart from the covered gaps, wherein there can be either one uncovered gap or multiple uncovered gaps between two covered gaps. It should be noted that the connecting units in the connecting assembly can also have different structures, for example, there are no gaps between some of the connecting units.

[0034] The covered gap can be closed by the soft rod, that is, the gap is completely covered, or partially closed by the soft rod, that is, the gap is not completely covered by the soft rod. When the gap is partially covered by the soft rod, it can limit the bending of the driving wire. In one embodiment, the height of the unclosed area of ​​the gap is 1 to 4 mm.

[0035] like Fig.12 In the illustrated embodiment, the soft rod 510 is located in the gap 240 area and is not received in the receiving hole 211, and only blocks the bending of the driving wire 520 at the gap. At this time, the diameter of the receiving hole is set according to the driving wire 520, which can be slightly larger than the diameter of the driving wire 520 to limit the bending of the driving wire 520, and can also leave a larger activity space for the driving wire 520 to reduce friction. There can be multiple soft rods 510, all of which are set on the corresponding connection unit and cover the corresponding gap.

[0036] The flexible rod may also pass through at least part of the connecting unit. Fig.13In the illustrated embodiment, the soft rod 510 is received in the receiving hole 211 and covers the gap 240, wherein at least one end of the soft rod 510 is received in the connecting unit 210 forming the gap, that is, the end of the soft rod 510 is not in the gap area. For example, both ends of the soft rod are correspondingly received in the receiving holes of the connecting unit forming the gap. In other embodiments, the soft rod may also pass through a complete connecting unit, for example, the soft rod sequentially passes through three connecting units arranged in sequence. For another example, the soft rod passes through a connecting unit and partially passes through a connecting unit adjacent to the connecting unit. In other embodiments, the end of the soft rod may also be located in the gap area, for example, the free end of the soft rod is located in the gap area. The position limitation method and fixing method of the soft rod can refer to the above-mentioned embodiments and will not be repeated here.

[0037] like Fig.14 In the illustrated embodiment, there are multiple soft rods 510, and the multiple soft rods 510 are sequentially arranged along the extension direction of the connecting assembly 200, and the driving wire 520 is sequentially passed through the multiple soft rods 510. The multiple soft rods 510 are arranged at intervals from each other, that is, the ends of the multiple soft rods 510 are not connected to each other, and when they rotate with the connecting assembly 200, the ends of two adjacent soft rods 510 do not interfere with each other. When the connecting assembly 200 is bent, the multiple soft rods 510 are less deformed than one soft rod 510, thereby making the control more accurate.

[0038] In this embodiment, the adjacent ends of the two soft rods 510 are located in the connection unit 210. In other embodiments, the critical ends of the two soft rods may also be located in the gap area, for example, in the same gap, or in different gaps.

[0039] In one embodiment, each flexible rod covers at least one gap. For example, each flexible rod covers only one gap. For another example, each flexible rod covers multiple gaps. Each flexible rod can either completely cover the gap or partially cover the gap.

[0040] In one embodiment, the lengths of the plurality of soft rods 510 are the same. In other embodiments, at least two of the soft rods 510 are different in length. For example, the lengths of the plurality of soft rods 510 are all different. For another example, the lengths of the soft rods 510 in the frequently bent portion of the connection assembly 200 are shorter, and the lengths of the less bent region are longer. For another example, the length of the soft rod 510 at the distal end is shorter than the length of the soft rod 510 at the proximal end.

[0041] In one embodiment, the gaps between the multiple soft rods and the receiving holes can be set as needed. For example, the gaps between at least two soft rods and the corresponding receiving holes are different. For another example, the gaps between the multiple soft rods and the corresponding receiving holes are the same. The gap specifications can be defined by the size of different areas of the soft rods and the size of the receiving holes.

[0042] In one embodiment, the cross-sectional specifications of multiple soft rods are the same. In this case, the soft rod is a columnar structure, and the cross-sectional specifications are the same everywhere, wherein the specifications include shape and size, and the cross-sectional specifications of the soft rod can have a variety of shapes, such as circular, elliptical, triangular, polygonal, etc. In other embodiments, the cross-sectional specifications of at least two soft rods are different. For example, the size of the cross-sectional size of the soft rod at the distal end is smaller than the cross-sectional size of the soft rod at the proximal end, so that the gap between the soft rod at the distal end and the receiving hole is larger than the gap between the soft rod at the proximal end and the receiving hole. For another example, the size of the soft rod in the frequently bent part of the connecting component is smaller than the size of the soft rod in the less bent area, so that the gap between the soft rod in the frequently bent part and the receiving hole is larger than the gap between the soft rod in the less bent area and the receiving hole. For another example, the cross-sectional size of the soft rod includes two sizes, and the soft rods with different sizes are arranged at intervals.

[0043] The cross-section of the same flexible rod may also have different specifications in different regions, for example, the cross-section size at the proximal end of the flexible rod is smaller than the cross-section size at the distal end. For another example, the cross-section shape of the flexible rod at the proximal region is different from the cross-section shape at the distal region.

[0044] When the cross-sectional specifications of the soft rod are different, the gap between the soft rod and the receiving hole is different. In the area with a larger gap, the soft rod is more flexible when bending with the connecting component. When the gap is smaller, the soft rod can reduce its movement in the receiving hole, thereby better limiting the position of the driving wire.

[0045] The stiffness of the multiple soft rods can also be set as needed. For example, the stiffness of the multiple soft rods is the same. For another example, the stiffness of at least two soft rods is different. For another example, the stiffness of the soft rod located in the area where the connection component is often bent is smaller, and the stiffness of the area where the bending is less is larger.

[0046] It should be noted that in other embodiments, the soft rod may be located in the connection unit, and it may not cover the gap, or may cover part of the gap. The specific arrangement, structure and connection method may be the same as those in the above embodiments, and will not be repeated here.

[0047] In one embodiment, the flexible rod 510 is provided with a bending opening 513 to assist the flexible rod 510 in bending, thereby further reducing the deformation of the flexible rod 510 when bending. The bending openings may have a variety of distribution patterns. Fig.15 In the illustrated embodiment, there are multiple bending openings 513, all located on one side of the center line of the soft rod 510. Fig.16In the illustrated embodiment, there are multiple bending openings 513 located on opposite sides of the center line of the soft rod 510. In this embodiment, the bending openings 513 located on both sides are staggered along the soft rod 510. The staggered arrangement means that the bending opening on the first side 11 is between the two bending openings on the second side 12, wherein the bending opening on the first side can be arranged adjacent to the two bending openings on the second sides, or can be arranged non-adjacently. For example, three first-side bending openings are located between two second-side bending openings, and the three first-side bending openings are arranged in sequence. It should be noted that the staggered bending openings on both sides can be staggered regularly or irregularly. Fig.17 In the illustrated embodiment, the soft rod 510 has a plurality of bending openings 513, and the plurality of bending openings 513 are distributed along the periphery of the soft rod 510 in the extension direction of the soft rod 510. Fig.18 In the illustrated embodiment, the plurality of bending openings 513 are distributed in a stepped manner along the extension direction of the soft rod 510 .

[0048] It should be noted that the bending opening can be located in the gap area of ​​the connecting component 200, or in the connecting unit of the connecting component 200, or partially in the gap area and partially in the connecting unit.

[0049] The bending opening can have various shapes, for example, the bending opening is a strip-shaped opening. For another example, the bending opening is a strip-shaped tangent line, that is, the bending opening is a cut on the soft rod 510. For another example, the bending opening is a wave-shaped

[0050] like Figures 19 to 22 As shown, the inner wall of the receiving hole 211 and / or the soft rod 510 has a contact area, so that the soft rod 510 partially contacts the receiving hole 211, that is, when the soft rod and the connecting component both extend in a straight line, and the soft rod is located on one side of the connecting component, the soft rod contacts the receiving hole through the contact area, and the side of the non-receiving hole contacts the soft rod. In this way, the contact area allows a part of the soft rod 510 to contact the connecting component 200, reducing its contact area with the connecting component 200, thereby reducing friction.

[0051] The abutment area may have a variety of structures, wherein the abutment area may be a curved surface, or a flat surface, etc. Fig.19 In the embodiment shown, the receiving hole 211 is a conical hole, and the abutment area is an area where the diameter of the conical hole is smaller. That is, the abutment area is an opening area where the diameter of the conical hole is smaller. It should be noted that the connection unit with a conical hole can also be used to limit the position of the free end of the soft rod. When one of the opening areas is smaller and the soft rod 510 cannot pass through, the position of the free end of the soft rod is limited. Fig. 20 In the illustrated embodiment, a protrusion extends from the inner wall of the receiving hole 211, and the abutting area is located on the protrusion. The protrusion may be one or more. For example, the protrusion may be more than one and distributed along the periphery of the connecting unit, that is, along the periphery of the receiving hole. Fig.21In the embodiment shown, the receiving hole 211 is hourglass-shaped, and the raised area on the inner wall is the abutment area. It can also be understood that the receiving hole 211 is two conical holes connected to each other, and the raised area is the area where the two conical holes are connected, wherein the specifications of the two conical holes forming the receiving hole can be the same or different, that is, the raised area can be located in the middle of the connection unit or close to the edge. Fig. 22 In the illustrated embodiment, the abutting area is provided on the soft rod 510 . Specifically, the soft rod 510 is provided with a protrusion to abut against the inner wall of the receiving hole.

[0052] In one embodiment, the contact areas of the connection units are the same. In other embodiments, the contact areas of at least two connection units may be different.

[0053] like Fig.23 In the illustrated embodiment, the end instrument 100 has two rotatably connected clamping parts 110, wherein the clamping part 110 has a clamp 111, an insulating member 112, and a rotating member 113 connected in sequence, the clamp 111 forms an electrode, and is insulated from the rotating member 113 by the insulating member 112, and the two rotating members 113 are rotatably connected to drive the two clamps 111 to open and close. In this way, the clamp 111 is insulated from the rotating member 113 and the connecting assembly 200 by the insulating member 112, thereby improving the stability of the surgical instrument. In this embodiment, the clamp 111 and the rotating member 113 are both made of metal materials to ensure their rigidity; in other embodiments, the rotating member 113 may also be made of insulating materials, in which case the rotating member 113 is connected to the clamp 111 through the insulating member 112, or the insulating member 112 may be omitted.

[0054] It should be noted that the end instrument 100 may also have other structures, for example, the insulating member 112 is located between the two rotating members 113 to insulate the two rotating members 113 from each other. For another example, the clamp 111 is connected to the rotating member 113, the insulating member 112 is located on the body to insulate the clamp 111 from the connecting assembly 200, and the insulating member 112 insulates the two rotating members 113 from each other, wherein the two rotating members 113 are arranged on the body through a rotating shaft to rotate relative to the body, and the connecting assembly is connected to the body. For another example, the insulating member is omitted from the clamping portion.

[0055] like Fig.23 In the illustrated embodiment, the jaws 111 extend outwardly from the insulating member 112, and extend outwardly from the insulating member 112 in a distal direction. Fig.24In the illustrated embodiment, the clamp 111 does not extend out of the insulating member 112 in the distal direction. Specifically, the clamp 111 is embedded in the insulating member 112 and has a clamping surface 101, and the clamping surfaces 101 of the two clamps are arranged opposite to each other. At this time, the clamping surface 101 of the clamp 111 protrudes from the insulating member 112. In other embodiments, the clamping surface 101 of the clamp 111 can also be flush with the surface of the insulating member 112 or embedded in the insulating member 112. For example, one clamping surface 101 protrudes from the insulating member 112, and the other clamping surface 101 is embedded in the insulating member 112. For another example, both clamping surfaces 101 are flush with the insulating member 112. It should be noted that when the clamping surface is embedded in the insulating member 112, the degree of embedding can still ensure that the two electrodes can be conductive when clamping the tissue.

[0056] In one embodiment, each clamp 111 forms an electrode. Fig.25 In the embodiment shown, multiple electrodes 102 may also be formed on each clamp 111. In this case, the electrodes 102 on the two clamps 111 are correspondingly arranged to form a loop when clamping tissue. In this embodiment, the clamp 111 is provided with a conductive sheet, and the conductive sheet forms an electrode. When one clamp 111 has one electrode, there is one conductive sheet. In addition, the entire clamp 111 may also form one electrode.

[0057] like Fig.23 , Fig.24 As shown, the insulating member 112 at least wraps around two surfaces of the end of the clamp 111 and / or the rotating member 113, so as to make it firmly connected with the clamp 111 and / or the rotating member 113. Alternatively, the clamp 111 and / or the rotating member 113 can also wrap around at least two surfaces of the distal end of the insulating member 112 to firmly connect. The insulating member 112 and the clamp 111 and / or the connecting member can be connected in a variety of ways, for example, through a connecting structure; for example, integrally formed; for example, the insulating member 112 and the clamp 111 and / or the rotating member 113 are riveted. In other embodiments, the insulating member 112 can also be connected to only one surface of the clamp 111 and / or the rotating member 113.

[0058] Figure 23 to Figure 26 In the illustrated embodiment, the end instrument 100 further comprises a body 120, and two rotating members 113 are disposed on the body 120 via a rotating shaft to rotate relative to the body 120, wherein the position of the rotating shaft is fixed relative to the body 120. In this embodiment, the end instrument 100 further comprises a push rod 130 connected to the rotating member 113, and the push rod 130 and the rotating member 113 form a four-bar mechanism to drive the jaws 111 to open and close by driving the push rod 130. Among them, the driving wire 520 of the end driving part 500 is connected to the push rod, and the jaws 111 are driven by the push rod.

[0059] In other embodiments, the clamping portion 110 may also be driven by other structures. Alternatively, the push rod may be omitted, and the driving wire 520 of the end driving portion 500 is directly connected to the rotating member 113 to drive the rotating member 113 to rotate.

[0060] Figure 27 to Figure 29 In the illustrated embodiment, the surgical instrument further includes an electrocoagulation assembly. Specifically, the electrocoagulation assembly has a wire 610, the distal end of which is electrically connected to the clamp 111 so that the clamp 111 forms an electrode; the portion of the wire 610 located in the connecting assembly 200 is in a relaxed state; the wire has a fixed connection area 611, which is fixed to the main body and / or the end instrument 100 so that the distal end area of ​​the wire is close to the end instrument 100. Among them, the main body includes at least one of the connecting assembly, the connecting rod, and the driving housing, for example, the main body includes the connecting assembly and the connecting rod; for another example, the main body includes the connecting assembly and the driving housing. When the fixed connection area of ​​the wire is in the connecting assembly, at least one area of ​​the wire in the connecting assembly is in a relaxed state. The relaxed state means that when the connecting assembly extends in a straight line, the length of the wire in the connecting assembly is greater than the length of the connecting assembly; or when the connecting assembly is bent, the length of at least one wire in the connecting assembly is greater than the length of the wire in the connecting assembly when the connecting assembly extends in a straight line, and the tension of the wire remains substantially unchanged. For example, the length of the wire inside the connecting rod is greater than the length of the connecting rod. When the connecting assembly is bent, the part of the wire inside the connecting rod is moved into the connecting assembly to meet the bending requirements of the connecting assembly. For another example, the wire is stored in a wire storage part, and the storage part can store and release the wire. When the connecting assembly is bent, the storage part releases the wire to make the part of the wire inside the connecting assembly longer. It should be noted that the end instrument can also be a surgical instrument such as an electric hook. When it is an electric hook, the electric hook is connected to the wire to form an electrode.

[0061] Since the connecting component of the above surgical instrument is partially in a loose state, the wire will not be too tight when the connecting component is bent, thereby improving the accuracy of surgical instrument operation and extending its life. The fixed connection area can limit the looseness of the wire, thereby preventing the wire in the terminal instrument area from being too loose.

[0062] The fixed connection area can be set as required. Fig. 27In the illustrated embodiment, the fixed connection area 611 is located in the area of ​​the rotating member 113. The rotating member 113 area may be an element on the rotating member 113, on the body 130, on the shaft, etc., which is located in the area where the rotating member 113 is located. In this embodiment, the fixed connection area 611 is fixed to the area of ​​the body 130 near the shaft, so that when the clamping portion 110 is opened and closed, the first distance between the area of ​​the body 130 where the fixed connection area 611 is set and the area where the distal end of the clamp 111 is set remains substantially unchanged. And in this embodiment, the second distance between the fixed connection area and the distal end of the wire is substantially the same as the first distance, so that the wire is substantially in contact with the clamping portion 110, avoiding the wire from being too loose to affect the operation or bring safety hazards. At this time, since the first distance remains substantially unchanged, it will not cause the wire to be pulled.

[0063] In other embodiments, the fixed connection area of ​​the wire located in the rotating member 113 area can also be set on the rotating member 113, for example, located in the rotating shaft area of ​​the rotating member 113. Alternatively, the fixed connection area can also be set on the rotating shaft. Fig.28 As shown, the fixed connection area 611 is not in the axis area, which can also be understood as being not on the axis or other areas corresponding to the axis. At this time, the second distance needs to be slightly larger than the first distance to leave space when the clamping portion 110 is opened and closed to avoid the wire being tightened.

[0064] In other embodiments, the second distance on the wire may be slightly larger than the first distance, for example, the second distance is 1 to 3 mm larger than the first distance. At this time, the wire extends along the clamping portion and is in a relaxed state.

[0065] The fixed connection area may also be located on the body of the surgical instrument. In one embodiment, the fixed connection area is located at the proximal end of the body and is closer to the proximal end than the proximal end of the connection assembly 200. Fig.29 As shown, the fixed connection area is arranged in the connecting rod 300; in another example, the fixed connection area is arranged on the driving housing. In one embodiment, the fixed connection area is arranged on the connecting unit at the proximal end of the connecting component. In this way, it can be ensured that the connecting component will not be tightened when bent, and the proximal end of the wire will not be pulled.

[0066] In one embodiment, the fixed connection area can also be arranged on the connection component. The fixed connection area divides the wire in the connection component into at least two areas, wherein at least one area is in a relaxed state, for example, both areas are in a relaxed state. When the fixed connection area is located in the connection component, the displacement of the wire when the connection component is deflected can be reduced.

[0067] The fixed connection area of ​​the wire can be one or more. When there are more than one, they can be set at the positions in the above embodiments. For example, one of them is located in the rotating member 113 area, and one is located in the connecting rod 300 or the driving housing. For another example, one of them is located in the connecting rod 300, and the rest are located in the connecting assembly 200.

[0068] In one embodiment, a guide is provided on the clamping portion 110, and the area where the wire is located on the clamping portion 110 extends along the guide so that the wire is close to the clamping portion 110. Fig.30 As shown, the guide member 114 is provided with a guide hole 103 and an opening 104 connected to the guide hole 103, so that the wire is received in the guide hole through the opening. In other embodiments, the opening may be omitted, and the wire is passed through the guide hole to be received in the guide hole. For another example, the guide member is a guide groove provided on the clamping portion 110, and the wire is received in the guide groove, wherein the guide groove is located on the surface opposite to the clamping portion 110. In other embodiments, the guide groove may also be located on other surfaces of the clamping portion 110, for example, on the side of the clamping portion 110, wherein the side refers to the surface adjacent to the surface opposite to the two clamping portions 110. For another example, the guide member includes a guide groove provided on the clamping portion 110 and a guide unit for guiding the guide groove, the wire is received in the guide groove, and the wire is confined in the guide groove by the guide unit. For example, the guide unit is a gear lever, and its extension direction is non-parallel to the extension direction of the guide groove.

[0069] In one embodiment, the wire is passed through the connecting component and extends along the connecting component, and is located in the axis area of ​​the connecting component. For example, the wire extends along the axis of the connecting component. For another example, the wire is arranged adjacent to the axis of the connecting component. The two wires can pass through the connecting component through one perforation or through two perforations.

[0070] In one embodiment, the surgical instrument further comprises a wire receiving rod through which the connecting assembly is passed, which has a receiving cavity, the wire passing through the wire receiving rod, and the wire is spaced apart from the inner wall of the receiving cavity, i.e., there is a gap. The structure of the receiving rod can be the same as the soft rod in the above embodiments, and is used to protect and limit the wire, which will not be repeated here.

[0071] like Figure 31 to Figure 34In the illustrated embodiment, the end driving part 500 of the surgical instrument has a driving wire 520, a driving assembly 530 and a positioning assembly 540. The driving wire 520 passes through the connecting assembly 200 and is connected to the end instrument 100. It can bend with the connecting assembly 200, and the driving wire 520 has a driving connection area 521, which is connected to the driving assembly 530. At least a part of the area of ​​the driving wire 520 located outside the connecting assembly 200 is positioned by the positioning assembly 540, so that the driving assembly drives the driving wire 520 to move in a straight line, thereby driving the end instrument 100. Among them, the rigidity of the driving wire 520 is greater than the rigidity of the connecting unit driving wire 520 that drives the connecting assembly 200 to bend, and it can bend with the connecting assembly 200. The driving assembly 530 drives the driving wire 520 to move in a straight line, which means that at least the driving connection area 521 of the driving wire 520 moves in a straight line with the driving assembly 530. The end instrument 100 can be selected according to needs. For example, it has a clamp 111, and the driving wire 520 drives the clamp 111 to open and close by feeding; for another example, the driving wire 520 drives the end instrument 100 to rotate by feeding. At this time, the end instrument 100 can have a worm gear structure connected to the distal end of the driving wire 520.

[0072] When the driving wire 520 of the above-mentioned surgical instrument is pushed toward the distal direction, the positioning mechanism can limit the position of the driving wire 520, thereby reducing the error caused by the bending of the driving wire 520, making the operation of the surgical instrument more precise.

[0073] In one embodiment, when the connection component 200 is in the initial state, the moving direction of the drive connection area is the same as the extension direction of the connection component 200, wherein the initial position of the connection component 200 refers to the state where the connection component 200 extends in a straight line without bending, and in the initial state, the drive wire 520 is in a straight line state, which is the same as the moving direction of the drive connection area thereon. In other embodiments, when the connection component 200 is in the initial state, the moving direction of the drive connection area forms an angle with the extension direction of the connection component 200, for example, the angle is an obtuse angle, at this time, the area where the drive wire 520 is located in the connection component 200 is limited in position by the internal structure of the connection component 200, for example, the position of the drive wire is limited by the receiving hole 211 on the connection unit. It should be noted that in one embodiment, the drive wire 520 extends along the axis of the connection component 200, that is, the drive wire 520 is located in the middle area of ​​the connection component 200, which further improves the operation accuracy.

[0074] The positioning assembly can have a variety of structures. Fig.31 In the illustrated embodiment, the end driving part 500 has a soft rod 510 passing through the connecting assembly 200, and the driving wire 520 passes through the soft rod 510. The soft rod 510 extends out of the connecting assembly 200, so that the portion of the soft rod 510 extending out of the connecting assembly 200 forms a positioning assembly 540, thereby reducing the bending of the driving wire 520. Fig.32 , 33 In the illustrated embodiment, the positioning assembly 540 includes a positioning slot, and the drive wire 520 is located in the positioning slot and moves along the positioning slot to limit its bending through the positioning slot. Fig.34 As shown, the positioning component 540 wraps the drive connection area to prevent the area from bending. The positioning component is arranged on the drive assembly and moves with the drive assembly together with the drive wire 520. The drive connection area can be arranged on the drive assembly through the positioning component or directly on the drive assembly. In one embodiment, the positioning component is strip-shaped, for example, the length of the positioning component is 5 to 10 mm. Alternatively, there can be multiple positioning components, and the multiple positioning components are arranged at intervals and distributed along a straight line.

[0075] It should be noted that the positioning component can also be a combination of the above-mentioned embodiments. For example, the positioning component includes an area where the soft rod 510 extends out of the positioning component and a positioning groove, wherein the soft rod 510 is located in the positioning groove, and the positioning groove positions the drive wire 520 through the soft rod 510.

[0076] In one embodiment, the positioning assembly 540 is disposed adjacent to the drive connection area 521 to minimize the distance between the positioning assembly and the connection area, thereby improving accuracy. Fig.31 As shown, the extension area of ​​the soft rod 510 is arranged adjacent to the connection area 521, and the extension area of ​​the soft rod 510 will not interfere with the drive assembly 530. For example, when the drive connection area 521 is located at the extreme position in the distal direction, it is basically located in the proximal area of ​​the soft rod 510, that is, when the drive assembly drives the connection area to move to the extreme position at the distal end, the proximal end of the soft rod 510 and the edge of the connection area are basically located on the same plane. For another example, when the drive connection area is located at the extreme position in the distal direction, the proximal end of the soft rod 510 is located at the distal end of the drive connection area, and the distance between the two is 3 to 10 mm. Fig.32 In the illustrated embodiment, the side wall on one side of the positioning groove covers the driving connection area when the driving connection area moves, so that the side wall on one side is located at the extreme position when the moving connection area moves to the far end.

[0077] In one embodiment, the driving assembly is a belt transmission assembly, including two pulleys and a conveyor belt connecting the two pulleys, and the driving connection area of ​​the driving wire 520 is connected to the conveyor belt and moves along a straight line with the conveyor belt. Among them, the driving assembly is a synchronous wheel assembly. In other embodiments, the pulley can drive the conveyor belt to move by friction. Alternatively, in other embodiments, the driving assembly can also have other structures to drive the driving wire 520 to move, for example, the driving assembly is a gear rack mechanism, and the driving wire 520 is arranged on the rack.

[0078] In one embodiment, the drive wire 520 is welded to the drive assembly, for example, the drive connection area of ​​the drive wire 520 is welded to the conveyor belt. When the welding area is strip-shaped, it can also be understood that the welding area is a positioning assembly, which wraps the drive connection area. In one embodiment, the drive wire 520 can also be arranged on the drive assembly through a connector. For example, the connector is welded to the drive wire. For another example, the drive wire 520 is clamped with the connector, and the connector is arranged on the conveyor belt. Specifically, the drive wire 520 extends with a clamping edge, and the clamping edge is clamped with the connector, wherein the connector is provided with a clamping groove, the clamping edge is clamped with the clamping groove, and the clamping edge is located inside the connector. At this time, it can also be understood that the positioning assembly includes a connector.

[0079] In one embodiment, the distal end of the drive wire 520 is the drive connection area, and in this case, the drive assembly is at least partially disposed in the drive housing. In other embodiments, the proximal end of the drive wire 520 may also be the drive connection area, that is, the drive assembly is at least partially disposed adjacent to the end instrument 100. Alternatively, the drive connection area may also be the middle area of ​​the drive wire 520, not the end area.

[0080] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0081] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A surgical instrument, characterized in that: include: End instruments; A connecting component connected to the end device; The end driving part has a soft rod, a driving wire, a driving assembly and a positioning assembly. The driving wire passes through the soft rod and is connected to the end instrument. The soft rod passes through the connecting assembly, and at least one end thereof is a free end. At least a part of the area of ​​the driving wire outside the connecting assembly is positioned by the positioning assembly, so that the driving assembly drives the driving wire to move in a straight line. The driving assembly includes two pulleys and a conveyor belt connecting the two pulleys. The driving connection area of ​​the driving wire is connected to the conveyor belt and moves in a straight line with the conveyor belt.

2. The surgical instrument according to claim 1, characterized in that: The connection assembly includes a plurality of connection units, each of which is provided with a receiving hole, and the soft rod passes through the receiving hole, wherein at least one of the connection units is provided with a blocking layer to block part of the receiving hole to limit the displacement of the free end.

3. The surgical instrument according to claim 2, characterized in that: The soft rod has two free ends, and the connecting assembly includes two connecting units with the barrier layer, which correspond to the two free ends respectively and are arranged adjacent to each other.

4. The surgical instrument according to claim 2, characterized in that: The barrier layer is a continuous area, and a channel for sleeve-mounting the driving wire is opened on the barrier layer.

5. The surgical instrument according to claim 2, characterized in that: The barrier layer has a mesh structure, and the driving wires extend from the meshes of the barrier layer.

6. The surgical instrument according to claim 2, characterized in that: The blocking layer is used to block the surface of the soft rod from being a curved surface.

7. The surgical instrument according to claim 1, characterized in that: One end of the soft rod is fixedly arranged.

8. The surgical instrument according to claim 7, characterized in that: A clamping edge extends from the end of the flexible rod for fixing, and the clamping edge is clamped with the connecting assembly.

9. The surgical instrument according to claim 1, characterized in that: The connection assembly comprises a plurality of connection units, each of which is provided with a receiving hole, through which the soft rod passes, and the gaps between at least two of the receiving holes and the soft rod are different.

10. The surgical instrument according to claim 9, characterized in that: The receiving hole comprises a first receiving hole and a second receiving hole. The diameter of the second receiving hole is smaller than the diameter of the first receiving hole and is used to limit the swing of the soft rod.

11. The surgical instrument according to claim 10, characterized in that: The second receiving holes are multiple and arranged at intervals.

12. The surgical instrument according to claim 1, characterized in that: The cross-sectional specifications of each area of ​​the soft rod are different.

13. The surgical instrument according to claim 1, characterized in that: The middle area of ​​the soft rod is fixedly connected to the connecting assembly.

14. The surgical instrument according to claim 1, characterized in that: The soft rod is located in the axial region of the connecting component and extends along the connecting component.

15. The surgical instrument according to claim 1, characterized in that: There is a gap between the soft rod and the connecting component.

16. The surgical instrument according to claim 15, characterized in that: The gap is 0.1~3mm.

17. The surgical instrument according to claim 1, characterized in that: The soft rod is provided with a threading hole, and the driving wire is passed through the threading hole.

18. The surgical instrument according to claim 17, characterized in that: The threading hole is located in the axial region of the soft rod and extends along the soft rod.

19. The surgical instrument according to claim 17, characterized in that: The threading hole is arranged adjacent to the axis of the soft rod and extends along the soft rod.

20. The surgical instrument according to claim 17, characterized in that: There are multiple threading holes, which are spaced apart from each other.

21. The surgical instrument according to claim 17, characterized in that: There is a gap between the driving wire and the inner wall of the threading hole.

22. The surgical instrument according to claim 21, characterized in that The gap is 0.05~0.5mm.

23. The surgical instrument according to claim 1, characterized in that: The stiffness of the driving wire is greater than the stiffness of the soft rod.

24. The surgical instrument according to claim 1, characterized in that The friction coefficient between the driving wire and the soft rod is smaller than the friction coefficient between the driving wire and the connecting assembly.

25. The surgical instrument according to claim 1, characterized in that The connection assembly comprises a plurality of connection units connected in sequence, a gap is left between two adjacent connection units for bending, and the soft rod at least covers part of the gap in the connection assembly.

26. The surgical instrument according to claim 25, characterized in that The covered gap is partially closed; or the covered gap is completely closed by the soft rod.

27. The surgical instrument according to claim 1, characterized in that The connecting assembly corresponds to a plurality of the soft rods.

28. The surgical instrument according to claim 1, characterized in that The soft rod is provided with a bending opening to assist the bending of the soft rod.

29. The surgical instrument according to claim 1, characterized in that The connection assembly includes a plurality of connection units, each of which is provided with a receiving hole, the soft rod passes through the receiving hole, and the inner wall of the receiving hole and / or the soft rod have a contact area so that the soft rod partially contacts the receiving hole.

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