Surgical instruments, operating devices, and surgical robots

Abstract

The present invention provides a surgical instrument, a master device, and a surgical robot. The surgical instrument includes a driver, an end effector, and a long shaft connected between the driver and the end effector. The driver includes a housing and a driving structure disposed within the housing. The proximal end of the long shaft is connected to the housing, and the distal end of the long shaft is connected to the end effector. A driving cable connecting the driving structure and the end effector is disposed through the long shaft. A liquid inlet is provided on the housing, and a diversion structure communicating with the liquid inlet is disposed within the housing. The diversion structure includes an outlet end extending into the long shaft. In the axial direction of the long shaft, the liquid inlet is higher than the outlet end. The surgical instrument of the present invention disposes a diversion structure within the housing to directly send the rinsing fluid into the long shaft, ensuring that there is sufficient pressure to effectively rinse the distal end of the long shaft. Overall, the structure is simple, convenient and efficient, and the rinsing effect is good.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a surgical instrument for minimally invasive surgery, a slave operating device having the surgical instrument, and a surgical robot having the slave operating device. 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. It has many advantages such as less trauma, less pain, and faster recovery. With the advancement of science and technology, minimally invasive surgical robot technology has gradually matured and has been widely used. After being cleaned and disinfected, the surgical instruments are installed on the robot's mechanical arm, which drives the robot to perform the surgical operation.

[0003] In the existing structure, surgical instruments generally include a driver, a long shaft and an end effector. The driver is connected to the driving device in the robotic arm, and a driving cable connecting the driver and the end effector is passed through the long shaft, so that the robotic arm can drive the end effector to perform surgical operations. However, when the surgical instrument is flushed and cleaned, the flushing fluid is usually injected into the driver. Since the long shaft is a slender structure, the flushing fluid is often difficult to reach the distal end of the long shaft due to insufficient pressure, and the distal end of the long shaft cannot be effectively flushed. Summary of the invention

[0004] In view of this, a surgical instrument, a slave operating device and a surgical robot are provided that can effectively flush the distal end of a long axis.

[0005] The present invention provides a surgical instrument, comprising a driver, an end effector, and a long shaft connected between the driver and the end effector, the driver comprising a shell and a driving structure arranged in the shell, the proximal end of the long shaft is connected to the shell, and the distal end of the long shaft is connected to the end effector, a driving cable connecting the driving structure and the end effector is passed through the long shaft, a liquid inlet is arranged on the shell, a guide structure connected to the liquid inlet is arranged in the shell, the guide structure comprises an outlet end extending into the long shaft, and the liquid inlet is higher than the outlet end in the axial direction of the long shaft.

[0006] Preferably, the flow guiding structure includes a first flow guiding tube and a first joint connecting an inlet end of the first flow guiding tube and the liquid inlet, and an outlet end of the first flow guiding tube extends into the proximal end of the long axis.

[0007] Preferably, the first connector is a standard Luer connector.

[0008] Preferably, the diversion structure includes a first diversion pipe and a first joint connecting the inlet end of the first diversion pipe to the liquid inlet. The outlet end of the first diversion pipe is connected with a second joint, and the second joint includes a fluid outlet facing towards the inside of the major axis.

[0009] Preferably, the second joint is a standard adapter. The second joint further includes a fluid inlet facing perpendicular to the orientation of the fluid outlet, and the fluid inlet is inserted into the outlet end of the first diversion pipe.

[0010] Preferably, a second diversion pipe is connected to the fluid outlet of the second joint, and the end of the second diversion pipe extends along the major axis to its distal end.

[0011] Preferably, openings are formed on the pipe wall of the second diversion pipe. During the process that the flushing fluid flows along the second diversion pipe towards the distal end of the major axis, part of the fluid enters the inside of the major axis through the openings for flushing.

[0012] Preferably, a one-way valve is arranged inside the proximal end or the distal end of the major axis. When the surgical instrument is in normal use, the one-way valve remains closed, and when the surgical instrument is being flushed, the one-way valve opens.

[0013] Preferably, a porous pipe is sleeved on the wrist of the end effector, and perforations are formed on the pipe wall of the porous pipe. The flushing fluid enters the wrist through the perforations for flushing.

[0014] Preferably, the liquid inlet includes a first liquid inlet and a second liquid inlet. The first liquid inlet communicates the inner and outer spaces of the housing, and the second liquid inlet is communicated with the diversion structure.

[0015] The present invention further provides an operating device, including at least one robotic arm. The robotic arm includes a plurality of joints and a tool holding arm. The plurality of joints are linked to realize the movement of the tool holding arm with multiple degrees of freedom, and the above-mentioned surgical instrument is detachably mounted on the tool holding arm.

[0016] Preferably, the tool holding arm includes a tool holding arm body and a tool mounting bracket slidable on the tool holding arm body, and the surgical instrument is mounted on the tool mounting bracket.

[0017] Preferably, a trocar is fixed at the distal end of the tool holding arm. During the operation, the surgical instrument passes through the trocar and enters the human body.

[0018] The present invention further provides a surgical robot, including a master operation console and the above-mentioned slave operating device. The slave operating device performs surgical operations on the human body according to the instructions of the master operation console.

[0019] Preferably, the main operation console and the slave operation device are wirelessly connected.

[0020] Preferably, the main operation console and the slave operation device are wired connected.

[0021] Compared with the prior art, the surgical instrument of the slave operation device of the surgical robot of the present invention is provided with a diversion structure in its housing to directly send the rinsing fluid into the long axis, ensuring that there is sufficient pressure to effectively rinse the distal end of the long axis. Overall, the structure is simple, convenient and efficient, and the rinsing effect is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the slave operation device of an embodiment of the surgical robot of the present invention.

[0023] Figure 2 It is a schematic diagram of the first embodiment of the surgical instrument of the present invention.

[0024] Figure 3 is Figure 2 The internal structure schematic diagram of the shown surgical instrument.

[0025] Figure 4 It is a schematic diagram of the second embodiment of the surgical instrument of the present invention.

[0026] Figure 5 is Figure 4 The assembly diagram of the rinsing structure and the long axis of the shown surgical instrument.

[0027] Figure 6 is Figure 5 The exploded view of the rinsing structure in.

[0028] Figure 7 is Figure 4 The schematic diagram of the end effector of the shown surgical instrument.

[0029] Figure 8 is Figure 4 The schematic diagram of the sealing structure of the shown surgical instrument.

[0030] Figure 9 It is a schematic diagram of still another embodiment of the surgical instrument of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. One or more embodiments of the present invention are exemplarily shown in the drawings to make the understanding of the technical solutions disclosed by the present invention more accurate and thorough. However, it should be understood that the present invention can be implemented in many different forms and is not limited to the embodiments described below.

[0032] 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 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 indicates that the change of at least one element will be restricted by another element. "Decoupling" means releasing the coupling relationship, indicating that two elements with a coupling relationship no longer have a coupling relationship, and the change of one element is no longer restricted by another element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method. The terms "distal end" and "proximal end" used herein are used as directional words, which are commonly used terms in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery.

[0033] 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.

[0034] See also Figure 1 The surgical robot includes a main operation console 1000 and a slave operation device 2000. The main operation console 1000 is used to send control commands to the slave operation device 2000 according to the doctor's operation to control the slave operation device 2000, and is also used to display the image obtained by the slave device 2000. The slave operation device 2000 is used to respond to the control command sent by the main operation console 1000 and perform corresponding operations, and the slave operation device 2000 is also used to obtain images in the body.

[0035] Specifically, the slave operation device 2000 includes a robot arm 1, a power mechanism 2 disposed on the robot arm 1, a surgical instrument 3 disposed on the power mechanism 2, and a sleeve 4 sleeved with the surgical instrument 3. The robot arm 1 is used to adjust the position of the surgical instrument 3; the power mechanism 2 is used to drive the surgical instrument 3 to perform a corresponding operation; the surgical instrument 3 is used to extend into the body and perform a surgical operation and / or obtain an in-body image through its distal end instrument.

[0036] like Figure 2 and Figure 3As shown, the surgical instrument 3 includes a driver 10 at the proximal end of the surgical instrument 3 and an end effector 20 at the distal end, as well as a long shaft 30 located between the driver 10 and the end effector 20. The driver 10 is used to connect with the power mechanism 2. The power mechanism 2 has a plurality of actuators (not shown in the figure). The plurality of actuators engage with the driver 10 to transmit the driving force of the actuators to the driver 10. The long shaft 30 is used to connect the driver 10 and the end effector 20. The long shaft 30 is hollow to allow the driving cable 40 to pass through. The driver 10 manipulates the movement of the end effector 20 through the driving cable 40 so that the end effector 20 performs relevant surgical operations.

[0037] The driver 10 includes a housing 12, and a driving structure 14 and a diversion structure 16 arranged inside the housing 12. In this embodiment, a first liquid inlet 121 and a second liquid inlet 122 are provided on the housing 12 of the driver 10 for flushing the surgical instrument of the present invention.

[0038] The first liquid inlet 121 communicates the internal and external spaces of the housing 12. The flushing fluid is poured into the housing 12 from the first liquid inlet 121 to flush the driving structure 14 and the like inside the housing 12. The second liquid inlet 122 is connected to the diversion structure 16 and is used to introduce the flushing fluid into the long shaft 30 to directly flush the long shaft 30. That is to say, the present invention provides two relatively independent flushing paths to flush the driver 10 and the long shaft 30 respectively, ensuring the flushing effect of the long shaft 30. Figure 5 The flow direction of the fluid is shown by arrows. In this embodiment, the diversion structure 16 is a first diversion tube. The first diversion tube is a flexible tube. The flexible first diversion tube can be arbitrarily interspersed and arranged inside the driver 10 and can be conveniently passed through the internal space of the housing 12. One end of the diversion structure 16 serves as a fluid inlet end 160 and is connected to the second liquid inlet 122; the other end serves as an outlet end 162 and extends into the proximal end of the long shaft 30.

[0039] Preferably, the first liquid inlet 121 and the second liquid inlet 122 are provided at the top of the housing 12. The fluid for flushing the driver 10 enters the housing 12 from the first liquid inlet 121 and then flows downward, and finally flows out of the housing 12 from the bottom of the housing 12. The position of the second liquid inlet 122 is higher than the outlet end 162 of the diversion structure 16. The fluid for flushing the long shaft 30 flows into the diversion structure 16 from the second liquid inlet 122, then flows downward along the diversion structure 16 to the proximal end of the long shaft 30, and finally flows downward along the long shaft 30 to the distal end of the long shaft 30 and flows out of the long shaft 30 through the drain port 32. Generally, the fluid for flushing can reach a higher flow rate by using the gravitational potential energy after entering the surgical instrument of the present invention, ensuring more effective flushing of the driver 10 and the long shaft 30.

[0040] The present invention provides two independent flow channels for the driver 10 and the long shaft 30. The fluid for flushing the driver 10 enters the housing 12 through the first liquid inlet 121 to flush the components inside the housing 12; the fluid for flushing the long shaft 30 flows in through the second liquid inlet 122 and flows along the diversion structure 16 into the long shaft 30. In this way, the fluids for flushing the driver 10 and the long shaft 30 do not affect or interfere with each other, and the fluid entering the long shaft 30 will not lose kinetic energy due to the internal structure of the driver 10, so as to ensure that the fluid entering the long shaft 30 has sufficient pressure to flow along the long shaft 30 to its distal end and finally flow out through the drain port 32 at the distal end, achieving the purpose of fully flushing the long shaft 30. Through the setting of the two flow channels, the flushing effect of the entire surgical instrument is good, ensuring the safety and hygiene of subsequent use.

[0041] Figures 4 - 6 Shown is the second embodiment of the surgical instrument of the present invention, which is different from the first embodiment in that: a first connector 17 and a second connector 18 are respectively connected to the inlet end 160 and the outlet end 162 of the diversion structure 16. Among them, the first connector 17 is preferably a standard Luer connector, connecting the inlet end 160 and the second liquid inlet 122; the second connector 18 is a rigid connector, fixed inside the housing 12 or fixed on the long shaft 30. Preferably, the second connector 18 is a standard adapter, including a fluid outlet 180 and a fluid inlet 182 with perpendicular orientations. Among them, the fluid inlet 182 is inserted into the outlet end 162, and the fluid outlet 180 is arranged towards the inside of the long shaft 30. Through the second connector 18, it is possible to avoid the bending generated when the flexible diversion structure 16 enters the long shaft 30, which causes the flushing liquid to not flow smoothly into the long shaft, and the liquid outlet position of the diversion structure 16 can be fixed to avoid the displacement of the diversion structure 16 under the action of fluid pressure, resulting in the flushing fluid not flowing smoothly into the long shaft 30.

[0042] When the surgical instrument of this embodiment is in use, the fluid for flushing the driver 10 is injected into the housing 12 through the first liquid inlet 121, and the fluid for flushing the long shaft flows along the diversion structure 16 to the rigid connector 18 and is injected into the proximal end of the long shaft 30 through its fluid outlet 180, and finally flows downward along the long shaft 30 to the distal end and flows out through the drain port 32 at the distal end, completing the flushing of the long shaft 30. Preferably, as Figure 7 shown, a porous tube 22 is sleeved on the wrist of the end effector 20, and through holes 24 are provided on the tube wall of the porous tube 22, and the flushing fluid enters the wrist through the through holes 24 for flushing.

[0043] Preferably, to prevent gas leakage, a sealing structure 34 is provided at the proximal end or the distal end of the long shaft 30. As Figure 8As shown, the sealing structure 34 is preferably a one-way valve, which is disposed inside the proximal end of the long shaft 30 and below the rigid joint 18. That is to say, along the flow direction of the flushing fluid, the sealing structure 34 is disposed downstream of the rigid joint 18. Thus, when the surgical instrument of the present invention is in normal use, the sealing structure 34 remains closed to prevent gas leakage; on the contrary, when the surgical instrument of the present invention is being flushed, as Figure 8 shown by the dashed line in the figure, the sealing structure 34 opens, and the flushing fluid flows through the sealing structure 34 and towards the distal end of the long shaft 30 to flush the long shaft 30.

[0044] Figure 9 Shown is a third embodiment of the surgical instrument of the present invention, which is different from the second embodiment in that: another second diversion tube 19 is further disposed inside the long shaft 30. One end of the second diversion tube 19 is connected to the fluid outlet 180 of the second joint, and the other end extends along the long shaft 30 to the vicinity of the liquid discharge port 32 at its distal end. Thus, the flushing fluid is directly conveyed to the distal end of the long shaft 30 through the diversion structure 16 and the second diversion tube 19, further enhancing the flushing effect at the distal end of the long shaft 30. Preferably, openings are formed on the tube wall of the second diversion tube 19. During the process of the flushing fluid flowing along the second diversion tube 19 towards the distal end of the long shaft 30, part of the fluid enters the inside of the long shaft 30 through the openings to flush the long shaft 30.

[0045] In summary, the surgical instrument of the present invention directly sends the flushing fluid into the long shaft 30 by disposing the diversion structure 16 inside the housing 12. The fluid flushing the long shaft 30 forms a separate flow path and is not affected by the fluid of the flushing driver 10. Therefore, it can ensure that there is sufficient pressure energy to effectively flush the distal end of the long shaft 30. Overall, the structure is simple, convenient and efficient, and the flushing effect is good. It should be noted that the present invention is not limited to the above embodiments. According to the creative spirit of the present invention, those skilled in the art can also make other changes, and these changes made based on the creative spirit of the present invention should be included within the scope of protection required by the present invention.

Claims

1. A surgical instrument, comprising a driver, an end effector, and a long shaft connected between the driver and the end effector, characterized in that, The driver includes a shell and a driving structure arranged in the shell, the proximal end of the long shaft is connected to the shell, the distal end of the long shaft is connected to the end actuator, a driving cable connecting the driving structure and the end actuator is passed through the long shaft, a liquid inlet is arranged on the shell, a guide structure connected to the liquid inlet is arranged in the shell, the guide structure includes an outlet end extending into the long shaft, the liquid inlet is higher than the outlet end in the axial direction of the long shaft, the liquid inlet includes a first liquid inlet and a second liquid inlet located at the top of the shell, the first liquid inlet is connected to the inner and outer spaces of the shell, and the flushing The fluid inside the shell enters the shell through the first liquid inlet, flows out from the bottom of the shell after flushing the inside of the shell to form a first flushing path; the fluid for flushing the long axis enters the flow guide structure from the second liquid inlet and then enters the long axis, and is discharged from the far end of the long axis after flushing the long axis to form a second flushing path, the first flushing path and the second flushing path are independent of each other, a sealing structure for gas sealing is provided in the long axis, when the fluid enters the long axis through the flow guide structure and flows to the far end, the sealing structure is opened by the fluid, and the sealing structure is in a closed state when there is no flushing.

2. The surgical instrument according to claim 1, wherein The flow guiding structure includes a first flow guiding tube and a first joint connecting an inlet end of the first flow guiding tube and the liquid inlet, and an outlet end of the first flow guiding tube extends into the proximal end of the long axis.

3. The surgical instrument according to claim 2, characterized in that, The first connector is a standard Luer connector.

4. The surgical instrument according to claim 1, characterized in that, The flow guiding structure includes a first flow guiding tube and a first joint connecting the inlet end of the first flow guiding tube and the liquid inlet, the outlet end of the first flow guiding tube is connected to a second joint, and the second joint includes a fluid outlet facing the long axis.

5. The surgical instrument according to claim 4, wherein, The second joint is a standard adapter, and the second joint further comprises a fluid inlet oriented perpendicular to the direction of the fluid outlet, and the fluid inlet is plugged into the outlet end of the first flow guide tube.

6. The surgical instrument according to claim 5, characterized in that The fluid outlet of the second joint is connected to a second flow guiding tube, and the end of the second flow guiding tube extends along the long axis to the distal end thereof.

7. The surgical instrument according to claim 6, characterized in that, An opening is formed on the wall of the second flow guiding tube. When the flushing fluid flows along the second flow guiding tube toward the distal end of the long axis, part of the fluid enters the long axis through the opening for flushing.

8. The surgical instrument according to any one of claims 1-7, characterized in that, The sealing structure is a one-way valve. The one-way valve remains closed when the surgical instrument is in normal use, and opens when the surgical instrument is flushed.

9. The surgical instrument according to any one of claims 1-7, characterized in that, A porous tube is sleeved on the wrist of the end effector, and perforations are formed on the tube wall of the porous tube. Flushing fluid enters the wrist through the perforations for flushing.

10. The surgical instrument according to any one of claims 1-7, characterized in that, The liquid inlet includes a first liquid inlet and a second liquid inlet, the first liquid inlet is connected to the inner and outer spaces of the shell, and the second liquid inlet is connected to the flow guide structure.

11. An operating device, comprising at least one robotic arm, the robotic arm including a plurality of joints and a tool arm, the plurality of joints being linked to achieve movement of the tool arm with multiple degrees of freedom, characterized in that: The surgical instrument according to any one of claims 1 to 10 is detachably mounted on the robotic arm.

12. The operating device according to claim 11, characterized in that, The instrument arm includes an instrument arm body and an instrument mounting bracket that can slide on the instrument arm body, and the surgical instrument is mounted on the instrument mounting bracket.

13. The operating device according to claim 11, characterized in that, A trocar is fixed to the distal end of the instrument arm, and during the operation, the surgical instrument passes through the trocar and enters the human body.

14. A surgical robot, characterized in that: It includes a main operation console and a slave operation device according to any one of claims 11-13, and the slave operation device performs a surgical operation on the human body according to the instructions of the main operation console.

15. The surgical robot according to claim 14, characterized in that, The main operation console and the slave operation device are wirelessly connected.

16. The surgical robot according to claim 14, wherein, The main operation console and the slave operation device are wired connected.

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