Surgical instrument, slave device and surgical robot

Abstract

The application belongs to the technical field of medical instruments, and provides a surgical instrument, an operating device and a surgical robot, the surgical instrument comprising a driver, an end effector, and a long shaft connecting the driver and the end effector, the driver comprising a shell and a driving mechanism arranged at least partially in the shell, the driving mechanism comprising a first driving assembly, a connecting piece and a rotating shaft, the connecting piece being wound around the rotating shaft, the first driving assembly being connected to two ends of the connecting piece and driving the two ends of the connecting piece to move reversely, and the rotating shaft being connected to the long shaft. The application drives the rotating shaft to rotate through the first driving assembly and the connecting piece, the assembly structure formed by the rotating shaft and the connecting piece is compact, the space occupied in the radial direction is small, and the distance from the rotating shaft to the outer surface of the shell can be reduced; when the long shaft is inserted into a human body incision, the diameter of the incision required is small, which is beneficial to reduce the trauma of the patient and reduce the pain of the patient, and shorten the recovery time of the patient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a surgical instrument, a slave operating device and a surgical robot. BACKGROUND

[0002] Minimally invasive surgery refers to a surgical procedure performed inside a human body cavity using a laparoscope, a thoracoscope or other modern medical devices and related equipment. Compared with traditional surgical procedures, minimally invasive surgery has the advantages of less trauma, less pain and faster recovery. In minimally invasive surgery, a plurality of surgical instruments are connected to the distal end of a surgical robot, and the distal ends of the plurality of surgical instruments enter the human body through one incision. The surgical instruments usually include a driver, a long shaft and an end effector connected in sequence, and the end effectors of different surgical instruments are respectively used to perform different surgical operations, such as different end effectors being an electric cauter, a forceps, a stapler, a cutting device, an imaging device (such as an endoscope or an ultrasonic probe) and the like.

[0003] The distal ends of the plurality of surgical instruments are inserted into one hole (incision) through their respective long shafts. Due to the small diameter of the hole, the space inside the hole is limited, causing the problem of difficult insertion of the long shafts. The current solution to this problem is to tilt the main shaft used to connect the long shafts at a certain angle relative to the driver, and to support the rotation of the main shaft inside the driver by installing a conventional deep groove ball bearing. However, this results in the long shafts also being tilted, and when the plurality of long shafts are brought together inside the hole, a larger incision area is required, and the plurality of long shafts also generate a large friction between each other when moving. This solution cannot effectively solve the problem of the large incision area occupied by the surgical instruments. Therefore, how to arrange the plurality of surgical instruments in a limited incision area and ensure that each surgical instrument moves without interfering with each other is still a technical problem to be solved in the field. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a surgical instrument, which aims to solve the technical problem of the large incision area occupied by the surgical instrument of the prior art in single-hole surgery.

[0005] The embodiments of the present application are implemented in the following manner. A surgical instrument includes a driver, an end effector, and a long shaft connecting the driver and the end effector.

[0006] The driver includes a housing and a driving mechanism at least partially disposed in the housing; the driving mechanism includes a first driving assembly, a connecting piece and a rotating shaft, the connecting piece is wound on the rotating shaft, and the first driving assembly connects both ends of the connecting piece and drives both ends of the connecting piece to move in opposite directions; and the rotating shaft is connected to the long shaft.

[0007] In one embodiment, a pressing groove is provided on the outer circumferential surface of the rotating shaft, and the connecting piece is partially disposed in the pressing groove.

[0008] In one embodiment, the grooves are arranged along the circumference of the rotating shaft, and the corresponding central angle of the grooves is less than 180°; and / or, the grooves are arranged in a spiral shape on the outer circumferential surface of the rotating shaft.

[0009] In one embodiment, two protrusions are formed on the outer circumferential surface of the rotating shaft and spaced in the axial direction of the rotating shaft, and the grooves are formed between the protrusions; or, the grooves are recessed on the outer circumferential surface of the rotating shaft.

[0010] In one embodiment, the shell comprises a base, a support connected to one side of the base, and an upper cover connected to both the base and the support; the rotating shaft passes through the support; and the first driving assembly is arranged on the base.

[0011] In one embodiment, the support comprises an upper support and a lower support connected in the axial direction of the rotating shaft, a first fixing groove is formed on the upper support in the axial direction of the rotating shaft, a second fixing groove is formed on the lower support in the axial direction of the rotating shaft and communicates with the first fixing groove, and the rotating shaft is at least partially arranged in the first fixing groove and the second fixing groove.

[0012] In one embodiment, the driving mechanism further comprises a plurality of first bearings arranged in the first fixing groove and the second fixing groove and sleeved on the rotating shaft; and the plurality of first bearings are located on both sides of the connecting piece.

[0013] In one embodiment, a plurality of shoulder platforms are arranged on the outer circumferential surface of the rotating shaft and spaced in the axial direction of the rotating shaft, the shoulder platforms protrude outward in the radial direction of the rotating shaft, the shoulder platforms are respectively located in the first fixing groove and the second fixing groove, and the connecting piece is arranged between the shoulder platforms.

[0014] In one embodiment, a fixing hole is further formed on the lower support and communicates with the second fixing groove, the fixing hole extends away from the upper support in the axial direction of the rotating shaft and penetrates through the lower support, the inner diameter of the fixing hole is smaller than the inner diameter of the second fixing groove, and the rotating shaft is further arranged in the fixing hole and extends out of the lower support.

[0015] In one embodiment, the driving mechanism further comprises a second bearing connected to the bottom surface of the lower support and sleeved on the rotating shaft, and the part of the rotating shaft located outside the shell is used to connect with the long shaft.

[0016] In one embodiment, the central axis of the rotating shaft is perpendicular to the bottom surface of the support and the bottom surface of the base.

[0017] In one embodiment, the bracket is provided with two through holes spaced apart in the axial direction of the rotating shaft, and the two ends of the connecting member are respectively inserted through the through holes and connected to the first driving assembly.

[0018] In one embodiment, the shell further comprises a guide wheel frame arranged between the bracket and the upper cover, the guide wheel frame is provided with a guide wheel cavity, and a plurality of guide wheels are arranged in the guide wheel cavity; the driving mechanism further comprises a plurality of second driving assemblies, the second driving assemblies are respectively connected to driving cables, the driving cables are gathered in the guide wheel cavity, are changed direction by the guide wheels, pass through the bracket and the long shaft, and are connected to the end drivers.

[0019] In one embodiment, the plurality of guide wheels are arranged in the guide wheel cavity along the central axis of the rotating shaft in sequence; and the axial direction of each guide wheel is perpendicular to the central axis of the rotating shaft.

[0020] In one embodiment, the guide wheel cavity is provided with a guide wheel, and the width of one side of the guide wheel is less than the width of the side away from the guide wheel.

[0021] In one embodiment, the portions of the driving cables located in the bracket and the long shaft are parallel to each other.

[0022] In one embodiment, the bracket has two side surfaces spaced apart from the main shaft, and the included angle formed by the side surfaces at the end away from the base is an acute angle.

[0023] In one embodiment, the two side surfaces are connected to a transition curved surface at the side away from the driving mechanism, the inner wall of the transition curved surface is arranged close to the rotating shaft, and the driving mechanism is arranged at the side of the rotating shaft away from the transition curved surface.

[0024] In one embodiment, the transition curved surface has a generatrix parallel to the central axis of the rotating shaft.

[0025] Another purpose of the embodiments of the present application is to provide a slave operating device, which comprises the surgical instrument of the above-mentioned embodiments.

[0026] Still another purpose of the embodiments of the present application is to provide a surgical robot, which comprises a master operating table and the slave operating device of the above-mentioned embodiments.

[0027] In one embodiment, the surgical robot comprises a plurality of the surgical instruments, the plurality of the surgical instruments are close to each other at the side where the long shafts are located, and the plurality of the long shafts are parallel to each other.

[0028] The surgical instrument, the slave operating device and the surgical robot provided by the embodiments of the present application have the following beneficial effects:

[0029] The surgical instrument provided in this application includes a driver, a long shaft, and an end effector connected in sequence. The driving mechanism includes a first driving assembly, a connector, and a rotating shaft. The connector is wound around the rotating shaft. The first driving assembly connects to both ends of the connector and drives the two ends of the connector to move in opposite directions. The rotating shaft is driven to rotate around its central axis by the first driving assembly and the connector. The assembly structure formed by the rotating shaft and the connector is compact and occupies very little space in the radial direction, thereby reducing the distance from the rotating shaft to the outer surface of the housing. When the long shaft connected to the rotating shaft is inserted into the human incision, the required incision diameter can be smaller, which helps to reduce patient trauma and pain, shorten patient recovery time, and reduce interference between multiple surgical instruments. The operating device and surgical robot equipped with this surgical instrument require a small human incision diameter, resulting in less patient trauma, less pain, and a shorter recovery time. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the structure of the operating device in the surgical robot provided in the embodiments of this application;

[0032] Figure 2 This is a schematic diagram of the main operating table in the surgical robot provided in the embodiments of this application;

[0033] Figure 3 This is a schematic diagram of the surgical instruments in the surgical robot provided in the embodiments of this application;

[0034] Figure 4 yes Figure 3 A schematic diagram showing the arrangement of surgical instruments in a single port.

[0035] Figure 5 yes Figure 3 Side view of the actuator in the surgical instrument shown;

[0036] Figure 6 yes Figure 3 Top view of the actuator in the surgical instrument shown;

[0037] Figure 7 yes Figure 3 A top view of the actuator in the surgical instrument shown;

[0038] Figure 8 yes Figure 6 Sectional view along line AA;

[0039] Figure 9 is Figure 8 is an enlarged view of B in FIG. 1;

[0040] Figure 10 is Figure 3 is a perspective view of the surgical instrument shown in FIG. 1 from another angle;

[0041] Figure 11 is Figure 3 is a perspective view of the surgical instrument shown in FIG. 1 from another angle;

[0042] Figure 12 is Figure 3 is a perspective view of the surgical instrument shown in FIG. 1 from another angle;

[0043] Figure 13 is Figure 3 is a schematic view of the cooperation between the base and the support in the surgical instrument shown in FIG. 1;

[0044] Figure 14 is Figure 3 is a schematic view of the cooperation between the rotating shaft and the connecting piece from one angle in the surgical instrument shown in FIG. 1;

[0045] Figure 15 is Figure 3 is a schematic view of the cooperation between the rotating shaft and the connecting piece from another angle in the surgical instrument shown in FIG. 1;

[0046] Figure 16 is Figure 3 is a schematic view of the cooperation between the rotating shaft and the connecting piece from another angle in the surgical instrument shown in FIG. 1;

[0047] Figure 17 is Figure 3 is a schematic view of the rotating shaft from one angle in the surgical instrument shown in FIG. 1;

[0048] Figure 18 is Figure 3 is a schematic view of the rotating shaft from another angle in the surgical instrument shown in FIG. 1.

[0049] The meanings of the marks in the figures are as follows:

[0050] 300 - master operating station; 200 - slave operating device, 91 - mechanical arm, 92 - power mechanism;

[0051] 100 - surgical instrument;

[0052] 1 - driver;

[0053] 2- housing, 20- accommodation space, 21- base, 22- support, 220- side, 221- upper support, 2211- first fixing hole, 2212- first fixing groove; 222- lower support, 2221- second fixing hole, 2222- second fixing groove, 223- transition curved surface; 23- guide wheel support, 230- guide wheel cavity, 231- guide wheel, 24- upper cover; 25- bottom surface;

[0054] 3- drive mechanism; 31- rotating shaft, 311- shoulder, 312- pressing groove, 313- convex strip, 314- buckle; 32- connecting piece; 33- first drive assembly, 331- wire wheel; 34- first bearing, 35- second bearing, 36- long bolt;

[0055] 4- long shaft;

[0056] 5- end effector; 8- single hole. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical scheme and advantages of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0058] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0059] It should be noted that when an element is referred to as "provided on" another element, it can be directly on the other element or there can be a middle element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or there can be a middle element.

[0060] The terms "distal" and "proximal" used herein are directional terms which are conventional terms in the field of interventional medical devices, wherein "distal" means the end that is further away from the operator during a procedure, and "proximal" means the end that is closer to the operator during a procedure.

[0061] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. As used in the description herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0062] In addition, the descriptions such as "first", "second", etc. in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0063] Please refer to Figure 1 and Figure 2 , the present application provides a surgical robot, which comprises a master console 300 and a slave operating device 200 connected with each other. The master console 300 is used to send control commands to the slave operating device 200 according to the operation of a doctor, so as to control the slave operating device 200. The slave operating device 200 is used to respond to the control commands sent by the master console 300 and perform corresponding surgical operations.

[0064] The master console 300 and the slave operating device 200 can be placed in a same operating room, or can be placed in different rooms, or even the master console 300 and the slave operating device 200 can be far away from each other. For example, the master console 300 and the slave operating device 200 are located in different cities, and the master console 300 and the slave operating device 200 can transmit data in a wired manner or in a wireless manner. For example, the master console 300 and the slave operating device 200 are located in a same operating room, and transmit data in a wired manner, and for another example, the master console 300 and the slave operating device 200 can be located in different cities, and transmit data in a wireless signal manner.

[0065] As shown in Figure 1 , the slave operating device 200 comprises a mechanical arm 91, a power mechanism 92 arranged on the mechanical arm 91, and a surgical instrument 100 arranged on the power mechanism 92. The mechanical arm 91 is used to adjust the position of the surgical instrument 100, the power mechanism 92 is used to drive the surgical instrument 100 to perform corresponding operations, and the surgical instrument 100 is used to extend into a patient's body and perform surgical operations, and / or acquire in-vivo images, etc.Figure 1 and Figure 3 as shown.

[0066] Referring to Figure 3 , the application also provides a surgical instrument 100, which comprises a driver 1, an end effector 5, and a long shaft 4 connecting the driver 1 and the end effector 5. Referring to Figure 5 and Figure 8 , the driver 1 is used to drive the long shaft 4 to rotate around its own central axis, and the long shaft 4 drives the end effector 5 to rotate, so as to perform a surgical operation at a required position in a patient's body.

[0067] Specifically, referring to Figure 5 and Figure 8 to Figure 10 , the driver 1 comprises a housing 2 and a driving mechanism 3 arranged at least partially in the housing 2. The driving mechanism 3 comprises a first driving assembly 33, a connecting member 32, and a rotating shaft 31. The connecting member 32 is a flexible member in a long strip shape, wherein a section of the connecting member 32 is wound around the rotating shaft 31, and both ends of the connecting member 32 are connected to the first driving assembly 33. The first driving assembly 33 can drive the connecting member 32 to be wound and released on the rotating shaft 31. The rotating shaft 31 is connected to the long shaft 4.

[0068] The first driving assembly 33 is used to drive both ends of the connecting member 32 to move in opposite directions. Thus, referring to Figure 14 to Figure 16 as shown, while a section of the connecting member 32 is wound on the rotating shaft 31, another section of the connecting member 32 can be released on the rotating shaft 31. In the process of winding and releasing the connecting member 32 on the rotating shaft 31, the rotating shaft 31 can be driven to rotate around its own axis. Further, the long shaft 4 and the end effector 5 at the distal end of the long shaft 4 can rotate.

[0069] The surgical instrument 100 provided by the application comprises the driver 1, the long shaft 4, and the end effector 5 connected in sequence. The driving mechanism 3 comprises the first driving assembly 33, the connecting member 32, and the rotating shaft 31. The connecting member 32 is wound around the rotating shaft 31. The first driving assembly 33 is connected to both ends of the connecting member 32 and drives the connecting member 32 to be wound and released on the rotating shaft 31. The assembly formed by fixing the rotating shaft 31 and the connecting member 32 together has a compact structure, and can occupy a very small space in the radial direction. Thus, the distance from the rotating shaft 31 to the outer surface of the housing 2 can be reduced. As Figure 4As shown, when the long shaft 4 and its end effector 5 connected with the rotation shaft 31 are inserted into the single hole 8 (equivalent to the incision opened on the human body), the diameter of the area occupied by the plurality of drivers 1 on the incision plane can be small, so that the diameter of the incision required for the operation can also be small, which is beneficial to reduce the trauma of the patient and reduce the pain of the patient, and is beneficial to shorten the recovery time of the patient; on the contrary, since each surgical instrument 100 occupies a small radial area in the single hole 8, the mutual interference between the plurality of surgical instruments 100 can also be reduced.

[0070] It can be understood that the above-mentioned connecting member 32 can refer to a single, continuous long strip structure, or two separate long strip structure parts, one end of each of the two separate long strip structure parts is wound on the rotation shaft 31, and the other end of the two separate long strip structure parts is connected to the first driving assembly 33. The two separate long strip structure parts together serve as the connecting member 32.

[0071] The connecting member 32 can be a wire, a non-wire, etc. filament structure, specifically a steel wire; or a metal sheet, a non-metal sheet, etc. long strip structure with a certain width, such as a belt.

[0072] In one embodiment, the first driving assembly 33 includes a wire wheel assembly. As shown in Figure 10 and Figure 13 The first driving assembly 33 can include two wire wheels 331, the rotation directions of the two wire wheels 331 are opposite at any moment, and the two wire wheels 331 are respectively connected to one end of the connecting member 32. That is to say, when one end of the connecting member 32 is released from the rotation shaft 31, it can be wound on one wire wheel 331 connected thereto; when one end of the connecting member 32 is released from the wire wheel 331, the connecting member 32 can be wound on the rotation shaft 31. In this way, it can not only ensure that the connecting member 32 is always kept tensioned between the first driving assembly 33 and the rotation shaft 31 to transmit force from the wire wheel 331 to the rotation shaft 31, but also ensure that the space occupied by the connecting member 32 in the housing 2 can be as small as possible to reduce the volume of the driver 1, which is convenient for use in surgery.

[0073] As shown in Figure 10 and Figure 13As shown, in one embodiment, the two wire wheels 331 are connected along a direction parallel to the axial direction of the rotating shaft 31. In this way, the two ends of the connecting member 32 can be substantially flush with the two ends of the connecting member 32 respectively, the connecting member 32 does not cross and interfere with the rotating shaft 31 between the first driving assembly 33 and the rotating shaft 31, and the winding arrangement of the connecting member 32 on the rotating shaft 31 can be relatively regular, the axial span is small, and the force in the axial direction generated by the winding and releasing of the connecting member 32 on the rotating shaft 31 can be reduced. Of course, in other alternative embodiments, the two wire wheels 331 can have other arrangements, but generally, the space in the shell 2 and the convenience of winding and releasing the connecting member 32 should be considered.

[0074] Of course, not limited thereto, in other embodiments, the wire wheel 331 can also be replaced by any existing available form such as a gear, a roller, etc., as long as it can rotate and enable the connecting member 32 to be wound and accommodated thereon. The following still takes the wire wheel 331 as an example for description.

[0075] Not limited thereto, in other embodiments, according to other needs and settings, the connecting member 32 can be tensioned and accommodated by other ways after being released from the rotating shaft 31. For example, the wire wheel assembly can be replaced by a moving assembly (not shown), the moving assembly is connected to the connecting member 32, and the moving assembly can at least partially move in the shell 2 and pull the connecting member 32 away from the rotating shaft 31. Relatively speaking, using the wire wheel assembly can reduce the space occupied by the driving mechanism 3 in the shell 2.

[0076] Please refer to Figure 18 In one embodiment, the outer circumferential surface of the rotating shaft 31 is provided with a pressing groove 312, such as Figure 14 to 16 As shown, the connecting member 32 is partially arranged in the pressing groove 312. The purpose of this arrangement is that on the one hand, a part of the connecting member 32 is limited by the pressing groove 312, and the connecting member 32 is not easy to come off the rotating shaft 31 in the axial direction, thereby improving the connection stability of the rotating shaft 31 and the connecting member 32 and ensuring that the connecting member 32 can always be wound on the rotating shaft 31; on the other hand, the arrangement of the pressing groove 312 can further enable the rotating shaft 31 to be closer to the surface of the shell 2, the distance between the rotating shaft 31, the long shaft 4 and the surface of the shell 2 is smaller, the distance between the multiple long shafts 4 can be smaller when they are close to each other, and the cutout can be smaller; on the other hand, through the arrangement of the position of the pressing groove 312, the connecting member 32 can be fixed at a suitable position of the rotating shaft 31, and then the connecting member 32 can be arranged on both sides of the pressing groove 312 substantially uniformly.

[0077] Optionally, as shown in Figure 17 and Figure 18As shown, the press grooves 312 are arranged along the circumferential direction of the rotating shaft 31, and the corresponding central angle of the press grooves 312 is less than 360°, that is, the press grooves 312 arranged along the circumferential direction need to be open at both ends so that the connecting member 32 can enter the interior thereof. The purpose of such arrangement is that the connecting member 32 is generally distributed in a spiral shape along the axial direction of the rotating shaft 31 on the rotating shaft 31, and when the connecting member 32 enters the press groove 312 arranged along the circumferential direction of the rotating shaft 31, the connecting member 32 can be subjected to the force applied by the inner side wall of the press groove 312, which is generally along the axial direction of the rotating shaft 31, especially at the positions where the connecting member 32 starts to enter the press groove 312 and extends out of the press groove 312. Thus, the connecting member 32 and the inner side wall of the press groove 312 have a large frictional force, and the existence of the frictional force makes it difficult for the connecting member 32 to slide relative to the rotating shaft 31, thereby ensuring that the connecting member 32 can drive the rotating shaft 31 to rotate.

[0078] In one specific embodiment, the corresponding central angle of the press grooves 312 arranged along the circumferential direction is 270°. Of course, this is only an example, and in other embodiments, the corresponding central angle of the press grooves 312 arranged along the circumferential direction can be other values, which are not particularly limited here.

[0079] Further, the width of the press groove 312 can be equal to the diameter of the connecting member 32 so that the connecting member 32 abuts against the inner wall of the press groove 312, or even the width of the press groove 312 can be slightly smaller than the diameter of the connecting member 32, and the connecting member 32 is press-fitted into the press groove 312. The purpose of such arrangement is to further increase the frictional force between the connecting member 32 and the rotating shaft 31.

[0080] Without limitation, in other alternative embodiments, the press grooves 312 can be arranged in a spiral shape on the outer circumferential surface of the rotating shaft 31. In this case, the width of the optional press groove 312 is equal to or slightly smaller than the diameter of the connecting member 32 to ensure that the connecting member 32 can be fixed in the press groove 312 without sliding relative to the rotating shaft 31.

[0081] Without limitation to the above, in other alternative embodiments, the number of press grooves 312 can be multiple, and the multiple press grooves 312 can be arranged along the circumferential direction of the rotating shaft 31, or can be arranged in a spiral shape, or at least one press groove 312 can be arranged along the circumferential direction of the rotating shaft 31, and at least another press groove 312 can be arranged in a spiral shape. Or, a part of the press grooves 312 are arranged along the circumferential direction of the rotating shaft 31, and another part are arranged in a spiral shape.

[0082] In one embodiment, the press groove 312 is formed as follows: please continue to refer to Figure 17 and Figure 18As shown, two protrusions 313 are formed on the outer circumferential surface of the rotating shaft 31, and the pressure groove 312 is formed between the two protrusions 313. The purpose of such arrangement is that the bottom wall of the pressure groove 312 and the other regions of the outer circumferential surface of the rotating shaft 31 can be continuous without obvious steps, and the outer circumferential surface of the connecting member 32 and the outer circumferential surface of the rotating shaft 31 can be in full contact, which is conducive to ensuring the friction between the connecting member 32 and the rotating shaft 31.

[0083] Of course, in this embodiment, the bottom wall of the pressure groove 312 can also be slightly recessed relative to the outer circumferential surface of the rotating shaft 31, so that the step between the bottom wall of the pressure groove 312 and the outer circumferential surface of the rotating shaft 31 is smaller, and the continuous contact between the bottom wall of the pressure groove 312 and the connecting member 32 and the space occupied by the protrusion 313 in the radial direction of the rotating shaft 31 can be considered.

[0084] In other optional embodiments, the pressure groove 312 can be recessed from the outer circumferential surface of the rotating shaft 31. The purpose of such arrangement is that the pressure groove 312 can be made in a simpler way, and the manufacturing cost of the rotating shaft 31 can be lower. For example, the rotating shaft 31 can be a metal shaft, and the pressure groove 312 can be formed by turning or the like; the rotating shaft 31 can be a plastic shaft, and the pressure groove 312 can be formed during the injection molding of the rotating shaft 31. Optionally, in this embodiment, the bottom wall of the pressure groove 312 is gradually recessed at both ends, that is, the bottom wall of the pressure groove 312 can be gradually recessed from the outer circumferential surface of the rotating shaft 31, so as to reduce the gap between the connecting member 32 and the rotating shaft 31 when the connecting member 32 is arranged in the pressure groove 312.

[0085] As shown in FIGS. Figure 9 , Figure 11 and Figure 12 In one embodiment, the driving mechanism 3 further includes a plurality of first bearings 34 arranged in the housing 2 and sleeved on the rotating shaft 31. The first bearings 34 are used to support the rotation of the rotating shaft 31 around its own central axis, so as to reduce the friction of the rotating shaft 31. The first bearings 34 are fixedly installed in the housing 2.

[0086] The specific type of the rotating shaft 31 is not limited. For example, the first bearing 34 can be a sliding bearing, which occupies a smaller space in the radial direction of the rotating shaft 31. For another example, the first bearing 34 can be a rolling bearing, which has smaller friction, which is conducive to reducing the power required for the rotation of the rotating shaft 31.

[0087] Optionally, the number of the first bearings 34 can be two, and the two first bearings 34 are respectively located on both sides of the connecting member 32. The purpose of such arrangement is that the two first bearings 34 can support the rotating shaft 31 from different positions of the rotating shaft 31 more balancedly.

[0088] In other optional embodiments, a third first bearing 34 can also be provided to further support the rotation of the rotating shaft 31 as a whole, depending on the specific length of the rotating shaft 31 and the axial length of the connecting member 32 wound on the rotating shaft 31.

[0089] Please also refer to Figure 17 and Figure 18 In one embodiment, shoulder portions 311 are provided on the outer circumferential surface of the rotating shaft 31, and the shoulder portions 311 protrude outward along the radial direction of the rotating shaft 31, so that the outer diameter of the shoulder portions 311 is larger than that of other positions on the rotating shaft 31. The connecting member 32 is wound on the portion of the rotating shaft 31 between the two shoulder portions 311, and the first bearings 34 are respectively arranged on the sides of the shoulder portions 311 away from each other. That is to say, as shown in Figure 14 to Figure 16 , in the axial direction of the rotating shaft 31, the shoulder portions 311 are located between the two first bearings 34, and the connecting member 32 is located between the two shoulder portions 311.

[0090] The purpose of such arrangement is that, on the one hand, the shoulder portions 311 can further limit the position of the connecting member 32 on the rotating shaft 31, so as to avoid the connecting member 32 from falling off the rotating shaft 31; on the other hand, when the first bearings 34 are fixedly installed in the housing 2, the arrangement of the shoulder portions 311 can limit the movement of the rotating shaft 31 along its own central axis, that is, limit the axial movement of the rotating shaft 31, so that the rotating shaft 31 can only make rotational movement in the housing 2 without axial displacement.

[0091] Please refer to Figure 10 to Figure 12 In one embodiment, the housing 2 includes a base 21, a support 22 connected to one side of the base 21, and an upper cover 24 connected to both the base 21 and the support 22. As shown in Figure 8 , the upper cover 24 forms a containing space 20 with the base 21 and the support 22. As shown in Figure 10 and Figure 13 , the first driving assembly 33 is arranged on the base 21 and located in the containing space 20. As shown in Figure 8 and Figure 9 , the rotating shaft 31 passes through the support 22, and at least a portion of the rotating shaft 31 is located in the support 22.

[0092] Please refer to Figure 9 to Figure 12 , the support 22 includes an upper support 221 and a lower support 222 connected along the axial direction of the rotating shaft 31. The lower support 222 is connected to one side of the base 21. As shown in Figure 9As shown, a first fixing groove 2212 is formed on the side of the upper support 221 facing the lower support 222 along the axial direction of the rotating shaft 31, and a second fixing groove 2222 is formed on the side of the lower support 222 facing the upper support 221 along the axial direction of the rotating shaft 31. The first fixing groove 2212 and the second fixing groove 2222 are connected. The rotating shaft 31 is at least partially arranged in the first fixing groove 2212 and the second fixing groove 2222, and the connecting member 32 is also arranged in the fixing grooves.

[0093] In addition, two first bearings 34 are arranged in the first fixing groove 2212 and the second fixing groove 2222, respectively. When the upper support 221 and the lower support 222 are fixedly connected, the first fixing groove 2212 and the second fixing groove 2222 confine the two first bearings 34 and the shoulder 311 of the rotating shaft 31 therein, and the first bearings 34 and the shoulder 311 cannot be separated from the first fixing groove 2212 upwardly and cannot be separated from the second fixing groove 2222 downwardly. In this way, the displacement of the rotating shaft 31 in the axial direction is also limited, and the rotating shaft 31 cannot move upwardly or downwardly along the axial direction.

[0094] Optionally, according to specific needs, a first fixing hole 2211 is further formed on the lower support 222 and communicates with the first fixing groove 2212, and the first fixing hole 2211 extends upwardly along the axial direction of the rotating shaft 31 until it penetrates the upper support 221. The inner diameter of the first fixing hole 2211 is smaller than the inner diameter of the first fixing groove 2212, so that the step structure formed between the first fixing hole 2211 and the first fixing groove 2212 can be used to limit the first bearing 34 and the shoulder 311.

[0095] In the present embodiment, a second fixing hole 2221 is further formed on the lower support 222 and communicates with the second fixing groove 2222, and the inner diameter of the second fixing hole 2221 is smaller than the inner diameter of the second fixing groove 2222. The second fixing hole 2221 extends downwardly along the axial direction of the rotating shaft 31 until it penetrates the lower support 222. In this way, the step structure between the second fixing hole 2221 and the second fixing groove 2222 can be used to limit the first bearing 34 and the shoulder 311. A part of the rotating shaft 31 is arranged in the support 22, and another part of the rotating shaft 31 penetrates the second fixing hole 2221 and continues to penetrate the lower support 222 and protrudes from the lower support 222. In this way, a part of the rotating shaft 31 is located outside the housing 2, and the part of the rotating shaft 31 arranged outside the housing 2 is used to be connected with the long shaft 4.

[0096] The upper support 221 and the lower support 222 are fixedly connected, which can be achieved by means including but not limited to screw locking, clamping, etc., and will not be described here.

[0097] The method of assembling the rotating shaft 31 to the bracket 22 is as follows: the upper bracket 221 and the lower bracket 222 are separated, the connecting member 32 is wound around the rotating shaft 31; one first bearing 34 is arranged (e.g. interference fitted) in the second fixing groove 2222 of the lower bracket 222, and another first bearing 34 is arranged (e.g. interference fitted) in the second fixing groove 2222 of the upper bracket 221; the lower end of the rotating shaft 31 is passed through the second fixing groove 2222 and the second fixing hole 2221 from top to bottom, and the shoulder 311 of the rotating shaft 31 abuts against the first bearing 34; the upper bracket 221 is moved towards the lower bracket 222, and the upper end of the rotating shaft 31 is passed through the first fixing groove 2212 until the upper shoulder 311 of the rotating shaft 31 abuts against the first bearing 34 in the upper bracket 221. Then the upper bracket 221 and the lower bracket 222 are fixedly connected.

[0098] The bracket 22 is provided with two through holes (not shown) which are in communication with the first fixing groove 2212 and the second fixing groove 2222, and the connecting member 32 is respectively passed through the through holes. That is, the rotating shaft 31 and the first driving assembly 33 are respectively located on the two sides of the through holes. The two through holes are spaced apart from each other in the axial direction of the rotating shaft 31. The purpose of such arrangement is to completely avoid the crossing and interference of the connecting member 32 during winding and releasing.

[0099] In the present embodiment, please refer to Figure 9 and Figure 13 It is shown that the two through holes are both formed in the lower bracket 222. Alternatively, the through holes can extend along the radial direction of the rotating shaft 31. The specific form of the through holes is not limited, which can be a circular hole, a circular-like hole, or other forms or shapes of holes or cavity structures, as long as the connecting member 32 can be passed through and spaced apart from each other.

[0100] Without limitation, in other alternative embodiments, the through holes can be respectively formed in the upper bracket 221 and the lower bracket 222 according to specific needs, the through hole formed in the upper bracket 221 is in communication with the first fixing groove 2212 thereof, and the through hole formed in the lower bracket 222 is in communication with the second fixing groove 2222 thereof.

[0101] Please refer to Figs. 9 to Figure 12 Since the rotating shaft 31 is partially arranged outside the housing 2, the position of the connecting member 32 on the rotating shaft 31 is usually not in the center, but relatively close to one end. The other end of the rotating shaft 31, i.e. the end of the rotating shaft 31 away from the connecting member 32, extends out of the housing 2 and is used to connect with the long shaft 4 arranged outside the housing 2. Moreover, please refer to Figure 3As shown, the length of the long shaft 4 is usually set to be relatively large based on the need of the surgical operation, so even if the rotation of the rotating shaft 31 occurs with a very slight deflection, the deflection of the end effector 5 can be seriously amplified. In order to further improve the balance of the rotating shaft 31 in different axial positions thereof, in one embodiment, the driving mechanism 3 further comprises a second bearing 35, which is connected with the bottom surface 25 of the housing 2 (as shown in Figure 7 、 Figure 9 and Figure 12 ), that is, connected with the side of the lower support 222 which is away from the upper support 221, and the second bearing 35 is sleeved on the rotating shaft 31 for supporting the rotating shaft 31 outside the housing 2.

[0102] Optionally, the second bearing 35 is a plane bearing. The plane bearing is sleeved on the rotating shaft 31, and the side of the plane bearing which is away from the lower support 222 is connected with the lower support 222. In this way, the plane bearing can not only allow the rotating shaft 31 to rotate inside and form a rotating support for the rotating shaft 31, but also further keep the rotating shaft 31 in the axial direction and avoid the movement of the rotating shaft 31 in the axial direction.

[0103] The number of the second bearing 35 can be one; the number of the second bearing 35 can also be multiple, and the multiple second bearings 35 are coaxially connected, as shown in Figure 10 to Figure 12 .

[0104] In one embodiment, the bottom surface 25 of the housing 2 includes the surface of the side of the lower support 222 which is away from the upper support 221 and the surface of the side of the base 21 which is away from the driving mechanism 3, and the two surfaces can be parallel or even coplanar, and the rotating shaft 31 is perpendicular to the bottom surface 25, as shown in Figure 3 、 Figure 5 and Figure 8 . When the long shafts 4 of the multiple surgical instruments 100 in the single hole 8 are parallel to each other, the bottom surfaces 25 of the drivers 1 of the multiple surgical instruments 100 can be parallel or even flush, which is convenient for the surgical operation.

[0105] Please refer to Figure 4 、 Figure 6 and Figure 7 , the cross section of the support 22 on the plane which is parallel to the radial plane of the rotating shaft 31 is generally triangular. That is, the support 22 has two side surfaces 220 which are generally parallel (can be parallel) to the axial direction of the rotating shaft 31 and are spaced apart from the rotating shaft 31, as shown in Figure 6 and Figure 13 , each side surface 220 is formed on the upper support 221 and the lower support 222. As Figure 6As shown, the two side surfaces 220 form an angle a at the side away from the base 21, and the angle a is an acute angle. Alternatively, the angle a is less than or equal to 60°. For example, in one embodiment, the two side surfaces 220 of the support 22 form an angle a of about 45° at the side away from the base 21. This arrangement is intended to enable more surgical instruments 100 to be arranged in a single port 8 at the same time when the surgical instruments 100 are arranged in a circumferential direction.

[0106] As shown in Figure 6 , Figure 7 and Figure 9 , the two side surfaces 220 are connected by a transition curved surface 223 at the side away from the base 21. This arrangement can avoid the formation of sharp corners on the housing 2, and more importantly, the rotation shaft 31 is arranged close to the inner wall of the transition curved surface 223, and the driving mechanism 3 is arranged at the side of the rotation shaft 31 away from the transition curved surface 223. This arrangement is intended to ensure that the surgical instrument 100 occupies a small radial area in the incision.

[0107] The transition curved surface 223 has a generatrix parallel to the central axis of the rotation shaft 31, and the transition curved surface 223 is defined by the curve movement of the generatrix in space. This arrangement is intended to reduce the diameter of the single port 8 required when the surgical instruments 100 are inserted into the single port 8, i.e. to reduce the area of the incision required. The transition curved surface 223 can be a circular arc surface, an elliptical arc surface or other curved surfaces, etc.

[0108] As shown in Figure 4 , when the surgical instruments 100 are applied to a surgical robot, the surgical instruments 100 are arranged with their long axes 4 at the side, i.e. at the end of the transition curved surface 223, close to each other, the transition curved surfaces 223 are close to each other, and the long axes 4 are parallel to each other. In this way, the surgical instruments 100 can occupy a very small radial area in the single port 8, and interference and friction between the long axes 4 are unlikely to occur.

[0109] As shown in Figure 14 to Figure 18 , the outer periphery of the rotation shaft 31 is formed with a buckle 314 protruding radially outward. The buckle 314 is used for connecting the long axis 4, so that the long axis 4 can rotate with the rotation of the rotation shaft 31.

[0110] In one embodiment, the long axis 4 can be hollow, and the cavity (not shown) inside the long axis 4 is used for passing through the driving cable (not shown), and the driver 1 can also pass through the driving cable to manipulate the movement of the end effector 5, so that the end effector 5 can perform the relevant surgical operation.

[0111] According to specific needs, in one embodiment, as shown in Figure 10 to Figure 13As shown, the shell 2 can further comprise a guide wheel frame 23 connected between the above-mentioned support 22 and the upper cover 24. As shown in Figure 10 As shown, at least one guide wheel 231 can be arranged in the guide wheel frame 23 for forming a pulley assembly with the above-mentioned drive cable, etc., so as to facilitate the winding and unwinding of the drive cable under the driving of the driving mechanism 3. The guide wheel frame 23 and the support 22 can be connected by screw locking or the like, for example, as shown in Figure 10 to Figure 12 As shown in the middle, the guide wheel frame 23 can be fixed on the support 22 by means of a long bolt 36 in the form of penetrating the guide wheel frame 23, the upper support 221 and the upper support 221.

[0112] The driving mechanism 3 can further comprise a second driving assembly (not shown) having other functions, for example, a second driving assembly for driving the end effector 5 to perform deflection, pitching, clamping and the like. The second driving assembly is also arranged in the accommodation space 20, and the second driving assembly is connected to the above-mentioned drive cable. Each drive cable is arranged from the above-mentioned second driving assembly, converges upwards in the guide wheel cavity 230 (see Figure 10 and Figure 11 As shown) in the guide wheel frame 23, is reversed by the corresponding guide wheel 231, passes through the support 22 and the hollow long shaft 4 in turn, and extends towards the end effector 5 until it is connected to the end effector 5. The reversed drive cable can be parallel to each other. A plurality of parallel drive cables pass through the support 22 and the long shaft 4 in turn, and do not cross and rub between each other.

[0113] The guide wheels 231 can be multiple, as shown. Figure 10 The multiple guide wheels 231 can be arranged along the axial direction of the rotating shaft 31. The guide wheels 231 are located directly above the rotating shaft 31, and the axial direction of each guide wheel 231 can be perpendicular to the axial direction of the rotating shaft 31. The purpose of such arrangement is that each drive cable can be parallel to the central axial direction of the rotating shaft 31, thereby avoiding friction between each drive cable and the rotating shaft 31.

[0114] The specific shape of the guide wheel cavity 230 is arranged according to the shape of the guide wheel frame 23. For example, in one embodiment, the guide wheel frame 23 is consistent with the shape of the support 22, and is generally triangular. The guide wheel cavity 230 is wedge-shaped, and its width gradually increases from one side to the other side. The guide wheel 231 is arranged at the side with smaller width, and the side with larger width is used to accommodate each drive cable, so that there is enough space between each drive cable, and each drive cable does not cross and rub with each other.

[0115] Of course, it is not limited to this. In other alternative embodiments, according to the different specific functions of the surgical instrument 100, the long shaft 4 can also be in a non-hollow form.

[0116] The above only describes preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A surgical instrument, characterized by The drive includes a housing and a drive mechanism at least partially arranged in the housing; the drive mechanism includes a first drive assembly, a connecting piece and a rotating shaft, the connecting piece is arranged on the rotating shaft, and the first drive assembly is connected to both ends of the connecting piece and drives the both ends of the connecting piece to move reversely. The housing includes a base and a support connected to a side of the base along the radial direction of the rotating shaft; the first drive assembly is arranged on the base; the rotating shaft penetrates the support, and the part of the rotating shaft arranged outside the housing is used for coaxial connection with the long shaft, and the rotating shaft and the long shaft jointly rotate around the central axis of the rotating shaft. The support has two side surfaces spaced apart from the rotating shaft, and the side surfaces intersect at an acute angle at an end away from the base along the radial direction of the rotating shaft. The support includes an upper support and a lower support connected along the axial direction of the rotating shaft, the upper support is provided with a first fixing groove along the axial direction of the rotating shaft, and the lower support is provided with a second fixing groove communicated with the first fixing groove along the axial direction of the rotating shaft. The drive mechanism further includes a plurality of first bearings arranged in the first fixing groove and the second fixing groove and sleeved on the rotating shaft; the outer circumferential surface of the rotating shaft is provided with a plurality of shoulder surfaces spaced apart in the axial direction of the rotating shaft, the shoulder surfaces protrude outward along the radial direction of the rotating shaft, the shoulder surfaces are respectively located in the first fixing groove and the second fixing groove, and the shoulder surfaces abut against the sides of the first bearings close to each other; and the connecting piece is arranged between the shoulder surfaces. The outer circumferential surface of the rotating shaft is provided with a pressing groove, and the connecting piece is partially arranged in the pressing groove.

2. The surgical instrument of claim 1, wherein, The pressing groove is arranged along the circumferential direction of the rotating shaft, and the corresponding central angle of the pressing groove is less than 360°; and / or, the pressing groove is arranged in a spiral shape on the outer circumferential surface of the rotating shaft.

3. The surgical instrument of claim 2, wherein, The outer circumferential surface of the rotating shaft forms two convex strips spaced apart in the axial direction of the rotating shaft, and the pressing groove is formed between the convex strips; or, the pressing groove is recessed on the outer circumferential surface of the rotating shaft.

4. The surgical instrument of claim 2, wherein, The housing further includes an upper cover connected to the base and the support.

5. The surgical instrument of claim 1, wherein, The lower support is further provided with a fixing hole communicated with the second fixing groove, the fixing hole extends away from the upper support along the axial direction of the rotating shaft and penetrates the lower support, the inner diameter of the fixing hole is smaller than the inner diameter of the second fixing groove, and the rotating shaft is further arranged in the fixing hole and extends out of the lower support.

6. The surgical instrument of claim 1, wherein, The drive mechanism further includes a second bearing connected to the bottom surface of the lower support and sleeved on the rotating shaft.

7. The surgical instrument of claim 6, wherein, The central axis of the rotating shaft is perpendicular to the bottom surface of the support and the bottom surface of the base.

8. The surgical instrument of any one of claims 1 to 6, wherein, The support is provided with two through holes spaced apart in the axial direction of the rotating shaft, and the both ends of the connecting piece pass through the through holes and are connected to the first drive assembly.

9. The surgical instrument of any one of claims 1 to 6, wherein, ​ 10. The surgical instrument of claim 5, wherein, The shell further comprises a guide wheel frame arranged between the bracket and the upper cover, the guide wheel frame is internally provided with a guide wheel cavity, and a plurality of guide wheels are arranged in the guide wheel cavity; the driving mechanism further comprises a plurality of second driving assemblies, the second driving assemblies are respectively connected with driving cables, the driving cables are gathered in the guide wheel cavity, are changed direction by the guide wheels, pass through the bracket and the long shaft, and are connected with the end effector.

11. The surgical instrument of claim 10, wherein, The plurality of guide wheels are sequentially arranged along the central axis of the rotating shaft in the guide wheel cavity; and the axial direction of each guide wheel is perpendicular to the central axis of the rotating shaft.

12. The surgical instrument of claim 10, wherein, The width of one side of the guide wheel cavity in which the guide wheels are arranged is smaller than the width of the other side away from the guide wheels.

13. The surgical instrument of claim 10, wherein, The portions of the driving cables located in the bracket and the long shaft are parallel to each other.

14. The surgical instrument of any one of claims 1 to 6, wherein, The two side surfaces are connected with a transition curved surface away from the driving mechanism, the rotating shaft is arranged close to the inner wall of the transition curved surface, and the driving mechanism is arranged on the side of the rotating shaft away from the transition curved surface.

15. The surgical instrument of claim 14, wherein, The transition curved surface has a generatrix parallel to the central axis of the rotating shaft.

16. An operating device from which, in the event of a fault, a signal is transmitted to a control device, characterized in that The surgical robot comprises a plurality of the surgical instruments, and the long shafts of the plurality of surgical instruments are arranged close to each other on one side.

17. A surgical robot, characterised in that, The surgical robot comprises a plurality of the surgical instruments, and the long shafts of the plurality of surgical instruments are arranged close to each other on one side.

18. The surgical robot of claim 17, wherein, ​

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