Sheaths, surgical instruments, operating devices and surgical robots

Abstract

The application relates to the technical field of medical instruments, and provides a sheath, a surgical instrument, an operating device and a surgical robot, the sheath comprising: a sheath body, which is used for sleeving a joint; a connecting piece, which is fixed to the distal end of the sheath body and is used for being connected with the distal end of the joint or an end effector; and an insulating sleeve, which is connected to the connecting piece and is used for sleeving the end effector; wherein the connecting piece is provided with a limiting part, the insulating sleeve is provided with a limiting matching part, and the limiting part and the limiting matching part are in limiting matching. The connecting strength between the insulating sleeve and the connecting piece can be enhanced, the possibility of the insulating sleeve falling off in a surgical process can be effectively reduced, and the surgical safety can be improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more particularly to a sheath, surgical instruments, operating equipment, and surgical robot. Background Technology

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the cavities of a living organism using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery.

[0003] With the advancement of technology, minimally invasive surgical robot technology has gradually matured and is widely used. Minimally invasive surgical robots typically include a master operating device and a slave operating device. The master operating device sends control commands to the slave operating device based on the surgeon's instructions to control the slave operating device. The slave operating device responds to the control commands sent by the master operating device and performs the corresponding surgical procedures.

[0004] The operating equipment includes surgical instruments, which include joints and end effectors. During surgery, the joints and end effectors enter the body and may be charged as energy devices, potentially damaging the body's tissues. Therefore, the joints and end effectors need to be insulated and isolated.

[0005] To address the aforementioned issues, during the creation of the technical solution of this application, the inventors experimented with a scheme involving a sheath and an insulating sleeve connected to the sheath. The sheath was placed on the outside of the joint, and the insulating sleeve was placed on the outside of the end effector, thereby achieving protection. However, the inventors discovered that the insulating sleeve could detach during surgery, potentially leading to medical accidents. Summary of the Invention

[0006] One objective of this application is to provide a protective sleeve to solve the technical problem in the related art that the insulating sleeve is prone to falling off during surgery.

[0007] To achieve the above objectives, the technical solution adopted in this application is as follows: a sheath is provided for use on a surgical instrument, the surgical instrument including a joint and an end effector connected to the distal end of the joint, the sheath including: a sheath body for fitting onto the joint; a connector fixed to the distal end of the sheath body for connecting to the distal end of the joint or the end effector; and an insulating sleeve connected to the connector for fitting onto the end effector; wherein the connector has a limiting portion, the insulating sleeve has a limiting mating portion, and the limiting portion and the limiting mating portion are mutually limiting and mating.

[0008] In one embodiment, the limiting portion is a recessed structure and the limiting mating portion is a protruding structure; or, the limiting portion is a protruding structure and the limiting mating portion is a recessed structure.

[0009] In one embodiment, the outer wall of the connector has the limiting portion, the inner wall of the insulating sleeve has the limiting mating portion, and the portion of the insulating sleeve having the limiting mating portion is sleeved on the portion of the connector having the limiting portion; or, the inner wall of the connector has the limiting portion, the outer wall of the insulating sleeve has the limiting mating portion, and the portion of the connector having the limiting portion is sleeved on the portion of the insulating sleeve having the limiting mating portion.

[0010] In one embodiment, the limiting portion is an annular structure arranged circumferentially along the connector; and / or, the limiting mating portion is an annular structure arranged circumferentially along the insulating sleeve.

[0011] In one embodiment, the limiting portion is a recessed structure, the limiting mating portion is a protruding structure, and the protruding structure is inclined along the direction from the proximal end of the insulating sleeve to the distal end of the insulating sleeve; or, the limiting portion is a protruding structure, the limiting mating portion is a recessed structure, and the protruding structure is inclined along the direction from the distal end of the connector to the proximal end of the connector.

[0012] In one embodiment, the limiting portion is a recessed structure, the limiting mating portion is a protruding structure, the protruding structure has a first plane near the distal end of the insulating sleeve, and the recessed structure has a second plane that mates with the first plane, the second plane being parallel to the first plane; or, the limiting portion is a protruding structure, the limiting mating portion is a recessed structure, the protruding structure has a third plane near the proximal end of the connector, and the recessed structure has a fourth plane that mates with the third plane, the fourth plane being parallel to the third plane.

[0013] In one embodiment, the angle between the first plane and the insulating sleeve is α, where 0 < a ≤ 90°; or, the angle between the third plane and the insulating sleeve is β, where 0 < b ≤ 90°.

[0014] In one embodiment, the limiting portion and the limiting mating portion are threaded together.

[0015] In one embodiment, the connector is a metal connector.

[0016] In one embodiment, the distal end of the sheath body is fitted onto the connector and overlaps with the insulating sleeve.

[0017] In one embodiment, the proximal end of the connector is connected to the inner wall of the sheath body, and the distal end of the connector is connected to the inner wall of the insulating sleeve; the distal end of the sheath body is fitted onto the proximal end of the insulating sleeve, or the proximal end of the insulating sleeve is fitted onto the distal end of the insulating sleeve.

[0018] In one embodiment, the outer wall of the proximal end of the insulating sleeve is provided with a first annular groove structure, and the distal end of the sheath body extends into the first annular groove structure, with the outer surface of the distal end of the sheath body flush with the outer surface of the proximal end of the insulating sleeve; or, the outer wall of the distal end of the sheath body is provided with a second annular groove structure, and the proximal end of the insulating sleeve extends into the second annular groove structure, with the outer surface of the proximal end of the insulating sleeve flush with the outer surface of the distal end of the sheath body.

[0019] In one embodiment, the insulating sleeve is a transparent insulating sleeve; the sheath body is a flexible and stretchable non-transparent sheath body.

[0020] In one embodiment, the surgical instrument includes a link connected to the proximal end of the joint, characterized in that: the sheath includes a fastener fixed to the proximal end of the sheath body for connection to the joint or the link.

[0021] Another object of this application is to provide a surgical instrument comprising: a joint; an end effector connected to the distal end of the joint; a connecting rod connected to the proximal end of the joint; and a sheath as described in any of the above embodiments, wherein the sheath body is fitted onto the joint, the proximal end of the sheath body is connected to the joint or the connecting rod, the connector is connected to the distal end of the joint or the end effector, and the insulating sleeve is fitted onto the end effector.

[0022] In one embodiment, the distal end of the joint or the end effector has an abutment portion, and the proximal end of the connector abuts against the abutment portion.

[0023] In one embodiment, the surgical instrument includes an insulating adapter, through which the connecting rod is insulated from the joint; the sheath includes a fixing member fixed to the proximal end of the sheath body, the fixing member having a locking portion, and the insulating adapter having a locking engagement portion, the locking portion engaging with the locking engagement portion.

[0024] In one embodiment, the fastener is a metal fastener, and there is a creepage distance between the proximal end of the joint and the fastener.

[0025] In one embodiment, the creepage distance is greater than or equal to 8 mm.

[0026] In one embodiment, the outer wall of the insulating adapter is provided with a tapered structure, the outer diameter of the tapered structure gradually increases along the connecting rod toward the joint, and the fixing member is located between the tapered structure and the joint.

[0027] In one embodiment, the proximal end of the joint has a metal connecting tube, the insulating adapter has a first anti-torsion part and a second anti-torsion part, the distal end of the connecting rod has a first anti-torsion mating part, the proximal end of the metal connecting tube has a second anti-torsion mating part, the proximal end of the insulating adapter is inserted into the connecting rod and the first anti-torsion part mates with the first anti-torsion mating part, and the distal end of the insulating adapter is inserted into the metal connecting tube and the second anti-torsion part mates with the second anti-torsion mating part.

[0028] In one embodiment, the first anti-torsion part is a key structure, the first anti-torsion mating part is a keyway structure, and the sidewall of the keyway structure is arranged radially along the connecting rod; or, the first anti-torsion part is a keyway structure, the first anti-torsion part is a key structure, and the sidewall of the keyway structure is arranged radially along the insulating adapter.

[0029] In one embodiment, the second anti-torsion part is a key structure, the second anti-torsion mating part is a keyway structure, and the sidewall of the keyway structure is arranged radially along the metal connecting pipe; or, the second anti-torsion part is a keyway structure, the second anti-torsion part is a key structure, and the sidewall of the keyway structure is arranged radially along the insulating adapter.

[0030] Another object of this application is to provide a slave operating device, the slave operating device comprising: a robotic arm; and a surgical instrument as described in any of the above embodiments, the surgical instrument being disposed on the robotic arm.

[0031] Another object of this application is to provide a surgical robot, the surgical robot comprising: the aforementioned slave operating device; and a master operating device, the master operating device being used to control the slave operating device.

[0032] The above-described technical solutions in the embodiments of this application have at least the following technical effects or advantages:

[0033] The protective sleeve provided in this application embodiment comprises a sleeve body, a connector fixed to the distal end of the sleeve body, and an insulating sleeve connected to the connector. The sleeve body is used to cover the joint to protect it. The connector is used to connect to the distal end of the joint or an end effector to fix the distal end of the sleeve body. The insulating sleeve is used to cover the end effector to insulate and protect it, preventing the end effector from damaging biological tissues during surgery. The insulating sleeve is connected to the sleeve body through the connector, ensuring that the sleeve body does not affect the insulating sleeve when deformed by force during joint movement, thus improving the stability of the insulating sleeve. Furthermore, by providing a limiting part to the connector and a limiting mating part to the insulating sleeve, the insulating sleeve is connected to the connector through the limiting part and the limiting mating part, enhancing the connection strength between the insulating sleeve and the connector and effectively reducing the possibility of the insulating sleeve falling off during surgery, thereby improving surgical safety. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art 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.

[0035] Figure 1 This is a schematic diagram of the structure of the operating device provided in an embodiment of this application;

[0036] Figure 2 This is a schematic diagram of the main operating device provided in an embodiment of this application;

[0037] Figure 3 This is a schematic diagram of the structure of the surgical instrument provided in the embodiments of this application;

[0038] Figure 4 This is a schematic diagram of the structure of the sheath provided in the embodiments of this application;

[0039] Figure 5 An exploded view of the sheath provided in an embodiment of this application;

[0040] Figure 6 A cross-sectional schematic diagram of the sheath provided in the embodiments of this application;

[0041] Figure 7 for Figure 6 A magnified schematic diagram of the structure at point A in the diagram;

[0042] Figure 8 A cross-sectional schematic diagram of a sheath provided in another embodiment of this application;

[0043] Figure 9for Figure 8 A magnified schematic diagram of the structure at point B in the diagram;

[0044] Figure 10 A cross-sectional schematic diagram of an insulating sleeve provided in another embodiment of this application;

[0045] Figure 11 for Figure 10 A magnified schematic diagram of the structure at point C in the diagram;

[0046] Figure 12 A cross-sectional schematic diagram of an insulating sleeve provided in another embodiment of this application;

[0047] Figure 13 A cross-sectional schematic diagram of an insulating sleeve provided in another embodiment of this application;

[0048] Figure 14 for Figure 13 A magnified schematic diagram of the structure at point D in the diagram;

[0049] Figure 15 A cross-sectional schematic diagram of an insulating sleeve provided in another embodiment of this application;

[0050] Figure 16 for Figure 15 A magnified schematic diagram of the structure at point E in the diagram;

[0051] Figure 17 A cross-sectional schematic diagram of an insulating sleeve provided in another embodiment of this application;

[0052] Figure 18 for Figure 17 A magnified schematic diagram of the structure at point F in the diagram;

[0053] Figure 19 A cross-sectional schematic diagram of a connector provided in another embodiment of this application;

[0054] Figure 20 for Figure 19 A magnified schematic diagram of the structure at point G in the diagram;

[0055] Figure 21 A schematic diagram of the structure of the sheath provided in the embodiment of this application being installed on a surgical instrument;

[0056] Figure 22 This is a schematic diagram of the structure of the sheath provided in this application after the sheath body is removed and it is fitted onto the surgical instrument.

[0057] Figure 23 This is a schematic diagram of the surgical instrument after the sheath has been removed, as provided in the embodiments of this application;

[0058] Figure 24This is an exploded view of the surgical instrument after the sheath has been removed, as provided in an embodiment of this application.

[0059] The following are the labeling elements in the figure:

[0060] 1000. Slave operating device; 2000. Master operating device; 200. Robotic arm; 300. Actuator; 100. Surgical instrument; 60. Drive device; 10. Sheath; 11. Sheath body; 12. Connector; 13. Insulating sleeve; 121. Limiting part; 131. Limiting mating part; 1311. First plane; 1212. Third plane; 132. First annular groove structure; 111. Second annular groove structure; 130. Overlapping part; 14. Fixing part; 100. Surgical instrument; 20. Joint; 30. End effector; 40. Linkage rod; 22. Abutment part; 50. Insulating adapter; 141. Locking part; 51. Locking mating part; 52. Conical structure; 21. Metal connecting pipe; 53. First anti-torsion part; 54. Second anti-torsion part; 41. First anti-torsion mating part; 211. Second anti-torsion mating part. Detailed Implementation

[0061] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0062] In the description of this application, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In the description of this application, the terms "proximal" and "distal" are commonly used terms in the field of interventional medical devices. "Proximal" refers to the end of the element closer to the operator or the end away from the end effector of the interventional medical device, and "distal" refers to the end of the element away from the operator or the end closer to the end effector of the interventional medical device.

[0063] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0064] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," and "setting," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0065] Surgical robots generally consist of secondary operating devices and primary operating devices. Figure 1 The image shown is a slave operating device 1000 according to an embodiment of this application. Figure 2 The illustration shows a master operating device 2000 according to an embodiment of this application. A surgeon or other operator performs control operations on the slave operating device 1000 from the master operating device 2000. The slave operating device 1000 performs surgical procedures on a human body or other organism based on input instructions from the master operating device 2000. The master operating device 2000 and the slave operating device 1000 can be placed in the same operating room, in different rooms, or even far apart. For example, they can be located in different cities. Data transmission between the master operating device 2000 and the slave operating device 1000 can be wired or wireless. For instance, if they are in the same operating room, they can transmit data via a wired connection; if they are in different cities, they can transmit data over long distances via wireless communication (e.g., 5G wireless signals).

[0066] For example, please refer to Figure 1The operating device 1000 includes a robotic arm 200, an actuator 300 disposed at the distal end of the robotic arm 200, and surgical instruments 100 disposed on the actuator 300. The actuator 300 is used to drive the movement of the surgical instruments 100, which are used to perform surgical procedures. It should be understood that the surgical robot can be a single-port surgical robot or a multi-port surgical robot. When the surgical robot is a single-port surgical robot, multiple surgical instruments 100 can be connected to one actuator 300. The distal ends of multiple surgical instruments 100 can enter the interior of the human body or other organism through a single incision, thereby reducing the number of surgical incisions and enabling faster postoperative recovery. When the surgical robot is a multi-port surgical robot, the operating device 1000 can include multiple robotic arms 200, each robotic arm 200 can be equipped with an actuator 300 and surgical instruments 100, and each surgical instrument 100 can be inserted into the interior of the human body or other organism through different incisions.

[0067] For example, Figure 3 The surgical instrument 100 shown is an embodiment of this application. The surgical instrument 100 includes a drive device 60, a connecting rod 40, and an end effector located at the distal end of the connecting rod 40. The end effector includes a joint 20 and an end effector 30. The joint 20 typically includes multiple joint components that can rotate relative to each other, and can perform yaw, pitch, and other degrees of freedom movements. The drive device 60 can be engaged with the actuation device 300 through a joint. The drive unit inside the drive device 60 is connected to the joint 20 and the end effector 30 through cables. The drive unit drives the joint 20 and / or the end effector 30 to move by manipulating multiple cables. The cables can be flexible, or can include flexible segments and rigid segmented strips. The end effector 30 can be an electrocautery device, scissors, clamps, staplers, scissors, bipolar grippers, bipolar dissecting forceps, monopolar electric hooks, monopolar scissors, imaging devices, etc., but is not limited to these.

[0068] During surgery, the joint 20 and the end effector 30 will enter the interior of the human body or other organisms. Since the internal fluids of the human body or other organisms may enter the joint 20 and affect the joint components, and the end effector 30 may be an energy device and be charged, which may damage the tissues of the organism, it is necessary to insulate and isolate the joint 20 and the end effector 30 to avoid affecting the joint 20 and the end effector 30, and to prevent the end effector 30 from damaging the tissues of the human body or other organisms.

[0069] To address the aforementioned problems, during the creation of the embodiments of this application, the inventors experimented with a scheme using a sheath and an insulating sleeve connected to the sheath. The sheath was placed over the outside of the joint 20, and the insulating sleeve was placed over the outside of the end effector 30, thus achieving protection. However, the inventors discovered that the insulating sleeve could detach during surgery, potentially leading to medical accidents. Based on this, the inventors proposed the following technical solution.

[0070] Please see Figures 4 to 7 This application provides a protective sleeve 10 for use on surgical instruments. The surgical instruments include a joint and an end effector connected to the distal end of the joint. The protective sleeve 10 is used to cover the joint and the end effector for protection. Figure 3 and Figure 23 Specifically, a surgical instrument 100, a joint 20, and an end effector 30 are illustrated; the sheath 10 includes a sheath body 11, a connector 12, and an insulating sleeve 13, wherein:

[0071] The sheath body 11 is used to cover the joint 20 to protect the joint 20. It is understood that since the joint 20 will make movements such as swaying and pitching during the operation, the sheath body 11 covered by the joint 20 also has flexible and stretchable properties, and can deform under force with the movement of the joint 20. The sheath body 11 can be made of flexible and stretchable materials, which may include fluororubber, silicone, polytetrafluoroethylene (PTFE), tetrafluoroethylene, etc., but are not limited to these.

[0072] The connector 12 is fixed to the distal end of the sheath body 11 and is used to connect with the distal end of the joint 20 or the end effector 30, thereby fixing the distal end of the sheath body 11. The connector 12 may be generally ring-shaped, but is not limited to this. In some other embodiments, the connector 12 may also be semi-ring-shaped or other regular or irregular shapes. The distal end of the sheath body 11 may be sleeved on the connector 12 and connected to it. An adhesive layer may be provided between the sheath body 11 and the connector 12 to improve the connection strength between the sheath body 11 and the connector 12. The connector 12 may abut against the distal end of the joint 20 or the end effector 30 to fix the distal end of the sheath body 11.

[0073] An insulating sleeve 13 is connected to a connector 12 and is used to fit over an end effector 30 to protect it. The end of the end effector 30 can extend from the distal end of the insulating sleeve 13. The insulating sleeve 13 can be conical or drum-shaped, and its outer diameter can gradually decrease from its proximal end to its distal end to facilitate its engagement with the end effector 30. The connector 12 has a limiting part 121, and the insulating sleeve 13 has a limiting engagement part 131. The limiting part 121 and the limiting engagement part 131 engage with each other. The limiting engagement means that the limiting part 121 and the limiting engagement part 131 can interact to restrict relative movement between them. For example, the limiting part 121 and the limiting engagement part 131 can be fitted together or threaded together, but are not limited to these.

[0074] The protective sleeve 10 provided in this embodiment comprises a protective sleeve body 11, a connector 12 fixed to the distal end of the protective sleeve body 11, and an insulating sleeve 13 connected to the connector 12. The protective sleeve body 11 is used to cover the joint 20 to protect the joint 20. The connector 12 is used to connect to the distal end of the joint 20 or the end effector 30 to fix the distal end of the protective sleeve body 11. The insulating sleeve 13 is used to cover the end effector 30 to provide insulation and protection for the end effector 30, so as to avoid damage to biological tissue by the end effector 30 during surgery. The insulating sleeve 13 is connected to the connector 12 to protect the joint 20. The connector 12 is connected to the sheath body 11, so that the sheath body 11 will not affect the insulating sleeve 13 when it is deformed by force during the movement of the joint 20, which can improve the stability of the insulating sleeve 13. At the same time, by setting the connector 12 to have a limiting part 121 and the insulating sleeve 13 to have a limiting mating part 131, the insulating sleeve 13 is connected to the connector 12 through the limiting part 121 and the limiting mating part 131, which can enhance the connection strength between the insulating sleeve 13 and the connector 12, effectively reduce the possibility of the insulating sleeve 13 falling off during the operation, and improve the safety of the operation.

[0075] In one embodiment, see Figure 7 , Figures 9 to 18 The limiting part 121 is a recessed structure, that is, a groove or hole recessed in the connector 12. The hole can be a blind hole or a through hole. The limiting mating part 131 is a protruding structure, that is, a protruding structure protruding from the insulating sleeve 13. The protruding structure and the recessed structure can be fitted together. Of course, in some other embodiments, please refer to Figure 19 and Figure 20 Alternatively, the limiting part 121 can be a protruding structure, that is, a protruding structure protruding from the connector 12, and the limiting mating part 131 can be a recessed structure, that is, a groove or hole recessed in the insulating sleeve 13. The hole can be a blind hole or a through hole.

[0076] It should be noted that the specific shapes of the protruding and recessed structures can vary. For example, the protruding structure can be a continuous protrusion or a protruding structure formed by multiple discrete sub-protrusions spaced apart. The recessed structure is configured to match the protruding structure. The protruding structure can be a sawtooth structure, an arc-shaped protrusion with an arc-shaped outer surface, a semi-circular protrusion, a trapezoidal structure, or an irregular shape, but is not limited to these. Correspondingly, the shape of the recessed structure can be configured to match the shape of the protruding structure. Of course, in some other embodiments, the shape of the recessed structure may not be completely matched with the shape of the protruding structure, as long as the limiting part 121 and the limiting mating part 131 can limit the relative movement between them. The specific shapes of the limiting part 121 and the limiting mating part are not uniquely limited here.

[0077] With this configuration, when the insulating sleeve 13 is connected to the connector 12, the limiting mating part 131 and the limiting part 121 will engage, which can effectively limit the relative movement between the insulating sleeve 13 and the connector 12 and improve the connection strength between the insulating sleeve 13 and the connector 12.

[0078] It should be noted that the limiting part 121 and the limiting mating part 131 are not limited to the mating of the recessed structure and the protruding structure. Optionally, in some other embodiments, the limiting part 121 and the limiting mating part 131 can be threaded together. Specifically, the limiting part 121 can be an internal thread and the limiting mating part 131 can be an external thread, or the limiting part 121 can be an external thread and the limiting mating part 131 can be an internal thread.

[0079] Alternatively, in one embodiment, please refer to Figure 7 and 9 The outer wall of the connector 12 has a limiting portion 121, and the inner wall of the insulating sleeve 13 has a limiting mating portion 131. The portion of the insulating sleeve 13 with the limiting mating portion 131 is sleeved on the portion of the connector 12 with the limiting portion 121. The limiting portion 121 may be provided on the outer wall of the distal end of the connector 12, and the limiting mating portion 131 may be provided on the outer wall of the proximal end of the insulating sleeve 13. Of course, in some other embodiments, the limiting portion 121 may be provided on the outer wall of the middle part of the connector 12, and in some other embodiments, the limiting mating portion 131 may be provided on the outer wall of the middle part of the insulating sleeve 13.

[0080] With this configuration, while the insulating sleeve 13 is fitted onto the connector 12, the limiting part 121 and the limiting mating part 131 are mutually limiting and mating. This allows the insulating sleeve 13 and the connector 12 to not only have a tightening force due to their fitted arrangement, but also for the limiting part 121 and the limiting mating part 131 to fit together and form a limiting effect. This dual function can further improve the connection strength between the insulating sleeve 13 and the connector 12 and effectively prevent the insulating sleeve 13 from detaching from the connector 12.

[0081] It should be noted that the specific positions of the limiting part 121 and the limiting mating part 131 are not limited to this. Optionally, in some other embodiments, the inner wall of the connector 12 has the limiting part 121, the outer wall of the insulating sleeve 13 has the limiting mating part 131, and the part of the connector 12 with the limiting part 121 is sleeved on the part of the insulating sleeve 13 with the limiting mating part 131.

[0082] Optionally, in one embodiment, an adhesive layer, such as adhesive, may be provided between the insulating sleeve 13 and the connector 12 to further improve the connection strength between the insulating sleeve 13 and the connector 12.

[0083] Alternatively, in one embodiment, please refer to Figures 7 to 9 , Figures 10 to 18 The limiting portion 121 is an annular structure arranged along the circumference of the connector 12, and the limiting mating portion 131 is an annular structure arranged along the circumference of the insulating sleeve 13. Specifically, the limiting portion 121 can be an annular recessed structure, such as an annular groove, and the limiting mating portion 131 can be an annular protruding structure, such as an annular protrusion, or the limiting portion 121 can be an annular protrusion and the limiting mating portion 131 can be an annular groove. Of course, in some other embodiments, the limiting portion 121 can be limited to an annular structure arranged along the circumference of the connector 12, and the limiting mating portion 131 can be a non-annular structure, such as a non-closed arc-shaped structure, or a structure formed by multiple discrete sub-limiting mating portions spaced apart; in some other embodiments, the limiting mating portion 131 can be limited to an annular structure arranged along the circumference of the insulating sleeve 13.

[0084] With this configuration, since both the limiting part 121 and the limiting mating part 131 have an annular structure, the contact area between them is relatively large when they mate, which can improve the limiting mating effect.

[0085] Alternatively, in one embodiment, please refer to Figure 7 , Figure 9 , Figure 10 as well as Figure 17The limiting part 121 is a recessed structure, and the limiting mating part 131 is a protruding structure. The protruding structure is inclined along the direction from the proximal end of the insulating sleeve 13 to the distal end of the insulating sleeve 13. The inclination refers to the fact that the protruding structure is generally inclined along the direction from the proximal end of the insulating sleeve 13 to the distal end of the insulating sleeve 13. Correspondingly, the recessed structure can also be inclined, and the inclination direction is opposite to the inclination direction of the protruding structure. In this case, the protruding structure can be an inclined sawtooth structure.

[0086] With this configuration, since the limiting fitting part 131 is a protruding structure inclined along the direction from the proximal end of the insulating sleeve 13 to the distal end of the insulating sleeve 13, when the insulating sleeve 13 is subjected to a force along the direction from the proximal end of the insulating sleeve 13 to the distal end of the insulating sleeve 13, the limiting part 121 and the limiting fitting part 131 can be pulled together to provide a blocking force, which can prevent the insulating sleeve 13 from disengaging from the connector 12 along the direction from the proximal end of the insulating sleeve 13 to the distal end of the insulating sleeve 13, thereby improving the limiting effect between the limiting part 121 and the limiting fitting part 131, and further improving the connection strength between the insulating sleeve 13 and the connector 12.

[0087] Of course, in some other implementations, please refer to Figure 19 and Figure 20 Alternatively, the limiting part 121 can be a protruding structure, and the limiting mating part 131 can be a recessed structure. The protruding structure is inclined along the direction from the distal end of the connector 12 to the proximal end of the connector 12. The inclination refers to the fact that the protruding structure is generally inclined along the direction from the distal end of the connector 12 to the proximal end of the connector 12. Correspondingly, the recessed structure can also be inclined, and the inclination direction is opposite to the inclination direction of the protruding structure. With this configuration, the same effect as the above embodiment can be achieved.

[0088] Alternatively, in one embodiment, please refer to Figure 11 , Figure 14 , Figure 16 as well as Figure 18 The limiting part 121 is a recessed structure, and the limiting mating part 131 is a protruding structure. The protruding structure has a first plane 1311 close to the far end of the insulating sleeve 13, and the recessed structure has a second plane that mates with the first plane 1311. The second plane is parallel to the first plane 1311.

[0089] This configuration allows the first plane 1311 and the second plane to directly or indirectly contact each other when the limiting part 121 and the limiting mating part 131 are in a limiting fit. When the insulating sleeve 13 is subjected to a force along the direction from the proximal end of the insulating sleeve 13 to the distal end of the insulating sleeve 13, the first plane 1311 and the second plane will have a relative pressing action. Compared with the arc-shaped surface, the limiting fit effect between the limiting part 121 and the limiting mating part 131 can be improved, thereby further improving the connection strength between the insulating sleeve 13 and the connector 12.

[0090] Further, in one embodiment, please refer to Figure 11 , Figure 14 as well as Figure 18 The included angle between the first plane 1311 and the insulating sleeve 13 is α, where 0 < α ≤ 90°. For example, it can be 90°, 85°, 80°, 70°, 60°, 50°, 40°, 30°, etc., but is not limited to this.

[0091] With this configuration, since the angle between the first plane 1311 and the insulating sleeve 13 is a right angle or an acute angle, that is, it is roughly inclined in the direction from the near end of the insulating sleeve 13 to the far end of the insulating sleeve 13, it can provide a blocking effect, improve the cooperation effect between the limiting part 121 and the limiting mating part 131, prevent the insulating sleeve 13 from disengaging from the connector 12 in the direction from the near end of the insulating sleeve 13 to the far end of the insulating sleeve 13, thereby improving the limiting effect between the limiting part 121 and the limiting mating part 131, and further improving the connection strength between the insulating sleeve 13 and the connector 12.

[0092] Of course, in some other implementations, please refer to Figure 19 and Figure 20 Alternatively, the limiting part 121 can be a protruding structure, and the limiting mating part 131 can be a recessed structure. The protruding structure has a third plane 1212 near the proximal end of the connector 12, and the recessed structure has a fourth plane that mates with the third plane 1212, with the fourth plane parallel to the third plane 1212. With this configuration, the same effect as the above embodiment can be achieved.

[0093] Further, in one embodiment, please refer to Figure 20 The included angle between the third plane 1212 and the insulating sleeve 13 is b, where 0 < b ≤ 90°. For example, it can be 90°, 85°, 80°, 70°, 60°, 50°, 40°, 30°, etc., but is not limited to these. This arrangement provides a blocking effect, preventing the insulating sleeve 13 from disengaging from the connector 12 along the direction from the proximal end of the insulating sleeve 13 to the distal end of the insulating sleeve 13, thereby improving the limiting effect between the limiting part 121 and the limiting mating part 131, and further improving the connection strength between the insulating sleeve 13 and the connector 12.

[0094] Since the sheath 10, joint 20 and end effector 30 need to be inserted into the human body or other organisms to perform surgery, the smaller their size, the less harm they will cause to the organism. Furthermore, since the connector 12 is located between the sheath body 11 and the insulating sleeve 13, its size is limited. If the connector 12 is made of plastic, its small size will result in insufficient strength, and its stability when connected to the distal end of the joint 20 or the end effector 30 will not be ideal, and it may loosen.

[0095] To solve the above-mentioned technical problems, in one embodiment, the connector 12 is a metal connector, that is, the connector 12 is made of metal material.

[0096] With this configuration, since the connector 12 is made of metal, it has high strength and can ensure its stability when connected to the distal end of the joint 20 or the end effector 30, preventing loosening due to insufficient strength, thereby ensuring the protective effect of the sheath 10.

[0097] Since the connector 12 is made of metal and is conductive, and the joint 20 and the end effector 30 are operated under power, leakage discharge occurs at the joint between the sheath body 11 and the connector 12, which can easily cause damage to the tissues of human and other biological organisms.

[0098] To address the aforementioned technical problems, in one embodiment, please refer to... Figure 7 and Figure 9 The distal end of the sheath body 11 is fitted onto the connector 12 and overlaps with the insulating sleeve 13 to form an overlap portion 130, thereby sealing the connector 12 inside.

[0099] This design prevents a gap between the sheath body 11 and the connector 12 that allows communication with the connector 12, thereby preventing leakage discharge and avoiding damage to the tissues of the human body and other organisms, thus improving surgical safety.

[0100] Alternatively, in one embodiment, please refer to Figure 7 and Figure 9 The proximal end of connector 12 is connected to the inner wall of sheath body 11, and the distal end of connector 12 is connected to the inner wall of insulating sleeve 13; the distal end of sheath body 11 is fitted onto the proximal end of insulating sleeve 13 (e.g., Figure 7 (as shown), or, the proximal end of the insulating sleeve 13 is fitted onto the distal end of the insulating sleeve 13 (as shown). Figure 9 (As shown).

[0101] With this configuration, the sheath body 11 and the insulating sleeve 13 can not only completely enclose the connector 12 inside, but also the overlapping area of ​​the sheath body 11 and the insulating sleeve 13 is small, which helps to reduce the width of the overlapping part of the sheath body 11, the insulating sleeve 13 and the connector 12, and reduce the impact of thickness.

[0102] It should be noted that in some other embodiments, the proximal end of the connector 12 may be connected to the inner wall of the sheath body 11, the distal end of the connector 12 may be sleeved on the outer wall of the insulating sleeve 13, and the distal end of the sheath body 11 may be completely sleeved on the connector 12 and extend to the insulating sleeve 13.

[0103] Alternatively, in one embodiment, please refer to Figure 7The outer wall of the near end of the insulating sleeve 13 is provided with a first annular groove structure 132, and the distal end of the sheath body 11 extends into the first annular groove structure 132. The outer surface of the distal end of the sheath body 11 is flush with the outer surface of the near end of the insulating sleeve 13. Alternatively, please refer to Figure 9 The outer wall of the far end of the sheath body 11 is provided with a second annular groove structure 111, and the proximal end of the insulating sleeve 13 extends into the second annular groove structure 111. The outer surface of the proximal end of the insulating sleeve 13 is flush with the outer surface of the far end of the sheath body 11.

[0104] This arrangement ensures that the outer surface of the distal end of the sheath body 11 is flush with the outer surface of the proximal end of the insulating sleeve 13, thus avoiding the formation of a step. This not only prevents the distal end of the sheath body 11 or the proximal end of the insulating sleeve 13 from being lifted due to the force exerted by the step on other components or the tissues of living organisms such as the human body, thus avoiding the risk of leakage discharge, but also prevents the step from causing damage to the tissues of living organisms such as the human body.

[0105] Since the joint 20 and the end effector 30 extend into the interior of the human body and other organisms, it is necessary to observe the operation of the end effector 30 during surgical procedures. For example, when the end effector 30 is a pair of scissors, it is necessary to observe its opening and closing degree. Therefore, when the insulating sleeve 13 is placed on the end effector 30, it will form an obstruction, affecting the normal and safe conduct of the surgery.

[0106] To address the aforementioned technical problems, in one embodiment, the insulating sleeve 13 is a transparent insulating sleeve, i.e., made of a transparent material, such as a silicone sleeve, but not limited thereto. The sheath body 11 is a flexible and stretchable non-transparent sheath body.

[0107] With this configuration, since the insulating sleeve 13 is transparent, it will not obstruct the end effector 30 when it is fitted, allowing observation of the end effector 30's operation. However, when the insulating sleeve 13 is transparent, due to its material properties, the connection strength between the insulating sleeve 13 and the connector 12 is poor if only adhesives are used, making it prone to detachment under stress. In this application, the cooperation of the limiting part 121 and the limiting mating part 131 enhances the connection strength between the insulating sleeve 13 and the connector 12, effectively reducing the possibility of the insulating sleeve 13 detaching during surgery, thus allowing the insulating sleeve 13 to be transparent. The sheath body 11, on the other hand, needs to be made of a flexible and stretchable material. Its material can be firmly connected to the connector 12 using adhesives to meet strength requirements, but its color is usually opaque, such as black. Therefore, the insulating sleeve 13 cannot be made of the same material as the sheath body 11. Of course, in some other embodiments, the sheath body 11 and the connector 12 may also adopt a limiting part and a limiting mating part to limit and fit together, so as to enhance the connection strength between the sheath body 11 and the connector 12.

[0108] In one embodiment, see Figures 3 to 5 , Figure 21 and Figure 22 The surgical instrument 100 includes a connecting rod 40 connected to the proximal end of the joint 20. The sheath 10 includes a fixing member 14 fixed to the proximal end of the sheath body 11 for connection to the joint 20 or the connecting rod 40. Specifically, the sheath body 11 can be fitted onto the fixing member 14, and the sheath body 11 and the fixing member 14 can be connected by an adhesive such as glue to improve the connection strength.

[0109] With this configuration, the proximal end of the sheath body 11 can be connected to the joint 20 or the connecting rod 40 via the fixing member 14, and the distal end of the sheath body 11 can be connected to the distal end of the joint 20 or the end effector 30 via the connector 12, thereby fixing the opposite ends of the sheath body 11, which facilitates the stretching and deformation of the sheath body 11 with the movement of the joint 20, and prevents the sheath body 11 from falling off.

[0110] Optionally, in one embodiment, the fastener 14 may be a metal fastener, i.e., made of metal material.

[0111] This design ensures that the fastener 14 has sufficient strength to guarantee the stability of the sheath body 11 and prevent it from falling off. Furthermore, when using metal, it is advantageous to have high strength with a small size, which can meet the size requirements of surgical instruments and prevent the use of plastic from having insufficient strength due to size limitations, thus affecting the stability of the sheath body 11.

[0112] Please see Figure 3 , Figures 21 to 24 This application also provides a surgical instrument 100, which includes a joint 20, an end effector 30, a link 40, and a sheath 10 as described in any of the above embodiments. The end effector 30 is connected to the distal end of the joint 20, and the link 40 is connected to the proximal end of the joint 20. The sheath body 11 is fitted onto the joint 20, and the proximal end of the sheath body 11 is connected to the joint 20 or the link 40. A connector 12 is connected to the distal end of the joint 20 or the end effector 30, and an insulating sleeve 13 is fitted onto the end effector 30. It is understood that the surgical instrument 100 may include other components in addition to the above-described components. The description here mainly focuses on the improvements of this application, and other undescribed components can be components of existing surgical instruments used in surgical robots.

[0113] Since the surgical instrument 100 provided in this application adopts the sheath 10 of the above embodiment, it also has the technical effects brought about by the technical solution of the sheath 10 of the above embodiment, which will not be repeated here.

[0114] In one embodiment, see Figures 22 to 24The distal or end effector 30 of the joint 20 has an abutment portion 22. Specifically, the abutment portion 22 may be provided on the joint member at the distal end of the joint 20, or the abutment portion 22 may be provided at the proximal end of the end effector 30, and the proximal end of the connector 12 abuts against the abutment portion 22. The abutment portion 22 may be a flange, a protrusion, or a ridge, but is not limited to these.

[0115] With this configuration, after the sheath body 11 is fitted onto the joint 20 from the distal end to the proximal end, the connector 12 can abut against the abutment part 22, thereby fixing the distal end of the sheath body 11, which is more convenient.

[0116] In one embodiment, see Figures 22 to 24 The surgical instrument 100 includes an insulating adapter 50, through which the connecting rod 40 is insulatedly connected to the joint 20. The insulating adapter 50 is made of insulating material, such as plastic, but not limited to this. The sheath 10 includes a fixing member 14 fixed to the proximal end of the sheath body 11. The fixing member 14 has a locking part 141, and the insulating adapter 50 has a locking engagement part 51. The locking part 141 and the locking engagement part 51 are locked together. The locking part 141 can be a groove structure, and the locking engagement part 51 can be a protrusion structure, but not limited to this. For the specific structure of the locking part 141 and the locking engagement part 51, please refer to the patent document with application number CN202010083306.3 previously filed by the applicant of this application, which will not be elaborated here.

[0117] This configuration, with the insulating adapter 50 connecting the connecting rod 40 and the joint 20, creates insulation between them. Furthermore, the fixing member 14 is connected to the insulating adapter 50, preventing short-circuit discharge and leakage at the proximal end of the fixing member 14, thus improving surgical safety. Additionally, the locking part 141 and the locking engagement part 51 provide a detachable connection between the fixing member 14 and the insulating adapter 50.

[0118] Alternatively, in one embodiment, please refer to Figure 22 The fastener 14 is a metal fastener, and there is a creepage distance L between the proximal end of the joint 20 and the fastener 14. The creepage distance L refers to the shortest distance between the proximal end of the joint 20 and the metal fastener 14 to avoid electrical conduction.

[0119] With this configuration, since there is a creepage distance L between the proximal end of the joint 20 and the fixing member 14, i.e. there is an insulating area between the two, it can prevent electrical conduction between the proximal end of the joint 20 and the fixing member 14, thus avoiding discharge leakage at the proximal end of the fixing member 14.

[0120] Optionally, in one embodiment, the creepage distance L is greater than or equal to 8 mm. Optionally, the creepage distance can be 8 mm, 9 mm, 10 mm, 11 mm, etc., but is not limited to this.

[0121] With this configuration, the creepage distance is greater than or equal to 8mm, which provides high safety and prevents electrical conduction between the proximal end of joint 20 and the fixing member 14.

[0122] Alternatively, in one embodiment, please refer to Figures 22 to 24 The outer wall of the insulating adapter 50 is provided with a tapered structure 52. The outer diameter of the tapered structure 52 gradually increases along the connecting rod 40 toward the joint 20. The fixing member 14 is located between the tapered structure 52 and the joint 20.

[0123] This design, due to the conical structure 52, protects the proximal end of the sheath body 11, preventing the sheath 10 from colliding with the sealing component of the puncture card during surgical procedures, thus avoiding damage to both the sealing component and the sheath body 11. Furthermore, the conical structure 52, located on the insulating adapter 50, is an insulating component that prevents leakage discharge.

[0124] Alternatively, in one embodiment, please refer to Figures 22 to 24 The joint 20 has a metal connecting tube 21 at its proximal end. The insulating adapter 50 has a first anti-torsion part 53 and a second anti-torsion part 54. The connecting rod 40 has a first anti-torsion mating part 41 at its distal end, and a second anti-torsion mating part 211 at its proximal end. The proximal end of the insulating adapter 50 is inserted into the connecting rod 40, with the first anti-torsion part 53 engaging with the first anti-torsion mating part 41. The distal end of the insulating adapter 50 is inserted into the metal connecting tube 21, with the second anti-torsion part 54 engaging with the second anti-torsion mating part 211. In this configuration, a creepage distance L is formed between the distal end of the fixing member 14 and the metal connecting tube 21.

[0125] With this configuration, the metal connecting tube 21, being made of metal, has increased strength, which is beneficial for supporting the joint 20 and can compensate for the strength of the insulating adapter 50, which is made of insulating material. Furthermore, the proximal end of the insulating adapter 50 is inserted into the connecting rod 40, with the first anti-torsion part 53 engaging with the first anti-torsion mating part 41, and the distal end of the insulating adapter 50 is inserted into the metal connecting tube 21, with the second anti-torsion part 54 engaging with the second anti-torsion mating part 211. This ensures a firm connection between the insulating adapter 50, the connecting rod 40, and the metal connecting tube 21, thereby increasing the strength of the connection between the joint 20 and the connecting rod 40, as well as the torsional strength between the insulating adapter 50 and the connecting rod 40 and between the insulating adapter 50 and the metal connecting tube 21, thus improving the overall structural stability and reliability.

[0126] It should be noted that in some other embodiments, the proximal end of the joint 20 may not have a metal connecting tube 21.

[0127] Alternatively, in one embodiment, please refer to Figure 23 and Figure 24 The first anti-torsion part 53 is a key structure that can protrude from the outer surface of the insulating adapter 50. The first anti-torsion mating part 41 is a keyway structure that can penetrate the side wall of the connecting rod 40. Of course, in some other embodiments, it may not penetrate the side wall of the connecting rod 40. The side wall of the keyway structure is arranged along the radial direction (i.e., the diameter direction) of the connecting rod 40. This can be understood as the side wall of the keyway structure being coplanar with the diameter direction of the connecting rod 40, or as the tangent of the outer surface of the connecting rod 40 containing the side wall of the keyway structure being perpendicular to the side wall of the keyway structure. Of course, in some other embodiments, the first anti-torsion part 53 can be a keyway structure. The side wall of the keyway structure is arranged along the radial direction (i.e., the diameter direction) of the insulating adapter 50. This can be understood as the side wall of the keyway structure being coplanar with the diameter direction of the insulating adapter 50, or as the tangent of the outer surface of the insulating adapter 50 containing the side wall of the keyway structure being perpendicular to the side wall of the keyway structure.

[0128] This configuration maximizes the effective contact area between the first anti-torsion part 53 and the first anti-torsion mating part 41 when they are engaged and subjected to force, relative to the sidewall of the keyway structure being inclined to the diameter direction of the connecting rod 40 or the diameter direction of the insulating adapter 50. This improves the torsional strength.

[0129] It should be noted that, in addition to key structure and keyway structure, the first anti-torsion part 53 and the first anti-torsion mating part 41 can also be a snap-fit ​​part and a snap-fit ​​mating part that snap-fit ​​together, or an internal thread and an external thread that thread together, but are not limited to these.

[0130] Alternatively, in one embodiment, please refer to Figure 23 and Figure 24The second anti-torsion part 54 is a key structure, which can protrude from the outer surface of the insulating adapter 50. The second anti-torsion mating part 211 is a keyway structure, which can penetrate the sidewall of the metal connecting pipe 21. Of course, in some other embodiments, it may not penetrate the sidewall of the metal connecting pipe 21. The sidewall of the keyway structure is arranged along the radial direction (i.e., the diameter direction) of the metal connecting pipe 21. This can be understood as the sidewall of the keyway structure being coplanar with the diameter direction of the metal connecting pipe 21, or as the tangent of the outer surface of the metal connecting pipe 21 containing the sidewall of the keyway structure being perpendicular to the sidewall of the keyway structure. Of course, in some other embodiments, the second anti-torsion part 54 can be a keyway structure, and the sidewall of the keyway structure is arranged along the radial direction (i.e., the diameter direction) of the insulating adapter 50. This can be understood as the sidewall of the keyway structure being coplanar with the diameter direction of the insulating adapter 50, or as the tangent of the outer surface of the insulating adapter 50 containing the sidewall of the keyway structure being perpendicular to the sidewall of the keyway structure.

[0131] This configuration maximizes the effective contact area between the second anti-torsion part 54 and the second anti-torsion mating part 211 when they are engaged and subjected to force, relative to the sidewall of the keyway structure being inclined to the diameter direction of the metal connecting pipe 21 or the diameter direction of the insulating adapter 50. This improves the torsional strength.

[0132] It should be noted that, in addition to key structure and keyway structure, the second anti-torsion part 54 and the second anti-torsion mating part 211 can also be a snap-fit ​​part and a snap-fit ​​mating part that snap-fit ​​together, or an internal thread and an external thread that thread together, but are not limited to these.

[0133] Please see Figure 1 This application also provides an operating device 1000, which includes a robotic arm and a surgical instrument 100 of any of the above embodiments. The surgical instrument 100 is mounted on the robotic arm, which is used to manipulate the movement of the surgical instrument 100.

[0134] Since the operating device 1000 provided in this application adopts the surgical instrument 100 of the above embodiment, it also has the technical effects brought about by the technical solutions of the surgical instrument 100 and the sheath 10 of the above embodiment, which will not be repeated here.

[0135] Please see Figure 1 and Figure 2 This application embodiment also provides a surgical robot, which includes the aforementioned slave operating device 1000 and master operating device 2000, with the master operating device 2000 used to control the slave operating device 1000.

[0136] Since the surgical robot provided in this application adopts the slave operating device 1000 of the above embodiment, it also has the technical effects brought about by the technical solutions of the surgical instrument 100 and sheath 10 of the above embodiment, which will not be repeated here.

[0137] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A sheath for application to a surgical instrument, the surgical instrument comprising an articulation and an end effector connected to a distal end of the articulation, characterised in that, The sheath comprises: a flexible and stretchable sheath body for sleeving the joint; a connecting piece fixed to a distal end of the sheath body for connecting with a distal end of the joint or the end effector; and an insulating sleeve connected to the connecting piece for sleeving the end effector; wherein the connecting piece has a limiting portion, the insulating sleeve has a limiting mating portion, and the limiting portion and the limiting mating portion are in limiting mating; a distal end of the sheath body is sleeved on the connecting piece and overlaps with the insulating sleeve; the surgical instrument comprises an insulating adapter, and the surgical instrument comprises a connecting rod which is connected to the joint through the insulating adapter; the sheath comprises a fixing piece fixed to a proximal end of the sheath body, the fixing piece has a locking portion, the insulating adapter has a locking mating portion, and the locking portion and the locking mating portion are in locking mating; the fixing piece is a metal fixing piece, and there is a creepage distance between a proximal end of the joint and the fixing piece.

2. The sheath of claim 1, wherein: The limiting portion is a recess structure, and the limiting mating portion is a protruding structure; or the limiting portion is a protruding structure, and the limiting mating portion is a recess structure.

3. The sheath of claim 2, wherein: An outer wall of the connecting piece has the limiting portion, an inner wall of the insulating sleeve has the limiting mating portion, and a part of the insulating sleeve having the limiting mating portion is sleeved on a part of the connecting piece having the limiting portion; or an inner wall of the connecting piece has the limiting portion, an outer wall of the insulating sleeve has the limiting mating portion, and a part of the connecting piece having the limiting portion is sleeved on a part of the insulating sleeve having the limiting mating portion.

4. The sheath of claim 3, wherein: The limiting portion is an annular structure arranged along the circumference of the connecting piece; and / or the limiting mating portion is an annular structure arranged along the circumference of the insulating sleeve.

5. The sheath of claim 3, wherein: The limiting portion is a recess structure, the limiting mating portion is a protruding structure, and the protruding structure is arranged in an inclined manner along the proximal end of the insulating sleeve towards the distal end of the insulating sleeve; or the limiting portion is a protruding structure, the limiting mating portion is a recess structure, and the protruding structure is arranged in an inclined manner along the distal end of the connecting piece towards the proximal end of the connecting piece.

6. The sheath of claim 3, wherein: The limiting portion is a recess structure, the limiting mating portion is a protruding structure, the protruding structure has a first plane close to the distal end of the insulating sleeve, the recess structure has a second plane matched with the first plane, and the second plane is parallel to the first plane; or the limiting portion is a protruding structure, the limiting mating portion is a recess structure, the protruding structure has a third plane close to the proximal end of the connecting piece, the recess structure has a fourth plane matched with the third plane, and the fourth plane is parallel to the third plane.

7. The sheath of claim 6, wherein: An included angle between the first plane and the insulating sleeve is a, and 0 < a ≤ 90°; or an included angle between the third plane and the insulating sleeve is b, and 0 < b ≤ 90°.

8. The sheath of claim 1, wherein: The limiting portion and the limiting mating portion are in screw mating.

9. The sheath of any one of claims 1 to 8, wherein: The connecting piece is a metal connecting piece.

10. The sheath of claim 9, wherein: The proximal end of the connecting piece is connected to the inner wall of the sheath body, and the distal end of the connecting piece is connected to the inner wall of the insulation sleeve; the distal end of the sheath body is sleeved on the proximal end of the insulation sleeve, or the proximal end of the insulation sleeve is sleeved on the distal end of the insulation sleeve.

11. The sheath of claim 10, wherein: The outer wall end of the proximal end of the insulation sleeve is provided with a first ring groove structure, and the distal end of the sheath body extends into the first ring groove structure, and the outer surface of the distal end of the sheath body is flush with the outer surface of the proximal end of the insulation sleeve. Or, the outer wall end of the distal end of the sheath body is provided with a second ring groove structure, and the proximal end of the insulation sleeve extends into the second ring groove structure, and the outer surface of the proximal end of the insulation sleeve is flush with the outer surface of the distal end of the sheath body.

12. The sheath of any one of claims 1 to 8, wherein: The insulation sleeve is a transparent insulation sleeve; and the sheath body is a non-transparent sheath body with flexibility and stretchability.

13. The sheath of any one of claims 1 to 8, wherein: The connecting rod is connected to the proximal end of the joint, and the sheath includes a fixing piece fixed to the proximal end of the sheath body for being connected to the joint or the connecting rod.

14. A surgical instrument, characterized by The surgical instrument includes: a joint; an end effector connected to the distal end of the joint; a connecting rod connected to the proximal end of the joint; and The sheath of any one of claims 1 to 13, wherein the sheath body is sleeved on the joint, the proximal end of the sheath body is connected to the joint or the connecting rod, the connecting piece is connected to the distal end of the joint or the end effector, and the insulation sleeve is sleeved on the end effector.

15. The surgical instrument of claim 14, wherein: The distal end of the joint or the end effector has an abutting portion, and the proximal end of the connecting piece abuts against the abutting portion.

16. The surgical instrument of claim 15, wherein: The creepage distance is greater than or equal to 8 mm.

17. The surgical instrument of claim 15, wherein: The outer wall of the insulation adapter is provided with a tapered structure, the outer diameter of the tapered structure gradually increases in the direction of the joint along the connecting rod, and the fixing piece is located between the tapered structure and the joint.

18. A surgical instrument according to any one of claims 15 to 17, characterised in that: The proximal end of the joint has a metal connecting pipe, the insulation adapter is provided with a first anti-torsion portion and a second anti-torsion portion, the distal end of the connecting rod is provided with a first anti-torsion matching portion, the proximal end of the metal connecting pipe is provided with a second anti-torsion matching portion, the proximal end of the insulation adapter is inserted into the connecting rod and the first anti-torsion portion matches the first anti-torsion matching portion, and the distal end of the insulation adapter is inserted into the metal connecting pipe and the second anti-torsion portion matches the second anti-torsion matching portion.

19. The surgical instrument of claim 18, wherein: The first anti-torsion portion is a key structure, the first anti-torsion matching portion is a key groove structure, and the side wall of the key groove structure is arranged in the radial direction of the connecting rod; or the first anti-torsion portion is a key groove structure, the first anti-torsion portion matching portion is a key structure, and the side wall of the key groove structure is arranged in the radial direction of the insulation adapter.

20. The surgical instrument of claim 18, wherein: The second anti-torsion portion is a key structure, the second anti-torsion matching portion is a key groove structure, and the side wall of the key groove structure is arranged in the radial direction of the metal connecting pipe; or the second anti-torsion portion is a key groove structure, the second anti-torsion portion matching portion is a key structure, and the side wall of the key groove structure is arranged in the radial direction of the insulation adapter.

21. An operating device from which, in the event of a fault, a signal is transmitted to a control device, characterized in that The slave operating device includes: a mechanical arm; and The surgical instrument of any one of claims 14 to 20, wherein the surgical instrument is arranged on the mechanical arm.

22. A surgical robot, characterised in that, The surgical robot comprises: The slave operating device as claimed in claim 21; and A master operating device for controlling the slave operating device.

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