Surgical instrument, surgical device, slave operating device and surgical robot

Abstract

The application provides a surgical instrument, a surgical device applying the surgical instrument, a slave operating device provided with the surgical instrument and a surgical robot comprising the slave operating device, wherein the surgical instrument comprises a terminal instrument, a connecting rod and a sheath, the distal end of the connecting rod is connected with the terminal instrument, the sheath comprises a sheath body and a first connecting ring, the first connecting ring comprises a first ring body and a second ring body, the sheath body is connected with the first ring body, the sheath body is detachably connected with the connecting rod through the second ring body, the outer diameter of the proximal end port of the first ring body is less than or substantially equal to the outer diameter of the connecting rod, so that there is no large step between the proximal end port of the first ring body and the outer surface of the connecting rod, thereby avoiding the collision of the sheath to the sealing component when passing through the sealing component of the punch card, and avoiding the damage to the sealing component and the sheath.

Description

TECHNICAL FIELD

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

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the body cavity using a laparoscope, thoracoscope and other modern medical devices and related equipment. Compared with the traditional surgical method, minimally invasive surgery has the advantages of less trauma, less pain, faster recovery, etc.

[0003] With the progress of science and technology, minimally invasive surgery robot technology has gradually matured and is widely used. Minimally invasive surgery robots usually include a master operating table and a slave operating device. The master operating table is used to send control commands to the slave operating device according to the operation of the doctor to control the slave operating device. The slave operating device is used to respond to the control commands sent by the master operating table and perform corresponding surgical operations. The surgical instrument is connected with the driving device of the slave operating device for performing surgical operations. The end instrument of the surgical instrument includes an end effector for performing surgical operations and a joint connected with the end effector which can move in multiple degrees of freedom.

[0004] During the operation, the end effector and the joint enter the human body. In order to prevent the liquid in the human body from entering the joint, the joint needs to be sealed. Especially when the end effector performs electric cauterization operation, the joint may also be electrified. Therefore, not only the joint needs to be sealed, but also the joint needs to be insulated and isolated. Therefore, a sheath is generally provided at the distal end of the surgical instrument to protect and isolate the joint of the end instrument.

[0005] During the use of the surgical instrument, the end instrument thereof will repeatedly pass through the trocar to insert or withdraw from the human body. In this process, the sheath will directly collide with the sealing part of the trocar. Such collision will cause damage to the sealing part of the trocar and the sheath itself. SUMMARY

[0006] Therefore, in order to solve the above problems, the present application provides a surgical instrument, a surgical device using the surgical instrument, a slave operating device having the surgical instrument, and a surgical robot including the slave operating device.

[0007] The surgical instrument includes:

[0008] an end instrument;

[0009] a connecting rod, a distal end of the connecting rod being connected with the end instrument;

[0010] a sheath, the sheath including a sheath body and a first connecting ring;

[0011] The first connecting ring comprises a first ring body and a second ring body, the sheath body is connected with the second ring body, the sheath body is connected with the connecting rod through the first ring body, and an outer diameter of the first ring body at a connection position with the second ring body is greater than or substantially equal to an outer diameter of the second ring body.

[0012] Preferably, an outer diameter of the proximal end port of the first ring body is substantially equal to an outer diameter of the connecting rod.

[0013] Preferably, an outer diameter of the first ring body gradually increases from a proximal end to a distal end of the first ring body.

[0014] Preferably, an outer diameter of the first ring body at a connection position with the second ring body is greater than or substantially equal to an outer diameter of the sheath body.

[0015] Preferably, an outer diameter of the sheath body is greater than an outer diameter of the second ring body.

[0016] Preferably, the connecting rod has a first fixing portion on an outer surface thereof, an inner surface of the first connecting ring has a second fixing portion, and the first fixing portion is used to be clamped with the second fixing portion to fix the first connecting ring on the connecting rod.

[0017] Preferably, the first connecting ring has a gap extending in an axial direction thereof, and the gap penetrates through an outer surface and an inner surface of the first connecting ring.

[0018] Preferably, the gap extends through the second fixing portion.

[0019] Preferably, the gap is more than two.

[0020] Preferably, the second fixing portion is located on the first ring body.

[0021] Preferably, an outer diameter of the first fixing portion is greater than an outer diameter of the connecting rod, and an inner diameter of the second fixing portion is smaller than an inner diameter of the first connecting ring.

[0022] Preferably, the sheath body is flexible and stretchable, and the first connecting ring is rigid.

[0023] Preferably, the first connecting ring is made of a rigid material of a memory alloy.

[0024] Preferably, the connecting rod comprises a first segment of connecting rod and a second segment of connecting rod, a proximal end of the second segment of connecting rod is connected with a distal end of the first segment of connecting rod, a distal end of the second segment of connecting rod is connected with the end instrument, an outer diameter of the second segment of connecting rod is smaller than an outer diameter of the first segment of connecting rod, and the first ring body is detachably connected with the second segment of connecting rod.

[0025] Preferably, the first fixed part is arranged on the second segment of the link.

[0026] Preferably, the outer diameter of the proximal end port of the first ring body is substantially equal to the outer diameter of the first segment of the link.

[0027] Preferably, the link further has a third segment of the link between the first segment of the link and the second segment of the link, the third segment of the link having a tapered outer surface, and the inner surface of the second ring body is configured to abut against the outer surface of the third segment of the link.

[0028] Preferably, the outer diameter of the proximal end port of the first connecting ring is substantially equal to the outer diameter of the proximal end of the third segment of the link.

[0029] Preferably, the tapered outer surface of the third segment of the link has an angle of 5 to 10 degrees with respect to the axis of the third segment of the link.

[0030] A surgical instrument, comprising:

[0031] a tip instrument;

[0032] a link, the tip instrument being connected to a distal end of the link;

[0033] a sheath having a flexible and stretchable sheath body and a first connecting ring connected to the sheath body, the sheath body being connected to the link via the first connecting ring;

[0034] a guide ring sleeved on the link, a distal end of the first connecting ring being proximate to or abutting against a distal end port of the guide ring, the outer diameter of the distal end port of the guide ring being greater than or substantially equal to the outer diameter of the first connecting ring.

[0035] Preferably, the outer diameter of the proximal end port of the guide ring is substantially equal to the outer diameter of the link.

[0036] Preferably, the outer diameter of the proximal end port of the guide ring is smaller than the outer diameter of the distal end port of the guide ring.

[0037] Preferably, the outer diameter of the guide ring gradually increases from the proximal end to the distal end of the guide ring.

[0038] Preferably, the link has a first fixed part, and the first connecting ring has a second fixed part configured to detachably engage with the first fixed part.

[0039] Preferably, the first connecting ring further comprises a blocking mechanism configured to prevent the first fixed part from being disengaged from the second fixed part after the first fixed part engages with the second fixed part.

[0040] Preferably, the second fixing part has a first slot and a second slot, the first slot is communicated with the second slot, one end of the first slot has the first slot opening for guiding the first positioning part to enter, and the other end is connected with the second slot, and the second slot is used for accommodating the first fixing part when the sheath is fixed to the connecting rod or the end instrument.

[0041] Preferably, the first slot extends along the axial direction of the first connecting ring, and the second slot is communicated with the first slot and extends along the circumference of the first connecting ring.

[0042] Preferably, the second fixing part further comprises a first accommodating slot communicated with the second slot and extending towards the proximal end of the first connecting ring, and the first accommodating slot is used for accommodating the second fixing part when the sheath is fixed to the surgical instrument.

[0043] Preferably, the prevention mechanism is a second accommodating slot communicated with the second slot and extending towards the distal end of the first connecting ring.

[0044] Preferably, the sheath further comprises a second connecting ring, the hardness of the second connecting ring is greater than the hardness of the sheath body, and the second connecting ring is connected with the distal end of the sheath body.

[0045] Preferably, the sheath further comprises an insulation piece, one end of the second connecting ring is connected with the sheath body, and the other end is connected with the insulation piece.

[0046] A surgical device, comprising a punch card and the surgical instrument, the punch card comprises a sealing part for abutting with the connecting rod, and the first ring body is used for abutting with the sealing part when the surgical instrument is removed from the punch card.

[0047] A surgical device, comprising a punch card and the surgical instrument, the punch card comprises a sealing part for abutting with the connecting rod, and the guide ring is used for abutting with the sealing part to avoid the first connecting ring from contacting the sealing part when the surgical instrument is removed from the punch card.

[0048] A slave operating device, comprising a mechanical arm and the surgical instrument, the surgical instrument is installed on the mechanical arm, and the mechanical arm is used for manipulating the movement of the surgical instrument.

[0049] A surgical robot, comprising a master operating device and the slave operating device, and the slave operating device performs corresponding operation according to the instruction of the master operating device.

[0050] The outer surface of the proximal end of the first connecting ring of the sheath of the surgical instrument is not provided with a large and conspicuous step relative to the outer surface of the connecting rod of the surgical instrument, so that the sheath is prevented from colliding with the sealing component of the trocar when passing through the sealing component of the trocar, and damage to the sealing component of the trocar and the sheath is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 Structure schematic diagram of an embodiment of the surgical robot of the present application;

[0052] Figure 2 、 Figure 3 Schematic diagrams of different embodiments of the end instrument of the surgical instrument of the present application;

[0053] Figure 4 Schematic diagram of the surgical instrument in an embodiment of the present application;

[0054] Figure 5 Exploded view of the end instrument of the surgical instrument and the sheath in an embodiment of the present application;

[0055] Figure 6 is Figure 5 Cross-sectional view of the sheath in the embodiment shown in

[0056] Figure 7A and 7B Schematic diagram of the sheath installation process in the embodiment shown in Figure 5

[0057] Figure 8 Schematic diagram of the structure of the first connecting ring in the embodiment shown in Figure 5

[0058] Figures 9A-9D Schematic diagram of the clamping process of the first connecting ring in the embodiment shown in Figure 8

[0059] Figure 10A Schematic diagram of the end instrument of the surgical instrument entering the human body in the embodiment shown in Figure 5

[0060] Figure 10B Enlarged view of S1 in Figure 10A

[0061] Figure 11A Schematic diagram of the process of the end instrument of the surgical instrument in the embodiment shown in Figure 10A

[0062] Figure 11B Cross-sectional view of S2 in Figure 11A

[0063] Figure 12A Schematic diagram of the process of the surgical instrument in an embodiment of the present application​​​​​​

[0064] Figure 12B for Figure 12A cross-sectional view of the embodiment shown in FIG. 14A at S3;

[0065] Figure 12C and Figure 12D for Figure 12B schematic view of the process of extracting the punch card from the guide ring in FIG. 14B;

[0066] Figure 12E and Figure 12F for Figure 12B schematic view of the process of extracting the punch card from the guide ring in FIG. 14B;

[0067] Figure 13A schematic view of the surgical instrument in an embodiment of the present application;

[0068] Figure 13B for Figure 13A cross-sectional view of the first connecting ring and the connecting rod in the embodiment shown in FIG. 14A;

[0069] Figure 13C for Figure 13A perspective view of the first connecting ring in the embodiment shown in FIG. 14A;

[0070] Figure 13D for Figure 13B schematic view of the first connecting ring in the open state in the embodiment shown in FIG. 14A;

[0071] Figure 13E for perspective view of the first connecting ring in another embodiment of the present application;

[0072] Figure 14A for

[0073] schematic view of the first connecting ring connected to the connecting rod in the embodiment shown in FIG. 14A; Figure 14B

[0074] for Figure 15A schematic view of the surgical instrument in another embodiment of the present application;

[0075] Figure 15B for Figure 15A cross-sectional view of the sheath in the embodiment shown in FIG. 14A;

[0076] Figure 15C for Figure 15B schematic view of the sheath connected to the connecting rod in the embodiment shown in FIG. 14A. DETAILED DESCRIPTION

[0077] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0078] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. The terms "distal" and "proximal" used herein are directional terms commonly used in the field of interventional medical devices, where "distal" refers to the end away from the operator during the procedure, and "proximal" refers to the end closer to the operator during the procedure. The term "fully coupled" as used herein can be broadly understood to mean that two or more objects are connected in a way that allows the absolutely coupled objects to operate together such that there is no relative movement between the objects in at least one direction, such as the coupling of a protrusion and a groove, which can move relative to each other radially but not axially. In the specification and claims, the terms "coupled," "engaged," and "coupled" are used interchangeably.

[0079] 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 invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0080] like Figure 1 , Figure 2 As shown, the surgical robot includes a main control panel 100 and a slave control device 300. The main control panel 100 sends control commands to the slave control device 300 based on the surgeon's instructions to control the slave control device 300, and also displays images acquired by the slave control device 300. The slave control device 300 responds to the control commands sent by the main control panel 100 and performs corresponding operations; the slave control device 300 also acquires images within the body.

[0081] The operating device 300 includes a mechanical arm 310, a power mechanism 320 disposed on the mechanical arm 310, a surgical instrument 200 disposed on the power mechanism 320, and a sleeve 330 disposed on the end instrument and the connecting rod of the surgical instrument 200. The mechanical arm 310 is used to adjust the position of the surgical instrument 200, the power mechanism 320 is used to drive the surgical instrument 200 to perform corresponding operations, the end instrument of the surgical instrument 200 is used to extend into the body, and the end instrument at the distal end thereof is used to perform surgical operations and / or acquire images in the body. Specifically, as shown in Figure 2 , Figure 3 , the end instrument 1 of the surgical instrument 200 is disposed in the sleeve 330, the end instrument 21 of the end instrument 1 extends out of the sleeve 330, and the end instrument 21 is driven by the power mechanism 320 to perform operations. Figure 3 In the embodiment, the region of the end instrument 1 of the surgical instrument 200 in the sleeve 330 is a rigid region. Figure 4 In the embodiment, the region of the end instrument 1 of the surgical instrument 200 in the sleeve 330 is a flexible region, and the sleeve bends along the flexible region. In other embodiments, the sleeve 24 can also be omitted.

[0082] As shown in Figure 4 , Figure 5 , the surgical instrument 200 includes an end instrument 1, a connecting rod 2, and a driving box 3. The end instrument 1 includes an end instrument 21 and a joint 20. The end instrument 21 is used to perform surgical operations. The end instrument 21 can be an electric cauter, a clamp, an anastomat, a cutting instrument, a camera, or the like according to different requirements of the surgical operations. Figure 5 An end instrument 21 for electric cauter is shown. The end instrument 21 includes a conductive clamp 210 and an insulator 211. The insulator 211 insulates the clamp 210 and the joint 20.

[0083] The joint 20 includes a plurality of joint assemblies 23 for performing actions of degrees of freedom such as yawing and pitching. The joint 20 also includes a support 24 at the proximal end of the joint 20. The proximal end of the joint assembly 23 is connected to the connecting rod 2 through the support 24. The connecting rod 2 is used to support the end instrument 1. Driving cables in the driving box are connected to the end instrument 1 through the inside of the connecting rod 2, and are used to control the actions of the end instrument 1. In other embodiments, the support 24 can be part of the connecting rod 2.

[0084] The joint 20 of the end instrument 1 is composed of a plurality of joint assemblies 23 which can rotate relative to each other. When the end instrument 1 is used to perform a surgical operation in a human body, in order to avoid the liquid in the human body from entering the joint 20 and adversely affecting the joint assemblies 23, the joint 20 needs to be isolated from the outside world to prevent the liquid in the human body from entering the joint 20. Therefore, the surgical instrument 1 is further provided with a sheath 10 which is sleeved on the joint 20 and can prevent the liquid in the human body from entering the joint 20.

[0085] As shown in Figure 6 The sheath 10 includes a sheath body 12 made of a flexible and stretchable material. The flexible and stretchable material can be fluorine rubber, silicone, polytetrafluoroethylene (PTFE), tetrafluoroethylene, etc. The proximal end of the sheath body 12 is fixedly connected with a first connecting ring 13, and the distal end is fixedly connected with a second connecting ring 11.

[0086] In the process of manufacturing the sheath 10, the second connecting ring 11 is first fixed to the distal end of the sheath 10, and then the first connecting ring 13 is fixed to the proximal end of the sheath 10. Since the outer diameter of the sheath body 12 is not greater than the outer diameter of the first connecting ring 13 and the second connecting ring 11 before being assembled to the first connecting ring 13 or the second connecting ring 11, the sheath body 12 has the property of being flexible and stretchable, while the hardness of the second connecting ring 11 and the first connecting ring 13 is greater than that of the sheath body 12. The second connecting ring 11 and the first connecting ring 13 will expand and deform the sheath body 12. The outer diameter of the expanded and deformed sheath body 12 will be greater than the outer diameter of the second connecting ring 11 and the first connecting ring 13. The restoring force of the sheath body 12 can stably fix the second connecting ring 11 and the first connecting ring 13 on the sheath body 12. In this embodiment, the second connecting ring 11 and the first connecting ring 13 are made of metal material. In other embodiments, the second connecting ring 11 and the first connecting ring 13 can also be made of other rigid materials with a hardness greater than that of the sheath body 12, such as hard plastic.

[0087] Whether the second connecting ring 11 is fixed to the sheath 10 first or the first connecting ring 13 is fixed to the sheath 10 first has no substantial difference. In other embodiments, the first connecting ring 13 can be first fixed to the proximal end of the sheath 10, and then the second connecting ring 11 is fixed to the sheath 10. Preferably, an adhesive substance can be pre-applied to the surface of the second connecting ring 11 and the first connecting ring 13. When the second connecting ring 11 and the first connecting ring 13 are fixed to the sheath body 12, the adhesive substance further adheres the sheath body 12, the second connecting ring 11 and the first connecting ring 13 together, thereby enhancing the stability of the fixation of the second connecting ring 11 and the first connecting ring 13 to the sheath body 12.

[0088] The distal end of the sheath 10 is connected with the U-shaped clamp 231 at the distal end of the joint 20 through the second connecting ring 11, and the proximal end of the sheath 10 is detachably connected on the support 24 at the proximal end of the joint 20 through the first connecting ring 13. In some other embodiments, the proximal end of the sheath 10 is detachably connected on the connecting rod 2 through the first connecting ring 13.

[0089] Specifically, the proximal end face 111 of the second connecting ring 11 abuts against the end face 2311 of the U-shaped clamp 231, and the first fixing part 25 in the shape of a convex column on the support 24 is fixed with the second fixing part 131 of the first connecting ring 13. In some other embodiments, if the connecting rod 2 also needs to be protected and isolated from the body fluid in the human body, the first fixing part 25 can be arranged on the connecting rod 4, so that the installed sheath 10 can cover the part of the connecting rod 10 that needs to be protected, and the first fixing part 25 can be arranged anywhere on the joint 20 and the connecting rod 10 as needed.

[0090] Figure 7A and Figure 7B The figure shows the process of installing the sheath 10 on the end instrument 1 of the surgical instrument, Figure 7A The sheath 10 is initially sleeved on the joint 20, the end effector 21 of the surgical instrument passes through the sheath 10, at this time the second connecting ring 11 abuts against the U-shaped clamp 231, then the sheath 10 is stretched to deform the sheath body 12, until the second fixing part 131 of the first connecting ring 13 of the sheath 10 is locked with the first fixing part 25, so as to complete the installation of the sheath 10 on the end instrument 1. Since the sheath body 12 of the sheath 10 fixed on the surgical instrument is in a stretched state, the first fixing part 25 can be stably locked in the second fixing part 131.

[0091] Figure 8 The figure shows the structure of the first connecting ring 13 in an embodiment of the present application, in which the first connecting ring 13 comprises a body 130, and the body 130 has a second fixing part 131 comprising a first groove 1311 extending axially along the body 130, a second groove 1312 extending circumferentially along the body 130, and a third groove 1313 extending axially along the body 130. The two sides of the entrance of the first groove 1311 have guide arc surfaces 1311.1, 1311.2, which can smoothly guide the first fixing part 25 into the first groove 1311.

[0092] The first slot 1311 and the second slot 1312 are communicated, the connection of the first slot 1311 and the second slot 1312 has an "L" shaped transition slot 1314, the transition slot 1314 has transition arc surfaces 1314.1, 1314.2 which smoothly connect the first slot 1311 and the second slot 1312, the transition arc surfaces 1314.1, 1314.2 of the transition slot 1314 can make the first fixed part 25 pass through the transition slot 1314 from the first slot 1311 to the second slot 1312 more gently.

[0093] The second slot 1312 and the third slot 1313 are communicated, the third slot 1313 extends along the axial direction of the body 130, the proximal end of the third slot 1313 has a first accommodating slot 1315, the distal end of the third slot 1313 is connected with a blocking mechanism which prevents the first fixed part 25 from exiting from the second fixed part 131, in the embodiment, the blocking mechanism is a second accommodating slot 1316, the connection of the second slot 1312 and the third slot 1313 is located at the middle of the first accommodating slot 1315 and the second accommodating slot 1316.

[0094] Figures 9A-9D The locking process of the second fixed part 131 of the first connecting ring 13 of the sheath 10 and the first fixed part 25 on the corresponding support 24 is shown, in order to more clearly show the locking process, the sheath body 12 is hidden. The first fixed part 25 first enters the first slot 1311 through the guide arc surfaces 1311.1, 1311.2 of the first slot 1311, when the convex column reaches the transition slot 1314, the first connecting ring 13 is rotated to make the first fixed part 25 smoothly transition into the second slot 1312, the first connecting ring 13 is continuously rotated to make the first fixed part 25 pass through the second slot 1312 and enter the third slot 1313, after the first fixed part 25 enters the third slot 1313, the sheath 10 is released, because the sheath body 12 has elastic deformation, the elastic restoring force of the sheath body 12 will make the first fixed part 25 be firmly fixed in the first accommodating slot 1315.

[0095] Figure 10A The process of the end instrument 1 of the surgical instrument which is installed with the sheath 10 entering the human body is shown, the upper side of the human skin P in 10A is outside the body, the lower side of the skin P is inside the body, the end instrument 1 of the surgical instrument enters the human body through the punch card 40, the punch card 40 includes a sealing component 41, the sealing component 41 is in close contact with the sheath body 12 of the sheath 10, preventing the gas in the human body from leaking to the outside of the body.

[0096] Because the sealing component 41 of the punch card 40 is closely attached to the sheath body 12 of the sheath 10, when the surgical instrument moves towards the distal end (A direction shown) of the surgical instrument, the friction between the sealing component 41 and the sheath body 12 will make the sheath body 12 move towards the proximal end of the surgical instrument, thereby there is a risk that the first fixed part 25 exits from the second fixed part 131. Figure 10A The process of the end instrument 1 of the surgical instrument which is installed with the sheath 10 entering the human body is shown, the upper side of the human skin P in 10A is outside the body, the lower side of the skin P is inside the body, the end instrument 1 of the surgical instrument enters the human body through the punch card 40, the punch card 40 includes a sealing component 41, the sealing component 41 is in close contact with the sheath body 12 of the sheath 10, preventing the gas in the human body from leaking to the outside of the body.

[0097] Figure 10B For Figure 10A the enlarged view of S1, the second accommodating groove 1316 connected with the third groove 1313 can eliminate the above-mentioned risk, after the sealing member 41 applies friction to the sheath body 12 to make the first fixing part 25 exit the first accommodating groove 1315, the first fixing part 25 will move along the third groove 1313 to the distal end, and then be accommodated in the second accommodating groove 1316, the existence of the second accommodating groove 1316 will avoid the first fixing part 25 from moving along the second groove 1312 and the first groove 1311 to exit the second fixing part 131 after exiting the first accommodating groove 1315.

[0098] The number of the second fixing part 131 of the first connecting ring 13 can be multiple, for example, two second fixing parts 131 symmetrically arranged on the body 130 of the first connecting ring 13, in another embodiment, the second fixing part 131 is three, the three second fixing parts 131 are 120 degrees apart from each other on the body 130, and the number of the corresponding first fixing part 25 changes accordingly with the number of the second fixing part 131. In some embodiments, if the friction applied by the sealing member 41 to the sheath body 12 is not large, the second fixing part 131 can also not be provided with the third groove.

[0099] As Figure 11A shown, when the surgical instrument moves towards its proximal end (the direction shown in Figure B), for example, the distal end of the surgical instrument is withdrawn from the human body, the proximal end of the sheath 10 moves away from the distal end of the sealing member 41 of the trocar 40 during the process of the sealing member 41 tightly abutting the outer surface of the connecting rod 2, which will cause the proximal end face of the sheath body 12 of the first connecting ring 13 of the sheath 10 to collide with the edge 41a of the sealing member 41.

[0100] Figure 11B For Figure 11A the cross-sectional view of S2 in FIG. 1, as Figure 11B shown, if the connecting rod 2 continues to move in the direction B, the proximal end face of the sheath body 12 and the first connecting ring 13 will inevitably collide with the edge 41a of the sealing member 41, and since the first connecting ring 12 is rigid, when the first connecting ring 12 collides with the edge 41a of the sealing member 41, it will cause damage to the edge 41a of the sealing member 41, and even the entire sealing member 41 will be damaged, thereby losing the sealing effect. In addition, since the sheath body 12 is bonded to the first connecting ring 13, the sheath body 12 can also be detached from the first connecting ring 13 due to the collision with the edge 41a of the sealing member 41.

[0101] To solve the above-mentioned problems, the present application provides another surgical instrument, as Figure 12AAs shown, the surgical instrument in the present embodiment is provided with a tapered guide ring 26 at the proximal end of the sheath 10, which is sleeved on the connecting rod 2 and located at the proximal end of the sheath body 12 and the first connecting ring 13. The outer diameter of the proximal end port 261 of the guide ring 26 is smaller than that of the distal end port 262, and the outer diameter of the proximal end port 261 is substantially equal to the outer diameter of the connecting rod 2. The outer diameter of the guide ring 26 gradually increases from the proximal end port 261 to the distal end port 262, so that the guide ring 26 has the maximum outer diameter at the distal end port 262, and the outer diameter of the distal end port 262 is greater than or equal to the outer diameter of the sheath body 12 and the first connecting ring 13.

[0102] When the surgical instrument moves in the direction B of FIG. 12, the guide ring 26 will first contact the edge of the sealing member 41 of the punch card 40. The tapered guide ring 26 will play a role in smooth guiding in the process of moving the proximal end of the sheath 10 out of the sealing member 41. Since the outer diameter of the proximal end port 261 of the guide ring 26 is substantially equal to the outer diameter of the connecting rod 2, there is no abrupt step between the proximal end port 261 of the guide ring 26 and the outer surface of the connecting rod 2, so that the sealing member 41 can be smoothly transitioned onto the sheath 10, avoiding damage to the sealing member 41 caused by collision with the first connecting ring 13. At the same time, the proximal end of the sheath body 12 is protected by the guide ring 26, avoiding the proximal end of the sheath body 12 from falling off the first connecting ring 13 due to collision with the sealing member 41.

[0103] Specifically, Figure 12B For Figure 12A the cross-sectional view at S3 in the middle, Figures 12B-12D the contact process between the guide ring 26 and the sealing member 41 during the process of pulling out the surgical instrument is shown. Since the edge 41a of the sealing member 41 closely abuts the connecting rod 2, in the process of moving the proximal end of the sheath 10 out of the sealing member 41 in the direction B, as shown, Figure 12C the proximal end port 261 of the guide ring 26 first contacts the edge 41a of the sealing member 41, wherein the outer diameter of the proximal end port 261 is substantially the same as the outer diameter of the connecting rod 2, and the edge 41a of the sealing member 41 will smoothly transition from the outer surface of the connecting rod 2 to the outer surface of the guide ring 26.

[0104] During the continuous movement of the connecting rod 2 in the direction B, the edge 41a of the sealing member 41 will smoothly slide along the outer surface 23 of the guide ring 26 from the proximal end port 261 to the distal end port 262. As shown, Figure 12D since the outer diameter of the distal end port 262 of the guide ring 26 is greater than that of the proximal end port 261, the edge 41a of the sealing member 41 will deform during the sliding process, but since the sealing member 41 is made of flexible material (such as silicone), such deformation is allowed, and therefore, such deformation will not cause damage to the sealing member 41.

[0105] After the guide ring 26 passes the sealing member 41, the sealing member 41 returns to its original state, and the edge 41a of the sealing member 41 will be tightly against the sheath body 12. Since the outer diameter of the distal port 262 of the guide ring 26 is greater than or substantially equal to the outer diameter of the sheath body 12, and the proximal end faces of the sheath body 12 and the first connecting ring 13 are sufficiently close to the guide ring 262 or directly in contact with it, the proximal end faces of the sheath body 12 and the first connecting ring 13 do not contact the edge 41a of the sealing member 41 during the entire removal process, thereby avoiding damage to the sealing member 41 and the detachment of the sheath body 12.

[0106] Another beneficial effect of the guide ring 26 is that when the surgical instrument is withdrawn from the puncture card 40, if the connecting rod 2 of the surgical instrument deviates from the removal path, the guide ring 26 can correct the removal path, allowing the sheath body 12 and the first connecting ring 13 to pass through the puncture card 40 without damage. Figure 12E and 12F As shown, when the surgical instrument along Figure 12E When the link 2 moves out of the human body in the B direction, if the path of the link 2 deviates from the axis X1 of the card 40, the outer surface 263 of the guide ring 26 will first collide with the rigid component of the card 40, for example, with the edges 42a and 42b of the distal opening 42 of the card 40. As the link 2 continues to move in the B direction, the edge 42a of the distal opening 42 of the card 40 will slide from the proximal port 261 to the distal port 262 on the outer surface 263 of the guide ring 26. During this process, the path of the link 2 will be continuously corrected so that the axis of the link 2 moves closer to the axis X1 of the card 40, that is, the link 2 moves towards the edge 42b on the other side of the distal opening 42 of the card 40.

[0107] After the guide ring 26 passes through the distal opening 42 of the stamp card 40, the movement path of the connecting rod 2 is completely corrected. At this time, the proximal end faces of the sheath body 12 and the first connecting ring 13 have left the distal opening 42 of the stamp card 40. Alternatively, because the movement path of the connecting rod 2 is corrected, and because the outer diameter of the distal port 262 of the guide ring 26 is larger than the outer diameter of the sheath body 12, the proximal end faces of the sheath body 12 and the first connecting ring 13 do not contact the rigid components of the stamp card 40 during the entire movement process. Thus, the proximal ends of the sheath body 12 and the first connecting ring 13 are protected by the guide ring 26 and avoid collision with the rigid components of the stamp card 40. This protects the proximal ends of the sheath body 12 and the first connecting ring 13 from damage caused by collision with the stamp card 40.

[0108] A surgical instrument according to an embodiment of the present invention, such as Figures 13A-13CAs shown, the sheath body 62 of the sheath 60 is detachably connected to the link 50 through the first connecting ring 63, the first connecting ring 63 comprises a first ring body 631 and a second ring body 632, the first ring body 631 has a tapered shape, and the sheath body 62 is connected to the second ring body 632, and the two can be bonded together.

[0109] The link 50 comprises a first section link 51 and a second section link 52 with different outer diameters, the first connecting ring 60 is detachably connected to the second section link 52, and the first section link 51 and the second section link 52 can be made of the same material or different materials, and can be integrally formed or connected together in other ways.

[0110] Figure 13B A sectional view of the sheath 60 connected to the link 50 is shown in Figure 13B As shown, the outer diameter D1 of the first section link 51 is greater than the outer diameter D2 of the second section link 52, the outer diameter D3 of the proximal end port of the first ring body 631 is substantially equal to the outer diameter D1 of the first section link 51, the outer diameter of the first ring body 631 gradually increases from the proximal end to the distal end, and the outer diameter D4 of the distal end port is greater than or substantially equal to the outer diameter D5 of the sheath body 62, so that the outer surface 63a of the first ring body 631 is substantially flush with the outer surface of the first section link 51, and there is no abrupt step between the two.

[0111] When the proximal end of the sheath 60 passes through the sealing member 41 in the B direction of Figure 12A , the outer surface 63a of the first ring body 631 first contacts the edge 41a of the sealing member 41, and during the process of the surgical instrument being pulled away from the spike 40, because there is no abrupt step between the outer surface 63a of the proximal end of the first ring body 631 and the outer surface of the first section link 51, the edge 41a of the sealing member 41 will smoothly slide from the outer surface of the first section link 51 to the outer surface 63a of the first ring body 631, and then slide along the outer surface 63a of the first ring body 631 to the distal end of the first ring body 631, and then continue to smoothly slide onto the sheath body 62, and as in the previous embodiment, the sealing member 41 is not damaged during this process.

[0112] Because the outer diameter D4 of the distal end port of the first ring body 631 is greater than or substantially equal to the outer diameter D5 of the sheath body 62, the proximal end face of the sheath body 62 can be protected by the first ring body 631, and the proximal end face of the sheath body 62 is not in contact with the sealing member 41 during the process of the surgical instrument being pulled away, thereby avoiding the sheath body 62 from being detached from the first connecting ring 63 due to resistance from the sealing member 41.

[0113] The outer surface of the first connecting rod 52 has a first fixing part 521, and the inner surface 63b of the first connecting ring 63 is correspondingly provided with a second fixing part 633 that engages with the first fixing part 521. The engagement of the first fixing part 521 and the second fixing part 633 thereby detachably fixes the first connecting ring 63 to the second connecting rod 52. In this embodiment, the first fixing part 521 is a protruding ring provided on the outer surface of the second connecting rod 52, and the second fixing part 633 is a groove provided on the inner surface of the first connecting ring 63. The first fixing part 521 and the second fixing part 633 themselves also serve as a blocking mechanism.

[0114] like Figure 13C As shown, the first connecting ring 63 has two gaps 634 that penetrate the inner and outer surfaces of the first connecting ring 63. The gaps 634 extend from the proximal port of the first ring body 631 along the axial direction of the first connecting ring 63 and pass through the second fixing part 633. The presence of the gaps 634 allows the rigid first ring body 63 to have a certain elastic deformation, that is, the first ring body 631 can open or contract in its radial direction.

[0115] Since the outer diameter of the first fixing part 521 is larger than the outer diameter of the proximal side of the first ring body 631, when the first connecting ring 631 is snapped onto the second connecting rod 52, the first fixing part 521 will open the first ring body 631. When the first fixing part 521 slides into the second fixing part 633, the first ring body 631 will return to its original shape due to its own deformation. Therefore, by applying appropriate external force, the first connecting ring 63 can be connected to the connecting rod 50 or removed from the connecting rod 50.

[0116] Despite Figure 13C Two gaps 634 are shown in the exemplary embodiment, but other numbers of gaps 634 may be used, such as, for example, one, three, four, five, six or more gaps in the first annulus.

[0117] In one embodiment, such as Figure 13E As shown, the gap 654 of the first connecting ring 65 does not extend from the proximal port 655 of the first ring body 651, but rather from a position close to the proximal port 655. That is, the gap 654 does not penetrate the proximal port 655 of the first ring body 651; the gap 654 is closed. This suppresses excessive deformation of the first ring body 651, allowing it to have both moderate deformation and a certain degree of robustness. Figure 13E As shown, the second fixing part 633 is located in the middle of the closed gap 654, which allows the first ring body 651 to have better deformation. The inner diameter near the proximal and distal ends of the second fixing part 633 is less than or equal to the diameter D2 of the second connecting rod 52, so that the first fixing part 521 can be firmly fixed in the second fixing part 633.

[0118] In one embodiment, the inner diameter of the proximal port 655 of the first connecting ring 651 is greater than or substantially equal to the diameter of the second link 52, so that the second link 52 can smoothly enter the first connecting ring 651.

[0119] Although four closed gaps 654 are shown in the exemplary embodiment of the first connecting ring 651, which can achieve a better balance between deformation and firmness, other numbers of closed gaps 654 can be used, such as three, five, six or more closed gaps of the first connecting ring, or a combination of closed gaps 654 and open gaps 634. Figure 13E

[0120] In other embodiments, the first fixing part 521 has a certain elastic deformation, for example, the first fixing part is an elastic rubber ring, so that the first connecting ring with non-elastic deformation is matched with the first fixing part 521 with elastic deformation, and the elastic deformation of the first fixing part 521 is used to fix it in the second fixing part 633.

[0121] It can be understood that in other embodiments, the outer diameter D3 of the proximal port of the first connecting ring 631 can also be slightly greater than or less than the outer diameter D1 of the first link 51 or the proximal port 261 of the guide ring 26 is slightly greater than or less than the outer diameter of the link 2, so that although the proximal port of the first connecting ring 631 will collide with the edge 41a of the sealing member 41 or the edge 41a will collide with the proximal port 261 of the guide ring 26 when passing through the edge 41a, since the step height formed between the proximal port of the first connecting ring 631 or the proximal port of the guide ring 26 and the link due to the difference in outer diameter is not large, such a small height step is allowed, that is, the proximal port of the first connecting ring 631 and the outer surface of the first link are substantially flush or the proximal port of the guide ring 26 and the outer surface of the link are substantially flush, and the edge 41a of the sealing member 41 can also slide from the outer surface of the link to the sheath body without damage.

[0122] In one embodiment, the sealing member 41 of the punch card 40 is formed with a sealing passage for the first connecting ring 63, 65 or the guide ring 26 to pass through, and the diameter of the sealing passage is less than the outer diameter of the first connecting ring 63, 65 or the guide ring 26, so that the sealing member 41 can be tightly matched with the first connecting ring 63, 65 or the guide ring 26, so that the punch card 40 can better seal the surgical instrument.

[0123] ​In one embodiment, the first connecting ring 63, 65 or the guide ring 26 has an outer diameter smaller than the diameter of the distal port 42 of the punch card 40, preferably the first connecting ring 63, 65 or the guide ring 26 has an outer diameter smaller than 10 mm, so that the first connecting ring 63, 65 or the guide ring 26 can pass through the punch card 40. In the present embodiment, the distal port 42 of the punch card 40 is the smallest diameter position of the channel of the punch card 40, it is understood that in other embodiments, if the distal port 42 of the punch card 40 is not the smallest diameter position of the channel of the punch card 40, then the outer diameter of the first connecting ring 63, 65 or the guide ring 26 should be smaller than the smallest diameter position of the channel of the punch card.

[0124] In one embodiment, the first connecting ring 63 is made of memory alloy, so that the first connecting ring 63 automatically returns to the open state after being heated, as shown in Figure 13D so that the first connecting ring 63 is very easy to be removed from the connecting rod 51 after being heated due to the open state. Since the surgical instrument needs to be washed and heated for sterilization after use, the surgical instrument has a process of heating after use, and the memory alloy first connecting ring 63 is returned to the open state by heating operation, so that it is easy to be removed from the connecting rod 51.

[0125] Although the first fixing part 521 is a convex ring and the second fixing part 633 is a concave groove in the exemplary embodiment shown in Figures 13C-13E , in other embodiments, the first fixing part 521 is a concave groove provided on the outer surface of the second segment connecting rod 52, and the second fixing part 633 is a convex provided on the inner surface of the first connecting ring 63, or other ways to fix the first connecting ring 63 to the connecting rod 50.

[0126] In one embodiment of the present application, as shown in Figure 14A and 14B , the connecting rod 50 has a third segment connecting rod 53 between the first segment connecting rod 51 and the second segment connecting rod 52, and the third segment connecting rod 53 has a tapered outer surface. Specifically, the outer diameter of the third segment connecting rod 53 gradually decreases from the proximal end to the distal end, that is, the outer diameter D6 of the proximal end of the third segment connecting rod 53 is greater than the outer diameter D7 of the distal end, and the tapered outer surface of the third segment connecting rod 53 forms a self-locking angle a with the axis of the third segment connecting rod 53.

[0127] The sheath body 62 is detachably connected to the link 50 by the first connecting ring 63 cooperating with the third segment link 53. Specifically, during the connecting of the first connecting ring 63 to the link 50, the sheath 60 slides in the direction shown in Fig. C towards the first segment link 51, and when the first ring body 631 of the first connecting ring 63 slides to the outer surface of the third segment link 53, the tapered third segment link 53 will force the first ring body 631 to expand outward, and the gap 634 of the first connecting ring 63 allows the rigid first ring body 631 to expand outward, so that the inward restoring force of the first ring body 631 tightly presses the first ring body 631 on the third segment link 53, thereby fixing the first ring body 63 to the link 50. After the first ring body 63 is fixed to the third segment link 53, the outer diameter D3 of the proximal end port of the first ring body 63 will increase due to the expansion of the first ring body 63, and is substantially equal to the outer diameter D6 of the proximal end of the third segment link 53, so that there is no abrupt step between the proximal end port of the first ring body 63 and the first segment link 51.

[0128] A suitable self-locking angle a will make the friction force on the first ring body sufficient to resist the pulling force on the sheath 60 (for example, the force generated by the sealing member 41 constantly pulling the sheath 60 during surgery), so that the sheath 60 can be firmly fixed to the link 50. A suitable range of the self-locking angle a is 5 to 10 degrees. When the sheath 60 is removed from the link 50, only a suitable external force applied to the sheath in the direction opposite to the direction C is needed to remove the sheath 60.

[0129] In other embodiments, in order to increase the friction force, the inner surface of the second ring body 635 and / or the tapered outer surface of the second segment link 53 are surface treated to increase the friction therebetween, thereby resisting greater pulling force on the sheath 60.

[0130] Figures 15A-15C A surgical instrument is shown in an embodiment of the present application, and the end instrument of the surgical instrument includes a joint 70 and an end effector 710. The joint 70 includes a plurality of joint assemblies 73, and the second segment link 52 of the link 50 is connected to the joint 70. The end effector 710 is rotatably connected to the joint 70 through a U-shaped clamp 731. The end effector 710 is an all-conductive electric cauterization scissors. In this embodiment, the end effector 710 and the entire joint 70 are conductive, but only the tip part of the end effector 710 performs electric cauterization operation, so it is necessary to insulate and isolate the part of the joint 70 and the end effector 710 that does not perform cauterization, so as not to cause damage to human tissue.

[0131] The sheath body 62 of the sheath 60 is flexible and stretchable and insulating, the distal end of the sheath body 62 is fixedly connected with the second connecting ring 61, the proximal end is fixedly connected with the first connecting ring 63, and the distal end of the sheath 60 further comprises a fixedly connected insulating nozzle 64, the insulating nozzle 64 is used for insulating the end effector 710, the insulating nozzle 64 is made of insulating material, and the insulating material can be silica gel, plastic or the like. The distal end of the second connecting ring 61 is fixedly connected with the insulating nozzle 61, and the proximal end is fixedly connected with the sheath body 62, and the fixed connection manner of the sheath 60 and the connecting rod 50 is the same as that described in the previous embodiment, and will not be repeated here.

[0132] As shown in Figure 15C In order to better insulate the surgical instrument, the joint 70 comprises a plurality of joint assemblies 73, one end of the second segment connecting rod 52 is connected with the joint assembly 73, and the other end is connected with the first segment connecting rod 51, the second segment connecting rod 52 is made of conductive material in the embodiment, the first segment connecting rod 51 is made of insulating material, in order to avoid the situation that the first segment connecting rod 51 and the second segment connecting rod 52 are connected and electric leakage occurs, the proximal end of the sheath body 62 is completely covered with the first connecting ring 63 and has a certain remaining part in the process of forming the sheath 60, so that after the sheath 60 is installed on the surgical instrument, the above-mentioned remaining part can completely cover the connection part of the first segment connecting rod 51 and the second segment connecting rod 52, so as to prevent the electric leakage of the connection part of the first segment connecting rod 51 and the second segment connecting rod 52.

[0133] The technical features of the above-described embodiments can be combined arbitrarily, in order to make the description simple, not all possible combinations of the technical features in the above-described embodiments are described, however, as long as the combinations of the technical features do not exist contradictory, it should be considered that the description is within the scope of the present application.

[0134] The above-described embodiments only express several embodiments of the present application, the description is more specific and detailed, but it cannot be understood as limiting the scope of the patent of the application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A surgical instrument, characterized by The surgical instrument comprises: an end effector; a joint; a link, a distal end of the link being connected to a proximal end of the joint, a distal end of the joint being connected to the end effector; a sheath, the sheath being sleeved on the joint, the sheath comprising a sheath body and a first connecting ring; the first connecting ring comprises a first ring body and a second ring body, the sheath body is fixedly connected with the second ring body, the sheath body is connected with the link through the first ring body, an outer diameter of the first ring body at a connection position with the second ring body is greater than or substantially equal to an outer diameter of the second ring body, an outer diameter of a proximal end port of the first ring body is substantially equal to an outer diameter of the link, the outer diameter of the first ring body gradually increases from the proximal end to the distal end of the first ring body, the outer diameter of the first ring body at the connection position with the second ring body is greater than or substantially equal to an outer diameter of the sheath body, the outer diameter of the sheath body is greater than the outer diameter of the second ring body, the link has a first fixing portion on an outer surface thereof, an inner surface of the first connecting ring has a second fixing portion, the first fixing portion is used for clamping with the second fixing portion to fix the first connecting ring on the link, the first connecting ring has a gap extending in an axial direction thereof, the gap penetrates through the outer surface and the inner surface of the first connecting ring, and the gap extends through the second fixing portion.

2. The surgical instrument of claim 1, wherein, The gap is two or more.

3. The surgical instrument of claim 1, wherein, The gap comprises a closed gap.

4. The surgical instrument of claim 3, wherein, The closed gap is four or more.

5. The surgical instrument of claim 1, wherein, The second fixing portion is located at a middle of the gap.

6. The surgical instrument of claim 1, wherein, An outer diameter of the first connecting ring is less than 10 mm.

7. The surgical instrument of claim 1, wherein, The first connecting ring is tapered.

8. The surgical instrument of claim 1, wherein, The second fixing portion is located on the first ring body.

9. The surgical instrument of claim 8, wherein, An outer diameter of the first fixing portion is greater than an outer diameter of the link, and an inner diameter of the second fixing portion is less than an inner diameter of the first connecting ring.

10. The surgical instrument of claim 1, wherein, The sheath body is flexible and stretchable, and the first connecting ring is rigid.

11. The surgical instrument of claim 10, wherein, The first connecting ring is made of a rigid material of a memory alloy.

12. The surgical instrument of claim 1, wherein, The link comprises a first link segment and a second link segment, a proximal end of the second link segment being connected with a distal end of the first link segment, a distal end of the second link segment being connected with the end effector, an outer diameter of the second link segment being less than an outer diameter of the first link segment, and the first ring body being detachably connected with the second link segment.

13. The surgical instrument of claim 12, wherein, The first fixing portion is arranged on the second link segment.

14. The surgical instrument of claim 12, wherein, An outer diameter of the proximal end port of the first ring body is substantially equal to an outer diameter of the first link segment.

15. The surgical instrument of claim 12, wherein, The link further comprises a third link segment between the first link segment and the second link segment, the third link segment having a tapered outer surface, and an inner surface of the second ring body being used for abutting against the outer surface of the third link segment.

16. The surgical instrument of claim 15, wherein, An outer diameter of the proximal end port of the first connecting ring is substantially equal to an outer diameter of a proximal end of the third link segment.

17. The surgical instrument of claim 16, wherein, An angle between the tapered outer surface of the third link segment and an axis of the third link segment is 5 to 10 degrees.

18. A surgical device, characterized by The surgical device comprises a trocar and a surgical instrument as claimed in any one of claims 1-17, characterized in that the trocar comprises a sealing member for abutment with the link, the first ring body being arranged to abut against the sealing member when the surgical instrument is removed from the trocar.

19. The surgical device of claim 18, wherein, The sealing member comprises a sealing passage for passage of the first ring body, the outer diameter of the first ring body being greater than the diameter of the sealing passage.

20. An operating device from which, The slave operating device comprises a mechanical arm and a surgical instrument as claimed in any one of claims 1-17, the surgical instrument being mounted on the mechanical arm, the mechanical arm being arranged to manipulate movement of the surgical instrument.

21. A surgical robot characterized by, The surgical robot comprises a master operating device and a slave operating device as claimed in claim 20, the slave operating device being arranged to perform corresponding operations according to instructions from the master operating device.

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