Disposable Sterilized Laparoscopic Minimally Invasive Surgical Robot Surgical Forceps

Abstract

The present invention relates to the field of medical devices, and specifically to a disposable sterilized laparoscopic minimally invasive surgical robot surgical forceps, which includes a distal end assembly, a support tube, and a base. The distal end assembly is installed at one end of the support tube, and the distal end assembly is disposable and sterilized. The other end of the support tube is installed in the base. The distal end assembly includes a wrist rotatably connected to its end, and a finger A and a finger B rotatably connected to the wrist. A driving disk A, a driving disk B, and a driving disk C are installed on the base. The driving disk A, the driving disk B, and the driving disk C respectively control the distal end assembly to rotate around the rotation axis C, the wrist to rotate around the rotation axis A, and the finger A and the finger B to rotate around the rotation axis B through a transmission mechanism to realize the clamping and opening of the surgical forceps. Compared with the prior art, the present invention adopts a disposable distal end assembly, and no further sterilization treatment is required after use, solving the problems of high sterilization cost and limited number of uses of the distal end instruments of the current laparoscopic surgical robot.

Description

[Technical Field]

[0001] The present invention relates to the field of medical devices, and more particularly to a disposable sterilizable laparoscopic minimally invasive surgical robot surgical forceps. [Background Art]

[0002] Laparoscopic minimally invasive surgical robots have been successfully applied to surgical operations on tissues and organs such as the stomach, liver, and kidneys, and have advantages such as small body surface wounds, relatively small blood loss, and rapid postoperative recovery. Laparoscopic surgical robots generally adopt a solution of combining multi-degree-of-freedom robotic arms with dedicated surgical instruments at the end of the robotic arms to perform minimally invasive surgical operations. Typical surgical instruments at the end include various surgical forceps, surgical scissors, and energy-based surgical instruments.

[0003] Taking a dedicated surgical forceps as an example, it usually includes a driving base, a cylindrical support rod, and a micro forceps head. In order to meet the requirement of "minimally invasive", the "clamping" and "opening" actions of the forceps head are completed by the pulling of a steel cable. The steel cable is built into the cylindrical support rod, fixed at one end to the forceps head and at the other end to the inside of the driving base. During the operation, the forceps head and part of the support rod need to be inserted into the human body, so there are high requirements for the sterilization treatment of the end surgical forceps. However, due to the distribution form of the steel cable, the cost of thorough sterilization increases.

[0004] In addition, the steel cables are all manufactured from elastic materials and have pre-tensile stress. When driving the movement of the forceps head, there is always wear between the steel cable and structures such as the forceps head and the support rod. To prevent the steel cable from breaking and ensure surgical safety, it is required that the same surgical forceps be used no more than ten times.

[0005] The above two reasons of high sterilization cost and usage times limit result in the relatively high usage cost of laparoscopic minimally invasive surgical robots compared to traditional laparoscopic surgeries. This seriously hinders the full promotion of robotic minimally invasive surgeries. [Summary of the Invention]

[0006] The object of the present invention is to solve the above deficiencies and provide a disposable sterilizable laparoscopic minimally invasive surgical robot surgical forceps, which adopts a disposable end component and does not require sterilization treatment after use, solving the problems of high sterilization cost and usage times limit of the current end instruments of laparoscopic surgical robots.

[0007] To achieve the above object, a laparoscopic minimally invasive surgical robot surgical forceps for one-time sterilization is designed, which includes a distal end assembly 9, a support tube 14 and a base 12. The distal end assembly 9 is detachably mounted at one end of the support tube 14. The distal end assembly 9 is a component that has been sterilized once. The other end of the support tube 14 is mounted inside the base 12. The distal end assembly 9 includes a wrist 16 rotatably connected to its end, and a finger A 17 and a finger B 18 rotatably connected to the wrist 16. A drive disk A 10, a drive disk B 11 and a drive disk C 13 are mounted on the base 12. The drive disk A 10, the drive disk B 11 and the drive disk C 13 respectively control the distal end assembly 9 to rotate around the rotation axis C 22, the wrist 16 to rotate around the rotation axis A 15, and the finger A 17 and the finger B 18 to rotate around the rotation axis B 19 through a transmission mechanism to realize the clamping and opening of the surgical forceps.

[0008] Further, the distal end assembly 9 includes a wrist 16, a finger A 17, a finger B 18, a hollow tube 20, a transmission rod A 26, a transmission rod B 34, a pin shaft A 24, a pin shaft B 31, a bevel gear A 25, a bevel gear B 27, a bevel gear C 28 and a gear 29. The hollow tube 20, the transmission rod A 26 and the transmission rod B 34 are coaxially arranged and the axis is the rotation axis C 22, and can rotate relatively independently. One end of the transmission rod A 26 is designed with a bevel gear B 27, and the bevel gear B 27 rotates synchronously with the transmission rod A 26. One end of the transmission rod B34 is designed with a flat tooth C 32, and the flat tooth C 32 rotates synchronously with the transmission rod B 34. One end of the wrist 16 is connected to the hollow tube 20 through a pin shaft A 24, and the other end of the wrist 16 is connected to the finger A 17 and the finger B 18 through a pin shaft B 31. A cylindrical tooth 33 is designed on the wrist 16, and the cylindrical tooth 33 is meshed and connected with the flat tooth C 32. Each of the finger A 17 and the finger B 18 is designed with a flat tooth B 30 and a flat tooth A 23. The flat tooth B 30 and the flat tooth A 23 are respectively meshed and connected with the gear 29. The gear 29 and the bevel gear C 28 are coaxially arranged and rotate synchronously. The bevel gear C 28 is meshed and connected with the bevel gear A 25. The bevel gear A 25 is mounted on the pin shaft A 24 and rotates around the rotation axis A 15. The bevel gear A 25 is meshed and connected with the bevel gear B27.

[0009] Further, the transmission chain of the clamping and opening movement of the finger A 17 and the finger B 18 of the distal end assembly 9 is composed of a transmission rod A 26, a bevel gear B 27, a bevel gear A 25, a bevel gear C 28, a gear 29, a flat tooth B 30 and a flat tooth A 23. The transmission chain of the movement of the wrist 16 of the distal end assembly 9 is composed of a transmission rod B 34, a flat tooth C 32 and a cylindrical tooth 33.

[0010] Further, a limiting block 39, a driving rod B 41, and a driving rod A 43 are installed inside the support tube 14. The limiting block 39 rotates synchronously with the support tube 14. The other ends of the support tube 14, the driving rod B 41, and the driving rod A 43 are respectively connected to a driving disc A 10, a driving disc B 11, and a driving disc C 13. The limiting block 39 is cooperatively connected with the hollow tube 20 and drives the hollow tube 20 to rotate. The driving rod B 41 is cooperatively connected with a transmission rod B 34 and drives the transmission rod B 34 to rotate. The driving rod A 43 is cooperatively connected with a transmission rod A 26 and drives the transmission rod A 26 to rotate.

[0011] Further, a plane B 38 is machined on the limiting block 39. The plane B 38 cooperates with a plane A 21 on the hollow tube 20 so that the rotational movement of the support tube 14 is transmitted to the hollow tube 20. A docking protrusion B 42 is machined at the end of the driving rod B 41. The docking protrusion B 42 cooperates with a docking groove B 45 on the transmission rod B 34 so that the rotational movement of the driving rod B 41 is transmitted to the transmission rod B 34. A docking protrusion A 44 is machined at the end of the driving rod A 43. The docking protrusion A 44 cooperates with a docking groove A 37 on the transmission rod A 26 so that the rotational movement of the driving rod A 43 is transmitted to the transmission rod A 26.

[0012] Further, a locking hole A 35 is machined on the hollow tube 20, and a locking hole B 40 is machined on the support tube 14. The hollow tube 20 and the support tube 14 are locked using a locking nail 36 when the locking hole A 35 and the locking hole B 40 are aligned.

[0013] Further, the surgical forceps are installed at the end of the robotic arm. The robotic arm is connected to the control cabinet and is electrically connected to a controller inside the control cabinet. The position and posture of the surgical forceps are completed by controlling the movement of the robotic arm through the controller inside the control cabinet.

[0014] Further, the end assembly 9 is made of a medical rigid polymer material or a stainless steel metal material.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] (1) The present invention provides a laparoscopic minimally invasive surgical robot surgical forceps that can be sterilized once. By using a disposable end assembly, there is no need for re-sterilization after use, avoiding the phenomenon of incomplete sterilization.

[0017] (2) The present invention uses a gear drive to replace a cable drive, breaking through the limitation of the number of uses of the end instruments and avoiding the problem of instrument wear.

[0018] (3) The surgical forceps of the minimally invasive surgical robot of the present invention are expected to reduce the usage cost of the end effector, which has a positive effect on the popularization of robot-assisted minimally invasive surgery;

[0019] (4) The present invention solves the practical problems of high sterilization cost and limited number of uses of the end effector of the current laparoscopic surgical robot. [Description of the Drawings]

[0020] Figure 1 Schematic diagram of an embodiment of the minimally invasive surgical robot and surgical forceps of the present invention;

[0021] Figure 2 Stereogram of the disposable sterilizable surgical forceps of the present invention;

[0022] Figure 3 Stereogram of the end of the disposable sterilizable surgical forceps of the present invention;

[0023] Figure 4 Transmission structure diagram of the opening and closing movement of the end of the surgical forceps of the present invention;

[0024] Figure 5 Transmission structure diagram of the wrist movement of the end of the surgical forceps of the present invention;

[0025] Figure 6 Cross-sectional view of the opening and closing drive rod and rotating drive rod at the end of the surgical forceps of the present invention;

[0026] Figure 7 Exploded view of the quick docking structure at the end of the surgical forceps of the present invention;

[0027] In the figure: 1, operating table; 2, patient; 3, control cabinet A; 4, robotic arm A; 5, surgical forceps A; 6, surgical forceps B; 7, robotic arm B; 8, control cabinet B; 9, end assembly; 10, drive disk A; 11, drive disk B; 12, base; 13, drive disk C; 14, support tube; 15, rotating shaft A; 16, wrist; 17, finger A; 18, finger B; 19, rotating shaft B; 20, hollow tube; 21, plane A; 22, rotating shaft C; 23, plane gear A; 24, pin shaft A; 25, bevel gear A; 26, drive rod A; 27, bevel gear B; 28, bevel gear C; 29, gear; 30, plane gear B; 31, pin shaft B; 32, plane gear C; 33, cylindrical gear; 34, drive rod B; 35, locking hole A; 36, locking pin; 37, docking groove A; 38, plane B; 39, limit block; 40, locking hole B; 41, drive rod B; 42, docking protrusion B; 43, drive rod A; 44, docking protrusion A; 45, docking groove B. [Detailed Embodiments]

[0028] The present invention will be further described below in conjunction with the drawings and specific embodiments:

[0029] The present invention provides a laparoscopic minimally invasive surgical robot forceps for one-time sterilization, which adopts a disposable end component and does not require further sterilization treatment after use; the use of gear transmission avoids the problem of instrument wear.

[0030] For example, taking the robot minimally invasive surgery in the appendix Figure 1 As an example, forceps A 5 and forceps B 6 are respectively installed at the ends of robotic arm A 4 and robotic arm B 7. The positions and postures of forceps A 5 and forceps B 6 are controlled by the controllers in control cabinet A 3 and control cabinet B 8 to drive robotic arm A 4 and robotic arm B 7 to move; forceps A 5 and forceps B 6 work in coordination to complete laparoscopic surgery.

[0031] The laparoscopic minimally invasive surgical robot forceps for one-time sterilization mainly includes an end component 9, a support tube 14 and a base 12. The end component 9 is detachably installed at one end of the support tube 14. The end component 9 is disposable and has been sterilized. The other end of the support tube 14 is installed in the base 12, and the support tube 14 and the base 12 are reusable; the end component 9 includes a wrist 16 rotatably connected to its end, and a finger A 17 and a finger B 18 rotatably connected to the wrist 16. A drive disk A 10, a drive disk B 11 and a drive disk C 13 are installed on the base 12. The drive disk A 10, the drive disk B 11 and the drive disk C 13 respectively control the end component 9 to rotate around the rotation axis C 22, the wrist 16 to rotate around the rotation axis A 15, and the finger A 17 and the finger B 18 to rotate around the rotation axis B 19 through a transmission mechanism to realize the clamping and opening of the forceps.

[0032] The end effector 9 includes a wrist 16, a finger A 17, a finger B 18, a hollow tube 20, a transmission rod A 26, a transmission rod B 34, a pin shaft A 24, a pin shaft B 31, a bevel gear A 25, a bevel gear B 27, a bevel gear C 28, and a gear 29. The end effector 9 has three degrees of freedom of movement, namely, the rotation of the end effector 9 around the rotation axis C 22, the rotation of the wrist 16 around the rotation axis A 15, and the rotation of the finger A 17 and the finger B 18 around the rotation axis B 19. The hollow tube 20, the transmission rod A 26, and the transmission rod B 34 are coaxially arranged and the axis is the rotation axis C 22. The rotations of the hollow tube 20, the transmission rod A 26, and the transmission rod B 34 do not interfere with each other and can rotate relatively independently. One end of the transmission rod A 26 is designed and processed with a bevel gear B 27, and the bevel gear B 27 rotates synchronously with the transmission rod A 26. One end of the transmission rod B 34 is designed and processed with a flat tooth C 32, and the flat tooth C 32 rotates synchronously with the transmission rod B 34. One end of the wrist 16 is connected to the hollow tube 20 through the pin shaft A 24, and the other end of the wrist 16 is connected to both the finger A 17 and the finger B 18 through the pin shaft B 31. A cylindrical tooth 33 is designed and processed on the wrist 16, and the cylindrical tooth 33 is meshed and connected with the flat tooth C 32, as shown in the appendix Figure 5 as shown. Flat teeth B 30 and flat teeth A 23 are respectively designed and processed on the finger A 17 and the finger B 18. The flat teeth B 30 and the flat teeth A 23 are respectively meshed and connected with the gear 29. The gear 29 is coaxial with the bevel gear C 28 and rotates synchronously. The bevel gear C 28 is meshed and connected with the bevel gear A 25. The bevel gear A 25 is installed on the pin shaft A 24 and can rotate around the rotation axis A 15. The bevel gear A 25 is meshed and connected with the bevel gear B 27.

[0033] The transmission chain of the clamping and opening movements of the finger A 17 and the finger B 18 of the end effector 9 is composed of the transmission rod A 26, the bevel gear B 27, the bevel gear A 25, the bevel gear C 28, the gear 29, the flat teeth B 30, and the flat teeth A 23, as shown in the appendix Figure 4 as shown. The transmission chain of the movement of the wrist 16 of the end effector 9 is composed of the transmission rod B 34, the flat tooth C 32, and the cylindrical tooth 33, as shown in the appendix Figure 5 as shown. The end effector 9 is a disposable component and can be manufactured by injection molding or other processes using medical rigid polymer materials to reduce production costs. On the premise that the cost permits, it can also be manufactured by injection molding or other processes using metal materials including stainless steel, etc.

[0034] The support tube 14 and the base 12 are reusable. One end of the support tube 14 is docked with the end assembly 9, and the other end is installed inside the base 12. The drive disk A 10, drive disk B 11, and drive disk C 13 are designed and installed on the base 12. The drive disk A 10, drive disk B 11, and drive disk C 13 respectively control the rotation of the support tube 14 and the end assembly 9 around the rotation axis C 22, the rotation of the wrist 16 around the rotation axis A 15, and the rotation of the finger A 17 and finger B 18 around the rotation axis B 19 through the mechanical transmission mechanism inside the base 12.

[0035] A limit block 39, a drive rod B 41, and a drive rod A 43 are installed inside the support tube 14. The limit block 39 rotates synchronously with the support tube 14. The other ends of the support tube 14, drive rod B 41, and drive rod A 43 are respectively connected to the drive disk A 10, drive disk B 11, and drive disk C 13. The limit block 39 is connected and cooperates with the hollow tube 20 to drive the hollow tube 20 to rotate. The drive rod B 41 is connected and cooperates with the transmission rod B 34 to drive the transmission rod B 34 to rotate. The drive rod A 43 is connected and cooperates with the transmission rod A 26 to drive the transmission rod A 26 to rotate. Specifically, a plane B 38 is machined on the limit block 39, and the plane B 38 cooperates with the plane A 21 on the hollow tube 20 to ensure that the rotational movement of the support tube 14 can be transmitted to the hollow tube 20. A docking protrusion B 42 is machined at the end of the drive rod B 41, and the docking protrusion B 42 cooperates with the docking groove B 45 on the transmission rod B 34 to ensure that the rotational movement of the drive rod B 41 can be transmitted to the transmission rod B 34. A docking protrusion A 44 is machined at the end of the drive rod A 43, and the docking protrusion A 44 cooperates with the docking groove A 37 on the transmission rod A 26 to ensure that the rotational movement of the drive rod A 43 is transmitted to the transmission rod A 26. A locking hole A 35 is also designed and machined on the hollow tube 20, and a locking hole B 40 is designed and machined on the support tube 14. When the locking hole A 35 and the locking hole B 40 are aligned, a locking nail 36 is used to lock the hollow tube 20 and the support tube 14.

[0036] When the present invention is in operation, by respectively controlling the rotation angles and speeds of the drive disk A 10, drive disk B 11, and drive disk C 13, the rotation angles and speeds of the end assembly 9 around the rotation axis C 22, rotation axis A 15, and rotation axis B 19 can be controlled:

[0037] Keeping the transmission rod A 26 and the transmission rod B 34 fixed and rotating the support tube 14 can achieve the overall rotation of the end assembly 9 around the rotation axis C 22;

[0038] Keep the support tube 14 and the transmission rod B 34 fixed, rotate the transmission rod A 26, and the motion is transmitted to the gear 29 through the bevel gear B 27, the bevel gear A 25, and the bevel gear C 28, and then transmitted to the finger A 17 and the finger B 18 through the flat tooth B 30 and the flat tooth A 23 respectively, so as to realize the clamping and opening of the surgical forceps;

[0039] Keep the support tube 14 fixed, and at the same time rotate the transmission rod A 26 and the transmission rod B 34, the wrist 16 can be rotated around the rotation axis A 15, and the relative position relationship between the finger A 17 and the finger B 18 can be maintained;

[0040] By adjusting the rotation speeds of the transmission rod A 26 and the transmission rod B 34, the simultaneous movement of the wrist 16, the finger A 17 and the finger B 18 can be realized.

[0041] The present invention is not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A disposable sterilized laparoscopic minimally invasive surgical robot surgical forceps, characterized in that: It includes a distal end assembly (9), a support tube (14) and a base (12). The distal end assembly (9) is detachably mounted at one end of the support tube (14). The distal end assembly (9) is a component that has been sterilized once. The other end of the support tube (14) is mounted inside the base (12). The distal end assembly (9) includes a wrist (16) rotatably connected to its end, and a finger A (17) and a finger B (18) rotatably connected to the wrist (16). A drive disk A (10), a drive disk B (11) and a drive disk C (13) are mounted on the base (12). The drive disk A (10), the drive disk B (11) and the drive disk C (13) respectively control the distal end assembly (9) to rotate around the rotation axis C (22), the wrist (16) to rotate around the rotation axis A (15), and the finger A (17) and the finger B (18) to rotate around the rotation axis B (19) through a transmission mechanism to realize the clamping and opening of the surgical forceps. The distal end assembly (9) includes a wrist (16), a finger A (17), a finger B (18), a hollow tube (20), a transmission rod A (26), a transmission rod B (34), a pin shaft A (24), a pin shaft B (31), a bevel gear A (25), a bevel gear B (27), a bevel gear C (28) and a gear (29). The hollow tube (20), the transmission rod A (26) and the transmission rod B (34) are coaxially arranged and the axis is the rotation axis C (22), and can rotate relatively independently. One end of the transmission rod A (26) is designed with a bevel gear B (27), and the bevel gear B (27) rotates synchronously with the transmission rod A (26). One end of the transmission rod B (34) is designed with a flat tooth C (32), and the flat tooth C (32) rotates synchronously with the transmission rod B (34). One end of the wrist (16) is connected to the hollow tube (20) through a pin shaft A (24). The other end of the wrist (16) is connected to the finger A (17) and the finger B (18) through a pin shaft B (31). A cylindrical tooth (33) is designed on the wrist (16), and the cylindrical tooth (33) is meshed and connected with the flat tooth C (32). A flat tooth B (30) and a flat tooth A (23) are respectively designed on the finger A (17) and the finger B (18). The flat tooth B (30) and the flat tooth A (23) are respectively meshed and connected with the gear (29). The gear (29) is coaxial with the bevel gear C (28) and rotates synchronously. The bevel gear C (28) is meshed and connected with the bevel gear A (25). The bevel gear A (25) is mounted on the pin shaft A (24) and rotates around the rotation axis A (15). The bevel gear A (25) is meshed and connected with the bevel gear B (27). The surgical forceps are mounted at the end of the robotic arm. The robotic arm is connected to the control cabinet and is electrically connected to the controller in the control cabinet. The position and posture of the surgical forceps are completed by the controller in the control cabinet controlling the movement of the robotic arm.

2. The disposable sterilizable laparoscopic minimally invasive surgical robot forceps according to claim 1, characterized in that: The transmission chain for the clamping and opening movements of finger A (17) and finger B (18) of the end effector (9) is composed of transmission rod A (26), bevel gear B (27), bevel gear A (25), bevel gear C (28), gear (29), planar tooth B (30) and planar tooth A (23). The transmission chain for the movement of the wrist (16) of the end effector (9) is composed of transmission rod B (34), planar tooth C (32) and cylindrical tooth (33).

3. The disposable sterilizable laparoscopic minimally invasive surgical robot operating forceps according to claim 1, wherein: A limit block (39), a drive rod B (41) and a drive rod A (43) are installed inside the support tube (14). The limit block (39) rotates synchronously with the support tube (14). The other ends of the support tube (14), the drive rod B (41) and the drive rod A (43) are respectively connected to a drive disk A (10), a drive disk B (11) and a drive disk C (13). The limit block (39) is cooperatively connected with the hollow tube (20) and drives the hollow tube (20) to rotate. The drive rod B (41) is cooperatively connected with the transmission rod B (34) and drives the transmission rod B (34) to rotate. The drive rod A (43) is cooperatively connected with the transmission rod A (26) and drives the transmission rod A (26) to rotate.

4. The disposable sterilizable laparoscopic minimally invasive surgical robot forceps according to claim 3, characterized in that: A planar surface B (38) is machined on the limit block (39). The planar surface B (38) cooperates with the planar surface A (21) on the hollow tube (20) so that the rotational movement of the support tube (14) is transmitted to the hollow tube (20). A docking protrusion B (42) is machined at the end of the drive rod B (41). The docking protrusion B (42) cooperates with the docking groove B (45) on the transmission rod B (34) so that the rotational movement of the drive rod B (41) is transmitted to the transmission rod B (34). A docking protrusion A (44) is machined at the end of the drive rod A (43). The docking protrusion A (44) cooperates with the docking groove A (37) on the transmission rod A (26) so that the rotational movement of the drive rod A (43) is transmitted to the transmission rod A (26).

5. The disposable sterilizable laparoscopic minimally invasive surgical robot operating forceps according to claim 1, wherein: A locking hole A (35) is machined on the hollow tube (20), and a locking hole B (40) is machined on the support tube (14). The hollow tube (20) and the support tube (14) are locked with a locking pin (36) when the locking hole A (35) and the locking hole B (40) are aligned.

6. The disposable sterilizable laparoscopic minimally invasive surgical robot operating forceps according to claim 1, characterized in that: The end effector (9) is made of a medical rigid polymer material or a stainless steel metal material.

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