Surgical instrument

Abstract

The application discloses a surgical instrument, which comprises an instrument rod part and an instrument end; the instrument rod part comprises an instrument tube, a wire transmission assembly and a replacement interface assembly; the instrument tube is a hollow longitudinal tube body, has a proximal end for connecting a power mechanism and a distal end for sealingly connecting the instrument end, and is internally provided with the wire transmission assembly; the wire transmission assembly comprises at least two groups of transmission wires, and the transmission wires comprise a connection state for transmitting power of the power mechanism to the instrument end and a separation state for cleaning or replacing the instrument end; the replacement interface assembly is arranged in the wire transmission assembly and is used for switching the state of the transmission wires; and the instrument end can provide at least two movement degrees of freedom. The application can reduce the cost of the wire transmission type surgical instrument, enhance the cleanability of the wire transmission type surgical instrument and reduce the cleaning difficulty.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more particularly to a surgical instrument. Background Technology

[0002] In recent years, with the application and development of robotics technologies, especially computing technology, the role of surgical robots in clinical practice has received increasing attention. Minimally invasive surgical robot systems, in particular, can reduce the physical labor of surgeons during operations through interventional treatment, while achieving precise surgery, resulting in less trauma, less blood loss, fewer postoperative infections, and faster recovery for patients. The design quality of the surgical instruments used in the robot directly determines the success or failure of the minimally invasive surgical robot system. Multi-degree-of-freedom surgical instruments can better assist surgeons in performing surgical procedures, and the performance of the surgical instruments is a key factor affecting the performance level of the minimally invasive surgical robot system.

[0003] Currently, a typical structure for multi-degree-of-freedom surgical instruments used in medical robots is a wire-driven, integral structure. If the drive wire is damaged, the entire instrument needs to be replaced, resulting in high costs. Furthermore, this wire-driven, integral structure makes it difficult to thoroughly clean the confined spaces inside the instrument (especially the instrument tip), leading to high overall cleaning difficulty, poor cleanability, and hindering efforts to reduce the risk of infection. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention provides a surgical instrument that, on the one hand, reduces the cost of wire-driven surgical instruments by replacing some components, and on the other hand, enhances the cleanability of wire-driven surgical instruments and reduces the difficulty of cleaning.

[0005] This application discloses a surgical instrument, comprising: an instrument shaft component and an instrument end; the instrument shaft component includes: an instrument tube, a wire drive assembly, and a replacement interface assembly; the instrument tube is a hollow, longitudinally elongated tube having a proximal end for connecting to a power mechanism and a distal end for sealing connection to the instrument end, and the wire drive assembly is inserted within the instrument tube; the wire drive assembly includes at least two sets of drive wires, the drive wires having: a connected state capable of transmitting power from the power mechanism to the instrument end, and a disconnected state for cleaning or replacing the instrument end; the replacement interface assembly is disposed in the wire drive assembly for switching the state of the drive wires; the instrument end provides at least two degrees of freedom of movement.

[0006] In a preferred embodiment, the replacement interface assembly includes at least: a transmission wire docking mechanism and a transmission wire pre-tensioning mechanism. The transmission wire docking mechanism is disposed between each group of transmission wires to achieve separable engagement between each group of transmission wires. The transmission wire pre-tensioning mechanism is used to provide pre-tension force to the transmission wires when the transmission wires are in a separable state.

[0007] In a preferred embodiment, the replacement interface assembly further includes a guide mechanism for guiding the matching and docking between the transmission wires when the transmission wires switch from a separated state to a connected state.

[0008] In a preferred embodiment, each set of transmission wires includes two transmission wires, which can be separated and engaged by two sets of transmission wire docking mechanisms. Each set of transmission wire docking mechanisms includes a first docking portion and a second docking portion disposed at the ends of the two transmission wires. When the first docking portion and the second docking portion are engaged, the transmission wires are in a connected state; when the first docking portion and the second docking portion are separated, the transmission wires are in a separated state.

[0009] In a preferred embodiment, the first docking portion includes a docking ring, and the second docking portion includes a docking hook.

[0010] In a preferred embodiment, the transmission wire pretensioning mechanism includes a guide block passing through the transmission wire and a pretensioning member at least partially connected to the guide block, the guide block being fixed relative to the instrument tube and movable relative to the transmission wire.

[0011] In a preferred embodiment, the preload includes a retaining spring in a compressed state.

[0012] In a preferred embodiment, the instrument tube includes a first segment with the proximal end and a second segment with the distal end, and the guide mechanism includes an engagement structure disposed between the first segment and the second segment.

[0013] In a preferred embodiment, the engaging structure includes a protrusion disposed in one of the first pipe segment and the second pipe segment, and a groove disposed in the other of the first pipe segment and the second pipe segment.

[0014] In a preferred embodiment, the instrument rod component further includes a locking and fixing mechanism, which includes an unlocking position and a fixing position. When the transmission wire needs to switch from a connected state to a disconnected state, the locking and fixing mechanism first switches from the fixing position to the unlocking position. During the process of the transmission wire switching from a disconnected state to a connected state, after the transmission wire is connected, the locking and fixing mechanism switches from the unlocking position to the fixing position.

[0015] In a preferred embodiment, the locking and fixing mechanism includes a locking ring fixed to one of the first tube segment and the second tube segment. The locking ring has a guide groove, and the end of the guide groove has an opening. The other of the first tube segment and the second tube segment has a locking ball. When the protrusion and the groove engage along the axial direction of the instrument tube, the locking ring can be rotated circumferentially by a predetermined angle to engage the locking ball into the opening.

[0016] In a preferred embodiment, the locking ring has an initial positioning area at the location of the locking ball, the initial positioning area including a receiving groove for accommodating a portion of the protrusion, the receiving groove being able to communicate with the guide groove at least.

[0017] In a preferred embodiment, the replacement interface assembly is located close to the end of the instrument.

[0018] In a preferred embodiment, the power mechanism includes an instrument housing for providing motion power to the instrument end via the instrument rod component.

[0019] The features and advantages of this invention are:

[0020] Overall, the surgical instruments provided in this application specification, by setting a replacement interface component in the wire drive assembly, can switch the different states (connected state, disconnected state) of the drive wire according to the use of the surgical instruments. Without damaging the drive wire's transmission characteristics, the instrument end can be replaced as a whole, which helps to reduce the cost of wire-driven surgical instruments, while also enhancing the cleanability of wire-driven surgical instruments and reducing the difficulty of cleaning.

[0021] Specific embodiments of the invention are disclosed in detail with reference to the following description and accompanying drawings, indicating how the principles of the invention can be employed. It should be understood that the embodiments of the invention are not therefore limited in scope. Within the spirit and scope of the appended claims, embodiments of the invention include many changes, modifications, and equivalents. Features described and / or shown for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments. Attached Figure Description

[0022] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely illustrative to aid in understanding the invention and are not intended to specifically limit the shapes and proportions of the components. Those skilled in the art, guided by the teachings of this invention, can select various possible shapes and proportions to implement the invention according to specific circumstances. In the drawings:

[0023] Figure 1 A schematic diagram illustrating the overall structure of the surgical instruments provided in the embodiments of this application;

[0024] Figure 2 A schematic diagram showing the relative position between the instrument tip and the instrument shaft of the surgical instrument provided in the embodiments of this application;

[0025] Figure 3 This is a schematic diagram of the instrument tip of a surgical instrument provided in one embodiment of this application;

[0026] Figure 4 for Figure 1 A schematic diagram of the internal structure of the instrument rod component in the surgical instrument at point A;

[0027] Figure 5a This is a schematic diagram showing the transmission wire of the surgical instrument provided in one embodiment of this application in a disengaged state;

[0028] Figure 5b This is a schematic diagram showing the transmission wire of the surgical instrument provided in one embodiment of this application in a connected state;

[0029] Figure 6 This is a schematic diagram of the transmission wire pretensioning mechanism of a surgical instrument provided in one embodiment of this application;

[0030] Figure 7 This is a schematic diagram illustrating the cooperation between the transmission wire and the guide block of the surgical instrument provided in one embodiment of this application;

[0031] Figure 8 This is an exploded view of the guide structure of a surgical instrument provided in one embodiment of this application;

[0032] Figure 9 This is a schematic diagram showing the locking and fixing mechanism of the surgical instrument provided in one embodiment of this application in the unlocked position;

[0033] Figure 10 This is a schematic diagram showing the locking and fixing mechanism of the surgical instrument provided in one embodiment of this application changing from the unlocked position to the fixed position;

[0034] Figure 11This is a schematic diagram showing the locking and fixing mechanism of the surgical instrument provided in one embodiment of this application in a fixed position;

[0035] Figure 12 This is a schematic diagram of the locking ring in the locking and fixing mechanism of the surgical instrument provided in one embodiment of this application;

[0036] Figure 13 This is a schematic diagram of the overall structure of the execution end of the surgical robot provided in one application scenario of this application;

[0037] Figure 14 This is a schematic diagram of the overall structure of the surgical robot provided in one application scenario of this application.

[0038] The reference numerals in the above figures are as follows:

[0039] 100. Execution end; 200. Control end; 300. Image end;

[0040] 1. Surgical instruments;

[0041] 10. Instrument box;

[0042] 20. Instrument rod components;

[0043] 210. Instrument tube; 211. First tube segment; 212. Second tube segment;

[0044] 201. Transmission wire;

[0045] 220. Drive wire docking mechanism; 221. Docking ring; 222. Docking hook;

[0046] 230. Drive wire preload mechanism; 231. Holding spring; 233. Guide block;

[0047] 240. Locking and fixing mechanism; 241. Locking ring; 242. Locking ball; 243. Guide groove; 244. Opening; 245. Initial positioning area;

[0048] 250. Guiding mechanism; 251. Protrusion; 252. Groove; 253. Reinforcing section;

[0049] 30. Instrument tip;

[0050] 301. Rotation joint; 302. Pitch joint; 303. First opening / closing joint; 304. Second opening / closing joint;

[0051] 4. Trolley;

[0052] 5. Endoscope;

[0053] 6. Robotic arm. Detailed Implementation

[0054] The details of the present invention can be more clearly understood by referring to the accompanying drawings and the description of specific embodiments. However, the specific embodiments of the present invention described herein are for illustrative purposes only and should not be construed as limiting the invention in any way. Under the teachings of this invention, those skilled in the art can conceive of any possible modifications based on the invention, all of which should be considered within the scope of the invention. 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 referred to as being "connected" to another element, it can be directly connected to the other element or there may be an intervening element. The terms "mounted," "connected," and "connected" should be interpreted broadly, for example, they can refer to mechanical or electrical connections, or internal communication between two elements, and can be direct or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0056] The inventors discovered that the drive wires near the end of existing surgical instruments are prone to breakage, resulting in a short lifespan. Once the drive wire breaks, the entire surgical instrument needs to be replaced, leading to high operating costs.

[0057] Furthermore, integrated surgical instruments mainly consist of an instrument case, an instrument rod, and an instrument tip. A typical surgical instrument has a slender instrument rod (for example, approximately 500 mm in length and 6 mm in inner diameter), and the instrument rod and instrument tip are sealed together.

[0058] When cleaning this surgical instrument, the instrument handle can be detached from the instrument case. Cleaning solution is injected from the opening near the instrument case, flowing through the entire handle, into the instrument tip, and then back out from the opening. Because this cleaning channel is narrow and not unidirectional, the injected cleaning solution rarely achieves the desired cleaning effect. This is especially true for the interior of the instrument tip, which is far from the opening, making thorough cleaning impossible. Therefore, this one-piece surgical instrument design suffers from poor cleaning effectiveness, long cleaning time, and high cleaning costs.

[0059] The main objective of this invention is to provide a surgical robot and its actuator and surgical instruments. On the one hand, by replacing some components, the cost of wire-driven surgical instruments is reduced. On the other hand, the cleanability of wire-driven surgical instruments is enhanced, and the cleaning difficulty is reduced.

[0060] Please refer to the following: Figure 1 and Figure 2 The surgical instrument 1 may include an instrument shaft component 20 and an instrument tip 30. Furthermore, the surgical instrument 1 may also be equipped with a power mechanism. Specifically, the power mechanism may be the instrument housing 10. Specifically, the instrument housing 10 is used to provide motion power to the instrument tip 30 via the instrument shaft component 20. Of course, the specific form of the power mechanism is not limited to the form of the instrument housing 10 described above; it can also be in other forms. In the embodiments of this application, the instrument housing 10 is mainly used as an example for illustration. Other forms can be referred to in this application, and will not be described in detail here.

[0061] The instrument rod component 20 includes an instrument tube 210, a wire drive assembly, and a replacement interface assembly. The instrument tube 210 is a hollow, elongated tube with a proximal end connected to the instrument housing 10 and a distal end sealed to the instrument end 30. The wire drive assembly is inserted within the instrument tube 210. The wire drive assembly includes at least two sets of drive wires 201, each including a connected state for transmitting power from the instrument housing 10 to the instrument end 30 and a disconnected state for cleaning or replacing the instrument end 30. The replacement interface assembly is disposed within the wire drive assembly and is used to switch the states of the drive wires 201. The instrument end 30 provides at least two degrees of freedom of movement.

[0062] like Figure 1 As shown, the instrument box 10 of the surgical instrument 1 is located at one end of the instrument rod component 20. A wire drive structure can be installed inside the box, which is connected to the instrument end 30 via the instrument rod component 20, thereby driving the instrument end 30 to move. Specifically, the wire drive structure within the instrument box 10 can be adaptively adjusted according to actual needs; this application does not impose specific limitations here. For example, the wire drive structure can be provided with a base, multiple drive shafts rotatably mounted on the base, and guide members for guiding the transmission wires 201. The number of drive shafts corresponds one-to-one with the number of sets of transmission wires 201 and the number of degrees of freedom provided by the instrument end 30. Each set of transmission wires 201 can form a transmission loop between the instrument box 10 and the instrument end 30, thereby driving a joint of the instrument end 30 to perform a corresponding action.

[0063] The instrument rod component 20 is disposed between the instrument box 10 and the instrument end 30. The instrument rod component 20 may include: an instrument tube 210, a wire drive assembly, and a replacement interface assembly.

[0064] The instrument tube 210 is a hollow, elongated tube with a proximal end connected to the instrument box 10 and a distal end that is sealed to the instrument end 30. The instrument tube 210 is used to insert the wire drive assembly.

[0065] The wire drive assembly may include at least two sets of drive wires 201, thereby ensuring that the instrument end 30 can provide at least two degrees of freedom of movement. Each set of drive wires 201 can independently control one degree of freedom of movement of the instrument end 30. Each set of drive wires 201 may include: a connected state that can transmit power from the instrument box 10 to the instrument end 30, and a disconnected state for cleaning or replacing the instrument end 30.

[0066] Specifically, each set of transmission wires 201 can be disconnected at a predetermined disconnection position. At the disconnection position, a replacement interface assembly is provided to switch the different states of the transmission wires 201. The disconnection position of the transmission wires 201 can be located within the instrument tube 210, meaning the instrument tube 210 is also divided into two detachable parts (a first tube segment 211 and a second tube segment 212), where the first tube segment 211 can be sealed to the instrument end 30; or, the disconnection position can be located between the instrument tube 210 and the instrument end 30.

[0067] The surgical instrument 1 provided by this invention has an end piece 30 that can provide at least two degrees of freedom of movement, for example, it can provide two, three, or more degrees of freedom of movement. For each additional degree of freedom of movement, the number of sets of the transmission wire 201 assembly can increase accordingly. The number of degrees of freedom that the end piece 30 can provide can vary depending on the specific application scenario of the surgical instrument 1, and this application does not impose a specific limitation herein.

[0068] The surgical instrument 1 can come in various sizes, such as needle holder, straight scissors, and single-polar arc scissors. During the operation, the user can change the end of the instrument according to the surgical procedure to meet the needs of the operation.

[0069] The surgical instrument 1 can have multiple degrees of freedom, mainly providing the instrument end 30 of the surgical instrument 1 with 3D spatial movement and opening and closing movement in the body. The robotic arm at the execution end, together with the surgical instrument 1, provides the spatial movement of the instrument end 30.

[0070] like Figure 3As shown, specifically, the instrument tip 30 of the surgical instrument 1 may include a rotation joint 301, a pitch joint 302, a first opening / closing joint 303, and a second opening / closing joint 304, thereby correspondingly realizing rotation, pitch, left opening / closing, and right opening / closing movements. The pitch, left opening / closing, and right opening / closing movements can be achieved through transmission wires 201, and the rotation of the instrument tip 30 can be achieved through a drive structure inside the instrument tip 30. For example, when the pitch, left opening / closing, and right opening / closing movements of the instrument tip 30 are achieved through transmission wires 201, the surgical instrument 1 may be provided with three sets of transmission wires 201, each set of transmission wires 201 corresponding to control one movement.

[0071] When surgical instruments need to be cleaned, the transmission wire 201 can be switched from the connected state to the disconnected state by changing the interface assembly. Then, the two parts of the wire transmission assembly and the instrument rod component 20 are cleaned separately. This effectively shortens the length of the cleaning channel. In particular, for the part connected to the instrument end 30, due to the shortening of the cleaning channel, the injected cleaning fluid can make full contact with the internal components of the instrument end 30 and the transmission wire 201, thereby effectively shortening the cleaning time, reducing cleaning costs, and improving the cleaning effect.

[0072] When the replacement interface component is positioned close to the instrument end 30, the length of the instrument tube 210 connected to the instrument end 30 is shorter, and the length of the cleaning channel through which the cleaning fluid needs to flow is shorter, which is conducive to achieving more efficient and targeted cleaning of the inside of the instrument end 30.

[0073] The inventors also discovered that, for surgical instrument 1, a small guide component (e.g., a drive wheel) is installed within the confined space of the instrument tip 30. During contact between this guide component and the drive wire 201, the drive wire 201 is prone to wear. If the drive wire 201 wears out and breaks, the entire surgical instrument 1 becomes unusable. To specifically reduce the cost of wire-driven instruments, when the instrument tip 30 needs replacement, the drive wire 201 assembly can be switched from a connected state to a disconnected state using a replacement interface assembly. Then, the portion with the instrument tip 30 can be directly replaced, effectively reducing the cost of the wire-driven surgical instrument 1.

[0074] Overall, the surgical instrument 1 provided in this application specification, by setting a replacement interface component in the wire drive assembly, can switch the different states (connected state, disconnected state) of the drive wire 201 according to the usage of the surgical instrument 1. Without damaging the transmission characteristics of the drive wire 201, the instrument end 30 can be replaced as a whole, which helps to reduce the cost of the wire drive surgical instrument 1, while enhancing the cleanability of the wire drive surgical instrument 1 and reducing the difficulty of cleaning.

[0075] The instrument rod component 20 of the surgical instrument 1 will be described below with reference to the specific accompanying drawings and embodiments.

[0076] Please refer to the reference. Figures 4 to 13 The replacement interface assembly includes at least: a transmission wire docking mechanism 220 and a transmission wire pretensioning mechanism 230. The transmission wire docking mechanism 220 is disposed between each group of transmission wires 201 to achieve a separable engagement between each group of transmission wires 201. The transmission wire pretensioning mechanism 230 is used to provide pretension force to the transmission wires 201 when the transmission wires 201 are in the separable state.

[0077] In addition, the replacement interface assembly may also include a guide mechanism 250, which is used to guide the matching and docking between the transmission wires 201 when the transmission wires 201 switch from a separated state to a connected state.

[0078] When the transmission wire 201 switches from a disconnected state to a connected state, it is necessary to ensure that the disconnected end of the transmission wire 201 is in a pre-tightened state, so that the transmission wire docking mechanism 220 can maintain a relatively stable position. At the same time, in order to ensure that each transmission wire 201 can be connected in a one-to-one correspondence, a guide mechanism 250 is also provided. This guide mechanism 250 can ensure that the ends of the transmission wires 201 in the pre-tightened state can be accurately docked.

[0079] Specifically, each set of transmission wires 201 may include two transmission wires 201, which can be separated and engaged by two sets of transmission wire docking mechanisms 220. Each set of transmission wire docking mechanisms 220 may include: a first docking portion and a second docking portion disposed at the ends of the two transmission wires 201. When the first docking portion and the second docking portion are engaged, the transmission wires 201 are in a connected state; when the first docking portion and the second docking portion are separated, the transmission wires 201 are in a separated state.

[0080] For the same set of transmission wires 201, two sets of transmission wire docking mechanisms 220 can be correspondingly provided. Each transmission wire 201 has a disconnection position, forming two ends of the transmission wires 201, and a set of transmission wire docking mechanisms 220 is provided at the disconnection position. Figure 5a and Figure 5b As shown, specifically, the first docking part can be in the form of a docking ring 221, and the second docking part can be in the form of a docking hook 222.

[0081] Taking the wire transmission assembly, which includes three sets of transmission wires 201, as an example, it can include six sets of transmission wire docking mechanisms 220. During docking, the transmission wire pre-tightening mechanism 230 is used to keep each set of transmission wire docking mechanisms 220 in a pre-tightened state, and then the guide mechanism 250 is used to ensure that the docking hook 222 of each set engages with its corresponding docking ring 221 one by one, ensuring that the connected transmission wires 201 can transmit normally.

[0082] Of course, the specific form of the first docking part and the second docking part is not limited to the examples above. For example, the first docking part and the second docking part can be in the form of opposite magnets, which can be attracted and fixed when they are close together; or, the first docking part can be a deformable umbrella shape, and the second docking part can be a receiving hole that cooperates with the first docking part, so that when the first docking part is inserted into the second docking part, it can engage with the second docking part.

[0083] Of course, the first and second docking parts can also have other structures and mating forms. In the embodiments and drawings of this application, the first docking part is mainly illustrated as a docking ring 221 and the second docking part is a docking hook 222. Other forms can be adapted and replaced based on this, and will not be described in detail here.

[0084] like Figure 6 As shown, in one embodiment, the transmission wire pretensioning mechanism 230 may include a guide block 233 passing through the transmission wire 201 and a pretensioning member at least partially connected to the guide block 233. Figure 7 As shown, the guide block 233 is fixed relative to the instrument tube 210, and the transmission wire 201 can move axially relative to the guide block 233.

[0085] A guide block 233 can be provided near the drive wire docking mechanism 220. Specifically, the guide block 233 can be fixed to the instrument tube 210, thereby achieving positioning relative to the instrument tube 210. Multiple through holes can be formed in the guide block 233 for inserting guide wires. The number of through holes can be the same as or more than the number of drive wires 201. Specifically, the drive wire 201 can be clearance-fitted with the through holes in the guide block 233, ensuring that the drive wire 201 can move relative to the guide block 233, thereby achieving flexible switching between connected and disconnected states; on the other hand, the guide block 233 can limit the movement of the drive wire 201 in a predetermined direction (the longitudinal extension direction of the instrument tube 210), thereby fully ensuring the operability of switching the drive wire 201 from a disconnected state to a connected state.

[0086] The preload element may include a retaining spring 231 in a compressed state. For example... Figure 6As shown, for each transmission wire 201, a retaining spring 231 can be respectively arranged near both ends. One of them can abut against the guide block 233 and the docking hook 222, and the other can abut against the guide block 233 and the docking ring 221. Furthermore, for each transmission wire 201, the number of retaining springs 231 can also be one, which can abut against two guide blocks 233. Of course, the specific form, number, and installation position of the pretensioner are not limited to the examples above. Those skilled in the art, inspired by the technical essence of this application, may make other modifications, but as long as the function and effect achieved are the same as or similar to those of this application, they should be covered within the scope of protection of this application.

[0087] Please refer to the following: Figure 8 In one embodiment, the instrument tube 210 may include a first tube segment 211 with the proximal end and a second tube segment 212 with the distal end. The guide mechanism 250 includes an engagement structure disposed between the first tube segment 211 and the second tube segment 212. This engagement structure ensures that the positions of the transmission wires 201 are matched and aligned when the transmission wires 201 change from a separated state to a connected state.

[0088] The engaging structure may include a protrusion 251 provided in one of the first tube segment 211 and the second tube segment 212, and a groove 252 provided in the other of the first tube segment 211 and the second tube segment 212. For example, the protrusion 251 may include a longitudinal extension provided on the first tube segment 211 that extends axially along the instrument tube 210, and the groove 252 may include a groove provided on the second tube segment 212 that extends axially along the instrument tube 210 and matches the shape of the longitudinal extension.

[0089] Furthermore, a reinforcing section 253 can be provided on the first tube segment 211. This reinforcing section 253 can be a tube segment with an outer diameter smaller than that of the second tube segment 212. When the protrusion 251 of the first tube segment 211 and the groove 252 of the second tube segment 212 are aligned, the reinforcing section 253 can be inserted into the second tube segment 212, ensuring the reliability of the connection. Additionally, a sealing element can be provided between the outer surface of the reinforcing section 253 and the inner surface of the second tube segment 212, thereby ensuring the sealing of the entire instrument tube 210 at the connection point after the first tube segment 211 and the second tube segment 212 are joined.

[0090] In this embodiment, since there is only one protrusion 251 and one groove 252, when the two are combined, it can ensure that each transmission wire 201 is accurately connected.

[0091] Furthermore, to ensure that the transmission wires 201 can match one-to-one after the protrusions 251 and the grooves 252 are engaged, there can be multiple protrusions 251 and grooves 252. When there are multiple protrusions 251 and grooves 252, a one-to-one correspondence can be established between them. For example, several sets of protrusions 251 and grooves 252 of different lengths can be provided, with the protrusions 251 of corresponding length engaging with the grooves 252 of corresponding length; or several sets of protrusions 251 and grooves 252 of different shapes can be provided, with the protrusions 251 of corresponding shapes engaging with the grooves 252 of corresponding shapes; or corresponding markings can be provided on the protrusions 251 and grooves 252, with the protrusions 251 of corresponding markings engaging with the grooves 252 of corresponding markings, etc.

[0092] It should be noted that the specific forms of the protrusion 251 and the groove 252 are not limited to the examples above. Those skilled in the art may make other changes based on the technical essence of this application, but as long as the functions and effects they achieve are the same as or similar to those of this application, they should be covered within the scope of protection of this application.

[0093] Please refer to the following: Figure 9 , Figure 10 and Figure 11 In one embodiment, the instrument rod component 20 may further include a locking and fixing mechanism 240, which includes an unlocking position and a fixing position. When the transmission wire 201 needs to switch from a connected state to a disconnected state, the locking and fixing mechanism 240 first switches from the fixing position to the unlocking position. During the process of the transmission wire 201 switching from a disconnected state to a connected state, after the transmission wire 201 is connected, the locking and fixing mechanism 240 switches from the unlocking position to the fixing position.

[0094] In this embodiment, the instrument rod component 20 may be provided with a locking and fixing mechanism 240, which has an unlocking position and a fixing position. During the process of the transmission wire 201 switching from a separated state to a connected state, after the transmission wire 201 is connected, the locking and fixing mechanism 240 switches from the unlocking position to the fixing position, thereby ensuring the reliability of the connection at the connection position after the transmission wire 201 is connected.

[0095] Please refer to 12 for details. Specifically, the locking and fixing mechanism 240 may include: a locking ring 241 fixed to one of the first pipe section 211 and the second pipe section 212, the locking ring 241 having a guide groove 243, the end of the guide groove 243 having an opening 244, and the other of the first pipe section 211 and the second pipe section 212 having a locking ball 242.

[0096] When the protrusion 251 and the groove 252 engage along the axial direction of the instrument tube 210, the locking mechanism 240 is in the unlocked position (e.g., Figure 9 (as shown); when the locking ring 241 is rotated circumferentially by a predetermined angle (e.g., ... Figure 10 As shown), the locking ball 242 is inserted into the opening 244, indicating that the locking and fixing mechanism 240 is in the fixed position (as shown). Figure 11 As shown in the figure, this ensures that the first pipe segment 211 and the second pipe segment 212 are relatively fixed. When unlocking is required, the locking ball 242 can be removed from the opening 244 first, and then rotated in the opposite direction along the circumference by a predetermined angle to switch the locking and fixing mechanism 240 from the fixed position to the unlocked position.

[0097] The predetermined angle through which the locking ring 241 rotates can be related to the central angle corresponding to the guide groove 243. For example, when the central angle corresponding to the guide groove 243 is 90°, the predetermined angle can also be 90°. Of course, the specific form of the locking and fixing mechanism 240 is not limited to the above examples. Those skilled in the art may make other modifications based on the technical essence of this application, but as long as the function and effect achieved are the same as or similar to those of this application, they should be covered within the scope of protection of this application.

[0098] Furthermore, such as Figure 9 As shown, the locking ring 241 may have an initial positioning area 245 at the location of the locking ball 242. Specifically, the initial positioning area 245 may include a receiving groove for accommodating a portion of the protrusion 251, and the receiving groove may at least communicate with the guide groove 243.

[0099] When the first segment 211 and the second segment 212 of the instrument tube 210 are docked, the end of the protrusion 251 of the guide mechanism 250 can extend into the initial positioning area 245. After the docking ring 221 and the docking hook 222 are docked, there may still be a certain gap between them. In order to eliminate the gap, the first segment 211 and the second segment 212 can be pulled towards each other and the locking ring 241 can be rotated circumferentially by a predetermined angle so that the locking ball 242 is inserted into the opening 244. At this time, the end of the protrusion 251 abuts against the end face of the locking ring 241, ensuring that the docking ring 221 and the docking hook 222 are pulled tight, while preventing the first segment 211 and the second segment 212 from moving relative to each other. The locking ring 241 is also fixed by the locking ball 242 and cannot rotate, so the entire surgical instrument is completely reset.

[0100] like Figure 13As shown, based on the surgical instrument 1 disclosed in the above embodiments, it can be applied to the execution end 100 of a surgical robot. Specifically, the execution end 100 of the surgical robot may include: a trolley 4, a robotic arm 6, an endoscope 5, and the surgical instrument 1 in the above embodiments.

[0101] Specifically, the execution end 100 of the surgical robot is the direct operating component located at the patient's operating table in the entire surgical robot system. It may include: a robotic arm 6, an endoscope 5, surgical instruments 1, and a trolley 4. The trolley 4 serves as the basic support for mounting other components on the execution end 100. It has movable casters, allowing it to be moved or fixed as needed, and also has movable and rotating joints, enabling adjustment of the position and orientation of the robotic arm 6 at its top. The robotic arm 6 primarily provides 3D spatial movement of the surgical instrument 1 within the body and has fixed-point motion capability. The endoscope 5 can also be mounted on the robotic arm 6 and can be operated by the surgeon to observe the surgical area. The number of robotic arms 6 can be set to one or more according to the needs of the actual application scenario; specifically, this application does not limit the number. Since the execution end 100 of the surgical robot includes the surgical instrument 1 as described above, it also possesses at least the beneficial effects brought by the surgical instrument 1. Furthermore, those skilled in the art can adapt and configure other components of the execution end 100 of the surgical robot according to existing technology; these will not be detailed here.

[0102] like Figure 14 As shown, based on the execution end 100 of the surgical robot described above, it can be applied to a surgical robot. Specifically, the surgical robot may include: a control end 200, an image end 300, and the execution end 100 in the above embodiment.

[0103] Specifically, the surgical robot system may include a control unit 200, an imaging unit 300, and an execution unit 100. The control unit 200 and imaging unit 300 can be used in conjunction with the endoscope 5, surgical instruments 1, and accessories of the execution unit 100 to jointly complete laparoscopic surgery. During the operation, the imaging unit 300 can be placed next to the operating table to process the images from the endoscope 5 and output them to the stereoscopic monitor of the control unit 200 and the 2D display of the imaging unit 300. The execution unit 100 is located next to the operating table and is used to perform surgical operations. The control unit 200 is located outside the sterile area. The surgeon operates the robot from the control unit 200 to control the execution unit 100, allowing the surgeon to achieve the flexibility of open surgery in a minimally invasive environment.

[0104] Since the surgical robot described above includes the surgical instrument 1 as described above, it also possesses at least the beneficial effects of the surgical instrument 1. Furthermore, those skilled in the art can adapt and configure other devices of the surgical robot according to existing technology; these will not be detailed here.

[0105] All articles and references disclosed herein, including patent applications and publications, are incorporated herein by reference for various purposes. The term “substantially constitutes…” used to describe a combination should include the identified element, component, part, or step, as well as other elements, components, parts, or steps that do not substantially affect the essential novelty of the combination. The use of the terms “comprising” or “including” to describe combinations of elements, components, parts, or steps herein also contemplates embodiments substantially constituted by such elements, components, parts, or steps. The use of the term “may” herein is intended to indicate that any described attribute “may” include is optional. Multiple elements, components, parts, or steps can be provided by a single integrated element, component, part, or step. Alternatively, a single integrated element, component, part, or step can be divided into multiple separate elements, components, parts, or steps. The disclosure of “a” or “an” used to describe an element, component, part, or step does not imply exclusion of other elements, components, parts, or steps.

[0106] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0107] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A surgical instrument, characterized by The apparatus rod component comprises an apparatus tube, a wire transmission assembly and a replacement interface assembly. The apparatus tube is a hollow longitudinal tube body having a proximal end for connecting a power mechanism and a distal end for sealingly connecting the apparatus end, and the wire transmission assembly is arranged in the apparatus tube. The wire transmission assembly comprises at least two groups of transmission wires, and each group of transmission wires comprises a connected state for transmitting power from the power mechanism to the apparatus end and a separated state for cleaning or replacing the apparatus end. The replacement interface assembly is arranged in the wire transmission assembly and is used for switching the state of the transmission wires. Each group of transmission wires is disconnected at a predetermined disconnection position, which is located in the apparatus tube or between the apparatus tube and the apparatus end. The apparatus end can provide at least two degrees of freedom of movement. The replacement interface assembly comprises a transmission wire docking mechanism and a transmission wire pre-tightening mechanism. The transmission wire docking mechanism is arranged between each group of transmission wires and is used for achieving separable cooperation between each group of transmission wires. The transmission wire pre-tightening mechanism is used for providing a pre-tightening force for the transmission wires when the transmission wires are in the separated state. The replacement interface assembly further comprises a guide mechanism, which is used for guiding the matching docking between the transmission wires when the transmission wires are switched from the separated state to the connected state. Each group of transmission wires comprises two transmission wires, and the two transmission wires are separably cooperated through two sets of transmission wire docking mechanisms.

2. The surgical instrument of claim 1, wherein, When the first docking part and the second docking part are engaged, the transmission wires are in the connected state; and when the first docking part and the second docking part are separated, the transmission wires are in the separated state.

3. The surgical instrument of claim 1, wherein, The first docking part comprises a docking ring, and the second docking part comprises a docking hook. The transmission wire pre-tightening mechanism comprises a guide block arranged in the transmission wire, and a pre-tightening member at least partially connected to the guide block.

4. The surgical instrument of claim 3, wherein, The pre-tightening member comprises a retaining spring in a compressed state.

5. The surgical instrument of claim 4, wherein, The apparatus tube comprises a first tube segment provided with the proximal end and a second tube segment provided with the distal end, and the guide mechanism comprises a clamping structure arranged between the first tube segment and the second tube segment.

6. The surgical instrument of claim 5, wherein, The clamping structure comprises a protruding part arranged in one of the first tube segment and the second tube segment, and a recess part arranged in the other of the first tube segment and the second tube segment.

7. The surgical instrument of claim 2, wherein, The apparatus rod component further comprises a locking and fixing mechanism, which comprises an unlocked position and a fixed position.

8. The surgical instrument of claim 7, wherein, When the transmission wires need to be switched from the connected state to the separated state, the locking and fixing mechanism is first switched from the fixed position to the unlocked position.

9. The surgical instrument of claim 8, wherein, When the transmission wires are switched from the separated state to the connected state, after the transmission wires are connected, the locking and fixing mechanism is switched from the unlocked position to the fixed position.

10. The surgical instrument of claim 9, wherein, The locking mechanism comprises a locking ring fixed to one of the first pipe segment and the second pipe segment, a guide groove is arranged in the locking ring, and an opening is arranged at the end of the guide groove; the other of the first pipe segment and the second pipe segment is provided with a locking ball; when the convex part and the concave groove part are engaged along the axial direction of the instrument pipe, the locking ring can be rotated by a predetermined angle in the circumferential direction, and the locking ball is clamped into the opening.

11. The surgical instrument of claim 10, wherein, The locking ring is provided with a preliminary positioning area at the position of the locking ball, and the preliminary positioning area comprises a containing groove for containing part of the convex part, and the containing groove can be at least in communication with the guide groove.

12. The surgical instrument of claim 1, wherein, The power mechanism comprises an instrument box, and the instrument box is used for providing movement power for the instrument end through the instrument rod part.

13. A surgical instrument as claimed in any one of claims 1 to 12, wherein, The replacement interface assembly is arranged close to the instrument end.

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